CN113423643A - Cloud deck control method and cloud deck - Google Patents

Cloud deck control method and cloud deck Download PDF

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Publication number
CN113423643A
CN113423643A CN201980091863.5A CN201980091863A CN113423643A CN 113423643 A CN113423643 A CN 113423643A CN 201980091863 A CN201980091863 A CN 201980091863A CN 113423643 A CN113423643 A CN 113423643A
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China
Prior art keywords
attitude
axis
target
shooting
current
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CN201980091863.5A
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Chinese (zh)
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林荣华
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • G05D3/20—Control of position or direction using feedback using a digital comparing device

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  • Engineering & Computer Science (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Accessories Of Cameras (AREA)
  • Studio Devices (AREA)

Abstract

A control method of a pan/tilt head and a pan/tilt head, the pan/tilt head having a camera (2) mounted thereon, the pan/tilt head being configured to rotate about at least two axes, the method comprising: acquiring a current posture of the photographing device (2) and a target posture of the photographing device (2) when the photographing device (2) is in a vertical orientation photographing mode (S301); determining a target joint angle of the cradle head according to the current posture, the target posture and an Euler angle rotation sequence of the shooting device (2) corresponding to a preset control instruction (S302), wherein the preset control instruction can enable the cradle head to always keep a rotation degree of freedom with a fixed dimension in the rotation process when the shooting device (2) is in a vertical orientation shooting mode; and controlling the tripod head to rotate according to the target joint angle (S303). According to the method, when the shooting device (2) is in a vertical orientation shooting mode, a preset control instruction is adopted to avoid the problem of dead locking of the universal joint during control of the tripod head, so that vertical shooting in a full space range is realized, and the vertical shooting requirement of any angle is met.

Description

Cloud deck control method and cloud deck Technical Field
The application relates to the field of cloud platforms, in particular to a cloud platform control method and a cloud platform.
Background
In the prior art, when a shooting device is in a vertical orientation shooting mode, when a tripod head rotates to certain angles, rotating shafts of two motors are overlapped, for example, axes of a pitch shaft motor and an axis of a yaw shaft motor are overlapped, so that a universal joint is locked, and the tripod head cannot be switched to any angle for shooting; when the universal joint is locked, the three-axis holder can only increase stability in two directions, so that the stability increasing performance is reduced, even jitters, unsmoothness and the like.
Disclosure of Invention
The application provides a control method of a cloud platform and the cloud platform.
According to a first aspect of the present application, there is provided a method of controlling a pan/tilt head having a camera mounted thereon, the pan/tilt head being configured to rotate about at least two axes, the method comprising:
acquiring a current posture of the photographing device and a target posture of the photographing device when the photographing device is in a vertical orientation photographing mode;
determining a target joint angle of the holder according to the current posture, the target posture and an Euler angle rotation sequence of the shooting device corresponding to a preset control instruction;
controlling the holder to rotate according to the target joint angle;
the preset control instruction can enable the holder to always keep the rotational freedom degree of a fixed dimension in the rotating process when the shooting device is in a vertical orientation shooting mode.
According to a second aspect of the present application, there is provided a head comprising:
a base;
the shaft assembly is arranged on the base and used for carrying a shooting device, and the shaft assembly is configured to rotate around at least two shafts; and
the controller, the controller with the cloud platform electricity is connected, the controller is used for:
acquiring a current posture of the photographing device and a target posture of the photographing device when the photographing device is in a vertical orientation photographing mode;
determining a target joint angle of the holder according to the current posture, the target posture and an Euler angle rotation sequence of the shooting device corresponding to a preset control instruction;
controlling the holder to rotate according to the target joint angle;
the preset control instruction can enable the holder to always keep the rotational freedom degree of a fixed dimension in the rotating process when the shooting device is in a vertical orientation shooting mode.
According to the technical scheme provided by the embodiment of the application, when the shooting device is in a vertical orientation shooting mode, a preset control instruction is adopted to avoid the problem of dead locking of the universal joint during control of the tripod head, so that vertical shooting in a full space range is realized, and the vertical shooting requirement of any angle is met.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
Fig. 1 is a perspective view of a pan/tilt head according to an embodiment of the present invention;
FIG. 2A is a schematic view of a camera in an embodiment of the present application when shooting in a vertical orientation;
FIG. 2B is a schematic diagram of the photographing apparatus in an embodiment of the present application when photographing in a horizontal orientation;
fig. 3 is a schematic method flow diagram of a control method of a pan/tilt head in an embodiment of the present application;
FIG. 4 is a perspective view of the handheld tripod head shown in FIG. 1 when in an upright position;
FIG. 5 is a diagram illustrating a default interpolation strategy according to an embodiment of the present application;
fig. 6 is a block diagram of a cradle head in an embodiment of the present application.
Detailed Description
In the prior art, when a shooting device is in a vertical orientation shooting mode, when a tripod head rotates to certain angles, rotating shafts of two motors are overlapped, for example, axes of a pitch shaft motor and an axis of a yaw shaft motor are overlapped, so that a universal joint is locked, and the tripod head cannot be switched to any angle for shooting; when the universal joint is locked, the three-axis holder can only increase stability in two directions, so that the stability increasing performance is reduced, even jitters, unsmoothness and the like.
To this end, this application adopts the universal joint lock problem when presetting control command and evading cloud platform control when shooting device is in vertical orientation shooting mode, and then realizes the vertical shooting of full space scope, satisfies the vertical shooting demand of arbitrary angle.
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that, in the following examples and embodiments, features may be combined with each other without conflict.
The cloud platform of this application embodiment is carried on and is had shooting device, and in this application embodiment, when the cloud platform was carried on base upper base slope, shooting device can be rotated around the world coordinate system through the control of cloud platform. The shooting device can be a video camera, a single lens reflex, a micro lens reflex, a motion camera, a smart phone and other shooting devices.
Wherein the head is configured to rotate about at least two axes. The pan/tilt head of the present embodiment may be configured to rotate about two axes, and may also be configured to rotate about three axes or more. For example, in some embodiments, the head is configured to rotate about two axes, including a yaw axis and a pitch axis. In some further embodiments, the head is configured to rotate about three axes, including a yaw axis, a pitch axis, and a roll axis.
The cloud platform of this application embodiment can be for handheld cloud platform, also can be for machine carries the cloud platform, and machine carries on the cloud platform and can carry on movable platform, and this movable platform can be unmanned aerial vehicle, unmanned car, mobile robot etc..
For example, referring to fig. 1, the pan/tilt head is a handheld pan/tilt head, and the pan/tilt head is a three-axis pan/tilt head, and the pan/tilt head of the present embodiment is configured to rotate around a yaw axis, a pitch axis, and a roll axis. The handheld tripod head may include an outer frame 11 configured to rotate about a yaw axis, an intermediate frame 12 configured to rotate about a yaw axis, and an inner frame 12 configured to rotate about a pitch axis, and the inner frame is used to mount the photographing device 2. Wherein, outer frame 11 includes the yaw axis shaft arm, and is driven by the yaw axis motor, and well frame 12 includes the roll axis shaft arm, and is driven by the roll axis motor, and the inner frame includes the pitch axis shaft arm, and is driven by the pitch axis motor.
It should be noted that the vertical shooting may also be referred to as vertical shooting, and the shooting with the vertical shooting by the shooting device means that the shooting device is vertically installed on the holder so as to shoot a picture vertical to the horizontal plane, for example, the shooting device is a mobile phone, please refer to fig. 2A, and the long side 20 direction of the picture is rotated to the vertical direction (that is, the long side 20 of the picture is perpendicular to the horizontal plane) to shoot, that is, the shooting device shoots with the vertical orientation. For a given aspect ratio of the picture, taking the camera as a mobile phone as an example, please refer to fig. 2B, where 10 is a horizontal plane, 20 is a long side of the picture, and 30 is a short side of the picture, and the long side 20 of the picture is rotated to the horizontal direction (i.e. the long side 20 of the picture is parallel to the horizontal plane 10) to perform shooting, that is, the camera performs shooting in a horizontal orientation. Of course, the exemplary definitions of horizontal and vertical beats may also be completely reversed from the above description.
The following will explain a specific implementation process of the control method of the pan/tilt head according to the embodiment of the present application.
Fig. 3 is a schematic method flow diagram of a control method of a pan/tilt head in an embodiment of the present application; referring to fig. 3, a method for controlling a pan/tilt head according to an embodiment of the present disclosure may include the following steps:
s301: acquiring a current posture of the shooting device and a target posture of the shooting device when the shooting device is in a vertical orientation shooting mode;
in this embodiment, the current posture and the target posture may be represented in an euler angle manner, or in a quaternion manner.
An Inertial Measurement Unit (IMU) may be provided on the camera, and the current posture of the camera may be detected and obtained according to the IMU on the camera. Of course, the IMU may also be arranged on the inner frame of the head.
The target attitude may be obtained by different strategies, for example, in some embodiments, the target attitude is determined according to an attitude control amount sent by a control device of the pan/tilt head, that is, the attitude of the shooting device is controlled by the control device. The control device can be a mobile terminal such as a mobile phone and a tablet personal computer, can also be a fixed terminal, can also be a remote controller or other devices capable of controlling the rotating structure, and can also be integrated on a handle of the holder. Illustratively, the control device is a remote controller, and the gesture control amount is determined according to a stick amount generated by a user operating a stick of the remote controller.
In other embodiments, the target attitude is determined from a real-time detected attitude of the base of the head, i.e. the attitude of the camera follows the change in attitude of the base.
In other embodiments, the target attitude is determined according to the attitude control quantity sent by the control device of the pan/tilt head and the real-time detection attitude of the base of the pan/tilt head, that is, the attitude of the shooting device is determined by the attitude control quantity generated by the control device and the attitude of the base.
For example, in an embodiment, the priority of controlling the posture of the shooting device by the control device is higher than the priority of controlling the posture of the shooting device to change along with the posture change of the base, that is, when the posture control quantity sent by the control device is obtained, the target posture is determined according to the posture control quantity sent by the control device of the pan/tilt head, and at this time, even if the posture of the base changes, the size of the target posture is not influenced; when the attitude control amount is not input by the control device and the photographing device is not under the control of the control device, the attitude of the photographing device changes following the attitude change of the base.
In some embodiments, if the pan/tilt head is in the control device control mode (i.e. non-following mode), at this time, the shooting device can only be controlled by the control device, the target attitude is determined according to the attitude control quantity sent by the control device, and the target attitude is not affected by the attitude change of the base.
In some embodiments, if the cradle head is in the following mode, the attitude of the shooting device changes along with the attitude change of the base, the target attitude is determined according to the real-time detection attitude of the base of the cradle head, and the target attitude is not affected by the attitude control quantity sent by the control device.
Illustratively, taking the example where the pan/tilt head is configured to rotate about the heading axis, the roll axis, and the pitch axis, the heading axis, the roll axis, and the pitch axis are all free modes when the camera is in the non-follow mode. When the shooting device is in the following mode, the roll shaft is in a free mode, the roll shaft is used for increasing stability, and the pitch shaft and/or the yaw shaft are in a follow mode. And in the free mode, the base of the holder moves, and the corresponding shaft arm of the holder does not rotate. In the collapsed mode, the corresponding axis follows the movement of the base of the head.
In addition, when the cradle head is in the following mode, if the deviation between the current posture of the shooting device and the real-time detection posture of the base of the cradle head is smaller than or equal to a preset deviation threshold value, the posture of the shooting device does not need to be controlled; and if the deviation between the current posture of the shooting device and the real-time detection posture of the base of the holder is greater than a preset deviation threshold value, controlling the posture of the shooting device to follow the posture of the base.
S302: determining a target joint angle of the cradle head according to the current posture, the target posture and the Euler angle rotation sequence of the shooting device corresponding to a preset control instruction, wherein the preset control instruction can enable the cradle head to always keep the rotation freedom degree of a fixed dimension in the rotation process when the shooting device is in a vertical orientation shooting mode;
for example, the pan/tilt head is configured to rotate around two axes, including a yaw axis and a pitch axis, and the rotational degree of freedom of the pan/tilt head in a fixed dimension throughout the rotation refers to: the holder can rotate around a yaw axis and a pitch axis all the time in the rotating process; as another example, the pan/tilt head is configured to rotate around three axes, the three axes include a yaw axis, a pitch axis, and a roll axis, and the rotational degree of freedom of the pan/tilt head that always maintains a fixed dimension during the rotation refers to: the holder can rotate around a yaw axis, a pitch axis and a roll axis all the time in the rotating process.
Next, a preset control instruction will be explained.
Taking the example that the pan-tilt is configured to rotate around three axes, for example, the euler angle of the shooting device corresponds to the rotation of a first axis, a second axis, and a third axis, wherein the first axis is parallel to the optical axis direction of the shooting device, and the first axis, the second axis, and the third axis are respectively orthogonal. The direction of the first axis, the direction of the second axis, and the direction of the third axis are determined according to the placement direction of the photographing device and the direction of the optical axis, and illustratively, when the photographing device is placed in a horizontal orientation and the optical axis of the photographing device is parallel to a horizontal plane, the third axis is a vertical direction, and the first axis and the second axis are both parallel to the horizontal plane.
Herein, the first axis corresponds to a roll axis, the second axis corresponds to a pitch axis, and the third axis corresponds to a yaw axis, and for convenience of description, the first axis, the second axis, and the third axis are respectively represented by X, Y, Z.
In some embodiments, the euler angle rotation sequence of the shooting device corresponding to the preset control command is as follows: the second shaft, the first shaft, the second shaft, or the third shaft, the first shaft, the third shaft. Further, determining, according to the configuration of the pan/tilt head, which of the euler angular rotation sequences the photographing device corresponding to the preset control command corresponds to, optionally, when the pan/tilt head is in the ZXY configuration, the euler angular rotation sequence of the photographing device corresponding to the preset control command is: third axle, first axle, third axle. Optionally, when the pan-tilt is in the YXZ configuration, the euler angle rotation sequence of the shooting device corresponding to the preset control command is as follows: second shaft, first shaft, second shaft.
A ZXY configuration of the pan-tilt and a YXZ configuration of the pan-tilt are illustrated by way of example of a three-axis pan-tilt configured to rotate about a yaw axis, a pitch axis, and a roll axis. For the cradle head with the ZXY configuration, when the cradle head is placed upright and the joint angles of the outer frame, the middle frame and the inner frame are all 0 degree, the outer frame rotates around a yaw axis, the middle frame rotates around a transverse rolling shaft, and the inner frame rotates around a pitch axis. For the pan-tilt with the YXZ configuration, when the pan-tilt is placed upright and the joint angles of the outer frame, the middle frame and the inner frame are all 0 degree, the outer frame rotates around the pitch axis, the middle frame rotates around the roll axis, and the inner frame rotates around the yaw axis.
For example, following the above-mentioned embodiment of the handheld cloud deck, please refer to fig. 4, the handheld cloud deck further includes a handle 3, and a screen 4 and a button (not shown) disposed on the front surface of the handle 3. When the handheld tripod head is placed upright, the screen 4 faces the user, and the lens of the shooting device faces away from the user, as shown in fig. 4, the handheld tripod head is in a state diagram of being placed upright. The handheld pan/tilt head shown in fig. 4 is a pan/tilt head with a ZXY configuration.
The implementation process of determining the target joint angle of the pan/tilt head according to the current posture, the target posture and the euler angle rotation sequence of the shooting device corresponding to the preset control instruction may include, but is not limited to, the following steps:
(1) determining a target Euler angle according to the target attitude and the Euler angle rotation sequence of the shooting device corresponding to the preset control instruction;
in some embodiments, the target attitude is determined according to an attitude control quantity transmitted by a control device of the pan/tilt head. The implementation process of the step (1) can comprise the following steps: acquiring the last target posture of the shooting device; determining a first Euler angle corresponding to the last target posture according to the Euler angle rotation sequence of the shooting device corresponding to the preset control instruction; and determining a target Euler angle according to the first Euler angle and a second Euler angle, wherein the second Euler angle is obtained by converting the attitude control quantity based on the Euler angle rotation sequence of the shooting device corresponding to the preset control command. Generally, a pan-tilt is controlled in a closed-loop manner, that is, a shooting device is controlled by the pan-tilt to move from a current posture to a target posture, however, due to the influence of factors such as control errors, a position finally reached by the shooting device may have a certain deviation from the target posture, and the deviation accumulation of each control may cause a large deviation and poor control accuracy. That is, in the previous control, the imaging device does not necessarily reach the previous target attitude of the imaging device, and therefore, in the current control, the second euler angle corresponding to the attitude control amount is superimposed on the first euler angle corresponding to the previous target attitude, and the target euler angle is determined, so that the superimposition of the deviation is reduced, and the control is more accurate. The target attitude of the last time can be determined according to the attitude control quantity sent by the control device of the holder, can also be determined according to the real-time detection attitude of the base of the holder, and can also be determined jointly according to the attitude control quantity sent by the control device of the holder and the real-time detection attitude of the base of the holder. In this embodiment, the target euler angle is determined according to a sum of the first euler angle and the second euler angle, and optionally, the target euler angle is a sum of the first euler angle and the second euler angle.
In this embodiment, the previous target attitude is converted to obtain a first euler angle of the shooting device according to the euler angle rotation order of the shooting device corresponding to the preset control instruction, and the attitude control amount is converted to obtain a second euler angle according to the euler angle rotation order of the shooting device corresponding to the preset control instruction. The last target attitude and the last attitude control quantity are used for controlling the change of an Euler angle of the holder corresponding to the rotation component of the holder around an axis, the change of the Euler angle of the holder can be realized by controlling one or more joint angles of the holder, and the mode of converting the last target attitude to obtain a first Euler angle of the shooting device according to the Euler angle rotation sequence of the shooting device corresponding to the preset control instruction and converting the attitude control quantity to obtain a second Euler angle according to the Euler angle rotation sequence of the shooting device corresponding to the preset control instruction can enable the rotation direction of the shooting device to better meet the requirements of a user, so that a picture shot by the shooting device can better meet the expectation of the user. For example, when the pan/tilt head is a three-axis handheld pan/tilt head, assuming that the handle of the handheld pan/tilt head is tilted at this time, if it is necessary to control the corresponding shaft arm on the handheld pan/tilt head to rotate around the yaw axis through the control device, if the corresponding attitude control amount is converted into only one joint angle, at this time, the pitch motor may be driven to rotate, and the roll motor and the yaw motor may not rotate.
Wherein, if the euler angle rotation sequence of the shooting device corresponding to the preset control instruction is as follows: and the second axis, the first axis and the second axis are obtained by converting the components for controlling the rotation of the holder around the navigation axis and the components for controlling the rotation of the holder around the pitching axis in the last target attitude based on the second axis in the Euler angle rotation sequence. Specifically, the component for controlling the rotation of the holder around the navigation axis in the last target attitude is converted to obtain the first Y1 component in the first euler angles (Y1, X1, Y1), and the component for controlling the rotation of the holder around the pitch axis in the last target attitude is converted to obtain the second Y1 component in the first euler angles (Y1, X1, Y1).
If the Euler angle rotation sequence of the shooting device corresponding to the preset control command is as follows: and the third axis, the first axis and the third axis are obtained by converting the components for controlling the rotation of the holder around the navigation axis and the components for controlling the rotation of the holder around the pitching axis in the last target attitude based on the third axis in the Euler angle rotation sequence. Specifically, the component for controlling the rotation of the holder around the navigation axis in the last target attitude is converted to obtain a first Z1 component in the first euler angles (Z1, X1, Z1), and the component for controlling the rotation of the holder around the pitch axis in the last target attitude is converted to obtain a second Z1 component in the first euler angles (Z1, X1, Z1).
The Euler angle rotation sequence of the shooting device corresponding to the preset control command is no matter: the second shaft, the first shaft, the second shaft, again: the third axis, the first axis and the third axis, wherein the components used for controlling the pan-tilt to rotate around the horizontal axis in the last target posture are obtained by conversion based on the first axis in the euler angle rotation sequence, that is, the components used for controlling the pan-tilt to rotate around the horizontal axis in the last target posture are converted to obtain the X1 component in the first euler angle.
If the Euler angle rotation sequence of the shooting device corresponding to the preset control command is as follows: and the second axis, the first axis and the second axis are obtained by converting a component for controlling the rotation of the holder around the navigation axis and a component for controlling the rotation of the holder around the pitch axis in the attitude control quantity based on the second axis in the Euler angle rotation sequence. Specifically, the component for controlling the rotation of the pan/tilt head around the yaw axis in the attitude control amount is converted to obtain the first Y2 component in the second euler angles (Y2, X2, Y2), and the component for controlling the rotation of the pan/tilt head around the pitch axis in the attitude control amount is converted to obtain the second Y2 component in the second euler angles (Y2, X2, Y2).
If the Euler angle rotation sequence of the shooting device corresponding to the preset control command is as follows: the third axis, the first axis and the third axis are used for controlling the rotation component of the holder around the navigation axis and the rotation component of the holder around the pitching axis in the attitude control quantity, and the attitude control quantity is obtained by converting the attitude control quantity based on the third axis in the Euler angle rotation sequence. Specifically, the component for controlling the rotation of the pan/tilt head around the yaw axis in the attitude control amount is converted to obtain the first Z2 component in the second euler angles (Z2, X2, Z2), and the component for controlling the rotation of the pan/tilt head around the pitch axis in the attitude control amount is converted to obtain the second Z2 component in the second euler angles (Z2, X2, Z2).
In addition, the Euler angle rotation sequence of the shooting device corresponding to the preset control command is no matter: the second shaft, the first shaft, the second shaft, again: the third axis, the first axis and the third axis, and the components used for controlling the rotation of the pan-tilt around the horizontal axis in the attitude control quantity are obtained by conversion based on the first axis in the euler angle rotation sequence, that is, the components used for controlling the rotation of the pan-tilt around the horizontal axis in the attitude control quantity are converted to obtain the X2 component in the second euler angle.
It should be noted that, in this embodiment, the conversion is not a simple correspondence relationship.
In this embodiment, the conversion includes conversion of euler angular velocity of the pan/tilt head rotation, or conversion of euler angular size of the pan/tilt head rotation, for example, in some embodiments, conversion of euler angular velocity of the pan/tilt head rotation is performed, for example, if the euler angular rotation sequence of the shooting device corresponding to the preset control command is: the second axis, the first axis, and the second axis, the components of the second euler angle (Y2, X2, Y2) are corresponding euler angular velocities, and the components of the first euler angle (Y1, X1, Y1) are also corresponding euler angular velocities. If the Euler angle rotation sequence of the shooting device corresponding to the preset control command is as follows: and the third axis, the first axis and the third axis respectively correspond to the Euler angular velocities of the components in the second Euler angles (Z2, X2 and Z2) and the Euler angular velocities of the components in the first Euler angles (Z1, X1 and Z1).
In some other embodiments, the conversion into the euler angle size of the pan/tilt head rotation is performed, for example, if the euler angle rotation sequence of the shooting device corresponding to the preset control command is: and the second axis, the first axis and the second axis respectively correspond to the Euler angles of the components in the second Euler angles (Y2, X2, Y2), and the first Euler angles (Y1, X1, Y1). If the Euler angle rotation sequence of the shooting device corresponding to the preset control command is as follows: and the third axis, the first axis and the third axis respectively correspond to the Euler angles of the components in the second Euler angles (Z2, X2, Z2), and the first Euler angles (Z1, X1, Z1).
In this embodiment, the range of the angle value corresponding to the roll direction in the target euler angle is 90 degrees ± first preset angle or-90 degrees ± second preset angle, that is, when the control device controls the shooting device, the angle value corresponding to the roll direction in the target euler angle is within the above-mentioned angle range (90 degrees ± first preset angle or-90 degrees ± second preset angle), that is, it can be ensured that the shooting device is in the vertical orientation shooting mode. When the control device controls the shooting device, if the angle value corresponding to the roll direction in the target Euler angle of the shooting device exceeds the angle range, in some embodiments, the shooting device is controlled by the holder to exit the vertical orientation shooting mode; in other embodiments, the angle value corresponding to the roll direction in the target euler angles of the shooting device controlled by the pan-tilt is the limit angle of the current rotation direction corresponding to the vertically oriented shooting mode. The first preset angle and the second preset angle can be set according to needs, for example, the first preset angle and the second preset angle are both 45 degrees.
In other embodiments, the target pose is determined from a real-time detected pose of a base of the pan/tilt head. The implementation process of the step (1) can comprise the following steps: and converting the roll attitude component in the target attitude into 90 degrees or-90 degrees based on the Euler angle rotation sequence of the shooting device corresponding to the preset control instruction to obtain the target Euler angle. In this embodiment, the euler angle rotation sequence of the shooting device corresponding to the preset control command is no matter: the second shaft, the first shaft, the second shaft, again: the third shaft, the first shaft and the third shaft keep the attitude component corresponding to the first shaft at 90 degrees or-90 degrees, and through the control, the shooting device is ensured to be always in a vertical orientation shooting mode.
(2) Determining a first attitude quaternion according to the target Euler angle;
specifically, the target euler angle is converted into the first attitude quaternion according to the conversion relationship between the euler angle and the quaternion, and the conversion relationship between the euler angle and the quaternion is the prior art, which is not described in detail in the present application.
(3) And determining a target joint angle of the holder according to the first attitude quaternion and the second attitude quaternion corresponding to the current attitude.
If the current attitude is represented by using an Euler angle, converting the current attitude into a second attitude quaternion according to a conversion relation between the Euler angle and the quaternion; if the current attitude is represented by quaternions, the conversion process from the Euler angle to the quaternion is omitted.
The implementation process of the step (3) may include: determining quaternion attitude deviation according to the first attitude quaternion and the second attitude quaternion; and determining a target joint angle of the holder according to the quaternion attitude deviation. Wherein the quaternion attitude deviation is determined from a difference obtained by subtracting the second attitude quaternion from the first attitude quaternion, optionally the quaternion attitude deviation is (first attitude quaternion-second attitude quaternion). In addition, when the target joint angle of the pan/tilt head is determined based on the quaternion attitude deviation, specifically, the target joint angle of the pan/tilt head is determined based on the quaternion attitude deviation and the inverse jacobian matrix. Taking the example that the pan-tilt is configured to rotate around the course axis, the roll axis and the pitch axis, the target joint angle includes a joint angle corresponding to a course motor, a joint angle corresponding to a roll motor and a joint angle corresponding to a pitch motor, wherein the course motor is used for controlling the pan-tilt to rotate around the navigation axis, the roll motor is used for controlling the pan-tilt to rotate around the roll axis, and the pitch motor is used for controlling the pan-tilt to rotate around the pitch axis.
When the current posture is different from the target posture, according to the current posture, the target posture and the euler angle rotation sequence of the shooting device corresponding to the preset control instruction, the implementation process of determining the target joint angle of the holder may include:
(1) determining at least one intermediate attitude between the current attitude and the target attitude according to the current attitude, the target attitude and a preset interpolation strategy;
the preset interpolation strategy may be selected as needed, and in some embodiments, the implementation process of determining at least one intermediate posture between the current posture and the target posture according to the current posture, the target posture and the preset interpolation strategy may include: at least one intermediate pose between the current pose and the target pose is determined based on the current pose, the target pose, and the at least one time variation parameter. Wherein the at least one time variation parameter and the at least one intermediate attitude correspond one to one. Optionally, the time variation parameter includes a plurality of posture switching directions from the current posture to the target posture, and the time variation parameter corresponding to the plurality of intermediate postures presents an increasing trend.
Assume that the current attitude, the target attitude, and the intermediate attitude are each represented by a quaternion, and the current attitude quaternion is represented as q0The target attitude quaternion is represented as q1Quaternion q at the current attitude0And target attitude quaternion q1In the meantime, a quaternion smooth interpolation algorithm slerp is adopted, and the intermediate attitude quaternion q is calculated according to the following calculation formulat：
Figure PCTCN2019130862-APPB-000001
In the formula (1), t is a time parameter varying between 0 and 1, and ω is a direction q0To q1The angular difference between them, as shown in fig. 5. It is understood that t may also be a time parameter other than 0 to 1, representing the current attitude quaternion q0Quaternion q to target attitude1Can be converted into a time variation parameter between 0 and 1 through a normalized expression mode.
Optionally, the euler angle deviations of the postures adjacent to each other in position are equal in size; alternatively, the magnitudes of euler angle deviations of the attitudes that are adjacent to each other may not be equal.
(2) And determining a target joint angle of the holder according to the current posture, the at least one intermediate posture, the target posture and the Euler angle rotation sequence of the shooting device corresponding to the preset control instruction.
Specifically, according to the adjacent postures and the Euler angle rotation sequence of the shooting device corresponding to the preset control instruction, the corresponding joint angle is determined; and sequentially controlling the rotation of the holder according to the joint angles corresponding to the adjacent postures and the switching direction from the current posture to the target posture so as to control the shooting device to rotate smoothly. That is, the target joint angle includes a plurality of joint angles including joint angles corresponding to adjacent postures.
Inserting at least one intermediate attitude between the current attitude and the target attitude in an interpolation mode, determining quaternion attitude deviation corresponding to the adjacent attitude according to quaternion corresponding to the adjacent attitude, determining joint angles corresponding to the adjacent attitude according to the quaternion attitude deviation corresponding to the adjacent attitude, and sequentially controlling the rotation of the holder according to the joint angles corresponding to the adjacent attitudes and the switching direction from the current attitude to the target attitude so that the shooting device smoothly rotates.
S303: and controlling the holder to rotate according to the target joint angle.
When the target joint angle includes a joint angle corresponding to the heading motor, a joint angle corresponding to the roll motor, and a joint angle corresponding to the pitch motor, the implementation process of S303 may include: the joint angle corresponding to the course motor is controlled to rotate by the course motor, the joint angle corresponding to the roll motor is controlled to rotate by the roll motor, and the joint angle corresponding to the pitching motor is controlled to rotate by the pitching motor.
Further, in some embodiments, before performing step S301, it is necessary to control the photographing apparatus to be in the vertical orientation photographing mode, and specifically, the control method of the pan/tilt head further includes: and controlling the shooting device to be in the vertical orientation shooting mode if a first trigger instruction for indicating the shooting device to enter the vertical orientation shooting mode is acquired before the current posture of the shooting device and the target posture of the shooting device are acquired under the vertical orientation shooting mode of the shooting device.
The first trigger instruction may be generated in various ways, for example, in some embodiments, the cradle head includes a base and a control portion disposed on the base, and the first trigger instruction is generated by a user triggering the control portion. The control portion may include a key, a button, a knob, or a combination thereof. The control unit of the present embodiment may include one or more than one. When the cloud platform is handheld cloud platform, handheld cloud platform can include the handle, and the control part can be located on the handle. In other embodiments, the first trigger instruction is generated by a user operating an external device and is transmitted by the external device. This external equipment can communicate with the cloud platform, and external equipment can include mobile terminal such as cell-phone, panel computer, also can be fixed terminal, still can be the controlling means of remote controller or other cloud platforms.
In this embodiment, the implementation process of controlling the shooting device to be in the vertical orientation shooting mode may include: acquiring a current shooting mode of a shooting device; and controlling the shooting device to be in a vertical orientation shooting mode according to the current shooting mode.
Next, a specific implementation process of controlling the shooting device to be in the vertical orientation shooting mode according to the current shooting mode in two cases, namely, the vertical orientation shooting mode is used as the current shooting mode and the non-vertical orientation shooting mode is used as the current shooting mode, is described.
The current photographing mode is a vertical orientation photographing mode, and controlling the photographing apparatus to be in the vertical orientation photographing mode according to the current photographing mode may include: the camera is maintained in a vertically oriented shooting mode. That is, when the current photographing mode is the vertical orientation photographing mode, mode switching is not required.
The current photographing mode is a non-vertically-oriented photographing mode, and controlling the photographing apparatus to be in the vertically-oriented photographing mode according to the current photographing mode may include: and controlling the shooting device to be switched from the current shooting mode to the vertical orientation shooting mode by the shooting device. That is, when the current shooting mode is the shooting mode with the non-vertical orientation, mode switching is required to switch the shooting device from the shooting mode with the non-vertical orientation to the shooting mode with the vertical orientation.
Wherein, controlling the photographing apparatus to switch from the current photographing mode to the vertical orientation photographing mode by the photographing apparatus may include, but is not limited to, the following steps:
(1) switching the control instruction of the holder to a preset control instruction, so that the holder keeps the rotational freedom degree of the original dimensionality after mode switching, and the number of the original dimensionality is equal to that of the fixed dimensionality;
for example, the pan/tilt head is configured to rotate around two axes, the two axes include a yaw axis and a pitch axis, and the rotational degree of freedom of the pan/tilt head maintaining the original dimension after the mode switching means: before mode switching, the cradle head rotates around a yaw axis and a pitch axis; after the mode is switched, the tripod head also rotates around the yaw axis and the pitch axis. For another example, the pan/tilt head is configured to rotate around three axes, where the three axes include a yaw axis, a pitch axis, and a roll axis, and the rotational degree of freedom of the pan/tilt head maintaining the original dimension after the mode switching means: before mode switching, the cradle head rotates around a yaw axis, a pitch axis and a roll axis; after the mode is switched, the tripod head also rotates around the yaw axis, the pitch axis and the roll axis.
In the embodiment of the present application, the control instruction of the pan/tilt head is switched, that is, the euler angular rotation sequence of the shooting device is switched, and the euler angular rotation sequence of the shooting device corresponding to the switched preset control instruction needs to be determined according to the shooting orientation of the shooting device corresponding to the vertical orientation shooting mode, which can be referred to in the description of the euler angular rotation sequence of the shooting device corresponding to the preset control instruction in the embodiment of the target attitude obtaining process.
When the shooting device is currently in a horizontal orientation shooting mode and the real-time roll attitude component of the shooting device is one of 0 degree, 180 degrees and-180 degrees, if the control instruction of the pan-tilt is switched directly according to the first trigger instruction, the rotating shafts of two motors are overlapped when the shooting device is controlled to be switched from horizontal orientation shooting to vertical orientation shooting according to a preset control instruction, so that the universal joint is locked. For universal joint lock when avoiding mode switch, in this embodiment, the implementation process of switching the control command of cloud platform to preset control command can include: acquiring a real-time roll attitude component of a shooting device; and if the real-time rolling attitude component meets the preset condition, switching the control instruction of the holder to the preset control instruction.
The real-time rolling attitude component of the shooting device can be detected and obtained according to an inertia measuring unit on the shooting device.
The current photographing mode includes a horizontal orientation photographing mode, and the preset conditions include: the real-time roll attitude component is not 0 degree, 180 degrees or-180 degrees, namely, when the current shooting mode is the horizontal orientation shooting mode, if the real-time roll attitude component is not 0 degree, 180 degrees or-180 degrees, the control instruction of the holder is directly switched to the preset control instruction, and at the moment, the shooting device is controlled to be switched from the horizontal orientation shooting mode to the vertical orientation shooting mode according to the preset control instruction without the problem of dead locking of the universal joint.
Further, the control method of the pan/tilt head of the embodiment may further include: and if the real-time rolling attitude component does not meet the preset condition, controlling the cradle head to rotate so as to enable the real-time rolling attitude component of the shooting device to deviate by a preset angle and enable the real-time rolling attitude component of the deviated shooting device to meet the preset condition. When the real-time roll attitude component does not meet the preset condition, if the control instruction of the holder is directly switched to the preset control instruction, controlling the shooting device to be switched from the non-vertical orientation shooting mode to the vertical orientation shooting mode according to the preset control instruction can cause the problem of dead locking of the universal joint; in this embodiment, when the real-time roll attitude component does not satisfy the preset condition, the cradle head is controlled to rotate first, so that the real-time roll attitude component of the shooting device deviates by a preset angle, and the deviated real-time roll attitude component of the shooting device satisfies the preset condition; and then the control instruction of the holder is switched to a preset control instruction, and at the moment, the shooting device is controlled to be switched from a non-vertical orientation shooting mode to a vertical orientation shooting mode according to the preset control instruction, so that the problem of dead locking of the universal joint can be avoided.
Wherein, control cloud platform rotates to make the real-time roll attitude component skew of shooting device predetermine the angle, and make the real-time roll attitude component of shooting device after the skew satisfy the realization process of predetermineeing the condition and can include: and controlling the holder to rotate according to a control instruction corresponding to the current shooting mode so as to enable the real-time rolling attitude component of the shooting device to deviate by a preset angle and enable the real-time rolling attitude component of the deviated shooting device to meet a preset condition.
If the current shooting mode is the horizontal orientation shooting mode, the Euler angle rotation sequence of the shooting device corresponding to the control command corresponding to the current shooting mode is as follows: a second axis, a first axis, a third axis, or a third axis, a first axis, a second axis. Further, the Euler angle rotation sequence of the shooting device corresponding to the control command corresponding to the current shooting mode is determined according to the configuration of the holder. Optionally, when the pan/tilt head is in the ZXY configuration, the euler angle rotation sequence of the shooting device corresponding to the control command corresponding to the current shooting mode is: third axle, first axle, second axle. Optionally, when the pan/tilt head is in the YXZ configuration, the euler angle rotation sequence of the shooting device corresponding to the control command corresponding to the current shooting mode is: second axis, first axis, third axis.
When the current shooting mode is the horizontal orientation shooting mode, taking a cradle head with a ZXY configuration as an example, controlling the cradle head to rotate according to a control instruction corresponding to the current shooting mode, so that the real-time rolling attitude component of the shooting device deviates by a preset angle, and the realization process that the real-time rolling attitude component of the shooting device after deviation meets the preset condition can include: and controlling the holder to rotate according to the Euler angle rotation sequence of the third shaft, the first shaft and the second shaft so as to enable the real-time rolling attitude component of the shooting device to deviate by a preset angle and enable the real-time rolling attitude component of the deviated shooting device to meet a preset condition.
The size of the preset angle can be set according to needs, for example, the preset angle can be 5 degrees, and other degrees can also be provided.
(2) And controlling the holder to rotate according to a preset control instruction, so that the target rolling attitude component of the shooting device is 90 degrees or-90 degrees, and the shooting device is switched from the current shooting mode to the vertical orientation shooting mode.
In some embodiments, controlling the pan/tilt head to rotate according to a preset control instruction so that the target roll attitude component of the photographing apparatus is 90 degrees or-90 degrees, so that the photographing apparatus is switched from the current photographing mode to the vertical orientation photographing mode, may further include: acquiring the posture of a base of the holder; according to the posture of the base, the optical axis direction of the shooting device is controlled to be approximately parallel to the middle plane of the base through the holder.
In this embodiment, the posture of the base may be directly obtained, for example, an Inertial Measurement Unit (IMU) is placed on the base, and the posture of the base is obtained through detection by the IMU on the base; the attitude of the base may also be obtained indirectly, optionally determined from the attitude of the camera.
Taking a handheld pan/tilt head as an example, how to determine the posture of the base according to the posture of the shooting device is described. The base is the handle of handheld cloud platform, and the handheld cloud platform of this embodiment still includes the accelerometer, and this accelerometer is used for detecting the gesture qmesa of shooting the device. The posture of the handle is determined according to the posture of the shooting device and the joint angles of the holder, taking a three-axis holder with a handheld holder in a ZXY configuration as an example, the joint angles of the holder comprise a yaw joint angle joint _ yaw, a roll joint angle joint _ roll and a pitch joint angle joint _ pitch, and each joint angle is the joint angle of the corresponding axis motor. Q _ yaw, q _ roll and q _ pitch are obtained according to an axis angle conversion formula, and the conjugates or inverses of q _ yaw, q _ roll and q _ pitch are q _ yaw _ inv, q _ roll _ inv and q _ pitch _ inv, respectively. The calculation formula of the handle posture qhandle is as follows:
qhandle＝qmesa*q_pitch_inv*q_roll_inv*q_yaw_inv (2)；
where joint represents a joint angle and q represents a quaternion.
Along the embodiment of the handheld cloud deck shown in fig. 1, when the shooting device is switched from the current shooting mode to the vertical orientation shooting mode, the problem of dead locking of the universal joint caused by a small included angle between the outer frame and the middle frame can be avoided by controlling the optical axis direction of the shooting device to be approximately parallel to the middle plane of the base; simultaneously, this kind of setting makes the cloud platform have great rotation range in the driftage direction, and shooting device's shooting range is wider. When the cloud platform is a handheld cloud platform, the base is a handle, and the middle plane of the base is the middle plane of the handle in the length direction.
According to a preset control instruction, the cradle head is controlled to rotate, so that the target rolling attitude component of the shooting device is 90 degrees or-90 degrees, and the implementation process of switching the shooting device from the current shooting mode to the vertical orientation shooting mode can comprise the following steps:
(1) acquiring the real-time posture of the shooting device;
(2) determining the initial posture of the shooting device during mode switching according to the real-time posture and a preset control instruction;
in this embodiment, according to the real-time attitude and the preset control instruction, the determining of the implementation process of the initial attitude of the shooting device during mode switching may include: determining an attitude cosine matrix according to the real-time attitude; and determining the initial attitude of the shooting device during mode switching according to the attitude cosine matrix and the Euler angle rotation sequence of the shooting device corresponding to the preset control instruction.
Optionally, the attitude cosine matrix is characterized by a quaternion, where q denotes a quaternion.
Take the pan-tilt head in the ZXY configuration and control the shooting device to switch from the horizontal orientation shooting mode to the vertical orientation shooting mode as an example.
Wherein, when the shooting device is in the horizontal orientation shooting cutting mode, the Euler angle rotation sequence of the shooting device is as follows: z, X, Y, abbreviated as ZXY rotation sequence; when the shooting device is in a vertical orientation shooting mode, the Euler angle rotation sequence of the shooting device is as follows: z, X, Z, ZXZ for short.
In this embodiment, the conversion formula from the euler angle to the quaternion in the ZXY rotation sequence is as follows:
E ZXY＝q ZXY (3)；
the real-time attitude of the shooting device is the euler angle of the ZXY rotation sequence, and assuming that the euler angle of the ZXY rotation sequence is (Out _ Z, Mid _ X, Inn _ Y), where Out _ Z, Mid _ X, Inn _ Y corresponds to the size of the euler angle rotating around Z, X, Y, equation (4) is converted into:
Figure PCTCN2019130862-APPB-000002
at the instant of mode switching:
q ZXY＝q ZXZ (5)；
in addition, q ═ q0,q 1,q 2,q 3] (6)；
q 0、q 1、q 2、q 3The four elements, which are quaternions respectively, in combination with equations (4) and (6), can be determined:
Figure PCTCN2019130862-APPB-000003
Figure PCTCN2019130862-APPB-000004
Figure PCTCN2019130862-APPB-000005
Figure PCTCN2019130862-APPB-000006
the formula for one solution to the conversion of the euler angles of the q to ZXZ rotation sequence is as follows:
Figure PCTCN2019130862-APPB-000007
in combination with equations (4) - (7), the initial attitude of the camera at the time of mode switching can be determined, where the initial attitude is the euler angles (Out _ Z, Mid _ X, Inn _ Z) in the ZXZ rotation order, and Out _ Z, Mid _ X, Inn _ Z corresponds to the euler angle size of rotation around Z, X, Z. Out _ Z, Mid _ X, Inn _ Z is respectively one solution of Euler angles of corresponding ZXZ rotation sequences, and the other solution is (-pi + Inn _ Z, -Mid _ X, -pi + Out _ Z), and the specific solution is determined according to information such as current base attitude orientation and the like. When Mid _ X is 0 degree or ± 180 degrees, the euler angle of the ZXZ rotation sequence is singular (i.e. causing the gimbal to lock), which does not support the switching of the photographing device from horizontal to vertical, at this time, Mid _ X is first controlled to rotate a certain angle (leaving the area of 0 degree or ± 180 degrees) in horizontal photographing, that is, the switching of the photographing device from horizontal to vertical photographing is supported. When Mid _ X is not 0 degrees nor ± 180 degrees, there is no euler angle singularity problem of ZXZ rotation order. In the present embodiment, pi is 180 degrees.
(3) And controlling the holder to rotate according to the initial posture, so that the target rolling posture component of the shooting device is 90 degrees or-90 degrees, and the shooting device is switched from the current shooting mode to the vertical orientation shooting mode.
In the step, the shooting device can be controlled to reach the initial attitude through the cradle head, and then the shooting device is controlled to reach the attitude with the target rolling attitude component of 90 degrees or minus 90 degrees from the initial attitude through the cradle head; or the initial attitude and the attitude with the target roll attitude component of 90 degrees or minus 90 degrees can be superposed, and the shooting device is controlled by the holder to reach the superposed attitude.
It should be understood that when switching the photographing apparatus from the current photographing mode to the vertical orientation photographing mode, no control may be performed for other attitude components of the photographing apparatus, such as a yaw attitude component and/or a pitch attitude component, and the other attitude components of the photographing apparatus may be controlled to a preset size as needed.
In addition, in some embodiments, the control method of the pan/tilt head further includes: and when the shooting device is in the vertical orientation shooting mode, if a second trigger instruction for indicating the shooting device to exit the vertical orientation shooting mode is obtained, controlling the shooting device to exit the vertical orientation shooting mode.
The second trigger instruction may be generated in various ways, for example, in some embodiments, the cradle head includes a base and a control portion disposed on the base, and the second trigger instruction is generated by the user triggering the control portion. The control portion may include a key, a button, a knob, or a combination thereof. The control unit of the present embodiment may include one or more than one. When the cloud platform is handheld cloud platform, handheld cloud platform can include the handle, and the control part can be located on the handle. In other embodiments, the second trigger instruction is generated by a user operating an external device and is sent by the external device. This external equipment can communicate with the cloud platform, and external equipment can include mobile terminal such as cell-phone, panel computer, also can be fixed terminal, still can be the controlling means of remote controller or other cloud platforms.
Corresponding to the control method of the cloud deck of the above embodiment, the embodiment of the present application further provides a cloud deck, please refer to fig. 1 and 6, which includes a base, a shaft assembly and a controller. The shaft assembly is arranged on the base and used for carrying the shooting device. The axle assembly of this embodiment is configured to rotate about at least two axes, optionally a yaw axis, a pitch axis and a roll axis; optionally, the shaft assembly is configured to rotate about a yaw axis and a pitch axis. The controller is electrically connected with the holder, and optionally, the controller is arranged on the base.
Specifically, the controller is configured to: acquiring a current posture of the shooting device and a target posture of the shooting device when the shooting device is in a vertical orientation shooting mode; determining a target joint angle of the holder according to the current posture, the target posture and the Euler angle rotation sequence of the shooting device corresponding to the preset control instruction; controlling the holder to rotate according to the target joint angle; the preset control instruction can enable the tripod head to always keep the rotational degree of freedom of fixed dimensionality in the rotating process when the shooting device is in a vertical orientation shooting mode.
The implementation process and the working principle of the controller can be referred to the description of the control method of the pan/tilt head of the above embodiment, and are not described herein again.
The controller of this embodiment may be a Central Processing Unit (CPU). The controller may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The PLD may be a Complex Programmable Logic Device (CPLD), a field-programmable gate array (FPGA), a General Array Logic (GAL), or any combination thereof.
In addition, when the cloud platform is the handheld cloud platform, the base can be the handle of handheld cloud platform, or locate on the handle of handheld cloud platform.
Furthermore, an embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the steps of the control method of the pan and tilt head of the above-mentioned embodiment.
The computer readable storage medium may be an internal storage unit, such as a hard disk or a memory, of the cradle head according to any of the foregoing embodiments. The computer readable storage medium may also be an external storage device of the cradle head, such as a plug-in hard disk, a Smart Media Card (SMC), an SD Card, a Flash memory Card (Flash Card), and the like, provided on the device. Further, the computer-readable storage medium may also include both an internal storage unit and an external storage device of the pan/tilt head. The computer-readable storage medium is used for storing the computer program and other programs and data required by the head, and may also be used for temporarily storing data that has been output or is to be output.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
The above disclosure is only a few examples of the present application, and certainly should not be taken as limiting the scope of the present application, which is therefore intended to cover all modifications that are within the scope of the present application and which are equivalent to the claims.

Claims (56)

  1. A method of controlling a pan/tilt head on which a photographing device is mounted, the pan/tilt head being configured to rotate about at least two axes, the method comprising:
    acquiring a current posture of the photographing device and a target posture of the photographing device when the photographing device is in a vertical orientation photographing mode;
    determining a target joint angle of the holder according to the current posture, the target posture and an Euler angle rotation sequence of the shooting device corresponding to a preset control instruction;
    controlling the holder to rotate according to the target joint angle;
    the preset control instruction can enable the holder to always keep the rotational freedom degree of a fixed dimension in the rotating process when the shooting device is in a vertical orientation shooting mode.
  2. The method of claim 1, wherein the euler angles of the camera correspond to rotations of a first axis, a second axis, and a third axis, the first axis being parallel to the direction of the optical axis of the camera, the first axis, the second axis, and the third axis being orthogonal, respectively;
    the euler angle rotation sequence of the shooting device corresponding to the preset control instruction is as follows: the second shaft, the first shaft, the second shaft, or the third shaft, the first shaft, the third shaft.
  3. The method of claim 2, wherein the third axis is a vertical direction when the camera is placed in a horizontal orientation with an optical axis of the camera parallel to a horizontal plane;
    when the holder is in a ZXY configuration, the Euler angle rotation sequence of the shooting device corresponding to the preset control instruction is as follows: third axle, first axle, third axle.
  4. The method of claim 2, wherein the third axis is a vertical direction when the camera is placed in a horizontal orientation with an optical axis of the camera parallel to a horizontal plane;
    when the pan-tilt is in the YXZ configuration, the euler angle rotation sequence of the shooting device corresponding to the preset control instruction is as follows: second shaft, first shaft, second shaft.
  5. The method according to claim 1, wherein the determining a target joint angle of the pan/tilt head according to the current posture, the target posture and an euler angle rotation sequence of the shooting device corresponding to a preset control instruction comprises:
    determining a target Euler angle according to the target posture and the Euler angle rotation sequence of the shooting device corresponding to a preset control instruction;
    determining a first attitude quaternion according to the target Euler angle;
    and determining a target joint angle of the holder according to the first attitude quaternion and the second attitude quaternion corresponding to the current attitude.
  6. The method according to claim 5, characterized in that said target attitude is determined according to an attitude control quantity sent by a control device of said head.
  7. The method of claim 6, wherein the determining a target Euler angle according to the target attitude and an Euler angle rotation sequence of the photographing device corresponding to a preset control command comprises:
    acquiring the last target posture of the shooting device;
    determining a first Euler angle corresponding to the last target posture according to the Euler angle rotation sequence of the shooting device corresponding to the preset control instruction;
    and determining a target Euler angle according to the first Euler angle and a second Euler angle, wherein the second Euler angle is obtained by converting the attitude control quantity based on the Euler angle rotation sequence of the shooting device corresponding to the preset control command.
  8. The method according to claim 7, wherein the range of the angle value corresponding to the roll direction in the target euler angle is 90 degrees ± a first preset angle or-90 degrees ± a second preset angle.
  9. The method of claim 7, wherein the euler angles of the camera correspond to rotations of a first axis, a second axis, and a third axis, the first axis being parallel to the direction of the optical axis of the camera, the first axis, the second axis, and the third axis being orthogonal, respectively;
    if the euler angle rotation sequence of the shooting device corresponding to the preset control instruction is as follows: a second axis, a first axis and a second axis, wherein the components used for controlling the rotation of the holder around the navigation axis and the components used for controlling the rotation of the holder around the pitch axis in the attitude control quantity are obtained by conversion based on the second axis in the Euler angle rotation sequence;
    if the euler angle rotation sequence of the shooting device corresponding to the preset control instruction is as follows: the third axis, the primary shaft, the third axis, be used for controlling in the attitude control volume the cloud platform is around the component of navigation axle pivoted, and be used for controlling the cloud platform is around pitch axis pivoted component, for being based on the conversion of third axis in the euler angle rotation order obtains.
  10. The method of claim 9, wherein the translation comprises a translation of euler angular velocity of the pan/tilt rotation, or a translation of euler angular magnitude of the pan/tilt rotation.
  11. The method according to claim 5, characterized in that said target attitude is determined from a real-time detected attitude of the base of said head.
  12. The method of claim 11, wherein determining a target euler angle according to the target posture and an euler angle rotation sequence of the photographing device corresponding to a preset control command comprises:
    and converting the roll attitude component in the target attitude into 90 degrees or-90 degrees based on the Euler angle rotation sequence of the shooting device corresponding to the preset control instruction to obtain a target Euler angle.
  13. The method according to claim 1, wherein the current posture is different from the target posture, and the determining the target joint angle of the pan/tilt head according to the current posture, the target posture and the euler angle rotation order of the photographing device corresponding to a preset control command comprises:
    determining at least one intermediate attitude between the current attitude and the target attitude according to the current attitude, the target attitude and a preset interpolation strategy;
    and determining a target joint angle of the holder according to the current posture, at least one intermediate posture, the target posture and the Euler angle rotation sequence of the shooting device corresponding to a preset control instruction.
  14. The method of claim 13, wherein determining at least one intermediate pose between the current pose and the target pose based on the current pose, the target pose, and a pre-set interpolation strategy comprises:
    determining at least one intermediate pose between the current pose and the target pose based on the current pose, the target pose, and at least one time variation parameter;
    wherein at least one of the time varying parameters corresponds to at least one of the intermediate poses one to one.
  15. The method of claim 14, wherein the time-varying parameters include a plurality of gesture switching directions from the current gesture to the target gesture, and a plurality of time-varying parameters corresponding to the intermediate gestures exhibit increasing trends.
  16. The method of claim 13, 14 or 15, wherein euler's angle deviations of the positionally adjacent poses are equal in magnitude.
  17. The method of claim 1, wherein before acquiring the current pose of the camera and the target pose of the camera while the camera is in the vertically oriented shooting mode, further comprising:
    when a trigger instruction indicating that the shooting device enters a vertical orientation shooting mode is acquired, controlling the shooting device to be in the vertical orientation shooting mode.
  18. The method of claim 16, wherein the controlling the camera in the vertically oriented shooting mode comprises:
    acquiring a current shooting mode of the shooting device;
    and controlling the shooting device to be in the vertical orientation shooting mode according to the current shooting mode.
  19. The method of claim 18, wherein the current shooting mode is a vertically oriented shooting mode, and wherein controlling the camera in the vertically oriented shooting mode according to the current shooting mode comprises:
    maintaining the camera in the vertically oriented shooting mode.
  20. The method of claim 18, wherein the current shooting mode is a non-vertically oriented shooting mode, and wherein controlling the camera in the vertically oriented shooting mode according to the current shooting mode comprises:
    controlling the photographing device to be switched from the current photographing mode to the vertically oriented photographing mode by the photographing device.
  21. The method of claim 20, wherein the controlling the camera to switch from the current camera mode to the vertically oriented camera mode comprises:
    switching the control instruction of the holder to a preset control instruction, so that the holder keeps the rotational freedom degree of the original dimensionality after mode switching, and the number of the original dimensionality is equal to that of the fixed dimensionality;
    and controlling the holder to rotate according to the preset control instruction, so that the target rolling attitude component of the shooting device is 90 degrees or-90 degrees, and the shooting device is switched from the current shooting mode to the vertical orientation shooting mode.
  22. The method according to claim 21, wherein the switching the control command of the pan/tilt head to the preset control command comprises:
    acquiring a real-time roll attitude component of the shooting device;
    and if the real-time rolling attitude component meets a preset condition, switching the control instruction of the holder to a preset control instruction.
  23. The method of claim 22, further comprising:
    and if the real-time rolling attitude component does not meet the preset condition, controlling the holder to rotate so as to enable the real-time rolling attitude component of the shooting device to deviate by a preset angle and enable the deviated real-time rolling attitude component of the shooting device to meet the preset condition.
  24. The method according to claim 22 or 23, wherein the current photographing mode comprises a horizontally oriented photographing mode, and the preset condition comprises: the real-time roll attitude component is not 0 degrees, 180 degrees, or-180 degrees.
  25. The method according to claim 24, wherein the controlling the pan/tilt head to rotate so that the real-time roll attitude component of the photographing apparatus is shifted by a preset angle and the shifted real-time roll attitude component of the photographing apparatus satisfies the preset condition comprises:
    and controlling the holder to rotate according to the control instruction corresponding to the current shooting mode so as to enable the real-time rolling attitude component of the shooting device to deviate by a preset angle and enable the deviated real-time rolling attitude component of the shooting device to meet the preset condition.
  26. The method of claim 17, wherein the pan-tilt comprises: the trigger instruction is generated by triggering the control part by a user; or
    The trigger instruction is generated by operating an external device by a user and is sent by the external device.
  27. The method of claim 1, wherein the pan and tilt head is configured to rotate about two axes, the two axes comprising a yaw axis and a pitch axis.
  28. The method of claim 1, wherein the pan head is configured to rotate about three axes, the three axes including a yaw axis, a pitch axis, and a roll axis.
  29. A head, characterized in that it comprises:
    a base;
    the shaft assembly is arranged on the base and used for carrying a shooting device, and the shaft assembly is configured to rotate around at least two shafts; and
    the controller, the controller with the cloud platform electricity is connected, the controller is used for:
    acquiring a current posture of the photographing device and a target posture of the photographing device when the photographing device is in a vertical orientation photographing mode;
    determining a target joint angle of the holder according to the current posture, the target posture and an Euler angle rotation sequence of the shooting device corresponding to a preset control instruction;
    controlling the holder to rotate according to the target joint angle;
    the preset control instruction can enable the holder to always keep the rotational freedom degree of a fixed dimension in the rotating process when the shooting device is in a vertical orientation shooting mode.
  30. A head according to claim 29, wherein said euler angles of said shooting means correspond to the rotation of a first axis, a second axis and a third axis, said first axis being parallel to the direction of the optical axis of said shooting means, said first axis, said second axis and said third axis being respectively orthogonal;
    the euler angle rotation sequence of the shooting device corresponding to the preset control instruction is as follows: the second shaft, the first shaft, the second shaft, or the third shaft, the first shaft, the third shaft.
  31. A head according to claim 30, wherein said third axis is a vertical direction when said shooting device is placed in a horizontal orientation with its optical axis parallel to the horizontal plane;
    when the holder is in a ZXY configuration, the Euler angle rotation sequence of the shooting device corresponding to the preset control instruction is as follows: third axle, first axle, third axle.
  32. A head according to claim 30, wherein said third axis is a vertical direction when said shooting device is placed in a horizontal orientation with its optical axis parallel to the horizontal plane;
    when the pan-tilt is in the YXZ configuration, the euler angle rotation sequence of the shooting device corresponding to the preset control instruction is as follows: second shaft, first shaft, second shaft.
  33. A holder according to claim 29, wherein the controller, when determining the target joint angle of the holder according to the current attitude, the target attitude and the euler angle rotation order of the camera corresponding to the preset control command, is specifically configured to:
    determining a target Euler angle according to the target posture and the Euler angle rotation sequence of the shooting device corresponding to a preset control instruction;
    determining a first attitude quaternion according to the target Euler angle;
    and determining a target joint angle of the holder according to the first attitude quaternion and the second attitude quaternion corresponding to the current attitude.
  34. A head according to claim 33, wherein said target attitude is determined according to an attitude control quantity transmitted by control means of said head.
  35. A holder according to claim 34, wherein the controller, when determining the target euler angle according to the target attitude and the euler angle rotation order of the camera corresponding to the preset control instruction, is specifically configured to:
    acquiring the last target posture of the shooting device;
    determining a first Euler angle corresponding to the last target posture according to the Euler angle rotation sequence of the shooting device corresponding to the preset control instruction;
    and determining a target Euler angle according to the first Euler angle and a second Euler angle, wherein the second Euler angle is obtained by converting the attitude control quantity based on the Euler angle rotation sequence of the shooting device corresponding to the preset control command.
  36. A head according to claim 35, wherein said target euler angle has an angle value corresponding to the roll direction in the range 90 degrees ± a first predetermined angle or-90 degrees ± a second predetermined angle.
  37. A head according to claim 35, wherein said euler angles of said shooting means correspond to the rotation of a first axis, a second axis and a third axis, said first axis being parallel to the direction of the optical axis of said shooting means, said first axis, said second axis and said third axis being respectively orthogonal;
    if the euler angle rotation sequence of the shooting device corresponding to the preset control instruction is as follows: a second axis, a first axis and a second axis, wherein the components used for controlling the rotation of the holder around the navigation axis and the components used for controlling the rotation of the holder around the pitch axis in the attitude control quantity are obtained by conversion based on the second axis in the Euler angle rotation sequence;
    if the euler angle rotation sequence of the shooting device corresponding to the preset control instruction is as follows: the third axis, the primary shaft, the third axis, be used for controlling in the attitude control volume the cloud platform is around the component of navigation axle pivoted, and be used for controlling the cloud platform is around pitch axis pivoted component, for being based on the conversion of third axis in the euler angle rotation order obtains.
  38. A head according to claim 37, wherein said translation comprises a translation of the euler angular velocity of rotation of said head, or a translation of the magnitude of the euler angle of rotation of said head.
  39. A head according to claim 33, wherein said target attitude is determined from a real-time detected attitude of a base of said head.
  40. The holder according to claim 39, wherein the controller, when determining the target Euler angle according to the target attitude and the Euler angle rotation order of the capturing device corresponding to a preset control command, is specifically configured to:
    and converting the roll attitude component in the target attitude into 90 degrees or-90 degrees based on the Euler angle rotation sequence of the shooting device corresponding to the preset control instruction to obtain a target Euler angle.
  41. A head according to claim 29, wherein said current attitude is different from said target attitude, and wherein said controller, when determining a target joint angle of said head according to said current attitude, said target attitude and a euler angular rotation order of said shooting device corresponding to preset control commands, is configured in particular to:
    determining at least one intermediate attitude between the current attitude and the target attitude according to the current attitude, the target attitude and a preset interpolation strategy;
    and determining a target joint angle of the holder according to the current posture, at least one intermediate posture, the target posture and the Euler angle rotation sequence of the shooting device corresponding to a preset control instruction.
  42. A head according to claim 41, wherein said controller, when determining at least one intermediate attitude between said current attitude and said target attitude in accordance with said current attitude, said target attitude and a preset interpolation strategy, is particularly adapted to:
    determining at least one intermediate pose between the current pose and the target pose based on the current pose, the target pose, and at least one time variation parameter;
    wherein at least one of the time varying parameters corresponds to at least one of the intermediate poses one to one.
  43. A head according to claim 42, wherein said time-varying parameters comprise a plurality of attitude switch directions from said current attitude to said target attitude, a plurality of time-varying parameters corresponding to said intermediate attitude presenting an increasing trend.
  44. A head according to claim 41, 42 or 43, wherein the Euler angle deviations of said attitude adjacent said positions are of equal magnitude.
  45. A head according to claim 29, wherein said controller, before acquiring the current attitude of said camera and the target attitude of said camera when said camera is in the vertical orientation shooting mode, is further configured to:
    when a trigger instruction indicating that the shooting device enters a vertical orientation shooting mode is acquired, controlling the shooting device to be in the vertical orientation shooting mode.
  46. A head according to claim 44, wherein said controller, when controlling said shooting device in said vertical orientation shooting mode, is particularly adapted to:
    acquiring a current shooting mode of the shooting device;
    and controlling the shooting device to be in the vertical orientation shooting mode according to the current shooting mode.
  47. A head according to claim 46, wherein said current shooting mode is a vertical orientation shooting mode, and wherein said controller, when controlling said shooting device in said vertical orientation shooting mode according to said current shooting mode, is configured in particular to:
    maintaining the camera in the vertically oriented shooting mode.
  48. A head according to claim 46, wherein said current shooting mode is a non-vertically oriented shooting mode, and wherein said controller, when controlling said shooting device in said vertically oriented shooting mode according to said current shooting mode, is configured in particular to:
    controlling the photographing device to be switched from the current photographing mode to the vertically oriented photographing mode by the photographing device.
  49. A head according to claim 48, wherein said controller, when controlling said shooting device to be switched from said current shooting mode to said vertical orientation shooting mode by said shooting device, is configured in particular to:
    switching the control instruction of the holder to a preset control instruction, so that the holder keeps the rotational freedom degree of the original dimensionality after mode switching, and the number of the original dimensionality is equal to that of the fixed dimensionality;
    and controlling the holder to rotate according to the preset control instruction, so that the target rolling attitude component of the shooting device is 90 degrees or-90 degrees, and the shooting device is switched from the current shooting mode to the vertical orientation shooting mode.
  50. A holder according to claim 49, wherein said controller, when switching said control command of said holder to said preset control command, is specifically configured to:
    acquiring a real-time roll attitude component of the shooting device;
    and if the real-time rolling attitude component meets a preset condition, switching the control instruction of the holder to a preset control instruction.
  51. A head according to claim 50, wherein said controller is further adapted to:
    and if the real-time rolling attitude component does not meet the preset condition, controlling the holder to rotate so as to enable the real-time rolling attitude component of the shooting device to deviate by a preset angle and enable the deviated real-time rolling attitude component of the shooting device to meet the preset condition.
  52. A head according to claim 50 or 51, wherein said current shooting mode comprises a horizontal orientation shooting mode, and said preset conditions comprise: the real-time roll attitude component is not 0 degrees, 180 degrees, or-180 degrees.
  53. The holder according to claim 52, wherein the controller is configured to, when controlling the rotation of the holder to shift the real-time roll attitude component of the camera by a preset angle and to satisfy the preset condition, specifically:
    and controlling the holder to rotate according to the control instruction corresponding to the current shooting mode so as to enable the real-time rolling attitude component of the shooting device to deviate by a preset angle and enable the deviated real-time rolling attitude component of the shooting device to meet the preset condition.
  54. A head according to claim 45, wherein said head comprises: the trigger instruction is generated by triggering the control part by a user; or
    The trigger instruction is generated by operating an external device by a user and is sent by the external device.
  55. A head according to claim 29, wherein said head is configured to rotate about two axes, said two axes comprising a yaw axis and a pitch axis.
  56. A head according to claim 29, wherein said head is configured to rotate about three axes, said three axes comprising a yaw axis, a pitch axis and a roll axis.
CN201980091863.5A 2019-12-31 2019-12-31 Cloud deck control method and cloud deck Pending CN113423643A (en)

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