CN114158271A

CN114158271A - Holder control method, holder assembly, device, movable platform and storage medium

Info

Publication number: CN114158271A
Application number: CN202080005539.XA
Authority: CN
Inventors: 刘帅; 谢振生; 庞少阳
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2020-07-08
Filing date: 2020-07-08
Publication date: 2022-03-08
Also published as: WO2022006782A1

Abstract

A holder control method, a holder assembly, a device, a movable platform and a storage medium are provided. The head is intended to support an image acquisition device (200) and comprises: the device comprises a base (100) and a roll motor (101) for driving the image acquisition equipment to rotate around a roll shaft of the holder; the control method comprises the following steps: detecting a current placement state of the susceptor (S301); controlling the rotation of the rolling motor according to the current placement state so that the image acquisition equipment acquires upright images when the current placement state is an upright state or an inverted state (S302); the placing state of the base comprises a positive state and an inverted state. According to the technical scheme, no matter what placing state the holder is in, the image acquisition equipment can acquire upright images through controlling the roll motor, and at the moment, the images do not need to be rotated, so that data delay caused by data processing operation is reduced, the quality and efficiency of data processing are ensured, and the use requirements of users can be met.

Description

Holder control method, holder assembly, device, movable platform and storage medium

Technical Field

The embodiment of the invention relates to the field of control, in particular to a holder control method, a holder assembly, a device, a movable platform and a storage medium.

Background

The holder is a supporting device for mounting and fixing the shooting device. When using the cloud platform, can be based on the state of placing of different user demand adjustment cloud platforms, for example: the holder can be in a positive state or an inverted state, and the like.

When the pan/tilt head is in different positions, the imaging of the image sensor in the camera may be different, for example: when the holder is in the positive state, the image obtained by the image sensor in the shooting device can be a positive image; when the pan/tilt head is in the inverted state, the image obtained by the image sensor in the photographing apparatus may be an inverted image.

When the image obtained by the image sensor is an inverted image, in order to ensure the quality and efficiency of image display, the image needs to be subjected to central symmetry rotation operation, that is, inverted image is inverted into an upright image, so that not only are the data processing operation and the corresponding data delay increased, but also the quality and efficiency of data processing are reduced, and the use requirements of users cannot be met.

Disclosure of Invention

The embodiment of the invention provides a holder control method, a holder assembly, a device, a movable platform and a storage medium, which are used for solving the problems that data processing operation and corresponding data delay are increased, the quality and efficiency of data processing are reduced, and the use requirements of users cannot be met in the prior art.

A first aspect of the present invention provides a cradle head control method, the cradle head being configured to support an image capture device, the cradle head comprising: the base and the roll motor are used for driving the image acquisition equipment to rotate around a roll shaft of the holder; the method comprises the following steps:

detecting a current placement state of the base;

controlling the rotation of the rolling motor according to the current placement state so that the image acquisition equipment acquires upright images when the current placement state is an upright state or an inverted state;

wherein the placement state of the base includes the upright state and the inverted state.

A second aspect of the present invention provides a pan/tilt head control apparatus, the pan/tilt head being configured to support an image capturing device, the pan/tilt head including: the base and the roll motor are used for driving the image acquisition equipment to rotate around a roll shaft of the holder; the control device includes:

a memory for storing a computer program;

a processor for executing the computer program stored in the memory to implement:

detecting a current placement state of the base;

A third aspect of the present invention is to provide a head assembly, comprising:

the cloud platform for support image acquisition equipment, the cloud platform includes: the base and the roll motor are used for driving the image acquisition equipment to rotate around a roll shaft of the holder;

the holder control device according to the second aspect is configured to control the holder.

A fourth aspect of the present invention is to provide a computer-readable storage medium, where the storage medium is a computer-readable storage medium, and program instructions are stored in the computer-readable storage medium, where the program instructions are used to implement the pan/tilt head control method according to the first aspect.

A fifth aspect of the present invention is to provide a cradle head control method, where the cradle head is disposed on an unmanned aerial vehicle body and is used to support an image capturing device, and the cradle head includes: the horizontal rolling motor is used for driving the image acquisition equipment to rotate around a horizontal rolling shaft of the holder; the method comprises the following steps:

acquiring the current relative placement state between the holder and the machine body;

controlling the rotation of the rolling motor according to the current relative placement state so that the image acquisition equipment can acquire upright images when the current relative placement state is an overhead state or a down state;

wherein, the relative placement state between cloud platform and the organism includes the overhead state with put down the state.

A sixth aspect of the present invention is to provide a cradle head control device, where the cradle head is disposed on an unmanned aerial vehicle body and is used for supporting an image capturing device, and the cradle head includes: the horizontal rolling motor is used for driving the image acquisition equipment to rotate around a horizontal rolling shaft of the holder; the control device includes:

a memory for storing a computer program;

a processor for executing the computer program stored in the memory to implement the pan/tilt head control method according to the fifth aspect.

A seventh aspect of the present invention is to provide a movable platform, comprising:

a body;

the cloud platform, set up in on the organism for support image acquisition equipment, the cloud platform includes: the horizontal rolling motor is used for driving the image acquisition equipment to rotate around a horizontal rolling shaft of the holder;

the holder control device according to the sixth aspect, wherein the holder control device is configured to control the holder.

An eighth aspect of the present invention is to provide a computer-readable storage medium, wherein the storage medium is a computer-readable storage medium, and program instructions are stored in the computer-readable storage medium, and the program instructions are used for implementing the pan/tilt head control method according to the fifth aspect.

According to the holder control method, the holder assembly, the device, the movable platform and the storage medium provided by the embodiment of the invention, the rotation of the traverse motor is controlled according to the current placement state of the base by detecting the current placement state of the base, or the relative placement state between the holder and the machine body is obtained, and the rotation of the traverse motor is controlled according to the current relative placement state, so that the image acquisition equipment arranged on the holder can acquire the upright image by controlling and adjusting the traverse motor, and the image does not need to be rotated, thereby reducing the data delay caused by data processing operation, ensuring the quality and efficiency of data processing, meeting the use requirements of users and further improving the practicability of the method.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

FIG. 1a is a schematic diagram of a front-view image according to an embodiment of the present invention;

FIG. 1b is a schematic diagram of an inverted image provided by an embodiment of the present invention;

fig. 2a is a schematic view of a cradle head in a normal position according to an embodiment of the present invention;

fig. 2b is a first schematic diagram of a holder in an inverted state according to an embodiment of the present invention;

fig. 2c is a schematic view of a cradle head in an inverted state according to an embodiment of the present invention;

fig. 3 is a schematic flow chart of a pan-tilt control method according to an embodiment of the present invention;

fig. 4 is a first schematic flowchart of the process of detecting the current placement state of the base according to the embodiment of the present invention;

fig. 5 is a schematic flowchart of determining a current placement state of the base based on a Z-axis direction in the base coordinate system and a Z-axis direction in the geodetic coordinate system according to an embodiment of the present invention;

fig. 6 is a schematic view illustrating a second process for detecting the current placement state of the base according to an embodiment of the present invention;

fig. 7 is a schematic flowchart of determining the current placement state of the base based on the posture information according to the embodiment of the present invention;

fig. 8 is a schematic flow chart of another pan-tilt control method according to an embodiment of the present invention;

fig. 9 is a schematic flow chart illustrating a process of controlling the rotation of the pan/tilt head according to the target posture so that the image capturing device maintains the target posture according to the embodiment of the present invention;

fig. 10 is a schematic flow chart illustrating a process of controlling the pan/tilt head based on the measured joint angle and the target posture so that the image capturing device maintains the target posture according to the embodiment of the present invention;

fig. 11 is a first schematic diagram illustrating determining an attitude angle adjustment speed corresponding to a measured joint angle according to the measured joint angle and the target attitude according to the embodiment of the present invention;

fig. 12 is a second schematic diagram of determining an attitude angle adjustment speed corresponding to the measured joint angle according to the measured joint angle and the target attitude according to the embodiment of the present invention;

fig. 13 is a third schematic diagram of determining an attitude angle adjustment speed corresponding to the measured joint angle according to the measured joint angle and the target attitude according to the embodiment of the present invention;

FIG. 14a is a first schematic diagram of a speed adjustment curve according to an embodiment of the present invention;

FIG. 14b is a second schematic diagram of a speed adjustment curve according to an embodiment of the present invention;

fig. 15 is a schematic structural diagram of a pan/tilt head control device according to an embodiment of the present invention;

fig. 16 is a schematic flow chart of another pan/tilt head control method according to an embodiment of the present invention;

fig. 17 is a schematic structural diagram of a pan/tilt head assembly according to an embodiment of the present invention;

fig. 18 is a schematic structural diagram of another pan/tilt head control device according to an embodiment of the present invention;

FIG. 19 is a schematic structural diagram of a movable platform according to an embodiment of the present invention;

fig. 20 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

In order to facilitate understanding of the technical solutions and technical effects of the present application, the following briefly describes the prior art:

in the prior art, the cloud platform can be provided with image acquisition equipment, for the convenience of understanding, explain as image acquisition equipment for example with the cell-phone, can understand that image acquisition device also can be other with cloud platform detachable electronic equipment, or integrate on the cloud platform:

when using the cloud platform, can be based on the state of placing of different user demand adjustment cloud platforms, for example: the holder can be in a positive state or an inverted state, and the like.

When the holder is in different placing states, the imaging of the image sensor in the mobile phone can be different. Specifically, the image formation in the image sensor may include a normal image (upright image) and an inverted image (inverted image) for identifying different relative states between the image and the upper and lower edges of the display device, and when the image having the preset upper end at a distance d1 from the upper edge of the display device and the preset lower end at a distance d2 from the lower edge of the display device is determined as the normal image, as shown in fig. 1a, then the image having the preset upper end at a distance d1 from the lower edge of the display device and the preset lower end at a distance d2 from the upper edge of the display device is determined as the inverted image, as shown in fig. 1 b. Similarly, if an image having a preset upper end at a distance d1 from the lower edge of the display device and a preset lower end at a distance d2 from the upper edge of the display device is determined to be a forward image, an image having a preset upper end at a distance d1 from the upper edge of the display device and a preset lower end at a distance d2 from the lower edge of the display device may be determined to be an inverted image.

Specifically, in an application scenario, when the pan/tilt is in the upright position, as shown in fig. 2a, the image obtained by the image sensor in the mobile phone is an upright image, and at this time, the upper end of the target object (such as the illustrated car) in the image corresponds to the upper edge of the display screen of the mobile phone, and the lower end of the target object in the image corresponds to the lower edge of the display screen of the mobile phone.

In an application scenario, when the pan/tilt head is in an inverted state, as shown in fig. 2b, an image obtained by an image sensor in the mobile phone is an inverted image, and at this time, the upper end of a target object (such as a car shown in the figure) in the imaging corresponds to the upper edge of the display screen of the mobile phone, and the lower end of the target object in the imaging corresponds to the lower edge of the display screen of the mobile phone. It is noted that the relative state between the image and the display device is different from the relative state between the image and the display device in fig. 2 a.

In another application scenario, when the cradle head is in an inverted state, as shown in fig. 2c, the image obtained by the image sensor in the mobile phone may be an inverted image, and at this time, although the target object (such as the illustrated vehicle) that the user can directly see through the real-time image transmission interface of the mobile phone may be upright, if the mobile phone on the cradle head is communicatively connected with other control terminals (the control terminals may include the illustrated tablet pc 300 and the like), after the image sensor of the mobile phone acquires the image, the image can be transmitted to the control terminal, and then the inverted image is directly displayed through the display interface of the control terminal, that is, the upper end of the target object in the imaging corresponds to the lower end of the actual object, and the lower end of the target object in the imaging corresponds to the upper end of the actual object, which is not favorable for the remote control of the cradle head by the control terminal due to the inverted display of the image.

Generally, a user wants to directly acquire and view an upright image through an image sensor supported by a holder, but in some application scenarios, the image sensor may be inverted due to the posture of the holder. Therefore, when the image obtained by the image sensor is an inverted image, in order to ensure that the image can meet the application or viewing requirements of the user, the image needs to be subjected to a centrosymmetric rotation operation, that is, the inverted image is inverted into an upright image. Of course, it is understood that in some special scenarios, when the user wishes to acquire an inverted image through the image sensor supported by the pan/tilt head, the image does not need to be subjected to a centrosymmetric rotation operation, for example: in some application scenarios of rotation shooting.

However, for the general application scenario described above, the image rotation operation will certainly increase the data delay of the image processing system, and the data delay is proportional to the resolution of the image, for example: for an image with n × n pixels, the number of times of rotation operation is n × n, and the data delay corresponding to the image rotation operation is undoubtedly large, and especially for an application scenario with a high delay requirement, such as a pan/tilt head, a display device, or wireless image transmission, the quality and efficiency of data processing are greatly reduced, and the use requirement of a user cannot be met.

In order to solve the above problems that the quality and efficiency of data processing are reduced due to the data delay existing in the image rotation processing required for the image, and the use requirements of users cannot be met, the present embodiment provides a pan-tilt control method, a pan-tilt assembly, a device, a movable platform, and a storage medium. The cradle head control method effectively realizes that no matter what kind of placement state the cradle head is in, the upright image can be directly acquired through the image acquisition equipment arranged on the cradle head by controlling the roll motor, and at the moment, the image does not need to be rotated, so that the data delay caused by data processing operation is reduced, the quality and the efficiency of data processing are ensured, the use requirement of a user can be met, the application scene (such as a remote control scene) applicable to the method is expanded, and the practicability of the method is further improved.

Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The features of the embodiments and examples described below may be combined with each other without conflict between the embodiments.

Fig. 3 is a schematic flow chart of a pan-tilt control method according to an embodiment of the present invention; referring to fig. 3, the present embodiment provides a method for controlling a pan-tilt, taking a three-axis pan-tilt as an example, as shown in fig. 1 a-2 c, the pan-tilt is used for supporting an image capturing device 200, and the pan-tilt includes: a base 100, and a roll motor 101 for driving the image capturing apparatus 200 to rotate around a roll axis of the pan/tilt head. In addition, the main execution body of the method may be a cloud platform control device, and it is understood that the cloud platform control device may be implemented as software, or a combination of software and hardware.

It will be appreciated that the particular type of head is not limited to the three-axis head described above, for example: the foregoing holder may also refer to a four-axis holder including a turning shaft, and the implementation principle of the four-axis holder is similar to that of the three-axis holder, so for convenience of understanding, the three-axis holder is taken as an example for description in this embodiment.

In an achievable application scenario, the cradle head can be a cradle head in a power-on state, and since the cradle head in the power-on state does not perform any image processing operation, and a user does not have special shooting requirements such as rotation shooting, the cradle head in the power-on state is controlled, so that no matter how the posture of the cradle head changes, all images acquired by the image acquisition equipment on the cradle head are effectively guaranteed to be upright images, and better power-on experience can be provided for the user while data delay is reduced. In addition, when the cradle head is in a power-on state, the cradle head needs to perform self-checking operation, namely, the maximum limit and the minimum limit corresponding to the rotation operation of the cradle head are determined, and after the self-checking operation is performed, the cradle head can stay at a position with a joint angle of 0 degree in advance. Then, can carry out the preliminary treatment operation to the control of cloud platform, can be in order to acquire the current state of placing of cloud platform base, be favorable to improving quality and the efficiency of controlling the cloud platform like this.

Of course, the cradle head may also be a cradle head in a use state, that is, the cradle head control method may control the cradle head in a power-on state or a use state, so as to achieve that, for the cradle head in any state, it can be ensured that the image acquisition device on the cradle head acquires an upright image, and the setting can be performed according to actual requirements. Specifically, the holder control method may include:

step S301: the current placement state of the base is detected.

Step S302: and controlling the rotation of the rolling motor according to the current placement state so that the image acquisition equipment acquires upright images when the current placement state is an upright state or an inverted state.

The following is a detailed description of the specific implementation process of each step:

step S301: the current placement state of the base is detected.

The placing state of the base comprises a positive state and an inverted state, and the current placing state of the base can be the positive state or the inverted state. When the head is in different positions, the base can have different positions, for example: when the holder is in the positive state, the base can be in the positive state; when the holder is in the inversion state, the base can be in the inversion state, and at the moment, the placing state of the holder is the same as that of the base. Or when the holder is in the positive state, the base can be in the inverted state; when the holder is in the inversion state, the base can be in the upright state, and at the moment, the placing state of the holder is different from the placing state of the base. Because the preset corresponding relation exists between the placing state of the holder and the current placing state of the base, the placing state of the holder can be determined by detecting the current placing state of the base.

In addition, when the holder is in different placement states, the image capturing device disposed on the holder may have different placement states, for example: when the holder is in the positive state, the image acquisition equipment arranged on the holder can be in the positive state; when the holder is in the inverted state, the image acquisition equipment can be in the inverted state, and at the moment, the placement state of the holder is the same as the placement state of the image acquisition equipment arranged on the holder. Or when the holder is in the positive state, the image acquisition equipment arranged on the holder can be in the inverted state; when the holder is in the inverted state, the image acquisition equipment arranged on the holder can be in the upright state, and at the moment, the placing state of the holder is different from the placing state of the image acquisition equipment arranged on the holder.

In order to accurately identify the current placement state of the pan/tilt head, the current placement state of the base may be detected, where, referring to fig. 4, a manner for detecting the current placement state of the base may include:

step S3011: the Z-axis direction in the base coordinate system corresponding to the base is acquired.

Step S3012: and determining the current placement state of the base based on the Z-axis direction in the base coordinate system and the Z-axis direction in the geodetic coordinate system.

The image acquisition device comprises a base, a lens holder, a lens holder, a.

It should be understood that the coordinate axis directions defined for the base coordinate system are not limited to the above examples, and those skilled in the art may define the coordinate axis directions in the base coordinate system according to specific application requirements and design requirements, and will not be described herein again.

After the base coordinate system corresponding to the base is established, the Z-axis direction in the base coordinate system can be obtained, and then the Z-axis direction in the base coordinate system can be analyzed and identified based on the geodetic coordinate system, wherein the X-axis direction in the geodetic coordinate system is the north direction, the Y-axis direction is the east direction, and the Z-axis direction is the gravity downward direction (the direction pointing to the ground). Specifically, the Z-axis direction in the geodetic coordinate system may be extracted, and then the Z-axis direction in the geodetic coordinate system and the Z-axis direction in the base coordinate system may be analyzed and compared to determine the current placement state of the base. Wherein, referring to fig. 5, determining the current placement state of the base based on the Z-axis direction in the base coordinate system and the Z-axis direction in the geodetic coordinate system may include:

step S30121: and acquiring the information of an included angle between the Z-axis direction in the base coordinate system and the Z-axis direction in the geodetic coordinate system.

Step S30122: when the included angle information is matched with the first angle range, determining that the current placement state of the base is a positive state; or when the included angle information is matched with the second angle range, determining that the current placement state of the base is an inverted state.

In order to accurately identify the current placement state of the base, a first angle range and a second angle range are configured in advance, wherein the first angle range is used for identifying an included angle range between the Z-axis direction in the base coordinate system and the Z-axis direction in the geodetic coordinate system when the current placement state of the base is in a positive state; the second angle range is used for marking the range of an included angle between the Z-axis direction in the base coordinate system and the Z-axis direction in the geodetic coordinate system when the current placement state of the base is an inverted state. It will be appreciated that the first angular range is different from the second angular range, for example: the first angular range may be (90 °,180 °), and the second angular range may be [0 °,90 °).

Specifically, after the Z-axis direction in the base coordinate system and the Z-axis direction in the geodetic coordinate system are obtained, the information of the included angle between the Z-axis direction in the base coordinate system and the Z-axis direction in the geodetic coordinate system can be obtained. Then, the included angle information can be analyzed and compared with the first angle range and the second angle range, and when the included angle information is matched with the first angle range, namely the included angle information is located in the first angle range or is an upper limit value corresponding to the first angle range, the current placing state of the base can be determined to be the positive state. When the included angle information is matched with the second angle range, that is, the included angle information is located in the second angle range or is a lower limit value corresponding to the second included angle range, it can be determined that the current placement state of the base is an inverted state.

For detecting the current placement state of the base, referring to fig. 6, the embodiment provides another way to detect the current placement state of the base, which specifically includes:

step S3013: attitude information of the base is acquired.

Step S3014: based on the pose information, a current placement state of the base is determined.

Specifically, when an Inertial Measurement Unit (IMU) is disposed on the base, the attitude information of the base may be directly obtained through the IMU. Or, when an Inertial Measurement Unit (IMU for short) is arranged on the pan/tilt head, the Measurement attitude of the pan/tilt head may be obtained through the IMU, and then the attitude information of the base may be determined based on the Measurement attitude. Of course, those skilled in the art may also acquire the attitude information of the base in other manners, as long as the accuracy and reliability of acquiring the attitude information of the base can be ensured, which is not described herein again.

After the pose information of the base is obtained, the pose information may be analyzed to determine a current placement state of the base. Specifically, referring to fig. 7, determining the current placement state of the base based on the pose information may include:

step S30141: a first attitude range for identifying the base as a forward state and a second attitude range for identifying the base as an inverted state are obtained.

Step S30142: when the attitude information is matched with the first attitude range, determining that the current placement state of the base is a positive state; or when the posture information is matched with the second posture range, determining that the current placing state of the base is the inverted state.

The attitude information of the base may include information of an included angle between the Z-axis direction in the base coordinate system where the base is located and the Z-axis direction in the geodetic coordinate system, and at this time, the specific implementation manner of determining the current placement state of the base based on the attitude information may refer to the description content corresponding to the embodiment of fig. 4.

In addition, the attitude information of the base may include attitude angle information (yaw angle, roll angle, pitch angle) of the base with respect to the geodetic coordinate system, and in this case, in order to accurately recognize the current placement state of the base, a first attitude range and a second attitude range for analyzing and processing the attitude information of the base may be acquired, where the first attitude range is an attitude range corresponding to the base being in the upright state, and the second attitude range is an attitude range corresponding to the base being in the inverted state. It is understood that the first angular range is different from the second angular range.

Specifically, after the attitude information of the base is acquired, the attitude information of the base may be analyzed and compared with the first attitude range and the second attitude range, and when the attitude information of the base is matched with the first attitude range, that is, the attitude information of the base is located in the first attitude range or is an upper limit value or a lower limit value corresponding to the first attitude range, it may be determined that the current placement state of the base is the upright state. When the attitude information of the base is matched with the second attitude range, that is, the attitude information of the base is located in the second attitude range or is an upper limit value or a lower limit value corresponding to the second attitude range, it can be determined that the current placement state of the base is an inverted state.

Of course, the specific implementation manner for detecting the current placement state of the base is not limited to the implementation manner defined above, and those skilled in the art may also use other manners to detect the current placement state of the base, as long as the accuracy and reliability of obtaining the current placement state of the base can be ensured, which is not described herein again.

After the current placement state of the base is acquired, the rotation of the rolling motor can be controlled based on the current placement state, so that the image acquisition equipment acquires upright images when the current placement state is an upright state or an inverted state.

In an implementable manner, when the base is in the upright state, the image acquired by the image acquisition device is an upright image; at this time, the upright image can be acquired through the image acquisition device without controlling the roll motor to rotate. In contrast, when the base is in the inverted state, controlling the rotation of the roll motor according to the current placement state, so that the image capturing apparatus acquires an upright image when the current placement state is the upright state or the inverted state, may include: when the current placement state is the inverted state, the image acquisition equipment is controlled to rotate by a preset angle around the rolling shaft through the rolling motor so as to acquire upright images through the image acquisition equipment.

When the base is in an inverted state, when the image acquisition equipment is not controlled to rotate around the rolling shaft, an inverted image can be acquired through the image acquisition equipment. Therefore, in order to be able to acquire an upright image, the image capturing device may be controlled by the roll motor to rotate around the roll axis by a preset angle, which is related to the joint angle at which the pan-tilt stays after performing the self-inspection operation, for example: when the joint angle at which the pan/tilt head stays after the self-checking operation is performed is 0 °, it may be determined that the preset angle is 180 °. If the current placement state of the base is an inverted state, the image acquisition equipment can be controlled to rotate 180 degrees around the rolling shaft through the rolling motor, so that the upright image can be directly acquired through the image acquisition equipment, and the image does not need to be rotated in the image processing process, thereby effectively improving the quality and efficiency of data processing.

In another realizable manner, when the base is in the upright state, the image acquired by the image acquisition device is an inverted image, and when the base is in the inverted state, the image acquired by the image acquisition device is an upright image; at this time, controlling the rotation of the roll motor according to the current placement state, so that the image capturing apparatus acquires an upright image when the current placement state is the upright state or the inverted state, may include: when the current placement state is the positive placement state, the image acquisition equipment is controlled to rotate around the roll shaft by a preset angle through the roll motor so as to acquire a positive image through the image acquisition equipment.

The specific implementation manner and implementation effect of the above steps in this embodiment are similar to the specific implementation manner and implementation effect of "when the current placement state is the positive placement state, the image acquisition device is controlled to rotate around the roll axis by a preset angle by the roll motor", and reference may be made to the above statements specifically, and details are not repeated here.

In an implementation manner, the image capturing device is provided with a mark for indicating the placement state, and the mark can be changed according to the placement state of the pan/tilt head, for example: when the holder is in the upright state, the preset mark '1' is displayed through the image acquisition equipment or the holder, when the holder is in the inverted state, the preset mark '2' is displayed through the image acquisition equipment or the holder, and the like, so that a user can visually know the placing state of the base or the holder through the mark of the placing state, and the flexibility and the reliability of the method are further improved.

In an implementation manner, the image capturing device is provided with a mark for indicating the placement state, the mark may be a static mark, the static mark may be an electronic display or a non-electronic display, such as a label or a logo, and the user may be prompted to place or invert the image capturing device by placing or inverting the static mark, and the static mark may be disposed on the cradle head or the image capturing device.

According to the holder control method provided by the embodiment, the current placing state of the base is detected, then the rotation of the roll motor is controlled according to the current placing state, no matter what placing state the holder is, the image acquisition equipment arranged on the holder can acquire upright images through the control and adjustment of the roll motor, at the moment, the images do not need to be rotated, so that the data delay caused by data processing operation is reduced, the quality and the efficiency of data processing are ensured, the method can meet the use requirements of users, and the practicability of the method is further improved.

Fig. 8 is a schematic flow chart of another pan-tilt control method according to an embodiment of the present invention; on the basis of the foregoing embodiment, with continued reference to fig. 8, the pan/tilt head may further include a roll motor for driving the image capturing device to rotate around the tilt axis of the pan/tilt head, and the method in this embodiment may further include:

step S801: and determining the target posture of the image acquisition equipment according to the current placement state.

Step S802: controlling the holder based on the target posture so that the image acquisition equipment keeps the target posture; the target posture is used for representing that the image acquisition equipment is in an upright state.

Because when the base is in different states of placement, the image acquisition equipment can correspond to different target gestures, for example: when the base is in the positive state, the target posture corresponding to the image acquisition device can be (0 °,0 °,0 °) (yaw, roll, pitch); when the base is in an inverted state, the target posture corresponding to the image acquisition device can be (180 °,0 °,0 °) (yaw, roll, pitch); and the image acquired by the image acquisition equipment is inclined when the pan-tilt head follows the base due to the fact that the base may be inclined. Therefore, after the current placement state of the base is acquired, the current placement state can be analyzed to determine a target pose of the image capture device, which is used to characterize that the image capture device is in an upright state. After the target posture of the image acquisition device is acquired, the holder can be controlled based on the target posture, so that the image acquisition device can maintain the target posture.

Specifically, when controlling the pan/tilt head based on the target posture, the current posture of the image acquisition device can be acquired first, and when the current posture is not matched with the target posture, for example: when the holder is at a preset inclination angle relative to the horizontal plane, the current posture of the image acquisition equipment is possibly different from the target posture, namely the current posture is not matched with the target posture, and the image acquisition equipment can be controlled to be adjusted from the current posture to the target posture; when the current posture of the image acquisition equipment is matched with the target posture, the image acquisition equipment can be controlled to keep the target posture, so that the image acquisition equipment is always in an upright state, and the upright image can be acquired through the upright image acquisition equipment.

In an implementation manner, the pan/tilt head may further include a yaw motor for driving the image acquisition device to rotate around a yaw axis of the pan/tilt head, and the target attitude is further used for characterizing that a yaw component in the attitude of the image acquisition device is consistent with a yaw component in the attitude of the base, so that a change of the yaw component in the attitude of the pan/tilt head can follow a change of the yaw component in the attitude of the base. The image displayed in the image acquisition equipment can be influenced by different placement states of the base, and the image acquisition equipment can acquire an upright image in any state of the base by controlling the rotation of the rolling motor. Therefore, no matter the placing state of the pan/tilt head or the base is the upright state or the inverted state, the roll motor for driving the image acquisition device to rotate around the roll shaft of the pan/tilt head can be adjusted and controlled through a preset control strategy, and the optical axis orientation of the image acquisition device is controlled in combination with the pitch motor, for example, the horizontal setting is performed to acquire a desired image, so that when the pan/tilt head is controlled, the roll motor and the pitch motor do not need to be controlled to follow the base in the roll and pitch directions. Of course, it will be appreciated that in practical applications, changes in the attitude of the head may also follow changes in the attitude of the base.

Further, as shown in fig. 9, controlling the rotation of the pan/tilt head according to the target posture so that the image capturing apparatus maintains the target posture may include:

step S8021: and acquiring a measured joint angle corresponding to the holder.

Step S8022: and controlling the holder based on the measured joint angle and the target posture so that the image acquisition equipment keeps the target posture.

Wherein, still including being used for driving image acquisition equipment around the yaw motor of the driftage axle rotation of cloud platform on the cloud platform, can acquire the measurement joint angle corresponding with the cloud platform through angle detection device, should measure the current measurement gesture that the joint angle is used for the sign cloud platform, and it can include driftage joint measurement angle or pitch joint measurement angle. Therefore, after the measured joint angle is acquired, the pan/tilt head may be controlled based on the measured joint angle and the target attitude so that the image capture apparatus maintains the target attitude.

In an implementable manner, as illustrated with reference to fig. 10, controlling the pan/tilt head based on the measured joint angle and the target pose such that the image capture device maintains the target pose may comprise:

step S80221: and determining the attitude angle adjusting speed corresponding to the measured joint angle according to the measured joint angle and the target attitude.

Step S80222: and controlling the holder based on the attitude angle adjusting speed so that the image acquisition equipment keeps the target attitude.

The adjustment speed may include an attitude angle adjustment speed and a joint angle adjustment speed, and this embodiment takes the adjustment speed as the attitude angle adjustment speed as an example for description.

After the measured joint angle and the target attitude are obtained, the target attitude and the measured joint angle can be analyzed and processed, so that the holder can be accurately and effectively controlled. Specifically, a target joint angle corresponding to the target posture may be acquired first, and then the joint angle deviation between the measured joint angle and the target joint angle is compared, and the posture angle adjustment speed corresponding to the measured joint angle may be determined based on the joint angle deviation, where the posture angle adjustment speed may be a constant speed value or a speed value that changes with time or with a change in the joint angle. After the attitude angle adjusting speed is acquired, the cradle head can be controlled based on the attitude angle adjusting speed, so that the image acquisition equipment can be effectively kept at the target attitude.

In the embodiment, the target posture of the image acquisition equipment is determined according to the current placement state, and then the cradle head is controlled based on the target posture, so that the posture closed-loop control of the cradle head is effectively realized, the image acquisition equipment can keep the target posture, and the stability and the reliability of the operation of the cradle head are further ensured.

On the basis of the above embodiment, after the measured joint angle and the target attitude are obtained, the pan/tilt head may be controlled based on the measured joint angle and the target attitude, wherein when the pan/tilt head is controlled, the pan/tilt head may be adjusted at different attitude angle adjustment speeds, so that the pan/tilt head may be smoothly transitioned from the measured joint angle to the target joint angle corresponding to the target attitude. While different attitude angle adjustment speeds may be associated with the angular difference between the current joint angle and the target joint angle, such as: when the angle difference between the measured joint angle and the target joint angle is large, the attitude angle adjusting speed corresponding to the measured joint angle is configured to be large, namely, the cradle head is controlled through the configured attitude angle adjusting speed, so that the measured joint angle can be quickly close to the target joint angle. When the measured joint angle is close to the target joint angle, the attitude angle adjusting speed corresponding to the measured joint angle can be configured to be smaller, namely, the cradle head is controlled by the configured attitude angle adjusting speed, so that the measured joint angle can be enabled to approach the target joint angle constantly.

In addition, if the angle range corresponding to the pan/tilt joint angle is large, for example: the range of the angle that the joint angle can rotate is-270 degrees to +270 degrees, and then when the pan-tilt is controlled based on the measured joint angle and the target posture, in order to avoid the damage of the pan-tilt caused by the fact that the pan-tilt collides with the limit, the pan-tilt can be controlled aiming at different joint angle areas where the currently measured joint angle is located. Specifically, when the measured joint angle includes a yaw joint measurement angle or a pitch joint measurement angle, the embodiment provides a manner that can determine an attitude angle adjustment speed corresponding to the measured joint angle according to the measured joint angle and a target attitude, and specifically includes:

step S901: and when the measured joint angle is larger than the first angle, determining that the posture angle adjusting speed corresponding to the measured joint angle is a first speed, and the direction of the first speed is a first direction.

The first angle refers to an angle limit value corresponding to the attitude angle adjustment speed being the first speed, the specific numerical range corresponding to the first angle is not limited in this embodiment, and a person skilled in the art can set the first angle according to a specific application scenario and an application requirement, for example: the first angle may be 180 °,90 °, 270 °, or the like.

When the measured joint angle is greater than the first angle, it indicates that the measured joint angle has exceeded the minimum angle limit corresponding to the first speed at this time, and therefore, it may be determined that the attitude angle adjustment speed corresponding to the measured joint angle is a first speed, where the direction of the first speed is a first direction, and the measured joint angle is adjusted to be smaller than the first angle at the first speed in the first direction, thereby facilitating control of the pan/tilt head based on the acquired first speed and enabling the image capture device to maintain the target attitude.

Step S902: and when the measured joint angle is smaller than a second angle, determining that the posture angle adjusting speed corresponding to the measured joint angle is a second speed, wherein the direction of the second speed is a second direction, and the first direction is opposite to the second direction.

The second angle is different from the first angle, and may refer to an angle limit value corresponding to the second speed corresponding to the attitude angle adjustment speed, specifically, the embodiment does not limit the specific numerical range of the second angle, and a person skilled in the art may set the second angle according to specific application requirements and design requirements, for example: the second angle may be-270, -180, or-90, etc.

And when the measured joint angle is smaller than the second angle, the measured joint angle is smaller than the maximum angle limit value corresponding to the second speed. Accordingly, it may be determined that the posture angle adjustment speed corresponding to the measured joint angle is a second speed, wherein a direction of the second speed is a second direction, and the second direction may be opposite to the first direction to adjust the measured joint angle to be greater than the second angle by the second speed of the second direction. In some examples, the first speed and the second speed are equal in magnitude.

Step S903: and when the measured joint angle is larger than the second angle and smaller than the first angle, determining that the attitude angle adjusting speed is in direct proportion to a first target difference value, wherein the first target difference value is the difference value of the target attitude and a corresponding component in the measured attitude of the holder.

When the measured joint angle is greater than the second angle and less than the first angle, it may be determined that the joint adjustment angle is proportional to a first target difference, where the first target difference is a difference between the target attitude and a corresponding component in the measured attitude of the pan/tilt head.

For convenience of understanding, the first angle is 180 °, the second angle is-180 °, and the roll joint angle when the image capturing apparatus maintains the target posture is 0 °, when the measured joint angle is acquired, referring to fig. 11, if the measured joint angle α is greater than 180 °, the posture angle adjustment speed corresponding to the measured joint angle may be determined to be the first speed V1, and the direction of the first speed V1 may be the first direction.

When the measured joint angle β is acquired, as shown in fig. 12, if the measured joint angle β is greater than-180 °, it may be determined that the posture angle adjustment speed corresponding to the measured joint angle is the second speed V2, and the direction of the second speed V2 is the second direction.

When the measured joint angle γ is obtained, referring to fig. 13, if the measured joint angle γ is greater than-180 ° and less than 180 °, the attitude angle adjustment speed may be determined to be K (D-C), where D-C is a difference between the target attitude and a corresponding component (yaw component, roll component, pitch component) in the pan/tilt measurement attitude, D is a corresponding component in the target attitude, C is a corresponding component in the pan/tilt measurement attitude, K is a preset parameter, and K > 0. Wherein the difference determines the direction of the attitude angle adjustment speed, referring to fig. 13, if the difference is smaller than 0, the direction of the attitude angle adjustment speed is the first direction, and if the difference is larger than 0, the direction of the attitude angle adjustment speed is the second direction.

In addition, for the roll motor included on the pan/tilt head for driving the image capturing device to rotate around the roll axis of the pan/tilt head, since the roll component corresponding to the roll motor included in the posture of the pan/tilt head may have been adjusted when in the upright state or the inverted state, and even if the angle that can be adjusted is not adjusted, the angle that can be adjusted is smaller, then at this time, the adjustment of the posture angle adjustment speed may not be performed by regions. Specifically, in order to realize the stability and reliability of the control of the roll motor, the roll component corresponding to the roll motor in the posture of the pan/tilt head can be extracted, the posture angle adjusting speed corresponding to the roll component in the posture of the pan/tilt head is in direct proportion to a second target difference value, and the second target difference value is the difference value between the target posture and the roll component in the measurement posture of the pan/tilt head, so that the stability and reliability of the rotation operation of the roll motor controlled according to the current posture of the pan/tilt head are effectively realized, and the pan/tilt head can be smoothly transited from the current posture to the target posture by controlling the roll motor.

For example, for a roll axis motor on the pan/tilt head, after acquiring the posture of the pan/tilt head, a roll component included in the pan/tilt head posture may be determined, at this time, a joint angular velocity speed _ roll _ K (D-C) corresponding to the roll component, where D-C is a difference between the target posture and the roll component in the pan/tilt head measurement posture, D is the target posture (which may be 0 °), C is the roll component in the pan/tilt head measurement posture, K is a preset parameter, and K > 0.

In an implementation manner, when the measurement joint angle of the motor connected with the base is larger than the first angle or smaller than the second angle, and the measurement joint angle of the motor connected with the base is the same in the upright state and the inverted state, the direction of the posture angle adjustment speed corresponding to the measurement joint angle of the motor connected with the base is opposite in the upright state and the inverted state.

Wherein, the motor of connection base can be yaw motor. Further, when the motor connected with the base is a yaw motor, for the holder, the base, the pitch motor, the roll motor, the pitch motor and the image acquisition device on the holder are sequentially connected.

Specifically, the measurement joint angle of the motor connected to the base is greater than a first angle (e.g., 180 degrees, etc.) or less than a second angle (e.g., -180 degrees, etc.), when the pan/tilt head is in the upright position, the measurement joint angle of the motor on the base is 200 degrees, when the pan/tilt head is in the inverted position, the measurement joint angle of the motor on the base is also 200 degrees, that is, the measurement joint angle of the motor connected to the base is the same in the upright position as in the inverted position. At this time, for the motor connected to the base, when the direction of the attitude angle adjustment speed corresponding to the measurement joint angle of the pan/tilt head in the upright state is the first direction, since the roll motor on the pan/tilt head may make corresponding adjustment, for example, 180 ° inversion, after the pan/tilt head is in the inverted state, relatively speaking, if another motor is included between the roll motor and the image capturing device, the motor between the roll motor and the image capturing device is also turned over by, for example, 180 ° inversion, but the motor connected to the base does not realize, for example, 180 ° inversion due to the adjustment of the roll motor, and therefore, for the motor connected to the base, the direction of the attitude angle adjustment speed corresponding to the measurement joint angle of the pan/tilt head in the inverted state is the second direction opposite to the first direction.

For example, referring to fig. 11, when the pan/tilt head is in the upright position, the measured joint angle α of the motor on the base is 235 °, and the attitude angle adjustment speed corresponding to the measured joint angle α may be determined to be the first direction. Then, when the pan/tilt head is in the upside-down state, the measured joint angle α of the motor on the base is also 235 °, and the attitude angle adjustment speed corresponding to the measured joint angle α may be determined to be the second direction.

Similarly, referring to fig. 12, when the pan/tilt head is in the upside-down position, the measured joint angle β of the motor on the base is-235 °, and the attitude angle adjustment speed corresponding to the measured joint angle β may be determined to be the second direction. Then, when the pan/tilt head is in the upright position, the measurement joint angle β of the motor on the base is also-235 °, and the attitude angle adjustment speed corresponding to the measurement joint angle β may be determined to be the first direction.

Through the process, the accurate control of the cradle head based on different placing states of the cradle head is effectively realized, and the accurate reliability of the control of the cradle head is further improved.

In another realizable mode, when the base is in a positive state, the positive and negative rotating directions of the posture of the holder are the same as the positive and negative rotating directions of the joint angle of the holder; when the base is in an inverted state, the positive and negative rotating directions of the posture of the holder are opposite to the positive and negative rotating directions of the joint angle of the holder.

Specifically, for the pan/tilt head connected to the base, when the base is in a forward position, the euler angle represents the posture, wherein the forward and reverse rotation directions of the euler angle corresponding to the posture of the pan/tilt head are represented based on the coordinate system of the image acquisition device, and if the forward rotation direction of the euler angle corresponding to the posture of the pan/tilt head is a clockwise direction, the forward rotation direction of the joint angle corresponding to the posture is also a clockwise direction; if the reversal direction of the euler's angle corresponding to the posture of the pan/tilt head is counterclockwise, then the reversal direction of the joint angle corresponding to the posture is also counterclockwise. However, when the base is in the upside-down state and the base is in the upright state, the forward and reverse rotation directions of the joint angle of the motor of the pan/tilt head connected to the base are adjusted by 180 °, but due to the action of the roll motor, the orientation of the Z axis (related to the yaw angle in the attitude of the image acquisition device) in the coordinate system of the image acquisition device is kept as it is, and at this time, the forward and reverse rotation directions corresponding to the joint angle of the pan/tilt head are reversed with respect to the forward and reverse rotation directions corresponding to the upright state, so that the forward and reverse rotation directions of the attitude of the pan/tilt head are opposite to the forward and reverse rotation directions of the joint angle of the pan/tilt head.

When the base is in the positive state, the positive and negative rotating directions of the posture of the holder are configured to be the same as the positive and negative rotating directions of the joint angle of the holder, and when the base is in the negative state, the positive and negative rotating directions of the posture of the holder are configured to be opposite to the positive and negative rotating directions of the joint angle of the holder, so that different control operations of the holder are effectively realized aiming at different placing states of the base, and the accuracy and reliability of the control of the holder are further improved.

It should be noted that the relationship between the placement state of the base, the forward and reverse rotation directions of the posture of the pan/tilt head, and the forward and reverse rotation directions of the joint angle of the pan/tilt head may be set as required, for example, the relationship may be: when the base is in a positive state, the positive and negative rotating directions of the posture of the holder are opposite to the positive and negative rotating directions of the joint angle of the holder; when the base is in the inverted state, the forward and reverse rotation directions of the posture of the holder are the same as the forward and reverse rotation directions of the joint angle of the holder, and the directions are not particularly limited.

In specific application, the embodiment of the application provides a holder control method, which can ensure that a camera sensor (such as a mobile phone) on a holder is in an upright state and directly acquires an upright image in the process of starting the holder in the upright state or the inverted state, and reduces the delay of image transmission.

Step 1: and acquiring the measurement attitude of the base.

Generally, after the cradle head is powered on, the self-checking operation of the cradle head needs to be performed first, that is, the maximum limit and the minimum limit corresponding to the rotation operation of the cradle head are determined. After the self-checking operation is carried out, the cradle head can stay at the position where the joint angle is 0 degree in advance, and then the closed-loop control of the joint angle can be carried out on the cradle head. In the process of carrying out joint angle closed-loop control on the pan/tilt head, the measurement attitude q _ camera of the pan/tilt head can be obtained through the accelerometer, the joint angles roll, pitch and yaw corresponding to the measurement attitude q _ camera are determined, and then the attitude q _ handle of the base (handle) can be obtained based on the joint angles roll, pitch and yaw.

Step 2: and determining the placing state of the holder based on the measuring posture of the base.

After the attitude q _ handle of the base is obtained, the placing state of the holder can be determined according to the attitude q _ handle of the base, that is, whether the holder is in the normal state or the inverted state is determined. Specifically, determining the placement state of the pan/tilt head may include the following steps:

step 21: acquiring a Z-axis direction in a base coordinate system corresponding to the base based on the measurement attitude of the base;

step 22: acquiring included angle information between the Z-axis direction in a base coordinate system and the Z-axis direction in a geodetic coordinate system;

step 23: when the included angle information is more than 90 degrees, determining that the current placement state of the base is a positive placement state; or when the included angle information is less than 90 degrees, determining that the current placement state of the base is an inverted state.

And step 3: when the pan/tilt head is in a positive state, a target joint angle (roll, pitch, yaw) is obtained, where the roll angle is a roll angle, the pitch angle is a pitch angle, and the yaw angle is a yaw angle, and specifically, the target joint angle may be (0 °,0 °,0 °).

And 4, step 4: and carrying out closed-loop control on the attitude angle of the cradle head based on the target joint angle.

And 5: when the holder is in an inverted state, before attitude angle closed-loop control is carried out, the mobile phone is controlled to rotate 180 degrees around the roll shaft through the roll motor, so that upright images are obtained through the mobile phone.

Step 6: acquiring a target joint angle (roll, pitch, yaw) of the pan-tilt in an inverted state, specifically, the target joint angle may be (180 °,0 °,0 °).

And 7: and carrying out joint angle closed-loop control on the holder based on the target joint angle.

Specifically, when the closed-loop control operation of the joint angle is performed on the pan/tilt head, the current joint angle corresponding to the pan/tilt head may be obtained, and a trapezoidal speed adjustment curve (as shown in fig. 14 a) or a trapezoidal speed adjustment curve (as shown in fig. 14 b) may be automatically planned based on the target joint angle and the current joint angle, so that the pan/tilt head may be controlled to smoothly move from the current joint angle to the position of the target joint angle based on the speed satisfying the speed adjustment curve.

Through the process, the closed-loop control that the cradle head enters the joint angle first is effectively realized when the cradle head is in an inverted state, so that the transverse rolling motor controls the mobile phone to rotate 180 degrees around the transverse rolling shaft roll, and then the closed-loop control that the cradle head enters the attitude angle is controlled, and therefore the situation that the upright image can be obtained through the mobile phone is effectively guaranteed.

And 8: and after the joint angle closed-loop control is finished, namely when the cloud deck is at the target joint angle, acquiring the target attitude corresponding to the cloud deck, and performing closed-loop control on the attitude angle of the cloud deck based on the target attitude.

After controlling the cloud platform through above-mentioned control strategy, no matter the cloud platform is in the state of just setting up or the state of invering, all can guarantee that the cloud platform is in predetermined target state, for example: for the pitch, roll, and yaw axes in the pan/tilt head, the target joint angle may be (0,0, consistent with the base).

In addition, after the target joint angle is determined, the pan/tilt head may be controlled based on the target joint angle to control the pan/tilt head to move smoothly from the current joint angle to the position of the target joint angle, and the specific control process includes:

step 11: and measuring a measurement attitude angle C and a target attitude angle D of the holder.

Step 12: the yaw joint angle corresponding to the measured attitude angle C is determined.

Step 13: and controlling the pan-tilt head based on the target joint angle and the yaw joint angle corresponding to the yaw axis.

Step 131: when the yaw joint angle is larger than 180 °, the attitude angle adjustment speed corresponding to the yaw joint angle is determined to be a constant speed, specifically, speed _ yaw ═ const _ spd.

The rotation range of the joint angle can be (-270 degrees and 270 degrees), when the yaw joint angle is larger than 180 degrees, different joint angles at the moment can correspond to the same Euler angle, so that a reverse speed can be provided to prevent the holder from rotating to a limit area, the yaw joint angle can rotate to be smaller than 180 degrees, and the condition that the yaw joint angle cannot reach the target joint angle due to rotation limit is effectively avoided.

Step 132: when the yaw joint angle is smaller than-180 °, the attitude angle adjustment speed corresponding to the yaw joint angle is determined to be a constant speed, specifically, speed _ yaw _ const _ spd.

Similarly, when the yaw joint angle is smaller than-180 degrees, because different joint angles at the moment can correspond to the same Euler angle, a positive speed can be provided, so that the yaw joint angle is larger than-180 degrees, and the problem that the yaw joint angle cannot reach the target joint angle due to rotation limitation is avoided.

Step 133: when the yaw joint angle is larger than-180 degrees and smaller than 180 degrees, determining that the attitude angle adjustment speed corresponding to the yaw joint angle is speed _ yaw ═ K (D-C), wherein K is a preset coefficient and is larger than 0, D is a target attitude angle, and C is a measured attitude angle.

Step 134: the measured attitude angle is updated.

The attitude angle of the pan/tilt head is smoothly adjusted from the measurement attitude angle to the target attitude angle, and the attitude angle of the pan/tilt head is continuously changed in the adjustment process, so that the measurement attitude angle needs to be updated in real time. Specifically, a data acquisition period corresponding to the measurement attitude angle can be acquired; updating the measurement attitude angle based on the data acquisition period and the attitude angle adjustment speed to obtain an updated measurement attitude angle, wherein C 'is C + speed _ yaw deltaT, specifically, C' is the updated measurement attitude angle, C is the measurement attitude angle, speed _ yaw is the attitude angle adjustment speed, and deltaT is the data acquisition period corresponding to the measurement attitude angle. And then, the cradle head can be controlled again based on the updated measurement attitude angle and the updated target attitude angle until the cradle head is positioned at the position corresponding to the target attitude angle.

Similarly, for the pitch axis, the control process includes:

step 21: and measuring a measurement attitude angle C and a target attitude angle D of the holder.

Step 22: the pitch joint angle corresponding to the measured attitude angle C is determined.

Step 23: and controlling the pan-tilt head based on the target joint angle corresponding to the pitch axis and the pitch joint angle.

Step 231: when the pitch joint angle is larger than 180 °, the attitude angle adjustment speed corresponding to the pitch joint angle is determined to be a constant speed, specifically, speed _ pitch becomes — const _ spd.

The rotation range of the joint angle can be (-270 degrees and 270 degrees), when the pitch joint angle is larger than 180 degrees, because different joint angles at the moment can correspond to the same Euler angle, a reverse speed can be provided, the pitch joint angle is smaller than 180 degrees, and the situation that the pitch joint angle cannot reach a target joint angle due to rotation limitation is avoided.

Step 232: when the pitch joint angle is less than-180 °, the attitude angle adjustment speed corresponding to the pitch joint angle is determined to be a constant speed, specifically, speed _ pitch is set to const _ spd.

Similarly, when the pitch joint angle is smaller than minus 180 degrees, because different joint angles at the moment can correspond to the same Euler angle, a positive speed can be provided, so that the pitch joint angle is larger than minus 180 degrees, and the problem that the pitch joint angle cannot reach the target joint angle due to rotation limitation is avoided.

Step 233: when the pitch joint angle is larger than-180 degrees and smaller than 180 degrees, determining that the attitude angle adjusting speed corresponding to the pitch joint angle is speed _ pitch ═ K (D-C), K is a preset coefficient, K is larger than 0, D is a target attitude angle, and C is a measured attitude angle.

Step 234: the measured attitude angle is updated.

Wherein, the data acquisition period corresponding to the measurement attitude angle can be obtained; based on the data acquisition period and the attitude angle adjustment speed, the measurement attitude angle is updated to obtain an updated measurement attitude angle, C ═ C + speed _ pitch ×. deltaT, specifically, C' is the updated measurement attitude angle, C is the measurement attitude angle, speed _ pitch is the attitude angle adjustment speed, and deltaT is the data acquisition period corresponding to the measurement attitude angle. And then, the cradle head can be controlled again based on the updated measurement attitude angle and the updated target attitude angle until the cradle head is positioned at the position corresponding to the target attitude angle.

Similarly, for a roll axis, the control process includes:

step 31: the measurement attitude angle C and the target attitude angle D of the pan/tilt are measured, and since the roll axis needs to be horizontal, the target attitude angle may be 0.

Step 32: a roll joint angle corresponding to the measured attitude angle C is determined.

Step 33: and controlling the pan-tilt based on the target joint angle corresponding to the roll axis and the roll joint angle.

Step 34: and determining the posture angle adjusting speed corresponding to the roll joint angle as speed _ roll ═ K (0-C), wherein K is a preset coefficient, K is greater than 0, and C is a measured posture angle.

Step 341: the measured attitude angle is updated.

Wherein, the data acquisition period corresponding to the measurement attitude angle can be obtained; based on the data acquisition period and the attitude angle adjustment speed, the measurement attitude angle is updated to obtain an updated measurement attitude angle, C ═ C + speed _ roll Δ deltaT, specifically, C' is the updated measurement attitude angle, C is the measurement attitude angle, speed _ roll is the attitude angle adjustment speed, and deltaT is the data acquisition period corresponding to the measurement attitude angle. And then, the cradle head can be controlled again based on the updated measurement attitude angle and the updated target attitude angle until the cradle head is positioned at the position corresponding to the target attitude angle.

Step 41: when determining the attitude angle adjustment speed, the attitude angle adjustment speed in different directions can be determined based on different placement states of the base, specifically as follows:

when the measurement joint angle of the motor connected with the base is larger than the first angle or smaller than the second angle and the measurement joint angle of the motor connected with the base is the same in the upright state and the inverted state, the direction of the posture angle adjustment speed corresponding to the measurement joint angle of the motor connected with the base is opposite in the upright state and the inverted state.

Similarly, when the pan/tilt head is controlled based on the attitude angle adjusting speed, different rotation directions can be determined based on different placement states of the base, specifically as follows:

when the base is in a positive state, the positive and negative rotating directions of the posture of the holder are the same as the positive and negative rotating directions of the joint angle of the motor connected with the base; when the base is in an inverted state, the positive and negative rotating directions of the posture of the holder are opposite to the positive and negative rotating directions of the joint angle of the motor connected with the base.

It should be noted that, in the above embodiment, the pan/tilt head may also be controlled to be in the target attitude by using the joint angle adjustment speed, but unlike the attitude angle adjustment speed, no matter whether the base is in the upright state or the inverted state, the direction of the joint angle adjustment speed of the motor connected to the base does not need to be inverted.

The cloud deck control method provided by the application embodiment effectively realizes that no matter what placement state the cloud deck is in, the image acquisition equipment can acquire upright images through the control of the roll motor, at the moment, the images do not need to be rotated, so that the data delay existing in data processing operation is reduced, the delay of image transmission is specifically reduced, the quality and the efficiency of data processing are ensured, the use requirement of a user can be met, the application scene used by the method is expanded, and the practicability of the method is further improved.

Fig. 15 is a schematic structural diagram of a pan/tilt head control device according to an embodiment of the present invention; referring to fig. 15, the present embodiment provides a pan/tilt head control apparatus, wherein the pan/tilt head is used for supporting an image capturing device, and the pan/tilt head includes: the device comprises a base and a roll motor for driving the image acquisition equipment to rotate around a roll shaft of a holder; moreover, the pan/tilt control apparatus may execute the pan/tilt control method corresponding to fig. 3, specifically, the control apparatus may include:

a memory 12 for storing a computer program;

a processor 11 for executing the computer program stored in the memory 12 to implement:

detecting the current placement state of the base;

controlling the rotation of the rolling motor according to the current placement state so that the image acquisition equipment can acquire upright images when the current placement state is an upright state or an inverted state;

wherein, the current placing state of the base comprises a positive placing state and an inverted placing state. In addition, the structure of the pan-tilt control device may further include a communication interface 13 for the pan-tilt control device to communicate with other devices or a communication network.

In an implementable manner, when the base is in the upright state, the image acquired by the image acquisition device is an upright image; when the rotation of the roll motor is controlled according to the current placement state, so that the image capturing apparatus acquires upright images when the current placement state is the upright state or the inverted state, the processor 11 is configured to: when the current placement state is the inverted state, the image acquisition equipment is controlled to rotate by a preset angle around the rolling shaft through the rolling motor so as to acquire upright images through the image acquisition equipment.

In one implementation, upon detecting the current placement state of the base, the processor 11 is configured to: acquiring a Z-axis direction in a base coordinate system corresponding to the base; and determining the current placement state of the base based on the Z-axis direction in the base coordinate system and the Z-axis direction in the geodetic coordinate system.

In one implementable form, in determining the current placement state of the base based on the Z-axis direction in the base coordinate system and the Z-axis direction in the geodetic coordinate system, the processor 11 is configured to: acquiring included angle information between the Z-axis direction in a base coordinate system and the Z-axis direction in a geodetic coordinate system; when the included angle information is matched with the first angle range, determining that the current placement state of the base is a positive state; or when the included angle information is matched with the second angle range, determining that the current placement state of the base is an inverted state.

In one implementation, upon detecting the current placement state of the base, the processor 11 is configured to: acquiring attitude information of a base; based on the pose information, a current placement state of the base is determined.

In one implementable manner, in determining the current placement state of the base based on the pose information, the processor 11 is configured to: acquiring a first posture range for identifying the base to be in a positive state and a second posture range for identifying the base to be in an inverted state; when the attitude information is matched with the first attitude range, determining that the current placement state of the base is a positive state; or when the posture information is matched with the second posture range, determining that the current placement state of the base is an inverted state.

In one implementation, the pan/tilt head is a pan/tilt head that is in a powered-on state.

In an implementable manner, the head further comprises a roll motor for driving the image capture device to rotate about a pitch axis of the head, the processor 11 being further configured to: determining the target posture of the image acquisition equipment according to the current placement state; controlling the holder based on the target posture so that the image acquisition equipment keeps the target posture; the target posture is used for representing that the image acquisition equipment is in an upright state.

In one implementation, the head further comprises a yaw motor for driving the image acquisition device to rotate about a yaw axis of the head, the target attitude further being for characterizing a yaw component in the attitude of the image acquisition device to coincide with a yaw component in the attitude of the base.

In an implementable manner, when controlling the rotation of the head according to the target pose such that the image capture device maintains the target pose, the processor 11 is configured to: acquiring a measured joint angle corresponding to the holder; and controlling the holder based on the measured joint angle and the target posture so that the image acquisition equipment keeps the target posture.

In an implementable manner, when controlling the pan/tilt head based on the measured joint angle and the target pose such that the image capture device maintains the target pose, the processor 11 is configured to: determining the attitude angle adjusting speed corresponding to the measured joint angle according to the measured joint angle and the target attitude; and controlling the holder based on the attitude angle adjusting speed so that the image acquisition equipment keeps the target attitude.

In one implementation, the measured joint angle includes a yaw joint measurement angle or a pitch joint measurement angle, and when determining an attitude angle adjustment speed corresponding to the measured joint angle based on the measured joint angle and the target attitude, the processor 11 is configured to: when the measured joint angle is larger than the first angle, determining that the posture angle adjusting speed corresponding to the measured joint angle is a first speed, and the direction of the first speed is a first direction; when the measured joint angle is smaller than a second angle, determining that the posture angle adjusting speed corresponding to the measured joint angle is a second speed, wherein the direction of the second speed is a second direction, and the first direction is opposite to the second direction; and when the measured joint angle is larger than the second angle and smaller than the first angle, determining that the attitude angle adjusting speed is in direct proportion to a first target difference value, wherein the first target difference value is the difference value of the target attitude and a corresponding component in the measured attitude of the holder.

In one implementation, the first speed and the second speed are equal in magnitude.

In an implementation manner, when the measurement joint angle of the motor connected with the base is larger than the first angle or smaller than the second angle, and the measurement joint angle of the motor connected with the base is the same in the positive state and the negative state, the direction of the posture angle adjustment speed corresponding to the measurement joint angle of the motor connected with the base is opposite to the historical movement direction of the measurement joint angle.

In an implementable manner, the forward and reverse rotation directions of the attitude of the head are the same as the forward and reverse rotation directions of the articulation angle of the head when the base is in the normal position.

In one implementation, the motor coupled to the base is a yaw motor.

In an implementation mode, the base, the pitching motor, the rolling motor, the pitching motor and the image acquisition equipment are connected in sequence.

In an implementation manner, the attitude angle adjustment speed corresponding to the roll component in the attitude of the pan/tilt head is proportional to the second target difference value, which is the difference value between the target attitude and the roll component in the measured attitude of the pan/tilt head.

In an implementation manner, the image acquisition device is provided with a mark for indicating the placement state.

The apparatus shown in fig. 15 can perform the method of the embodiment shown in fig. 1-14 a and 14b, and the related description of the embodiment shown in fig. 1-14 a and 14b can be referred to for the part not described in detail in this embodiment. The implementation process and technical effect of the technical solution are described in the embodiments shown in fig. 1-14 a and 14b, and are not described herein again.

Fig. 16 is a schematic flow chart of another pan/tilt head control method according to an embodiment of the present invention; referring to fig. 16, the present embodiment provides another method for controlling a pan/tilt head, where the pan/tilt head is disposed on a body of a movable platform and is used to support an image capturing device, and it should be noted that the pan/tilt head at this time may include: a horizontal roll motor for driving image acquisition equipment is rotatory around the horizontal roll axle of cloud platform, and at this moment, the relative state of placing between the organism of cloud platform and movable platform can be including overhead state and underslung state, then can control the cloud platform based on the relative state of placing of difference to no matter realize that the relative state of placing between cloud platform and the organism is any kind of the state of placing, can all make through the control to horizontal roll motor and can directly acquire upright image through setting up the image acquisition equipment on the cloud platform.

Wherein the movable platform may include, but is not limited to, a drone, an unmanned ship, an unmanned vehicle, a movable robot, and the like. Use movable platform to be unmanned aerial vehicle as an example, the top and the bottom of unmanned aerial vehicle's organism can be equipped with the interface that is used for connecting the cloud platform respectively, when the cloud platform is located the top of unmanned aerial vehicle's organism, can call as upper cloud platform, when the cloud platform is located the bottom of unmanned aerial vehicle's organism, can call as lower cloud platform, in practical application, can change the mounted position of cloud platform on unmanned aerial vehicle's organism as required.

Further, the main executing body of the method may be a cloud platform control device, and it is understood that the cloud platform control device may be implemented as software, or a combination of software and hardware. Specifically, the method in this embodiment may further include:

step S1501: and acquiring the current relative placement state between the holder and the machine body.

Wherein, the relative placement state between cloud platform and the organism includes overhead state and underslung state. When the holder and the machine body are in different relative placement states, the holder can have different position postures relative to the machine body. For example: when the relative placement state is the upper placement state, the holder can be arranged at the upper end (such as the top) of the machine body; when the relative placement state is the down-placed state, the holder can be arranged at the lower end (such as the bottom) of the machine body.

In addition, when the holder and the body are in different relative placement states, the image capturing device disposed on the holder may have different placement states, for example: when the relative placement state is the upper placement state, the image acquisition equipment arranged on the holder can be in the positive placement state; when the relative placement state is the down state, the image capturing apparatus may be in an upside-down state. Or when the relative placement state is the overhead state, the image acquisition equipment arranged on the holder can be in an inverted state; when the relative placement state is the down state, the image capturing device may be in the up state.

In some examples, obtaining the current relative placement state between the pan/tilt head and the body may include: acquiring a Z-axis direction in a holder coordinate system corresponding to the holder and a Z-axis direction in a machine body coordinate system corresponding to the machine body; and determining the current relative placement state based on the Z-axis direction in the holder coordinate system and the Z-axis direction in the body coordinate system.

The cloud platform coordinate system corresponding to the cloud platform is established in advance, the X-axis direction in the cloud platform coordinate system is parallel to the lens orientation of the image acquisition equipment, the Z-axis direction can be the direction parallel to the axial direction of the machine body, the Y-axis direction is perpendicular to the Z-axis direction and the X-axis direction, and the relation among the X-axis direction (index finger direction), the Y-axis direction (middle finger direction) and the Z-axis direction (thumb direction) meets the right-hand rule. Similarly, a body coordinate system is established in advance, the X axis in the body coordinate system can be the head direction of the unmanned aerial vehicle, the Y axis is the right side direction of the unmanned aerial vehicle, and the Z axis direction and the X axis direction and the Y axis direction meet the right-hand rule.

It can be understood that the coordinate axis directions defined by the holder coordinate system and the body coordinate system are not limited to the above examples, and those skilled in the art can define the coordinate axis directions in the holder coordinate system according to specific application requirements and design requirements, and details are not described herein again.

After a holder coordinate system and a machine body coordinate system are established, the Z-axis direction in the holder coordinate system corresponding to the holder and the Z-axis direction in the machine body coordinate system corresponding to the machine body can be obtained; and then determining the current relative placement state based on the Z-axis direction in the holder coordinate system and the Z-axis direction in the body coordinate system. Specifically, determining the current relative placement state based on the Z-axis direction in the pan-tilt coordinate system and the Z-axis direction in the body coordinate system may include: acquiring included angle information between the Z-axis direction in a holder coordinate system and the Z-axis direction in a machine body coordinate system; when the included angle information is matched with the first angle range, determining that the current relative placement state is an overhead state; or when the included angle information is matched with the second angle range, determining that the current relative placement state is a down-placed state.

The specific implementation manner and implementation effect of the method steps in this embodiment are similar to those of steps S30121 to S30122 in the above embodiment, and reference may be made to the above statements specifically, and no further description is given here. For the specific implementation manner and implementation effect of steps S30121 to S30122 in the foregoing embodiment, in the adaptable portion of this embodiment, the body of the movable platform may be equivalent to the base of the pan/tilt head.

In other examples, obtaining the current relative placement state between the pan/tilt head and the body may include: acquiring holder attitude information of a holder and body attitude information of a body; and determining the current relative placement state based on the holder attitude information and the body attitude information.

The cradle head can be provided with a first IMU, cradle head posture information of the cradle head can be acquired through the first IMU, the body can be provided with a second IMU, and body posture information of the body can be acquired through the second IMU. After the cradle head attitude information and the body attitude information are acquired, the cradle head attitude information and the body attitude information can be analyzed and processed to determine the current relative placement state between the cradle head and the body.

Specifically, based on the cradle head attitude information and the body attitude information, determining the current relative placement state may include: acquiring a first attitude range for identifying an up state and a second attitude range for identifying an down state; when the holder attitude information and the body attitude information are matched with the first attitude range, determining that the current relative placement state is an overhead state; or when the holder attitude information and the body attitude information are matched with the second attitude range, determining that the current relative placement state is the down-set state.

In order to accurately recognize the current relative placement state between the holder and the body, a first attitude range and a second attitude range are configured in advance, wherein the first attitude range is used for marking the attitude range which is satisfied by the holder attitude information and the body attitude information when the current relative placement state between the holder and the body is the overhead state; the second angle range is used for identifying the attitude range satisfied by the attitude information of the holder and the attitude information of the machine body when the current relative placement state between the holder and the machine body is a down-set state. It is understood that the first attitude range is different from the second attitude range.

Specifically, after the cradle head attitude information and the body attitude information are acquired, the cradle head attitude information and the body attitude information can be analyzed and compared with the first attitude range and the second attitude range, and when the cradle head attitude information and the body attitude information are matched with the first attitude range, the current relative placement state between the cradle head and the body can be determined to be the overhead state. When the holder attitude information and the body attitude information are matched with the second attitude range, the current relative placement state between the holder and the body can be determined to be a down-set state.

In other examples, obtaining the current relative placement state between the pan/tilt head and the body may include: the current relative placement state is determined based on a Z-axis direction of the first IMU and a Z-axis direction of the second IMU. The specific method may refer to the foregoing description of determining the current relative placement state based on the Z-axis direction in the pan/tilt coordinate system and the Z-axis direction in the body coordinate system, which is not described herein again.

In other examples, obtaining the current relative placement state between the pan/tilt head and the body may include: acquiring state identification information input by a user aiming at the relative placement state between the holder and the machine body; and determining the current relative placement state between the holder and the machine body based on the state identification information.

Specifically, after the connection structure between the pan/tilt and the body is determined, the user can input the state identification information for the relative placement state between the pan/tilt and the body, so that the pan/tilt control device can stably acquire the state identification information input by the relative placement state between the pan/tilt and the body; the state identification information can then be analyzed to determine the current relative placement state between the holder and the body. For example, the state identification information "1" for identifying that the relative placement state between the pan/tilt head and the body is the up state and the state identification information "0" for identifying that the relative placement state between the pan/tilt head and the body is the up state are previously configured. Therefore, when it is acquired that the state identification information that the user can input for the relative placement state between the pan/tilt and the body is "1", it can be determined that the current relative placement state between the pan/tilt and the body is the up-set state. When the state identification information which can be input by the user aiming at the relative placement state between the holder and the machine body is acquired to be '0', the current relative placement state between the holder and the machine body can be determined to be a down-set state.

Of course, those skilled in the art may also use other methods to obtain the current relative placement state between the holder and the body, as long as the accuracy and reliability of obtaining the current relative placement state between the holder and the body can be ensured, which is not described herein again.

Step S1502: and controlling the rotation of the rolling motor according to the current relative placement state so that the image acquisition equipment acquires upright images when the current relative placement state is an upper placement state or a lower placement state.

After the current relative placement state is acquired, the rotation of the rolling motor can be controlled based on the current relative placement state, so that the image acquisition equipment acquires upright images when the current relative placement state is an overhead state or a down state.

In an implementation manner, when the current relative placement state is the up-placed state, the image acquired by the image acquisition device is an upright image; at this time, the upright image can be acquired through the image acquisition device without controlling the roll motor to rotate. In contrast, controlling the rotation of the roll motor according to the current relative placement state so that the image capturing apparatus acquires an upright image when the current relative placement state is the up-position state or the down-position state may include: when the current relative placement state is a down state, the image acquisition equipment is controlled to rotate around the roll shaft by a preset angle through the roll motor so as to acquire upright images through the image acquisition equipment.

In an implementation manner, the pan/tilt head further includes a roll motor for driving the image capturing device to rotate around the tilt axis of the pan/tilt head, and the method in this embodiment may further include: determining the target posture of the image acquisition equipment according to the current relative placement state; controlling the holder based on the target posture so that the image acquisition equipment keeps the target posture; the target posture is used for representing that the image acquisition equipment is in an upright state.

In one implementation, the head further comprises a yaw motor for driving the image capturing device to rotate about a yaw axis of the head, and the target attitude is further for characterizing that a yaw component in the attitude of the image capturing device coincides with a yaw component in the attitude of the body.

In one implementation, controlling the rotation of the pan/tilt head according to the target pose such that the image capture device maintains the target pose may include: acquiring a measured joint angle corresponding to the holder; and controlling the holder based on the measured joint angle and the target posture so that the image acquisition equipment keeps the target posture.

In one implementable manner, controlling the pan/tilt head based on the measured joint angle and the target pose such that the image capture device maintains the target pose may comprise: determining the attitude angle adjusting speed corresponding to the measured joint angle according to the measured joint angle and the target attitude; and controlling the holder based on the attitude angle adjusting speed so that the image acquisition equipment keeps the target attitude.

In one implementation, the measuring the joint angle includes a yaw joint measurement angle or a pitch joint measurement angle, and determining an attitude angle adjustment speed corresponding to the measured joint angle from the measured joint angle and the target attitude may include: when the measured joint angle is larger than the first angle, determining that the posture angle adjusting speed corresponding to the measured joint angle is a first speed, and the direction of the first speed is a first direction; when the measured joint angle is smaller than a second angle, determining that the posture angle adjusting speed corresponding to the measured joint angle is a second speed, wherein the direction of the second speed is a second direction, and the first direction is opposite to the second direction; and when the measured joint angle is larger than the second angle and smaller than the first angle, determining that the attitude angle adjusting speed is in direct proportion to a first target difference value, wherein the first target difference value is the difference value of the target attitude and a corresponding component in the measured attitude of the holder.

In one achievable form, the adjustment speed is an attitude angle adjustment speed, wherein: when the measurement joint angle of the motor connected with the machine body is larger than the first angle or smaller than the second angle and the measurement joint angle of the motor connected with the machine body is the same as the up-set state and the down-set state, the direction of the posture angle adjusting speed corresponding to the measurement joint angle of the motor connected with the machine body is opposite to that of the posture angle adjusting speed corresponding to the measurement joint angle of the motor connected with the machine body in the up-set state and the down-set state.

In an achievable mode, when the machine body is in the upper state, the positive and negative rotation directions of the posture of the holder are the same as the positive and negative rotation directions of the joint angle of the motor connected with the machine body; when the machine body is in a down state, the positive and negative rotating directions of the posture of the cradle head are opposite to the positive and negative rotating directions of the joint angle of the motor connected with the machine body.

In one implementation, the motor coupled to the housing is a yaw motor.

In an implementation mode, the machine body, the pitching motor, the rolling motor, the pitching motor and the image acquisition equipment are connected in sequence.

The specific implementation principle and implementation effect of each step provided in this embodiment are consistent with those of the pan-tilt control method corresponding to fig. 8-14 a and 14b, and reference may be specifically made to the above statements, which are not described herein again.

Fig. 17 is a schematic structural diagram of a pan/tilt head assembly according to an embodiment of the present invention; referring to fig. 17, the present embodiment provides a pan/tilt head assembly, which may include:

cloud platform 21 for support image acquisition equipment, the cloud platform includes: the device comprises a base and a roll motor for driving the image acquisition equipment to rotate around a roll shaft of a holder;

in the above-described pan/tilt control device 22 shown in fig. 15, the pan/tilt control device 22 is used to control the pan/tilt head 21.

The specific implementation principle and implementation effect of the pan/tilt assembly provided in this embodiment are consistent with those of the pan/tilt control device corresponding to fig. 15, and reference may be made to the above statements specifically, which are not described herein again.

Fig. 18 is a schematic structural diagram of another cradle head control device according to an embodiment of the present invention, in which the cradle head is disposed on the body of the movable platform and is used for supporting the image capturing device, and the cradle head includes: the transverse rolling motor is used for driving the image acquisition equipment to rotate around a transverse rolling shaft of the holder; specifically, referring to fig. 18, the control device includes:

a memory 31 for storing a computer program;

a processor 32 for executing the computer program stored in the memory 31 to implement the pan/tilt head control method of fig. 16.

Fig. 19 is a schematic structural diagram of a movable platform according to an embodiment of the present invention, and referring to fig. 19, the embodiment provides a movable platform, where the movable platform may include:

a body 41;

the cloud platform 42, set up on organism 41 for support image acquisition equipment, the cloud platform includes: the transverse rolling motor is used for driving the image acquisition equipment to rotate around a transverse rolling shaft of the holder;

the pan/tilt head control device 43 shown in fig. 18 is described above, and the pan/tilt head control device 43 is used to control the pan/tilt head 42.

The specific implementation principle and implementation effect of the control device provided in the embodiments shown in fig. 19 and fig. 18 are consistent with the specific implementation principle and implementation effect of the pan/tilt control method corresponding to fig. 16, and reference may be specifically made to the above statements, and no further description is provided herein.

Fig. 20 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention, and referring to fig. 20, the embodiment provides an unmanned aerial vehicle, where the unmanned aerial vehicle may include:

a body 51;

the cradle head 52 is disposed on the body 51, and is used for supporting the image capturing device, and includes: the transverse rolling motor is used for driving the image acquisition equipment to rotate around a transverse rolling shaft of the holder;

the pan/tilt head control device shown in fig. 18 is used to control the pan/tilt head 52.

The specific implementation principle and implementation effect of the unmanned aerial vehicle provided by this embodiment are consistent with those of the cradle head control device corresponding to fig. 18, and the above statements may be specifically referred to, and are not repeated here.

In addition, an embodiment of the present invention provides a computer-readable storage medium, where the storage medium is a computer-readable storage medium, and program instructions are stored in the computer-readable storage medium, where the program instructions are used to implement the pan/tilt head control method shown in fig. 1 to 14a and 14 b.

In addition, an embodiment of the present invention provides a computer-readable storage medium, where the storage medium is a computer-readable storage medium, and program instructions are stored in the computer-readable storage medium, where the program instructions are used to implement the pan/tilt head control method shown in fig. 16.

The technical solutions and the technical features in the above embodiments may be used alone or in combination in case of conflict with the present disclosure, and all embodiments that fall within the scope of protection of the present disclosure are intended to be equivalent embodiments as long as they do not exceed the scope of recognition of those skilled in the art.

In the embodiments provided in the present invention, it should be understood that the disclosed related remote control device and method can be implemented in other ways. For example, the above-described remote control device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, remote control devices or units, and may be in an electrical, mechanical or other form.

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

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

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

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A holder control method, characterized in that the holder is used for supporting an image acquisition device, the holder comprising: the base and the roll motor are used for driving the image acquisition equipment to rotate around a roll shaft of the holder; the method comprises the following steps:

detecting a current placement state of the base;

2. The method according to claim 1, wherein the image acquired by the image acquisition device is an upright image when the base is in the upright state;

the controlling the rotation of the roll motor according to the current placement state to enable the image acquisition device to acquire upright images when the current placement state is an upright state or an inverted state includes:

and when the current placement state is the inverted state, controlling the image acquisition equipment to rotate around a rolling shaft by a preset angle through a rolling motor so as to acquire upright images through the image acquisition equipment.

3. The method of claim 1, wherein said detecting a current placement state of said susceptor comprises:

acquiring a Z-axis direction in a base coordinate system corresponding to the base;

and determining the current placement state of the base based on the Z-axis direction in the base coordinate system and the Z-axis direction in the geodetic coordinate system.

4. The method of claim 3, wherein determining the current placement state of the base based on the Z-axis direction in the base coordinate system and the Z-axis direction in the geodetic coordinate system comprises:

acquiring included angle information between the Z-axis direction in the base coordinate system and the Z-axis direction in the geodetic coordinate system;

when the included angle information is matched with the first angle range, determining that the current placement state of the base is a positive state; or when the included angle information is matched with the second angle range, determining that the current placement state of the base is an inverted state.

5. The method of claim 1, wherein detecting the current placement state of the susceptor comprises:

acquiring attitude information of the base;

determining a current placement state of the base based on the pose information.

6. The method of claim 5, wherein determining the current placement state of the base based on the pose information comprises:

acquiring a first posture range for identifying the base to be in a positive state and a second posture range for identifying the base to be in an inverted state;

when the attitude information is matched with the first attitude range, determining that the current placement state of the base is a positive placement state; or when the posture information is matched with the second posture range, determining that the current placement state of the base is an inverted state.

7. The method of claim 1, wherein the pan/tilt head is a pan/tilt head that is powered on.

8. The method of any one of claims 1-7, wherein the pan and tilt head further comprises a roll motor for driving the image capture device to rotate about a pitch axis of the pan and tilt head, the method further comprising:

determining the target posture of the image acquisition equipment according to the current placement state;

controlling the pan-tilt based on the target attitude so that the image acquisition device maintains the target attitude;

wherein the target pose is used for representing that the image acquisition equipment is in an upright state.

9. The method of claim 8, wherein the pan/tilt head further comprises a yaw motor for driving the image acquisition device to rotate about a yaw axis of the pan/tilt head, and wherein the target attitude is further for characterizing that a yaw component in the attitude of the image acquisition device coincides with a yaw component in the attitude of the base.

10. The method of claim 9, wherein the controlling the rotation of the pan/tilt head according to the target pose such that the image capture device maintains the target pose comprises:

acquiring a measured joint angle corresponding to the holder;

controlling the pan/tilt head based on the measured joint angle and the target attitude so that the image capturing apparatus maintains the target attitude.

11. The method of claim 10, wherein the controlling the pan-tilt based on the measured joint angle and the target pose such that the image capture device maintains the target pose comprises:

determining an adjusting speed corresponding to the measured joint angle according to the measured joint angle and the target posture;

and controlling the holder based on the adjusting speed so that the image acquisition equipment maintains the target posture.

12. The method of claim 11, wherein the measured joint angle comprises a yaw joint measurement angle or a pitch joint measurement angle, and wherein determining an adjustment speed corresponding to the measured joint angle based on the measured joint angle and the target attitude comprises:

when the measured joint angle is larger than a first angle, determining that the adjusting speed corresponding to the measured joint angle is a first speed, wherein the direction of the first speed is a first direction;

when the measured joint angle is smaller than a second angle, determining that the adjusting speed corresponding to the measured joint angle is a second speed, wherein the direction of the second speed is a second direction, and the first direction is opposite to the second direction;

and when the measured joint angle is larger than the second angle and smaller than the first angle, determining that the adjusting speed is in direct proportion to a first target difference value, wherein the first target difference value is the difference value of the target attitude and a corresponding component in the measured attitude of the holder.

13. The method of claim 12, wherein the first speed and the second speed are equal in magnitude.

14. The method of claim 12, wherein the adjustment speed is an attitude angle adjustment speed, wherein:

when the measurement joint angle of the motor connected with the base is larger than the first angle or smaller than the second angle and the measurement joint angle of the motor connected with the base is in the same size in the upright state and the inverted state, the direction of the adjustment speed corresponding to the measurement joint angle of the motor connected with the base is opposite in the upright state and the inverted state.

15. The method of claim 14, wherein when the base is in the forward position, the forward and reverse rotation directions of the attitude of the pan/tilt head are the same as the forward and reverse rotation directions of the articulation angle of a motor connected to the base;

when the base is in the inverted state, the forward and reverse rotation directions of the posture of the holder are opposite to the forward and reverse rotation directions of the joint angle of the motor connected with the base.

16. The method of claim 14, wherein the motor coupled to the base is the yaw motor.

17. The method of claim 16, wherein the base, the tilt motor, the roll motor, the tilt motor, and the image capture device are connected in series.

18. The method according to claim 8, characterized in that the adjustment speed corresponding to the roll component in the attitude of the head is proportional to a second target difference value, said second target difference value being the difference between the target attitude and the roll component in the measured attitude of the head.

19. The method according to any one of claims 1 to 7, wherein a mark for indicating the placement state is provided on the image acquisition device.

20. The utility model provides a cloud platform controlling means which characterized in that, the cloud platform is used for supporting image acquisition equipment, the cloud platform includes: the base and the roll motor are used for driving the image acquisition equipment to rotate around a roll shaft of the holder; the control device includes:

a memory for storing a computer program;

detecting a current placement state of the base;

21. The apparatus according to claim 20, wherein the image captured by the image capturing device is an upright image when the base is in the upright position;

when the rotation of the roll motor is controlled according to the current placement state so that the image acquisition device acquires upright images when the current placement state is an upright state or an inverted state, the processor is configured to:

22. The apparatus of claim 20, wherein in detecting the current placement state of the base, the processor is configured to:

23. The apparatus of claim 22, wherein in determining the current placement state of the base based on the Z-axis direction in the base coordinate system and the Z-axis direction in the geodetic coordinate system, the processor is configured to:

24. The apparatus of claim 20, wherein in detecting the current placement state of the base, the processor is configured to:

acquiring attitude information of the base;

25. The apparatus of claim 24, wherein in determining the current placement state of the base based on the pose information, the processor is configured to:

26. The apparatus of claim 20, wherein the pan/tilt head is powered on.

27. The apparatus of any one of claims 20-26, wherein the pan/tilt head further comprises a roll motor for driving the image capture device to rotate about a pitch axis of the pan/tilt head, and wherein the processor is further configured to:

28. The apparatus of claim 27, wherein the pan/tilt head further comprises a yaw motor for driving the image capture device to rotate about a yaw axis of the pan/tilt head, and wherein the target attitude is further configured to characterize a yaw component in the attitude of the image capture device as being consistent with a yaw component in the attitude of the base.

29. The apparatus of claim 28, wherein the processor, in controlling rotation of the pan/tilt head according to the target pose such that the image capture device maintains the target pose, is configured to:

acquiring a measured joint angle corresponding to the holder;

30. The apparatus of claim 29, wherein, in controlling the pan/tilt head based on the measured joint angle and the target pose such that the image capture device maintains the target pose, the processor is configured to:

31. The apparatus of claim 30, wherein the measured joint angle comprises a yaw joint measurement angle or a pitch joint measurement angle, and wherein the processor, in determining the adjustment velocity corresponding to the measured joint angle based on the measured joint angle and the target pose, is configured to:

32. The apparatus of claim 31, wherein the first speed and the second speed are equal in magnitude.

33. The apparatus of claim 31, wherein the adjustment speed is an attitude angle adjustment speed, wherein:

34. The apparatus of claim 33, wherein when the base is in the forward position, the forward and reverse rotation directions of the attitude of the pan/tilt head are the same as the forward and reverse rotation directions of the joint angle of the motor connected to the base;

35. The apparatus of claim 33, wherein the motor coupled to the base is the yaw motor.

36. The apparatus of claim 35, wherein the base, the tilt motor, the roll motor, the tilt motor, and the image capturing device are connected in series.

37. The apparatus of claim 27, wherein the velocity of the attitude angle adjustment corresponding to the roll component in the attitude of the pan/tilt head is proportional to a second target difference value, the second target difference value being the difference between the target attitude and the roll component in the measured attitude of the pan/tilt head.

38. The apparatus according to any one of claims 20 to 26, wherein the image capturing device is provided with a mark for indicating the placement state.

39. The cloud platform control method is characterized in that the cloud platform is arranged on a machine body of a movable platform and used for supporting image acquisition equipment, and the cloud platform comprises: the horizontal rolling motor is used for driving the image acquisition equipment to rotate around a horizontal rolling shaft of the holder; the method comprises the following steps:

40. The method according to claim 39, wherein when the current relative placement state is an overhead state, the image acquired by the image acquisition device is an upright image;

the controlling the rotation of the roll motor according to the current relative placement state to enable the image acquisition device to acquire upright images when the current relative placement state is an overhead state or a down state includes:

and when the current relative placement state is the underlying state, controlling the image acquisition equipment to rotate around a rolling shaft by a preset angle through a rolling motor so as to acquire an upright image through the image acquisition equipment.

41. The method of claim 39, wherein said obtaining a current relative placement state between said head and said body comprises:

acquiring the Z-axis direction in a holder coordinate system corresponding to the holder and the Z-axis direction in a machine body coordinate system corresponding to the machine body;

and determining the current relative placement state based on the Z-axis direction in the holder coordinate system and the Z-axis direction in the body coordinate system.

42. The method of claim 41, wherein determining the current relative placement state based on a Z-axis direction in the pan-tilt coordinate system and a Z-axis direction in a body coordinate system comprises:

acquiring included angle information between the Z-axis direction in the holder coordinate system and the Z-axis direction in the machine body coordinate system;

when the included angle information is matched with the first angle range, determining that the current relative placement state is an overhead state; or when the included angle information is matched with the second angle range, determining that the current relative placement state is a down-placed state.

43. The method of claim 39, wherein said obtaining a current relative placement state between said head and said body comprises:

acquiring holder attitude information of the holder and body attitude information of the body;

and determining the current relative placement state based on the holder attitude information and the body attitude information.

44. The method of claim 43, wherein determining the current relative placement state based on the pan-tilt attitude information and the body attitude information comprises:

acquiring a first attitude range for identifying an up state and a second attitude range for identifying an down state;

when the holder attitude information and the body attitude information are matched with the first attitude range, determining that the current relative placement state is an overhead state; or when the holder attitude information and the body attitude information are matched with the second attitude range, determining that the current relative placement state is a down-set state.

45. The method of claim 39, wherein said obtaining a current relative placement state between said head and said body comprises:

acquiring state identification information input by a user aiming at the relative placement state between the holder and the machine body;

and determining the current relative placement state between the holder and the machine body based on the state identification information.

46. The method of any one of claims 39 to 45, wherein the head further comprises a roll motor for driving the image capture device to rotate about a pitch axis of the head, the method further comprising:

determining the target posture of the image acquisition equipment according to the current relative placement state;

47. The method of claim 46, wherein the pan/tilt head further comprises a yaw motor for driving the image acquisition device to rotate about a yaw axis of the pan/tilt head, and wherein the target attitude is further for characterizing that a yaw component in the attitude of the image acquisition device coincides with a yaw component in the attitude of the body.

48. The method of claim 47, wherein the controlling the rotation of the pan/tilt head according to the target pose such that the image capture device maintains the target pose comprises:

acquiring a measured joint angle corresponding to the holder;

49. The method of claim 48, wherein said controlling the pan-tilt based on the measured joint angle and the target pose such that the image capture device maintains the target pose comprises:

determining an attitude angle adjusting speed corresponding to the measured joint angle according to the measured joint angle and the target attitude;

and controlling the holder based on the attitude angle adjusting speed so that the image acquisition equipment maintains the target attitude.

50. The method of claim 49, wherein the measured joint angle comprises a yaw joint measurement angle or a pitch joint measurement angle, and wherein determining an attitude angle adjustment rate corresponding to the measured joint angle based on the measured joint angle and the target attitude comprises:

when the measured joint angle is larger than a first angle, determining that the posture angle adjusting speed corresponding to the measured joint angle is a first speed, wherein the direction of the first speed is a first direction;

when the measured joint angle is smaller than a second angle, determining that the posture angle adjustment speed corresponding to the measured joint angle is a second speed, wherein the direction of the second speed is a second direction, and the first direction is opposite to the second direction;

and when the measured joint angle is larger than the second angle and smaller than the first angle, determining that the attitude angle adjusting speed is in direct proportion to a first target difference value, wherein the first target difference value is the difference value of the target attitude and a corresponding component in the measured attitude of the holder.

51. The method of claim 50, wherein the first speed and the second speed are equal in magnitude.

52. The method of claim 50, wherein the adjustment speed is an attitude angle adjustment speed, wherein:

when the measurement joint angle of the motor connected with the machine body is larger than the first angle or smaller than the second angle and the measurement joint angle of the motor connected with the machine body is in the upper state and the lower state, the direction of the adjustment speed corresponding to the measurement joint angle of the motor connected with the machine body is opposite to that in the upper state and the lower state.

53. The method according to claim 52, wherein when the body is in the up-set state, the forward and reverse rotation directions of the attitude of the pan/tilt head are the same as the forward and reverse rotation directions of the joint angle of a motor connected to the body;

when the machine body is in the down state, the positive and negative rotating directions of the posture of the holder are opposite to the positive and negative rotating directions of the joint angle of the motor connected with the machine body.

54. The method of claim 52, wherein the motor coupled to the body is the yaw motor.

55. The method of claim 54, wherein the body, the tilt motor, the roll motor, the tilt motor, and the image capture device are connected in series.

56. The method of claim 46, wherein the adjustment speed corresponding to the roll component in the attitude of the pan/tilt head is proportional to a second target difference value, the second target difference value being the difference between the target attitude and the roll component in the measured attitude of the pan/tilt head.

57. The method according to any one of claims 39 to 45, wherein the image acquisition device is provided with a marker for indicating the relative placement state.

58. A pan and tilt head assembly, comprising:

a head control apparatus according to any one of claims 20 to 38, for controlling the head.

59. The utility model provides a cloud platform controlling means, its characterized in that, the cloud platform sets up on movable platform's organism for support image acquisition equipment, the cloud platform includes: the horizontal rolling motor is used for driving the image acquisition equipment to rotate around a horizontal rolling shaft of the holder; the control device includes:

a memory for storing a computer program;

a processor for executing a computer program stored in the memory to implement a pan-tilt control method according to any one of claims 39 to 57.

60. A movable platform, comprising:

a body;

a pan and tilt head control apparatus according to claim 59, for controlling the pan and tilt head.

61. A computer-readable storage medium, characterized in that the storage medium is a computer-readable storage medium in which program instructions for implementing the pan/tilt head control method according to any one of claims 1 to 19 are stored.

62. A computer-readable storage medium, characterized in that the storage medium is a computer-readable storage medium having stored therein program instructions for implementing the pan/tilt head control method according to any one of claims 39 to 57.