CN116848486A - Linkage control method and device - Google Patents

Linkage control method and device Download PDF

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Publication number
CN116848486A
CN116848486A CN202180087796.7A CN202180087796A CN116848486A CN 116848486 A CN116848486 A CN 116848486A CN 202180087796 A CN202180087796 A CN 202180087796A CN 116848486 A CN116848486 A CN 116848486A
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CN
China
Prior art keywords
sliding
target
rotation
sliding rail
target direction
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Pending
Application number
CN202180087796.7A
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Chinese (zh)
Inventor
王振动
刘帅
黄常建
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Publication of CN116848486A publication Critical patent/CN116848486A/en
Pending legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules

Abstract

A linkage control method and a device. The method comprises the following steps: step 21: acquiring a sliding position range of the sliding rail (12) sliding in a target direction and a rotating angle range of the cradle head (11) rotating around a target shaft; step 22: according to the sliding position range and the rotation angle range, the sliding of the sliding rail (12) in the target direction and the rotation of the cradle head (11) around the target axis are controlled so that the sliding of the sliding rail (12) in the target direction and the rotation of the cradle head (11) around the target axis can be started and stopped simultaneously.

Description

Linkage control method and device Technical Field
The application relates to the technical field of control, in particular to a linkage control method and device.
Background
In some shooting scenes, video shooting is required by using a sliding rail and a camera, wherein the sliding rail may include a linear sliding rail, a circular sliding rail, and the like.
At present, a mode of a linear sliding rail and a cradle head camera is adopted to realize the lens moving shooting of the lens moving horizontally, vertically and obliquely. The linear sliding rail and the cradle head are controlled by different people respectively, namely one person controls the linear sliding rail and the other person controls the cradle head. However, this method has a problem that the rotation of the pan/tilt head and the sliding of the linear rail cannot be completed simultaneously.
Disclosure of Invention
The embodiment of the application provides a linkage control method and a linkage control device, which are used for solving the problem that rotation of a cradle head and sliding of a linear sliding rail cannot be finished simultaneously in the prior art.
In a first aspect, an embodiment of the present application provides a coordinated control method, where the method is used for controlling a pan-tilt and a slide rail, the pan-tilt is used for carrying a shooting device and capable of driving the shooting device to rotate, and the slide rail is used for carrying the pan-tilt and capable of driving the shooting device to move, and the method includes:
acquiring a sliding position range of the sliding rail sliding in a target direction and a rotating angle range of the cradle head rotating around a target shaft;
and controlling the sliding of the sliding rail in the target direction and the rotation of the cradle head around the target shaft according to the sliding position range and the rotation angle range, so that the sliding of the sliding rail in the target direction and the rotation of the cradle head around the target shaft can be started and stopped simultaneously.
In a second aspect, an embodiment of the present application provides a linkage control device, where the device is used to control a pan-tilt and a slide rail, the pan-tilt is used to carry a shooting device and can drive the shooting device to rotate, and the slide rail is used to carry the pan-tilt and can drive the shooting device to move, and the linkage control device includes: a memory and a processor;
The memory is used for storing program codes;
the processor invokes the program code, which when executed, is operable to:
acquiring a sliding position range of the sliding rail sliding in a target direction and a rotating angle range of the cradle head rotating around a target shaft;
and controlling the sliding of the sliding rail in the target direction and the rotation of the cradle head around the target shaft according to the sliding position range and the rotation angle range, so that the sliding of the sliding rail in the target direction and the rotation of the cradle head around the target shaft can be started and stopped simultaneously.
In a third aspect, embodiments of the present application provide a computer-readable storage medium storing a computer program, the computer program comprising at least one piece of code executable by a computer to control the computer to perform the method of any one of the first aspects.
In a fourth aspect, embodiments of the present application provide a computer program for implementing the method according to any of the first aspects above, when said computer program is executed by a computer.
The embodiment of the application provides a linkage control method and a linkage control device, wherein the sliding position range of a sliding rail sliding in a target direction and the rotating angle range of a cradle head rotating around a target shaft are obtained, and according to the sliding position range and the rotating angle range, the sliding of the sliding rail in the target direction and the rotating of the cradle head around the target shaft are controlled, so that the sliding of the sliding rail in the target direction and the rotating of the cradle head around the target shaft can be started and stopped simultaneously, the joint control of the cradle head and the sliding rail is realized, the sliding of the sliding rail and the rotating of the cradle head can be started and stopped simultaneously, the problem that one of the cradle head and the sliding rail stops moving and the other is still moving continuously is avoided, and the shooting effect problem caused by the fact that the rotating of the cradle head and the sliding of the sliding rail are not ended simultaneously is avoided, so that the shooting effect is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of an application scenario of a joint control method provided by an embodiment of the present application;
FIG. 2 is a flow chart of a joint control method according to an embodiment of the present application;
FIGS. 3A-3D are schematic diagrams illustrating a sliding position range and a rotation angle range according to an embodiment of the present application;
FIG. 4 is a flow chart of a coordinated control method according to another embodiment of the present application;
FIGS. 5A and 5B are schematic diagrams illustrating a first distance calculation according to a first angle using the trigonometric tangent theorem according to an embodiment of the present application;
FIGS. 6A and 6B are schematic diagrams illustrating a first angle calculated according to a first distance using the tangent trigonometric function theorem according to an embodiment of the present application;
FIG. 7 is a flow chart of a coordinated control method according to another embodiment of the present application;
fig. 8 is a schematic structural diagram of a joint control device according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The joint control method provided by the embodiment of the application can be applied to the application scene shown in fig. 1. As shown in the figure, the application scenario may include a pan-tilt 11, a slide rail 12, and a joint control device 13. The cradle head 11 is used for carrying a shooting device and can drive the shooting device to rotate, the slide rail 12 is used for carrying the cradle head 11 and can drive the shooting device to move, and the combined control device 13 is used for controlling the cradle head 11 and the slide rail 12 by adopting the method provided by the embodiment of the application.
The cradle head 11 may be, for example, a supporting device such as a handheld cradle head capable of achieving shooting stability enhancement. The shooting device may be, for example, a video camera, a mobile phone, or the like, which can achieve video shooting. The cradle head 11 and the shooting device may be separate, for example, a cradle head+mobile phone, and the cradle head 11 and the shooting device may be integrated, for example, a cradle head camera. The slide rail 12 may be, for example, a linear slide rail, an annular slide rail, or the like.
In fig. 1, the joint control device 13 is located outside the pan-tilt head 11 and the slide rail 12, for example, the joint control device 13 may be included in a control terminal for controlling the pan-tilt head 11 and the slide rail 12. It will be appreciated that in other embodiments, the combination control device 13 may be included in the pan/tilt head 11 or the slide rail 12.
Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.
Fig. 2 is a flow chart of a coordinated control method according to an embodiment of the present application, and an execution subject of the embodiment may be the joint control device in fig. 1, and may specifically be a processor of the joint control device. As shown in fig. 2, the method of the present embodiment may include:
and step 21, acquiring a sliding position range of the sliding rail sliding in the target direction and a rotation angle range of the cradle head rotating around the target shaft.
In this step, the target direction refers to a direction in which the photographing device is expected to slide along the slide rail during photographing. The target direction is related to the type of the slide rail and/or the way in which the slide rail is placed. Taking the example that the slide rail includes a linear slide rail, the target direction may include a horizontal direction when the slide rail is horizontally placed, and the target direction may include a vertical direction when the slide rail is vertically placed. The target axis is an axis corresponding to a direction in which the photographing device is expected to rotate around the cradle head in the photographing process. The number of target axes may be one or more.
For example, where the sled includes a linear sled, the target direction includes a horizontal direction, the target axis may include a yaw axis.
In this case, optionally, the slide rail and the pan-tilt head may be used to support the photographing mode of the focus tracking mode shown in fig. 3A. In FIG. 3A, dots indicate the object to be photographed in the focus tracking mode, position A on the slide rail 1 And position B 1 The range between them indicates the sliding position range of the slide rail sliding in the target direction, the rectangular frame indicates the lens of the photographing device, the thick dotted line indicates the orientation of the lens, the thin dotted line indicates the vertical direction, and the rotation angle-alpha of the pan/tilt around the yaw axis 1 And rotation angle beta of the tripod head around the yaw axis 1 The range between the two represents the rotation angle range of the cradle head rotating around the yaw axis. The definition of the rotation angle is merely an example, and in other embodiments, the rotation angle α may be 1 And angle of rotation-beta 1 。
Alternatively, the sliding rail and the pan-tilt may be used to support the photographing mode of the panoramic scanning mode shown in fig. 3B. In FIG. 3B, position A on the slide rail 2 And position B 2 The range between the two represents the sliding position range of the sliding rail sliding in the target direction, the rectangular frame represents the lens of the shooting device, the thick dotted line represents the orientation of the lens, the thin dotted line represents the vertical direction, and the rotation angle alpha of the cradle head around the yaw axis 2 And rotation angle-beta of the tripod head around the yaw axis 2 The range between the two represents the rotation angle range of the cradle head rotating around the yaw axis. Further optionally, when the slide rail and the pan-tilt are used for supporting the shooting mode of the panoramic scanning mode, the target shaft may furtherTo include a pitch axis. The definition of the rotation angle is merely an example, and in other embodiments, the rotation angle- α can be 2 And a rotation angle beta 2 。
Illustratively, the slide rail comprises a linear slide rail, the target direction comprises a vertical direction, and the target axis comprises a pitch axis.
In this case, optionally, the slide rail and the pan-tilt head may be used to support the photographing mode of the focus tracking mode shown in fig. 3C. In FIG. 3C, the dots represent the object to be photographed in the focus tracking mode, position A on the slide rail 3 And position B 3 The range between them indicates the sliding position range of the slide rail sliding in the target direction, the rectangular frame indicates the lens of the photographing device, the thick dotted line indicates the orientation of the lens, the thin dotted line indicates the horizontal direction, and the rotation angle-alpha of the pan/tilt around the pitch axis 3 And the rotation angle beta of the pan-tilt around the pitching axis 3 The range between the two means the rotation angle range of the cradle head rotating around the pitching axis. The definition of the rotation angle is merely an example, and in other embodiments, the rotation angle α may be 3 And angle of rotation-beta 3 。
Alternatively, the sliding rail and the pan-tilt may be used to support the photographing mode of the panoramic scanning mode shown in fig. 3D. In FIG. 3D, position A on the slide rail 4 And position B 4 The range between the two represents the sliding position range of the sliding rail sliding in the target direction, the rectangular frame represents the lens of the shooting device, the thick dotted line represents the orientation of the lens, the thin dotted line represents the horizontal direction, and the rotation angle alpha of the cradle head around the pitching axis 4 And rotation angle-beta of the pan-tilt around the pitching axis 4 The range between the two means the rotation angle range of the cradle head rotating around the pitching axis. Optionally, when the slide rail and the pan-tilt are used for supporting the shooting mode of the panoramic scanning mode, the target axis may further include a yaw axis. The definition of the rotation angle is merely an example, and in other embodiments, the rotation angle- α can be 4 And a rotation angle beta 4 。
It should be noted that, for the specific manner of obtaining the sliding position range and the rotation angle range, flexible implementation may be performed according to the requirement. In one embodiment, the sliding position range and the rotation angle range may be acquired from other devices, for example, the sliding position range and the rotation angle range transmitted by other devices may be received. In another embodiment, the sliding position range and the rotation angle range may be determined according to control parameters for controlling the movement of the slide rail and the pan/tilt head.
Exemplary, the acquiring the sliding position range of the sliding rail sliding in the target direction and the rotation angle range of the pan-tilt rotating around the target axis may specifically include: acquiring control parameters for controlling the movement of the sliding rail and the cradle head; and determining a sliding position range of the sliding rail sliding in the target direction and a rotation angle range of the cradle head rotating around the target shaft according to the control parameters.
The control parameters for controlling the movement of the sliding rail and the cradle head can be flexibly realized according to the needs. In one embodiment, the control parameters for controlling the movement of the sled may include, for example, position A in FIG. 3A 1 And position B 1 The control parameters for controlling the movement of the pan-tilt head may include, for example, the rotation angle- α in fig. 3A 1 And a rotation angle beta 1 ，A 1 For example, a starting slide position, B, which can be a range of slide positions 1 For example, the sliding position, -alpha, can be used as the end of the sliding position range 1 For example, beta can be used as the initial rotation angle of the rotation angle range 1 For example, the end rotation angle of the rotation angle range can be used. Wherein A is 1 、B 1 、-α 1 And beta 1 For example, can be obtained by dotting.
In another embodiment, the control parameters for controlling the movement of the sled may include, for example, position A in FIG. 3A 1 The bit in FIG. 3ASet A 1 And position B 1 The distance L between the two can be controlled by the control parameters for controlling the movement of the cradle head, such as the rotation angle-alpha in figure 3A 1 Rotation angle θ, A 1 For example, the initial sliding position can be used as a sliding position range, according to A 1 And L can determine position B as the end sliding position of the sliding position range 1 ，-α 1 For example, the initial rotation angle of the rotation angle range can be used as the rotation angle of-alpha 1 And θ can be determined as the end rotation angle β of the rotation angle range 1 . Wherein A is 1 And-alpha 1 For example, it may be obtained in a dotting manner, and L and θ may be obtained in a manner of obtaining user input, for example.
And step 22, controlling the sliding of the sliding rail in the target direction and the rotation of the cradle head around the target shaft according to the sliding position range and the rotation angle range, so that the sliding of the sliding rail in the target direction and the rotation of the cradle head around the target shaft can be started and stopped simultaneously.
In this step, the sliding position range characterizes a position range in which the slide rail is expected to slide in the target direction, and the rotation angle range characterizes an angle range in which the pan-tilt is expected to rotate around the target axis. According to the sliding position range and the rotation angle range, the control targets of the sliding rail in the target direction and the rotation of the cradle head around the target shaft are as follows: the sliding of the slide rail in the target direction and the rotation of the pan-tilt-head about the target axis can be started simultaneously and ended simultaneously. It should be noted that any joint control manner for controlling the pan-tilt and the slide rail, which meets the control objective, belongs to the protection scope of the present application.
It should be noted that, the sliding of the slide rail in the target direction and the rotation of the pan-tilt around the target axis may be performed by controlling the pan-tilt and the slide rail according to the sliding position range and the rotation angle range, and the method may be performed by simultaneously transmitting a control command for controlling the start of the movement to the pan-tilt and the slide rail when the rotation angle of the pan-tilt around the target axis is the initial rotation angle of the rotation angle range and the sliding position of the slide rail in the target direction is the initial sliding position of the sliding position range.
In the following embodiments, it is mainly described how, on the basis of the simultaneous start of the sliding of the slide rail in the target direction and the rotation of the pan head around the target axis, it is specifically possible to control so that the sliding of the slide rail in the target direction and the rotation of the pan head around the target axis can be ended simultaneously.
According to the combined control method provided by the embodiment, the sliding position range of the sliding rail sliding in the target direction and the rotating angle range of the cradle head rotating around the target shaft are obtained, and according to the sliding position range and the rotating angle range, the sliding of the sliding rail in the target direction and the rotating of the cradle head around the target shaft are controlled, so that the sliding of the sliding rail in the target direction and the rotating of the cradle head around the target shaft can be started and stopped simultaneously, the combined control of the cradle head and the sliding rail is realized, the sliding of the sliding rail and the rotating of the cradle head can be started and stopped simultaneously, the problem that one of the cradle head and the sliding rail stops moving and the other continues moving is avoided, and therefore the shooting effect problem caused by the fact that the rotating of the cradle head and the sliding of the sliding rail do not end simultaneously is avoided, and the shooting effect is facilitated to be improved.
Fig. 4 is a flow chart of a coordinated control method according to another embodiment of the present application, and this embodiment mainly describes an alternative implementation manner of step 22 based on the embodiment shown in fig. 2. As shown in fig. 4, the method of the present embodiment may include:
and step 41, acquiring a sliding position range of the sliding rail sliding in the target direction and a rotation angle range of the cradle head rotating around the target shaft.
It should be noted that, step 41 is similar to step 21, and will not be described herein.
And step 42, during the movement of the sliding rail and the holder, adjusting the sliding of the sliding rail in the target direction and/or the rotation of the holder around the target shaft according to the sliding position range and the rotation angle range in real time, so that the sliding position of the sliding rail sliding in the target direction can reach the end sliding position of the sliding position range while the rotation angle of the holder around the target shaft reaches the end rotation angle of the rotation angle range.
In this step, a manner of adjusting the sliding of the sliding rail in the target direction and/or the rotation of the pan-tilt around the target axis in real time may be adopted, so that when the rotation angle of the pan-tilt around the target axis reaches the end rotation angle of the rotation angle range, the sliding position of the sliding rail sliding in the target direction may reach the end sliding position of the sliding position range, so that the sliding of the sliding rail in the target direction and the rotation of the pan-tilt around the target axis may be stopped simultaneously. For example, the real-time adjustment can be performed in the following manner.
Mode one
Specifically, the sliding of the sliding rail in the target direction can be adjusted by taking the cradle head as a reference. Illustratively, step 42 may specifically include: and taking the cradle head as a reference, and adjusting the sliding of the sliding rail in the target direction in real time according to the sliding position range and the rotating angle range.
In this case, the rotation of the pan/tilt head about the target axis is controlled in accordance with the obtained rotational angular velocity. For example, assuming that the rotational angular velocity of the head around the target axis is 1 °/second, it is necessary to control the rotation of the head around the target axis from the start rotational angle to the end rotational angle of the rotational angle range at the rotational angular velocity of 1 °/second. Wherein the rotational angular velocity may be determined, for example, by user input. Of course, in other embodiments, the rotational angular velocity may be obtained by other means, which the present application is not limited to.
On the basis of knowing the rotational angular velocity and the rotational angle range, the angle at which the pan-tilt is expected to rotate about the target axis at different times can be obtained. For example 1, assuming that the angle required to rotate from the start rotation angle to the end rotation angle of the rotation angle range is 10 °, and the control of the cradle head to rotate at a constant speed around the target shaft at a rotation angular speed of 1 °/second is started at the 0 th second, it is possible to obtain: the angle of rotation of the head about the target axis is expected to be 1 ° at 1 second, the angle of rotation of the head about the target axis is expected to be 2 ° at 2 seconds, the angle of rotation of the head about the target axis is expected to be 3 °, … … at 3 seconds, and the angle of rotation of the head about the target axis is expected to be 10 ° at 10 seconds. The time granularity is taken as seconds only as an example, and it is understood that other time units may be taken as the time granularity.
In practical applications, in one possible case, the control accuracy of the pan-tilt may be very high, and the angle of the pan-tilt actually rotating around the target axis at any moment is almost equal to the angle of the pan-tilt expected to rotate around the target axis; another possible situation is that the control accuracy of the pan-tilt is not high enough, and the angle of the pan-tilt actually rotating around the target axis at any moment is greatly different from the angle of the pan-tilt expected to rotate around the target axis. In the former case, the sliding of the slide rail in the target direction may be adjusted in real time according to the sliding position range and the rotation angle range with an angle at which the pan-tilt is expected to rotate about the target axis as a reference or with an angle at which the pan-tilt is expected to rotate about the target axis as a reference. In the latter case, the sliding of the slide rail in the target direction may be adjusted in real time according to the sliding position range and the rotation angle range with an angle at which the rotation of the pan-tilt about the target axis is desired as a reference.
For example, when the angle at which the pan-tilt is expected to rotate around the target axis is taken as a reference, the sliding of the sliding rail in the target direction is adjusted in real time according to the sliding position range and the rotation angle range based on the pan-tilt, which may specifically include the following steps 421 and 422.
Step 421, determining a first distance by which the sliding rail is expected to slide in the target direction at the current moment according to a first angle by which the cradle head is expected to rotate around the target axis at the current moment; the first angle is associated with the range of rotational angles and the first distance is associated with the range of sliding positions;
step 422, adjusting the sliding of the sliding rail in the target direction according to the difference between the second distance and the first distance that the sliding rail actually slides in the target direction at the current moment, so as to reduce the difference between the distance that the sliding rail actually slides in the target direction and the distance that the sliding rail is expected to slide in the target direction.
The first angle may be, for example, 1 ° at 1 st second, 2 ° at 2 nd second, or the like in example 1.
On the basis of obtaining the angles at which the cradle head is expected to rotate around the target axis at different times, the distances at which the slide rail is expected to slide in the target direction at different times can be obtained in combination with the sliding position range. Example 2, on the basis of example 1, assuming that the distance that the slide rail needs to slide from the start slide position to the end slide position of the slide position range is 10 meters, and that the slide rail starts to slide at a uniform speed in the target direction at a slide speed of 1 meter/second at 0 th second, it is possible to obtain: the distance the slide rail is expected to slide in the target direction is 1 meter at 1 st second, the distance the slide rail is expected to slide in the target direction is 2 meters at 2 nd second, the distance the slide rail is expected to slide in the target direction is 3 meters at 3 rd second, … …, and the distance the slide rail is expected to slide in the target direction is 10 meters at 10 th second.
Alternatively, a query may be used to determine the first distance that the sliding rail is expected to slide in the target direction at the current time. Illustratively, step 421 may specifically include: and determining a first distance for the sliding rail to slide in the target direction at the current moment according to a first angle for the cradle head to rotate around the target shaft at the current moment and the corresponding relation between the rotation angles and the sliding distances at different moments. It will be appreciated that the correspondence between the rotation angle and the sliding distance at different times is related to the sliding position range. Referring to the foregoing examples 1 and 2, the correspondence relationship between the rotation angle and the sliding distance at different times can be shown in the following table 1, for example.
TABLE 1
Time of day Rotation angle Sliding distance
Second 1 1° 1 meter
Second 2 2° 2 meters
Second 3 3° 3 meters
Second 4 4° 4 m
Second 5 5° 5 m
Second 6 6° 6 m
Second 7 7° 7 m
Second 8 8° 8 meters
Second 9 9° 9 meters
Second 10 10° 10 meters
Alternatively, the first distance that the sliding rail is expected to slide in the target direction at the current moment may be determined in a real-time calculation manner. For convenience of explanation, taking the example that the sliding rail includes a linear sliding rail, step 421 may specifically include: and calculating a first distance of the sliding rail expected to slide in the target direction at the current moment by adopting a trigonometric function tangent theorem according to a first angle of the rotation of the cradle head around the target shaft expected at the current moment.
Assuming that the sliding position range and the rotation angle range are as shown in fig. 3A, the initial sliding position of the sliding position range is a in fig. 3A 1 The end position range is FIG. 3AB in (B) 1 The first angle of the rotation of the cradle head around the target shaft expected at the current moment is gamma 1 And gamma is 1 Less than alpha 1 Then, as shown in fig. 5A, at the present moment, the sliding rail is expected to slide in the target direction by a first distance S 1 The following formula (1) may be satisfied.
S 1 ＝L 1 -L 1 ' formula (1)
Wherein L is 1 Representation A 1 To position C 1 Distance L of (2) 1 Can satisfy the following formula (2), L 1 ' indicate position D 1 To C 1 Distance L of (2) 1 ' the following formula (3) may be satisfied.
L 1 ＝h 1 tan(α 1 ) Formula (2)
Wherein alpha is 1 An angle value h representing a starting rotation angle of the rotation angle range 1 And A is a 1 And B 1 The straight line is vertical, h 1 Is used for representing the vertical distance between the target and the lens when the rotation angle of the holder around the target axis is 0 DEG and the lens is aligned with the target.
L 1 '＝h 1 tan(α 1 -γ 1 ) Formula (3)
Wherein alpha is 1 An angle value h representing a starting rotation angle of the rotation angle range 1 And A is a 1 And B 1 The straight line is vertical, h 1 For representing the vertical distance between the target and the lens when the rotation angle of the holder around the target axis is 0 DEG and the lens is aligned with the target, gamma 1 And indicating the angle at which the cradle head is expected to rotate around the target shaft at the current moment. Assuming that the cradle head rotates around the target shaft at a constant speed, then gamma 1 Can be equal to v 1 Multiplied by t, where v 1 Indicating the winding order of the cradle headThe rotation angular velocity of the target shaft may be in degrees/second, t represents the rotation time of the cradle head around the target shaft, and may be in seconds. Assuming that the cradle head rotates around the target shaft at variable speed, gamma can be calculated by adopting an integral mode 1 。
Assuming that the sliding position range and the rotation angle range are as shown in fig. 3A, the initial sliding position of the sliding position range is a in fig. 3A 1 The end position range is B in FIG. 3A 1 The first angle of the rotation of the cradle head around the target shaft expected at the current moment is gamma 1 ' and gamma 1 ' greater than alpha 1 Then, as shown in fig. 5B, at the present moment, the sliding rail is expected to slide in the target direction by a first distance S 1 ' the following formula (4) may be satisfied.
S 1 '＝L 1 +L 2 ' formula (4)
Wherein L is 1 Representation A 1 To position C 1 Distance L of (2) 1 Can satisfy the formula (2), L 2 ' represent position E 1 To C 1 Distance L of (2) 2 ' the following formula (5) may be satisfied.
L 2 '＝h 1 tan(γ 1 -α 1 ) Formula (5)
Wherein alpha is 1 An angle value h representing a starting rotation angle of the rotation angle range 1 And A is a 1 And B 1 The straight line is vertical, h 1 For representing the vertical distance between the target and the lens when the rotation angle of the holder around the target axis is 0 DEG and the lens is aligned with the target, gamma 1 And indicating the angle at which the cradle head is expected to rotate around the target shaft at the current moment.
In one embodiment, in step 422, the sliding of the sliding rail in the target direction may be adjusted by adjusting the sliding speed of the sliding rail. Illustratively, step 422 may specifically include: reducing the sliding speed of the sliding rail in the target direction when the second distance is greater than the first distance; and when the second distance is smaller than the first distance, increasing the sliding speed of the sliding rail in the target direction. The step length for increasing the sliding speed of the sliding rail in the target direction and the step length for reducing the sliding speed of the sliding rail in the target direction can be flexibly realized according to requirements, and the step length can be the same or different.
According to the step 421 and the step 422, the sliding of the sliding rail in the target direction can be adjusted by taking the angle of the rotation of the cradle head around the target shaft as a reference, and the difference between the actual sliding distance of the sliding rail in the target direction and the sliding distance of the sliding rail in the target direction by taking the cradle head as a reference is timely reduced, so that the sliding position of the sliding rail in the target direction can reach the final sliding position of the sliding position range while the rotation angle of the cradle head around the target shaft reaches the final rotation angle of the rotation angle range.
In one aspect, optionally, step 42 may further include: and adjusting the rotation of the cradle head around the target shaft according to the difference between the second angle of the cradle head actually rotating around the target shaft at the current moment and the first angle of the cradle head expected to rotate around the target shaft at the current moment, so as to reduce the difference between the angle of the cradle head actually rotating around the target shaft and the angle of the cradle head expected to rotate around the target shaft. Therefore, feedback control for the cradle head can be realized, the control precision of the cradle head is improved, and the problem that sliding of the sliding rail in the target direction and rotation of the cradle head around the target shaft can be finished simultaneously due to too low control precision of the cradle head are avoided.
Mode two
The rotation of the cradle head around the target shaft can be adjusted by taking the sliding rail as a reference. Illustratively, step 42 may specifically include: and taking the sliding rail as a reference, and adjusting the rotation of the cradle head around the target shaft in real time according to the sliding position range and the rotation angle range.
In this case, the sliding of the slide rail in the target direction is controlled in accordance with the obtained sliding speed. For example, assuming that the sliding speed of the slide rail in the target direction is 1 m/s, it is necessary to control the slide rail to slide in the target direction from the start sliding position to the end sliding position of the sliding position range at a sliding speed of 1 m/s. Wherein the sliding speed may be determined, for example, by user input. Of course, in other embodiments, the sliding speed may be obtained by other means, which the present application is not limited to.
On the basis of the knowledge of the sliding speed and the sliding position range, it is possible to obtain distances at different times at which it is desired that the sliding rail should slide in the target direction. For example 3, assuming that the distance that the slide rail needs to slide from the start slide position to the end slide position of the slide position range is 10 meters, and that the slide rail starts to slide at a uniform speed in the target direction at a slide speed of 1 meter/second at 0 th second, it is possible to obtain: the distance the slide rail is expected to slide in the target direction should be 1 meter at 1 st second, the distance the slide rail is expected to slide in the target direction should be 2 meters at 2 nd second, the distance the slide rail is expected to slide in the target direction should be 3 meters at 3 rd second, … …, and the distance the slide rail is expected to slide in the target direction should be 10 meters at 10 th second. The time granularity is taken as seconds only as an example, and it is understood that other time units may be taken as the time granularity.
In practical application, in one possible case, the control accuracy of the sliding rail may be very high, and the distance that the sliding rail actually slides in the target direction at any time is almost equal to the distance that the sliding rail is expected to slide in the target direction; another possibility is that the control accuracy of the sliding rail is not high enough, and the distance that the sliding rail actually slides in the target direction at any time is large in difference from the distance that the sliding rail is expected to slide in the target direction. In the former case, the rotation of the pan-tilt about the target axis may be adjusted in real time according to the sliding position range and the rotation angle range with reference to a distance by which the slide rail is actually slid in the target direction or with reference to a distance by which the slide rail is expected to slide in the target direction. In the latter case, the rotation of the pan-tilt about the target axis may be adjusted in real time based on the sliding position range and the rotation angle range with reference to a distance by which the slide rail is expected to slide in the target direction.
For example, when the distance that the sliding rail is expected to slide in the target direction is taken as a reference, the adjusting the rotation of the pan-tilt around the target axis based on the sliding position range and the rotation angle range in real time with the sliding rail as a reference may specifically include the following steps 423 and 424.
Step 423, determining a first angle at which the cradle head is expected to rotate around the target shaft at the current moment according to a first distance at which the sliding rail is expected to slide in the target direction at the current moment; the first distance is related to the rotation angle range and the sliding position range;
in step 424, according to the difference between the second angle of the actual rotation of the pan-tilt around the target axis and the first angle, the rotation of the pan-tilt around the target axis is adjusted to reduce the difference between the actual rotation angle of the pan-tilt around the target axis and the desired rotation angle of the pan-tilt around the target axis.
The first distance may be, for example, 1 meter at 1 st second, 2 meters at 2 nd second, or the like in example 3.
On the basis of obtaining the distances that the sliding rail is expected to slide in the target direction at different moments, the rotation angle range is combined, and the rotation angle of the cradle head around the target shaft at different moments can be obtained. For example 4, on the basis of example 3, assuming that the angle at which the pan-tilt is rotated from the start rotation angle to the end rotation angle of the rotation angle range is 10 °, and the pan-tilt starts to be controlled to rotate at a constant speed around the target shaft at a rotation angular speed of 1 °/second at 0 th second, it is possible to obtain: the angle at which the head is expected to rotate about the target axis should be 1 ° at 1 st second, the angle at which the head is expected to rotate about the target axis should be 2 ° at 2 nd second, the angle at which the head is expected to rotate about the target axis should be 3 °, … … at 3 rd second, and the angle at which the head is expected to rotate about the target axis should be 10 ° at 10 th second.
Optionally, a query manner may be used to determine a first angle at which the pan-tilt is expected to rotate about the target axis at the current time. Step 423 may specifically include: and determining a first angle at which the cradle head is expected to rotate around the target shaft at the current moment according to a first distance at which the sliding rail is expected to slide in the target direction at the current moment and the corresponding relation between the sliding distance and the rotation angle at different moments. Referring to examples 3 and 4, the correspondence between the rotation angle and the sliding distance at different times may be as shown in table 1.
Alternatively, a real-time calculation manner may be adopted to determine the first angle at which the pan-tilt is expected to rotate around the target axis at the current moment. For convenience of explanation, taking the example that the slide rail includes a linear slide rail, step 423 may specifically include: and calculating a first angle at which the cradle head is expected to rotate around the target shaft at the current moment by adopting a trigonometric function tangent theorem according to a first distance at which the sliding rail is expected to slide in the target direction at the current moment.
Assuming that the sliding position range and the rotation angle range are as shown in fig. 3C, the initial sliding position of the sliding position range is a in fig. 3C 3 The end position range is B in FIG. 3C 3 The first distance that the sliding rail is expected to slide in the target direction at the current moment is S 3 And S is 3 Less than A 3 And C 3 The distance between the two is shown in fig. 6A, and the first angle gamma of rotation of the pan-tilt around the target axis is expected at the present moment 3 The following formula (6) may be satisfied.
Wherein alpha is 3 An angle value L representing the initial rotation angle of the rotation angle range 3 ' indicate position D 3 To C 3 Distance L of (2) 3 ' can satisfy the following formula (7), h 3 And A is a 3 And B 3 The straight line is vertical, h 3 Is used for representing the vertical distance between the target and the lens when the rotation angle of the holder around the target axis is 0 DEG and the lens is aligned with the target.
L 3 '＝L 3 -S 3 Formula (7)
Wherein S is 3 Indicating a first distance L at the current moment at which the sliding rail is expected to slide in the target direction 3 Representation A 3 To C 3 Distance L of (2) 3 The following formula (8) may be satisfied. Assuming that the sliding rail slides at a uniform speed in the target direction, L 3 Can be equal to v 3 Multiplied by t, where v 3 The sliding speed of the sliding rail in the target direction is represented by a unit of m/s, t represents the rotation time of the cradle head around the target axis, and the unit of t is represented by a unit of s. Assuming that the sliding rail slides at a variable speed in the target direction, L can be calculated by adopting an integral mode 3 。
L 3 ＝h 3 tan(α 3 ) Formula (8)
Wherein alpha is 3 An angle value h representing a starting rotation angle of the rotation angle range 3 And A is a 3 And B 3 The straight line is vertical, h 3 Is used for representing the vertical distance between the target and the lens when the rotation angle of the holder around the target axis is 0 DEG and the lens is aligned with the target.
Assuming that the sliding position range and the rotation angle range are as shown in fig. 3C, the initial sliding position of the sliding position range is a in fig. 3C 3 The end position range is B in FIG. 3C 3 The first distance that the sliding rail is expected to slide in the target direction at the current moment is S 3 ' and S 3 ' greater than A 3 And C 3 The distance between the two is shown in FIG. 6B, and the first angle gamma of the rotation of the cradle head around the target axis is expected at the current moment 3 ' the following formula (9) may be satisfied.
Wherein alpha is 3 An angle value L representing the initial rotation angle of the rotation angle range 4 ' represent position E 3 To C 3 Distance L of (2) 4 ' can satisfy the following formula (10), h 3 And A is a 3 And B 3 The straight line is vertical, h 3 Is used for representing the vertical distance between the target and the lens when the rotation angle of the holder around the target axis is 0 DEG and the lens is aligned with the target.
L 4 '＝S 3 '-L 3 Formula (10)
Wherein S is 3 ' represents the first distance the sliding rail is expected to slide in the target direction at the current moment, L 3 Representation A 3 To C 3 Distance L of (2) 3 The foregoing formula (8) may be satisfied.
In one embodiment, in step 424, the rotation of the cradle head about the target axis may be adjusted by adjusting the rotational angular velocity of the cradle head. Illustratively, step 424 may specifically include: when the second angle is larger than the first angle, reducing the rotation angular speed of the cradle head around the target shaft; and when the second angle is smaller than the first angle, increasing the rotation angular speed of the cradle head around the target shaft. The step length for increasing the rotation angular speed of the cradle head around the target shaft and the step length for reducing the rotation angular speed of the cradle head around the target shaft can be flexibly realized according to requirements, and the step length can be the same or different.
According to steps 423 and 424, rotation of the cradle head around the target shaft can be adjusted based on the distance of the sliding rail expected to slide in the target direction, and the difference between the angle of the cradle head around the target shaft actually rotating and the angle of the cradle head around the target shaft expected to rotate based on the sliding rail can be timely reduced, so that the sliding position of the sliding rail sliding in the target direction can reach the end sliding position of the sliding position range while the rotating angle of the cradle head around the target shaft reaches the end rotating angle of the rotating angle range.
In the second mode, optionally, step 42 may further include: and according to the difference between the second distance and the first distance of the sliding rail in the target direction at the current moment, adjusting the sliding of the sliding rail in the target direction so as to reduce the difference between the distance of the sliding rail in the target direction and the distance of the sliding rail expected to slide in the target direction. Therefore, feedback control for the sliding rail can be realized, the control precision of the sliding rail is improved, and the problem that sliding of the sliding rail in the target direction and rotation of the cradle head around the target shaft can be finished simultaneously due to too low control precision of the sliding rail cannot be ensured is avoided.
According to the joint control method provided by the embodiment, in the process of moving the sliding rail and the holder, the sliding of the sliding rail in the target direction and/or the rotation of the holder around the target shaft are/is adjusted according to the sliding position range and the rotation angle range in real time, so that when the rotation angle of the holder around the target shaft reaches the end rotation angle of the rotation angle range, the sliding position of the sliding rail sliding in the target direction can reach the end sliding position of the sliding position range, and the sliding of the sliding rail in the target direction and the rotation of the holder around the target shaft can be stopped simultaneously.
Fig. 7 is a flow chart of a coordinated control method according to another embodiment of the present application, and this embodiment mainly describes an alternative implementation manner of step 22 based on the embodiment shown in fig. 2. As shown in fig. 7, the method of the present embodiment may include:
and step 71, acquiring a sliding position range of the sliding rail sliding in the target direction and a rotation angle range of the cradle head rotating around the target shaft.
It should be noted that, step 41 is similar to step 21, and will not be described herein.
And step 72, determining a target movement duration according to the sliding position range and the rotation angle range.
In this step, the target movement duration is a duration in which it is desired to start sliding from the initial sliding position of the sliding position range in the target direction until reaching the final sliding position, and a duration in which it is desired to start rotation of the pan-tilt around the target axis from the initial rotation angle of the rotation angle range until reaching the final rotation.
The target movement duration is related to a shortest sliding duration of the slide rail sliding in the target direction from the start sliding position to the end sliding position, and a shortest rotation duration of the pan head rotating around the target axis from the start rotation position to the end rotation position. In order to avoid the problem that the sliding of the sliding rail in the target direction and the rotation of the pan-tilt in the target direction cannot be finished simultaneously due to the limitation of the maximum sliding speed of the sliding rail in the target direction and the maximum rotation speed of the pan-tilt around the target axis, the target movement duration may be greater than or equal to the maximum value of the shortest sliding duration and the shortest rotation duration.
The determining the target movement duration according to the sliding position range and the rotation angle range may include: according to the sliding position range and the maximum sliding speed of the sliding rail sliding in the target direction, calculating to obtain the shortest sliding time length of the sliding rail sliding in the target direction; according to the rotation angle range and the maximum rotation angle speed of the cradle head rotating around the target shaft, calculating to obtain the shortest rotation time of the cradle head rotating around the target shaft; and taking the maximum value of the shortest sliding time length and the shortest rotating time length as a target movement time length.
For example 5, assuming that the target axis includes a yaw axis (yaw) and a pitch axis (pitch), and an angle to be rotated is designated as yaw_angle in a rotation angle range corresponding to the yaw axis, an angle to be rotated is designated as pitch_angle in a rotation angle range corresponding to the pitch axis, a distance to be slid in a sliding position range corresponding to a target direction of the slide rail is designated as s, and movements of the slide rail and the pan-tilt are uniform movements, it may be calculated that: the shortest rotation time length of the cradle head rotating around the yaw axis is yaw_min_t=yaw_angle/yaw_rate_max, wherein yaw_rate_max represents the maximum rotation angular speed of the cradle head rotating around the yaw axis; the shortest rotation time Pitch_min_t=pitch_angle/pitch_rate_max of the rotation of the tripod head around the pitching axis, wherein pitch_rate_max represents the maximum rotation angular speed of the rotation of the tripod head around the pitching axis; the shortest sliding time length slide_min_t=s/slide_rate_max of the sliding rail sliding in the target direction, wherein slide_rate_max represents the maximum sliding speed of the sliding rail in the target direction. The maximum value max_t among the yaw_min_t, pitch_min_t, slide_min_t may be further taken as the target movement duration.
And step 73, controlling the sliding of the sliding rail in the target direction according to the target movement duration, so that the sliding position of the sliding rail sliding in the target direction can reach the end sliding position of the sliding position range when the duration of the sliding rail in the target direction reaches the target movement duration.
In this step, the sliding of the sliding rail in the target direction may be controlled according to the target movement duration and a desired sliding speed manner. For example, taking uniform sliding as an example, according to the target movement duration, controlling the sliding of the sliding rail in the target direction may specifically include: and controlling the sliding speed of the sliding rail sliding in the target direction to be the quotient of the sliding distance corresponding to the sliding position range and the target movement duration. For example, the sliding speed of the slide rail in the target direction may be controlled to slide_target_spd=s/max_t based on the foregoing example 5.
And step 74, controlling the rotation of the cradle head around the target shaft according to the target movement duration, so that when the rotation duration of the cradle head around the target shaft reaches the target movement duration, the rotation angle of the cradle head around the target shaft can reach the end rotation angle of the rotation angle range.
In this step, according to the target movement duration and a required rotation speed mode, the rotation of the pan-tilt around the target axis may be controlled. For example, taking uniform rotation as an example, according to the target movement duration, the controlling rotation of the pan-tilt around the target axis may specifically include: and controlling the rotation angular speed of the cradle head rotating around the target shaft to be the quotient of the rotation angle corresponding to the rotation angle range and the target movement duration.
For example, based on the foregoing example 5, the rotational angular velocity at which the pan head rotates about the yaw axis may be controlled to be yaw_target_spd=yaw_angle/max_t, and the rotational angular velocity at which the pan head rotates about the pitch axis may be controlled to be pitch_target_spd=pitch_angle/max_t.
It should be noted that step 73 and step 74 are performed simultaneously.
According to the joint control method provided by the embodiment, the target movement duration is determined according to the sliding position range and the rotation angle range, the sliding of the sliding rail in the target direction is controlled according to the target movement duration, so that the sliding position of the sliding rail sliding in the target direction can reach the end sliding position of the sliding position range when the sliding duration of the sliding rail sliding in the target direction reaches the target movement duration, the rotation of the holder around the target shaft is controlled according to the target movement duration, and the rotation angle of the holder around the target shaft can reach the end rotation angle of the rotation angle range when the rotation duration of the holder around the target shaft reaches the target movement duration, so that the sliding of the sliding rail in the target direction and the rotation of the holder around the target shaft can be stopped simultaneously.
Fig. 8 is a schematic structural diagram of a joint control device according to an embodiment of the present application, where the joint control device is used for controlling a pan-tilt and a slide rail, the pan-tilt is used for carrying a photographing device and capable of driving the photographing device to rotate, and the slide rail is used for carrying the pan-tilt and capable of driving the photographing device to move. As shown in fig. 8, the apparatus 80 may include: a processor 81 and a memory 82.
The memory 82 is used for storing program codes;
the processor 81 invokes the program code, which when executed, is operative to:
acquiring a sliding position range of the sliding rail sliding in a target direction and a rotating angle range of the cradle head rotating around a target shaft;
and controlling the sliding of the sliding rail in the target direction and the rotation of the cradle head around the target shaft according to the sliding position range and the rotation angle range, so that the sliding of the sliding rail in the target direction and the rotation of the cradle head around the target shaft can be started and stopped simultaneously.
The joint control device provided in this embodiment may be used to execute the technical solution of the foregoing method embodiment, and its implementation principle and technical effects are similar to those of the method embodiment and are not described herein again.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the method embodiments described above may be performed by hardware associated with program instructions. The foregoing program may be stored in a computer readable storage medium. The program, when executed, performs steps including the method embodiments described above; and the aforementioned storage medium includes: various media that can store program code, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application.

Claims (54)

  1. The linkage control method is characterized by comprising a cradle head and a sliding rail, wherein the cradle head is used for carrying a shooting device and driving the shooting device to rotate, and the sliding rail is used for carrying the cradle head and driving the shooting device to move, and the method comprises the following steps:
    Acquiring a sliding position range of the sliding rail sliding in a target direction and a rotating angle range of the cradle head rotating around a target shaft;
    and controlling the sliding of the sliding rail in the target direction and the rotation of the cradle head around the target shaft according to the sliding position range and the rotation angle range, so that the sliding of the sliding rail in the target direction and the rotation of the cradle head around the target shaft can be started and stopped simultaneously.
  2. The method according to claim 1, wherein controlling the sliding of the slide rail in the target direction and the rotation of the pan head around the target axis so that the sliding of the slide rail in the target direction and the rotation of the pan head around the target axis can be stopped simultaneously, according to the sliding position range and the rotation angle range, includes:
    and in the process of moving the sliding rail and the holder, the sliding of the sliding rail in the target direction and/or the rotation of the holder around the target shaft are/is regulated in real time according to the sliding position range and the rotation angle range, so that when the rotation angle of the holder around the target shaft reaches the end rotation angle of the rotation angle range, the sliding position of the sliding rail sliding in the target direction can reach the end sliding position of the sliding position range.
  3. The method according to claim 2, wherein said adjusting in real time the sliding of the slide rail in the target direction and/or the rotation of the pan-tilt about the target axis according to the sliding position range and the rotation angle range comprises: and taking the cradle head as a reference, and adjusting the sliding of the sliding rail in the target direction in real time according to the sliding position range and the rotating angle range.
  4. The method of claim 3, wherein adjusting the sliding of the sliding rail in the target direction based on the range of sliding positions and the range of rotation angles in real time based on the pan-tilt comprises:
    according to a first angle at which the cradle head is expected to rotate around the target shaft at the current moment, determining a first distance at which the sliding rail is expected to slide in the target direction at the current moment; the first angle is associated with the range of rotational angles and the first distance is associated with the range of sliding positions;
    and according to the difference between the second distance and the first distance of the sliding rail in the target direction at the current moment, adjusting the sliding of the sliding rail in the target direction so as to reduce the difference between the distance of the sliding rail in the target direction and the distance of the sliding rail expected to slide in the target direction.
  5. The method of claim 4, wherein determining a first distance that the sled is expected to slide in the target direction at the current time based on a first angle at which the pan-tilt is expected to rotate about the target axis at the current time comprises:
    and determining a first distance for the sliding rail to slide in the target direction at the current moment according to a first angle for the cradle head to rotate around the target shaft at the current moment and the corresponding relation between the rotation angles and the sliding distances at different moments.
  6. The method of claim 4, wherein the slide rail comprises a linear slide rail; the determining, according to a first angle at which the pan-tilt is expected to rotate around the target axis at the current time, a first distance at which the slide rail is expected to slide in the target direction at the current time includes:
    and calculating a first distance of the sliding rail expected to slide in the target direction at the current moment by adopting a trigonometric function tangent theorem according to a first angle of the rotation of the cradle head around the target shaft expected at the current moment.
  7. The method of claim 4, wherein adjusting the sliding of the sled in the target direction based on a difference between a second distance that the sled actually slides in the target direction at a current time and the first distance comprises:
    Reducing the sliding speed of the sliding rail in the target direction when the second distance is greater than the first distance;
    and when the second distance is smaller than the first distance, increasing the sliding speed of the sliding rail in the target direction.
  8. The method of claim 4, wherein the adjusting the sliding of the sliding rail in the target direction and/or the rotation of the pan-tilt about the target axis in real time according to the sliding position range and the rotation angle range further comprises:
    and according to the difference between the second angle of the actual rotation of the cradle head around the target shaft and the first angle at the current moment, adjusting the rotation of the cradle head around the target shaft so as to reduce the difference between the actual rotation angle of the cradle head around the target shaft and the expected rotation angle of the cradle head around the target shaft.
  9. The method according to claim 2, wherein said adjusting in real time the sliding of the slide rail in the target direction and/or the rotation of the pan-tilt about the target axis according to the sliding position range and the rotation angle range comprises:
    and taking the sliding rail as a reference, and adjusting the rotation of the cradle head around the target shaft in real time according to the sliding position range and the rotation angle range.
  10. The method of claim 9, wherein adjusting the rotation of the pan-tilt about the target axis based on the sliding position range and the rotation angle range in real time based on the sliding rail comprises:
    according to a first distance of the sliding rail expected to slide in the target direction at the current moment, determining a first angle of the cradle head expected to rotate around the target shaft at the current moment; the first distance is associated with the range of sliding positions, and the first angle is associated with the range of rotational angles;
    and according to the difference between the second angle of the actual rotation of the cradle head around the target shaft and the first angle at the current moment, adjusting the rotation of the cradle head around the target shaft so as to reduce the difference between the actual rotation angle of the cradle head around the target shaft and the expected rotation angle of the cradle head around the target shaft.
  11. The method of claim 10, wherein determining a first angle by which the pan-tilt is expected to rotate about the target axis at the current time based on a first distance by which the sled is expected to slide in the target direction at the current time comprises:
    and determining a first angle at which the cradle head is expected to rotate around the target shaft at the current moment according to a first distance at which the sliding rail is expected to slide in the target direction at the current moment and the corresponding relation between the sliding distance and the rotation angle at different moments.
  12. The method of claim 10, wherein the slide rail comprises a linear slide rail; the determining, according to a first distance that the sliding rail is expected to slide in the target direction at the current moment, a first angle that the cradle head is expected to rotate around the target shaft at the current moment includes:
    and calculating a first angle at which the cradle head is expected to rotate around the target shaft at the current moment by adopting a trigonometric function tangent theorem according to a first distance at which the sliding rail is expected to slide in the target direction at the current moment.
  13. The method of claim 10, wherein adjusting rotation of the pan-tilt about the target axis based on a difference between the second angle at which the pan-tilt actually rotates about the target axis at the current time and the first angle comprises:
    when the second angle is larger than the first angle, reducing the rotation angular speed of the cradle head around the target shaft;
    and when the second angle is smaller than the first angle, increasing the rotation angular speed of the cradle head around the target shaft.
  14. The method of claim 10, wherein the adjusting the sliding of the sliding rail in the target direction and/or the rotation of the pan-tilt about the target axis in real time according to the sliding position range and the rotation angle range further comprises:
    And according to the difference between the second distance and the first distance of the sliding rail actually sliding in the target direction at the current moment, adjusting the sliding of the sliding rail in the target direction so as to reduce the difference between the distance of the sliding rail actually sliding in the target direction and the distance of the sliding rail expected to slide in the target direction.
  15. The method according to claim 1, wherein controlling the sliding of the slide rail in the target direction and the rotation of the pan head around the target axis so that the sliding of the slide rail in the target direction and the rotation of the pan head around the target axis can be stopped simultaneously, according to the sliding position range and the rotation angle range, includes:
    determining a target movement duration according to the sliding position range and the rotation angle range;
    controlling the sliding of the sliding rail in the target direction according to the target movement duration, so that the sliding position of the sliding rail sliding in the target direction can reach the end sliding position of the sliding position range when the sliding duration of the sliding rail in the target direction reaches the target movement duration;
    And controlling the rotation of the cradle head around the target shaft according to the target movement duration, so that when the rotation duration of the cradle head around the target shaft reaches the target movement duration, the rotation angle of the cradle head around the target shaft can reach the end rotation angle of the rotation angle range.
  16. The method of claim 15, wherein said determining a target movement duration from said sliding position range and said rotation angle range comprises:
    according to the sliding position range and the maximum sliding speed of the sliding rail sliding in the target direction, calculating to obtain the shortest sliding time length of the sliding rail sliding in the target direction;
    according to the rotation angle range and the maximum rotation angle speed of the cradle head rotating around the target shaft, calculating to obtain the shortest rotation time of the cradle head rotating around the target shaft;
    and taking the maximum value of the shortest sliding time length and the shortest rotating time length as a target movement time length.
  17. The method of claim 15, wherein said controlling the sliding of the sled in the target direction according to the target movement duration comprises:
    And controlling the sliding speed of the sliding rail sliding in the target direction to be the quotient of the sliding distance corresponding to the sliding position range and the target movement duration.
  18. The method of claim 15, wherein controlling rotation of the pan-tilt about the target axis according to the target movement duration comprises:
    and controlling the rotation angular speed of the cradle head rotating around the target shaft to be the quotient of the rotation angle corresponding to the rotation angle range and the target movement duration.
  19. The method of claim 1, wherein the obtaining a sliding position range in which the slide rail slides in the target direction and a rotation angle range in which the pan-tilt rotates about the target axis includes:
    acquiring control parameters for controlling the movement of the sliding rail and the cradle head;
    and determining a sliding position range of the sliding rail sliding in the target direction and a rotation angle range of the cradle head rotating around the target shaft according to the control parameters.
  20. The method of claim 1, wherein the number of target axes is one or more.
  21. The method of claim 1, wherein the sled comprises a linear sled, the target direction comprises a horizontal direction, and the target axis comprises a yaw axis.
  22. The method of claim 21, wherein the target axis further comprises a pitch axis.
  23. The method of claim 1, wherein the sled comprises a linear sled, the target direction comprises a vertical direction, and the target axis comprises a pitch axis.
  24. The method of claim 23, wherein the target axis further comprises a yaw axis.
  25. The method of claim 21 or 23, wherein the slide rail and the pan-tilt are used to support a shooting mode of a focus tracking mode.
  26. The method of any one of claims 21-24, wherein the slide rail and the pan-tilt are configured to support a pan-tilt mode of shooting.
  27. The utility model provides a coordinated control device, its characterized in that, the device is used for controlling cloud platform and slide rail, the cloud platform is used for carrying on the shooting device and can drive the shooting device rotates, the slide rail is used for carrying on the cloud platform and can drive the shooting device removes, coordinated control device includes: a memory and a processor;
    the memory is used for storing program codes;
    the processor invokes the program code, which when executed, is operable to:
    Acquiring a sliding position range of the sliding rail sliding in a target direction and a rotating angle range of the cradle head rotating around a target shaft;
    and controlling the sliding of the sliding rail in the target direction and the rotation of the cradle head around the target shaft according to the sliding position range and the rotation angle range, so that the sliding of the sliding rail in the target direction and the rotation of the cradle head around the target shaft can be started and stopped simultaneously.
  28. The apparatus of claim 27, wherein the processor is configured to control the sliding of the sliding rail in the target direction and the rotation of the pan-tilt about the target axis according to the sliding position range and the rotation angle range so that the sliding of the sliding rail in the target direction and the rotation of the pan-tilt about the target axis can be stopped simultaneously, and specifically comprises:
    and in the process of moving the sliding rail and the holder, the sliding of the sliding rail in the target direction and/or the rotation of the holder around the target shaft are/is regulated in real time according to the sliding position range and the rotation angle range, so that when the rotation angle of the holder around the target shaft reaches the end rotation angle of the rotation angle range, the sliding position of the sliding rail sliding in the target direction can reach the end sliding position of the sliding position range.
  29. The device according to claim 28, wherein the processor is configured to adjust the sliding of the sliding rail in the target direction and/or the rotation of the pan-tilt about the target axis in real time according to the sliding position range and the rotation angle range, and specifically comprises: and taking the cradle head as a reference, and adjusting the sliding of the sliding rail in the target direction in real time according to the sliding position range and the rotating angle range.
  30. The apparatus of claim 29, wherein the processor is configured to adjust the sliding of the sliding rail in the target direction based on the pan-tilt in real time according to the sliding position range and the rotation angle range, and specifically comprises:
    according to a first angle at which the cradle head is expected to rotate around the target shaft at the current moment, determining a first distance at which the sliding rail is expected to slide in the target direction at the current moment; the first angle is associated with the range of rotational angles and the first distance is associated with the range of sliding positions;
    and according to the difference between the second distance and the first distance of the sliding rail in the target direction at the current moment, adjusting the sliding of the sliding rail in the target direction so as to reduce the difference between the distance of the sliding rail in the target direction and the distance of the sliding rail expected to slide in the target direction.
  31. The apparatus of claim 30, wherein the processor is configured to determine, based on a first angle at which the pan-tilt is expected to rotate about the target axis at a current time, a first distance at which the sled is expected to slide in the target direction at the current time, specifically comprising:
    and determining a first distance for the sliding rail to slide in the target direction at the current moment according to a first angle for the cradle head to rotate around the target shaft at the current moment and the corresponding relation between the rotation angles and the sliding distances at different moments.
  32. The apparatus of claim 30, wherein the slide rail comprises a linear slide rail; the processor is configured to determine, according to a first angle at which the pan-tilt is expected to rotate around the target axis at the current time, a first distance at which the slide rail is expected to slide in the target direction at the current time, where the first distance specifically includes:
    and calculating a first distance of the sliding rail expected to slide in the target direction at the current moment by adopting a trigonometric function tangent theorem according to a first angle of the rotation of the cradle head around the target shaft expected at the current moment.
  33. The apparatus of claim 30, wherein the processor is configured to adjust the sliding of the sliding rail in the target direction according to a difference between a second distance that the sliding rail actually slides in the target direction at a current time and the first distance, and specifically comprises:
    Reducing the sliding speed of the sliding rail in the target direction when the second distance is greater than the first distance;
    and when the second distance is smaller than the first distance, increasing the sliding speed of the sliding rail in the target direction.
  34. The apparatus of claim 30, wherein the processor is configured to adjust the sliding of the sliding rail in the target direction and/or the rotation of the pan-tilt about the target axis in real time based on the sliding position range and the rotation angle range, further comprising:
    and according to the difference between the second angle of the actual rotation of the cradle head around the target shaft and the first angle at the current moment, adjusting the rotation of the cradle head around the target shaft so as to reduce the difference between the actual rotation angle of the cradle head around the target shaft and the expected rotation angle of the cradle head around the target shaft.
  35. The device according to claim 28, wherein the processor is configured to adjust the sliding of the sliding rail in the target direction and/or the rotation of the pan-tilt about the target axis in real time according to the sliding position range and the rotation angle range, and specifically comprises:
    And taking the sliding rail as a reference, and adjusting the rotation of the cradle head around the target shaft in real time according to the sliding position range and the rotation angle range.
  36. The apparatus of claim 35, wherein the processor is configured to adjust rotation of the pan-tilt about the target axis based on the sliding position range and the rotation angle range in real time based on the sliding rail, and specifically comprises:
    according to a first distance of the sliding rail expected to slide in the target direction at the current moment, determining a first angle of the cradle head expected to rotate around the target shaft at the current moment; the first distance is associated with the range of sliding positions, and the first angle is associated with the range of rotational angles;
    and according to the difference between the second angle of the actual rotation of the cradle head around the target shaft and the first angle at the current moment, adjusting the rotation of the cradle head around the target shaft so as to reduce the difference between the actual rotation angle of the cradle head around the target shaft and the expected rotation angle of the cradle head around the target shaft.
  37. The apparatus of claim 36, wherein the processor is configured to determine a first angle by which the pan-tilt is expected to rotate about the target axis at a current time based on a first distance by which the slide rail is expected to slide in the target direction at the current time, and specifically comprises:
    And determining a first angle at which the cradle head is expected to rotate around the target shaft at the current moment according to a first distance at which the sliding rail is expected to slide in the target direction at the current moment and the corresponding relation between the sliding distance and the rotation angle at different moments.
  38. The apparatus of claim 36, wherein the slide rail comprises a linear slide rail; the processor is configured to determine, according to a first distance that the sliding rail is expected to slide in the target direction at the current time, a first angle that the pan-tilt is expected to rotate around the target axis at the current time, where the first angle specifically includes:
    and calculating a first angle at which the cradle head is expected to rotate around the target shaft at the current moment by adopting a trigonometric function tangent theorem according to a first distance at which the sliding rail is expected to slide in the target direction at the current moment.
  39. The apparatus of claim 36, wherein the processor is configured to adjust rotation of the pan-tilt-zoom device according to a difference between a second angle of actual rotation of the pan-tilt-zoom device about the target axis at a current time and the first angle, and specifically comprises:
    when the second angle is larger than the first angle, reducing the rotation angular speed of the cradle head around the target shaft;
    And when the second angle is smaller than the first angle, increasing the rotation angular speed of the cradle head around the target shaft.
  40. The apparatus of claim 36, wherein the processor is configured to adjust the sliding of the sliding rail in the target direction and/or the rotation of the pan-tilt about the target axis in real time based on the sliding position range and the rotation angle range, further comprising:
    and according to the difference between the second distance and the first distance of the sliding rail in the target direction at the current moment, adjusting the sliding of the sliding rail in the target direction so as to reduce the difference between the distance of the sliding rail in the target direction and the distance of the sliding rail expected to slide in the target direction.
  41. The apparatus of claim 27, wherein the processor is configured to control the sliding of the sliding rail in the target direction and the rotation of the pan-tilt about the target axis according to the sliding position range and the rotation angle range so that the sliding of the sliding rail in the target direction and the rotation of the pan-tilt about the target axis can be stopped simultaneously, and specifically comprises:
    Determining a target movement duration according to the sliding position range and the rotation angle range;
    controlling the sliding of the sliding rail in the target direction according to the target movement duration, so that the sliding position of the sliding rail sliding in the target direction can reach the end sliding position of the sliding position range when the sliding duration of the sliding rail in the target direction reaches the target movement duration;
    and controlling the rotation of the cradle head around the target shaft according to the target movement duration, so that when the rotation duration of the cradle head around the target shaft reaches the target movement duration, the rotation angle of the cradle head around the target shaft can reach the end rotation angle of the rotation angle range.
  42. The apparatus of claim 41, wherein the processor is configured to determine a target movement duration based on the sliding position range and the rotation angle range, and specifically comprises:
    according to the sliding position range and the maximum sliding speed of the sliding rail sliding in the target direction, calculating to obtain the shortest sliding time length of the sliding rail sliding in the target direction;
    According to the rotation angle range and the maximum rotation angle speed of the cradle head rotating around the target shaft, calculating to obtain the shortest rotation time of the cradle head rotating around the target shaft;
    and taking the maximum value of the shortest sliding time length and the shortest rotating time length as a target movement time length.
  43. The apparatus of claim 41, wherein the processor is configured to control sliding of the sliding rail in the target direction according to the target movement duration, and specifically comprises:
    and controlling the sliding speed of the sliding rail sliding in the target direction to be the quotient of the sliding distance corresponding to the sliding position range and the target movement duration.
  44. The apparatus of claim 41, wherein the processor is configured to control rotation of the pan-tilt-zoom around the target axis according to the target duration of motion, and specifically comprises:
    and controlling the rotation angular speed of the cradle head rotating around the target shaft to be the quotient of the rotation angle corresponding to the rotation angle range and the target movement duration.
  45. The apparatus of claim 27, wherein the processor is configured to obtain a sliding position range in which the sliding rail slides in the target direction and a rotation angle range in which the pan-tilt rotates about the target axis, and specifically comprises:
    Acquiring control parameters for controlling the movement of the sliding rail and the cradle head;
    and determining a sliding position range of the sliding rail sliding in the target direction and a rotation angle range of the cradle head rotating around the target shaft according to the control parameters.
  46. The apparatus of claim 27, wherein the number of target axes is one or more.
  47. The apparatus of claim 27, wherein the sled comprises a linear sled, the target direction comprises a horizontal direction, and the target axis comprises a yaw axis.
  48. The apparatus of claim 47 wherein the target axis further comprises a pitch axis.
  49. The apparatus of claim 27, wherein the slide rail comprises a linear slide rail, the target direction comprises a vertical direction, and the target axis comprises a pitch axis.
  50. The apparatus of claim 49, wherein the target axis further comprises a yaw axis.
  51. The apparatus of claim 47 or 49, wherein the slide rail and the pan-tilt are configured to support a focus-tracking mode of shooting.
  52. The device of claim 48 or 50, wherein the slide rail and the pan-tilt head are configured to support a panoramic scanning mode of photography.
  53. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program comprising at least one piece of code executable by a computer to control the computer to perform the method according to any one of claims 1-26.
  54. A computer program for implementing the method according to any one of claims 1-26 when the computer program is executed by a computer.
CN202180087796.7A 2021-03-31 2021-03-31 Linkage control method and device Pending CN116848486A (en)

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FR3018415B1 (en) * 2014-03-04 2016-04-15 Thales Sa METHOD FOR CONTROLLING A DETECTION AND TRACKING SYSTEM OF A TARGET
CN104469292B (en) * 2014-11-27 2017-09-19 国网上海市电力公司 A kind of posture self-correcting monopod video camera control device and its method
CN105487552B (en) * 2016-01-07 2019-02-19 深圳一电航空技术有限公司 The method and device of unmanned plane track up
CN108255198B (en) * 2017-12-28 2023-04-28 广州亿航智能技术有限公司 Shooting cradle head control system and control method under unmanned aerial vehicle flight state
CN110913146B (en) * 2019-12-31 2022-05-10 北京科旭威尔科技股份有限公司 Fixed-point linkage shooting method for rail car and holder

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