WO2018191963A1 - Télécommande, support d'appareil photo, et procédé de commande de support d'appareil photo, dispositif, et système - Google Patents

Télécommande, support d'appareil photo, et procédé de commande de support d'appareil photo, dispositif, et système Download PDF

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Publication number
WO2018191963A1
WO2018191963A1 PCT/CN2017/081470 CN2017081470W WO2018191963A1 WO 2018191963 A1 WO2018191963 A1 WO 2018191963A1 CN 2017081470 W CN2017081470 W CN 2017081470W WO 2018191963 A1 WO2018191963 A1 WO 2018191963A1
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WO
WIPO (PCT)
Prior art keywords
tilt
pan
information
user
posture
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PCT/CN2017/081470
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English (en)
Chinese (zh)
Inventor
苏铁
潘立忠
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深圳市大疆灵眸科技有限公司
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Application filed by 深圳市大疆灵眸科技有限公司 filed Critical 深圳市大疆灵眸科技有限公司
Priority to PCT/CN2017/081470 priority Critical patent/WO2018191963A1/fr
Priority to CN201780004498.0A priority patent/CN108496137B/zh
Publication of WO2018191963A1 publication Critical patent/WO2018191963A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • 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

Definitions

  • the present invention relates to the field of control, and in particular, to a remote control, pan/tilt and pan/tilt control method, device and system.
  • the gimbal is a system that stabilizes the load.
  • each axis of the PTZ (such as the yaw axis, the pitch axis, and the roll axis respectively correspond to the yaw axis, the pitch axis,
  • the roll axis will drift, causing the captured picture to drift, reducing the quality of the shot.
  • the PTZ mainly controls the attitude of the gimbal by using the inertial measurement unit as the feedback component and the drive motor of each axis of the gimbal as the output component.
  • the control volume is the cloud.
  • the attitude of the station by giving a target attitude, corrects the current attitude of the gimbal to the target attitude through feedback control, so that the gimbal approaches from the current attitude to the target attitude to prevent the gimbal from drifting.
  • the gimbal on the sports equipment for example, to mount the gimbal on the vehicle for vehicle shooting, and the attitude of the gimbal is affected by the linear acceleration when the vehicle is accelerating or decelerating.
  • the estimation error caused the lens of the shooting device mounted on the pan/tilt to shift, which caused the desired picture to be captured.
  • the invention provides a remote control, cloud platform and pan/tilt control method, device and system.
  • a method for controlling a pan/tilt head comprising: If the first switching instruction for instructing the pan-tilt to switch to the manual calibration mode is detected, switching to the manual calibration mode; in the manual calibration mode, receiving the correction information returned by the user side; and determining the parameters of the gimbal according to the correction information Make corrections.
  • a control device for a pan/tilt comprising: a first processor; wherein the first processor is configured to: if it is detected to indicate that the pan-tilt is switched to manual The first switching command of the calibration mode switches to the manual calibration mode; in the manual calibration mode, the correction information returned by the user side is received; and the parameters of the pan/tilt are corrected according to the correction information.
  • a computer readable storage medium having stored thereon a computer program, the program being executed by a first processor, the step of: if detecting a pan/tilt switch to a manual calibration mode The first switching instruction switches to the manual calibration mode; in the manual calibration mode, the correction information returned by the user side is received; and the parameters of the pan/tilt are corrected according to the correction information.
  • a cloud platform comprising: a gyroscope, an accelerometer and a pan/tilt control device, the control device of the pan/tilt head comprising a first processor; wherein the first processor is configured If the first switching instruction for instructing the gimbal to switch to the manual calibration mode is detected, switching to the manual calibration mode; in the manual calibration mode, receiving the correction information returned by the user side; and the pan/tilt according to the correction information The parameters are corrected.
  • a method for controlling a pan/tilt head comprising: transmitting, when the pan/tilt head is in a first state, a first switching instruction for instructing the pan-tilt to switch to a manual calibration mode to the gimbal Receiving correction information input by the user; transmitting the correction information and transmitting the correction information to the pan/tilt, and instructing the pan/tilt to correct the parameters of the gimbal according to the correction information.
  • a control device for a cloud platform comprising: a second processor; wherein the second processor is configured to: when the pan/tilt is in a first state, for transmitting The first switching instruction for instructing the gimbal to switch to the manual calibration mode to the pan/tilt; receiving the user The correction information is input; the correction information is sent and sent to the pan/tilt, and is used to instruct the pan/tilt to correct the parameters of the gimbal according to the correction information.
  • a computer readable storage medium having stored thereon a computer program, the program being executed by a second processor, the step of: transmitting, when the pan/tilt is in a first state, transmitting The pan/tilt switches to the first switching instruction of the manual calibration mode to the pan/tilt; receives the correction information input by the user; sends the correction information and sends the correction information to the pan/tilt, and is used to instruct the pan/tilt to perform the parameter of the gimbal according to the correction information. Corrected.
  • a remote controller for controlling a pan/tilt
  • the remote controller includes a second processor
  • the second processor is configured to: after the pan/tilt is in a first state, send a first switching instruction for instructing the gimbal to switch to the manual calibration mode to the pan/tilt; receiving correction information input by the user; transmitting the correction information and transmitting the correction information to the pan/tilt, indicating that the pan/tilt heads the pan/tilt according to the correction information The parameters are corrected.
  • a control system for a pan/tilt head comprising: a remote controller for controlling a pan/tilt head, wherein the remote controller transmits a pan-tilt to switch to a manual calibration mode when the pan-tilt is in a first state a first switching instruction to the pan/tilt; the pan/tilt switches to a manual calibration mode after detecting the first switching instruction; in the manual calibration mode, the remote controller receives correction information input by a user; The pan/tilt receives the correction information sent by the remote controller, and corrects the parameters of the gimbal according to the correction information.
  • the setting of the manual calibration mode can correct the parameters of the gimbal at any time by using the correction information input by the user side, that is, adjusting the parameters of the gimbal through manual intervention at any time.
  • the actual attitude estimation of the gimbal is accurate, and the parameters of the pan/tilt in the manual calibration mode are not affected by the state of line acceleration, so that the pan/tilt drift is small.
  • FIG. 1 is a schematic view showing the installation state of a pan/tilt head according to an embodiment of the present invention
  • FIG. 2 is a schematic flow chart of a method for controlling a cloud platform on a cloud platform side according to an embodiment of the present invention
  • FIG. 3 is a schematic flow chart of a method for controlling a cloud platform on a cloud platform side according to another embodiment of the present invention.
  • FIG. 4 is a schematic flow chart showing a general control method of a cloud platform according to an embodiment of the present invention.
  • FIG. 5 is a schematic flowchart of a method for controlling a PTZ in a user side device according to an embodiment of the present invention
  • FIG. 6 is a schematic structural view of a cloud platform according to an embodiment of the present invention.
  • FIG. 7 is a schematic structural diagram of a remote controller according to another embodiment of the present invention.
  • FIG. 8 is a schematic structural diagram of a display interface of a remote controller according to an embodiment of the present invention.
  • FIG. 9 is a schematic structural diagram of a PTZ control system according to an embodiment of the present invention.
  • FIG. 10 is a schematic structural diagram of a PTZ control system according to another embodiment of the present invention.
  • the inertial measurement unit (IMU) in the gimbal mainly includes a gyroscope and an accelerometer.
  • the gyroscope can measure the angular velocity of rotation of each axis of the gimbal. By integrating the measured angular velocity, the current attitude of the gimbal can be determined (pitch, roll, Yaw), but the angular velocity output of each axis of the gyroscope has a zero offset, and if the zero offset problem cannot be improved, the current attitude of the pan/tilt obtained by the angular velocity output integral measured by the gyroscope is inaccurate.
  • the accelerometer is mainly used to give a gimbal attitude reference, and the current attitude of the gimbal obtained by the angular velocity integral measured by the gyroscope is corrected, and finally the gimbal obtains a relatively stable posture.
  • the accelerometer itself has drift, and the data of the acceleration is used to correct the current posture, and the drift is also generated.
  • the attitude of the gimbal is not very stable for a long time, and the shooting device mounted on the gimbal cannot take a long time to photograph the fixed machine.
  • the accelerometer when using the accelerometer to correct the current attitude of the gimbal, it can only be corrected for the pitch and roll axes of the gimbal, and cannot be corrected for the yaw axis of the gimbal. Therefore, the yaw axis posture of the gyroscope is integrated. It is possible that drift will occur soon, and eventually the yaw axis of the entire pan/tilt will continuously move in one direction when shooting the scene with a fixed position using the gimbal. This will also cause the shooting device mounted on the gimbal to fail. Shoot scenes with a fixed position for a long time.
  • the pan/tilt head in the embodiment of the present invention may be a two-axis pan/tilt head or a three-axis pan/tilt head.
  • a schematic description of the three-axis pan/tilt head 200 is performed in the embodiment of the present invention.
  • the photographing device 9 is fixedly mounted on the photographing device fixing mechanism 6 on the pan/tilt head 200, wherein the fixing mechanism 6 can be fixedly or movably connected to the shaft arm 7 of the pitch shaft of the pan/tilt head, wherein the inertial measurement unit can be installed On the fixing mechanism 6 of the photographing apparatus, on the member fixedly connected to the fixing mechanism 6, or any other component fixedly connected to the shaft arm 7 of the pitch shaft, the pan/tilt is stabilized for the photographing device during the photographing process, The inertial measurement unit can measure the posture of the photographing device 9 during the shooting of the photographing device.
  • posture has a variety of expressions
  • quaternion is a representation of attitude information
  • commonly used expressions of commonly used gestures are Euler angles, matrices, and so on.
  • the first posture information may be the attitude angle of the first posture (the Euler angle) or the quaternion corresponding to the first posture, which is not specifically limited herein. The latter part of this paper deals with attitude information.
  • the attitude angle corresponding to the gesture may also be the quaternion corresponding to the gesture, and will not be explained again thereafter.
  • the roll axis, the yaw axis, and the pitch axis of the pan/tilt are replaced with the X axis, the Y axis, and the Z axis hereinafter.
  • an embodiment of the present invention provides a pan/tilt control method.
  • the first embodiment and the second embodiment respectively describe the control method of the cloud platform from the cloud platform side and the user side device controlling the cloud platform.
  • the user side device may be a dedicated remote controller (ie, a control device for controlling the movement of the gimbal) or a smart device (such as a mobile device, a mobile device such as a PAD) installed with an APP.
  • control method of the pan/tilt on the gimbal side may include the following steps:
  • the first switching instruction is sent by the user side.
  • the first switching instruction may be input by the user directly on the pan/tilt.
  • the pan/tilt is provided with a first switch that generates a first switching command, and the user presses the first switch to input the first switching command to the pan/tilt, thereby instructing the pan/tilt to switch to the manual calibration mode.
  • the first switch can be a physical switch or a virtual switch.
  • the pan/tilt includes an operation interface, and the operation interface is provided with an input box for inputting a first switching instruction, and the user can directly input a first switching instruction to the input box, thereby indicating the gimbal Switch to manual calibration mode.
  • the first switching instruction is sent by the user side device.
  • the user-side device is a dedicated remote controller, and the dedicated remote controller is provided with a first switch for inputting a first switching instruction, and after the user presses the first switch, the dedicated remote controller transmits The first switching instruction is to the pan/tilt.
  • the user side device is a smart device installed with an APP (application software), and the interface of the APP is provided with a first switch to send a first switching instruction to the pan/tilt or for inputting the first Switch the input box of the instruction.
  • APP application software
  • the user-side device sends the first switching instruction to the pan-tilt, and after the user side receives the information that the pan-tilt is in the first state, the first state includes the accelerated motion state and the deceleration motion state.
  • the gimbal is in the first state, indicating that the pan/tilt may drift, and the drift is corrected by the inertial measurement unit, and the inertial measurement unit is subject to the inaccuracy of the correction caused by the linear acceleration, and in the manual calibration mode.
  • the drift of the gyroscope is directly adjusted so that the attitude of the gimbal is accurate without being affected by the line acceleration, and the drift actually generated by the gimbal can be adjusted in real time, so that the attitude accuracy of the gimbal is high.
  • the detecting before the first switching instruction for indicating that the PTZ switches to the manual calibration mode comprises: receiving information that the PTZ is in the first state.
  • the first state indicates that the pan/tilt may drift, and the drift is corrected by the inertial measurement unit.
  • the inertial measurement unit is subject to the inaccuracy of the correction caused by the linear acceleration, and the gyroscope is directly applied to the gyroscope in the manual calibration mode.
  • the drift is adjusted so that the attitude of the pan/tilt is not affected by the line acceleration, and the drift actually generated by the pan/tilt can be adjusted in real time, so that the attitude of the pan/tilt is highly accurate.
  • the first switching instruction is generated by the gimbal after receiving the information that the PTZ is in the first state. That is, the first switching instruction is generated by the PTZ, and the automatic switching mode is automatically switched, and the timeliness of the switching is high, thereby ensuring the timeliness of the subsequent adjustment of the parameters of the PTZ.
  • the first state may be obtained by detecting a motion state of a device (for example, a vehicle) on which the pan/tilt is mounted, that is, when the motion state of the device carrying the pan/tilt is one of acceleration and deceleration, the pan/tilt is in the first state. status.
  • the angle of the gimbal and the direction of travel does not affect the motion state of the gimbal.
  • the acceleration and deceleration movement of the gimbal and the driving direction at 90° also indicates that the gimbal is in the first state.
  • a detecting device for example, a speed sensor for detecting a motion state of the pan/tilt is disposed on the cloud platform or the device supporting the pan/tilt, and the detecting device sends the detected motion state of the pan/tilt to the user.
  • the side device so that the first switching instruction for instructing the pan-tilt to switch to the manual calibration mode is automatically generated by the user-side device or the first switching instruction is directly input by the user on the user-side device.
  • the method further includes: transmitting the image monitored by the PTZ to the user side device.
  • the user side device compares the received image with the reference image to determine whether the pan/tilt is drifting. In this embodiment, when the user side device determines that the received image does not match the reference image, it determines that the pan/tilt is drifting, and the user side device returns the correction information to the cloud according to the comparison result between the image and the reference image. Taiwan; otherwise, the cloud platform has no drift.
  • the image received by the user side device is directly displayed to the user, and the user determines whether the pan/tilt is drifted according to the image, and inputs the correction information to the user side device according to the image, and then the user side device adds the correction information. Send to the PTZ.
  • the method further includes: sending the PTZ current posture to the user side device.
  • the user side device compares the received current attitude of the pan/tilt head with the pan/tilt reference posture to determine whether the cloud platform generates drift.
  • the user side device determines that the current attitude of the pan/tilt is inconsistent with the pan/tilt reference posture, it determines that the pan/tilt is drifting, and the user side device returns according to the comparison result between the current attitude of the gimbal and the reference posture of the gimbal. Correct the information to the PTZ; otherwise, the PTZ has no drift.
  • the current posture of the PTZ received by the user equipment is directly presented to the user, and the user determines whether the PTZ generates drift according to the current posture of the PTZ, and inputs the correction information to the user side device according to the image, and then The user side device sends the correction information to the pan/tilt.
  • the user side device communicates with the cloud platform based on a wireless communication manner, which can implement remote control of pan/tilt parameter correction, and also avoid cable entanglement problems caused by cable connection.
  • the wireless communication mode is a radio frequency communication mode or another wireless communication mode.
  • the user side device and the cloud platform can also be directly connected by way of a cable.
  • the correction information input by the user side can be used to correct the parameters of the gimbal at any time, that is, the parameters of the gimbal are adjusted by manual intervention at any time, so that the actual attitude estimation of the gimbal is accurate.
  • the parameters of the pan/tilt adjustment in the manual calibration mode are not affected by the state of line acceleration, etc., so that the pan/tilt drift is small.
  • the parameter of the gimbal includes a drift value of one or more axes of the gyroscope (for example, a roll axis, a pitch axis, and a yaw axis) (which is obtained by linear integration of the gyroscope's zero offset with time).
  • a drift value of one or more axes of the gyroscope for example, a roll axis, a pitch axis, and a yaw axis
  • the correcting the posture of the gimbal according to the correction information comprises: adjusting a drift value of one or more axes of the gyroscope according to the correction information, so that the pan/tilt is on each axis
  • the posture is more accurate.
  • the correction information includes an adjustment value size and an adjustment direction corresponding to the adjustment value.
  • the correction information further includes a gyro axis of the desired adjustment corresponding to the adjustment value, so as to adjust the gyro axis according to the adjustment value and the adjustment direction corresponding to the adjustment value, and the gyro axis to be adjusted.
  • the drift value corresponding to the gyroscope axis is corrected to achieve the accuracy of the pan-tilt drift adjustment.
  • the adjustment direction may include a positive direction or a negative direction.
  • a reference position is set, where the right side of the reference position is a positive direction and the left side is a negative direction;
  • the pitch axis of the gimbal also sets a reference position, the lower side of the reference position is a positive direction, and the upper side is a negative direction;
  • a reference position is also set, and the right tilt of the reference position is positive Direction, left tilt is negative.
  • the positive direction and the negative direction can be set to other forms as needed.
  • the adjusting, according to the correction information, a drift value of one or more axes of the gyroscope comprising: performing positive or negative drift values of one or more axes of the gyroscope according to the magnitude of the adjustment value.
  • the adjustment of the direction thereby correcting the drift value of the axis of the drifting gyroscope, so that the drift of the gyroscope on the axis is reduced, thereby reducing the drift of the gimbal.
  • the manual calibration method can adjust the drift at any time.
  • the method may further comprise the steps of:
  • the acquiring manner of the first switching instruction corresponds to the acquiring manner of the first switching instruction in step S101.
  • the second switching instruction is sent by the user side.
  • the second switching instruction may be input by the user directly on the pan/tilt.
  • the pan/tilt is provided with a second switch that generates a second switching command, and the user presses the second switch to input a second switching command to the pan/tilt, thereby instructing the pan/tilt to switch to the manual calibration mode.
  • the second switch can be a physical switch or a virtual switch.
  • the pan/tilt includes an operation interface, and the operation interface is provided with an input box for inputting a second switching instruction, etc., and the user can directly input a second switching instruction to the input box, thereby indicating the gimbal Switch to manual calibration mode.
  • the second switching instruction is sent by the user side device.
  • the user-side device is a dedicated remote controller, and the dedicated remote controller is provided with a second switch for inputting a second switching command. After the user presses the second switch, the dedicated remote controller is Sending a second switching instruction to the pan/tilt.
  • the second switch can be a physical switch or a virtual switch.
  • the user side device is a smart device with an APP installed, and the interface of the APP is provided with a second switch that sends a second switch instruction to the pan/tilt or an input for inputting a second switch instruction. frame.
  • the transmitting, by the user side device, the second switching instruction to the pan/tilt may be performed after the user side receives the information that the pan/tilt is in the second state, where the second state includes the uniform motion state and the stationary state.
  • the second state includes the uniform motion state and the stationary state.
  • the pan/tilt automatically adjusts its drift accuracy to be high, and does not require manual intervention, which is simple and convenient.
  • the second switching instruction is generated by the gimbal after the pan/tilt detects that it is in the second state, that is, the pan/tilt immediately generates the second slice after detecting that it is in the second state.
  • the command is changed, the pan/tilt is switched to the automatic calibration mode, and the second switching command is generated for a fast time, so that the pan/tilt is automatically adjusted at a faster speed.
  • the second state can also be obtained by detecting the motion state of the device (for example, a vehicle) on which the pan/tilt is mounted, that is, when the motion state of the device carrying the pan/tilt is one of uniform speed and stationary, the pan/tilt is in the second state. status.
  • the second state is also a detecting device mounted on a pan/tilt or a device equipped with a pan/tilt.
  • step S1 and step S3 in the embodiment of the present invention may be sequentially performed in sequence, wherein the specific sequence is not specifically limited, and step S2 and step S3 may also be performed simultaneously.
  • the measured attitude information is not accurate due to the drift of the gyroscope, and therefore, the second attitude information acquired according to the accelerometer in the inertial measurement unit.
  • Correcting the posture and/or parameters of the gimbal is implemented according to the first posture information and the second posture information.
  • the attitude and parameters of the pan/tilt are corrected by the first attitude information and the second attitude information, thereby reducing the drift of the pan/tilt.
  • the automatic calibration method is simpler, more convenient and time-sensitive. high.
  • the correcting the posture of the pan/tilt according to the first posture information and the second posture information comprises: determining, according to the first posture information and the second posture information, The error posture information of the pan/tilt, and correcting the first attitude information according to the error posture information to obtain a current posture and/or parameter information of the pan/tilt, using a closed-loop control strategy, and measuring the gyroscope according to the error posture information
  • the obtained first posture information is corrected to obtain The current attitude information of the gimbal, so as to accurately adjust the drift of the gimbal.
  • the error posture information is posture difference information between the first posture information and the second posture information.
  • the quaternion of the second posture information and the quaternion of the first posture information may be determined.
  • the error posture information may be obtained by multiplying the quaternion of the second posture information by the quaternion of the first posture information, and determining the error posture information according to the quaternion obtained by multiplication.
  • the multiplied quaternion may represent error pose information between the second pose information and the first pose information, and the quaternion obtained after multiplication is the quaternion of the error pose information.
  • the Euler angle corresponding to the error posture information can be converted, and the first posture of the inertial measurement unit or the gyroscope can be determined according to the quaternion or the Euler angle of the determined error posture information.
  • the information is corrected.
  • the quaternion of the second posture information may be replaced with a corresponding Euler angle, and the Euler angle corresponding to the first posture information is determined according to the inertial observation unit or the gyroscope.
  • the error posture information between the second posture information and the first posture information can be obtained by comparing the quaternion of the second posture information with the corresponding Euler angle and the Euler angle corresponding to the first posture information, and the error posture information is obtained.
  • the drift of the gyro can be expressed, and the difference between the Euler angles corresponding to the first attitude information of the second attitude information can be converted into a quaternion corresponding to the error posture information by conversion.
  • the error posture information includes at least one of attitude difference information of a roll axis and attitude difference information of a pitch axis.
  • the correcting the first posture information according to the error posture information to obtain the current attitude information of the gimbal comprises: correcting according to the error posture information by using one or more of extended Kalman filtering, complementary filtering, and smoothing filtering.
  • the first posture information is used to obtain current posture information of the pan/tilt.
  • the first posture information may be corrected according to the error posture information by using one or more of extended Kalman filtering, complementary filtering, and smoothing filtering in several feasible manners:
  • a feasible way is: filtering the corrected posture information, and using the filtered posture information as the current attitude information of the pan/tilt;
  • Another feasible way is to filter the error posture correction amount per unit time, and correct the first attitude information determined by the inertial measurement unit or the gyroscope according to the filtered error posture correction amount to obtain the current attitude information of the gimbal. .
  • the method may include the steps of:
  • S201 Send a first switching instruction for instructing the PTZ to switch to the manual calibration mode to the pan/tilt when the pan/tilt is in the first state;
  • the first state comprises one of an accelerated motion state and a deceleration motion state.
  • the pan/tilt When the pan/tilt is in the first state, it indicates that the pan/tilt may drift, and the drift is corrected by the inertial measurement unit.
  • the inertial measurement unit is affected by the linear acceleration and the correction inaccuracy is caused, and in the manual calibration mode, it is directly
  • the drift of the gyroscope is adjusted so that the attitude of the gimbal is accurate without being affected by the line acceleration, and the drift actually generated by the gimbal can be adjusted in real time, so that the attitude accuracy of the gimbal is high.
  • the first state can be obtained by detecting the motion state of the device (for example, a vehicle) on which the pan/tilt is mounted. That is, when the motion state of the device equipped with the pan/tilt is one of acceleration and deceleration, the pan/tilt is in the first state.
  • the angle of the gimbal and the direction of travel does not affect the motion state of the gimbal. For example, the acceleration and deceleration movement of the gimbal and the driving direction at 90° also indicates that the gimbal is in the first state.
  • a detecting device for example, a speed sensor for detecting a motion state of the pan/tilt is disposed on the cloud platform or the device supporting the pan/tilt, and the detecting device sends the detected motion state of the pan/tilt to the user.
  • the side device so that the first switching instruction for instructing the pan-tilt to switch to the manual calibration mode is automatically generated by the user-side device or the first switching instruction is directly input by the user on the user-side device.
  • the user-side device is a dedicated remote controller
  • the dedicated remote controller is provided with a first switch that the user inputs a first switching instruction, and after the user presses the first switch, the dedicated remote controller That is, the first switching instruction is sent to the pan/tilt.
  • the first The switch can be a physical switch or a virtual switch.
  • the user side device is a smart device with an APP installed, and the interface of the APP is provided with a first switching switch that the user sends a first switching instruction to the pan/tilt or a first switching instruction. Input box.
  • S202 Receive correction information input by a user
  • the correction information includes a size of the adjustment value and an adjustment direction corresponding to the adjustment value.
  • the correction information further includes a gyro axis of the desired adjustment corresponding to the adjustment value, so that the pan/tilt can be based on the adjustment value and the adjustment direction corresponding to the adjustment value, and the gyro axis to be adjusted.
  • the drift value corresponding to the gyro axis to be adjusted is corrected to achieve the accuracy of the pan-tilt drift adjustment.
  • the adjustment direction may include a positive direction or a negative direction.
  • a reference position is set, where the right side of the reference position is a positive direction and the left side is a negative direction;
  • the pitch axis of the gimbal also sets a reference position, the lower side of the reference position is a positive direction, and the upper side is a negative direction;
  • a reference position is also set, and the right tilt of the reference position is positive Direction, the left tilt is the negative direction (this article takes the above-mentioned adjustment directions of the roll axis, pitch axis and yaw axis as an example).
  • the positive direction and the negative direction can be set to other forms as needed.
  • the correction information returned by the receiving user is to display the image monitored by the pan/tilt or the current posture information of the pan/tilt to the user, and receive the correction returned by the user according to the image monitored by the pan/tilt or the current posture information of the gimbal.
  • the information, that is, the correction information is set by the user according to the image monitored by the cloud platform or the current attitude information of the pan/tilt, thereby reducing the drift of the gimbal.
  • the receiving information returned by the receiving user according to the image monitored by the cloud platform or the current posture information of the pan/tilt includes: receiving a size of the adjustment value that the user returns multiple times according to the image monitored by the cloud platform, and the The adjustment direction corresponds to the adjustment direction.
  • the user side device compares the received image with the reference image to determine whether the pan/tilt is drifting. In this embodiment, when the user side device determines that the received image is inconsistent with the reference image, Then, it is determined that the pan/tilt is drifting, and the user inputs the correction information to the user side device according to the comparison result of the image and the reference image; otherwise, the pan/tilt has no drift.
  • the image received by the user side device is directly displayed to the user, and the user determines whether the pan/tilt is drifted according to the image, and inputs the correction information to the user side device according to the image, and then the user side device adds the correction information. Send to the PTZ.
  • the receiving information returned by the receiving user according to the image monitored by the cloud platform or the current posture information of the pan/tilt includes: receiving a size of the adjustment value that the user returns multiple times according to the current posture information of the cloud platform, and the The adjustment direction corresponds to the adjustment direction.
  • the user side device compares the received current attitude of the pan/tilt head with the pan/tilt reference posture to determine whether the cloud platform generates drift.
  • the user-side device determines that the current attitude of the pan-tilt is inconsistent with the pan-tilt reference posture, it determines that the pan-tilt is drifting, and the user inputs the correction information according to the comparison result between the current attitude of the gimbal and the pan-tilt reference posture.
  • the user side device otherwise, the pan/tilt has no drift.
  • the current posture of the PTZ received by the user equipment is directly presented to the user, and the user determines whether the PTZ generates drift according to the current posture of the PTZ, and inputs the correction information to the user side device according to the image, and then The user side device sends the correction information to the pan/tilt.
  • the user side device further includes a plurality of adjustment knobs, namely a roll axis 2, a pitch axis knob 3, and a yaw axis knob 4, corresponding to the modified gyro roll axis, the pitch axis, and The drift value of the yaw axis.
  • Each adjustment knob can be adjusted in an increasing and decreasing direction, and the adjustment knob is adjusted in a direction toward increasing or decreasing to reduce a drift value of the gyroscope in a corresponding axial direction, thereby reducing a corresponding axis of the gimbal Drift until there is no drift on each axis of the gimbal, stopping the control of the adjustment knob.
  • the corresponding adjustment knob is adjusted toward the increasing direction, thereby reducing the drift of the corresponding axis of the pan/tilt.
  • the left offset, the upper offset, and the left tilt state respectively correspond to a yaw axis, a pitch axis, and a roll axis.
  • the corresponding adjustment knob is adjusted toward the decreasing direction, thereby reducing the drift of the corresponding axis of the pan/tilt .
  • the right offset, the lower offset, and the right tilt state respectively correspond to a yaw axis, a pitch axis, and a roll axis.
  • S203 Send the correction information and send the information to the pan/tilt, and instruct the pan/tilt to correct the parameters of the pan/tilt according to the correction information.
  • the user and the user-side device interact to realize the automatic and flexible control of the correction information, thereby triggering the pan/tilt to use the correction information input by the user side to perform the parameters of the gimbal at any time.
  • the correction means that the parameters of the gimbal are adjusted by manual intervention at any time, so that the actual attitude estimation of the gimbal is accurate, and the parameters of the pan/tilt in the manual calibration mode are not affected by the state of line acceleration, and the pan-tilt drift is small.
  • the user side device communicates with the cloud platform based on a wireless communication manner, which can implement remote control of pan/tilt parameter correction, and also avoid cable entanglement problems caused by cable connection.
  • the wireless communication mode is a radio frequency communication mode or another wireless communication mode.
  • the user side device and the cloud platform can also be directly connected by way of a cable.
  • the correction information generated by the adjustment knob is sent to the pan/tilt to correct the parameters of the gimbal in real time to reduce the drift of the gimbal.
  • the adjustment value being a fixed value, for example, the fixed value is 0.1 ° / S (unit: deg / sec).
  • transmitting the correction information to the pan/tilt is performed after receiving a correction confirmation command input by the user to ensure the correctness of the correction information.
  • the display interface is provided with a correction confirmation button, and after the user presses the corresponding adjustment knob multiple times, pressing the correction confirmation button, the user side device can send the final correction information to the pan/tilt,
  • the program does not exist
  • the parameters of the gimbal can be corrected in real time.
  • the method may further include: after determining that the pan/tilt is in the second state, sending a second switching instruction for instructing the gimbal to switch to the automatic calibration mode to the pan/tilt to instruct the pan/tilt to perform parameters thereof Automatic adjustment.
  • the parameter of the gimbal includes a drift value of one or more axes of the gyroscope (for example, a roll axis, a pitch axis, and a yaw axis) (which is obtained by linear integration of the gyroscope's zero offset with time).
  • a drift value of one or more axes of the gyroscope for example, a roll axis, a pitch axis, and a yaw axis
  • the user-side device is a dedicated remote controller
  • the dedicated remote controller is provided with a second switch for inputting a second switching instruction.
  • the dedicated remote controller That is, a second switching instruction is sent to the pan/tilt.
  • the second switch can be a physical switch or a virtual switch.
  • the user side device is a smart device with an APP installed, and the interface of the APP is provided with a second switching switch that the user sends a second switching instruction to the PTZ or a second switching instruction. Input box.
  • the first switching switch and the second switching switch are arranged to form a switching switch, so that the manual switching mode of the pan/tilt and the automatic calibration mode can be freely switched, which is convenient and quick.
  • the third embodiment and the fourth embodiment are respectively described from the pan-tilt side and the user equipment side corresponding to the control device of the pan-tilt according to the embodiment of the present invention.
  • an embodiment of the present invention provides a control device for a cloud platform.
  • the control device for the cloud platform may include a first processor 201.
  • the first processor and the gyroscope 202 and the accelerometer 203 of the cloud platform respectively Connected.
  • the first processor 201 is configured to execute the foregoing Embodiment 1 The steps of the pan/tilt control method.
  • the gyro 202 and the accelerometer 203 need to send the first posture information and the second posture information to the first processor 201, respectively, and are executed by the first processor 201. Automatic calibration.
  • an embodiment of the present invention provides a control device for a cloud platform, where the control device of the cloud platform may include a second processor 101, where the second processor 101 is configured to perform the foregoing embodiment 2.
  • the steps of the PTZ control method may include a second processor 101, where the second processor 101 is configured to perform the foregoing embodiment 2.
  • An embodiment of the present invention provides a computer storage medium storing program instructions, where the computer storage medium stores program instructions, and the program executes the control of the pan/tilt of the first embodiment or the second embodiment. method.
  • an embodiment of the present invention provides a cloud platform, which may include a gyroscope 202, an accelerometer 203, and a control device of the pan/tilt.
  • the control device of the pan/tilt is the control device of the pan/tilt head according to the third embodiment.
  • the gyroscope 202 and the accelerometer 203 are respectively connected to the first processor 201 in the control device of the pan/tilt.
  • an embodiment of the present invention provides a remote controller, and the remote controller 100 is a control device for a pan/tilt head according to the fourth embodiment.
  • the remote control 100 includes the operator interface 102 with the second processor 101.
  • the switch 1 is provided on the operation interface 102.
  • the switch includes a first switch and a second switch, and the switch 1 includes a first switch Change switch and second switch.
  • the first switch is used to input a first switching instruction
  • the second switch is used to input a second switching instruction.
  • the user generates a first switching instruction or a second switching instruction by pressing the first switching switch or the second switching switch, and sends the generated first switching instruction or second switching instruction to the pan/tilt.
  • the second switch can be a physical switch or a virtual switch.
  • the user side device further includes a plurality of adjustment knobs, namely a roll axis 2, a pitch axis knob 3, and a yaw axis knob 4, corresponding to the modified gyro roll axis,
  • Each adjustment knob can be adjusted in an increasing and decreasing direction, and the adjustment knob is adjusted in a direction toward increasing or decreasing to reduce a drift value of the gyroscope in a corresponding axial direction, thereby reducing a corresponding axis of the gimbal Drift until there is no drift on each axis of the gimbal, stopping the control of the adjustment knob.
  • the corresponding adjustment knob is adjusted toward the increasing direction, thereby reducing the drift of the corresponding axis of the pan/tilt.
  • the left offset, the upper offset, and the left tilt state respectively correspond to a yaw axis, a pitch axis, and a roll axis.
  • the corresponding adjustment knob is adjusted toward a decreasing direction, thereby reducing drift of the corresponding axis of the gimbal.
  • the right offset, the lower offset, and the right tilt state respectively correspond to a yaw axis, a pitch axis, and a roll axis.
  • the remote controller 100 communicates with the pan/tilt based on a wireless communication manner, which can implement remote control of pan/tilt parameter correction and also avoid cable entanglement problems caused by cable connections.
  • the wireless communication mode is a radio frequency communication mode or another wireless communication mode.
  • the user side device and the cloud platform can also be directly connected by way of a cable.
  • the display interface is provided with a correction confirmation button, and after the user presses the corresponding adjustment knob multiple times, pressing the correction confirmation button, the user side device can perform the final correction information. Sending to the PTZ, the solution cannot correct the parameters of the PTZ in real time.
  • an embodiment of the present invention provides a control system for a pan/tilt, and the control system of the pan/tilt includes a remote controller 100 that controls the pan/tilt head 200.
  • the cloud platform is the cloud platform described in the above sixth embodiment.
  • the pan/tilt head 200 includes a gyroscope 202, an accelerometer 203, and a control device of the pan/tilt.
  • the gyroscope 202 and the accelerometer 203 are respectively connected to the second processor 201 in the control device of the pan/tilt.
  • the remote controller is the remote controller described in the above seventh embodiment.
  • the remote controller 100 transmits a first switching instruction for instructing the pan-tilt 200 to switch to the manual calibration mode to the pan/tilt 200 when the pan-tilt 200 is in the first state; the pan-tilt 200 detects the location After the first switching instruction, switch to the manual calibration mode; in the manual calibration mode, the remote controller 100 receives the correction information input by the user; the pan/tilt 200 receives the correction information sent by the remote controller 100, and according to the The correction information corrects the parameters of the pan/tilt 200.
  • the first state includes one of an accelerated motion state and a deceleration motion state.
  • the cloud station 200 generates the first switching instruction after receiving the information that the cloud platform 200 is in the first state.
  • the parameter of the pan/tilt 200 includes a drift value of one or more axes of the gyroscope
  • the remote controller 100 includes a plurality of adjustment knobs for respectively generating correction information to Corresponding to the drift value of multiple axes of the modified gyro.
  • the plurality of axles comprise a roll axis, a pitch axis, and a yaw axis.
  • the correction information includes an adjustment value size and an adjustment direction corresponding to the adjustment value.
  • the remote controller 100 receives the correction information input by the user, and the remote controller 100 displays the image monitored by the pan/tilt 200 or the current posture information of the pan-tilt 200 to the user, and receives an image monitored by the user according to the pan-tilt 200. Or the correction letter returned by the current attitude information of the PTZ 200 interest.
  • the adjustment knob comprises a roll axis knob, a pitch axis knob and a yaw axis knob, each of the adjustment knobs can be adjusted toward increasing and decreasing directions, and the adjusting knob is adjusted by increasing or decreasing direction To reduce the drift value of the gyroscope in the corresponding axis direction.
  • the corresponding knob is adjusted toward the decreasing direction
  • the right offset, the lower offset, and the right tilt state respectively correspond to a yaw axis, a pitch axis, and a roll axis.
  • the remote controller 100 receives an adjustment value and a corresponding adjustment direction that the user returns multiple times according to the image monitored by the pan/tilt 200 or the current posture information of the pan/tilt 200, and the pan/tilt 200 according to the multiple times
  • the returned adjustment value and the corresponding adjustment direction sequentially adjust the drift value of the corresponding axis of the gyroscope.
  • the pan/tilt head 200 adjusts a drift value of one or more axes of the gyroscope in a positive direction or a negative direction according to the adjusted value.
  • the remote controller 100 communicates with the cloud platform 200 based on a wireless communication manner.
  • the wireless communication mode is a radio frequency communication mode.
  • the remote controller 100 sends a second switching instruction for instructing the pan-tilt 200 to switch to the auto-calibration mode to the pan/tilt head 200; the cloud
  • the station 200 switches to the automatic calibration mode; in the automatic calibration mode, the pan/tilt head 200 acquires the first attitude information of the pan/tilt head 200 by using the gyroscope, and acquires the gimbal by using the accelerometer.
  • the second posture information of 200 corrects the posture and/or parameters of the platform 200 according to the first posture information and the second posture information.
  • the pan/tilt head 200 determines error posture information of the pan/tilt head 200 according to the first posture information and the second posture information; and corrects the first posture information according to the error posture information to obtain Current attitude and/or parameter information of the pan/tilt 200.
  • the pan/tilt 200 corrects the first posture information according to the error posture information to obtain the current posture information of the pan-tilt 200 by using one or more of extended Kalman filtering, complementary filtering, and smoothing filtering.
  • the error posture information is posture difference information between the first posture information and the second posture information.
  • the error posture information includes at least one of attitude difference information of a roll axis and attitude difference information of a pitch axis.
  • the remote controller may be replaced by a smart device (such as a mobile phone, a PAD, etc.) having an APP.
  • a smart device such as a mobile phone, a PAD, etc.
  • the device embodiment since it basically corresponds to the method embodiment, reference may be made to the partial description of the method embodiment.
  • the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, ie may be located A place, or it can be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment. Those of ordinary skill in the art can understand and implement without any creative effort.
  • a "computer-readable medium” can be any apparatus that can contain, store, communicate, propagate, or transport a program for use in an instruction execution system, apparatus, or device, or in conjunction with the instruction execution system, apparatus, or device.
  • computer readable media include the following: electrical connections (electronic devices) having one or more wires, portable computer disk cartridges (magnetic devices), random access memory (RAM), Read only memory (ROM), erasable editable read only memory (EPROM or flash memory), fiber optic devices, and portable compact disk read only memory (CDROM).
  • the computer readable medium may even be a paper or other suitable medium on which the program can be printed, as it may be optically scanned, for example by paper or other medium, followed by editing, interpretation or, if appropriate, other suitable The method is processed to obtain the program electronically and then stored in computer memory.
  • portions of the invention may be implemented in hardware, software, firmware or a combination thereof.
  • multiple steps or methods may be stored in the memory and combined
  • the appropriate instructions are executed by the software or firmware executed by the system.
  • it can be implemented with any one or combination of the following techniques well known in the art: having logic gates for implementing logic functions on data signals. Discrete logic circuits, application specific integrated circuits with suitable combinational logic gates, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.
  • each functional unit in each embodiment of the present invention may be integrated into one processing module, or each unit may exist physically separately, or two or more units may be integrated into one module.
  • the above integrated modules can be implemented in the form of hardware or in the form of software functional modules.
  • the integrated modules, if implemented in the form of software functional modules and sold or used as stand-alone products, may also be stored in a computer readable storage medium.
  • the above mentioned storage medium may be a read only memory, a magnetic disk or an optical disk or the like.

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Abstract

La présente invention concerne une télécommande, un support d'appareil photo, un procédé de commande de support d'appareil photo, un dispositif, et un système. Un système de commande d'un support d'appareil photo comprend une télécommande (100) pour commander un support d'appareil photo (200). Le procédé comprend les étapes suivantes : le support d'appareil photo étant dans un premier état, la télécommande envoie au support d'appareil photo une première instruction de commutation afin d'ordonner au support d'appareil photo de passer à un mode d'étalonnage manuel ; lors de la détection de la première instruction de commutation, le support d'appareil photo commute vers le mode d'étalonnage manuel ; dans le mode d'étalonnage manuel, la télécommande reçoit des informations de correction entrées par un utilisateur ; et le support d'appareil photo reçoit les informations de correction envoyées par la télécommande, et corrige, conformément aux informations de correction, un paramètre du support d'appareil photo. En fournissant le mode d'étalonnage manuel, la présente invention permet une correction de paramètre du support d'appareil photo au moyen d'informations de correction entrées par un utilisateur à n'importe quel moment donné, à savoir, un réglage de paramètre du support d'appareil photo au moyen d'une intervention manuelle à n'importe quel moment donné. De cette manière, la présente invention permet une estimation précise d'une attitude réelle du support d'appareil photo, et réduit la dérive de position du support d'appareil photo en éliminant l'influence d'un état, tel qu'une accélération linéaire, sur un réglage de paramètre de support d'appareil photo dans le mode d'étalonnage manuel.
PCT/CN2017/081470 2017-04-21 2017-04-21 Télécommande, support d'appareil photo, et procédé de commande de support d'appareil photo, dispositif, et système WO2018191963A1 (fr)

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CN201780004498.0A CN108496137B (zh) 2017-04-21 2017-04-21 遥控器、云台及云台控制方法、装置、系统

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