WO2018191964A1 - Camera mount control method, and camera mount - Google Patents

Camera mount control method, and camera mount Download PDF

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Publication number
WO2018191964A1
WO2018191964A1 PCT/CN2017/081471 CN2017081471W WO2018191964A1 WO 2018191964 A1 WO2018191964 A1 WO 2018191964A1 CN 2017081471 W CN2017081471 W CN 2017081471W WO 2018191964 A1 WO2018191964 A1 WO 2018191964A1
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WO
WIPO (PCT)
Prior art keywords
information
pan
tilt
quaternion
posture information
Prior art date
Application number
PCT/CN2017/081471
Other languages
French (fr)
Chinese (zh)
Inventor
苏铁
潘立忠
赵岩崇
Original Assignee
深圳市大疆灵眸科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
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 CN201780004873.1A priority Critical patent/CN108700252B/en
Priority to PCT/CN2017/081471 priority patent/WO2018191964A1/en
Publication of WO2018191964A1 publication Critical patent/WO2018191964A1/en

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera accessories
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • 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

Definitions

  • the invention relates to the field of control, in particular to a control method of a cloud platform and a cloud platform.
  • the gimbal is a system that stabilizes the load.
  • you can stabilize the shooting device and you can take a stable and smooth picture even under sports conditions.
  • the pan/tilt axes (such as the yaw axis, the pitch axis, and the roll axis) will drift, causing the captured image to drift and decrease.
  • the quality of the shot Therefore, when you need to shoot a scene with a fixed position, you need to remove the shooting device from the pan/tilt, then mount it on the tripod and re-commission it.
  • the present invention needs to provide a control method for a pan/tilt head and a pan/tilt head so that the pan/tilt head can be kept stable on each axis for a long time, so that the photographing device mounted on the pan/tilt can capture a scene of a fixed position for a long time without An offset occurs to improve the quality of the shot.
  • a first aspect of the embodiments of the present invention provides a method for controlling a pan/tilt, comprising the following steps:
  • the first posture information is corrected according to the error posture information to obtain current attitude information of the pan/tilt.
  • An attitude sensor for determining a first attitude information of the pan/tilt
  • An angle sensor for determining a rotation angle of a driving motor of one or more shafts of the pan/tilt
  • a processor configured to determine error posture information of the attitude sensor according to the first posture information and the rotation angle
  • the first posture information is corrected according to the error posture information to obtain current attitude information of the pan/tilt.
  • the error posture information of the attitude sensor is determined by determining an angle of rotation of the driving motor of the one or more axes of the pan/tilt and the first posture information, and the first posture information is corrected according to the error posture information.
  • the drift problem existing in the prior art using the accelerometer to correct the posture information obtained by the gyroscope can be effectively avoided, and the posture of the pan/tilt obtained after the correction can be kept stable for a long time, so that the posture can be set on the gimbal
  • the shooting device on the camera can capture the scene of the fixed position for a long time without causing the shooting angle drift problem of the shooting device.
  • the pan/tilt can capture both the scene of the sports position and the fixed position for a long time. The scene expands the scope of application of the gimbal.
  • FIG. 1 is a schematic flow chart of a method for controlling a pan/tilt according to some embodiments of the present invention.
  • FIG. 4 is a schematic structural view of a pan/tilt head according to some embodiments of the present invention.
  • the PTZ mainly controls the attitude of the gimbal by using the inertial measurement unit (IMU) as the feedback component and the drive motor of each axis of the gimbal as the output component.
  • IMU inertial measurement unit
  • the control The quantity is the attitude of the gimbal.
  • the inertial measurement unit mainly includes a gyroscope and an accelerometer.
  • the gyroscope can measure the angular velocity of rotation of each axis of the gimbal.
  • the current attitude (pitch, roll, yaw) of the gimbal can be determined by integrating the measured angular velocity, but the gyroscope
  • the angular velocity output of each axis has a zero offset, and the zero offset cannot be completely eliminated. Therefore, the current attitude of the pan/tilt obtained by the angular velocity output integration 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. Using the data of the accelerometer to correct the current attitude will also cause drift.
  • the attitude of the gimbal is not very stable for a long time, and the shooting equipment mounted on the gimbal cannot be fixed for a long time.
  • the scene of the position in addition, 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 gyro 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 method for controlling the pan/tilt in the embodiment of the present invention includes the following steps:
  • the attitude sensor can measure the posture of the photographing device 9, that is, the first posture information of the gimbal.
  • the attitude sensor may include a gyroscope, where the gyroscope may be an independent gyroscope or a gyroscope in the inertial measurement unit.
  • the gyroscope is used as an attitude sensor for illustrative purposes. Note that the gyroscopes appearing later in this article can be equally replaced with attitude sensors.
  • 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 the attitude information that can be the attitude angle corresponding to the attitude, or the quaternion corresponding to the attitude, which will not be explained separately.
  • the axle arm 8 of the roll axis of the pan/tilt head 200 is used to support the axle arm 7 of the pitch shaft and the drive motor 1 of the pitch shaft, and the axle arm 5 of the yaw shaft of the pan/tilt 200 is used to support the yaw.
  • the drive motor 3 of the shaft and the drive motor 2 of the roll shaft, the shaft arm 7 of the pitch shaft of the pan/tilt is used to support the photographing device 9, and the drive motor of each axis of the pan/tilt head 200 (driver motor of the pitch shaft 1, drive of the roll shaft)
  • An angle sensor can be installed in the driving motor 3) of the motor 2 and the yaw shaft, wherein the driving motor is provided with a circuit board, and the angle sensor can be electrically connected with the circuit board.
  • the driving motor of the pan/tilt head rotates, the driving motor can be measured by the angle sensor.
  • the angle of rotation wherein the angle sensor can be one or more of a potentiometer, a Hall sensor, and a photoelectric encoder.
  • the pan/tilt head may be connected to the hand-held stick (not shown) or connected to the movable platform through the base 4.
  • step S101 and step S102 may be sequentially performed in sequence, wherein the specific sequence is not specifically limited, and step 101 and step S102 may also be performed simultaneously.
  • the error posture information of the gyroscope after measuring the rotation angle of the driving motor of the one or more axes of the pan/tilt, determining the error posture information of the gyroscope according to the rotation angle and determining the first posture information of the pan/tilt by using the gyroscope, that is, the error posture information It can represent the drift of the gyroscope.
  • the error posture information of the attitude sensor is determined by the angle of the driving motor rotation of the one or more axes of the pan/tilt and the first posture information, and the first posture information is corrected according to the error posture information, which can be effective
  • the drift problem existing in the prior art using the accelerometer to correct the posture information obtained by the gyroscope can be avoided, and the posture of the pan/tilt obtained after the correction can be kept stable for a long time, so that the shooting on the gimbal can be performed.
  • the device can take a scene of a fixed position for a long time without causing a problem of shooting angle drift of the shooting device.
  • the pan/tilt can capture both the scene of the sports position and the scene of the fixed position for a long time, expanding The scope of application of the gimbal.
  • the reference attitude information of the pan/tilt is determined according to the rotation angle
  • the error posture information of the attitude sensor is determined according to the reference attitude information and the first posture information.
  • a reference standard for posture information correction that is, reference attitude information, in which the reference attitude information is determined by the rotation angle of the driving motor of one or more axes of the pan/tilt in the embodiment, must be given, and after determining the reference posture information, reference will be made.
  • the attitude information is compared with the first posture information measured by the gyro, and the error posture information between the reference posture information and the first posture information is determined by comparison.
  • the step of determining the reference attitude information of the gimbal according to the rotation angle comprises:
  • Each of the rotation angles is converted into a corresponding quaternion, and the reference attitude information of the gimbal is determined according to the quaternion of the rotation angle.
  • the step of determining the reference attitude information of the gimbal according to the rotation angle comprises:
  • the posture information of the base of the pan/tilt is set, and the reference attitude information of the pan/tilt is determined according to the posture information of the base and the rotation angle.
  • the posture information of the base of the pan/tilt may be solidified in the processor or the memory of the pan/tilt, or may be set by a control terminal connected to the pan/tilt or an interaction device disposed on the pan/tilt.
  • the attitude information of the pedestal of the gimbal can be related to the installation of the pedestal.
  • the posture information of the base of the pan/tilt can be set as a fixed posture information.
  • the reference attitude information of the gimbal can be calculated. The specific process of determining the reference posture information based on the rotation angle and the posture information of the base of the pan/tilt will be described in detail below.
  • the step of determining the reference attitude information of the pan/tilt according to the posture information and the rotation angle of the base according to the posture information of the base of the setting pan including:
  • an angle sensor mounted on a driving motor of each axis of the pan/tilt can be used to determine an angle of rotation of each driving motor, and each angle is converted into a corresponding quaternary number, for example, the pan/tilt is a three-axis pan/tilt, according to
  • the angle sensors mounted on the three drive motors respectively measure the angle of rotation of the drive motor of the yaw axis, the pitch axis and the roll axis of the gimbal, and the angles of the rotation of the drive motor of the yaw axis, the pitch axis and the roll axis can be obtained by conversion.
  • the quaternion set the quaternion of the base of the gimbal, for example, the quaternion of the attitude of the pedestal can be set to (1, 0, 0, 0). Further, the posture of the pedestal The quaternion and each of the converted quaternions are respectively multiplied, and the reference posture information is determined according to the quaternion obtained by multiplication, that is, the quaternion of the pedestal posture is respectively associated with the yaw axis and the pitch. The quaternion of the rotation angle of the drive motor of the shaft and the roll axis is multiplied.
  • the multiplication of the quaternion is the rotation, by multiplying the quaternion, it can be known that the payload is yaw on the basis of the pedestal respectively.
  • the axis, the pitch axis, and the roll axis are posture information after the rotation axis is rotated. Therefore, the quaternion obtained after the multiplication can represent the quaternion of the reference posture of the gimbal, that is, the quaternion obtained by multiplication. Determine the reference attitude information of the gimbal.
  • the step of determining error pose information of the attitude sensor based on the reference attitude information and the first attitude information comprises:
  • the error pose information is determined according to the quaternion of the reference pose and the first pose quaternion.
  • the error posture information is posture difference information between the first posture information and the reference posture information.
  • the error pose information may be determined according to the quaternion of the reference pose and the first pose quaternion.
  • the quaternion of the reference pose may be multiplied by the quaternion of the first pose information, and the four obtained according to the multiplication
  • the number of elements is used to determine the error pose information, and the multiplied quaternion can represent the error pose between the reference pose and the first pose, and the quaternion obtained after multiplication is the quaternion of the error pose, according to the error pose
  • the quaternion can convert the Euler angle corresponding to the error posture, and the first attitude information of the gyro can be corrected according to the quaternion or Euler angle of the determined error posture information.
  • the quaternion of the reference pose when determining the quaternion of the reference pose, the quaternion of the reference pose can be replaced by the corresponding Euler angle, and the Euler angle corresponding to the first pose information is determined according to the gyro, and the quaternion of the reference pose is compared by comparing
  • an error posture between the reference posture and the first posture can be obtained, and the error posture can represent the drift of the gyroscope, and the reference posture can be converted by the conversion.
  • the difference between the Euler angles corresponding to the first attitude information is converted into a quaternion corresponding to the error posture information.
  • the quaternion is a mathematical representation of the gesture.
  • the Euler angle is another representation of the attitude, in which the quaternion and the Euler angle can be converted to each other by the corresponding formula.
  • the specific formula for converting from Euler angle to quaternion is in addition, the specific formula for converting Euler angles into corresponding quaternions is
  • the following describes an embodiment in which the first attitude information is corrected according to the error posture information to obtain the current attitude information of the pan/tilt.
  • the technical personnel in the field can also correct the first posture information according to the error posture information by using technical means other than the embodiment.
  • To get the current attitude information of the gimbal it is shown in Figure 3, from 0 to time t 1, since the gyroscope measurement time, the output data exists drift, if not the first posture information of the gyro measurement is corrected at time 0 to t 1
  • the first attitude information att 1 determined by the gyroscope may be as shown, wherein the curve of the first attitude information att 1 is for illustrative purposes only.
  • the correcting the first attitude information according to the error posture information in step S104 to obtain the current attitude information of the pan/tilt includes:
  • the error posture correction amount per unit time is determined according to the error posture information, and the first posture information is corrected according to the error posture information correction amount to obtain the current attitude information of the pan/tilt.
  • the correcting the first attitude information according to the error posture information in S104 to obtain the current attitude information of the pan/tilt includes:
  • the first attitude information is corrected according to the error posture information by using one or more of extended Kalman filtering, complementary filtering, and smoothing filtering to obtain current attitude 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 the following feasible manners:
  • Another feasible method is: filtering the error posture correction amount per unit time, and correcting the first posture information determined by the attitude sensor according to the error posture correction amount of the filtered wrong unit time To get the current attitude information of the gimbal.
  • Embodiments of the present invention provide a computer storage medium having stored therein program instructions that are executable by a processor to perform the above control method.
  • the embodiment of the present invention further provides a cloud platform, wherein the cloud platform can be a two-axis cloud platform or a three-axis cloud platform, wherein the cloud platform 400 includes:
  • An attitude sensor 401 configured to determine first posture information of the pan/tilt
  • the processor 403 is configured to:
  • the first attitude information is corrected according to the error posture information to obtain current attitude information of the pan/tilt.
  • the processor 403 is specifically configured to:
  • the processor 403 is specifically configured to:
  • Each of the rotation angles is converted into a corresponding quaternion, and the reference attitude information of the gimbal is determined according to the quaternion of the rotation angle.
  • the reference attitude information of the pan/tilt is determined according to the posture information and the rotation angle of the base.
  • the processor 403 is specifically configured to:
  • the quaternion of the posture of the pedestal of the gimbal is set, and the reference posture information of the gimbal is determined according to the quaternion converted from each of the quaternion and the rotation angle of the posture of the pedestal.
  • the processor 403 is specifically configured to:
  • the quaternion of the quaternion of the pedestal is multiplied by the quaternion obtained by each of the rotation angles, and the reference posture information is determined based on the quaternion obtained by the multiplication.
  • the error pose information is determined according to the reference pose quaternion and the first pose quaternion.
  • the processor 403 is specifically configured to:
  • the reference pose quaternion is multiplied by the first pose quaternion, and the error pose information is determined according to the multiplied quaternion.
  • the error posture information is posture difference information between the first posture information and the reference posture information.
  • the processor 403 is specifically configured to:
  • the first attitude information is corrected according to the error posture information by using one or more of extended Kalman filtering, complementary filtering, and smoothing filtering to obtain current attitude information of the pan/tilt.
  • the angle sensor comprises at least one of a potentiometer, a Hall sensor, and a photoelectric encoder.
  • pan/tilt head 400 of the embodiment of the present invention may be implemented by the control method of the pan/tilt in the foregoing embodiment.
  • control method of the pan/tilt in the foregoing embodiment For the unexpanded part, refer to the same or similar parts of the control method in the foregoing embodiment, and details are not described herein again.
  • 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.
  • each functional unit in various embodiments of the present invention may be integrated into one processing module. It is also possible that each unit physically exists alone, or two or more units may be integrated in 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

A camera mount control method, and camera mount. The control method comprises: determining first attitude information of a camera mount; determining rotating angles of drive motors for one or more axes of the camera mount; determining, according to the first attitude information and the rotating angles, attitude error information of an attitude sensor; and correcting, according to the attitude error information, the first attitude information to obtain current attitude information of the camera mount. A camera mount (400) comprises: an attitude sensor (401) configured to determine first attitude information of the camera mount (400); an angle sensor (402) configured to determine rotating angles of drive motors for one or more axes of the camera mount (400); a processor (403) configured to determine, according to the first attitude information and the rotating angles, attitude error information of the attitude sensor (401). The first attitude information is corrected according to the attitude error information to obtain current attitude information of the camera mount (400). The camera mount control method and camera mount can effectively prevent the drifting problem in the prior art in which an accelerometer is employed to correct attitude information obtained by a gyroscope, such that the corrected camera mount attitude information can remain stable for a long period of time, and an image capturing apparatus mounted on the camera mount can capture a scene at a fixed position for a long perio of time without suffering from a drifting image capturing angle.

Description

云台的控制方法以及云台PTZ control method and gimbal 技术领域Technical field
本发明涉及控制领域，特别涉及一种云台的控制方法以及云台。The invention relates to the field of control, in particular to a control method of a cloud platform and a cloud platform.
背景技术Background technique
云台是为负载增稳的系统。使用云台固定拍摄设备，可以为拍摄设备增稳，即使在运动条件下也可以拍摄出稳定流畅的画面。然而，在使用云台固定拍摄设备，长时间拍摄固定机位的场景时，云台各个轴(例如yaw轴、pitch轴、roll轴)会发生漂移，导致拍摄的画面也随之发生漂移，降低了拍摄质量。因此，当需要拍摄固定机位的场景时，需要将拍摄设备从云台上拆卸下来，然后装到三角架上再重新调试，当需要拍摄运动机位的场景时，又要需要将拍摄设备从三脚架上拆卸下来，再重新装上云台，再重新调试，这样降低了拍摄效率费时费力，在某些情况下会降低云台的有用性。The gimbal is a system that stabilizes the load. With the PTZ fixed shooting device, you can stabilize the shooting device, and you can take a stable and smooth picture even under sports conditions. However, when using a PTZ fixed shooting device and shooting a scene with a fixed position for a long time, the pan/tilt axes (such as the yaw axis, the pitch axis, and the roll axis) will drift, causing the captured image to drift and decrease. The quality of the shot. Therefore, when you need to shoot a scene with a fixed position, you need to remove the shooting device from the pan/tilt, then mount it on the tripod and re-commission it. When you need to shoot the scene of the sports position, you need to take the shooting device from Disassemble the tripod, reinstall the pan/tilt, and re-commission it. This reduces the efficiency of shooting and takes time and effort, and in some cases reduces the usefulness of the gimbal.
发明内容Summary of the invention
本发明需要提供一种云台的控制方法以及云台，以使云台在各个轴上能够长时间保持稳定，使得架设在云台上的拍摄设备可以长时间的拍摄固定机位的场景而不发生偏移，提升拍摄质量。The present invention needs to provide a control method for a pan/tilt head and a pan/tilt head so that the pan/tilt head can be kept stable on each axis for a long time, so that the photographing device mounted on the pan/tilt can capture a scene of a fixed position for a long time without An offset occurs to improve the quality of the shot.
本发明实施例的第一方面提供一种云台的控制方法，包括如下步骤：A first aspect of the embodiments of the present invention provides a method for controlling a pan/tilt, comprising the following steps:
确定云台的第一姿态信息；Determining the first attitude information of the gimbal;
确定云台的一个或多个轴的驱动电机的转动角度；Determining a rotation angle of a drive motor of one or more shafts of the pan/tilt;
根据所述第一姿态信息和所述转动角度确定姿态传感器的误差姿态信息；Determining error posture information of the attitude sensor according to the first posture information and the rotation angle;
根据所述误差姿态信息修正所述第一姿态信息以得到云台的当前姿态信息。The first posture information is corrected according to the error posture information to obtain current attitude information of the pan/tilt.
本发明实施例的第二方面提供一种云台，包括：A second aspect of the embodiments of the present invention provides a cloud platform, including:
姿态传感器，用于确定云台的第一姿态信息； An attitude sensor for determining a first attitude information of the pan/tilt;
角度传感器，用于确定云台的一个或多个轴的驱动电机的转动角度；An angle sensor for determining a rotation angle of a driving motor of one or more shafts of the pan/tilt;
处理器，用于根据所述第一姿态信息和所述转动角度确定姿态传感器的误差姿态信息；a processor, configured to determine error posture information of the attitude sensor according to the first posture information and the rotation angle;
根据所述误差姿态信息修正所述第一姿态信息以得到云台的当前姿态信息。The first posture information is corrected according to the error posture information to obtain current attitude information of the pan/tilt.
本发明的实施例中，通过确定云台的一个或多个轴的驱动电机转动的角度和第一姿态信息，确定姿态传感器的误差姿态信息，根据所述误差姿态信息对第一姿态信息进行修正，可以有效地避免现有技术中使用加速度计对陀螺仪获得的姿态信息进行修正时存在的漂移问题，能够使修正后得到的云台姿态能够长时间地保持稳定，这样可以使架设在云台上的拍摄设备可以长时间地拍摄固定机位的场景而不产生拍摄设备的拍摄角度漂移问题，通过该技术方案，云台既可以拍摄运动机位的场景又可以长时间地拍摄固定机位的场景，扩大了云台的应用范围。In an embodiment of the present invention, the error posture information of the attitude sensor is determined by determining an angle of rotation of the driving motor of the one or more axes of the pan/tilt and the first posture information, and the first posture information is corrected according to the error posture information. The drift problem existing in the prior art using the accelerometer to correct the posture information obtained by the gyroscope can be effectively avoided, and the posture of the pan/tilt obtained after the correction can be kept stable for a long time, so that the posture can be set on the gimbal The shooting device on the camera can capture the scene of the fixed position for a long time without causing the shooting angle drift problem of the shooting device. With this technical solution, the pan/tilt can capture both the scene of the sports position and the fixed position for a long time. The scene expands the scope of application of the gimbal.
附图说明DRAWINGS
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are some embodiments of the present invention. Other drawings may also be obtained from those of ordinary skill in the art in view of the drawings.
图1是本发明某些实施例的云台的控制方法的流程示意图。FIG. 1 is a schematic flow chart of a method for controlling a pan/tilt according to some embodiments of the present invention.
图2是本发明某些实施例的云台的结构示意图。2 is a schematic structural view of a pan/tilt head according to some embodiments of the present invention.
图3是本发明某些实施例的云台的控制方法的对第一姿态信息进行修正的示意图。3 is a schematic diagram of correcting first posture information of a method for controlling a pan/tilt according to some embodiments of the present invention.
图4是本发明某些实施例的云台的结构示意图。4 is a schematic structural view of a pan/tilt head according to some embodiments of the present invention.
具体实施例 Specific embodiment
下面详细描述本发明的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，仅用于解释本发明，而不能理解为对本发明的限制。The embodiments of the present invention are described in detail below, and the examples of the embodiments are illustrated in the drawings, wherein the same or similar reference numerals are used to refer to the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are intended to be illustrative of the invention and are not to be construed as limiting.
在本发明的描述中，需要理解的是，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个所述特征。在本发明的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。In the description of the present invention, it is to be understood that the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, features defining "first" or "second" may include one or more of the described features either explicitly or implicitly. In the description of the present invention, the meaning of "a plurality" is two or more unless specifically and specifically defined otherwise.
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接或可以相互通信；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。In the description of the present invention, it should be noted that the terms "installation", "connected", and "connected" are to be understood broadly, and may be fixed or detachable, for example, unless otherwise explicitly defined and defined. Connected, or integrally connected; may be mechanically connected, or may be electrically connected or may communicate with each other; may be directly connected or indirectly connected through an intermediate medium, may be internal communication of two elements or interaction of two elements relationship. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.
下文的公开提供了许多不同的实施例或例子用来实现本发明的不同结构。为了简化本发明的公开，下文中对特定例子的部件和设置进行描述。当然，它们仅仅为示例，并且目的不在于限制本发明。此外，本发明可以在不同例子中重复参考数字和/或参考字母，这种重复是为了简化和清楚的目的，其本身不指示所讨论各种实施例和/或设置之间的关系。此外，本发明提供了的各种特定的工艺和材料的例子，但是本领域普通技术人员可以意识到其他工艺的应用和/或其他材料的使用。The following disclosure provides many different embodiments or examples for implementing different structures of the present invention. In order to simplify the disclosure of the present invention, the components and arrangements of the specific examples are described below. Of course, they are merely examples and are not intended to limit the invention. In addition, the present invention may be repeated with reference to the numerals and/or reference numerals in the various examples, which are for the purpose of simplicity and clarity, and do not indicate the relationship between the various embodiments and/or arrangements discussed. Moreover, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art will recognize the use of other processes and/or the use of other materials.
下面详细描述本发明的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，仅用于解释本发明，而不能理解为对本发明的限制。 The embodiments of the present invention are described in detail below, and the examples of the embodiments are illustrated in the drawings, wherein the same or similar reference numerals are used to refer to the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are intended to be illustrative of the invention and are not to be construed as limiting.
目前，云台主要是以惯性测量单元(IMU)为反馈元件、以云台各个轴的驱动电机为输出元件来对云台的姿态进行控制，其中，在对云台姿态的控制过程中，控制量是云台的姿态，通过给定一个目标姿态，通过反馈控制将云台当前姿态向所述目标姿态修正，以使云台从当前姿态向目标姿态趋近。At present, the PTZ mainly controls the attitude of the gimbal by using the inertial measurement unit (IMU) as the feedback component and the drive motor of each axis of the gimbal as the output component. Among them, during the control of the attitude of the gimbal, the control The quantity is the attitude of the gimbal. By giving a target posture, the current attitude of the gimbal is corrected to the target posture by feedback control, so that the gimbal approaches from the current posture to the target posture.
惯性测量单元主要包含陀螺仪和加速度计，陀螺仪可以测量云台各个轴的转动的角速度，通过对测量得到的角速度进行积分可以确定云台的当前姿态(pitch、roll、yaw)，但是陀螺仪的各个轴的角速度输出都有零偏，而且，零偏不能完全消除，因此用陀螺仪测量的角速度输出积分获得的云台的当前姿态是不准确的。目前，主要使用加速度计给定云台姿态参考，对陀螺仪测量的角速度积分获得的云台的当前姿态进行修正，最终云台获得较为稳定的姿态。然而，加速度计本身存在漂移，使用加速度计的数据修正当前姿态，也会产生漂移，云台的姿态长时间来看并不是很稳定，导致架设在云台上的拍摄设备不能长时间地拍摄固定机位的场景；另外，利用加速度计修正云台的当前姿态时，只能针对云台的pitch轴和roll轴来修正，不能针对云台的yaw轴来修正，因此陀螺积分出来的yaw轴姿态有可能很快就会产生漂移，最终导致在使用云台对固定机位的场景进行拍摄时整个云台的yaw轴不断的朝一个方向运动，这样也会导致架设在云台上的拍摄设备不能长时间地拍摄固定机位的场景。The inertial measurement unit mainly includes a gyroscope and an accelerometer. The gyroscope can measure the angular velocity of rotation of each axis of the gimbal. The current attitude (pitch, roll, yaw) of the gimbal can be determined by integrating the measured angular velocity, but the gyroscope The angular velocity output of each axis has a zero offset, and the zero offset cannot be completely eliminated. Therefore, the current attitude of the pan/tilt obtained by the angular velocity output integration measured by the gyroscope is inaccurate. At present, 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. However, the accelerometer itself has drift. Using the data of the accelerometer to correct the current attitude will also cause drift. The attitude of the gimbal is not very stable for a long time, and the shooting equipment mounted on the gimbal cannot be fixed for a long time. The scene of the position; in addition, 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 gyro 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.
针对上述问题，请参阅图1，本发明实施例的云台的控制方法包括步骤：For the above problem, referring to FIG. 1 , the method for controlling the pan/tilt in the embodiment of the present invention includes the following steps:
S101：确定云台的第一姿态信息；S101: Determine first posture information of the pan/tilt;
具体地，本发明实施例的云台可为两轴云台，也可以为三轴云台，为了便于解释，如图2所示，在本发明实施例中以三轴云台200来进行示意性说明。其中，拍摄设备9被固定安装在云台200上的拍摄设备固定机构6上，其中所述固定机构6可以与云台的pitch轴的轴臂7固定或活动连接，其中，姿态传感器可以安装在拍摄设备的固定机构6上、与固定机构6固定连接的部件上、或与pitch轴的轴臂7固定连接的任何其他部件。在拍摄过程中，云台为拍摄设备增稳，姿态传感器即可测量拍摄设备9的姿态，即云台的第一姿态信息， 其中姿态传感器可以包括陀螺仪，此处的陀螺仪可以为一个独立的陀螺仪，也可也为惯性测量单元中的陀螺仪，为了说明方便，本文以下将以陀螺仪作为姿态传感器来进行示意性说明，其中本文后述出现的陀螺仪都可以等同地替换成姿态传感器。其中，姿态有多种表达形式，四元数是姿态信息的一种表示方法，另外常用姿态的常用表达形式还有欧拉角、矩阵等。第一姿态信息可以是第一姿态的姿态角(欧拉角)，也可以是第一姿态对应的四元数，此处不作具体的限定。本文后述部分涉及姿态信息可以为姿态对应的姿态角，也可以是姿态对应的四元数，此后就不再另外解释。Specifically, 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. For convenience of explanation, as shown in FIG. 2, in the embodiment of the present invention, the pan-tilt head 200 is used to indicate Sexual description. Wherein, 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 with the shaft arm 7 of the pitch shaft of the pan/tilt head, wherein the posture sensor can be installed at On the fixing mechanism 6 of the photographing device, on the member fixedly connected to the fixing mechanism 6, or any other member fixedly connected to the shaft arm 7 of the pitch shaft. During the shooting process, the pan/tilt is stabilized for the shooting device, and the attitude sensor can measure the posture of the photographing device 9, that is, the first posture information of the gimbal, The attitude sensor may include a gyroscope, where the gyroscope may be an independent gyroscope or a gyroscope in the inertial measurement unit. For convenience of description, the gyroscope is used as an attitude sensor for illustrative purposes. Note that the gyroscopes appearing later in this article can be equally replaced with attitude sensors. Among them, posture has a variety of expressions, quaternion is a representation of attitude information, and 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 the attitude information that can be the attitude angle corresponding to the attitude, or the quaternion corresponding to the attitude, which will not be explained separately.
S102：确定云台的一个或多个轴的驱动电机转动的角度；S102: determining an angle of rotation of a driving motor of one or more axes of the pan/tilt;
具体的，如图2所示，云台200的roll轴的轴臂8用于支撑pitch轴的轴臂7和pitch轴的驱动电机1，云台200的yaw轴的轴臂5用于支撑yaw轴的驱动电机3和roll轴的驱动电机2，云台的pitch轴的轴臂7用于支撑拍摄设备9，云台200的各轴的驱动电机(pitch轴的驱动电机1、roll轴的驱动电机2、yaw轴的驱动电机3)内可以安装角度传感器，其中驱动电机内设置电路板，角度传感器可以与电路板电性连接，在云台的驱动电机转动时，通过角度传感器可以测量驱动电机转动的角度，其中角度传感器可以为电位计、霍尔传感器、光电编码器中的一种或多种。其中，云台可以通过基座4与手持棍(未示出)连接或可移动平台连接。Specifically, as shown in FIG. 2, the axle arm 8 of the roll axis of the pan/tilt head 200 is used to support the axle arm 7 of the pitch shaft and the drive motor 1 of the pitch shaft, and the axle arm 5 of the yaw shaft of the pan/tilt 200 is used to support the yaw. The drive motor 3 of the shaft and the drive motor 2 of the roll shaft, the shaft arm 7 of the pitch shaft of the pan/tilt is used to support the photographing device 9, and the drive motor of each axis of the pan/tilt head 200 (driver motor of the pitch shaft 1, drive of the roll shaft) An angle sensor can be installed in the driving motor 3) of the motor 2 and the yaw shaft, wherein the driving motor is provided with a circuit board, and the angle sensor can be electrically connected with the circuit board. When the driving motor of the pan/tilt head rotates, the driving motor can be measured by the angle sensor. The angle of rotation, wherein the angle sensor can be one or more of a potentiometer, a Hall sensor, and a photoelectric encoder. The pan/tilt head may be connected to the hand-held stick (not shown) or connected to the movable platform through the base 4.
需要说明的是，本发明实施例中对步骤S101和步骤S102的顺序可以按顺序先后执行，其中具体的先后顺序不作具体的限定，另外步骤101和步骤S102也可以同时执行。It should be noted that, in the embodiment of the present invention, the sequence of step S101 and step S102 may be sequentially performed in sequence, wherein the specific sequence is not specifically limited, and step 101 and step S102 may also be performed simultaneously.
S103：根据第一姿态信息和转动角度确定姿态传感器的误差姿态信息；S103: Determine error posture information of the attitude sensor according to the first posture information and the rotation angle;
具体地，在测量得到云台的一个或多个轴的驱动电机的转动角度后，根据转动角度和利用陀螺仪确定云台的第一姿态信息确定陀螺仪的误差姿态信息，即该误差姿态信息可以表示陀螺仪的漂移。Specifically, after measuring the rotation angle of the driving motor of the one or more axes of the pan/tilt, determining the error posture information of the gyroscope according to the rotation angle and determining the first posture information of the pan/tilt by using the gyroscope, that is, the error posture information It can represent the drift of the gyroscope.
S104：根据误差姿态信息修正第一姿态信息以得到云台的当前姿态信息。 S104: Correct the first posture information according to the error posture information to obtain current posture information of the pan/tilt.
具体地，由于陀螺仪在进行数据测量时，由于陀螺仪存在漂移，导致测量出的姿态信息并不准确，因此，在确定表示陀螺仪漂移的误差姿态信息后，即可使用闭环控制策略，根据误差姿态信息对通过陀螺仪测量得到的第一姿态信息进行修正以得到云台当前的姿态信息。其中，具体地，可利用扩展卡尔曼滤波、互补滤波或平滑滤波中的至少一种根据所述误差姿态信息对第一姿态信息进行修正以得到云台的当前姿态信息。Specifically, since the measured posture information is not accurate due to the drift of the gyroscope during the measurement of the gyroscope, the closed-loop control strategy can be used after determining the error posture information indicating the drift of the gyroscope. The error posture information corrects the first attitude information measured by the gyroscope to obtain the current attitude information of the gimbal. Specifically, the first posture information may be corrected according to the error posture information by using at least one of extended Kalman filtering, complementary filtering, or smoothing filtering to obtain current attitude information of the pan/tilt.
本发明的实施例中，通过云台的一个或多个轴的驱动电机转动的角度和第一姿态信息，确定姿态传感器的误差姿态信息，根据误差姿态信息对第一姿态信息进行修正，可以有效地避免现有技术中使用加速度计对陀螺仪获得的姿态信息进行修正时存在的漂移问题，能够使修正后得到的云台姿态能够长时间地保持稳定，这样可以使架设在云台上的拍摄设备可以长时间地拍摄固定机位的场景而不产生拍摄设备的拍摄角度漂移问题，通过该技术方案，云台既可以拍摄运动机位的场景又可以长时间地拍摄固定机位的场景，扩大了云台的应用范围。In the embodiment of the present invention, the error posture information of the attitude sensor is determined by the angle of the driving motor rotation of the one or more axes of the pan/tilt and the first posture information, and the first posture information is corrected according to the error posture information, which can be effective In the prior art, the drift problem existing in the prior art using the accelerometer to correct the posture information obtained by the gyroscope can be avoided, and the posture of the pan/tilt obtained after the correction can be kept stable for a long time, so that the shooting on the gimbal can be performed. The device can take a scene of a fixed position for a long time without causing a problem of shooting angle drift of the shooting device. With this technical solution, the pan/tilt can capture both the scene of the sports position and the scene of the fixed position for a long time, expanding The scope of application of the gimbal.
在某些实施例中，根据转动角度确定云台的参考姿态信息，根据参考姿态信息和第一姿态信息确定姿态传感器的误差姿态信息。In some embodiments, the reference attitude information of the pan/tilt is determined according to the rotation angle, and the error posture information of the attitude sensor is determined according to the reference attitude information and the first posture information.
具体地，当使用云台架设拍摄设备对固定场景进行拍摄时，陀螺仪测量出的第一姿态信息对出现漂移，因此，在对云台的陀螺仪测量得到的第一姿态信息进行修正时，必须给定一个姿态信息修正的参考标准，即参考姿态信息，本实施例中通过云台的一个或多个轴的驱动电机的转动角度来确定参考姿态信息，在确定参考姿态信息后，将参考姿态信息和陀螺仪测量得到的第一姿态信息进行比较，通过比较确定参考姿态信息与第一姿态信息之间的误差姿态信息。下面将详细解释通过云台的一个或多个轴的驱动电机的转动角度确定参考姿态信息的具体过程。Specifically, when the fixed scene is photographed by using the pan-tiling device, the first posture information measured by the gyroscope drifts, and therefore, when the first posture information measured by the gyroscope of the gimbal is corrected, A reference standard for posture information correction, that is, reference attitude information, in which the reference attitude information is determined by the rotation angle of the driving motor of one or more axes of the pan/tilt in the embodiment, must be given, and after determining the reference posture information, reference will be made. The attitude information is compared with the first posture information measured by the gyro, and the error posture information between the reference posture information and the first posture information is determined by comparison. The specific process of determining the reference attitude information by the rotational angle of the drive motor of one or more axes of the pan/tilt will be explained in detail below.
在某些实施例中，根据转动角度确定云台的参考姿态信息的步骤包括： In some embodiments, the step of determining the reference attitude information of the gimbal according to the rotation angle comprises:
将转动角度中的每一个换算相应的四元数，根据转动角度的四元数确定云台的参考姿态信息。Each of the rotation angles is converted into a corresponding quaternion, and the reference attitude information of the gimbal is determined according to the quaternion of the rotation angle.
其中，在确定云台的三个轴(pitch轴、yaw轴、roll轴)的驱动电机的转动角度后，可以将三个轴的驱动电机的转动角度分别换算成对应的四元数，根据换算后得到三个四元数确定参考姿态信息。Wherein, after determining the rotation angle of the driving motor of the three axes of the gimbal (pitch axis, yaw axis, and roll axis), the rotation angles of the driving motors of the three axes can be respectively converted into corresponding quaternions, according to the conversion After obtaining three quaternions, the reference pose information is determined.
在某些实施例中，根据转动角度确定云台的参考姿态信息的步骤包括：In some embodiments, the step of determining the reference attitude information of the gimbal according to the rotation angle comprises:
设置云台的基座的姿态信息，根据基座的姿态信息和所述转动角度确定云台的参考姿态信息。The posture information of the base of the pan/tilt is set, and the reference attitude information of the pan/tilt is determined according to the posture information of the base and the rotation angle.
其中，此处的云台的基座的姿态信息可以固化在云台的处理器或存储器中，也可以是通过与云台连接的控制终端、云台上配置的交互装置进行设置的。具体的，云台的基座的姿态信息可以与基座的安装情况相关，在使用云台架设拍摄设备长时间拍摄固定机位的场景时，通常认为云台的基座是近似固定不动的，因此可以将云台的基座的姿态信息设置为一个固定的姿态信息，此时，当云台的基座的姿态信息已知且固定时，在确定云台的各个轴的驱动电机的转动角度时，即可以计算得到云台的参考姿态信息。下面将详细介绍根据所述转动角度和云台的基座的姿态信息确定参考姿态信息的具体过程。The posture information of the base of the pan/tilt may be solidified in the processor or the memory of the pan/tilt, or may be set by a control terminal connected to the pan/tilt or an interaction device disposed on the pan/tilt. Specifically, the attitude information of the pedestal of the gimbal can be related to the installation of the pedestal. When the photographic apparatus is used to set up a fixed position for a long time, it is generally considered that the pedestal of the gimbal is approximately stationary. Therefore, the posture information of the base of the pan/tilt can be set as a fixed posture information. At this time, when the posture information of the base of the pan/tilt is known and fixed, the rotation of the driving motor of each axis of the pan/tilt is determined. At the angle, the reference attitude information of the gimbal can be calculated. The specific process of determining the reference posture information based on the rotation angle and the posture information of the base of the pan/tilt will be described in detail below.
在某些实施例中，根据设置云台的基座的姿态信息，根据基座的姿态信息和转动角度确定云台的参考姿态信息的步骤包括：In some embodiments, the step of determining the reference attitude information of the pan/tilt according to the posture information and the rotation angle of the base according to the posture information of the base of the setting pan including:
设置云台的基座的姿态的四元数，根据基座的姿态的四元数和转动角度中每一个换算得到的四元数确定云台的参考姿态信息。The quaternion of the posture of the pedestal of the gimbal is set, and the reference posture information of the gimbal is determined according to the quaternion converted from each of the quaternion and the rotation angle of the posture of the pedestal.
具体的，可以利用安装在云台的各轴的驱动电机上的角度传感器确定每一个驱动电机转动的角度，将每一个角度换算成相应的四元数，例如云台为三轴云台，根据安装在三个驱动电机上的角度传感器分别测量云台的yaw轴、pitch轴和roll轴的驱动电机转动的角度，通过换算即可以得到yaw轴、pitch轴和roll轴的驱动电机转动的角度对应的四元数，设置云台的基座的四元数，例如基座的姿态的四元数可以设置为(1,0,0,0)。进一步地，将所述基座的姿态的 四元数与转动角度中每一个换算得到的四元数分别相乘，根据相乘后得到的四元数确定所述参考姿态信息，即将基座的姿态的四元数分别与yaw轴、pitch轴和roll轴的驱动电机转动的角度对应的四元数相乘，由于四元数的相乘是表示旋转，通过四元数相乘，即可以知道有效负载在基座的基础上分别以yaw轴、pitch轴和roll轴为旋转轴线进行旋转后的姿态信息，因而，相乘以后得到的四元数即可以表示云台的参考姿态的四元数，即根据相乘后得到的四元数确定云台的参考姿态信息。Specifically, an angle sensor mounted on a driving motor of each axis of the pan/tilt can be used to determine an angle of rotation of each driving motor, and each angle is converted into a corresponding quaternary number, for example, the pan/tilt is a three-axis pan/tilt, according to The angle sensors mounted on the three drive motors respectively measure the angle of rotation of the drive motor of the yaw axis, the pitch axis and the roll axis of the gimbal, and the angles of the rotation of the drive motor of the yaw axis, the pitch axis and the roll axis can be obtained by conversion. The quaternion, set the quaternion of the base of the gimbal, for example, the quaternion of the attitude of the pedestal can be set to (1, 0, 0, 0). Further, the posture of the pedestal The quaternion and each of the converted quaternions are respectively multiplied, and the reference posture information is determined according to the quaternion obtained by multiplication, that is, the quaternion of the pedestal posture is respectively associated with the yaw axis and the pitch. The quaternion of the rotation angle of the drive motor of the shaft and the roll axis is multiplied. Since the multiplication of the quaternion is the rotation, by multiplying the quaternion, it can be known that the payload is yaw on the basis of the pedestal respectively. The axis, the pitch axis, and the roll axis are posture information after the rotation axis is rotated. Therefore, the quaternion obtained after the multiplication can represent the quaternion of the reference posture of the gimbal, that is, the quaternion obtained by multiplication. Determine the reference attitude information of the gimbal.
在某些实施例中，根据参考姿态信息和第一姿态信息确定姿态传感器的误差姿态信息的步骤包括：In some embodiments, the step of determining error pose information of the attitude sensor based on the reference attitude information and the first attitude information comprises:
根据参考姿态的四元数和第一姿态四元数确定误差姿态信息。The error pose information is determined according to the quaternion of the reference pose and the first pose quaternion.
其中，误差姿态信息为第一姿态信息与参考姿态信息之间的姿态差信息，当云台的参考姿态信息以四元数的形式表示，第一姿态以四元数的形式进行表示时，则在可以根据参考姿态的四元数和第一姿态四元数确定误差姿态信息，具体地，可以将参考姿态的四元数与第一姿态信息的四元数相乘，根据相乘得到的四元数来确定误差姿态信息，相乘后的四元数可以表示参考姿态与第一姿态之间的误差姿态，相乘后得到的四元数即为误差姿态的四元数，根据误差姿态的四元数即可以换算出误差姿态对应的欧拉角，根据确定的误差姿态信息的四元数或欧拉角即可以对陀螺仪的第一姿态信息进行修正。另外，在确定参考姿态的四元数时，可以将参考姿态的四元数换成对应的欧拉角，根据陀螺仪确定第一姿态信息对应的欧拉角，通过比较参考姿态的四元数换成对应的欧拉角和第一姿态信息对应的欧拉角即可以得到参考姿态与第一姿态之间的误差姿态，该误差姿态能够表示陀螺仪的漂移，通过换算可以将参考姿态的欧拉角与第一姿态信息对应的欧拉角之差转换成误差姿态信息对应的四元数。The error posture information is posture difference information between the first posture information and the reference posture information. When the reference attitude information of the pan-tilt is expressed in the form of a quaternion, and the first posture is expressed in the form of a quaternion, The error pose information may be determined according to the quaternion of the reference pose and the first pose quaternion. Specifically, the quaternion of the reference pose may be multiplied by the quaternion of the first pose information, and the four obtained according to the multiplication The number of elements is used to determine the error pose information, and the multiplied quaternion can represent the error pose between the reference pose and the first pose, and the quaternion obtained after multiplication is the quaternion of the error pose, according to the error pose The quaternion can convert the Euler angle corresponding to the error posture, and the first attitude information of the gyro can be corrected according to the quaternion or Euler angle of the determined error posture information. In addition, when determining the quaternion of the reference pose, the quaternion of the reference pose can be replaced by the corresponding Euler angle, and the Euler angle corresponding to the first pose information is determined according to the gyro, and the quaternion of the reference pose is compared by comparing By changing the corresponding Euler angle and the Euler angle corresponding to the first attitude information, an error posture between the reference posture and the first posture can be obtained, and the error posture can represent the drift of the gyroscope, and the reference posture can be converted by the conversion. The difference between the Euler angles corresponding to the first attitude information is converted into a quaternion corresponding to the error posture information.
需要说明的是，四元数是姿态的一种数学表示方式，一般地，四元数可以q＝w+xi+yj+zk的形式表示。其中q＝w+xi+yj+zk可以分为纯量w与向量xi+yj+zk，所以为了方便表示，将q表示为(S,V)，其中S表示纯量w，V表示向 量xi+yj+zk，所以四元数乘法又可以表示为：q1*q2＝(S1+V1)*(S2+V2)＝S1*S2-V1*V2+V1XV2+S1*V2+S2*V1。It should be noted that the quaternion is a mathematical representation of the gesture. Generally, the quaternion can be expressed in the form of q=w+xi+yj+zk. Where q=w+xi+yj+zk can be divided into scalar w and vector xi+yj+zk, so for convenience of representation, q is expressed as (S, V), where S represents scalar w, and V represents The quantity xi+yj+zk, so the quaternion multiplication can be expressed as: q1*q2=(S1+V1)*(S2+V2)=S1*S2-V1*V2+V1XV2+S1*V2+S2*V1 .
欧拉角是姿态的另一种表示方式，其中四元数与欧拉角之间可以通过相应的公式互相转换。另外，从欧拉角转换成四元数的具体公式为
Figure PCTCN2017081471-appb-000001
另外将欧拉角转换成对应的四元数的具体公式为
Figure PCTCN2017081471-appb-000002
The Euler angle is another representation of the attitude, in which the quaternion and the Euler angle can be converted to each other by the corresponding formula. In addition, the specific formula for converting from Euler angle to quaternion is
Figure PCTCN2017081471-appb-000001
In addition, the specific formula for converting Euler angles into corresponding quaternions is
Figure PCTCN2017081471-appb-000002
下面将介绍根据误差姿态信息修正第一姿态信息以得到云台的当前姿态信息的其中一种实施例，本领域技术人员还可以采用本实施例以外的技术手段根据误差姿态信息修正第一姿态信息以得到云台的当前姿态信息。具体的，如图3所示，在0到t1时间内，由于陀螺仪在测量时，输出数据存在漂移，如果不对陀螺仪的测量的第一姿态信息进行修正，则在0到t1时间内，通过陀螺仪确定的第一姿态信息att1可能如图所示，其中第一姿态信息att1的曲线只是为了进行示意性说明。因此必须要对陀螺仪测量得到的第一姿态信息进行修正。当在t1时刻，通过如前所述的方法计算得到参考姿态信息att1-mot1，通过陀螺仪测量得到的第一姿态信息att1-gyr1，通过比较参考姿态信息att1-mot1和第一姿态信息att1-gyr之间的误差姿态信息att1-d1，在t1到t2时间内，根据误差姿态信息att1-d1对陀螺仪输出的第一姿态信息att1-gyr进行修正得到修正后的云台的当前姿态信息att1-r1，若在t1到t2时间内不对第一姿态信息att1-gyr进行修正时，陀螺仪输出的数据将继续漂移，其得到的第一姿态信息则为att1-f。当在t2时刻时，可以通过如前所述的方法计算参考姿态信息att1-mot2，通过陀螺仪测量得到的第一姿态信息att1-gyr2，通过比较参考姿态信息att1-mot2和第一姿态信息att1-gyr2之间的误差姿态信息att1-d2，则在t2到t3时间(未示出)内可以根据误差姿态信息att1-d2对第一姿态信息进行修正得到云台的当前 姿态信息att1-r2，如此，重复上述修正过程，即可以得到修正后的第一姿态信息。另外，还可以对修正后得到的姿态信息进行滤波，将滤波后的姿态信息作为云台的当前姿态信息。这样能够使云台的当前的姿态信息更加平滑，减小修正过程中可能产生的误差。The following describes an embodiment in which the first attitude information is corrected according to the error posture information to obtain the current attitude information of the pan/tilt. The technical personnel in the field can also correct the first posture information according to the error posture information by using technical means other than the embodiment. To get the current attitude information of the gimbal. Specifically, it is shown in Figure 3, from 0 to time t 1, since the gyroscope measurement time, the output data exists drift, if not the first posture information of the gyro measurement is corrected at time 0 to t 1 The first attitude information att 1 determined by the gyroscope may be as shown, wherein the curve of the first attitude information att 1 is for illustrative purposes only. Therefore, it is necessary to correct the first attitude information measured by the gyroscope. When a time t, calculated by the method described above with reference posture information att1-mot 1, att1-gyr first posture information obtained by measuring the gyroscope 1, by comparing the reference posture information and the first att1-mot 1 after the error between the attitude information att1-d posture information att1-gyr 1, within the time t 1 to t 2, correcting the posture information obtained based on the error correction att1-d 1 first attitude information att1-gyr gyro output the current head pose information att1-r 1, if the t. 1 and t 2 the first time does not pose information att1-gyr be corrected gyro output data will continue to drift, the first posture information thereof is obtained Is att1-f. When at time t2, the reference attitude information att1-mot 2 can be calculated by the method as described above, and the first attitude information att1-gyr 2 measured by the gyroscope can be compared by comparing the reference attitude information att1-mot 2 and the first posture information att1-gyr attitude error information between att1-d 22, at time t 2 to t 3 (not shown) may be first attitude information is corrected according to the attitude error information obtained att1-d 2 PTZ The current posture information att1-r 2 , in this way, the above-mentioned correction process is repeated, that is, the corrected first posture information can be obtained. In addition, the posture information obtained after the correction may be filtered, and the filtered posture information is used as the current posture information of the pan/tilt. This can make the current attitude information of the gimbal smoother and reduce the errors that may occur during the correction process.
在某些实施例中，步骤S104中根据误差姿态信息修正第一姿态信息以得到云台的当前姿态信息包括：In some embodiments, the correcting the first attitude information according to the error posture information in step S104 to obtain the current attitude information of the pan/tilt includes:
根据误差姿态信息确定单位时间的误差姿态修正量，根据误差姿态信息修正量对第一姿态信息进行修正以得到云台的当前姿态信息。The error posture correction amount per unit time is determined according to the error posture information, and the first posture information is corrected according to the error posture information correction amount to obtain the current attitude information of the pan/tilt.
其中，继续参考图3，在t1时刻，误差姿态信息为att1-d1，则在0到t1时间内，相对于参考姿态信息，第一姿态信息的漂移量为att1-d1，则在在0到t1时间内，单位时间的误差修正量为att1-d1/t1，在确定单位时间的误差姿态修正量后，在t1到t2时间内，即可以根据单位时间的误差姿态修正量对陀螺仪确定的第一姿态信息进行修正，具体地，可以将每一时刻陀螺仪确定的第一姿态信息减去或加上误差姿态修正量以得到云台当前姿态信息。Wherein, with continued reference to FIG 3, at time t 1, the attitude error information att1-d 1, at the time 0 to t 1, with respect to the reference posture information, posture information of the first drift amount is att1-d 1, then in the 0 to t 1 time, the error correction amount per unit time is att1-d 1 / t 1, after the error posture correction amount determining unit time, at t 1 and t 2 of time, i.e. according to unit time The error posture correction amount corrects the first posture information determined by the gyroscope. Specifically, the first posture information determined by the gyroscope at each time may be subtracted or added with the error posture correction amount to obtain the current attitude information of the pan/tilt.
在某些实施例中，S104中根据误差姿态信息修正第一姿态信息以得到云台的当前姿态信息包括：In some embodiments, the correcting the first attitude information according to the error posture information in S104 to obtain the current attitude information of the pan/tilt includes:
利用扩展卡尔曼滤波、互补滤波、平滑滤波中的一种或多种根据误差姿态信息修正第一姿态信息以得到云台的当前姿态信息。具体地，可以采用如下几种可行的方式利用扩展卡尔曼滤波、互补滤波、平滑滤波中的一种或多种根据误差姿态信息修正第一姿态信息：The first attitude information is corrected according to the error posture information by using one or more of extended Kalman filtering, complementary filtering, and smoothing filtering to obtain current attitude information of the pan/tilt. Specifically, 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 the following feasible manners:
一种可行的方式是：对修正后的姿态信息进行滤波，例如，可以将每一时刻姿态传感器确定的第一姿态信息减去或加上误差姿态修正量得到修正后的姿态信息，对每一时刻修正后的姿态信息进行滤波，将滤波后的姿态信息作为云台的当前姿态信息；A feasible manner is: filtering the corrected posture information, for example, the first posture information determined by the attitude sensor at each moment is subtracted or the error posture correction amount is added to obtain the corrected posture information, for each The posture information after the time correction is filtered, and the filtered posture information is used as the current attitude information of the pan/tilt;
另一种可行的方式：对单位时间的误差姿态修正量进行滤波，根据滤波后的误单位时间的误差姿态修正量对姿态传感器确定的第一姿态信息进行修正 以得到云台的当前姿态信息。Another feasible method is: filtering the error posture correction amount per unit time, and correcting the first posture information determined by the attitude sensor according to the error posture correction amount of the filtered wrong unit time To get the current attitude information of the gimbal.
本发明的实施例提供了一种计算机存储介质，该计算机存储介质中存储有程序指令，所述程序指令可被处理器执行以完成上述控制方法。Embodiments of the present invention provide a computer storage medium having stored therein program instructions that are executable by a processor to perform the above control method.
如图4所示，本发明实施例还提供一种云台，其中云台可以为两轴云台，也可以为三轴云台，其中云台400包括：As shown in FIG. 4, the embodiment of the present invention further provides a cloud platform, wherein the cloud platform can be a two-axis cloud platform or a three-axis cloud platform, wherein the cloud platform 400 includes:
姿态传感器401，用于确定云台的第一姿态信息；An attitude sensor 401, configured to determine first posture information of the pan/tilt;
角度传感器402，用于确定云台的一个或多个轴的驱动电机的转动角度；An angle sensor 402, configured to determine a rotation angle of a driving motor of one or more shafts of the pan/tilt;
处理器403，用于：The processor 403 is configured to:
根据第一姿态信息和转动角度确定姿态传感器的误差姿态信息；Determining error posture information of the attitude sensor according to the first posture information and the rotation angle;
根据误差姿态信息修正第一姿态信息以得到云台的当前姿态信息。The first attitude information is corrected according to the error posture information to obtain current attitude information of the pan/tilt.
可选地，处理器403，具体用于：Optionally, the processor 403 is specifically configured to:
根据转动角度确定云台的参考姿态信息，根据参考姿态信息和第一姿态信息确定姿态传感器的误差姿态信息。Determining the reference attitude information of the pan/tilt according to the rotation angle, and determining the error posture information of the attitude sensor according to the reference attitude information and the first posture information.
可选地，处理器403，具体用于：Optionally, the processor 403 is specifically configured to:
将转动角度中的每一个换算相应的四元数，根据转动角度的四元数确定云台的参考姿态信息。Each of the rotation angles is converted into a corresponding quaternion, and the reference attitude information of the gimbal is determined according to the quaternion of the rotation angle.
可选地，处理器403，具体用于：Optionally, the processor 403 is specifically configured to:
设置云台的基座的姿态信息；Setting posture information of the base of the pan/tilt;
根据基座的姿态信息和转动角度确定云台的参考姿态信息。The reference attitude information of the pan/tilt is determined according to the posture information and the rotation angle of the base.
可选地，处理器403，具体用于：Optionally, the processor 403 is specifically configured to:
设置云台的基座的姿态的四元数，根据基座的姿态的四元数和转动角度中每一个换算得到的四元数确定云台的参考姿态信息。The quaternion of the posture of the pedestal of the gimbal is set, and the reference posture information of the gimbal is determined according to the quaternion converted from each of the quaternion and the rotation angle of the posture of the pedestal.
可选地，处理器403，具体用于：Optionally, the processor 403 is specifically configured to:
将基座的姿态的四元数与转动角度中每一个换算得到的四元数分别相乘，根据相乘后得到的四元数确定参考姿态信息。The quaternion of the quaternion of the pedestal is multiplied by the quaternion obtained by each of the rotation angles, and the reference posture information is determined based on the quaternion obtained by the multiplication.
可选地，处理器403，具体用于： Optionally, the processor 403 is specifically configured to:
根据参考姿态四元数和第一姿态四元数确定误差姿态信息。The error pose information is determined according to the reference pose quaternion and the first pose quaternion.
可选地，处理器403，具体用于：Optionally, the processor 403 is specifically configured to:
将参考姿态四元数与第一姿态四元数相乘，根据相乘后的四元数确定误差姿态信息。The reference pose quaternion is multiplied by the first pose quaternion, and the error pose information is determined according to the multiplied quaternion.
可选地，误差姿态信息为第一姿态信息与参考姿态信息之间的姿态差信息。Optionally, the error posture information is posture difference information between the first posture information and the reference posture information.
可选地，处理器403，具体用于：Optionally, the processor 403 is specifically configured to:
根据误差姿态信息确定单位时间的误差姿态修正量，根据误差姿态信息修正量对第一姿态信息进行修正以得到云台的当前姿态信息。The error posture correction amount per unit time is determined according to the error posture information, and the first posture information is corrected according to the error posture information correction amount to obtain the current attitude information of the pan/tilt.
可选地，处理器403，具体用于：Optionally, the processor 403 is specifically configured to:
利用扩展卡尔曼滤波、互补滤波、平滑滤波中的一种或多种根据误差姿态信息修正第一姿态信息以得到云台的当前姿态信息。The first attitude information is corrected according to the error posture information by using one or more of extended Kalman filtering, complementary filtering, and smoothing filtering to obtain current attitude information of the pan/tilt.
可选地，角度传感器包括电位计、霍尔传感器、光电编码器中的至少一种。Optionally, the angle sensor comprises at least one of a potentiometer, a Hall sensor, and a photoelectric encoder.
需要说明地，本发明实施例的云台400可由上述实施例的云台的控制方法实现，其未展开的部分请参考以上实施例中控制方法相同或类似的部分，此处不再赘述。It should be noted that the pan/tilt head 400 of the embodiment of the present invention may be implemented by the control method of the pan/tilt in the foregoing embodiment. For the unexpanded part, refer to the same or similar parts of the control method in the foregoing embodiment, and details are not described herein again.
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示意性实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合所述实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。In the description of the present specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiment", "example", "specific example", or "some examples", etc. Particular features, structures, materials or features described in the examples or examples are included in at least one embodiment or example of the invention. In the present specification, the schematic representation of the above terms does not necessarily mean the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples.
流程图中或在此以其他方式描述的任何过程或方法描述可以被理解为，表示包括一个或更多个用于实现特定逻辑功能或过程的步骤的可执行指令的代码的模块、片段或部分，并且本发明的优选实施例的范围包括另外的实现，其中可以不按所示出或讨论的顺序，包括根据所涉及的功能按基本同时的方式或 按相反的顺序，来执行功能，这应被本发明的实施例所属技术领域的技术人员所理解。Any process or method description in the flowcharts or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a particular logical function or process. And the scope of the preferred embodiments of the invention includes additional implementations, which may not be in the order shown or discussed, including in a substantially simultaneous manner depending on the functionality involved or The functions are performed in the reverse order, which should be understood by those skilled in the art to which the embodiments of the present invention pertain.
在流程图中表示或在此以其他方式描述的逻辑和/或步骤，例如，可以被认为是用于实现逻辑功能的可执行指令的定序列表，可以具体实现在任何计算机可读介质中，以供指令执行系统、装置或设备(如基于计算机的系统、包括处理器的系统或其他可以从指令执行系统、装置或设备取指令并执行指令的系统)使用，或结合这些指令执行系统、装置或设备而使用。就本说明书而言，"计算机可读介质"可以是任何可以包含、存储、通信、传播或传输程序以供指令执行系统、装置或设备或结合这些指令执行系统、装置或设备而使用的装置。计算机可读介质的更具体的示例(非穷尽性列表)包括以下：具有一个或多个布线的电连接部(电子装置)，便携式计算机盘盒(磁装置)，随机存取存储器(RAM)，只读存储器(ROM)，可擦除可编辑只读存储器(EPROM或闪速存储器)，光纤装置，以及便携式光盘只读存储器(CDROM)。另外，计算机可读介质甚至可以是可在其上打印所述程序的纸或其他合适的介质，因为可以例如通过对纸或其他介质进行光学扫描，接着进行编辑、解译或必要时以其他合适方式进行处理来以电子方式获得所述程序，然后将其存储在计算机存储器中。The logic and/or steps represented in the flowchart or otherwise described herein, for example, may be considered as an ordered list of executable instructions for implementing logical functions, and may be embodied in any computer readable medium, Used in conjunction with, or in conjunction with, an instruction execution system, apparatus, or device (eg, a computer-based system, a system including a processor, or other system that can fetch instructions and execute instructions from an instruction execution system, apparatus, or device) Or use with equipment. For the purposes of this specification, 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. More specific examples (non-exhaustive list) of 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). In addition, 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.
应当理解，本发明的各部分可以用硬件、软件、固件或它们的组合来实现。在上述实施例中，多个步骤或方法可以用存储在存储器中且由合适的指令执行系统执行的软件或固件来实现。例如，如果用硬件来实现，和在另一实施例中一样，可用本领域公知的下列技术中的任一项或他们的组合来实现：具有用于对数据信号实现逻辑功能的逻辑门电路的离散逻辑电路，具有合适的组合逻辑门电路的专用集成电路，可编程门阵列(PGA)，现场可编程门阵列(FPGA)等。It should be understood that portions of the invention may be implemented in hardware, software, firmware or a combination thereof. In the above embodiments, multiple steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, 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.
本技术领域的普通技术人员可以理解实现上述实施方法携带的全部或部分步骤是可以通过程序来指令相关的硬件完成，所述的程序可以存储于一种计算机可读存储介质中，该程序在执行时，包括方法实施例的步骤之一或其组合。A person skilled in the art can understand that all or part of the steps carried in implementing the above implementation method can be completed by a program to instruct related hardware, and the program can be stored in a computer readable storage medium, and the program is executed. Including one or a combination of the steps of the method embodiments.
此外，在本发明各个实施例中的各功能单元可以集成在一个处理模块中， 也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个模块中。上述集成的模块既可以采用硬件的形式实现，也可以采用软件功能模块的形式实现。所述集成的模块如果以软件功能模块的形式实现并作为独立的产品销售或使用时，也可以存储在一个计算机可读取存储介质中。In addition, each functional unit in various embodiments of the present invention may be integrated into one processing module. It is also possible that each unit physically exists alone, or two or more units may be integrated in 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.
上述提到的存储介质可以是只读存储器，磁盘或光盘等。尽管上面已经示出和描述了本发明的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型。 The above mentioned storage medium may be a read only memory, a magnetic disk or an optical disk or the like. Although the embodiments of the present invention have been shown and described, it is understood that the above-described embodiments are illustrative and are not to be construed as limiting the scope of the invention. The embodiments are subject to variations, modifications, substitutions and variations.

Claims (24)

  1. 一种云台的控制方法，其特征在于，所述控制方法包括如下步骤：A control method for a gimbal, characterized in that the control method comprises the following steps:
    确定云台的第一姿态信息；Determining the first attitude information of the gimbal;
    确定云台的一个或多个轴的驱动电机的转动角度；Determining a rotation angle of a drive motor of one or more shafts of the pan/tilt;
    根据所述第一姿态信息和所述转动角度确定姿态传感器的误差姿态信息；Determining error posture information of the attitude sensor according to the first posture information and the rotation angle;
    根据所述误差姿态信息修正所述第一姿态信息以得到云台的当前姿态信息。The first posture information is corrected according to the error posture information to obtain current attitude information of the pan/tilt.
  2. 根据权利要求1所述的方法，其特征在于，The method of claim 1 wherein
    所述根据所述第一姿态信息和所述转动角度确定姿态传感器的误差姿态信息的步骤包括：The determining the error posture information of the posture sensor according to the first posture information and the rotation angle comprises:
    根据所述转动角度确定云台的参考姿态信息，根据所述参考姿态信息和所述第一姿态信息确定姿态传感器的误差姿态信息。Determining the reference attitude information of the pan/tilt according to the rotation angle, and determining the error posture information of the attitude sensor according to the reference posture information and the first posture information.
  3. 根据权利要求2所述的方法，其特征在于，The method of claim 2 wherein:
    所述根据所述转动角度确定云台的参考姿态信息的步骤包括：The step of determining the reference attitude information of the pan/tilt according to the rotation angle includes:
    将所述转动角度中的每一个换算相应的四元数，根据所述转动角度的四元数确定云台的参考姿态信息。Each of the rotation angles is converted into a corresponding quaternion, and the reference attitude information of the pan/tilt is determined according to the quaternion of the rotation angle.
  4. 根据权利要求2或3所述的方法，其特征在于，Method according to claim 2 or 3, characterized in that
    所述根据所述转动角度确定云台的参考姿态信息的步骤包括：The step of determining the reference attitude information of the pan/tilt according to the rotation angle includes:
    设置云台的基座的姿态信息；Setting posture information of the base of the pan/tilt;
    根据所述基座的姿态信息和所述转动角度确定云台的参考姿态信息。Determining the reference attitude information of the gimbal according to the posture information of the base and the rotation angle.
  5. 根据权利要求4所述的方法，其特征在于，The method of claim 4 wherein:
    所述设置云台的基座的姿态信息，根据所述基座的姿态信息和所述转动角度确定云台的参考姿态信息的步骤包括： The step of setting posture information of the base of the pan/tilt, determining the reference attitude information of the pan/tilt according to the posture information of the base and the rotation angle includes:
    设置云台的基座的姿态的四元数，根据所述基座的姿态的四元数和所述转动角度中每一个换算得到的四元数确定云台的参考姿态信息。The quaternion of the posture of the pedestal of the pan/tilt is set, and the reference attitude information of the gimbal is determined according to the quaternion of the quaternion of the pedestal and the quaternion converted from each of the rotation angles.
  6. 根据权利要求5所述的方法，其特征在于，The method of claim 5 wherein:
    所述根据所述基座的姿态的四元数和所述转动角度中每一个换算得到的四元数确定云台的参考姿态信息的步骤包括：The step of determining the reference attitude information of the pan/tilt according to the quaternion of the quaternion of the pedestal and the quaternion of each of the rotation angles includes:
    将所述基座的姿态的四元数与所述转动角度中每一个换算得到的四元数分别相乘，根据相乘后得到的四元数确定所述参考姿态信息。The quaternion of the posture of the pedestal is multiplied by the quaternion converted from each of the rotation angles, and the reference posture information is determined based on the quaternion obtained by multiplication.
  7. 根据权利要求所述2-6任一项所述的方法，其特征在于，The method of any of claims 2-6, wherein
    所述根据所述参考姿态信息和所述第一姿态信息确定姿态传感器的误差姿态信息的步骤包括：The determining the error posture information of the posture sensor according to the reference posture information and the first posture information comprises:
    根据所述参考姿态的四元数和所述第一姿态的四元数确定所述误差姿态信息。The error pose information is determined according to a quaternion of the reference pose and a quaternion of the first pose.
  8. 根据权利要求7所述的方法，其特征在于，The method of claim 7 wherein:
    根据所述参考姿态的四元数和所述第一姿态的四元数确定所述误差姿态信息的步骤包括：The step of determining the error posture information according to the quaternion of the reference posture and the quaternion of the first posture includes:
    将所述参考姿态的四元数与第一姿态的四元数相乘，根据相乘后的四元数确定所述误差姿态信息。The quaternion of the reference pose is multiplied by the quaternion of the first pose, and the error pose information is determined based on the multiplied quaternion.
  9. 根据权利要求2-8任一项所述的方法，其特征在于，A method according to any one of claims 2-8, wherein
    所述误差姿态信息为第一姿态信息与参考姿态信息之间的姿态差信息。The error posture information is posture difference information between the first posture information and the reference posture information.
  10. 根据权利要求1-9任一项所述的方法，其特征在于，Method according to any of claims 1-9, characterized in that
    所述根据所述误差姿态信息修正所述第一姿态信息以得到云台的当前姿态信息的步骤包括：The step of modifying the first posture information according to the error posture information to obtain current attitude information of the pan/tilt includes:
    根据所述误差姿态信息确定单位时间的误差姿态修正量，根据所述误差姿态信 息修正量对第一姿态信息进行修正以得到云台的当前姿态信息。Determining an error posture correction amount per unit time according to the error posture information, according to the error posture letter The information correction amount corrects the first posture information to obtain the current attitude information of the pan/tilt.
  11. 根据权利要求1-10任一项所述的方法，其特征在于，A method according to any one of claims 1 to 10, wherein
    所述根据所述误差姿态信息修正所述第一姿态信息以得到云台的当前姿态信息的步骤包括：The step of modifying the first posture information according to the error posture information to obtain current attitude information of the pan/tilt includes:
    利用扩展卡尔曼滤波、互补滤波、平滑滤波中的一种或多种根据所述误差姿态信息修正所述第一姿态信息以得到云台的当前姿态信息。The first posture information is corrected according to the error posture information by one or more of extended Kalman filtering, complementary filtering, and smoothing filtering to obtain current attitude information of the pan/tilt.
  12. 根据权利要求1-11任一项所述的方法去，其特征在于，A method according to any one of claims 1-11, characterized in that
    所述确定云台的一个或多个轴的驱动电机转动的角度包括：The determining the angle of rotation of the drive motor of one or more axes of the pan/tilt includes:
    利用电位计、霍尔传感器、光电编码器中的至少一种确定云台系统的一个或多个轴的驱动电机转动角度。The driving motor rotation angle of one or more axes of the pan-tilt system is determined using at least one of a potentiometer, a Hall sensor, and a photoelectric encoder.
  13. 一种云台，其特征在于，包括：A gimbal, characterized in that it comprises:
    姿态传感器，用于确定云台的第一姿态信息；An attitude sensor for determining a first attitude information of the pan/tilt;
    角度传感器，用于确定云台的一个或多个轴的驱动电机的转动角度；An angle sensor for determining a rotation angle of a driving motor of one or more shafts of the pan/tilt;
    处理器，用于：Processor for:
    根据所述第一姿态信息和所述转动角度确定姿态传感器的误差姿态信息；Determining error posture information of the attitude sensor according to the first posture information and the rotation angle;
    根据所述误差姿态信息修正所述第一姿态信息以得到云台的当前姿态信息。The first posture information is corrected according to the error posture information to obtain current attitude information of the pan/tilt.
  14. 根据权利要求13所述的云台，其特征在于，The pan/tilt head according to claim 13, wherein
    所述处理器，具体用于：The processor is specifically configured to:
    根据所述转动角度确定云台的参考姿态信息，根据所述参考姿态信息和所述第一姿态信息确定姿态传感器的误差姿态信息。Determining the reference attitude information of the pan/tilt according to the rotation angle, and determining the error posture information of the attitude sensor according to the reference posture information and the first posture information.
  15. 根据权利要求14所述的云台，其特征在于，The pan/tilt head according to claim 14, wherein
    所述处理器，具体用于： The processor is specifically configured to:
    将所述转动角度中的每一个换算相应的四元数，根据所述转动角度的四元数确定云台的参考姿态信息。Each of the rotation angles is converted into a corresponding quaternion, and the reference attitude information of the pan/tilt is determined according to the quaternion of the rotation angle.
  16. 根据权利要求14或15所述的云台，其特征在于，A pan/tilt head according to claim 14 or 15, wherein
    所述处理器，具体用于：The processor is specifically configured to:
    设置云台的基座的姿态信息；Setting posture information of the base of the pan/tilt;
    根据所述基座的姿态信息和所述转动角度确定云台的参考姿态信息。Determining the reference attitude information of the gimbal according to the posture information of the base and the rotation angle.
  17. 根据权利要求16所述的云台，其特征在于，The pan/tilt head according to claim 16, wherein
    所述处理器，具体用于：The processor is specifically configured to:
    设置云台的基座的姿态的四元数，根据所述基座的姿态的四元数和所述转动角度中每一个换算得到的四元数确定云台的参考姿态信息。The quaternion of the posture of the pedestal of the pan/tilt is set, and the reference attitude information of the gimbal is determined according to the quaternion of the quaternion of the pedestal and the quaternion converted from each of the rotation angles.
  18. 根据权利要求17所述的云台，其特征在于，The pan/tilt head according to claim 17, wherein
    所述处理器，具体用于：The processor is specifically configured to:
    将所述基座的姿态的四元数与所述转动角度中每一个换算得到的四元数分别相乘，根据相乘后得到的四元数确定所述参考姿态信息。The quaternion of the posture of the pedestal is multiplied by the quaternion converted from each of the rotation angles, and the reference posture information is determined based on the quaternion obtained by multiplication.
  19. 根据权利要求所述14-18任一项所述的云台，其特征在于，A gimbal according to any one of claims 14 to 18, wherein
    所述处理器，具体用于：The processor is specifically configured to:
    根据所述参考姿态的四元数和所述第一姿态的四元数确定所述误差姿态信息。The error pose information is determined according to a quaternion of the reference pose and a quaternion of the first pose.
  20. 根据权利要求19所述的云台，其特征在于，The pan/tilt head according to claim 19, wherein
    所述处理器，具体用于：The processor is specifically configured to:
    将所述参考姿态的四元数与第一姿态的四元数相乘，根据相乘后的四元数确定所述误差姿态信息。 The quaternion of the reference pose is multiplied by the quaternion of the first pose, and the error pose information is determined based on the multiplied quaternion.
  21. 根据权利要求14-20任一项所述的云台，其特征在于，A head according to any one of claims 14 to 20, characterized in that
    所述误差姿态信息为第一姿态信息与参考姿态信息之间的姿态差信息。The error posture information is posture difference information between the first posture information and the reference posture information.
  22. 根据权利要求13-21任一项所述的云台，其特征在于，A gimbal according to any one of claims 13 to 21, characterized in that
    所述处理器，具体用于：The processor is specifically configured to:
    根据所述误差姿态信息确定单位时间的误差姿态修正量，根据所述误差姿态信息修正量对第一姿态信息进行修正以得到云台的当前姿态信息。Determining an error posture correction amount per unit time according to the error posture information, and correcting the first posture information according to the error posture information correction amount to obtain current posture information of the pan/tilt.
  23. 根据权利要求13-22任一项所述的云台，其特征在于，A gimbal according to any one of claims 13 to 22, characterized in that
    所述处理器，具体用于：The processor is specifically configured to:
    利用扩展卡尔曼滤波、互补滤波、平滑滤波中的一种或多种根据所述误差姿态信息修正所述第一姿态信息以得到云台的当前姿态信息。The first posture information is corrected according to the error posture information by one or more of extended Kalman filtering, complementary filtering, and smoothing filtering to obtain current attitude information of the pan/tilt.
  24. 根据权利要求13-23任一项所述的云台，其特征在于，A pan/tilt head according to any one of claims 13 to 23, characterized in that
    所述角度传感器包括电位计、霍尔传感器、光电编码器中的至少一种。 The angle sensor includes at least one of a potentiometer, a Hall sensor, and a photoelectric encoder.
PCT/CN2017/081471 2017-04-21 2017-04-21 Camera mount control method, and camera mount WO2018191964A1 (en)

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