WO2018191964A1 - Procédé de commande de support de caméra et support de caméra - Google Patents

Procédé de commande de support de caméra et support de caméra 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
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English (en)
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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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/zh
Priority to PCT/CN2017/081471 priority patent/WO2018191964A1/fr
Publication of WO2018191964A1 publication Critical patent/WO2018191964A1/fr

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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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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
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Abstract

L'invention concerne un procédé de commande de support de caméra et un support de caméra. Le procédé de commande consiste : à déterminer des premières informations de position d'un support de caméra ; à déterminer des angles de rotation de moteurs d'entraînement pour un ou plusieurs axes du support de caméra ; à déterminer, en fonction des premières informations de position et des angles de rotation, des informations d'erreur de position d'un capteur de position ; et à corriger, en fonction des informations d'erreur de position, les premières informations de position afin d'obtenir des informations de position actuelles du support de caméra. Un support de caméra (400) comprend : un capteur de position (401) configuré afin de déterminer des premières informations de position du support de caméra (400) ; un capteur d'angle (402) configuré afin de déterminer des angles de rotation de moteurs d'entraînement pour un ou plusieurs axes du support de caméra (400) ; un processeur (403) configuré afin de déterminer, en fonction des premières informations de position et des angles de rotation, des informations d'erreur de position du capteur de position (401). Les premières informations de position sont corrigées en fonction des informations d'erreur de position afin d'obtenir des informations de position actuelles du support de caméra (400). Le procédé de commande de support de caméra et le support de caméra peuvent empêcher efficacement le problème de dérive dans l'état de la technique dans lequel un accéléromètre est employé afin de corriger des informations de position obtenues par un gyroscope, de telle sorte que les informations de position de support de caméra corrigées peuvent rester stables pendant une longue période de temps, et un appareil de capture d'image monté sur le support de caméra peut capturer une scène à une position fixe pendant une longue période de temps sans avoir à subir un angle de capture d'image de dérive.
PCT/CN2017/081471 2017-04-21 2017-04-21 Procédé de commande de support de caméra et support de caméra WO2018191964A1 (fr)

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CN201780004873.1A CN108700252B (zh) 2017-04-21 2017-04-21 云台的控制方法以及云台
PCT/CN2017/081471 WO2018191964A1 (fr) 2017-04-21 2017-04-21 Procédé de commande de support de caméra et support de caméra

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CN114115364A (zh) * 2021-12-03 2022-03-01 重庆市亿飞智联科技有限公司 云台控制方法、装置、云台控制设备及存储介质

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CN110832424A (zh) * 2018-10-31 2020-02-21 深圳市大疆创新科技有限公司 竖向增稳机构及其控制方法以及可移动设备
CN112334855A (zh) * 2019-10-30 2021-02-05 深圳市大疆创新科技有限公司 云台系统的校准方法、装置、云台系统和计算机可读介质
CN111707290A (zh) * 2020-06-12 2020-09-25 浙江大学 一种三自由度的传感器自动标定转台
CN113316748A (zh) * 2020-08-25 2021-08-27 深圳市大疆创新科技有限公司 云台的控制方法、云台及存储介质
CN112135124A (zh) * 2020-09-24 2020-12-25 苏州科达科技股份有限公司 云台位置校准检测方法、装置以及系统
CN113791646A (zh) * 2021-08-16 2021-12-14 上海智能网联汽车技术中心有限公司 一种路侧智能云台多传感器融合控制方法及设备

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