WO2019119455A1 - 一种云台校准方法及云台设备 - Google Patents

一种云台校准方法及云台设备 Download PDF

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Publication number
WO2019119455A1
WO2019119455A1 PCT/CN2017/118129 CN2017118129W WO2019119455A1 WO 2019119455 A1 WO2019119455 A1 WO 2019119455A1 CN 2017118129 W CN2017118129 W CN 2017118129W WO 2019119455 A1 WO2019119455 A1 WO 2019119455A1
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WO
WIPO (PCT)
Prior art keywords
pan
axis
calibration
tilt
tilt device
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Application number
PCT/CN2017/118129
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English (en)
French (fr)
Inventor
刘帅
王映知
王振动
Original Assignee
深圳市大疆创新科技有限公司
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Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201780022957.8A priority Critical patent/CN109074103B/zh
Priority to PCT/CN2017/118129 priority patent/WO2019119455A1/zh
Priority to CN202111483654.0A priority patent/CN114183662A/zh
Publication of WO2019119455A1 publication Critical patent/WO2019119455A1/zh

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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
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F16M11/123—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints the axis of rotation intersecting in a single point, e.g. by using gimbals
    • 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
    • F16M11/08—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a vertical axis, e.g. panoramic heads
    • 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
    • F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
    • 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
    • F16M11/125—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction for tilting and rolling
    • 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
    • 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 present invention relates to the field of electronic technologies, and in particular, to a cloud platform calibration method and a cloud platform device.
  • the PTZ equipment is used to hang the load. Since the PTZ device itself uses a linear Hall sensor, it needs to be calibrated every time it starts.
  • the pan/tilt head device the pitch axis of the pan/tilt head device is easily hitting the ground when calibrating, which may cause the pitch axis calibration of the gimbal device to fail, the gimbal device cannot start normally, and the pan/tilt device fails after calibration.
  • the calibration will be restarted and the load will hit the ground again. Multiple collisions will not only cause the risk of burning the motor, but also cause problems such as internal components of the load.
  • the embodiment of the invention discloses a cloud platform calibration method and a cloud platform device, which can effectively prevent the load of the cloud platform device from hitting other objects during the calibration process of the pitch axis, thereby improving the safety of the cloud platform device and its mounted load. .
  • a first aspect of the embodiments of the present invention discloses a pan/tilt calibration method, which is applied to a pan-tilt device, where the pan-tilt device includes at least a pitch axis and a roll axis, and the pan-tilt device is configured to hang a load, and the method include:
  • the pitch axis of the pan-tilt device is controlled to be calibrated
  • the preset position enables the load to impinge on other objects when the pitch axis is calibrated.
  • the preset position is that the joint angle of the roll axis is a predetermined angle.
  • the predetermined angle is that the joint angle of the roll axis is 30 degrees to 120 degrees.
  • the predetermined angle is that the joint angle of the roll axis is 90 degrees.
  • the calibration is a position at which the pitch axis is rotated to a maximum and a minimum of the joint angle.
  • the method further includes:
  • the pitch axis and the roll axis of the pan-tilt device are rotated to the joint angle zero position.
  • the load is a photographing device
  • the method before the controlling the roll axis of the pan-tilt device to rotate to a preset position, the method further includes:
  • the preset position is calculated based on the size information.
  • the pan/tilt device further includes a yaw axis
  • the method further includes:
  • the yaw axis of the pan-tilt device is rotated to the joint angle zero position.
  • the method further includes:
  • the pan-tilt device is switched to the attitude mode.
  • controlling the roll axis of the pan/tilt device to rotate to a preset position comprises:
  • the roll axis of the pan/tilt device is controlled to rotate to a preset position.
  • the second aspect of the embodiment of the present invention discloses a pan/tilt calibration device, which includes: a first control module, a calibration module, a second control module, an acquisition module, a calculation module, and a switching module, where each module is used to execute the foregoing Any of the pan/tilt calibration methods described on the one hand.
  • a third aspect of the embodiments of the present invention discloses a pan-tilt device, where the pan-tilt device includes at least a pitch axis and a roll axis, and the pan-tilt device is configured to mount a load, including: a processor, where the processor is used to :
  • the pitch axis of the pan-tilt device is controlled to be calibrated
  • the preset position enables the load to impinge on other objects when the pitch axis is calibrated.
  • a fourth aspect of the embodiments of the present invention discloses a computer program product, wherein when the instructions in the computer program product are executed by a processor, performing any one of the pan/tilt calibration methods described in the above first aspect.
  • a fifth aspect of the embodiments of the present invention discloses a storage medium, wherein when the instructions in the storage medium are executed by a processor, performing any one of the pan/tilt calibration methods described in the above first aspect.
  • the pan-tilt device includes at least a pitch axis and a roll axis, and the pan-tilt device is used for hanging the load; when the pan-tilt device is powered on and enters the calibration mode, firstly, the roll-to-roll axis of the pan-tilt device is rotated to advance. Set the position, and then control the pitch axis of the gimbal device for calibration; wherein the preset position enables the load to impinge on other objects when the pitch axis is calibrated; in the above manner, the calibration process on the pitch axis can be effectively avoided.
  • the load of the Zhongyuntai equipment hits other objects, thereby improving the safety of the PTZ equipment and its mounted load.
  • FIG. 1 is a schematic structural diagram of a cloud platform device according to an embodiment of the present invention.
  • FIG. 2 is a schematic flow chart of a pan/tilt calibration method according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of a roll axis calibration according to an embodiment of the present invention.
  • 4a is a schematic diagram of a pitch axis calibration according to an embodiment of the present invention.
  • 4b is a schematic diagram of another pitch axis calibration according to an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of a yaw axis calibration according to an embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of a pan/tilt calibration apparatus according to an embodiment of the present invention.
  • FIG. 7 is a schematic structural diagram of a cloud platform device according to an embodiment of the present invention.
  • the embodiment of the invention discloses a pan-tilt calibration method and a pan-tilt device.
  • the pan-tilt device is used for hanging a load and includes at least a pitch axis and a roll axis.
  • the load of the pan-tilt device may be a photographing device (for example, Camera and camera).
  • the pan/tilt calibration method and the pan/tilt head device provided by the embodiments of the present invention can effectively prevent the load of the pan-tilt device from colliding with other objects during the calibration process of the pitch axis, thereby improving the security of the gimbal device and its mounted load. The details are described below separately.
  • FIG. 1 is a schematic structural diagram of a cloud platform device according to an embodiment of the present invention.
  • the cloud platform device includes a roll Roll axis 11 , a pitch Pitch axis 12 , and a yaw Yaw axis 13 .
  • the pan/tilt device is used to hang the load 14.
  • the rolling Roll axis 11, the pitch Pitch axis 12 and the yaw Yaw axis 13 are aeronautical terms, Roll is rotated about the Z axis, the rolling axis 11 is a rotating shaft that drives the load 14 to rotate around the Z axis; Pitch is rotated around the X axis;
  • the pitch axis 12 is a rotating shaft that drives the load 14 to rotate around the X axis; Yaw is rotated about the Y axis, and the yaw axis 13 is to drive the load 14 to rotate around the Y axis.
  • the directions of the X-axis, the Y-axis, and the Z-axis are directions defined by the right-hand Cartesian coordinate system.
  • FIG. 2 is a schematic flowchart diagram of a method for calibrating a cloud platform according to an embodiment of the present invention.
  • the pan/tilt calibration method described in the embodiment of the present invention is applied to a cloud platform device.
  • the pan-tilt device includes at least a pitch axis and a roll axis, and the pan-tilt device is used for hanging a load.
  • the pan/tilt calibration method includes:
  • the pan-tilt device since the pan-tilt device usually adopts a linear Hall sensor, each time the pan-tilt device starts, it needs to enter the calibration mode to perform calibration of the rotating shaft. In the calibration mode, the pan-tilt device controls the rotating shaft respectively. Rotate to the position corresponding to the maximum and minimum values of the joint angle, and then obtain the maximum and minimum values of the joint angle of the shaft to complete the calibration.
  • the PTZ device when the PTZ device is powered on and enters the calibration mode, the PTZ device first controls the roll axis of the PTZ device for calibration, that is, the maximum joint angle of the roll axis of the PTZ device is controlled to be rotated to the roll axis respectively. The position corresponding to the value and the minimum value, and then the maximum angle and the minimum angle of the joint angle of the roll axis are obtained, thereby completing the calibration of the roll axis.
  • the direction indicated by the arrow in FIG. 3 is the direction in which the roll axis 11 rotates during calibration, that is, the direction in which the roll shaft 11 drives the load 14 of the pan/tilt device to rotate. It should be noted that FIG. 3 is merely an exemplary explanation of the direction in which the roll axis 11 rotates during calibration, and the direction in which the roll axis 11 rotates during calibration is related to the initial position of the roll axis 11.
  • the pan-tilt device controls the roll axis of the pan-tilt device to rotate to a preset position.
  • the preset position is a position corresponding to the roll axis when the joint angle of the roll axis is a predetermined angle; the preset position enables the load of the pan/tilt device to be suspended when the pitch axis of the pan/tilt device is calibrated Hit other objects (such as the ground).
  • the predetermined angle may be that the roll axis of the pan/tilt head has an articulation angle of 30 degrees to 120 degrees.
  • the predetermined angle may be that the roll axis of the pan/tilt head has an articulation angle of 90 degrees.
  • the load of the PTZ device is a photographing device
  • the device parameters of the photographing device mounted by the PTZ device are first obtained.
  • the acquired device parameters include size information (such as length, width, and height) of the photographing device, and the like, and then the position information of the preset position is calculated according to the size information of the photographing device, that is, according to the size information of the photographing device.
  • the value of the predetermined angle is obtained.
  • the calculated value of the predetermined angle may be a specific value or a range. When the calculated value of the predetermined angle is a range, we may set the middle value of the range to which the value of the predetermined angle belongs. Determined to be the value of the predetermined angle.
  • the pan-tilt device controls the roll axis of the pan-tilt device to rotate to a preset position, first acquiring device parameters of the photographing device mounted by the pan-tilt device, and acquiring a roll axis of the pan-tilt device
  • the initial position that is, the initial angle information of the joint angle of the roll axis; then, according to the obtained device angle of the photographing device and the initial angle information of the joint angle of the roll axis, the cloud is determined at the current position of the roll axis.
  • step S203 is performed; if the pitch axis of the pan-tilt device is in calibration at the current position of the roll axis, the load hung by the pan-tilt device may hit other objects, according to the size information of the photographing device.
  • the position information of the preset position is calculated.
  • the pan/tilt device controls the roll axis of the gimbal device to rotate to a preset position, or determines that the pitch axis of the pan-tilt device is in calibration
  • the pan-tilt device is hung at the current position of the roll axis device.
  • the PTZ device controls the pitch axis of the PTZ device to calibrate, that is, the maximum and minimum values of the joint angle of the pitch axis of the pan/tilt device respectively rotating to the pitch axis. The position, which in turn obtains the maximum and minimum angles of the joint angle to the pitch axis, thereby completing the calibration of the roll axis.
  • FIG. 4a it is assumed that the initial angle of the joint angle of the roll axis 11 of the gimbal device is 0 degrees, and the line between the pitch axes 12 is parallel to On the ground, if the pitch axis 12 is calibrated when the joint angle of the roll axis 11 is 0 degrees, the direction indicated by the arrow in FIG. 4a is that the pitch axis 12 rotates the load 14 that the pan/tilt device hangs during calibration. Direction; at this time, the pitch axis 12 will drive the load 14 to rotate up and down, that is, the load 14 is rotated perpendicular to the ground.
  • the load 14 of the pan/tilt device is too long, the load 14 easily hits the ground, which may result in The pitch axis 12 cannot be rotated to the position corresponding to the maximum or minimum value of the joint angle, which causes the pitch axis 12 to fail calibration, which causes the pan-tilt device to fail to start normally; and the pan-tilt device will restart the calibration after the pitch axis 12 fails to be calibrated. And the load 14 is re-impacted to other objects, and multiple impacts may not only burn the motor of the gimbal device, but may also cause problems such as failure of the internal components of the load 14.
  • the pan-tilt device after the pan-tilt device is powered on into the calibration mode, the pan-tilt device first controls the roll axis 11 to rotate to a preset position, and then controls the pitch axis 12 to perform calibration. As shown in FIG. 4b, the preset position is assumed to be the corresponding position when the joint angle of the roll axis 11 is 90 degrees. After the pan/tilt device is powered on and enters the calibration mode, the angle of the joint angle of the roll axis 11 is first controlled by 0.
  • the pitch axis 12 is controlled to calibrate when the joint angle of the roll axis 11 is 90 degrees, as indicated by the arrow in Figure 4b.
  • the direction is that the pitch axis 12 drives the direction in which the load 14 of the pan/tilt device is hoisted during calibration; at this time, the pitch axis 12 drives the load 14 to rotate left and right, that is, the load 14 is rotated parallel to the ground, even if the pan/tilt device is hanged.
  • the large size of the load 14, the load 14 will not hit the ground, thereby improving the security of the PTZ device and its hanging load 14.
  • the pan-tilt device controls the pitch axis of the pan-tilt device to rotate to the joint angle zero of the pitch axis, and controls the roll axis rotation of the pan-tilt device to roll.
  • the joint angle of the shaft is zero.
  • the joint angle zero position is the corresponding position when the angle of the joint angle is 0 degree.
  • the pan-tilt device when the pitch axis calibration of the pan-tilt device is completed, and the pan-tilt device controls the pitch axis and the roll axis to rotate to the respective joint angle zero positions, the pan-tilt device is switched to the attitude mode, thereby avoiding The problem of cloud and cloud chaos may be caused by a sudden change in posture.
  • the gimbal device further includes a yaw axis.
  • the pan-tilt device controls the yaw axis of the pan-tilt device to perform calibration, that is, the pan-tilt device is controlled.
  • the yaw axis is respectively rotated to the position corresponding to the maximum value and the minimum value of the joint angle of the yaw axis, thereby obtaining the maximum angle and the minimum angle of the joint angle of the yaw axis, thereby completing the calibration of the yaw axis. Referring to FIG. 5 together, the direction indicated by the arrow in FIG.
  • FIG. 5 is the direction in which the yaw axis 13 rotates during calibration, that is, the direction in which the yaw axis 13 drives the load 14 of the pan-tilt device to rotate. It should be noted that FIG. 5 is merely an exemplary illustration of the direction in which the yaw axis 13 rotates during calibration.
  • the PTZ device rotates the yaw axis, the pitch axis, and the roll axis to their respective joint angle zero positions, and switches the PTZ device to the attitude mode.
  • the PTZ device further includes a yaw axis.
  • the PTZ device When the PTZ device is powered on and enters the calibration mode, the PTZ device first controls the yaw axis of the PTZ device for calibration; when the PTZ device yaws After the axis calibration is completed, the pan/tilt device controls the roll axis of the pan/tilt device to be calibrated; when the roll axis calibration of the pan/tilt device is completed, the pan/tilt device first controls the roll axis of the pan/tilt device to rotate to a preset position, and then Then control the pitch axis of the pan/tilt head device for calibration; when the pitch axis calibration of the pan/tilt device is completed, the pan/tilt device rotates the yaw axis, the pitch axis, and the roll axis to their respective joint angle zero positions, and the pan/tilt head The device switches to attitude mode.
  • the PTZ device further includes a yaw axis.
  • the PTZ device When the PTZ device is powered on and enters the calibration mode, the PTZ device first controls the roll axis of the PTZ device for calibration; when the PTZ device rolls After the axis calibration is completed, the PTZ device first controls the roll axis of the PTZ device to rotate to a preset position, and then controls the yaw axis of the PTZ device for calibration; when the yaw axis calibration of the PTZ device is completed, the cloud is controlled.
  • the pitch axis of the device is calibrated; when the pitch axis calibration of the pan/tilt device is completed, the pan/tilt device rotates the yaw axis, the pitch axis, and the roll axis to their respective joint angle zero positions, and switches the pan/tilt device to Gesture mode.
  • the pan-tilt device when the pan-tilt device is powered on into the calibration mode, the pan-tilt device first controls the roll axis of the pan-tilt device to rotate to a preset position, and then controls the pitch axis of the pan-tilt device to perform calibration; After the tilt axis calibration of the pan/tilt device is completed, the pan/tilt device controls the roll axis of the pan/tilt device to be calibrated; when the roll axis calibration of the pan/tilt device is completed, the pan/tilt device rotates the pitch axis and the roll axis to their respective The joint angle is zero and the pan/tilt device is switched to attitude mode.
  • the roll axis and the yaw axis of the PTZ device are controlled to be calibrated; After the device firmware upgrade is completed and the power is turned back on to the calibration mode, since the roll axis and the yaw axis of the pan/tilt device have been calibrated, if the roll axis and the yaw axis are self-tested again, it will waste time, so only the pitch is performed.
  • the pan/tilt device first controls the roll axis of the pan/tilt device to rotate to a preset position, wherein the preset position is a position corresponding to the roll axis when the joint angle of the roll axis is a predetermined angle, The preset position enables the pitch axis of the PTZ device to be calibrated, and the load hung from the PTZ device does not hit other objects; then the pitch axis of the PTZ device is controlled for calibration; the Pitch axis calibration of the PTZ device is completed. After that, the pan/tilt device controls the pitch axis to rotate to the joint angle zero of the pitch axis, and switches the pan/tilt device to the attitude mode.
  • the preset position is a position corresponding to the roll axis when the joint angle of the roll axis is a predetermined angle
  • the pan-tilt device includes at least a pitch axis and a roll axis, and the pan-tilt device is used for hanging the load; when the pan-tilt device is powered on and enters the calibration mode, firstly, the roll-to-roll axis of the pan-tilt device is rotated to advance. Set the position, and then control the pitch axis of the gimbal device for calibration; wherein the preset position enables the load to impinge on other objects when the pitch axis is calibrated; in the above manner, the calibration process on the pitch axis can be effectively avoided.
  • the load of the Zhongyuntai equipment hits other objects, thereby improving the safety of the PTZ equipment and its mounted load.
  • FIG. 6 is a schematic structural diagram of a cloud platform calibration apparatus according to an embodiment of the present invention.
  • the pan/tilt calibration device described in the embodiment of the present invention includes at least a pitch axis and a roll axis, and the pan/tilt calibration device is configured to hang a load, and the pan/tilt calibration device further includes:
  • the first control module 601 is configured to control the roll axis of the pan/tilt calibration device to rotate to a preset position when the pan/tilt calibration device is powered on into the calibration mode;
  • a calibration module 602 configured to control a pitch axis of the pan/tilt calibration device for calibration
  • the preset position enables the load to impinge on other objects when the pitch axis is calibrated.
  • the preset position is that the joint angle of the roll axis is a predetermined angle.
  • the predetermined angle is that the joint angle of the roll axis is 30 degrees to 120 degrees.
  • the predetermined angle is an articulation angle of the roll axis of 90 degrees.
  • the calibration is where the pitch axis is rotated to a position corresponding to a maximum and a minimum of the joint angle.
  • the second control module 603 is configured to rotate the pitch axis and the roll axis of the pan/tilt calibration device to the joint angle zero position after the pitch axis calibration of the pan/tilt calibration device is completed. .
  • the load is a photographing device
  • the acquiring module 604 is configured to acquire the pan/tilt before the first control module 601 controls the roll axis of the pan/tilt calibration device to rotate to a preset position. Aligning device parameters of the photographing device mounted by the device, the device parameters including size information of the photographing device;
  • the calculating module 605 is configured to calculate the preset position according to the size information.
  • the pan/tilt calibration device further includes a yaw axis
  • the calibration module 602 is further configured to control a yaw axis of the pan/tilt calibration device for calibration
  • the second control module 603 is further configured to rotate the yaw axis of the pan/tilt calibration device to the joint angle zero position after the yaw axis calibration of the pan/tilt calibration device is completed.
  • the switching module 606 is configured to: when the yaw axis calibration of the pan-tilt calibration device is completed, and rotate the yaw axis of the pan-tilt calibration device to the joint angle zero position, The pan/tilt calibration device switches to the attitude mode.
  • the second control module 603 is further configured to control a roll axis of the pan/tilt calibration device to perform calibration
  • the first control module 601 is specifically configured to control the roll axis of the pan/tilt calibration device to rotate to a preset position after the roll axis calibration of the pan/tilt calibration device is completed.
  • the first control module 601 controls the roll axis of the pan-tilt calibration device to rotate to a preset position, and then triggers the calibration module 602 to control the pan-tilt calibration device.
  • the pitch axis is calibrated; wherein the preset position enables the load to not hit other objects when the pitch axis is calibrated; in the above manner, the load of the pan/tilt calibration device can be effectively prevented from colliding during the calibration of the pitch axis. The object, thereby improving the safety of the gimbal calibration device and its mounted load.
  • FIG. 7 is a schematic structural diagram of a PTZ device according to an embodiment of the present invention.
  • the pan-tilt device described in this embodiment includes at least a pitch axis and a roll axis, and the pan-tilt device is configured to mount a load, and the pan-tilt device further includes: a processor 701, a communication interface 702, and a memory 703.
  • the processor 701, the communication interface 702, and the memory 703 can be connected by using a bus or other manners.
  • the embodiment of the present invention is exemplified by a bus connection.
  • the processor 701 can be a central processing unit (CPU), a network processor (NP), or a combination of a CPU and an NP.
  • the processor 701 can also be a multi-core CPU, or a core in a multi-core NP for implementing communication identity binding.
  • the processor 701 can be a hardware chip.
  • the hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof.
  • the PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a general array logic (GAL), or any combination thereof.
  • the communication interface 702 can be used for transceiving information or signaling interactions, as well as receiving and transmitting signals.
  • the memory 703 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, a storage program required for at least one function (such as a text storage function, a location storage function, etc.); the storage data area may be stored. Data created according to the use of the device (such as image data, text data), etc., and may include an application storage program or the like.
  • memory 703 can include high speed random access memory and can also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
  • the memory 703 is also used to store program instructions.
  • the processor 701 is configured to execute program instructions stored in the memory 703. When the program instructions are executed, the processor 701 is configured to:
  • the pitch axis of the pan-tilt device is controlled to be calibrated
  • the preset position enables the load to impinge on other objects when the pitch axis is calibrated.
  • the method performed by the processor in the embodiment of the present invention is described from the perspective of a processor. It can be understood that the processor in the embodiment of the present invention needs to cooperate with other hardware structures to perform the above method. The specific implementation process is not described and limited in detail in the embodiments of the present invention.
  • the preset position is that the joint angle of the roll axis is a predetermined angle.
  • the predetermined angle is that the joint angle of the roll axis is 30 degrees to 120 degrees.
  • the predetermined angle is an articulation angle of the roll axis of 90 degrees.
  • the calibration is where the pitch axis is rotated to a position corresponding to a maximum and a minimum of the joint angle.
  • the processor 701 controls the pitch axis of the pan-tilt device to perform calibration, the processor 701 is further configured to:
  • the pitch axis and the roll axis of the pan-tilt device are rotated to the joint angle zero position.
  • the processor 701 before the processor 701 controls the roll axis of the pan-tilt device to rotate to a preset position, the processor 701 is further configured to:
  • the preset position is calculated based on the size information.
  • the pan/tilt device further includes a yaw axis
  • the processor 701 is further configured to:
  • the yaw axis of the pan-tilt device is rotated to the joint angle zero position.
  • the processor 701 is further configured to: when the yaw axis calibration of the pan-tilt device is completed, and rotate the yaw axis of the pan-tilt device to the joint angle zero position, The pan/tilt device switches to a gesture mode.
  • the specific manner in which the processor 701 controls the roll axis of the pan-tilt device to rotate to a preset position is:
  • the roll axis of the pan/tilt device is controlled to rotate to a preset position.
  • the processor 701, the communication interface 702, and the memory 703 described in the embodiments of the present invention may be implemented in the method of the PTZ calibration method provided by the embodiment of the present invention, and details are not described herein again.
  • the processor 701 when the pan-tilt device is powered on into the calibration mode, the processor 701 first controls the roll axis of the pan-tilt device to rotate to a preset position, and then controls the pitch axis of the pan-tilt device to perform calibration; wherein, the pre-control The position can make the pitch axis not collide with other objects when calibrating; in the above manner, the load of the gimbal device can be effectively prevented from colliding with other objects during the calibration of the pitch axis, thereby improving the gimbal device and its hanging Set the security of the load.
  • the embodiment of the present invention further provides a computer readable storage medium, where the computer readable storage medium stores instructions, and when executed on a computer, causes the computer to execute the pan/tilt calibration method described in the foregoing method embodiment.
  • the embodiment of the invention further provides a computer program product comprising instructions, which when executed on a computer, causes the computer to execute the pan/tilt calibration method described in the above method embodiment.
  • the program may be stored in a computer readable storage medium, and the storage medium may include: Flash disk, Read-Only Memory (ROM), Random Access Memory (RAM), disk or optical disk.

Abstract

一种云台校准方法及云台设备，其中方法应用于云台设备，所述云台设备至少包括俯仰轴（12）和横滚轴（11），所述云台设备用于挂设负载（14），所述方法包括：当所述云台设备上电进入校准模式时，控制所述云台设备的横滚轴（11）旋转到预设位置后，再控制所述云台设备的俯仰轴（12）进行校准；其中预设位置能使所述俯仰轴（12）在校准时，所述负载（14）不会撞击到其它物体。通过上述结构及方法可有效避免在俯仰轴（12）的校准过程中云台设备的负载（14）撞击到其它物体，从而提高云台设备及其挂设负载（14）的安全性。

Description

一种云台校准方法及云台设备 技术领域
本发明涉及电子技术领域，尤其涉及一种云台校准方法及云台设备。
背景技术
随着科学技术的不断进步，云台技术发展迅速，云台设备用于挂设负载，由于云台设备本身采用的是线性霍尔传感器，每次启动时都需要校准，对于挂设大尺寸负载的云台设备，云台设备的俯仰轴在校准的时候负载很容易撞到地上，从而会导致云台设备的俯仰轴校准失败，云台设备无法正常启动的问题，并且云台设备校准失败后就会一直重新启动校准并使得负载重新撞地，多次撞地不仅有烧毁电机的风险，还可能会导致负载内部元件发生故障等问题。
发明内容
本发明实施例公开了一种云台校准方法及云台设备，可以有效避免在俯仰轴的校准过程中云台设备的负载撞击到其它物体，从而提高云台设备及其挂设负载的安全性。
本发明实施例第一方面公开了一种云台校准方法，应用于云台设备，所述云台设备至少包括俯仰轴和横滚轴，所述云台设备用于挂设负载，所述方法包括：
当所述云台设备上电进入校准模式时，控制所述云台设备的横滚轴旋转到预设位置后，再控制所述云台设备的俯仰轴进行校准；
其中，所述预设位置能使所述俯仰轴在校准时，所述负载不会撞击到其它物体。
在一种可能的实施例中，所述预设位置为所述横滚轴的关节角为预定角度。
在一种可能的实施例中，所述预定角度为所述横滚轴的关节角为30度至120度。
在一种可能的实施例中，所述预定角度为所述横滚轴的关节角为90度。
在一种可能的实施例中，所述校准为所述俯仰轴旋转到关节角的最大值和最小值对应的位置。
在一种可能的实施例中，所述控制所述云台设备的俯仰轴进行校准之后，所述方法还包括：
当所述云台设备的俯仰轴校准完成后，将所述云台设备的俯仰轴、横滚轴旋转到关节角零位。
在一种可能的实施例中，所述负载为拍摄设备，所述控制所述云台设备的横滚轴旋转到预设位置之前，所述方法还包括：
获取所述云台设备挂载的拍摄设备的设备参数，所述设备参数包括所述拍摄设备的尺寸信息；
根据所述尺寸信息计算所述预设位置。
在一种可能的实施例中，所述云台设备还包括偏航轴，所述方法还包括：
控制所述云台设备的偏航轴进行校准；
当所述云台设备的偏航轴校准完成后，将所述云台设备的偏航轴旋转到关节角零位。
在一种可能的实施例中，所述方法还包括：
当所述云台设备的偏航轴校准完成，且将所述云台设备的偏航轴旋转到关节角零位后，将所述云台设备切换到姿态模式。
在一种可能的实施例中，所述控制所述云台设备的横滚轴旋转到预设位置，包括：
控制所述云台设备的横滚轴进行校准；
当所述云台设备的横滚轴校准完成后，控制所述云台设备的横滚轴旋转到预设位置。
本发明实施例第二方面公开了一种云台校准装置，该装置包括：第一控制模块、校准模块、第二控制模块、获取模块、计算模块和切换模块，上述各个模块用于执行上述第一方面所述的任一种云台校准方法。
本发明实施例第三方面公开了一种云台设备，所述云台设备至少包括俯仰轴和横滚轴，所述云台设备用于挂设负载，包括：处理器，所述处理器用于：
当所述云台设备上电进入校准模式时，控制所述云台设备的横滚轴旋转到 预设位置后，再控制所述云台设备的俯仰轴进行校准；
其中，所述预设位置能使所述俯仰轴在校准时，所述负载不会撞击到其它物体。
本发明实施例第四方面公开了一种计算机程序产品，其中，当该计算机程序产品中的指令由处理器执行时，执行上述第一方面所述的任一种云台校准方法。
本发明实施例第五方面公开了一种存储介质，其中，当该存储介质中的指令由处理器执行时，执行上述第一方面所述的任一种云台校准方法。
本发明实施例中，云台设备至少包括俯仰轴和横滚轴，云台设备用于挂设负载；当云台设备上电进入校准模式时，首先控制云台设备的横滚轴旋转到预设位置，然后再控制云台设备的俯仰轴进行校准；其中，该预设位置能使俯仰轴在校准时，负载不会撞击到其它物体；采用上述方式，可以有效避免在俯仰轴的校准过程中云台设备的负载撞击到其它物体，从而提高云台设备及其挂设负载的安全性。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅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。
图1是本发明实施例公开的一种云台设备的结构示意图；
图2是本发明实施例公开的一种云台校准方法的流程示意图；
图3是本发明实施例公开的一种横滚轴校准的示意图；
图4a是本发明实施例公开的一种俯仰轴轴校准的示意图；
图4b是本发明实施例公开的另一种俯仰轴轴校准的示意图；
图5是本发明实施例公开的一种偏航轴轴校准的示意图；
图6是本发明实施例公开的一种云台校准装置的结构示意图；
图7是本发明实施例公开的一种云台设备的结构示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述。
本发明实施例公开了一种云台校准方法及云台设备，云台设备用于挂设负载且至少包括俯仰轴和横滚轴，其中，云台设备挂设的负载可以是拍摄设备(例如照相机和摄像机)。采用本发明实施例提供的云台校准方法及云台设备，可以有效避免在俯仰轴的校准过程中云台设备的负载撞击到其它物体，从而提高云台设备及其挂设负载的安全性，以下分别进行详细说明。
请参阅图1，图1为本发明实施例提供的一种云台设备的结构示意图，如图1所示，云台设备包括横滚Roll轴11、俯仰Pitch轴12以及偏航Yaw轴13，云台设备用于挂设负载14。其中，横滚Roll轴11、俯仰Pitch轴12与偏航Yaw轴13为航空用语，Roll是围绕Z轴转动，横滚轴11是带动负载14围绕Z轴转动的转轴；Pitch是围绕X轴转动，俯仰轴12是带动负载14围绕X轴转动的转轴；Yaw是围绕Y轴转动，偏航轴13是带动负载14围绕Y轴转动转轴。需要说明的是，X轴、Y轴与Z轴的方向为右手笛卡尔坐标系定义的方向。
请参阅图2，图2为本发明实施例提供的一种云台校准方法的流程示意图。本发明实施例中所描述的云台校准方法，应用于云台设备，云台设备至少包括俯仰轴和横滚轴，云台设备用于挂设负载，所述云台校准方法包括：
S201、当云台设备上电进入校准模式时，控制所述云台设备的横滚轴进行校准。
本发明实施例中，由于云台设备通常采用的是线性霍尔传感器，所以云台设备每次启动时都需要先进入校准模式进行转轴的校准，在校准模式下，云台设备会控制转轴分别旋转到关节角的最大值和最小值对应的位置，进而获取到转轴的关节角的最大值和最小值，从而完成校准。
其中，当云台设备上电进入校准模式时，云台设备首先控制云台设备的横滚轴进行校准，也即是控制云台设备的横滚轴分别旋转到横滚轴的关节角的最大值和最小值对应的位置，进而获取到横滚轴的关节角的最大角度和最小角 度，从而完成横滚轴的校准。请一并参见图3，图3中的箭头所示的方向为横滚轴11在校准时转动的方向，也即是横滚轴11带动云台设备挂设的负载14转动的方向。需要说明的是，图3仅是示例性的说明横滚轴11在校准时转动的方向，横滚轴11在校准时转动的方向与横滚轴11的初始位置相关。
S202、当所述云台设备的横滚轴校准完成后，控制所述云台设备的横滚轴旋转到预设位置。
本发明实施例中，当云台设备的横滚轴校准完成后，云台设备控制云台设备的横滚轴旋转到预设位置。其中，该预设位置为横滚轴的关节角为预定角度时，横滚轴对应的位置；该预设位置能使云台设备的俯仰轴在校准时，云台设备挂设的负载不会撞击到其它物体(例如地面)。
在一些可行的实施方式中，该预定角度可以是云台设备的横滚轴的关节角为30度至120度。
在一些可行的实施方式中，该预定角度可以是云台设备的横滚轴的关节角为90度。
在一些可行的实施方式中，云台设备挂设的负载为拍摄设备，云台设备控制云台设备的横滚轴旋转到预设位置之前，首先获取云台设备挂载的拍摄设备的设备参数，获取到的设备参数包括该拍摄设备的尺寸信息(例如长、宽和高)等；然后根据拍摄设备的尺寸信息计算得到该预设位置的位置信息，也即是根据拍摄设备的尺寸信息计算得到该预定角度的值。其中，计算得到的该预定角度的值可以是一个具体的值，也可以是一个范围，当计算得到的该预定角度的值是一个范围时，我们可以将预定角度的值所属的范围的中间值确定为该预定角度的值。
在一些可行的实施方式中，云台设备控制云台设备的横滚轴旋转到预设位置之前，首先获取云台设备挂载的拍摄设备的设备参数，并获取云台设备的横滚轴的初始位置，也即是获取横滚轴的关节角的初始角度信息；然后根据获取到的拍摄设备的设备参数和横滚轴的关节角的初始角度信息，判断在横滚轴当前位置下，云台设备的俯仰轴在校准时，云台设备挂设的负载是否会撞击到其它物体；若在横滚轴当前位置下，云台设备的俯仰轴在校准时，云台设备挂设的负载不会撞击到其它物体，则执行步骤S203；若在横滚轴当前位置下，云台 设备的俯仰轴在校准时，云台设备挂设的负载会撞击到其它物体，则根据拍摄设备的尺寸信息计算得到该预设位置的位置信息。
S203、控制所述云台设备的俯仰轴进行校准。
本发明实施例中，云台设备在控制云台设备的横滚轴旋转到预设位置之后，或者判断出在横滚轴当前位置下，云台设备的俯仰轴在校准时，云台设备挂设的负载不会撞击到其它物体之后，云台设备控制云台设备的俯仰轴进行校准，也即是控制云台设备的俯仰轴分别转动到俯仰轴的关节角的最大值和最小值对应的位置，进而获取到俯仰轴的关节角的最大角度和最小角度，从而完成横滚轴的校准。
举例来说，请一并参见图4a和图4b，如图4a所示，假设云台设备的横滚轴11的关节角的初始角度为0度，且俯仰轴12之间的连线平行于地面，若在横滚轴11的关节角为0度时进行俯仰轴12的校准，则图4a中的箭头所示的方向为俯仰轴12在校准时带动云台设备挂设的负载14转动的方向；此时俯仰轴12会带动负载14上下转动，也即是带动负载14垂直于地面转动，若云台设备的负载14的尺寸太长，则负载14很容易撞到地面上，从而会导致俯仰轴12不能转动到关节角的最大值或者最小值对应的位置，导致俯仰轴12校准失败，进而造成云台设备无法正常启动；并且俯仰轴12校准失败后云台设备就会一直重新启动校准并使得负载14重新撞到其他物体，多次撞击不仅可能会烧毁云台设备的电机，还可能会导致负载14的内部元件发生故障等问题。为解决上述问题，本发明实施例在云台设备上电进入校准模式后，云台设备首先控制横滚轴11旋转到预设位置，然后再控制俯仰轴12进行校准。如图4b所示，假设该预设位置为横滚轴11的关节角为90度时对应的位置，云台设备上电进入校准模式后，首先控制横滚轴11的关节角的角度由0度旋转到90度，此时，俯仰轴12之间的连线垂直于地面；然后在横滚轴11的关节角为90度时控制俯仰轴12进行校准，则图4b中的箭头所示的方向为俯仰轴12在校准时带动云台设备挂设的负载14转动的方向；此时俯仰轴12会带动负载14左右转动，也即是带动负载14平行于地面转动，即使云台设备挂设的是大尺寸的负载14，负载14也不会撞到地面上，从而提高云台设备及其挂设负载14的安全性。
S204、当所述云台设备的俯仰轴校准完成后，将所述云台设备的俯仰轴、 横滚轴旋转到关节角零位。
本发明实施例中，当云台设备的俯仰轴校准完成后，云台设备控制云台设备的俯仰轴旋转到俯仰轴的关节角零位，并控制云台设备的横滚轴旋转到横滚轴的关节角零位。其中，关节角零位也即是关节角的角度为0度时对应的位置。
S205、当所述云台设备的俯仰轴校准完成，且将所述云台设备的俯仰轴、横滚轴旋转到关节角零位后，将所述云台设备切换到姿态模式。
本发明实施例中，当云台设备的俯仰轴校准完成，且云台设备控制俯仰轴和横滚轴分别旋转到各自的关节角零位后，将云台设备切换到姿态模式，从而可以避免姿态目标突变可能造成的云台乱甩问题。
在一些可行的实施方式中，云台设备还包括偏航轴，当云台设备的俯仰轴校准完成后，云台设备控制云台设备的偏航轴进行校准，也即是控制云台设备的偏航轴分别转动到偏航轴的关节角的最大值和最小值对应的位置，进而获取到偏航轴的关节角的最大角度和最小角度，从而完成偏航轴的校准。请一并参见图5，图5中的箭头所示的方向为偏航轴13在校准时转动的方向，也即是偏航轴13带动云台设备挂设的负载14转动的方向。需要说明的是，图5仅是示例性的说明偏航轴13在校准时转动的方向。当云台设备的偏航轴校准完成后，云台设备将偏航轴、俯仰轴和横滚轴分别旋转到各自的关节角零位，并将云台设备切换到姿态模式。
在一些可行的实施方式中，云台设备还包括偏航轴，当云台设备上电进入校准模式时，云台设备首先控制云台设备的偏航轴进行校准；当云台设备的偏航轴校准完成后，云台设备控制云台设备的横滚轴进行校准；当云台设备的横滚轴校准完成后，云台设备首先控制云台设备的横滚轴旋转到预设位置，然后再控制云台设备的俯仰轴进行校准；当云台设备的俯仰轴校准完成后，云台设备将偏航轴、俯仰轴和横滚轴分别旋转到各自的关节角零位，并将云台设备切换到姿态模式。
在一些可行的实施方式中，云台设备还包括偏航轴，当云台设备上电进入校准模式时，云台设备首先控制云台设备的横滚轴进行校准；当云台设备的横滚轴校准完成后，云台设备先控制云台设备的横滚轴旋转到预设位置，然后再控制云台设备的偏航轴进行校准；当云台设备的偏航轴校准完成后，控制云台 设备的俯仰轴进行校准；当云台设备的俯仰轴校准完成后，云台设备将偏航轴、俯仰轴和横滚轴分别旋转到各自的关节角零位，并将云台设备切换到姿态模式。
在一些可行的实施方式中，当云台设备上电进入校准模式时，云台设备首先控制云台设备的横滚轴旋转到预设位置，然后再控制云台设备的俯仰轴进行校准；当云台设备的俯仰轴校准完成后，云台设备控制云台设备的横滚轴进行校准；当云台设备的横滚轴校准完成后，云台设备将俯仰轴和横滚轴分别旋转到各自的关节角零位，并将云台设备切换到姿态模式。
在一些可行的实施方式中，可以在云台设备上电进入固件升级模式后，在升级云台设备的固件的过程中，控制云台设备的横滚轴和偏航轴完成校准；当云台设备固件升级完成后，且重新上电进入校准模式时，由于云台设备的横滚轴和偏航轴已经校准完成，如果横滚轴和偏航轴再次自检会浪费时间，故而只进行俯仰轴的校准；此时云台设备首先控制云台设备的横滚轴旋转到预设位置，其中，该预设位置为横滚轴的关节角为预定角度时，横滚轴对应的位置，该预设位置能使云台设备的俯仰轴在校准时，云台设备挂设的负载不会撞击到其它物体；然后再控制云台设备的俯仰轴进行校准；在云台设备的俯仰轴校准完成后，云台设备控制俯仰轴旋转到俯仰轴的关节角零位，并将云台设备切换到姿态模式。
本发明实施例中，云台设备至少包括俯仰轴和横滚轴，云台设备用于挂设负载；当云台设备上电进入校准模式时，首先控制云台设备的横滚轴旋转到预设位置，然后再控制云台设备的俯仰轴进行校准；其中，该预设位置能使俯仰轴在校准时，负载不会撞击到其它物体；采用上述方式，可以有效避免在俯仰轴的校准过程中云台设备的负载撞击到其它物体，从而提高云台设备及其挂设负载的安全性。
请参阅图6，图6为本发明实施例提供的一种云台校准装置的结构示意图。本发明实施例中所描述的云台校准装置，至少包括俯仰轴和横滚轴，所述云台校准装置用于挂设负载，所述云台校准装置还包括：
第一控制模块601，用于当所述云台校准装置上电进入校准模式时，控制 所述云台校准装置的横滚轴旋转到预设位置；
校准模块602，用于控制所述云台校准装置的俯仰轴进行校准；
其中，所述预设位置能使所述俯仰轴在校准时，所述负载不会撞击到其它物体。
在一些可行的实施方式中，所述预设位置为所述横滚轴的关节角为预定角度。
在一些可行的实施方式中，所述预定角度为所述横滚轴的关节角为30度至120度。
在一些可行的实施方式中，所述预定角度为所述横滚轴的关节角为90度。
在一些可行的实施方式中，所述校准为所述俯仰轴旋转到关节角的最大值和最小值对应的位置。
在一些可行的实施方式中，第二控制模块603，用于当所述云台校准装置的俯仰轴校准完成后，将所述云台校准装置的俯仰轴、横滚轴旋转到关节角零位。
在一些可行的实施方式中，所述负载为拍摄设备，获取模块604，用于在第一控制模块601控制所述云台校准装置的横滚轴旋转到预设位置之前，获取所述云台校准装置挂载的拍摄设备的设备参数，所述设备参数包括所述拍摄设备的尺寸信息；
计算模块605，用于根据所述尺寸信息计算所述预设位置。
在一些可行的实施方式中，所述云台校准装置还包括偏航轴，所述校准模块602，还用于控制所述云台校准装置的偏航轴进行校准；
所述第二控制模块603，还用于当所述云台校准装置的偏航轴校准完成后，将所述云台校准装置的偏航轴旋转到关节角零位。
在一些可行的实施方式中，切换模块606，用于当所述云台校准装置的偏航轴校准完成，且将所述云台校准装置的偏航轴旋转到关节角零位后，将所述云台校准装置切换到姿态模式。
在一些可行的实施方式中，所述第二控制模块603，还用于控制所述云台校准装置的横滚轴进行校准；
所述第一控制模块601，具体用于当所述云台校准装置的横滚轴校准完成 后，控制所述云台校准装置的横滚轴旋转到预设位置。
可以理解的是，本发明实施例的云台校准装置的各功能模块的功能可根据上述方法实施例中的方法具体实现，其具体实现过程可以参照上述方法实施例的相关描述，此处不再赘述。
本发明实施例中，当云台校准装置上电进入校准模式时，首先第一控制模块601控制云台校准装置的横滚轴旋转到预设位置，然后触发校准模块602控制云台校准装置的俯仰轴进行校准；其中，该预设位置能使俯仰轴在校准时，负载不会撞击到其它物体；采用上述方式，可以有效避免在俯仰轴的校准过程中云台校准装置的负载撞击到其它物体，从而提高云台校准装置及其挂设负载的安全性。
请参阅图7，图7为本发明实施例提供的一种云台设备的结构示意图。本实施例中所描述的云台设备，至少包括俯仰轴和横滚轴，所述云台设备用于挂设负载，所述云台设备还包括：处理器701、通信接口702、存储器703。其中，处理器701、通信接口702、存储器703可通过总线或其他方式连接，本发明实施例以通过总线连接为例。
处理器701可以是中央处理器(central processing unit，CPU)，网络处理器(network processor，NP)，或者CPU和NP的组合。处理器701也可以是多核CPU、或多核NP中用于实现通信标识绑定的核。
所述处理器701可以是硬件芯片。所述硬件芯片可以是专用集成电路(application-specific integrated circuit，ASIC)，可编程逻辑器件(programmable logic device，PLD)或其组合。所述PLD可以是复杂可编程逻辑器件(complex programmable logic device，CPLD)，现场可编程逻辑门阵列(field-programmable gate array，FPGA)，通用阵列逻辑(generic array logic，GAL)或其任意组合。
所述通信接口702可用于收发信息或信令的交互，以及信号的接收和传递。所述存储器703可主要包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需的存储程序(比如文字存储功能、位置存储功能等)；存储数据区可存储根据装置的使用所创建的数据(比如图像数据、文字数据)等，并可以包括应用存储程序等。此外，存储器703可以包括高速随 机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他易失性固态存储器件。
所述存储器703还用于存储程序指令。所述处理器701，用于执行所述存储器703存储的程序指令，当所述程序指令被执行时，所述处理器701用于：
当所述云台设备上电进入校准模式时，控制所述云台设备的横滚轴旋转到预设位置后，再控制所述云台设备的俯仰轴进行校准；
其中，所述预设位置能使所述俯仰轴在校准时，所述负载不会撞击到其它物体。
本发明实施例中处理器执行的方法均从处理器的角度来描述，可以理解的是，本发明实施例中处理器要执行上述方法需要其他硬件结构的配合。本发明实施例对具体的实现过程不作详细描述和限制。
在一些可行的实施方式中，所述预设位置为所述横滚轴的关节角为预定角度。
在一些可行的实施方式中，所述预定角度为所述横滚轴的关节角为30度至120度。
在一些可行的实施方式中，所述预定角度为所述横滚轴的关节角为90度。
在一些可行的实施方式中，所述校准为所述俯仰轴旋转到关节角的最大值和最小值对应的位置。
在一些可行的实施方式中，在所述处理器701控制所述云台设备的俯仰轴进行校准之后，所述处理器701，还用于：
当所述云台设备的俯仰轴校准完成后，将所述云台设备的俯仰轴、横滚轴旋转到关节角零位。
在一些可行的实施方式中，在所述处理器701控制所述云台设备的横滚轴旋转到预设位置之前，所述处理器701还用于：
获取所述云台设备挂载的拍摄设备的设备参数，所述设备参数包括所述拍摄设备的尺寸信息；
根据所述尺寸信息计算所述预设位置。
在一些可行的实施方式中，所述云台设备还包括偏航轴，所述处理器701还用于：
控制所述云台设备的偏航轴进行校准；
当所述云台设备的偏航轴校准完成后，将所述云台设备的偏航轴旋转到关节角零位。
在一些可行的实施方式中，所述处理器701，还用于当所述云台设备的偏航轴校准完成，且将所述云台设备的偏航轴旋转到关节角零位后，将所述云台设备切换到姿态模式。
在一些可行的实施方式中，所述处理器701控制所述云台设备的横滚轴旋转到预设位置的具体方式为：
控制所述云台设备的横滚轴进行校准；
当所述云台设备的横滚轴校准完成后，控制所述云台设备的横滚轴旋转到预设位置。
具体实现中，本发明实施例中所描述的处理器701、通信接口702、存储器703可执行本发明实施例提供的一种云台校准方法中所描述的实现方式，在此不再赘述。
本发明实施例中，当云台设备上电进入校准模式时，处理器701首先控制云台设备的横滚轴旋转到预设位置，然后控制云台设备的俯仰轴进行校准；其中，该预设位置能使俯仰轴在校准时，负载不会撞击到其它物体；采用上述方式，可以有效避免在俯仰轴的校准过程中云台设备的负载撞击到其它物体，从而提高云台设备及其挂设负载的安全性。
本发明实施例还提供一种计算机可读存储介质，所述计算机可读存储介质中存储有指令，当其在计算机上运行时，使得计算机执行上述方法实施例所述的云台校准方法。
本发明实施例还提供一种包含指令的计算机程序产品，当其在计算机上运行时，使得计算机执行上述方法实施例所述的云台校准方法。
需要说明的是，对于前述的各个方法实施例，为了简单描述，故将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本发明并不受所描述的动作顺序的限制，因为依据本发明，某一些步骤可以采用其他顺序或者同时进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于优 选实施例，所涉及的动作和模块并不一定是本发明所必须的。
本领域普通技术人员可以理解上述实施例的各种方法中的全部或部分步骤是可以通过程序来指令相关的硬件来完成，该程序可以存储于一计算机可读存储介质中，存储介质可以包括：闪存盘、只读存储器(Read-Only Memory，ROM)、随机存取器(Random Access Memory，RAM)、磁盘或光盘等。
以上对本发明实施例所提供的一种云台校准方法及装置、云台设备进行了详细介绍，本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。

Claims (20)

  1. 一种云台校准方法，应用于云台设备，所述云台设备至少包括俯仰轴和横滚轴，所述云台设备用于挂设负载，其特征在于，所述方法包括：
    当所述云台设备上电进入校准模式时，控制所述云台设备的横滚轴旋转到预设位置后，再控制所述云台设备的俯仰轴进行校准；
    其中，所述预设位置能使所述俯仰轴在校准时，所述负载不会撞击到其它物体。
  2. 根据权利要求1所述的方法，其特征在于，所述预设位置为所述横滚轴的关节角为预定角度。
  3. 根据权利要求2所述的方法，其特征在于，所述预定角度为所述横滚轴的关节角为30度至120度。
  4. 根据权利要求3所述的方法，其特征在于，所述预定角度为所述横滚轴的关节角为90度。
  5. 根据权利要求2所述的方法，其特征在于，所述校准为所述俯仰轴旋转到关节角的最大值和最小值对应的位置。
  6. 根据权利要求2所述的方法，其特征在于，所述控制所述云台设备的俯仰轴进行校准之后，所述方法还包括：
    当所述云台设备的俯仰轴校准完成后，将所述云台设备的俯仰轴、横滚轴旋转到关节角零位。
  7. 根据权利要2所述的方法，其特征在于，所述负载为拍摄设备，所述控制所述云台设备的横滚轴旋转到预设位置之前，所述方法还包括：
    获取所述云台设备挂载的拍摄设备的设备参数，所述设备参数包括所述拍摄设备的尺寸信息；
    根据所述尺寸信息计算所述预设位置。
  8. 根据权利要求2所述的方法，其特征在于，所述云台设备还包括偏航轴，所述方法还包括：
    控制所述云台设备的偏航轴进行校准；
    当所述云台设备的偏航轴校准完成后，将所述云台设备的偏航轴旋转到关节角零位。
  9. 根据权利要求8所述的方法，其特征在于，所述方法还包括：
    当所述云台设备的偏航轴校准完成，且将所述云台设备的偏航轴旋转到关节角零位后，将所述云台设备切换到姿态模式。
  10. 根据权利要求1所述的方法，其特征在于，所述控制所述云台设备的横滚轴旋转到预设位置，包括：
    控制所述云台设备的横滚轴进行校准；
    当所述云台设备的横滚轴校准完成后，控制所述云台设备的横滚轴旋转到预设位置。
  11. 一种云台设备，所述云台设备至少包括俯仰轴和横滚轴，所述云台设备用于挂设负载，其特征在于，包括：处理器，所述处理器用于：
    当所述云台设备上电进入校准模式时，控制所述云台设备的横滚轴旋转到预设位置后，再控制所述云台设备的俯仰轴进行校准；
    其中，所述预设位置能使所述俯仰轴在校准时，所述负载不会撞击到其它物体。
  12. 根据权利要求10所述的云台设备，其特征在于，所述预设位置为所述横滚轴的关节角为预定角度。
  13. 根据权利要求12所述的云台设备，其特征在于，所述预定角度为所述 横滚轴的关节角为30度至120度。
  14. 根据权利要求13所述的云台设备，其特征在于，所述预定角度为所述横滚轴的关节角为90度。
  15. 根据权利要求12所述的云台设备，其特征在于，所述校准为所述俯仰轴旋转到关节角的最大值和最小值对应的位置。
  16. 根据权利要求12所述的云台设备，其特征在于，所述处理器还用于：
    当所述云台设备的俯仰轴校准完成后，将所述云台设备的俯仰轴、横滚轴旋转到关节角零位。
  17. 根据权利要12所述的云台设备，其特征在于，所述负载为拍摄设备，所述处理器还用于：
    获取所述云台设备挂载的拍摄设备的设备参数，所述设备参数包括所述拍摄设备的尺寸信息；
    根据所述尺寸信息计算所述预设位置。
  18. 根据权利要求12所述的云台设备，其特征在于，所述云台设备还包括偏航轴，所述处理器还用于：
    控制所述云台设备的偏航轴进行校准；
    当所述云台设备的偏航轴校准完成后，将所述云台设备的偏航轴旋转到关节角零位。
  19. 根据权利要求18所述的云台设备，其特征在于，所述处理器还用于：
    当所述云台设备的偏航轴校准完成，且将所述云台设备的偏航轴旋转到关节角零位后，将所述云台设备切换到姿态模式。
  20. 根据权利要求11所述的云台设备，其特征在于，所述处理器控制所述 云台设备的横滚轴旋转到预设位置时，具体用于：
    控制所述云台设备的横滚轴进行校准；
    当所述云台设备的横滚轴校准完成后，控制所述云台设备的横滚轴旋转到预设位置。
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