WO2019126932A1

WO2019126932A1 - Cradle head control method and control device

Info

Publication number: WO2019126932A1
Application number: PCT/CN2017/118272
Authority: WO
Inventors: 刘帅; 王映知; 林光远
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2017-12-25
Filing date: 2017-12-25
Publication date: 2019-07-04
Also published as: CN109313454A

Abstract

Disclosed by the present invention are a control method and control device for a cradle head (100), the control method for the cradle head (100) comprising: after a processor (100) completes upgrading, acquiring a joint angle of a shaft of a cradle head (100); determining whether the joint angle of the shaft is within a first preset joint angle range; when the joint angle of the shaft is not within the first preset joint angle range, adjusting the joint angle of the shaft to be within the first preset joint angle range. Further disclosed by the present invention is a control device (10) for a cradle head.

Description

PTZ control method and control device

Technical field

The present invention relates to the field of control technologies, and in particular, to a control method and a control device for a pan/tilt.

Background technique

The head of the drone generally adopts the architecture of the PTZ processor and the ESC processor. The ESC processor is set on the ESC board. When the PTZ is upgraded, the firmware of the ESC processor is generally upgraded first. Then upgrade the firmware of the PTZ processor. After the firmware upgrade of the PTZ processor is completed in this process, since the firmware upgrade of the ESC processor is completed and the self-test has been completed, the attitude of the PTZ is random, and the axes of the PTZ are not at the joint angle. Zero position (hereinafter referred to as "joint angle zero position"), at this time, the ESC will feed back a large joint angle to the PTZ processor. If the PTZ processor directly uses the joint angle to perform closed-loop adjustment, the cloud The platform may generate a large overshoot during the exercise, that is, the gimbal will reverberate around the expected posture, affecting the user experience.

Summary of the invention

Embodiments of the present invention provide a control method and a control device for a pan/tilt to improve the stability of the pan-tilt motion and reduce overshoot during pan-tilt motion.

The invention provides a method for controlling a pan/tilt. The control methods of the gimbal include:

After the processor completes the upgrade, acquiring the joint angle of the axis of the pan/tilt;

Determining whether the joint angle of the shaft is within a first predetermined joint angle range; and

When the joint angle of the shaft is not within the first predetermined joint angle range, the joint angle of the shaft is adjusted to be within the first preset joint angle range.

The invention provides a control device for a pan/tilt. The control device includes a memory and a processor. The memory is for storing program code. The processor is configured to execute the program code. When the program code is executed, it is used to perform the following operations:

After the processor completes the upgrade, acquiring a joint angle of the axis of the pan/tilt;

After the processor completes the upgrade, the control method and the control device of the embodiment of the present invention determine whether the joint angle of the axis of the pan/tilt is within the first preset joint angle range, and is not within the first preset joint angle range. Adjusting the joint angle of the shaft to the first preset joint angle range, thereby avoiding the overshoot that the pan/tilt may generate when moving from the current random attitude to the expected posture after receiving the attitude control amount, preventing the pan/tilt Produce overshoot and reverberation to improve the user experience.

The additional aspects and advantages of the embodiments of the present invention will be set forth in part in the description which follows.

DRAWINGS

The above and/or additional aspects and advantages of the present invention will become apparent and readily understood from

1 is a flow chart of a control method of some embodiments of the present invention.

2 is a block diagram of a cloud platform and a control device in accordance with some embodiments of the present invention.

3 is a flow chart of a control method of some embodiments of the present invention.

4 is a schematic structural view of a three-axis pan/tilt head according to some embodiments of the present invention.

FIG. 5 is a schematic flow chart of a control method according to some embodiments of the present invention.

6 is a flow chart of a control method of some embodiments of the present invention.

7 is a schematic diagram of the principle of a control method in accordance with some embodiments of the present invention.

8 is a schematic diagram of the principle of a control method in accordance with some embodiments of the present invention.

9 is a flow chart of a control method of some embodiments of the present invention.

10 is a flow chart of a control method of some embodiments of the present invention.

Detailed ways

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 indicate the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the drawings are intended to be illustrative of the invention and are not to be construed as limiting.

Referring to FIG. 1 to FIG. 2 together, the present invention provides a control method for the pan/tilt head 100. The control method of the cloud platform 100 includes:

S1: acquiring the joint angle of the axis of the pan/tilt head 100 after the processor 12 completes the upgrade;

S3: determining whether the joint angle of the shaft is within the first preset joint angle range; and

S5: When the joint angle of the shaft is not within the first preset joint angle range, the joint angle of the shaft is adjusted to be within the first preset joint angle range.

Referring to FIG. 2 again, the present invention also provides a control device 10 for the pan/tilt head 100. The control method of the pan/tilt 100 according to the embodiment of the present invention can be implemented by the control device 10 of the pan/tilt 100 according to the embodiment of the present invention. The control device 10 of the pan/tilt 100 includes a memory 11 and a processor 12. The memory 11 is used to store the program code 111. The processor 12 is operative to execute program code 111 stored in the memory 11. When the program code 111 is executed by the processor 12, step S1, step S2, and step S3 can be implemented. That is to say, when the program code 111 is executed by the processor 12, the following operations can be implemented:

Wherein, the joint angle of the axis of the pan-tilt head 100 can be detected by an angle sensor, that is, the angle sensor can measure the actual joint angle of each axis of the gimbal, which will be described in detail below.

It can be understood that after the Yuntai 100 is shipped from the factory, the merchants often perform maintenance on the performance improvement, BUG repair or adding new functions of the PTZ. Usually, the upgrade is performed by upgrading the PTZ firmware, that is, the PTZ. The processor 12 of 100 is upgraded, wherein the processor 12 can be a pan/tilt processor. During the upgrade process of the processor 12, the user will inevitably touch the gimbal 100, so that the joint angle of the gimbal 100 is not at the joint angle zero. For example, the user touches the pan/tilt 100 or the gimbal 100 in gravity during the upgrade process. Rotation under action may result in a deviation from the joint angle zero, at which point the ESC may feed back a large joint angle to the processor 12. If the joint angle of each axis of the pan-tilt head 100 is not adjusted to the joint angle zero after the upgrade of the processor 12 is completed, the subsequent user controls the pan-tilt head 100 to rotate to drive the camera mounted on the pan-tilt head 100 to rotate from the current random posture. When the expected attitude is reached, there may be a large difference in posture between the expected attitude and the current random attitude. The pan-tilt 100 may first go to the joint angle zero position and then go to the expected attitude. When the PTZ 100 goes to the expected attitude, the PTZ 100 will have overshoot and reverberate at the expected posture, which will cause the camera to shoot images with instant jitter, affecting the quality of the shooting and the user experience.

After the processor 12 completes the upgrade, the control method and the control device 10 of the pan/tilt 100 according to the embodiment of the present invention determine whether the joint angle of the axis of the pan-tilt 100 is within the first preset joint angle range, and is not in the first When the preset joint angle range is within the range, the joint angle of the shaft is adjusted to be within a first preset joint angle range, wherein the first preset joint angle range may be a range close to the joint angle zero position, thereby preventing the pan/tilt head 100 from being processed. After the upgrade of the device 12 is completed, the problem of overshoot and reverberation that may occur when the pan/tilt 100 receives the attitude control amount from the current random posture to the expected posture improves the user experience.

Referring to FIG. 2 and FIG. 3 together, in some embodiments, the pan/tilt head 100 has a plurality of axes, and the step S1 acquires the joint angle of the axis of the pan-tilt head 100 includes:

S11: Obtain the joint angle of each axis of the pan/tilt head 100.

Step S3 determines whether the joint angle of the shaft is within the first preset joint angle range, including:

S31: Determine whether the joint angle of each axis is within the first preset joint angle range.

Step S5: When the joint angle of the shaft is not within the first preset joint angle range, adjusting the joint angle of the shaft to the first preset joint angle range includes:

S51: When the joint angle of one or more axes of the pan-tilt 100 is not within the first preset joint angle range, the joint angle of the one or more axes is adjusted to be within a first preset joint angle range.

Referring to FIG. 2 again, in some embodiments, when the program code 111 is executed to implement the step S1 to acquire the joint angle of the axis of the platform 100, the operation of performing the step S11 to acquire the joint angle of each axis of the platform 100 is performed. . When the program code 111 is executed to implement the step S3 to determine whether the joint angle of the shaft is within the first preset joint angle range, the step S31 is performed to determine whether the joint angle of each of the axes is at the first preset joint angle. The operation within the scope. When the program code 111 is executed to implement the operation of step S5 when the joint angle of the shaft is not within the first preset joint angle range, when the joint angle of the shaft is adjusted to within the first preset joint angle range, the step S51 is performed. When the joint angle of one or more axes of the pan-tilt 100 is not within the range of the first predetermined joint angle, the joint angle of one or more axes is adjusted to the operation within the first predetermined joint angle range.

Referring to FIG. 4, in a specific embodiment of the present invention, the platform 100 has three, namely a Roll axis, a Yaw axis, and a Pitch axis. When the pan-tilt 100 rotates around the Roll axis, the pan-tilt 100 moves in the roll direction; when the pan-tilt 100 rotates around the Yaw axis, the pan-tilt 100 moves in the yaw direction; when the pan-tilt 100 rotates around the Pitch axis, the pan-tilt 100 is pitched Move in the direction. The joint angle of the axis of the pan/tilt head 100 in step S1 is not within the first preset joint angle range, and the joint angle of any one or more of the Roll axis, the Yaw axis or the Pitch axis of the pan-tilt head 100 is not in the first Within a predetermined joint angle range. Specifically, for example, the joint angle of the Roll axis of the pan-tilt 100 is not within the first preset joint angle range, or the joint angle of the Yaw axis of the pan-tilt 100 is not within the first preset joint angle range, or the pan-tilt 100 The joint angle of the Pitch axis is not within the first preset joint angle range, or the joint angle of the Roll axis of the pan-tilt 100 and the joint angle of the Yaw axis of the pan-tilt 100 are not within the first preset joint angle range, or The joint angle of the Roll axis of the pan-tilt 100 and the joint angle of the Pitch axis of the pan-tilt 100 are not within the first predetermined joint angle range, or the joint angle of the Yaw axis of the pan-tilt 100 and the joint of the Pitch axis of the pan-tilt 100 The angles are not within the first predetermined joint angle range, or the joint angle of the Roll axis of the pan/tilt head 100, the joint angle of the Yaw axis, and the joint angle of the Pitch axis are not within the first preset joint angle range.

Assuming that an angle sensor (for example, a potentiometer, a Hall sensor, or a photoelectric encoder) is used to measure the joint angle of the Roll axis, the Yaw axis, and the Pitch axis of the platform 100, the processor 12 reads from the angle sensor. The value of the joint angle of each axis. Subsequently, the processor 12 determines whether the joint angle of each axis of the platform 100 is within the first preset joint angle range based on the read data. When detecting that the joint angle of one or more of the axes is not within the first preset joint angle range, the processor 12 adjusts the axis whose joint angle is not within the first preset joint angle range to join the joint The angle is adjusted to within the first predetermined joint angle range. For example, if the joint angle of the Roll axis of the pan-tilt 100 and the joint angle of the Yaw axis are not within the first preset joint angle range, the processor 12 sequentially connects the joint angle of the Roll axis of the pan-tilt 100 and the joint of the Yaw axis. The angle is adjusted to the first preset joint angle range, or the processor 12 sequentially adjusts the joint angle of the Yaw axis of the pan/tilt 100 and the joint angle of the Roll axis to the first preset joint angle range, or the processor 12 simultaneously The joint angle of the Yaw axis of the pan/tilt 100 and the joint angle of the Roll axis are adjusted to the first preset joint angle range.

In this way, the joint angle of each axis of the pan/tilt head 100 is within the first preset joint angle range. When the user activates the pan-tilt head 100 and performs attitude control on the pan-tilt head 100, the pan-tilt head 100 does not appear at the expected posture. In the case of reverberation, the user's experience is better.

Of course, it should be noted that the number of the shafts of the pan/tilt head 100 may be one axis, two axes, four axes, five axes, or the like in addition to the three axes in the above embodiment.

In certain embodiments, the first predetermined joint angle range referred to in the above embodiments includes a range in which the joint angle is 0°. When the user enables the pan-tilt 100 and performs the attitude control on the pan-tilt 100, since the pan-tilt 100 rotates from the first preset joint angle range to the expected posture, the pan-tilt is randomly selected from the current state after the upgrade of the processor 12 in the prior art is completed. The posture is rotated to the desired posture, and in many cases, the overshoot can be reduced, the shooting picture is stabilized, and the user experience is further improved.

In certain embodiments, the first predetermined joint angle range mentioned in the above embodiments is [-0.5°, 0.5°]. It can be understood that when the joint angle of the axis of the pan-tilt 100 is adjusted to the range of [-0.5°, 0.5°], although the joint angle of the axis of the pan-tilt 100 may not be at the 0° position, since -0.5° and 0.5 The joint angle of ° is relatively small, so it can be considered that the joint angle of the gimbal is already at the joint angle zero. Therefore, adjusting the joint angle of the shaft of the pan/tilt head 100 to the range of [-0.5°, 0.5°] can also solve the problem that the pan-tilt head 100 reverberates at the intended posture.

Referring to FIG. 2 and FIG. 5 together, in some embodiments, step S51 adjusts the joint angle of the shaft to a first preset joint angle range including:

S511: when the joint angle of the first axis of the one or more axes is within the second preset joint angle range, setting the target joint angle of the first axis to 0°; and

S512: Closely adjust the joint angle of the first axis of the platform 100 to the first preset joint angle range according to the target joint angle.

Referring to FIG. 2 again, in some embodiments, when the program code 111 is executed to complete the operation of adjusting the joint angle of the shaft to the first preset joint angle range in step S51, the step S511 is performed when one or more When the joint angle of the first axis of the plurality of axes is within the second predetermined joint angle range, the target joint angle of the first axis is set to 0°, and step S512 sets the first axis of the pan/tilt 100 according to the target joint angle. The joint angle is closed to an operation within the first predetermined joint angle range.

Wherein the one or more axes are axes of the platform 100 whose joint angle is not within the first preset joint angle, and the first axis is the joint angle of the one or more axes being the second preset joint angle Any one of the axes. Specifically, assuming that the joint angle of the Roll axis is not within the first predetermined joint angle range, the processor 12 further determines whether the joint angle of the Roll axis is within the second predetermined joint angle range. When the joint angle of the Roll axis is within the second predetermined joint angle range, the Roll is the first axis, the processor 12 sets the target joint angle of the Roll axis to 0°, and then, the processor 12 targets according to 0°. The joint angle adjusts the joint angle of the Roll axis to the first preset joint angle. Wherein, the first preset joint angle range may be [-0.5°, 0.5°]. The processor 12 includes an electrical adjustment (as shown in Figure 8) for adjusting the rotation of the servo motor of each axis. The processor 12 adjusts the closed angle of the Roll axis to the first preset joint angle according to the target joint angle of 0°. The rotation of the Roller servo motor is controlled by the ESC to adjust the joint angle of the Roll axis of the PTZ 100. To the first preset joint angle range. Specifically, the Roll axis servo motor can first perform acceleration rotation with a fixed or varying angular acceleration, and then perform a deceleration rotation with a fixed or varying angular acceleration to adjust the joint angle of the Roll axis to the first preset joint angle range. Or; Roll-axis servo motor can be accelerated at a fixed or varying angular acceleration, then rotated at a constant speed, and finally rotated at a fixed or varying angular acceleration to adjust the joint angle of the Roll axis to the first Within a predetermined joint angle range.

Further, please refer to FIG. 2 and FIG. 6 together, and step S511 sets the target joint angle of the first axis to 0°, including:

S5111: When the absolute value of the joint angle of the first axis of the joint angle of one or more axes is within a preset absolute value range, the target joint angle of the first axis is set to 0°.

Referring to FIG. 2, when the program code 111 is executed to complete the operation of setting the target joint angle of the first axis to 0° in step S511, the first axis in the joint angle of the one or more axes is performed in step S5111. When the absolute value of the joint angle is within the preset absolute value range, the target joint angle of the first axis is set to 0°.

Please refer to FIG. 7 and FIG. 8. The preset absolute value range refers to [0.5°, 8°], that is, the second preset joint angle range is [-8°, -0.5°] ∪ [0.5° , 8°]. Taking the Roll axis of the PTZ 100 as an example, if the joint angle of the Roll axis is detected to be 6°, that is, θ _m = 6°, the processor 12 determines that the joint angle θ _m of the Roll axis is within the second preset joint angle range. The processor 12 sets the target joint angle θ _t to 0°, and calculates an angle err at which the joint angle of the Roll axis needs to be adjusted according to the values of θ _m and θ _t , where err=θ _t −θ _m =-6 °. Subsequently, the processor 12 issues a control command to the ESC according to the value of err, and the Roller servo motor is rotated by the ESC to adjust the joint angle to the first preset joint angle range. If the joint angle of the Roll axis is detected to be -7.5°, that is, θ _m =−7.5°, the processor 12 determines that the joint angle θ _m of the Roll axis is within the second preset joint angle range, and the processor 12 sets the target joint angle θ _{t is} set to 0°, and the angle err at which the joint angle of the Roll axis needs to be adjusted is calculated from the values of θ _m and θ _t , where err=θ _t −θ _m =7.5°. Subsequently, the processor 12 issues a control command to the ESC according to the value of err, and the angle of the Roll axis servo motor rotates err by the ESC to return the joint angle to the first preset joint angle range.

Further, referring to FIG. 9, step S51 adjusts the joint angle of the shaft to the first preset joint angle range to further include:

S513: determining a target joint angle of the first axis at multiple times when the joint angle of the first axis of the one or more axes is not within the second preset joint angle range; and

S514: Perform closed-loop adjustment on the joint angle of the first axis according to the target joint angle of the first axis at a plurality of times.

Referring to FIG. 2 again, when the program code 111 is executed to implement the operation of adjusting the joint angle of the shaft to the first preset joint angle range in step S51, the step S513 is performed when the joint angle of one or more axes is not at When the second preset joint angle range is within, the target joint angle of the first axis at a plurality of times is determined, and the step S524 performs closed-loop adjustment of the joint angle of the first axis according to the target joint angle of the first axis at the plurality of times .

Specifically, please refer to FIG. 8 , when the joint angle of any one of the axes in the platform 100 is neither within the first preset joint angle range nor within the second preset joint angle range, and the first axis When the joint angle is within the preset range, the target posture is fixed to 0° differently, and the target posture of the first axis at a plurality of times can be determined in time sequence, and the closed-loop adjustment is performed according to the target posture of the first axis at different times.

For example, at the first moment, determine the target joint angle of the gimbal

According to the target joint angle at the first moment

Between the actual joint angle at the first moment

The difference control cloud platform 100 adjusts the joint angle of the first axis; at the second moment, determines the target joint angle of the pan/tilt

According to the target joint angle at the second moment

Actual joint angle with the second moment

The difference control cloud platform 100 adjusts the joint angle of the first axis, and so on, until a certain moment, the actual joint angle of the first axis is within the second predetermined joint angle range.

In some embodiments, the target joint angle of at least one of the plurality of times is determined based on the target joint angle of the previous moment. Specifically, each of a plurality of times

among them

Can be the target pose of the current moment,

For the target pose at the previous moment, ω _k can be the angular velocity at time k, where ω _k can be based on the actual joint angle of the first axis at time k

determine,

The acquisition can be measured by the angular velocity sensor at time k, and Δt is the control period.

In this way, the target joint angle is set in multiple stages to adjust the joint angle of the first axis to the first preset joint angle range until the actual joint angle of the first joint is within the second preset joint angle range. In the manner described above, the target joint angle of the first axis is set to 0°.

It can be understood that when the joint angle of the first axis of the platform 100 is too large (ie, not within the first preset joint angle range and not within the second preset joint angle range), if the first axis is directly If the target joint angle is set to 0°, the joint angle of the first axis needs to be adjusted to be larger, and the servo motor will run at a higher speed. Therefore, it is very likely that the joint angle of the first axis is adjusted to the 0° position because If the rotational speed of the servo motor is too large, the joint angle of the first shaft reverberates at the 0° position, which affects the user experience. When the joint angle of the first axis of the pan-tilt head 100 is too large, the joint angle of the first axis of the pan-tilt 100 is gradually adjusted to the first preset joint in a segmented manner. In the angular range, since the joint angle of the first axis has a small value of err to be adjusted during each adjustment process, the servo motor runs at a relatively slow speed, and the target joint angle of the first axis is not adjusted to 0°. The problem that the joint angle reverberates at the 0° position can effectively improve the user experience.

Referring to FIG. 10, in some embodiments, the method for controlling the platform 100 of the embodiment of the present invention further includes:

S7: receiving an attitude control instruction of an external device; and

S9: After adjusting the joint angle of each axis of the pan/tilt 100 to the first preset joint angle range, the posture of the pan/tilt head 100 is controlled according to the attitude control command.

Referring to FIG. 2 again, in some embodiments, when the program code 111 is executed, it is also used to perform the step S7 to receive the attitude control command of the external device, and in step S9, the joint angle of each axis of the platform 100 is adjusted. After the first preset joint angle range is reached, the attitude of the pan/tilt head 100 is controlled according to the attitude control command.

The external device may be a flight controller of the UAV equipped with the PTZ 100, or may be a remote controller for controlling the attitude of the PTZ 100, or may be a smart terminal for installing the PTZ 100 control software, such as a mobile phone or a tablet. Computer, smart bracelet, etc.

The processor 12 can receive an attitude control command of the external device. Specifically, for example, the processor 12 is provided with a wired communication interface or a wireless communication module for receiving an attitude control instruction sent by the external device.

In this way, after the user enables the gimbal 100, the attitude control command can be sent to the pan/tilt head 100 through the external device to control and adjust the posture of the gimbal 100. Since the control device 10 adjusts the joint angle of the axis of the pan-tilt 100 to the first preset joint angle within a short time after the user activates the pan-tilt 100, the user subsequently sends a gesture to the pan-tilt 100 through the external device. When the control command is used to adjust the attitude of the PTZ 100, the PTZ 100 will not reverberate at the joint angle zero, which greatly improves the user experience.

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 embodiments 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.

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 performing the steps of a particular logical function or process. And the scope of the preferred embodiments of the invention includes additional implementations, which may be performed in a substantially simultaneous manner or in an reverse order, depending on the functions involved, in the order shown or discussed, which should It will be understood by those skilled in the art to which the embodiments of the present invention pertain.

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 performing 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.

It should be understood that portions of the invention may be implemented in hardware, software, firmware or a combination thereof. In the above-described embodiments, multiple steps or methods may be performed by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if executed in hardware, as in another embodiment, it can be performed by any one of the following techniques or combinations thereof known in the art: having logic gates for performing 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.

Those skilled in the art can understand that all or part of the steps carried in carrying out 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.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above integrated modules can be executed in the form of hardware or in the form of software functional modules. The integrated modules, if executed in the form of software functional modules and sold or used as separate 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. 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

A method for controlling a gimbal, characterized in that it comprises:

After the processor completes the upgrade, acquiring the joint angle of the axis of the pan/tilt;

Determining whether the joint angle of the shaft is within a first predetermined joint angle range; and

When the joint angle of the shaft is not within the first predetermined joint angle range, the joint angle of the shaft is adjusted to be within the first preset joint angle range.
The control method according to claim 1, wherein the pan/tilt has a plurality of axes, and the joint angle of the axis for acquiring the pan/tilt head comprises:

Obtaining a joint angle of each axis of the pan/tilt;

The determining whether the joint angle of the shaft is within a first preset joint angle range comprises:

Determining whether the joint angle of each of the axes is within the first predetermined joint angle range;

Adjusting the joint angle of the shaft to the first preset joint angle range when the joint angle of the shaft is not within the first preset joint angle range includes:

Adjusting a joint angle of the one or more axes to the first predetermined joint angle range when a joint angle of one or more axes of the pan/tilt is not within the first predetermined joint angle range Inside.
The control method according to claim 1 or 2, wherein the first predetermined joint angle range is a range including a joint angle of 0°.
The control method according to any one of claims 1 to 3, wherein the first predetermined joint angle range is [-0.5°, 0.5°].
The control method according to claim 2, wherein the adjusting the joint angle of the one or more axes to the first predetermined joint angle range comprises:

Setting a target joint angle of the first axis to 0° when a joint angle of the first one of the one or more axes is within a second predetermined joint angle range; and

The joint angle of the first axis of the pan/tilt is closed-loop adjusted to the first predetermined joint angle range according to the target joint angle.
The control method according to claim 5, wherein said first axis is when said joint angle of said first one of said one or more axes is within a second predetermined joint angle range The target joint angle is set to 0° including:

The target joint angle of the first axis is set to 0° when the absolute value of the joint angle of the first one of the one or more axes is within a preset absolute value range.
The control method according to claim 5 or 6, wherein the adjusting the joint angle of the one or more axes to the first predetermined joint angle range comprises:

Determining a target joint angle of the first axis at a plurality of times when a joint angle of the first one of the one or more axes is not within the second predetermined joint angle range; and

Closed-loop adjustment of the joint angle of the first axis according to a target joint angle of the first axis at the plurality of times.
The control method according to claim 7, wherein the target joint angle of at least one of the plurality of times is determined based on a target joint angle of the first axis at a previous time.
The control method according to claim 7 or 8, wherein the target joint angle of at least one of the plurality of times is determined based on an actual joint angle of the first axis at the time.
The control method according to claim 1, wherein the control method further comprises:

Receiving an attitude control command of an external device; and

After adjusting the joint angle of the shaft to the first preset joint angle range, the attitude of the pan/tilt is controlled according to the attitude control command.
A control device for a gimbal, comprising:

a memory for storing program code;

a processor for executing the program code, when the program code is executed, for performing the following operations:

After the processor completes the upgrade, acquiring a joint angle of the axis of the pan/tilt;

Determining whether the joint angle of the shaft is within a first predetermined joint angle range; and

When the joint angle of the shaft is not within the first predetermined joint angle range, the joint angle of the shaft is adjusted to be within the first preset joint angle range.
The control apparatus according to claim 11, wherein said pan/tilt has a plurality of axes, and when said program code is executed to implement an operation of acquiring a joint angle of an axis of said pan/tilt head, comprising performing the following operations :

Obtaining a joint angle of each axis of the pan/tilt;

When the program code is executed to implement an operation of determining whether the joint angle of the shaft is within a first predetermined joint angle range, the following operations are performed:

Determining whether the joint angle of each of the axes is within the first predetermined joint angle range;

When the program code is executed to achieve adjustment of the joint angle of the shaft to the first predetermined joint angle range when the joint angle of the shaft is not within the first predetermined joint angle range When you do this, you do the following:

Adjusting a joint angle of the one or more axes to the first predetermined joint angle range when a joint angle of one or more axes of the pan/tilt is not within the first predetermined joint angle range Inside.
The control apparatus according to claim 11 or 12, wherein the first predetermined joint angle range is a range including a joint angle of 0°.
The control apparatus according to any one of claims 11 to 13, wherein the first predetermined joint angle ranges from [-0.5°, 0.5°].
The control device according to claim 12, wherein when said program code is executed to effect an operation of adjusting a joint angle of said one or more axes to said first predetermined joint angle range, This includes doing the following:

Setting a target joint angle of the first axis to 0° when a joint angle of the first one of the one or more axes is within a second predetermined joint angle range; and

The joint angle of the first axis of the pan/tilt is closed-loop adjusted to the first predetermined joint angle range according to the target joint angle.
The control apparatus according to claim 15, wherein when said program code is executed to achieve when a joint angle of a first one of said one or more axes is within a second predetermined joint angle range, When the operation of setting the target joint angle of the first axis to 0°, the following operations are performed:

The target joint angle of the first axis is set to 0° when the absolute value of the joint angle of the first one of the one or more axes is within a preset absolute value range.
A control apparatus according to claim 15 or 16, wherein when said program code is executed to effect adjustment of a joint angle of said one or more axes to said first predetermined joint angle range When you do the following:

Determining a target joint angle of the first axis at a plurality of times when a joint angle of the first one of the one or more axes is not within the second predetermined joint angle range; and

Closed-loop adjustment of the joint angle of the first axis according to a target joint angle of the first axis at the plurality of times.
The control apparatus according to claim 17, wherein the target joint angle of at least one of said plurality of times is determined based on a target joint angle of said first axis at a previous time.
The control apparatus according to claim 17 or 18, wherein the target joint angle of at least one of the plurality of times is determined based on an actual joint angle of the first axis at the time.
The control device according to claim 11, wherein when said program code is executed, it is further configured to:

Receiving an attitude control command of an external device; and

After adjusting the joint angle of the shaft to the first preset joint angle range, the attitude of the pan/tilt is controlled according to the attitude control command.