WO2019140655A1

WO2019140655A1 - Position-limit angle calibration method and terminal device

Info

Publication number: WO2019140655A1
Application number: PCT/CN2018/073499
Authority: WO
Inventors: 王映知; 刘帅; 林光远
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2018-01-19
Filing date: 2018-01-19
Publication date: 2019-07-25
Also published as: CN110268357A

Abstract

Provided are a position-limit angle calibration method and terminal device (22), said method comprising: controlling one joint (42, 43) of a pan/tilt/zoom (23, 41) to rotate in a first direction (301); during the process of controlling the joint (42, 43) of the pan/tilt/zoom (23, 41) to rotate in the first direction, obtaining a first joint angle set of the joint (42, 43) within a preset period of time (302); if the difference between the maximum joint angle and the minimum joint angle in the first joint angle set is smaller than a first preset threshold, then, according to the joint angle in the first joint angle set, determining the mechanical limit angle of the pan/tilt/zoom (23, 41) in the first direction (303). If the difference between the maximum joint angle and the minimum joint angle in the first joint angle set is smaller than a first preset threshold, then it is determined that the pan/tilt/zoom (23, 41) has hit the limit, and, according to the joint angle in the first joint angle set, the mechanical limit angle of the pan/tilt/zoom (23, 41) in the first direction is determined; that is, the actual mechanical limit angle of the pan/tilt/zoom (23, 41) can be calibrated.

Description

Limit angle calibration method and terminal device

Technical field

The present application relates to the field of calibration technologies, and in particular, to a method for limiting a limit angle and a terminal device.

Background technique

As people's requirements for the photography experience continue to increase, the PTZ as a supporting device for mounting and fixing cameras has also developed rapidly. Due to structural reasons, the cloud platform inevitably has mechanical limits.

Generally, the gimbal has mechanical limits on the pitch axis, the yaw axis, and the roll axis. Among them, the pitch axis controls the pitch of the gimbal, the yaw axis controls the yaw of the gimbal, and the roll axis controls the roll of the gimbal. For example, the gimbal has upper and lower limits on the pitch axis. The limit indicates the maximum range of rotation in which the pan/tilt head rotates in a certain direction from a position parallel to a carrier (such as a drone) that carries the gimbal. Taking the schematic diagram of the lower limit position of the gimbal shown in FIG. 1 as an example, when the pan/tilt 1 is mounted on the drone 2, and the lower limit angle of the pan/tilt 1 at the pitch axis (ie, the pitch angle) is 110 degrees, the pan-tilt is Starting at position 3 parallel to the drone, it begins to rotate downwards, up to position 4.

In the mass production process, due to manufacturing and other problems, there is an error between the actual mechanical limit angle of the actual production of the gimbal and the design mechanical limit angle. During the use of the gimbal, the cloud platform will hit the mechanical limit due to the existence of such an error, which will result in instability of the picture taken by the camera on the gimbal, which will affect the actual use effect. The existing solution is to measure the actual mechanical limit angle by recycling the pan/tilt that has a mechanical limit, and apply the angle to all the pans in the same batch. However, this solution is not only complicated to implement, but also does not completely solve the problem that the platform hits the mechanical limit. Therefore, how to calibrate the actual mechanical limit angle of the gimbal becomes an urgent problem to be solved.

Summary of the invention

The embodiment of the invention provides a limit angle calibration method and a terminal device, which can calibrate the actual mechanical limit angle of the pan/tilt.

In a first aspect, an embodiment of the present invention provides a method for calibrating a limit angle, which is applied to a terminal device for calibrating a limit angle of a pan/tilt. The method includes:

Controlling a joint of the gimbal to rotate in a first direction;

During the process of controlling the joint of the gimbal to rotate in the first direction, acquiring a first joint angle set of the joint within a preset time period;

If the difference between the maximum joint angle and the minimum joint angle in the first joint angle set is less than the first preset threshold, determining the mechanical limit angle of the gimbal in the first direction according to the joint angle in the first joint angle set .

In a second aspect, the embodiment of the present invention provides a terminal device, where the terminal device is connected to the cloud station by using a wired or wireless method, where the terminal device includes: a memory and a processor, where

a memory for storing program instructions;

The processor, calling program instructions to:

Controlling a joint of the gimbal to rotate in a first direction;

The embodiment of the present invention controls the first joint angle of the joint in the preset time period by controlling one joint of the gimbal to rotate in the first direction; and controlling the joint of the gimbal to rotate in the first direction; The difference between the maximum joint angle and the minimum joint angle in the set of joint angles is less than the first preset threshold, and the mechanical limit angle of the gimbal in the first direction is determined according to the joint angle in the first joint angle set. When it is detected that the gimbal has hit the limit position, the mechanical limit angle of the gimbal in the first direction (ie, the actual mechanical limit angle of the first direction) is determined according to the joint angle in the first joint angle set, that is, The actual mechanical limit angle of the gimbal can be calibrated.

DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings to be used in the embodiments will be briefly described below. Obviously, the drawings in the following description are only some of the present invention. For the embodiments, those skilled in the art can obtain other drawings according to the drawings without any creative work.

1 is a schematic diagram of a lower limit position of a pan/tilt according to an embodiment of the present invention;

2 is a schematic diagram of a system architecture provided by an embodiment of the present invention;

FIG. 3 is a schematic flowchart diagram of a method for calibrating a limit angle according to an embodiment of the present invention;

4 is a schematic structural diagram of a cloud platform according to an embodiment of the present invention;

FIG. 5 is a schematic flowchart diagram of another method for limiting a limit angle according to an embodiment of the present disclosure;

FIG. 6 is a schematic flowchart diagram of still another method for limiting a limit angle according to an embodiment of the present invention;

FIG. 7 is a schematic structural diagram of a terminal device according to an embodiment of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

In order to clearly describe the solution of the embodiment of the present invention, the service scenario and system architecture that may be applied to the embodiment of the present invention are described below with reference to FIG.

FIG. 2 shows a system architecture provided by an embodiment of the present invention. The communication system of this embodiment includes a drone 21 and a control terminal 22.

The drone 21 includes a flight body, a pan/tilt head 23, and an imaging device. In the present embodiment, the flying body may include a plurality of rotors and a rotor motor that drives the rotor to rotate, thereby providing the power required for the drone 21 to fly. The imaging device is mounted on the flying body through the pan/tilt head 23. The camera device is used for image or video shooting during the flight of the drone 21, and may include, but is not limited to, a multi-spectral imager, a hyperspectral imager, a visible light camera, and an infrared camera. The pan/tilt head 23 can be a multi-axis rotation and stabilization system, and can include a plurality of rotating shafts and a pan/tilt motor. The pan/tilt motor can compensate the shooting angle of the camera by adjusting the rotation angle of the rotating shaft, and can prevent or reduce the shake of the camera by setting an appropriate buffer mechanism. Of course, the imaging device can be mounted on the flying body directly or by other means, which is not limited in the embodiment of the present invention. The control terminal 22 is configured to control the pan/tilt head 23. For example, the control terminal 22 can control the pan/tilt head 23 to rotate in a certain direction. The control terminal 22 can be one or more of a mobile phone, a tablet, a remote control, or other wearable device such as a watch or a wristband.

It is to be understood that the system architecture and the service scenario described in the embodiments of the present invention are for the purpose of more clearly illustrating the technical solutions of the embodiments of the present invention, and are not limited to the technical solutions provided by the embodiments of the present invention. It can be seen that the technical solutions provided by the embodiments of the present invention are applicable to similar technical problems as the system architecture evolves and new service scenarios arise.

The specific process of the limit angle calibration method provided by the embodiment of the present invention is further described below.

Please refer to FIG. 3. FIG. 3 is a schematic flowchart diagram of a method for calibrating a limit angle according to an embodiment of the present invention. As shown in FIG. 3, the limit angle calibration method may include parts 301 to 303. among them,

301. The terminal device controls one joint of the pan/tilt to rotate in a first direction.

The terminal device may be a drone or a control terminal. When the terminal device is a UAV, the UAV can be connected to the PTZ through a connection device or other means. The connection manner between the UAV and the PTZ is not limited in the embodiment of the present invention. When the terminal device is a control terminal, the control terminal can be connected to the cloud platform through a wireless or wired connection.

The gimbal can include multiple joints. Take the structural diagram of the pan/tilt head shown in FIG. 4 as an example. The pan head 41 has three joints, wherein the first joint 42 can control the pan head 41 to rotate up and down, and the angle at which the first joint 42 rotates (ie, the joint angle) is called a pitch angle. The second joint 43 can control the pan head 41 to rotate left and right, and the angle at which the second joint 43 rotates (ie, the joint angle) is referred to as a yaw angle. The third joint (not shown) can control the pan head 41 to roll around, and the angle at which the third joint rotates (ie, the joint angle) is called a roll angle. After the terminal device rotates a certain joint of the pan/tilt head 41 to a preset angle, the camera 44 on the pan/tilt head 41 can control the image of the angle of view corresponding to the preset angle.

It should be noted that the terminal device can control the multiple joints of the pan/tilt to rotate at the same time. The embodiment of the present invention controls the rotation of one joint of the pan/tilt head by the terminal device for the sake of example only, and does not constitute a limitation of the present invention.

The first direction may be the upper limit direction of the pitch axis, the lower limit direction of the pitch axis, the yaw left limit direction of the yaw axis, the yaw right limit direction of the yaw axis, and the roll left limit direction of the roll axis, roll The first direction is not limited in the embodiment of the present invention. That is, the same rotation axis (such as pitch axis, yaw axis, roll axis, etc.) can have mechanical limit in the opposite directions.

In one implementation, the terminal device can control the gimbal to enter the joint angle mode, and control one joint of the gimbal (ie, the joint to be calibrated) to rotate in the first direction when the gimbal is in the joint angle mode. Among them, the gimbal is in the joint angle mode, and other joints other than the joint to be calibrated can be fixed, so that when the joint to be calibrated is rotated, other joints are not rotated together with the joint to be calibrated due to the stabilization mode and the like. It can prevent the other joints from rotating together with the joint to be calibrated, and the calibration result of the mechanical limit angle of the joint to be calibrated is affected, which is beneficial to improve the accuracy of the calibration result.

In an implementation manner, the terminal device may control one joint of the pan/tilt to rotate in a first direction according to a preset angle, where the preset angle is greater than a default mechanical limit angle of the gimbal in the first direction.

In the embodiment of the present invention, the default mechanical limit angle of the gimbal in the first direction is a pre-planned mechanical limit angle that needs to be produced when the gimbal is produced. The default mechanical limit angle indicates the maximum range that can be rotated in advance when the pan/tilt is rotated in the first direction. Optionally, the default mechanical limit angle can be stored in the pan/tilt when the gimbal is shipped from the factory. However, in actual situations, there is generally a certain error between the actual mechanical limit angle of the produced pan/tilt and the default mechanical limit angle. That is, the actual mechanical limit angle may be greater than the default mechanical limit angle, or the actual mechanical limit angle may be less than the default mechanical limit angle. Therefore, in order to detect the actual maximum rotation range of the pan/tilt in the first direction (ie, the actual mechanical limit angle), the terminal device may preset a preset angle greater than the default mechanical limit angle, and control the pan/tilt according to the preset. The angle is rotated in the first direction. In this way, when the actual mechanical limit angle is greater than the default mechanical limit angle, the preset preset angle is less than or equal to the default mechanical limit angle, so that the maximum rotation range of the pan/tilt is the rotation range corresponding to the preset angle. The result is that the detected mechanical limit angle is smaller than the actual mechanical limit angle, which is beneficial to improve the accuracy of the calibration result.

For example, the factory plans to produce a set of pitch axes with an upper limit angle of 30 degrees (ie, the default mechanical limit angle). When the PTZ is manufactured, the actual production of the PTZ will be caused by errors caused by manufacturing and other issues. The mechanical limit angle (ie the actual mechanical limit angle) is 35 degrees. During the calibration process, if the terminal device sets the preset angle to 30 degrees, that is, the pitch axis of the pan/tilt is rotated up to the position corresponding to 30 degrees, the pan/tilt is considered to reach the limit, and 30 degrees is determined to be detected. The upper limit angle of the gimbal will result in inaccurate calibration results.

In one implementation, the preset angle may be determined based on a default mechanical limit angle and a maximum error angle (ie, the maximum error caused during manufacturing). For example, when the maximum error angle is +3 degrees and the default mechanical limit angle is 30 degrees, the preset angle can be set to an angle of 33 degrees or more. Among them, the maximum error angle may be an empirical value obtained by statistical data. It should be noted that the preset angle may be set by default by the terminal device, or may be determined by the terminal device according to a setting operation input by the user.

302. The terminal device controls the first joint angle set of the joint in the preset time period during the process of controlling the joint of the pan/tilt to rotate in the first direction.

Specifically, in the process that the terminal device controls the joint of the gimbal to rotate in the first direction, the current joint angle of the joint can be acquired, and the joint angle is recorded. After a preset time, all joint angles stored in the terminal device (ie, the first joint angle set) may indicate the rotation of the joint over time during the preset time (such as normal rotation or reaching a limit, etc.). In one implementation, the terminal device may record the joint angle of the joint at a preset time interval. In another implementation manner, the terminal device can randomly record the joint angle of the joint, which is not limited by the embodiment of the present invention.

For example, when the preset time interval is 0.2 s and the preset time period is 1 s, the terminal device controls the first joint of the gimbal to rotate in the first direction when the starting time is 00:00 (minutes/second). At this time, the joint angle of the first joint is 2 degrees. The terminal device acquires the joint angle of the first joint every 0.2 s. If the first joint rotates at a constant speed, the first joint angle set obtained by the terminal device is within a preset time period of 1 s of 00:00 to 00:01. {2°, 4°, 6°, 8°, 10°}. Through the joint angle in the first joint angle set, the terminal device can judge that the first joint is in a normal rotation state, that is, the first joint does not reach the limit position. Because when the first joint reaches the limit (that is, the first joint hits the upper limit), a slight jitter occurs, that is, the joint angle of the first joint has a small up and down float for a period of time. That is, the terminal device can determine whether the first joint has reached the limit by the change of the joint angle in the first joint angle set. For example, under the same conditions as the previous example, the first joint angle set acquired by the terminal device is {10°, 10.5°, 10.8°, 10.3 in a preset time period of 1 s of 00:01 to 00:02. °, 10.2 °}, that is, when the joint angle changes within a small range (minimum 10° to maximum 10.8°), the terminal device can determine that the joint has reached the limit. The definition of the small range at this time can be completed by the first preset threshold. For example, when the first preset threshold is greater than 0.8°, the angle change (0.8°) of the joint angle in the preset time period is less than the first preset threshold, so that the joint angle can be considered to be within the preset time period. The change is a small change, thinking that the joint has reached the limit.

It should be noted that the preset time period may be set by the terminal device by default, or may be determined by the terminal device according to the operation input by the user. The above-mentioned preset time period is 1 s only for the sake of example and does not constitute a limitation of the present invention. In other possible embodiments, the preset time period may also be 0.5 s, 2 s or other values.

303. If the difference between the maximum joint angle and the minimum joint angle in the first joint angle set is less than the first preset threshold, the terminal device determines, according to the joint angle in the first joint angle set, the pan/tilt in the first direction. Mechanical limit angle.

Specifically, after the terminal device acquires the first joint angle set of the joint within the preset time period, the maximum joint angle and the minimum joint angle in the first joint angle set may also be acquired. If the difference between the maximum joint angle and the minimum joint angle is less than the first preset threshold, it indicates that the joint value of the joint angle of the joint in the preset time period is in a small range (ie, the first preset threshold) Within the change, the terminal device can determine that the joint has reached the limit. Further, the terminal device may determine the mechanical limit angle of the gimbal in the first direction according to the joint angle in the first joint angle set.

For example, when the first preset threshold is 2 degrees, if the first joint angle set acquired by the terminal device is {109°, 110°, 109°, 109.5°, 110°}, that is, the maximum joint angle (110°) and The difference (1°) between the minimum joint angles (109°) is less than the first preset threshold (2°). The terminal device can determine that the joint has reached the limit.

It should be noted that the first preset threshold may be set by default by the terminal device, or may be determined by the terminal device according to the operation input by the user, which is not limited by the embodiment of the present invention. It should be noted that the first preset thresholds of different joints of the gimbal may be the same or different, which is not limited by the embodiment of the present invention.

In an implementation manner, after determining, by the terminal device, that the gimbal reaches the limit, the minimum joint angle in the first joint angle set may be determined as the mechanical limit angle of the gimbal in the first direction. In another implementation, the terminal device may determine an arithmetic mean of all joint angles in the first set of joint angles as a mechanical limit angle of the gimbal in the first direction. In still another implementation, the terminal device may determine an arithmetic mean of the maximum joint angle and the minimum joint angle in the first joint angle set as the mechanical limit angle of the pan/tilt in the first direction. In another implementation manner, the terminal device may determine the mechanical limit angle of the pan/tilt in the first direction by using an angle obtained by performing least squares on the acquired angle data. This embodiment of the present invention does not limit this.

In one implementation, if the difference between the maximum joint angle and the minimum joint angle in the first set of joint angles is greater than or equal to the first predetermined threshold, the terminal device can determine that the joint has not reached the limit. The terminal device may continue to perform steps 301-303.

It can be seen that by implementing the limit angle calibration method described in FIG. 3, when the pan/tilt hits the limit position, the mechanical limit angle of the gimbal in the first direction can be determined according to the joint angle in the first joint angle set. (ie the actual mechanical limit angle in the first direction), that is, the actual mechanical limit angle of the gimbal can be calibrated.

In an implementation manner, after determining, by the terminal device, the mechanical limit angle of the pan/tilt in the first direction, the terminal device may also store the mechanical limit angle of the pan/tilt in the first direction. Optionally, the terminal device may include a storage medium, and after determining, by the terminal device, the mechanical limit angle of the pan/tilt in the first direction, the mechanical limit angle of the pan/tilt in the first direction may be stored in the storage medium. The storage medium may include a nonvolatile memory such as a flash memory, a solid state hard disk, or the like. Alternatively, the storage medium may also include volatile memory, such as random access memory. Alternatively, the storage medium may also include a combination of the above types of memories. The specific type of the storage medium is not limited in the embodiment of the present invention.

In an implementation manner, the terminal device may determine an avoidance angle of the evasive limit algorithm according to a mechanical limit angle of the gimbal in the first direction. In the actual situation, the comparison of the evasive angle setting causes the pan/tilt to hit the limit, resulting in a wide range of jitter of the picture, which reduces the quality of the captured image.

In the embodiment of the present invention, the avoidance angle in the evasive limit algorithm is used to stop the joint from rotating in the first direction when the joint of the gimbal rotates to the evasive angle in the first direction, so as to prevent the pontoon from hitting the limit. The situation of the bit, which in turn improves the quality of the captured image. For example, when the mechanical limit of the upper limit of the pitch axis is 30 degrees, and the terminal device sets the avoidance angle of the upper limit of the pitch axis to 29 degrees, the pan/tilt will automatically stop continuing to rotate upward when it is rotated upward to 29 degrees. To avoid the pan/tilt hitting the limit.

In the embodiment of the present invention, by calibrating the mechanical limit angle of each pan/tilt, the circumvention angle of the evasive limit algorithm can be determined according to the actual mechanical limit angle after each pan/tilt calibration, which can better solve the problem. The problem of the actual mechanical limit angle of the same batch of pan/tilt caused by problems such as manufacturing. That is, in the prior art, the avoidance angles of the same batch of pan/tilt are set to be the same (that is, for some pan/tilt, the avoidance angle may be too large or too small), and the cloud with a small mechanical limit angle may be caused. The table is too large due to the avoidance angle, and the image jitter caused by the impact limit. Or, the gimbal with a large mechanical limit angle is too small to set the avoidance angle, and the viewing angle change caused by the prematurely triggering the avoidance limit algorithm cannot satisfy the shooting requirement.

In an implementation manner, the terminal device may determine whether the mechanical limit angle of the pan-tilt in the first direction is within a preset angle range; if yes, perform a mechanical limit angle according to the pan-tilt in the first direction to determine the avoidance The step of avoiding the angle of the limit algorithm.

In the embodiment of the present invention, the terminal device can obtain the mechanical limit angle obtained by the last calibration when the PTZ is powered on, and make a reasonable judgment on the mechanical limit angle (ie, determine the mechanical limit angle) Whether it is within the preset angle range, or whether the angle error is less than the second preset threshold). And when the mechanical limit angle is reasonable, the avoidance angle of the avoidance limit algorithm is determined according to the mechanical limit angle.

In this way, it is possible to avoid the use of the gimbal for a long time, and the mechanical limit angle change caused by the impact of the gimbal during this time may be caused by transportation or improper use, and the terminal device incorrectly calibrates the gimbal before the impact. The resulting mechanical limit angle is determined as the mechanical limit angle after impact. For example, the mechanical limit angle of the gimbal before calibration is 110 degrees. After the impact, the mechanical limit angle of the gimbal becomes 105 degrees. If the terminal device sets the avoidance angle to 109 degrees according to the previously calibrated mechanical limit angle (110 degrees), the pan/tilt will hit the mechanical limit when it is rotated to 105 degrees. Therefore, each time the PTZ is powered on, the mechanical limit angle is judged rationally, which can improve the reliability of the gimbal.

In an implementation manner, before the terminal device controls a joint of the pan-tilt to rotate in the first direction, the terminal can also receive the limit angle calibration operation of the user, and control the pan-tilt to enter the limit angle calibration mode; In the angle calibration mode, a step of controlling a joint of the pan/tilt to rotate in the first direction is performed.

In the embodiment of the present invention, the terminal device can open the function of calibrating the mechanical limit angle of the pan/tilt to the user. Specifically, a calibration button can be set on the terminal device, and when the terminal device detects that the user presses the calibration button (ie, the limit angle calibration operation), the pan/tilt can be controlled to enter the limit angle calibration mode. The limit angle calibration mode may be the joint angle mode.

In this way, the user can also calibrate the mechanical limit angle of the gimbal. And the calibration process is simple and convenient, and the mechanical limit angle of the pan/tilt can be calibrated frequently, so that the error between the mechanical limit angle stored in the terminal device and the actual mechanical limit angle is smaller. Further, when the terminal device sets the evasive angle according to the stored mechanical limit angle, the possibility that the pan/tilt hits the mechanical limit is reduced, which is beneficial to improving the reliability of the pan/tilt.

In an implementation manner, the user can also calibrate the mechanical limit angle of the rotating shaft of the pan/tilt by manually dialing the rotating shaft of the pan/tilt.

Please refer to FIG. 5. FIG. 5 is a schematic flowchart diagram of another method for limiting a limit angle according to an embodiment of the present invention. As shown in FIG. 5, the limit angle calibration method may include sections 501 to 506. among them,

501. The terminal device controls a joint of the pan/tilt to rotate in a first direction.

502. The terminal device controls the first joint angle set of the joint in the preset time period during the process of controlling the joint of the pan/tilt to rotate in the first direction.

In the embodiment of the present invention, the execution processes of

steps

501 and 502 can be respectively referred to the specific descriptions in

steps

301 and 302 in FIG. 3, and details are not described herein.

503. If the difference between the maximum joint angle and the minimum joint angle in the first joint angle set is less than the first preset threshold, the terminal device determines the target joint angle according to the joint angle in the first joint angle set.

In the embodiment of the present invention, the terminal device determines the target joint angle before determining the mechanical limit angle of the gimbal in the first direction. Once again, it is judged whether the target joint angle is reasonable or not to determine whether to update the mechanical limit angle of the gimbal in the first direction. In this way, the accuracy of the calibration results can be further improved.

In an implementation manner, after determining, by the terminal device, that the gimbal reaches the limit, the minimum joint angle in the first joint angle set may be determined as the target joint angle of the gimbal in the first direction. In another implementation, the terminal device may determine an arithmetic mean of all joint angles in the first set of joint angles as a target joint angle of the gimbal in the first direction. In still another implementation, the terminal device may determine an arithmetic mean of the maximum joint angle and the minimum joint angle in the first joint angle set as the target joint angle of the pan/tilt in the first direction. In still another implementation manner, the terminal device may further determine the target joint angle of the pan/tilt in the first direction by using an angle obtained by performing least squares on the acquired angle data. This embodiment of the present invention does not limit this.

504. The terminal device determines whether the target joint angle is within a preset angle range.

Specifically, the terminal device determines whether the target joint angle is within a preset angle range, and is used to determine whether the obtained target joint angle is reasonable. Generally, the error caused by problems such as manufacturing is not so great, that is, the difference between the obtained target joint angle and the default mechanical limit angle should be within a certain range. For example, when the default mechanical limit angle is 110 degrees and the maximum production error is 3 degrees, a reasonable target joint angle can be within [107°, 113°] (ie, the preset angle range). If the obtained target joint angle is within the preset angle range, the obtained target joint angle is reasonable. If the obtained target joint angle is not within the preset angle range, the obtained target joint angle is unreasonable. The reason for the unreasonable reason may be that the joint is stuck during the rotation, or there is a problem such as a hand file during the rotation, which is not limited by the embodiment of the present invention.

505. If the target joint angle is within a preset angle range, the terminal device determines the target joint angle as a mechanical limit angle of the pan/tilt in the first direction.

In the embodiment of the present invention, if the target joint angle is within the preset angle range, that is, the obtained target joint angle is reasonable, the terminal device can determine the target joint angle as the mechanical limit angle of the gimbal in the first direction. . The mechanical limit angle of the gimbal in the first direction is calibrated to the target joint angle. The accuracy of the calibration results can be improved by means of reasonable judgment.

506. If the target joint angle is not within the preset angle range, the terminal device maintains the mechanical limit angle of the first direction that has been set unchanged.

In the embodiment of the present invention, if the target joint angle is not within the preset angle range, that is, the obtained target joint angle is unreasonable, the terminal device can maintain the mechanical limit angle of the first direction that has been set unchanged. In an implementation manner, when the pan/tilt is shipped from the factory, the terminal device can set the mechanical limit angle of the first direction to a preset initial value. The preset initial value may be a default mechanical limit angle, a null value or other values, which is not limited in the embodiment of the present invention.

By means of reasonable judgment, it is possible to avoid determining the unreasonable target joint angle as the mechanical limit angle of the gimbal in the first direction, and the accuracy of the calibration result can be improved.

In an implementation manner, after the terminal device determines the target joint angle according to the joint angle in the first joint angle set, steps 504 and 505 may be replaced by the following steps: the terminal device acquires the angle error, and the angle error is the target joint angle and the pan/tilt The absolute value of the difference between the default mechanical limit angles in the first direction; if the angle error is less than the second predetermined threshold, the terminal device may determine the target joint angle as the mechanical limit angle of the pan/tilt in the first direction .

The second preset threshold is the absolute value of the maximum error generated by the gimbal during the manufacturing process. The angular error is the absolute value of the difference between the target joint angle and the default mechanical limit angle of the gimbal in the first direction, that is, the angular error is the absolute value of the detected actual production error of the gimbal. If the angle error is less than the second preset threshold, it indicates that the obtained target joint angle is within a reasonable error range, that is, the probability of occurrence of an error during the calibration process is low, and the reliability of the calibration result is high. Therefore, the terminal device can determine the target joint angle as the mechanical limit angle of the pan/tilt in the first direction.

For example, when the pan/tilt has a default mechanical limit angle of 110 degrees in the first direction and the second preset threshold is 3 degrees. If the obtained target joint angle is 109 degrees, that is, the angle error (1 degree) is less than the second preset threshold (3 degrees), the mechanical limit angle of the gimbal in the first direction can be determined to be 109 degrees.

In an implementation manner, after the terminal device acquires the angle error, the step 506 may be replaced by the following steps: if the angle error is greater than or equal to the second preset threshold, the terminal device may maintain the mechanical limit angle of the first direction that has been set. constant. When the angle error is greater than or equal to the second preset threshold, it indicates that the obtained target joint angle is not within a reasonable error range, that is, the probability of occurrence of an error during the calibration process is high, and the reliability of the calibration result is low. Therefore, the terminal device can ignore the obtained target joint angle and maintain the mechanical limit angle of the first direction that has been set unchanged. In order to avoid determining the unreasonable target joint angle as the mechanical limit angle of the gimbal in the first direction, it is beneficial to improve the accuracy of the calibration result.

It can be seen that by implementing the limit angle calibration method described in FIG. 3, when the pan/tilt hits the limit position, the target joint angle can be determined according to the joint angle in the first joint angle set, and the target joint angle is reasonable. Sexual judgment, when the target joint angle is reasonable, the target joint angle is determined as the mechanical limit angle of the gimbal in the first direction, and the actual mechanical limit angle of the gimbal can be more accurately calibrated.

Please refer to FIG. 6. FIG. 6 is a schematic flowchart diagram of still another method for limiting a limit angle according to an embodiment of the present invention. As shown in FIG. 6, the limit angle calibration method may include parts 601 to 606. among them,

601. The terminal device controls a joint of the pan/tilt to rotate in a first direction.

602. The terminal device controls the first joint angle set of the joint in the preset time period during the process of controlling the joint of the pan/tilt to rotate in the first direction.

603. If the difference between the maximum joint angle and the minimum joint angle in the first joint angle set is less than the first preset threshold, the terminal device determines, according to the joint angle in the first joint angle set, the pan/tilt in the first direction. Mechanical limit angle.

In the embodiment of the present invention, the execution processes of

steps

601, 602, and 603 may be specifically described in

steps

301, 302, and 303 in FIG. 3, and details are not described herein.

604. The terminal device controls the joint of the pan/tilt to rotate in a second direction, where the second direction is a reverse direction of the first direction.

In the embodiment of the present invention, the terminal device first controls the joint of the pan-tilt to rotate in a first direction, and when the pan-tilt reaches the mechanical limit in the first direction, that is, the mechanical limit angle of the pan-tilt in the first direction is calibrated. Upon completion, the terminal device can store the mechanical limit angle of the direction obtained by calibration. And controlling the pan/tilt to automatically rotate in the opposite direction of the first direction (ie, the second direction), that is, calibrating the mechanical limit angle of the gimbal in the second direction.

In this way, when the mechanical limit angles of the pan/tilt in two different directions on one rotating axis are calibrated, it is necessary to re-control the mechanism of the pan/tilt to the other direction when the calibration in one of the directions is completed. The limit angle is calibrated. That is, the mechanical limit angles of the two different directions of the pan/tilt on one rotating axis can be automatically and once-timely calibrated, which is beneficial to improve calibration efficiency and user experience.

605. The terminal device controls the second joint angle set of the joint in the preset time period during the process of controlling the joint of the pan/tilt to rotate in the second direction.

In the embodiment of the invention, the joint angle included in the second joint angle set is the joint angle obtained during the rotation of the joint of the gimbal in the second direction.

606. If the difference between the maximum joint angle and the minimum joint angle in the second joint angle set is less than the first preset threshold, the terminal device determines, according to the joint angle in the second joint angle set, the pan/tilt in the second direction. Mechanical limit angle.

In the embodiment of the present invention, the execution of

steps

604, 605, and 606 may be specifically described in

steps

301, 302, and 303 of FIG. 3, except for the change of the rotation direction, and details are not described herein.

It should be noted that, in the embodiment of the present invention, steps 601-603 may be performed first, and then steps 604-606 may be performed. Steps 604-606 may also be performed first, and then steps 601-603 are performed. This embodiment of the present invention does not limit this.

It can be seen that by implementing the limit angle calibration method described in FIG. 6, it is possible to automatically detect whether the gimbal hits the mechanical limit, and automatically controls the gimbal to rotate in the opposite direction when the pan/tilt hits the mechanical limit, and then detects Mechanical limit angle in the opposite direction. The mechanical limit angle of the gimbal in different directions on one rotating axis can be calibrated at one time, which is beneficial to improve calibration efficiency and user experience.

Referring to FIG. 7, FIG. 7 is a schematic structural diagram of a terminal device according to an embodiment of the present invention. As shown in FIG. 7, the terminal device includes a memory 701 and a processor 702. The memory 701 and the processor 702 can be connected through a bus 703. The terminal device can be connected to the cloud platform by wire or wirelessly (not shown).

The memory 701 may include a volatile memory such as a random-access memory (RAM); the memory 701 may also include a non-volatile memory such as a flash memory (flash) Memory), solid state drive (SSD), etc.; memory 701 may also include a combination of the above types of memory.

Processor 702 can include a central processing unit (CPU). Processor 702 can also further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or the like. The PLD may be a field-programmable gate array (FPGA), a general array logic (GAL), or the like. among them:

a memory 701, configured to store program instructions;

The processor 702 calls the program instructions to:

Controlling a joint of the gimbal to rotate in a first direction;

In an implementation manner, when the processor 702 is configured to control a joint of the pan/tilt to rotate in a first direction, the processor 702 is specifically configured to:

A joint controlling the gimbal rotates in a first direction according to a preset angle, and the preset angle is greater than a default mechanical limit angle of the gimbal in the first direction.

In one implementation, the processor 702 is configured to determine, according to the joint angle in the first set of joint angles, the mechanical limit angle of the gimbal in the first direction, specifically for:

Determining a target joint angle according to a joint angle in the first joint angle set;

The target joint angle is determined as the mechanical limit angle of the gimbal in the first direction.

In one implementation, the target joint angle is the smallest joint angle in the first set of joint angles, or the target joint angle is the average joint angle in the first set of joint angles.

In one implementation, after determining the target joint angle based on the joint angle in the first set of joint angles, the processor 702 is further configured to:

Determining whether the target joint angle is within a preset angle range;

If yes, the target joint angle is determined as the mechanical limit angle of the gimbal in the first direction.

In one implementation, after the processor 702 determines whether the target joint angle is within a preset angle range, the processor 702 is further configured to:

If the target joint angle is not within the preset angle range, the mechanical limit angle of the first direction that has been set is maintained.

Obtaining an angular error, the angular error being the absolute value of the difference between the target joint angle and the default mechanical limit angle of the gimbal in the first direction;

If the angular error is less than the second predetermined threshold, the target joint angle is determined as the mechanical limit angle of the gimbal in the first direction.

In one implementation, after the processor 702 acquires the angular error, it is further used to:

If the angle error is greater than or equal to the second preset threshold, the mechanical limit angle of the first direction that has been set is maintained.

In an implementation manner, the terminal device may further include a storage medium 704. After determining the mechanical limit angle of the pan/tilt in the first direction, the processor 702 is further configured to:

The mechanical limit angle of the pan/tilt in the first direction is stored in the storage medium 704.

Storage medium 704 can include volatile memory, such as random access memory; storage medium 704 can also include non-volatile memory, such as flash memory, solid state drive, and the like; storage medium 704 can also include a combination of the above-described types of memory.

In another implementation, after determining the mechanical limit angle of the gimbal in the first direction, the processor 702 is further configured to:

The mechanical limit angle of the pan/tilt in the first direction is stored in the memory 701.

In an implementation, the processor 702 is further configured to:

According to the mechanical limit angle of the gimbal in the first direction, the avoidance angle of the avoidance limit algorithm is determined.

In an implementation, the processor 702 is further configured to:

Determining whether the mechanical limit angle of the gimbal in the first direction is within a preset angle range;

If yes, the step of determining the avoidance angle of the avoidance limit algorithm according to the mechanical limit angle of the gimbal in the first direction is performed.

In one implementation, before the processor 702 controls a joint of the gimbal to rotate in the first direction, the processor 702 is further configured to:

Receiving the user's limit angle calibration operation, and controlling the pan/tilt to enter the limit angle calibration mode;

When the pan/tilt is in the limit angle calibration mode, a step of controlling a joint of the pan/tilt to rotate in the first direction is performed.

In an implementation, the processor 702 is further configured to:

The joint controlling the gimbal rotates in a second direction, and the second direction is a reverse direction of the first direction;

During the process of controlling the joint of the gimbal to rotate in the second direction, acquiring a second joint angle set of the joint within a preset time period;

If the difference between the maximum joint angle and the minimum joint angle in the second joint angle set is less than the first preset threshold, determining the mechanical limit angle of the gimbal in the second direction according to the joint angle in the second joint angle set .

In a specific implementation, the processor 702 in the embodiment of the present invention may be implemented as described in the limiting angle calibration method provided in FIG. 3, FIG. 5 and FIG. 6 of the embodiment of the present invention, and details are not described herein.

The above is only a part of the embodiments of the present invention, but the scope of protection of the present invention is not limited thereto, and various equivalent modifications or substitutions that are conceived on the basis of the above embodiments are intended to be covered by the scope of the present invention. within.

Claims

A limit angle calibration method for a terminal device for calibrating a limit angle of a pan/tilt, characterized in that it comprises:

Controlling a joint of the gimbal to rotate in a first direction;

And acquiring a first joint angle set of the joint in a preset time period during the process of controlling the joint of the pan/tilt to rotate in the first direction;

If the difference between the maximum joint angle and the minimum joint angle in the first joint angle set is less than a first preset threshold, determining, according to the joint angle in the first joint angle set, the pan/tilt The mechanical limit angle of the first direction.
The method according to claim 1, wherein said controlling a joint of said pan/tilt to rotate in a first direction comprises:

Controlling a joint of the pan/tilt to rotate in a first direction according to a preset angle, the preset angle being greater than a default mechanical limit angle of the pan-tilt in the first direction.
The method according to claim 1 or 2, wherein the determining the mechanical limit angle of the gimbal in the first direction according to the joint angle in the first set of joint angles comprises:

Determining a target joint angle according to a joint angle in the first set of joint angles;

The target joint angle is determined as a mechanical limit angle of the pan/tilt in the first direction.
The method according to claim 3, wherein said target joint angle is a minimum joint angle in said first joint angle set, or said target joint angle is an average joint in said first joint angle set angle.
The method according to claim 3 or 4, wherein after the determining the target joint angle based on the joint angle in the first set of joint angles, the method further comprises:

Determining whether the target joint angle is within a preset angle range;

If so, the target joint angle is determined as the mechanical limit angle of the gimbal in the first direction.
The method according to claim 5, wherein after the determining whether the target joint angle is within a preset angle range, the method further comprises:

If the target joint angle is not within the preset angle range, the mechanical limit angle of the first direction that has been set is kept unchanged.
The method according to claim 3 or 4, wherein after the determining the target joint angle based on the joint angle in the first set of joint angles, the method further comprises:

Obtaining an angular error, the angular error being an absolute value of a difference between the target joint angle and a default mechanical limit angle of the gimbal in the first direction;

And if the angle error is less than the second preset threshold, determining the target joint angle as a mechanical limit angle of the pan/tilt in the first direction.
The method according to claim 7, wherein after the obtaining the angle error, the method further comprises:

If the angle error is greater than or equal to the second preset threshold, the mechanical limit angle of the first direction that has been set is kept unchanged.
The method according to any one of claims 1 to 8, wherein after the determining the mechanical limit angle of the gimbal in the first direction, the method further comprises:

And storing a mechanical limit angle of the pan/tilt in the first direction.
The method according to any one of claims 1 to 9, wherein the method further comprises:

Determining an avoidance angle of the avoidance limit algorithm according to the mechanical limit angle of the pan/tilt in the first direction.
The method of claim 10, wherein the method further comprises:

Determining whether the mechanical limit angle of the pan/tilt in the first direction is within a preset angle range;

If yes, performing the step of determining an avoidance angle of the avoidance limit algorithm according to the mechanical limit angle of the gimbal in the first direction.
The method according to claim 1, wherein the method further comprises: before the controlling a joint of the gimbal to rotate in a first direction, the method further comprises:

Receiving a limit angle calibration operation of the user, and controlling the pan/tilt to enter a limit angle calibration mode;

And performing the step of controlling a joint of the pan/tilt to rotate in a first direction when the pan/tilt is in the limit angle calibration mode.
The method according to any one of claims 1 to 12, further comprising:

Controlling the joint of the pan/tilt to rotate in a second direction, the second direction being a reverse direction of the first direction;

And acquiring a second joint angle set of the joint in the preset time period during the process of controlling the joint of the pan/tilt to rotate in the second direction;

If the difference between the maximum joint angle and the minimum joint angle in the second joint angle set is less than the first preset threshold, determining the pan/tilt based on the joint angle in the second joint angle set The mechanical limit angle of the second direction.
The terminal device is connected to the cloud station by a wired or wireless method, and the terminal device includes: a memory and a processor, where

The memory is configured to store program instructions;

The processor, the program instruction is invoked for:

Controlling a joint of the gimbal to rotate in a first direction;

And acquiring a first joint angle set of the joint in a preset time period during the process of controlling the joint of the pan/tilt to rotate in the first direction;

If the difference between the maximum joint angle and the minimum joint angle in the first joint angle set is less than a first preset threshold, determining, according to the joint angle in the first joint angle set, the pan/tilt The mechanical limit angle of the first direction.
The terminal device according to claim 14, wherein when the processor is configured to control a joint of the pan/tilt to rotate in a first direction, the processor is specifically configured to:

Controlling a joint of the pan/tilt to rotate in a first direction according to a preset angle, the preset angle being greater than a default mechanical limit angle of the pan-tilt in the first direction.
The terminal device according to claim 14 or 15, wherein the processor is configured to determine a mechanical limit angle of the gimbal in the first direction according to a joint angle in the first set of joint angles When specifically used to:

Determining a target joint angle according to a joint angle in the first set of joint angles;

The target joint angle is determined as a mechanical limit angle of the pan/tilt in the first direction.
The terminal device according to claim 16, wherein said target joint angle is a minimum joint angle in said first joint angle set, or said target joint angle is an average in said first joint angle set Joint angle.
The terminal device according to claim 16 or 17, wherein the processor is further configured to: after determining the target joint angle according to the joint angle in the first set of joint angles:

Determining whether the target joint angle is within a preset angle range;

If yes, the target joint angle is determined as a mechanical limit angle of the pan/tilt in the first direction.
The terminal device according to claim 18, wherein the processor determines whether the target joint angle is within a preset angle range, and is further configured to:

If the target joint angle is not within the preset angle range, the mechanical limit angle of the first direction that has been set is kept unchanged.
The terminal device according to claim 16 or 17, wherein after determining the target joint angle based on the joint angle in the first set of joint angles, the processor is further configured to:

Obtaining an angular error, the angular error being an absolute value of a difference between the target joint angle and a default mechanical limit angle of the gimbal in the first direction;

And if the angle error is less than the second preset threshold, determining the target joint angle as a mechanical limit angle of the pan/tilt in the first direction.
The terminal device according to claim 20, wherein after the processor acquires the angle error, the method is further configured to:

If the angle error is greater than or equal to the second preset threshold, the mechanical limit angle of the first direction that has been set is kept unchanged.
The terminal device according to any one of claims 14 to 21, wherein the terminal device further comprises a storage medium, and the processor determines the mechanical limit angle of the pan/tilt in the first direction, Also used for:

And storing, in the storage medium, a mechanical limit angle of the pan/tilt in the first direction.
The terminal device according to any one of claims 14 to 22, wherein the processor is further configured to:

Determining an avoidance angle of the avoidance limit algorithm according to the mechanical limit angle of the pan/tilt in the first direction.
The terminal device according to claim 23, wherein the processor is further configured to:

Determining whether the mechanical limit angle of the pan/tilt in the first direction is within a preset angle range;

If yes, performing the step of determining an avoidance angle of the avoidance limit algorithm according to the mechanical limit angle of the gimbal in the first direction.
The terminal device according to claim 14, wherein the processor is further configured to: before controlling a joint of the pan/tilt to rotate in a first direction:

Receiving a limit angle calibration operation of the user, and controlling the pan/tilt to enter a limit angle calibration mode;

And performing the step of controlling a joint of the pan/tilt to rotate in a first direction when the pan/tilt is in the limit angle calibration mode.
The terminal device according to any one of claims 14 to 25, wherein the processor is further configured to:

Controlling the joint of the pan/tilt to rotate in a second direction, the second direction being a reverse direction of the first direction;

And acquiring a second joint angle set of the joint in the preset time period during the process of controlling the joint of the pan/tilt to rotate in the second direction;

If the difference between the maximum joint angle and the minimum joint angle in the second joint angle set is less than the first preset threshold, determining the pan/tilt based on the joint angle in the second joint angle set The mechanical limit angle of the second direction.