WO2019210467A1

WO2019210467A1 - Pan-tilt control method and apparatus, pan-tilt system, unmanned aerial vehicle and computer-readable storage medium

Info

Publication number: WO2019210467A1
Application number: PCT/CN2018/085364
Authority: WO
Inventors: 刘帅; 王映知; 王文军
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2018-05-02
Filing date: 2018-05-02
Publication date: 2019-11-07
Also published as: CN110337623A

Abstract

Provided are a pan-tilt control method, a control apparatus (30), a pan-tilt system (100), an unmanned aerial vehicle (1000) and a non-volatile computer storage medium. The pan-tilt system (100) comprises at least one rotary shaft (10), wherein the rotary shaft (10) rotates within a limiting angle interval, with the limiting angle interval comprising a target limiting position (20). The pan-tilt control method comprises: acquiring a current rotation parameter of a rotary shaft (10); calculating, according to the current rotation parameter and the maximum acceleration of the rotary shaft (10), a predicted rotation parameter required when the rotary shaft (10) reaches a target limiting position (20) and the change of the current rotation parameter is zero, or calculating, according to the current rotation parameter, a predicted rotation parameter required when the rotary shaft (10) reaches the target limiting position (20) and the change of the current rotation parameter is zero; and controlling, according to the predicted rotation parameter, the rotary shaft (10) to decelerate.

Description

PTZ control method and device, pan/tilt system, drone and computer readable storage medium

Technical field

The present invention relates to the field of cloud platform technology, and in particular, to a cloud platform control method, a control device, a pan/tilt system, and a non-transitory computer readable storage medium.

Background technique

The gimbal is a supporting device for installing, fixing, and stabilizing electronic devices such as cameras, cameras, sensors, fill lamps, etc., which can well assist the electronic devices to work. However, when the user uses the joystick to control the rotation of the gimbal and reaches the mechanical limit, the pan/tilt usually stops because the speed is too fast, so that the shaft cannot stop before the mechanical limit, thereby hitting the mechanical limit hard, causing the gimbal. Jitter, the jitter of the gimbal will affect the working effect of electronic devices such as cameras, cameras, sensors, fill lights, etc. For example, if a camera is mounted on the gimbal, the image will be blurred due to the shaking of the gimbal; If a camera is mounted on it, the camera image will be shaken due to the shaking of the pan/tilt. If the sensor is mounted on the pan/tilt, the sensor will obtain information error due to the jitter of the pan/tilt; if the cloud mount is equipped with a fill light, It will cause the fill light field of the fill light to deviate from the object to be filled due to the shaking of the gimbal.

Summary of the invention

In view of this, embodiments of the present invention provide a pan/tilt control method, a control device, a pan/tilt system, a drone, and a non-transitory computer readable storage medium, which can avoid shaking caused by direct rotation of the pan/tilt impact limit. This allows the user to get better results.

The invention provides a pan/tilt control method, which is applied to a pan/tilt system, the pan/tilt head system includes at least one rotating shaft, the rotating shaft rotates within a limiting angle interval, and the limiting angular interval includes a target limiting position. The pan/tilt control method includes: acquiring a current rotation parameter of the rotating shaft; calculating, according to the current rotation parameter and the maximum acceleration of the rotating shaft, that the rotating shaft reaches the target limit position and the current rotation parameter changes to zero a desired predicted rotation parameter, or an estimated rotation parameter required when the rotation axis reaches the target limit position and the current rotation parameter changes to zero according to the current rotation parameter; and is controlled according to the predicted rotation parameter The shaft is decelerated.

The invention provides a pan/tilt system, the pan/tilt head system includes at least one rotating shaft, the rotating shaft rotates within a limiting angle interval, the limiting angular interval includes a target limiting position, and the pan/tilt system includes a sensor, processor. The sensor is configured to detect a current rotational parameter of the shaft. The processor is configured to acquire a current rotation parameter of the rotating shaft; and calculate, according to the current rotation parameter and a maximum acceleration of the rotating shaft, that the rotating shaft reaches the target limiting position and the current rotation parameter changes to zero The predicted rotation parameter, or the predicted rotation parameter required when the rotation axis reaches the target limit position and the current rotation parameter changes to zero according to the current rotation parameter; and the control is performed according to the predicted rotation parameter The shaft is decelerated.

The present invention also provides a drone that includes a fuselage, a flight controller, and the above-described control device or pan/tilt system. The flight controller is mounted on the fuselage.

The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program executable by a processor to perform the above-described pan/tilt control method.

The pan/tilt control method, the control device, the pan/tilt system, the drone, and the non-transitory computer-readable storage medium of the embodiment of the present invention obtain the rotation parameter of the rotating shaft, and calculate the rotation axis to stop and stop at the rotation axis according to the rotation parameter. The rotation parameter is predicted at the target limit position, and then the rotation axis automatically decelerates the rotation axis according to the relationship between the predicted rotation parameter and the current rotation parameter, thereby preventing the rotation axis from hitting the target limit hard, avoiding the pan-tilt system jitter and ensuring the pan/tilt head. The working effect of the mounted electronic equipment.

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 schematic flow chart of a pan/tilt control method according to some embodiments of the present invention;

2 is a schematic structural view of a drone according to some embodiments of the present invention;

3 is a perspective view of a drone according to some embodiments of the present invention;

4 is a schematic diagram of a principle of a pan/tilt control method according to some embodiments of the present invention;

5 is a schematic flow chart of a pan/tilt control method according to some embodiments of the present invention;

6 is a schematic structural view of a drone according to some embodiments of the present invention;

7 to 13 are schematic flow charts of a pan/tilt control method according to some embodiments of the present invention.

detailed description

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. 4 together, an embodiment of the present invention provides a PTZ control method that can be applied to the PTZ system 100. The pan-tilt system 100 includes at least one rotating shaft 10, and the rotating shaft 10 rotates within a limit angle interval [θ ₁ , θ ₂ ], and its rotatable range is θ; the limit angle interval [θ ₁ , θ ₂ ] includes a target limit position 20. The target limit position 20 is one of θ ₁ or θ ₂ . It can be understood that the limit angle interval [θ ₁ , θ ₂ ] herein may be a mechanical limit angle interval [θ ₁ , θ ₂ ], or may be a software limit angle interval [θ ₁ , θ ₂ ]. For example, the gimbal pitch axis mechanical limit angle interval [θ ₁ , θ ₂ ] can be [-90°, +10°], that is, the pan/tilt pitch axis can only rotate in this range on the mechanical structure, but its software The limit angle interval [θ ₁ , θ ₂ ] can be [-90°, 0°], that is, during normal use, the software can control the gimbal pitch axis to have an elevation angle of only 0°. Of course, the mechanical limit angle The interval [θ ₁ , θ ₂ ] and the software limit angle interval [θ ₁ , θ ₂ ] may be the same or different. In the embodiment of the present invention, it is preferably a software limit angle interval [θ ₁ , θ ₂ ], and the pan/tilt control method includes:

01: Obtain a current rotation parameter of the rotating shaft 10;

02: Calculate the expected rotation parameter required when the rotating shaft 10 reaches the target limit position 20 and the current rotation parameter changes to zero according to the current rotation parameter and the maximum acceleration of the rotating shaft 10; or calculate the rotating shaft 10 to reach the target limiting position according to the current rotation parameter. And the expected rotation parameter required when the current rotation parameter changes to zero; and

03: The rotating shaft 10 is controlled to decelerate according to the predicted rotation parameter.

Referring to FIG. 1 , FIG. 2 and FIG. 4 , an embodiment of the present invention further provides a control device 30 . The pan/tilt control method of the embodiment of the present invention can be implemented by the control device 30 of the embodiment of the present invention. The control device 30 is applied to the pan-tilt system 100. The pan-tilt system 100 includes at least one rotating shaft 10, and the rotating shaft 10 rotates within a limit angle interval [θ ₁ , θ ₂ ], and the limit angular interval [θ ₁ , θ ₂ ] includes a target. Limit position 20. Specifically, the control device 30 includes a processor 32, and the processor 32 is configured to perform the methods in step 01, step 02, and step 03, that is, the processor 32 is configured to: acquire the current rotation parameter of the rotating shaft 10, according to the current The rotation parameter and the maximum acceleration of the rotating shaft 10 are used to calculate the expected rotation parameter required when the rotating shaft 10 reaches the target limit position 20 and the current rotation parameter changes to zero; or the rotation axis 10 reaches the target limit position 20 according to the current rotation parameter and the current rotation parameter The predicted rotation parameter required when the change is zero, and the rotation of the shaft 10 according to the predicted rotation parameter is decelerated.

Referring to FIG. 1 to FIG. 4 together, an embodiment of the present invention further provides a pan/tilt head system 100. The pan/tilt control method of the embodiment of the present invention can be implemented by the pan/tilt head system 100 of the embodiment of the present invention. The pan-tilt system 100 includes at least one spindle 10, a sensor 40, and a processor 32. The rotating shaft 10 rotates within the limit angle interval [θ ₁ , θ ₂ ], and the limit angle interval [θ ₁ , θ ₂ ] includes the target limit position 20. The sensor 40 is used to detect the current rotation parameter of the rotating shaft 10. The processor 32 is configured to execute the methods in step 01, step 02, and step 03. That is, the processor 32 is configured to: acquire the current rotation parameter of the rotating shaft 10, and calculate the rotating shaft 10 according to the current rotation parameter and the maximum acceleration of the rotating shaft 10. The predicted rotation parameter required to reach the target limit position 20 and the current rotation parameter changes to zero; or calculate the expected rotation parameter required when the rotation axis 10 reaches the target limit position 20 and the current rotation parameter changes to zero according to the current rotation parameter, And controlling the rotating shaft 10 to perform deceleration according to the predicted rotation parameter.

The pan/tilt system 100 may be a single-axis pan/tilt system, a two-axis pan/tilt system, or a three-axis pan/tilt system. When the pan-tilt system 100 is a single-axis pan/tilt system, the rotating shaft 10 may be any one of a pitch axis, a roll axis or a yaw axis; when the pan-tilt system 100 is a two-axis pan/tilt system, the rotating shaft 10 includes a pitch The shaft and the roll shaft; or, the shaft 10 includes a pitch axis and a yaw axis; or, the shaft 10 includes a roll axis and a yaw axis; when the pan/tilt system 100 is a three-axis pan/tilt system, the rotating shaft 10 includes a pitch axis, Roller and yaw axis. Of course, in addition to the single-axis, dual-axis or three-axis pan/tilt system described above, the pan/tilt system 100 can also be a multi-axis pan/tilt system such as a four-axis pan/tilt system or a five-axis pan/tilt system. The sensor 40 and the processor 32 may be disposed on the pan/tilt head (as shown in FIG. 2), or may be independently disposed outside the pan/tilt head, for example, on the body 200 of the drone 1000 (shown in FIG. 3), or The method in step 01, step 02, and step 03 is performed by setting it on the ground terminal remote controller or PC and transmitting by wireless.

In practical applications, the pan/tilt system 100 can be applied to a handheld cloud platform device or a movable platform, wherein the movable platform is an object that can be moved, for example, including an aircraft (including a drone 1000), a car (including an unmanned person). Car), or robots, etc. To simplify the description, the following pan/tilt control method and control device 30 are described by taking a three-axis pan/tilt head applied to the drone 1000 as an example. The pan-tilt head control method and control device 30 is applied to other mobile platforms and handheld pan/tilt heads. Equipment is deduced by analogy and is not to be stated separately in this article.

Specifically, the pan-tilt system 100 is disposed on the drone 1000. If the pan-tilt system 100 is equipped with a visible light imaging device 400 such as a camera or a camera, the user controls the drone 1000 or the pan/tilt system through a remote controller during operation. The rotation is performed such that the target subject falls within the field of view of the visible light imaging device 400. In the process, the processor 32 of the pan-tilt system 100 needs to control the spindle 10 to perform at least one of pitch, yaw, and roll. The sensor 40 detects the rotation parameter of the rotating shaft 10 in real time or periodically, and the processor 32 reads the data in the sensor 40 (ie, the rotation parameter of the rotating shaft 10), and calculates the rotation axis 10 to reach the target limit according to the current rotation parameter and the maximum acceleration of the rotating shaft 10. The expected rotation parameter required for the bit position 20 and the current rotation parameter is just zero, or the expected rotation parameter required when the rotation axis 10 reaches the target limit position 20 and the current rotation parameter is just zero according to the current rotation parameter; The controller 32 then controls the shaft 10 to decelerate according to the predicted rotation parameter. Wherein, the target limit position 20 refers to the limit position of the rotation of the rotating shaft 10, that is, the mechanical limit position, and the predicted rotation parameter refers to the expected rotation parameter required for the shaft 10 to stop immediately when it reaches the target limit position 20, In other words, the rotational axis 10 can stop just at the target limit position 20 with the predicted rotational parameter motion. The maximum acceleration of the rotating shaft 10 is preset data at the factory and stored in a memory unit in the processor 32.

Before the processor 32 controls the rotation of the rotating shaft 10 according to the predicted rotation parameter, the processor 32 can also compare the current rotation parameter with the predicted rotation parameter. When the current rotation parameter and the predicted rotation parameter satisfy the predetermined relationship, the control shaft 10 is decelerated to ensure the rotation. When the rotating shaft 10 reaches the limit position, it stops just right, preventing the rotating shaft 10 from being shaken, and the visible light imaging device 400 is shaken to affect the shooting effect. The predetermined relationship may be greater than or equal to, or may be less than or equal to, etc., and only when the rotation parameter and the predicted rotation parameter satisfy a predetermined relationship, the control shaft 10 is decelerated so that the rotation shaft 10 just stops when it reaches the limit.

The pan/tilt control method, the control device 30, and the pan/tilt system 100 of the embodiment of the present invention acquire the rotation parameter of the rotating shaft 10, and calculate the predicted rotation parameter when the rotating shaft 10 is stopped and stopped at the target limiting position 20 according to the rotation parameter, and then According to the relationship between the predicted rotation parameter and the current rotation parameter, the rotation shaft 10 automatically decelerates the rotation shaft 10, thereby preventing the rotation shaft 10 from hitting the target limit hard, avoiding the shaking of the pan-tilt system 100, and ensuring the work of the electronic equipment mounted on the gimbal. effect. For example, if a camera is mounted on the gimbal, the image of the image will not be blurred due to the shaking of the pan-tilt system 100; if the camera is mounted on the pan/tilt, the camera image will not be shaken due to the shaking of the pan-tilt system 100; If the sensor is mounted on the stage, the sensor will not cause errors due to the jitter of the PTZ system 100. If the fill light is mounted on the PTZ, the fill light will not be compensated for by the shaking of the PTZ system 100. The light field of view deviates from the object to be filled.

Referring to FIG. 3, FIG. 5 and FIG. 6, in some embodiments, the current rotation parameter includes a current rotation speed, the predicted rotation parameter includes an expected rotation angle, and the current rotation parameter of the rotation shaft 10 is acquired (step 01) includes: 011 : obtaining the current rotational speed of the rotating shaft 10;

Calculating the predicted rotation parameter (step 02) required when the rotating shaft 10 reaches the target limit position 20 and the current rotation parameter changes to zero according to the current rotation parameter and the maximum acceleration of the rotating shaft 10 (step 02) includes: 021: calculating the rotating shaft according to the current rotating speed and the maximum acceleration. 10 the expected angle of rotation required to decelerate from the current rotational speed to zero; and

Controlling the rotation of the shaft 10 according to the predicted rotation parameter (step 03) includes: 031: controlling the rotation shaft 10 to perform deceleration according to the predicted rotation angle.

At this time, the processor 32 in the control device 30 can also be used to perform the methods in

steps

011, 021, and 031, that is, the processor 32 is further configured to acquire the current rotational speed of the rotating shaft 10, according to the current rotating speed and the maximum. The acceleration calculates the predicted rotation angle required for the shaft 10 to decelerate from the current rotation speed to zero, and controls the rotation of the shaft 10 according to the predicted rotation angle.

At this time, the sensor 40 in the pan-tilt system 100 includes a speed sensor 42 for detecting the current rotational speed of the rotating shaft 10. Processor 32 is electrically coupled to speed sensor 42 and is used to read data in speed sensor 42. The processor 32 is further configured to perform the methods in step 011, step 021, and step 031, that is, the processor 32 is further configured to acquire the current rotational speed of the rotating shaft 10, and calculate the current rotational speed of the rotating shaft 10 according to the current rotational speed and the maximum acceleration. The expected rotation angle required to decelerate to zero, and the rotation of the shaft 10 according to the predicted rotation angle are decelerated.

The rotational speed may be a rotational angular velocity or a rotational linear velocity. Correspondingly, the maximum acceleration may be a maximum angular acceleration or a maximum linear acceleration. When the rotational velocity is a rotational angular velocity, the maximum acceleration is a maximum angular acceleration; when the rotational velocity is a rotational linear velocity The maximum acceleration is the maximum linear acceleration.

Referring to FIG. 3, FIG. 6, and FIG. 7, the current rotation parameter includes a current rotation angle margin, and acquiring the current rotation parameter of the rotation shaft 10 (step 01) further includes: 012: acquiring a current rotation angle margin of the rotation shaft 10;

And controlling the rotating shaft 10 to decelerate according to the predicted turning angle (step 031) includes: 0311: controlling the rotating shaft 10 to decelerate according to the maximum acceleration when the predicted turning angle is greater than or equal to the current turning angle margin.

At this time, the processor 32 in the control device 30 can also be used to execute the methods in step 011, step 012, step 021, and step 0311, that is, the processor 32 is further configured to acquire the current rotational speed of the rotating shaft 10 and acquire the rotating shaft 10 . The current rotation angle margin is calculated according to the current rotation speed and the maximum acceleration, and the predicted rotation angle required for the rotation of the shaft 10 from the current rotation speed to zero is calculated, and the rotation shaft 10 is controlled to decelerate according to the predicted rotation angle.

At this time, the sensor 40 in the pan-tilt system 100 includes an angle sensor 44 for detecting the current rotational angle margin of the rotating shaft 10 in addition to the speed sensor 42. Processor 32 is electrically coupled to angle sensor 44 and is used to read data from angle sensor 44. The processor 32 is further configured to perform the methods in step 011, step 012, step 021, and step 0311, that is, the processor 32 is further configured to acquire the current rotational speed of the rotating shaft 10, and obtain the current rotational angle margin of the rotating shaft 10, according to The current rotational speed and the maximum acceleration calculate the predicted rotational angle required for the shaft 10 to decelerate from the current rotational speed to zero, and control the rotational shaft 10 to decelerate according to the predicted rotational angle.

The speed sensor 42 is configured to detect the current rotational speed of the rotating shaft 10, the processor 32 acquires the current rotational speed of the rotating shaft 10, and calculates the maximum rotating shaft 10 according to the current rotational speed of the rotating shaft 10 and the maximum acceleration that the pan-tilt system 100 can provide. The angle sensor 44 is used to detect the current rotation angle margin of the shaft 10, wherein the rotation angle is the rotation of the shaft 10 when the shaft 10 is decelerated to zero at the maximum acceleration. The angle of the passing angle, the current turning angle margin refers to the angle required for the rotating shaft 10 to go from the current position to the target limit position 20. The processor 32 compares the predicted rotation angle with the current rotation angle margin and controls the rotation shaft 10 to decelerate according to the maximum acceleration when the predicted rotation angle is greater than or equal to the current rotation angle margin. The processor 32 obtains the current rotation speed and the current rotation angle may be acquired simultaneously, or may not be acquired at different times. For example, the processor 32 simultaneously acquires the current rotation speed and the current rotation angle, and then according to the current rotation speed of the rotation shaft 10 and the cloud. The maximum acceleration that can be provided by the table system 100 calculates the expected rotation angle required for the shaft 10 to decelerate from the current rotation speed to zero with the maximum acceleration, and compares the predicted rotation angle with the current rotation angle margin and the predicted rotation angle is greater than or equal to the current When the angular balance is rotated, the rotating shaft 10 is controlled to decelerate according to the maximum acceleration; or, the processor 32 first obtains the current rotating speed from the speed sensor 42, and then calculates the rotating shaft according to the current rotating speed of the rotating shaft 10 and the maximum acceleration that the pan/tilt system 100 can provide. 10, with the maximum acceleration from the current rotation speed to the expected rotation angle required to zero, and then obtain the current rotation angle margin from the angle sensor 44, and then compare the predicted rotation angle with the current rotation angle margin, and the expected rotation angle is greater than or Control equal to the current rotation angle margin Shaft 10 is decelerated at the maximum acceleration. It can be understood that when the predicted rotation angle is greater than or equal to the current rotation angle margin, the processor 32 starts to control the rotation shaft 10 to decelerate at the maximum acceleration, so that the speed of the rotation shaft 10 is exactly zero when the rotation shaft 10 reaches the target limit position 20, that is, The rotating shaft 10 stops rotating, so that the impact of the rotating shaft 10 against the limit can be prevented from causing the pan-tilt system 100 to shake.

Further, the simulated rotation angle smaller than the predicted rotation angle may be set at the time of shipment or by the user input, and the processor 32 compares the current rotation angle margin with the simulated rotation angle, and the simulated rotation angle is greater than or equal to the current rotation angle. When the quantity is measured, the processor 32 controls the rotating shaft 10 to start decelerating at the maximum acceleration so that the speed of the rotating shaft 10 can be stopped before the target limit position 20, instead of stopping at the target limit position 20, so that the rotation can be retained. The amount of redundancy to increase the fault tolerance.

Referring to FIG. 3, the pan/tilt head system 100 includes an inner frame 50, a middle frame 60, and an outer frame 70. The pitch axis is disposed in the inner frame 50, the roll axis is disposed in the middle frame 60, and the yaw axis is disposed in the outer frame 70. A pitch motor, a roll motor, and a yaw motor are respectively disposed in the inner frame 50, the middle frame 60, and the outer frame 70, thereby controlling the pitch of the devices (such as cameras) mounted on the pan-tilt system 100 by the pitch motor, respectively. The pitch axis performs deceleration control, and the roll motor controls the roll of equipment (such as a camera) mounted on the pan/tilt head system 100 while decelerating the roll axis, and controls the equipment mounted on the pan/tilt head system 100 through the yaw motor ( At the same time, the yaw of the camera, etc., decelerates the yaw axis at the same time, thereby ensuring that the pitch axis, the roll axis and the yaw axis have good anti-collision performance, and preventing the rotation axis 10 from hitting the limit position causes the pan-tilt system 100 to shake.

Referring to FIG. 3, FIG. 6, and FIG. 8, in some embodiments, the current rotation parameter includes a current rotation angle margin, the predicted rotation parameter includes an expected rotation speed, and the current rotation parameter of the rotation shaft 10 is acquired (step 01) includes: 013 : obtaining a current rotation angle margin of the rotating shaft 10;

Calculating the predicted rotation parameter (step 02) required when the rotating shaft 10 reaches the target limit position 20 and the current rotation parameter changes to zero according to the current rotation parameter and the maximum acceleration of the rotating shaft 10 (step 02) includes: 022: according to the current rotation angle margin and the maximum acceleration Calculating the predicted rotational speed required for the shaft 10 to decelerate from the current rotational speed to zero; and

Controlling the rotation of the shaft 10 according to the predicted rotation parameter (step 03) includes: 032: controlling the rotation shaft 10 to perform deceleration according to the predicted rotation speed.

At this time, the processor 32 in the control device 30 can also be used to perform the methods in step 013, step 022 and step 032, that is, the processor 32 is further configured to acquire the current rotation angle margin of the rotating shaft 10 according to the current rotation angle. The remaining amount and the maximum acceleration calculate the predicted rotational speed required for the shaft 10 to decelerate from the current rotational speed to zero, and control the rotational shaft 10 to decelerate according to the predicted rotational speed.

At this time, the sensor 40 in the pan-tilt system 100 includes an angle sensor 44 for detecting the current rotational angle margin of the rotating shaft 10. The processor 32 is electrically coupled to the angle sensor 44 and is used to read data in the angle sensor 44. The processor 32 is further configured to perform the methods in step 013, step 022, and step 032, that is, the processor 32 is further configured to acquire a current rotation angle margin of the rotating shaft 10, and calculate the rotating shaft 10 according to the current rotation angle margin and the maximum acceleration. The predicted rotational speed required to decelerate from the current rotational speed to zero, and the rotational shaft 10 is controlled to decelerate according to the predicted rotational speed.

Referring to FIG. 3, FIG. 6, and FIG. 9, in some embodiments, the current rotation parameter includes a current rotation speed, and acquiring a current rotation parameter of the rotation shaft 10 (step 01) further includes: 014: acquiring a current rotation speed of the rotation shaft 10; and

Controlling the rotation of the rotating shaft 10 according to the predicted rotational speed (step 032) includes: 0321: Controlling the rotating shaft 10 to decelerate according to the maximum acceleration when the predicted rotational speed is less than or equal to the current rotational speed.

At this time, the processor 32 in the control device 30 can also be used to execute the method in step 013, step 014, step 022 and step 0321, that is, the processor 32 is further configured to acquire the current rotation angle margin of the rotating shaft 10 and obtain The current rotational speed of the rotating shaft 10, the predicted rotational speed required for the rotational shaft 10 to decelerate from the current rotational speed to zero according to the current rotational angular margin and the maximum acceleration, and the control of the rotational shaft 10 according to the maximum when the predicted rotational speed is less than or equal to the current rotational speed. The acceleration is decelerated.

At this time, the sensor 40 of the pan-tilt system 100 includes a speed sensor 42 for detecting the current rotational speed of the rotating shaft 10 in addition to the angle sensor 44; the processor 32 is electrically connected to the speed sensor 42 and is used for reading the speed sensor. Data in 42. The processor 32 is further configured to perform the methods in step 013, step 014, step 022, and step 0321, that is, the processor 32 is further configured to acquire a current rotation angle margin of the rotating shaft 10, and obtain a current rotation speed of the rotating shaft 10, according to The current rotation angle margin and the maximum acceleration calculate the predicted rotation speed required for the shaft 10 to decelerate from the current rotation speed to zero, and the control shaft 10 decelerates according to the maximum acceleration when the predicted rotation speed is less than or equal to the current rotation speed.

The angle sensor 44 is configured to detect the current rotation angle margin of the rotating shaft 10, the processor 32 obtains the current rotation angle margin, and calculates the rotation axis according to the current rotation angle margin of the rotating shaft 10 and the maximum acceleration that the pan-tilt system 100 can provide. 10 is the predicted rotational speed required to decelerate from the current rotational angle margin to zero at the maximum acceleration. The speed sensor 42 is used to detect the current rotational speed of the rotary shaft 10, wherein the predicted rotational speed is when the rotary shaft 10 is decelerated to zero at the maximum acceleration and the rotary shaft The speed required for the current rotation angle margin of 10 is zero, and the current rotation angle margin is the angle that the rotation shaft 10 passes from the current position to the target limit position 20. The processor 32 compares the predicted rotational speed with the current rotational speed and controls the rotational shaft 10 to decelerate at the maximum acceleration when the predicted rotational speed is less than or equal to the current rotational speed. It can be understood that when the current rotation speed is greater than or equal to the predicted rotation speed, the processor 32 starts to control the rotation shaft 10 to decelerate at the maximum acceleration, so that when the rotation shaft 10 reaches the target limit position 20, the speed of the rotation shaft 10 is exactly zero, that is, the rotation shaft 10 stops. Rotation, thereby preventing the shaft 10 from hitting the limit, causes the pan-tilt system 100 to shake.

Further, the simulated rotational speed less than the predicted rotational speed may be set at the time of shipment or by user input, and the processor 32 compares the current rotational speed with the simulated rotational speed when the current rotational speed is greater than or equal to the simulated rotational speed. The processor 32 then controls the spindle 10 to begin deceleration so that the speed of the spindle 10 can be stopped before the target limit position 20, rather than just stopping at the target limit position 20, retaining a certain amount of redundancy to increase the fault tolerance.

Referring to FIG. 3, FIG. 6, and FIG. 10, in some embodiments, the current rotation parameter includes a current rotation speed and a current rotation angle margin, and the predicted rotation parameter includes a predicted acceleration, and acquires a current rotation parameter of the rotation shaft 10 (step 01). The method includes: 015: acquiring a current rotation speed of the rotating shaft 10 and a current rotation angle margin;

Calculating the predicted rotation parameter required by the rotation axis 10 to reach the target limit position 20 and the current rotation parameter changes to zero according to the current rotation parameter (step 02) includes: 023: calculating the rotation shaft 10 from the current rotation speed and the current rotation angle allowance The rotational speed and the current rotational angle margin are simultaneously reduced to the required predicted acceleration; and the rotational shaft 10 is decelerated according to the predicted rotational parameter (step 03) includes: 033: controlling the rotational shaft 10 to decelerate according to the predicted acceleration.

At this time, the processor 32 in the control device 30 can also be used to execute the methods in step 015, step 023, and step 033, that is, the processor 32 is further configured to acquire the current rotational speed and the current rotational angle margin of the rotating shaft 10. And calculating, according to the current rotation speed and the current rotation angle margin, the predicted acceleration of the rotating shaft 10 from the current rotation speed and the current rotation angle margin simultaneously reduced to zero, and controlling the rotation shaft 10 to decelerate according to the predicted acceleration.

At this time, the sensor 40 of the pan-tilt system 100 includes a speed sensor 42 for detecting the current rotational speed of the rotating shaft 10, and an angle sensor 44 for detecting the current rotational angular margin of the rotating shaft 10; the processor 32 Data is coupled to speed sensor 42 and angle sensor 44 and used to read data from speed sensor 42 and angle sensor 44. The processor 32 is further configured to perform the methods in step 015, step 023, and step 033, that is, the processor 32 is further configured to acquire the current rotation speed of the rotating shaft 10 and the current rotation angle margin, according to the current rotation speed and the current rotation angle. The remaining amount calculates the predicted acceleration of the rotating shaft 10 from the current rotational speed and the current rotational angular margin simultaneously to zero, and controls the rotational shaft 10 to decelerate according to the predicted acceleration.

Referring to FIG. 3, FIG. 6, and FIG. 11, in some embodiments, controlling the rotating shaft 10 to decelerate according to the predicted rotation parameter (step 033) includes: 0331: controlling the rotating shaft 10 according to the maximum acceleration when the predicted acceleration is greater than or equal to the maximum acceleration. Slow down.

At this time, the processor 32 in the control device 30 can also be used to execute the method in step 015, step 023 and step 0331, that is, the processor 32 is further configured to acquire the current rotational speed and the current rotational angle margin of the rotating shaft 10, Calculating the expected acceleration of the rotating shaft 10 from the current rotating speed and the current turning angular margin simultaneously to zero according to the current rotating speed and the current turning angular margin, and controlling the rotating shaft 10 according to the maximum acceleration when the predicted acceleration is greater than or equal to the maximum acceleration. slow down.

At this time, the sensor 40 of the pan-tilt system 100 includes a speed sensor 42 for detecting the current rotational speed of the rotating shaft 10, and an angle sensor 44 for detecting the current rotational angular margin of the rotating shaft 10; the processor 32 Data is coupled to speed sensor 42 and angle sensor 44 and used to read data from speed sensor 42 and angle sensor 44. The processor 32 is further configured to perform the methods in step 015, step 023, and step 0331, that is, the processor 32 is further configured to acquire the current rotation speed of the rotating shaft 10 and the current rotation angle margin, according to the current rotation speed and the current rotation angle. The remaining amount calculates the predicted acceleration of the rotating shaft 10 from the current rotational speed and the current rotational angular margin simultaneously to zero, and controls the rotational shaft 10 to decelerate according to the maximum acceleration when the predicted acceleration is greater than or equal to the maximum acceleration.

The speed sensor 42 is configured to detect the current rotational speed of the rotating shaft 10, the angle sensor 44 is configured to detect the current rotational angular margin of the rotating shaft 10, and the processor 32 obtains the current rotational speed and the current rotational angular margin, and according to the current state of the rotating shaft 10 The rotational speed and the current rotational angle margin calculate the predicted acceleration required when the rotating shaft 10 reaches the target limit position 20 and the current rotational speed is zero, wherein the predicted acceleration is the current rotation of the rotating shaft 10 when the rotating shaft 10 is decelerated to zero with the predicted acceleration. The acceleration required when the angular margin is zero, the current rotation angle margin refers to the angle that the rotating shaft 10 passes from the current position to the target limit position 20. The processor 32 compares the predicted and speed with the maximum acceleration and controls the shaft 10 to decelerate at the maximum acceleration when the predicted acceleration is greater than or equal to the maximum acceleration. It can be understood that when the predicted acceleration is greater than or equal to the maximum acceleration, the processor 32 starts to control the rotating shaft 10 to decelerate at the maximum acceleration, so that when the rotating shaft 10 reaches the target limiting position 20, the speed of the rotating shaft 10 is exactly zero, that is, the rotating shaft 10 stops rotating. Thereby, it is possible to prevent the rotating shaft 10 from hitting the limit position and causing the pan-tilt system 100 to shake.

Further, the simulated acceleration less than the maximum acceleration may be set at the factory or by the user input, and the processor 32 compares the predetermined acceleration with the simulated acceleration. When the predicted acceleration is greater than or equal to the simulated acceleration, the processor 32 controls the rotating shaft. 10 begins to decelerate with the simulated acceleration so that the rotating shaft 10 can stop before the target limit position 20 when the current rotational speed of the rotating shaft 10 is relatively zero, and a certain amount of redundancy is reserved to increase the fault tolerance. Of course, it is also possible to dynamically adjust the deceleration acceleration value according to the current rotation speed and the current rotation angle margin, that is, decelerate the rotation shaft 10 with a predetermined acceleration value, so that the deceleration can be made smoother, instead of using the maximum acceleration when the speed is large. Slow down and the user experience is better. In addition, sometimes the rotation axis 10 stops (ie, the current rotation speed is zero), but the rotation axis 10 does not reach the target limit position 20, that is, the rotation axis 10 is at a distance before the target limit position 20. It stops, although it does not cause the problem that the pan/tilt 10 impact limit causes the pan-tilt system 100 to shake, but it is not conducive to making full use of the limit angle interval [θ ₁ , θ ₂ ] of the rotating shaft 10, which will make the limit angle interval [ θ ₁ , θ ₂ ] become smaller, reducing the range of use of the pan-tilt system 100. The simulated acceleration cannot be much smaller than the maximum acceleration. In case the predicted acceleration and the maximum acceleration differ greatly, the pan-tilt system 100 starts to decelerate, so that the rotating shaft 10 stops at a distance before the target limit position 20, so that The limit angle interval [θ ₁ , θ ₂ ] becomes smaller, reducing the range of use of the pan-tilt system 100. The setting of the simulated acceleration should be designed according to the anti-collision requirements and usage requirements of the pan-tilt system 100, and the balance between the limit angle interval [θ ₁ , θ ₂ ] and the prevention of the impact limit of the rotating shaft 10 is balanced. Get the best performance. In addition, the PTZ system 100 can also be combined with the anti-shake function of the camera. For example, when hitting the limit at a lower speed, it does not affect the camera's shooting, so there is no need to reduce the speed to zero. Just reduce it to a speed that doesn't affect the camera's shooting.

Referring to FIG. 3, FIG. 5 and FIG. 11, in some embodiments, the pan/tilt control method further includes: 04: acquiring a rotation direction of the rotating shaft 10;

05: Determine the target limit position 20 according to the rotation direction;

And obtaining the current rotation parameter of the rotating shaft 10 (step 01) further includes: 016: acquiring a current rotation angle margin of the rotating shaft 10 to the target limiting position 20.

At this time, the processor 32 in the control device 30 can also be used to execute the method in step 04, step 05, and step 016, that is, the processor 32 is further configured to acquire the rotation direction of the rotating shaft 10, and determine the target limit according to the rotation direction. The bit position 20, and the current rotation angle margin of the reel 10 to the target limit position 20.

At this time, the sensor 40 of the pan-tilt system 100 includes an angle sensor 44 for detecting the direction of rotation of the rotating shaft 10; the processor 32 is electrically connected to the speed sensor 42 and the angle sensor 44 and is used to read the speed sensor 42 and the angle sensor 44 data. The processor 32 is further configured to perform the methods in step 04, step 05, and step 016, that is, the processor 32 is further configured to acquire a rotation direction of the rotating shaft 10, determine a target limit position 20 according to the rotation direction, and acquire the rotating shaft 10 The current rotation angle margin to the target limit position 20.

Referring to FIG. 3, FIG. 5, FIG. 12 and FIG. 13, in some embodiments, the target limit position 20 includes a first target limit position 22 and a second target limit position 24, and the rotating shaft 10 is at the first target limit. The positional position 22 and the second target limit position 24 are rotated. When it is determined that the rotary shaft 10 is turned to the first target limit position 22 according to the rotational direction, the current rotational angle allowance step of the rotational shaft 10 to the target limit position 20 is acquired (016) ) includes: 0161: obtaining a current rotation angle margin of the rotating shaft 10 to the first target limit position 22;

Or / and when it is determined that the rotating shaft 10 is turned to the second target limit position 24 according to the rotating direction, the step (016) of acquiring the current turning angular margin of the rotating shaft 10 to the target limiting position 20 includes: 0162: acquiring the rotating shaft 10 to the second target The current rotation angle margin of the limit position 24.

At this time, the processor 32 in the control device 30 can also be used to perform the methods in the step 04, the step 05, the step 0161, and the step 0162, that is, the processor 32 is further configured to obtain the rotation direction of the rotating shaft 10, and determine according to the rotation direction. The target limit position 20, when determining that the rotating shaft 10 is turned to the first target limit position 22 according to the rotating direction, acquires the current turning angle margin of the rotating shaft 10 to the first target limiting position 22, or/and when determining the rotating shaft 10 according to the rotating direction When the second target limit position 24 is turned, the current rotational angle margin of the rotating shaft 10 to the second target limit position 24 is obtained. Wherein, the first target limit position 22 is θ _{1, and the} second target limit position is θ ₂

The present invention also provides a drone 1000 that includes the pan/tilt head system 100, the fuselage 200, and the flight controller 300 of any of the above embodiments. The flight controller 300 is mounted on the body 200, and the pan/tilt system 100 is also mounted on the body.

The present invention also provides a non-transitory computer readable storage medium comprising a computer program for use with the above-described pan/tilt system 100, the computer program being executable by the processor 32 to implement the pan/tilt control method of any of the above embodiments .

For example, the computer program can be executed by the processor 32 to implement the above-described pan/tilt control method: 01: acquire the current rotation parameter of the rotating shaft 10; 02: calculate the rotating shaft 10 to reach the target limit position 20 according to the current rotation parameter and the maximum acceleration of the rotating shaft 10 and The expected rotation parameter required when the current rotation parameter changes to zero; or the expected rotation parameter required when the rotation axis 10 reaches the target limit position 20 and the current rotation parameter changes to zero according to the current rotation parameter; and 03: according to the predicted rotation parameter The rotating shaft 10 is controlled to decelerate.

As another example, the computer program can also be executed by processor 32 to implement the pan/tilt control method described above:

Obtaining the current rotation parameter of the rotating shaft 10 (step 01) includes: 011: acquiring the current rotation speed of the rotating shaft 10; calculating the rotating shaft 10 to reach the target limiting position 20 according to the current rotation parameter and the maximum acceleration of the rotating shaft 10, and the current rotation parameter changes to zero. The required predicted rotation parameter (step 02) includes: 021: calculating a predicted rotation angle required for the shaft 10 to decelerate from the current rotation speed to zero according to the current rotation speed and the maximum acceleration; and controlling the rotation shaft 10 to perform deceleration according to the predicted rotation parameter (step 03) Included: 031: The rotating shaft 10 is controlled to decelerate according to the predicted rotation angle.

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 the 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 non-transitory computer readable storage medium. The program, when executed, includes 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 pan/tilt control method is applied to a pan-tilt system, wherein the pan-tilt system includes at least one rotating shaft, the rotating shaft rotates within a limiting angle interval, and the limiting angular interval includes a target limiting position, The pan/tilt control method includes:

Obtaining a current rotation parameter of the rotating shaft;

Calculating, according to the current rotation parameter and the maximum acceleration of the rotating shaft, a predicted rotation parameter required when the rotation axis reaches the target limit position and the current rotation parameter changes to zero, or according to the current rotation parameter calculation Determining a predicted rotation parameter required when the rotation axis reaches the target limit position and the current rotation parameter changes to zero; and

The rotating shaft is controlled to decelerate according to the predicted rotation parameter.
The pan/tilt control method according to claim 1, wherein the current rotation parameter comprises a current rotation speed, and the predicted rotation parameter comprises an expected rotation angle.

The acquiring the current rotation parameter of the rotating shaft includes: acquiring a current rotation speed of the rotating shaft;

And calculating, according to the current rotation parameter and the maximum acceleration of the rotating shaft, a predicted rotation parameter required when the rotating shaft reaches the target limit position and the current rotation parameter changes to zero: according to the current rotation speed And the maximum acceleration calculating an expected rotation angle required for the rotation axis to decelerate from the current rotation speed to zero; and

The controlling the rotating shaft to perform deceleration according to the predicted rotation parameter comprises: controlling the rotating shaft to perform deceleration according to the predicted rotation angle.
The pan/tilt control method according to claim 2, wherein the current rotation parameter includes a current rotation angle margin, and the acquiring the current rotation parameter of the rotation shaft further comprises: acquiring a current rotation angle of the rotation shaft the amount;

The controlling the rotating shaft to perform deceleration according to the predicted rotation angle comprises: controlling the rotating shaft to decelerate according to the maximum acceleration when the predicted rotation angle is greater than or equal to the current rotation angle remaining.
The pan/tilt control method according to claim 1, wherein the current rotation parameter comprises a current rotation angle margin, the predicted rotation parameter comprises an expected rotation speed, and the acquiring the current rotation parameter of the rotation shaft comprises: Obtaining a current rotation angle margin of the rotating shaft;

And calculating, according to the current rotation parameter and the maximum acceleration of the rotating shaft, a predicted rotation parameter required when the rotation axis reaches the target limit position and the current rotation parameter changes to zero: according to the current rotation angle a balance and the maximum acceleration calculate an expected rotational speed required to reduce the current rotation angle margin to zero;

The controlling the rotating shaft to perform deceleration according to the predicted rotation parameter comprises: controlling the rotating shaft to perform deceleration according to the predicted rotating speed.
The pan/tilt control method according to claim 4, wherein the current rotation parameter comprises a current rotation speed, and the controlling the rotation axis to decelerate according to the predicted rotation parameter further comprises:

The acquiring the current rotation parameter of the rotating shaft further includes: acquiring a current rotation speed of the rotating shaft;

The controlling the rotating shaft to perform deceleration according to the predicted rotating speed comprises: controlling the rotating shaft to decelerate according to the maximum acceleration when the predicted rotating speed is less than or equal to the current rotating speed.
The pan/tilt control method according to claim 1, wherein the current rotation parameter comprises a current rotation speed and a current rotation angle margin, the predicted rotation parameter comprises a predicted acceleration, and the current rotation of the rotation shaft is acquired The parameter includes: obtaining a current rotation speed of the rotating shaft and a current rotation angle margin;

And calculating, according to the current rotation parameter, a predicted rotation parameter required when the rotation axis reaches the target limit position and the current rotation parameter changes to zero: according to the current rotation speed and the current rotation angle Calculating, by the quantity, the expected acceleration from the current rotation speed and the current rotation angle margin simultaneously reduced to zero;

The controlling the rotating shaft to perform deceleration according to the predicted rotation parameter comprises: controlling the rotating shaft to perform deceleration according to the predicted acceleration.
The pan/tilt control method according to claim 6, wherein the controlling the rotating shaft to perform deceleration according to the predicted acceleration comprises: controlling the rotating shaft according to the predicted acceleration when the predicted acceleration is greater than or equal to the maximum acceleration The maximum acceleration is described as decelerating.
The pan/tilt control method according to claim 3, 4 or 6, wherein the pan/tilt control method comprises: acquiring a rotation direction of the rotating shaft;

Determining the target limit position according to the rotation direction; and

The step of acquiring the current rotation parameter of the rotating shaft further includes: acquiring the current rotation angle margin of the rotating shaft to the target limiting position.
The pan/tilt control method according to claim 8, wherein the target limit position comprises a first target limit position and a second target limit position, wherein the rotating shaft is at the first target limit position and Rotating between the second target position, and when determining that the rotating shaft is turned to the first target limit position according to the rotating direction, the acquiring the current axis to the target limit position The rotation angle margin includes: obtaining the current rotation angle margin of the rotation shaft to the first target limit position; or/and

When determining that the rotating shaft is turned to the second target limiting position according to the rotating direction, the acquiring the current rotation angle margin of the rotating shaft to the target limiting position comprises: acquiring the rotating shaft to the The current rotation angle margin of the second target limit position.
The pan/tilt control method according to claim 1, wherein the rotating shaft comprises at least one of a pitch axis, a roll axis, and a yaw axis.
A control device is applied to a control pan/tilt head system, wherein the pan/tilt head system comprises at least one rotating shaft, the rotating shaft rotates within a limiting angle interval, and the limiting angular interval includes a target limiting position, The control device includes a processor for:

Obtaining a current rotation parameter of the rotating shaft;

Obtaining a current rotation parameter of the rotating shaft; calculating, according to the current rotation parameter and a maximum acceleration of the rotating shaft, an expected rotation parameter required when the rotating shaft reaches the target limiting position and the current rotation parameter changes to zero, Or calculating an expected rotation parameter required when the rotating shaft reaches the target limit position and the current rotation parameter changes to zero according to the current rotation parameter; and

The rotating shaft is controlled to decelerate according to the predicted rotation parameter.
The control device according to claim 11, wherein the current rotation parameter comprises a current rotation speed, the predicted rotation parameter comprises an expected rotation angle, and the processor is configured to acquire a current rotation speed of the rotation shaft, according to the Determining a current rotation speed and the maximum acceleration to calculate an expected rotation angle required for the rotation shaft to decelerate from the current rotation speed to zero, and controlling the rotation shaft to decelerate according to the predicted rotation angle.
The control device according to claim 12, wherein said current rotation parameter comprises a current rotation angle margin, said processor is configured to obtain a current rotation angle margin of said rotation shaft, and said predicted rotation angle is greater than Or controlling the rotation axis to decelerate according to the maximum acceleration when the current rotation angle margin is equal to or equal to the current rotation angle.
The control device according to claim 11, wherein said current rotation parameter comprises a current rotation angle margin, said predicted rotation parameter comprises an expected rotation speed, and said processor is configured to acquire a current rotation angle of said rotation shaft And calculating, according to the current rotation angle margin and the maximum acceleration, a predicted rotation speed required to reduce the current rotation angle margin to zero, and controlling the rotation shaft to perform deceleration according to the predicted rotation speed.
The control device according to claim 14, wherein said current rotation parameter comprises a current rotational speed, said processor is configured to obtain a current rotational speed of said rotary shaft, and said predicted rotational speed is less than or equal to said said At the current rotational speed, the rotating shaft is controlled to decelerate according to the maximum acceleration.
The control device according to claim 11, wherein said current rotation parameter comprises a current rotation angle margin, said predicted rotation parameter comprises an expected rotation angle, said processor is configured to acquire a current rotation speed of said rotation shaft and Calculating, according to the current rotation speed margin, the current rotation speed and the current rotation angle margin, the estimated acceleration of the rotation axis from the current rotation speed and the current rotation angle margin simultaneously reduced to zero, and The predicted acceleration controls the rotating shaft to decelerate.
The control device according to claim 16, wherein said processor is configured to control said rotating shaft to decelerate according to said maximum acceleration when said predicted acceleration is greater than or equal to said maximum acceleration.
The control device according to claim 13, 14 or 16, wherein the processor is configured to acquire a rotation direction of the rotating shaft, determine the target limit position according to the rotation direction, and acquire the rotating shaft to The current rotation angle margin of the target limit position.
The control device according to claim 18, wherein the target limit position comprises a first limit position and a second limit position, wherein the rotating shaft is at the first limit position and the second limit Rotating between positional positions, the processor is configured to acquire the current rotation angle of the rotating shaft to the first limiting position when determining that the rotating shaft is turned to the first target limiting position according to the rotating direction Quantity; or / and

The processor is further configured to acquire the current rotation angle margin of the rotating shaft to the second limit position when determining that the rotating shaft is turned to the second target limiting position according to the rotating direction.
The control device according to claim 11, wherein the rotating shaft comprises at least one of a pitch axis, a roll axis, and a yaw axis.
A pan/tilt system, characterized in that the pan/tilt system comprises:

At least one rotating shaft, the rotating shaft rotates within a limiting angle interval, and the limiting angular interval includes a target limiting position;

a sensor for detecting a current rotation parameter of the shaft; and

a processor, configured to acquire a current rotation parameter of the rotating shaft; calculate, according to the current rotation parameter and a maximum acceleration of the rotating shaft, that the rotating shaft reaches the target limiting position and the current rotation parameter changes to zero The predicted rotation parameter required for the time, or the predicted rotation parameter required when the rotation axis reaches the target limit position and the current rotation parameter changes to zero according to the current rotation parameter; and according to the predicted rotation parameter The rotating shaft is controlled to decelerate.
The pan/tilt head system according to claim 21, wherein said current rotation parameter comprises a current rotation speed, said predicted rotation parameter comprises an expected rotation angle, said sensor comprises a speed sensor, said speed sensor being used for detecting Determining a current rotational speed of the rotating shaft; the processor is configured to acquire a current rotational speed of the rotating shaft, and calculate an expected rotation required to decelerate the rotating shaft from the current rotating speed to zero according to the current rotating speed and the maximum acceleration The angle, and controlling the rotating shaft to decelerate according to the predicted rotation angle.
The pan/tilt head system according to claim 22, wherein said current rotation parameter comprises a current rotation angle margin, said sensor comprises an angle sensor for detecting a current rotation angle margin of said rotation shaft The processor is configured to acquire a current rotation angle margin of the rotating shaft, and control the rotating shaft to decelerate according to the maximum acceleration when the predicted rotation angle is greater than or equal to the current rotation angle margin.
The pan/tilt head system according to claim 21, wherein said current rotation parameter comprises a current rotation angle margin, said predicted rotation parameter comprises an expected rotation speed, said sensor comprises an angle sensor, said angle sensor being used Detecting a current rotation angle margin of the rotating shaft; the processor is configured to acquire a current rotation angle margin of the rotating shaft, calculate the current rotation angle margin according to the current rotation angle margin and the maximum acceleration, and reduce the current rotation angle margin to Determining the required rotational speed of zero, and controlling the rotating shaft to decelerate according to the predicted rotational speed.
The pan/tilt head system according to claim 24, wherein said current rotation parameter comprises a current rotational speed, said sensor comprises a speed sensor for detecting a current rotational speed of said rotary shaft; said processing The device is configured to acquire a current rotational speed of the rotating shaft, and control the rotating shaft to decelerate according to the maximum acceleration when the predicted rotational speed is less than or equal to the current rotational speed.
The pan/tilt head system according to claim 21, wherein said current rotation parameter comprises a current rotation angle margin, said predicted rotation parameter comprises an expected rotation angle, said sensor comprising a speed sensor and an angle sensor, said speed a sensor is configured to detect a current rotational speed of the rotating shaft, the angle sensor is configured to detect a current rotational angular margin of the rotating shaft; and the processor is configured to acquire a current rotational speed and a current rotational angular margin of the rotating shaft, according to Calculating, according to the current rotation speed and the current rotation angle margin, a predicted acceleration required to simultaneously reduce the rotation axis from the current rotation speed and the current rotation angle margin to zero, and controlling the predicted acceleration according to the predicted acceleration The shaft is decelerated.
The pan/tilt head system according to claim 26, wherein the processor is configured to control the rotating shaft to decelerate according to the maximum acceleration when the predicted acceleration is greater than or equal to the maximum acceleration.
The pan/tilt head system according to claim 23, 24 or 26, wherein the angle sensor is for detecting a rotation direction of the rotating shaft; the processor is configured to acquire a rotation direction of the rotating shaft, according to the rotation The direction determines the target limit position, and acquires the current rotation angle margin of the rotation axis to the target limit position.
The pan/tilt head system according to claim 28, wherein the target limit position comprises a first limit position and a second limit position, wherein the rotating shaft is at the first limit position and the second position Rotating between the limit positions, the processor is configured to acquire the current rotation angle of the rotating shaft to the first limit position when determining that the rotating shaft is turned to the first target limit position according to the rotating direction Balance; or / and

The processor is further configured to acquire the current rotation angle margin of the rotating shaft to the second limit position when determining that the rotating shaft is turned to the second target limiting position according to the rotating direction.
The pan/tilt head system according to claim 21, wherein the rotating shaft comprises at least one of a pitch axis, a roll axis, and a yaw axis.
A drone, characterized in that the drone includes:

body;

a flight controller on which the flight controller is mounted; and

The control device according to any one of claims 21 to 30 or the pan/tilt head system according to any one of claims 21 to 30.
A non-transitory computer readable storage medium comprising a computer program for use with a cloud platform, the computer program being executable by a processor to perform the cloud of any one of claims 1 to 10. Station control method.