WO2019227384A1

WO2019227384A1 - Pan-tilt control method and pan-tilt

Info

Publication number: WO2019227384A1
Application number: PCT/CN2018/089232
Authority: WO
Inventors: 林荣华; 赵涛
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2018-05-31
Filing date: 2018-05-31
Publication date: 2019-12-05
Also published as: CN110431507A

Abstract

A pan-tilt control method. The pan-tilt comprises a base, at least one rotating shaft sequentially connected to the base, and a load apparatus connected to an end of the rotating shaft, wherein the rotating shaft is provided with a driver. The method comprises: acquiring an initial posture of the pan-tilt and a current posture of the pan-tilt; calculating a driving amount of the driver at the at least one rotating shaft according to a posture difference between the current posture of the pan-tilt head and the initial posture of the pan-tilt head; and controlling the driver so that same drives, in accordance with the driving amount, the at least one rotating shaft to move.

Description

PTZ control method and PTZ

Technical field

The present disclosure relates to the field of gimbals, and in particular, to a gimbal control method and a gimbal.

Background technique

In daily use, when people use mobile phones, cameras and other shooting devices to shoot directly, it is easy to shake the screen due to instability in their hands, which makes it impossible to take ideal pictures or videos. Therefore, shooting with stabilizers such as gimbals Equipment to shoot to ensure the stability of the composition of the shooting equipment has become a common shooting method now. However, in the existing PTZ, there are often only a few fixed modes for users to choose, such as horizontal, vertical, or flashlight modes, to achieve stabilization at a certain angle. During use, the user can only control the mobile phone, camera, etc. to face a specific direction or only follow on a certain rotation axis, and cannot meet the needs of the user's arbitrary composition or the needs of first-person perspective shooting.

Public content

In view of this, the present disclosure provides a PTZ control method and a PTZ, which can achieve stabilization and follow at any angle, thereby satisfying the user's need for arbitrary composition and the need for first-person perspective shooting.

An embodiment of the present disclosure provides a method for controlling a pan / tilt head. The pan / tilt head includes a base, at least one rotating shaft connected to the base in sequence, and a load device connected to the end of the rotating shaft. A driver is disposed at the rotating shaft. The method includes: obtaining an initial attitude of the gimbal and a current attitude of the gimbal; and calculating a position at the at least one rotation axis based on a difference between the attitude of the current gimbal and the initial attitude of the gimbal. A driving amount of the driver; controlling the driver to drive the at least one rotating shaft to move according to the driving amount.

An embodiment of the present disclosure further provides a pan / tilt head. The pan / tilt head includes a base, at least one rotating shaft connected to the base in sequence, and a load device connected to the end of the rotating shaft. A driver is provided at the rotating shaft. The pan / tilt head further includes: a memory for storing executable instructions; a processor for executing the executable instructions stored in the memory to perform the following operations: obtaining an initial attitude of the pan / tilt and the cloud The current attitude of the stage; calculating the driving amount of the driver at the at least one rotation axis according to the attitude difference between the current attitude of the gimbal and the initial attitude of the gimbal; controlling the driver to drive according to the driving amount The at least one rotating shaft moves.

An embodiment of the present disclosure further provides a computer-readable storage medium that stores executable instructions. When the executable instructions are executed by one or more processors, the one or more processors can execute the foregoing. Any one of the pan / tilt control methods.

As can be seen from the above technical solutions, the embodiments of the present disclosure have at least the following beneficial effects: determining the driving amount according to the attitude difference between the current attitude of the gimbal and the initial attitude of the gimbal, and controlling the driver to drive the shaft to move according to the driving amount, so that The attitude of the device follows the attitude of the base, so that the load device can realize arbitrary composition or arbitrary first-person perspective shooting.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings are used to provide a further understanding of the present disclosure, and constitute a part of the description. Together with the following specific embodiments, the drawings are used to explain the present disclosure, but do not constitute a limitation on the present disclosure. In the drawings:

FIG. 1 is a structural diagram of a three-axis head in an embodiment of the present disclosure.

FIG. 2 is a flowchart of a gimbal control method according to an embodiment of the present disclosure.

FIG. 3 is a flowchart of the sub-steps of step S202.

FIG. 4 is a schematic flowchart of a gimbal following the first solution.

FIG. 5 is a schematic diagram of determining a target attitude quaternion of the camera in FIG. 4.

FIG. 6 is a schematic flowchart of a gimbal following the second solution.

FIG. 7 is a schematic diagram of determining a target joint angle in FIG. 6.

FIG. 8 is a schematic diagram of a pan / tilt according to an embodiment of the present disclosure.

FIG. 9 is a schematic diagram of a pan / tilt according to another embodiment of the present disclosure.

【Symbol Description】

101 、 Rolling axis driver 102 、 Yaw axis driver

103 、 Pitch axis driver 104 、 Handle

105. Dock 106, camera

Detailed ways

Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. It should be understood, however, that these descriptions are merely exemplary and are not intended to limit the scope of the present disclosure. In addition, in the following description, descriptions of well-known structures and techniques are omitted to avoid unnecessarily obscuring the concepts of the present disclosure.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the present disclosure. As used herein, the terms "including", "comprising" and the like indicate the presence of stated features, steps, operations, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, or components.

All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. It should be noted that the terms used herein should be interpreted to have meanings consistent with the context of this specification, and should not be interpreted in an idealized or overly rigid manner.

Where expressions such as "at least one of A, B, C, etc." are used, they should generally be interpreted in accordance with the meaning commonly understood by those skilled in the art (for example, "having A, B, and C "A system of at least one of" shall include, but is not limited to, a system with A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc. ). Where expressions such as "at least one of A, B, or C" are used, they should generally be interpreted in accordance with the meaning commonly understood by those skilled in the art (for example, "having A, B, or C "A system of at least one of" shall include, but is not limited to, a system with A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc. ). Those skilled in the art should also understand that inflection conjunctions and / or phrases that essentially arbitrarily represent two or more optional items, whether in the description, claims, or drawings, should be understood as giving the inclusion of these The possibility of one of these projects, either of them, or both. For example, the phrase "A or B" should be understood to include the possibility of "A" or "B", or "A and B".

An embodiment of the present disclosure provides a method for controlling a pan / tilt head. The pan / tilt head includes a base, at least one rotating shaft connected to the base in sequence, and a load device connected to the end of the rotating shaft. A driver is disposed at the rotating shaft. The method includes: obtaining an initial attitude of the gimbal and a current attitude of the gimbal; and calculating a position at the at least one rotation axis based on a difference in attitude between the current attitude of the gimbal and the initial attitude of the gimbal. The driving amount of the driver; controlling the driver to drive the at least one rotating shaft to move according to the driving amount.

It should be noted that the number of the rotating shafts may be two or three, and the present disclosure takes a three-axis gimbal as an example for description. The load device is generally a camera, a video camera, or other photographing equipment, and this disclosure uses a camera as an example for description. See FIG. 1 for details. The three-axis head of the embodiment of the present disclosure includes three rotation axes, that is, a roll axis, a yaw axis, and a pitch axis. A three-axis driver is a roll axis driver 101, a yaw axis driver 102, and a pitch axis driver. 103 is located on a roll axis, a yaw axis, and a pitch axis, respectively; a base 105 connected to each rotation axis, a camera 106 connected to the end of the rotation axis, and a handle 104 fixed to the base.

FIG. 2 is a flowchart of a PTZ control method according to an embodiment of the present disclosure. As shown in FIG. 2, the method includes steps S201 to S203.

In step S201, an initial attitude of the gimbal and a current attitude of the gimbal are acquired.

The initial attitude and current attitude of a general gimbal can be obtained by sensors, and there are two types of sensors. The first type is a sensor provided on the base and the camera, and the attitude of the base is obtained as the initial attitude of the gimbal, and the attitude of the camera is used as the current attitude of the gimbal; the second type is a sensor provided on at least one axis It is used to obtain the initial time and the joint angle of the current time as the initial and current attitude of the gimbal. Two types of sensors correspond to two control schemes. The first is closed-loop control of the overall attitude and the second is closed-loop control of the joint angle.

Here, the initial attitude of the gimbal refers to the attitude of the base or the joint angle of the rotating shaft at the beginning of a control cycle, and the current attitude of the gimbal refers to the base of the base at a certain time during this control cycle. The joint angle of the attitude or pivot. It can be understood that the current attitude of the gimbal in a control cycle can be different from the initial attitude of the gimbal. The specific PTZ control method in a control cycle will be mentioned in the following description of FIG. 4 and FIG. 6.

In step S202, the driving amount of the driver (which may be a motor) at the at least one rotation axis is calculated according to the attitude difference between the current attitude of the gimbal and the initial attitude of the gimbal. The driving amount refers to the driving of the driver The rotation angle of the shaft. Take the three-axis gimbal as an example, the three axis of the gimbal's roll axis, yaw axis and pitch axis respectively drive the rotation axis by a certain angle according to the calculated driving amount, the gimbal will rotate from the current attitude To the intermediate pose between the current pose and the initial pose. The intermediate posture here may be any one of the current posture and the initial posture variation range. As a result, the gimbal can smoothly follow the initial posture, avoiding problems such as camera shake, unclear imaging, and damage to the driver caused by, for example, a rigid following movement of a selfie stick.

For the first solution, the attitude difference is an attitude difference between the attitude of the base and the attitude of the camera. For the second scheme, the pose difference is the joint angle difference between the initial joint angle and the current joint angle.

In step S203, the driver is controlled to drive the at least one rotating shaft to move according to the driving amount.

In some embodiments of the present disclosure, before step S201, the method may further include step S200 to determine that the PTZ enters a follow mode.

Following mode means that when the handle fixed to the base is adjusted and the attitude of the base is changed, the camera can smoothly adjust its own attitude with the current attitude of the base to maintain the attitude difference between the control and the base attitude Within the set threshold, the camera can achieve arbitrary composition or arbitrary first-person perspective shooting, and the acquired images can also be controlled by the user to achieve better imaging results. Therefore, the control driver drives at least one rotating shaft to move according to the driving amount, and after step S203, the current attitude of the gimbal can follow the initial attitude of the gimbal.

Referring to FIG. 3, in some embodiments, step S202 further includes the following sub-steps:

S2021: Determine a target attitude of the gimbal according to a difference between a current attitude of the gimbal and an initial attitude of the gimbal.

Because the user controls the rotation of the handle fixedly connected to the base to drive the gimbal to rotate, there is a difference in attitude between the current attitude of the gimbal and its initial attitude, that is, the attitude difference. The target attitude of the gimbal is determined according to the attitude difference. The determination methods of the target poses of the two solutions are different, and the specific determination methods will be described later.

S2022: Calculate a driving amount of the driver at the at least one rotating shaft according to the target attitude.

There will be a change in attitude from the current attitude of the gimbal to the target attitude. This attitude change will be decomposed into the directions of the three rotation axes of the pitch axis, roll axis and yaw axis. Component, the three drives of the three rotating shafts have corresponding driving amounts other than 0; if the target attitude has no component in a certain axis, the corresponding driving amount of the driving of the rotating shaft is 0.

Example 1

In Embodiment 1, a specific implementation manner of the first solution will be described in detail with reference to FIG. 4. Figure 4 is a schematic diagram of the flow followed by the PTZ in the first solution. As shown in Figure 4, the solution specifically includes the following steps:

Step S401: It is determined that the PTZ enters a follow mode.

Following mode means that when the handle fixed to the base is adjusted and the attitude of the base is changed, the camera can smoothly adjust its own attitude with the current attitude of the base to maintain the attitude difference between the control and the base attitude Within the range of the attitude difference threshold, the camera can achieve arbitrary composition or arbitrary first-person perspective shooting, and the acquired images can also be controlled by the user to achieve better imaging effects. In some embodiments, the user can control the PTZ to follow the mode through the corresponding control module on the PTZ, and can also control the PTZ to enter the follow mode through an external control module such as a remote control device connected to the PTZ or a mobile phone APP.

Step S402: Determine the posture of the base and the posture of the camera.

The initial pose of the gimbal includes the pose of the base, and the current pose of the gimbal includes the pose of the camera. Set the sensors on the center of gravity of the base and the camera respectively. The sensor can be an inertial measurement unit (IMU). The IMU generally uses a multi-axis magnetic sensor, which is essentially a small compass with extremely high accuracy. It indicates the direction and speed. Get the attitude of the base and the attitude of the gimbal, get the attitude of the base and the attitude of the gimbal. It should be noted that the sensor may also be a magnetic compass sensor, a GNSS module, an accelerometer, and a gyroscope, and details are not described herein again.

In step S403, the attitude difference between the attitude of the base and the attitude of the camera is calculated.

The attitude difference is an attitude difference between the attitude of the base and the attitude of the camera. For example, the component of the current attitude of the gimbal on the roll axis is 90 ° counterclockwise, the component of the initial attitude of the gimbal on the roll axis is 0 °, and the attitude difference is 90 °.

In step S404, it is determined whether the attitude difference is within the attitude difference threshold.

In order to prevent the problem of following the initial attitude too rigidly, the PTZ control method further includes an attitude difference threshold range, which specifically includes: determining whether the attitude difference is within the attitude difference threshold range, and if the attitude difference exceeds the attitude difference threshold range , Then calculate the driving amount of the driver at the at least one rotation axis, that is, perform steps S405 to S408 to implement the camera to follow the base; if the attitude difference does not exceed the attitude difference threshold range, restart Acquire the posture of the base and the posture of the camera, and return to step S402.

The attitude difference threshold range can be adjusted according to the actual needs of the user, and is generally related to the application scenario. If in some application scenarios, such as extreme sports, the user wishes to have a better first-person perspective shooting while ensuring a certain stabilization effect to avoid too much jitter in the picture, the relatively small range of the attitude difference threshold range will be selected; For another example, in the daily shooting process of a handheld PTZ, if the user wants a better stable picture while ensuring a certain first-person effect, the threshold range of the attitude difference will choose a relatively large range. In some scenarios, it can be considered that the smaller the range of the attitude difference threshold, the closer the gimbal follower is to the rigid follower, and the more the first person effect can be achieved; the larger the range of the attitude difference threshold, the closer the gimbal follower is to stabilization, Can achieve a smooth picture.

In step S405, the base attitude quaternion and the camera attitude quaternion are determined.

In most practical applications of gimbals today, Euler angles are used to display gimbal attitude. The advantage of using Euler angles to display the attitude of the gimbal is that it is very intuitive. Users can intuitively know the attitude of the gimbal from the values of yaw, pitch, and roll angles. However, there are several problems with using Euler angle poses in embodiments of the present disclosure. If the Euler angle is used for attitude calculation, in the process of determining the driving amount through the target attitude, problems of singularity and multiple solutions will occur, resulting in a failure to determine the driving amount of each axis well and affecting the user experience. In order to overcome the above disadvantages, the embodiment of the present disclosure introduces a quaternion, determines the base attitude quaternion and the camera attitude quaternion, and realizes attitude calculation in any direction in the entire space.

More specifically, when the attitude difference exceeds the attitude difference threshold range, before calculating the driving amount of the driver at the at least one rotation axis, the attitude quaternion of the base and the camera attitude quaternion may be used, The target attitude quaternion of the camera is calculated by a smooth interpolation algorithm, that is, the operation of step S406 is performed.

Please refer to FIG. 5. Assume that the quaternion of the base attitude is represented by q ₀ and the quaternion of the camera attitude is represented by q _1. Between the current pose q ₀ and the target pose q ₁ , the quaternion smooth interpolation algorithm slerp is used, The following calculation formula calculates the target quaternion q _{t of the} intermediate pose, that is, the camera pose:

Where t is a time parameter that varies between 0 and 1, and ω is the angular difference between the directions q ₀ and q ₁ .

After determining the target attitude quaternion of the camera, the unique corresponding target attitude of the camera is determined according to the target attitude quaternion. At this time, the determination of the target attitude is more accurate and efficient, and the rotation of the driver is smoother and slower. Achieve follow mode to prevent multiple problems caused by rigid movement of the shaft. So far, the operation of step S406 is completed.

In step S407, the driving amount of the driver at the at least one rotating shaft is calculated according to the target attitude.

Specifically, there will be a change in attitude from the current attitude of the gimbal to the target attitude. This attitude change will be decomposed into the directions of the three rotation axes of the pitch axis, roll axis, and yaw axis. For the component of the attitude change, the three drives of the three rotating shafts have corresponding driving amounts other than 0; if the target attitude has no component in a certain axis, the corresponding driving amount of the driving of the rotating shaft is 0.

In step S408, according to the driving amount of each driver obtained in step S407, the three-axis driver is controlled to drive the at least one rotating shaft to move according to the driving amount, so that the camera moves to the target attitude, and the following of the base is completed. .

The flowchart shown in FIG. 4 is only a specific introduction to the process of the first scheme in one control cycle. It should also be noted that the first scheme can include multiple control cycles, so as to realize the real-time camera-to-base follow. Specifically, proceeding from step S402 to the subsequent steps and returning to step S402 may be considered as a control cycle. Regarding the specific implementation of other control cycles, this disclosure will not repeat them here.

Example 2

In Embodiment 2, the specific implementation of the second solution will be described in detail with reference to FIG. 6. Figure 6 is a schematic diagram of the flow following the PTZ of the second solution. As shown in Figure 6, the solution specifically includes the following steps:

In step S601, it is determined that the PTZ enters a follow mode. The following mode means that when the handle fixed to the base is adjusted and the attitude of the base is changed, the current joint angle of the rotating shaft can be adjusted according to the initial joint angle, and the joint angle difference between the current joint angle and the initial joint angle is maintained at Within a preset range of the joint angle deviation threshold, the camera can achieve arbitrary composition or arbitrary first-person perspective shooting, and the acquired images can also be controlled by the user to achieve better imaging effects.

Step S602: Determine an initial joint angle and a current joint angle according to the sensor data.

The initial posture of the pan / tilt head includes an initial joint angle at the at least one rotation axis, and the current posture of the pan / tilt head includes a current joint angle at the at least one rotation axis. By setting sensors on the three rotating shafts separately, the sensors can be at least one of a Hall sensor, a photoelectric sensor, or a magnetic encoder. It can be understood that these three sensors are provided on the rotating shafts. When the driver rotates, the joint angle of the three axes can be measured by the change of the magnetic field and the change of the light signal.

Step S603: Calculate a joint angle difference between the initial joint angle and the current joint angle.

The attitude difference is the joint angle difference at the at least one rotation axis. For example, the current joint angle is 90 ° counterclockwise, the initial joint angle is 0 °, and the joint angle difference is 90 °. The driver drives the at least one rotating shaft to move according to the driving amount, so as to make the attitude of the camera follow the attitude of the base.

In step S604, it is determined whether the joint angle difference is within a joint angle deviation threshold range.

In some embodiments of the present disclosure, a joint angle deviation threshold range may also be set, so as to prevent an error problem caused by too large or too small a posture difference, and determine whether the joint angle difference value is within the joint angle deviation threshold range. If the joint angle difference exceeds the joint angle deviation threshold range, calculating the driving amount of the driver at the at least one rotation axis; if the joint angle difference does not exceed the joint angle deviation threshold range, then Re-acquire the initial joint angle and the current joint angle at at least one rotation axis, so as to implement the camera to follow the base.

It can be understood that the threshold range of the joint angle deviation can be adjusted according to the actual needs of the user, and is generally related to the application scenario. If in some application scenarios, such as extreme sports, the user wishes to have a better first-person perspective while ensuring a certain stabilizing effect to avoid too much jitter in the picture, the joint angle deviation threshold range will choose a relatively small range ; For another example, in the daily handheld PTZ shooting process, the user wants a better stable picture while ensuring a certain first-person effect, then the joint angle deviation threshold range will choose a relatively large range. In some scenarios, it can be considered that the smaller the range of the joint angle deviation threshold, the closer the gimbal follower is to the rigid follower, and the more the first-person effect can be achieved; the larger the range of the joint angle deviation threshold, the closer the gimbal follower is to stabilization , The more able to achieve a smooth picture.

In step S605, a target joint angle at least one rotation axis is calculated by an interpolation algorithm.

Different from the first scheme, because the second scheme directly obtains the joint angle, there is no need to introduce quaternions, and only the interpolation algorithm is needed to improve the calculation efficiency. At the same time, it can determine a smoother target joint angle. It is convenient for the driver to drive the rotating shaft to move more smoothly and slowly later, and it can implement the following mode to prevent various problems caused by the rigid movement of the rotating shaft.

Please refer to FIG. 7. Assume that the initial joint angle of one of the rotation axes of the gimbal is represented by 0 ₀ and the current joint angle is represented by θ _1. Between the initial joint angle θ ₀ and the current joint angle θ ₁ , an interpolation algorithm can be used to calculate The target joint angle θ _t (that is, the target posture in step S2022) is obtained. Specifically, since the joint angle itself is a scalar, the interpolation algorithm of the target joint angle may adopt any known interpolation algorithm, such as a smooth interpolation algorithm. For a multi-axis pan / tilt head, the joint angle following at each rotation axis can be adopted in this embodiment, which is not repeated here.

In step S606, the driving amount of the driver at the at least one rotating shaft is calculated.

After determining the target joint angle of each rotation axis in step S605, the driving amount of the driver at each rotation axis can be determined according to the angle difference between the current joint angle and the target joint angle (that is, the posture change in step S2022).

In step S607, the control driver drives at least one rotating shaft to move according to the driving amount.

According to the driving amount of the three-axis driver determined in step S606, the driver is controlled to drive the at least one rotating shaft to move according to the driving amount, so that the rotating shaft is rotated to a target joint angle, and the camera follows the base. Specifically, proceeding from step S602 to the subsequent steps and returning to step S602 may be considered as a control cycle. Regarding the specific implementation of other control cycles, this disclosure will not repeat them here.

The flowchart shown in FIG. 6 is only a specific introduction to the process of the second scheme in one control cycle. It should also be noted that the second scheme can include multiple control cycles, so that the camera follows the base. Regarding the specific implementation of other control cycles, this disclosure will not repeat them here. So far, the introduction of the second solution of the embodiment of the present disclosure is completed.

Another embodiment of the present disclosure provides a pan / tilt head. The pan / tilt head includes a base, at least one rotating shaft sequentially connected to the base, and a load device (taking a camera as an example) connected to the end of the rotating shaft. A drive is provided at the rotating shaft (taking a three-axis drive as an example), and the pan / tilt head further includes: a memory for storing executable instructions; a processor for executing the executable instructions stored in the memory to execute The operation is as follows: obtaining the initial attitude of the gimbal and the current attitude of the gimbal; and calculating the at the at least one rotation axis according to a difference in attitude between the current attitude of the gimbal and the initial attitude of the gimbal. A driving amount of the driver; controlling the driver to drive the at least one rotating shaft to move according to the driving amount.

The initial attitude and current attitude of a general gimbal can be obtained by sensors, and there are two types of sensors. The first type is a sensor provided on the base and the camera, and the attitude of the base is obtained as the initial attitude of the gimbal, and the attitude of the camera is used as the current attitude of the gimbal; the second type is a sensor provided on at least one rotation axis, It is used to obtain the initial time and the joint angle of the current time as the initial and current attitude of the gimbal. Two types of sensors correspond to two control schemes. The first is closed-loop control of the overall attitude and the second is closed-loop control of the joint angle.

Here, the initial attitude of the gimbal refers to the attitude of the base or the joint angle of the rotating shaft at the beginning of a control cycle, and the current attitude of the gimbal refers to the base of the base at a certain time during this control cycle. The joint angle of the attitude or pivot. It can be understood that the current attitude of the gimbal in a control cycle can be different from the initial attitude of the gimbal. For details of the PTZ control method in a control cycle, see Embodiment 1 and Embodiment 2.

The processor is further configured to calculate a driving amount of the driver (which may be a motor) at the at least one rotation axis according to a difference between an attitude of the current attitude of the gimbal and an initial attitude of the gimbal. The angle that the driver drives the shaft to rotate.

Take the three-axis gimbal as an example, the three axis of the gimbal's roll axis, yaw axis and pitch axis respectively drive the rotation axis by a certain angle according to the calculated driving amount, the gimbal will rotate from the current attitude To the intermediate pose between the current pose and the initial pose. The intermediate posture here may be any one of the current posture and the initial posture variation range. As a result, the gimbal can smoothly follow the initial posture, avoiding problems such as camera shake, unclear imaging, and damage to the driver caused by, for example, a rigid following movement of a selfie stick.

For the first solution, the attitude difference is an attitude difference between the attitude of the base and the attitude of the camera. For example, the component of the current attitude of the gimbal on the roll axis is 90 ° counterclockwise, the component of the initial attitude of the gimbal on the roll axis is 0 °, and the attitude difference is 90 °.

For the second scheme, the pose difference is the joint angle difference between the initial joint angle and the current joint angle. For example, for a certain rotation axis, the current joint angle is 90 ° counterclockwise, the initial joint angle is 0 °, and the joint angle difference is 90 °.

After determining the driving amounts corresponding to the three drivers of the three axes, the controlling driver determines the rotation axis movement according to the driving amounts. It should be noted that there will be a change in attitude from the current attitude of the gimbal to the target attitude. This attitude change is decomposed into the directions of the three rotation axes of the pitch axis, roll axis and yaw axis. Both have components of attitude change, then the three drives of the three rotation shafts have corresponding non-zero driving amounts; if the target attitude has no component in a certain axis, the corresponding driving amount of the drives of the rotating shaft is 0 .

The processor is further configured to determine that the gimbal enters a follow mode. Following mode means that when the handle fixed to the base is adjusted and the attitude of the base is changed, the camera can smoothly adjust its own attitude with the current attitude of the base to maintain the attitude difference between the control and the base attitude Within the set threshold, the camera can achieve arbitrary composition or arbitrary first-person perspective shooting, and the acquired images can also be controlled by the user to achieve better imaging results. Therefore, after controlling the driver to drive the at least one rotating shaft according to the driving amount, the current attitude of the gimbal can follow the initial attitude of the gimbal.

The processor is further configured to determine a target attitude of the gimbal according to a difference in attitude between the current attitude of the gimbal and an initial attitude of the gimbal; and calculate the driver at the at least one rotation axis according to the target attitude. The amount of drive.

Because the user controls the rotation of the handle fixed to the base to drive the PTZ to rotate, there is a difference in attitude between the current attitude of the PTZ and its initial attitude, that is, the attitude difference. The target attitude of the gimbal is determined according to the attitude difference. For the specific processes of the two solutions, please refer to the description of FIG. 4 and FIG. 6 in the foregoing embodiment 1 and embodiment 2.

FIG. 8 is a schematic diagram of a gimbal according to an embodiment of the present disclosure. As shown in FIG. 8, the hardware structure includes a processor 802. The processor 802 may be a single CPU (Central Processing Unit), but may also include two or more processing units. For example, the processor 802 may include a general-purpose microprocessor, an instruction set processor and / or an associated chipset and / or a special-purpose microprocessor (eg, an application-specific integrated circuit (ASIC)).

The memory 801 may be a non-volatile or volatile readable storage medium, such as an electrically erasable and programmable read-only memory (EEPROM), a flash memory, and / or a hard disk drive. The readable storage medium includes a computer program including code / computer-readable instructions that, when executed by the processor 802, enables a hardware structure and / or a device including the hardware structure to execute, for example, the above described in conjunction with FIG. 2 Process and any distortions.

The embodiment of the present disclosure determines the driving amount according to the attitude difference between the current attitude of the gimbal and the initial attitude of the gimbal, and controls the driver to drive the shaft movement according to the driving amount, so that the attitude of the load device follows the attitude of the base, so that the load device can Achieve arbitrary composition or arbitrary first-person perspective shooting.

Another embodiment of the present disclosure provides a computer-readable storage medium, as shown in FIG. 9, on which executable instructions are stored. When the instructions are executed by one or more processors, the one or Multiple processors perform the steps shown in Figure 2:

Acquiring an initial posture of the pan / tilt head and a current posture of the pan / tilt head;

Calculating a driving amount of the driver at the at least one rotation axis according to a difference in attitude between the current attitude of the head and the initial attitude of the head;

Controlling the driver to drive the at least one rotating shaft to move according to the driving amount.

In some embodiments of the present disclosure, the pan / tilt head control method further includes: determining that the pan / tilt head enters a follow mode; and controlling the driver to drive the at least one rotating shaft to move according to the driving amount, so as to make all The current attitude of the gimbal follows the initial attitude of the gimbal.

In some embodiments of the present disclosure, the pan / tilt head control method further includes: determining a target pose of the pan / tilt according to a pose difference between a current pose of the pan / tilt and an initial pose of the pan / tilt; and according to the target pose Calculating a driving amount of the driver at the at least one rotating shaft.

In some embodiments of the present disclosure, the initial posture of the pan / tilt head includes the posture of the base, and the current posture of the pan / tilt head includes the posture of the load device.

In some embodiments of the present disclosure, the posture of the base and the posture of the load device are acquired by sensors provided on the base and the load device.

In some embodiments of the present disclosure, the sensor includes an inertial measurement unit.

In some embodiments of the present disclosure, the pan / tilt control method further comprises: determining whether the attitude difference is within an attitude difference threshold range, and if the attitude difference exceeds the attitude difference threshold range, calculating the at least one The drive amount of the driver at the rotating shaft; if the attitude difference does not exceed the attitude difference threshold range, re-acquire the attitude of the base and the attitude of the load device.

In some embodiments of the present disclosure, the gimbal control method further includes: determining a quaternion of the base attitude and a quaternion of the loading device attitude; and according to the quaternion of the base attitude and the quaternion of the loading device attitude, The target attitude quaternion of the load device is calculated by a smooth interpolation algorithm.

In some embodiments of the present disclosure, the gimbal control method further includes: determining a target attitude of the load device according to the target attitude quaternion, and calculating a driving amount of the driver at the at least one rotation axis. Controlling the driver to drive the at least one rotating shaft to move according to the driving amount, so that the load device moves to the target attitude.

In some embodiments of the present disclosure, the initial posture of the pan / tilt head includes an initial joint angle at the at least one rotation axis, and the current posture of the pan / tilt head includes a current joint angle at the at least one rotation axis; the posture The difference includes a joint angle difference at the at least one rotation shaft; the controlling the driver drives the at least one rotation shaft to move according to the driving amount, so that the attitude of the load device follows the attitude of the base.

In some embodiments of the present disclosure, an initial joint angle and a current joint angle of the rotation axis are obtained by a sensor provided at the at least one rotation axis.

In some embodiments of the present disclosure, the sensor includes at least one of a Hall sensor, a photoelectric sensor, or a magnetic encoder.

In some embodiments of the present disclosure, the pan / tilt control method further includes: determining whether the joint angle difference value is within a joint angle deviation threshold range, and if the joint angle difference value exceeds the joint angle deviation threshold range, Then calculating the driving amount of the driver at the at least one rotation axis; if the attitude difference does not exceed the attitude difference threshold range, re-obtain the initial joint angle and the current joint angle at least one rotation axis.

In some embodiments of the present disclosure, the gimbal control method further includes: calculating a target joint angle at the at least one rotation axis by an interpolation algorithm according to the initial joint angle and the current joint angle.

In some embodiments of the present disclosure, the gimbal control method further includes: determining a driving amount of the driver at the at least one rotation axis according to the target joint angle; and controlling the driver to drive according to the driving amount. The at least one rotation axis moves so that the rotation axis rotates to a target joint angle.

The flowchart of the control method of the pan / tilt is shown in FIG. 2. It should be understood that some blocks or combinations thereof in the flowcharts may be implemented by executable instructions. These executable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing device.

Therefore, the PTZ control method in the embodiment of the present disclosure may be implemented in the form of hardware and / or software (including firmware, microcode, etc.). In addition, the embodiments of the present disclosure may take the form of a computer-readable storage medium storing executable instructions, and the computer-readable storage medium may be used by or in combination with an instruction execution system (for example, one or more processors). . In the context of embodiments of the present disclosure, a computer-readable storage medium may be any medium capable of containing, storing, transmitting, propagating, or transmitting instructions. For example, computer-readable storage media may include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, devices, or propagation media. Specific examples of computer-readable storage media include: magnetic storage devices such as magnetic tapes or hard disk drives (HDD); optical storage devices such as optical disks (CD-ROM); memories such as random access memory (RAM) or flash memory; and / or Wired / wireless communication link.

Those skilled in the art can clearly understand that for the convenience and brevity of the description, only the above-mentioned division of the functional modules is used as an example. In practical applications, the above-mentioned functions can be allocated by different functional modules according to needs. The internal structure is divided into different functional modules to complete all or part of the functions described above. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiments, and details are not described herein again.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than limiting them. Although the present disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features can be replaced equivalently; without conflict, the features in the embodiments of the present disclosure can be arbitrarily combined; and these modifications or replacements The essence of the corresponding technical solutions does not depart from the scope of the technical solutions of the embodiments of the present disclosure.

Claims

A method for controlling a pan / tilt head. The pan / tilt head includes a base, at least one rotating shaft connected to the base in sequence, and a load device connected to the end of the rotating shaft. A driver is disposed at the rotating shaft, and the characteristic is that: Methods include:

Acquiring an initial posture of the pan / tilt head and a current posture of the pan / tilt head;

Calculating a driving amount of the driver at the at least one rotation axis according to a difference in attitude between the current attitude of the head and the initial attitude of the head;

Controlling the driver to drive the at least one rotating shaft to move according to the driving amount.
The method of controlling a pan / tilt according to claim 1, further comprising:

Determining that the gimbal enters a follow mode;

The controlling the driver drives the at least one rotating shaft to move according to the driving amount, so that the current posture of the pan / tilt head follows the initial posture of the pan / tilt head.
The method of controlling a pan / tilt according to claim 1, further comprising:

Determining a target attitude of the gimbal according to a difference in attitude between the current attitude of the gimbal and the initial attitude of the gimbal;

A driving amount of the driver at the at least one rotating shaft is calculated according to the target attitude.
The control method for a pan / tilt head according to claim 1, wherein an initial posture of the pan / tilt head includes a posture of the base, and a current posture of the pan / tilt head includes a posture of the load device.
The method of controlling a pan / tilt according to claim 4, wherein the attitude of the base and the attitude of the load device are obtained by sensors provided on the base and the load device.
The gimbal control method according to claim 5, wherein the sensor comprises an inertial measurement unit.
The method of controlling a pan / tilt according to claim 4, further comprising:

Determining whether the attitude difference is within a range of the attitude difference threshold,

If the attitude difference exceeds the attitude difference threshold range, calculating a driving amount of the driver at the at least one rotation axis;

If the attitude difference does not exceed the attitude difference threshold range, the attitude of the base and the attitude of the load device are obtained again.
The method of controlling a pan / tilt according to claim 4, further comprising:

Determine the quaternion of the attitude of the base and the attitude of the load device;

According to the base attitude quaternion and the load device attitude quaternion, the target attitude quaternion of the load device is calculated by a smooth interpolation algorithm.
The method of controlling a pan / tilt according to claim 8, further comprising:

Determining a target attitude of the load device according to the target attitude quaternion, and calculating a driving amount of the driver at the at least one rotation axis;

Controlling the driver to drive the at least one rotating shaft to move according to the driving amount, so that the load device moves to the target attitude.
The control method of a pan / tilt head according to claim 1, wherein an initial posture of the pan / tilt head includes an initial joint angle at the at least one rotation axis, and a current posture of the pan / tilt head includes the at least one rotation axis Current joint angle

The attitude difference includes a joint angle difference value at the at least one rotation axis;

The controlling the driver drives the at least one rotating shaft to move according to the driving amount, so that the attitude of the load device follows the attitude of the base.
The method of controlling a pan / tilt according to claim 10, wherein an initial joint angle and a current joint angle of the rotation axis are obtained through a sensor provided at the at least one rotation axis.
The gimbal control method according to claim 11, wherein the sensor comprises at least one of a Hall sensor, a photoelectric sensor, or a magnetic encoder.
The method of controlling a PTZ according to claim 10, wherein the method of controlling the PTZ further comprises:

Determining whether the joint angle difference is within a joint angle deviation threshold range,

If the joint angle difference exceeds the joint angle deviation threshold range, calculating a driving amount of the driver at the at least one rotation axis;

If the attitude difference does not exceed the attitude difference threshold range, the initial joint angle and the current joint angle at at least one rotation axis are re-obtained.
The method of controlling a PTZ according to claim 10, wherein the method of controlling the PTZ further comprises:

Calculating a target joint angle at the at least one rotation axis according to the initial joint angle and the current joint angle.
The control method for a pan / tilt according to claim 14, further comprising:

Determining a driving amount of the driver at the at least one rotation axis according to the target joint angle;

Controlling the driver to drive the at least one rotating shaft to move according to the driving amount, so that the rotating shaft is rotated to a target joint angle.
A pan / tilt head includes a base, at least one rotating shaft connected to the base in sequence, and a load device connected to the end of the rotating shaft. A driver is disposed at the rotating shaft, and the head is characterized in that: Also includes:

Memory for storing executable instructions;

A processor, configured to execute the executable instructions stored in the memory to perform the following operations:

Acquiring an initial posture of the pan / tilt head and a current posture of the pan / tilt head;

Calculating a driving amount of the driver at the at least one rotation axis according to a difference in attitude between the current attitude of the head and the initial attitude of the head;

Controlling the driver to drive the at least one rotating shaft to move according to the driving amount.
The gimbal of claim 16, wherein the processor is further configured to:

Determining that the gimbal enters a follow mode;

The controlling the driver drives the at least one rotating shaft to move according to the driving amount, so that the attitude of the load device follows the attitude of the base.
The gimbal of claim 16, wherein the processor is further configured to:

Determining a target attitude of the gimbal according to a difference in attitude between the current attitude of the gimbal and the initial attitude of the gimbal;

A driving amount of the driver at the at least one rotating shaft is calculated according to the target attitude.
The gimbal of claim 16, wherein the initial attitude of the gimbal includes the attitude of the base, and the current attitude of the gimbal includes the attitude of the load device.
The gimbal of claim 19, wherein a sensor is provided on the base and the load device to acquire a posture of the base and a posture of the load device.
The gimbal of claim 20, wherein the sensor comprises an inertial measurement unit.
The gimbal of claim 19, wherein the processor is further configured to:

Determining whether the attitude difference is within a range of the attitude difference threshold,

If the attitude difference exceeds the attitude difference threshold range, calculating a driving amount of the driver at the at least one rotation axis;

If the attitude difference does not exceed the attitude difference threshold range, the attitude of the base and the attitude of the load device are obtained again.
The gimbal of claim 19, wherein the processor is further configured to:

Determine the quaternion of the attitude of the base and the attitude of the load device;

According to the base attitude quaternion and the load device attitude quaternion, the target attitude quaternion of the load device is calculated by a smooth interpolation algorithm.
The PTZ according to claim 23, wherein the processor is further configured to:

Determining a target attitude of the load device according to the target attitude quaternion, and calculating a driving amount of the driver at the at least one rotation axis;

Controlling the driver to drive the at least one rotating shaft to move according to the driving amount, so that the load device moves to the target attitude.
The gimbal of claim 16, wherein the initial pose of the gimbal includes an initial joint angle at the at least one rotation axis, and the current pose of the gimbal includes a current joint at the at least one rotation axis angle;

The attitude difference includes a joint angle difference value at the at least one rotation axis;

The controlling the driver drives the at least one rotating shaft to move according to the driving amount, so that the attitude of the load device follows the attitude of the base.
The gimbal according to claim 25, wherein a sensor is provided at the at least one rotation axis to obtain an initial joint angle and a current joint angle of the rotation axis.
The gimbal of claim 26, wherein the sensor comprises at least one of a Hall sensor, a photoelectric sensor, or a magnetic encoder.
The gimbal of claim 25, wherein the processor is further configured to:

Determining whether the joint angle difference is within a joint angle deviation threshold range,

If the joint angle difference exceeds the joint angle deviation threshold range, calculating a driving amount of the driver at the at least one rotation axis;

If the attitude difference does not exceed the attitude difference threshold range, the initial joint angle and the current joint angle at least one rotation axis are re-obtained.
The gimbal of claim 25, wherein the processor is further configured to:

Calculating a target joint angle at the at least one rotation axis according to the initial joint angle and the current joint angle.
The PTZ according to claim 29, wherein the processor is further configured to:

Determining a driving amount of the driver at the at least one rotation axis according to the target joint angle;

Controlling the driver to drive the at least one rotating shaft to move according to the driving amount, so that the rotating shaft is rotated to a target joint angle.
A computer-readable storage medium, characterized in that it stores executable instructions, and when the executable instructions are executed by one or more processors, the one or more processors can execute the instructions as claimed in claim 1 The method of controlling a gimbal according to any one of to 15.