WO2019227410A1 - Procédé de conversion d'attitude, procédé d'affichage d'attitude, et système de panoramique horizontal-vertical - Google Patents

Procédé de conversion d'attitude, procédé d'affichage d'attitude, et système de panoramique horizontal-vertical Download PDF

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Publication number
WO2019227410A1
WO2019227410A1 PCT/CN2018/089305 CN2018089305W WO2019227410A1 WO 2019227410 A1 WO2019227410 A1 WO 2019227410A1 CN 2018089305 W CN2018089305 W CN 2018089305W WO 2019227410 A1 WO2019227410 A1 WO 2019227410A1
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WIPO (PCT)
Prior art keywords
attitude
pose
gimbal
current
difference
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PCT/CN2018/089305
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English (en)
Chinese (zh)
Inventor
刘帅
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深圳市大疆创新科技有限公司
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Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2018/089305 priority Critical patent/WO2019227410A1/fr
Priority to CN201880012712.1A priority patent/CN110337624A/zh
Publication of WO2019227410A1 publication Critical patent/WO2019227410A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C1/00—Measuring angles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback

Definitions

  • the present invention relates to the technical field of gimbals, and in particular, to a gesture conversion method, a gesture display method and a gimbal system, as well as an electronic device, a photographing system and a computer-readable storage medium.
  • a pan / tilt equipped with a mobile phone, a camera, and other shooting equipment for shooting has become a common shooting method, and more and more people will use unmanned aerial vehicles with a pan / tilt for shooting activities.
  • common unmanned aerial vehicles are paired with a remote control or a mobile phone. People use the remote control or the display of the mobile phone to obtain real-time status information of the unmanned aerial vehicle, such as attitude information of the gimbal. Most commonly, people will obtain the pitch angle information of the gimbal on the display of the remote control or mobile phone, so as to better control the gimbal to achieve the desired shooting effect.
  • the common PTZs of unmanned aerial vehicles are currently mounted below the body of the UAV.
  • the attitude information of the PTZ is obtained by the attitude sensor of the PTZ and is calculated by combining with the relative position information of the UAV and then displayed to the user.
  • some gimbals of unmanned aerial vehicles have also begun to be mounted on their bodies, or can be detachably mounted above or below the body of the drone; more commonly, during the filming process In the middle, the gimbal is often shot upside down on the roof of the car. Therefore, the mounting form of the gimbal is becoming more and more diversified, and it is no longer limited to the simple bottom form.
  • the pan-tilt attitude information displayed on the remote control or the display of the mobile phone will change greatly.
  • the attitude of the gimbal when it is lowered is (0 °, 0 °, 0 °).
  • the displayed gimbal ’s attitude will become (0 °, 180 °, 0 °). In this way, the pose of the displayed PTZ is very unintuitive and affects the user experience.
  • Embodiments of the present invention provide an attitude conversion method, an attitude display method, a PTZ system, an electronic device, a photographing system, and a computer-readable storage medium.
  • a converted pose corresponding to the current pose is calculated according to a difference between the current pose and the reference pose.
  • a method for displaying the attitude of the pan / tilt the platform establishes a communication connection with an electronic device, the electronic device includes a display screen, and the method for displaying the attitude includes:
  • the transition gesture is displayed.
  • the gimbal system includes a gimbal and a base device, the gimbal is mounted on the base device, and the gimbal system further includes an attitude sensor and a processor.
  • the attitude sensor is configured to obtain a current attitude of the gimbal.
  • the processor is configured to determine a current pose of the pan / tilt head, and calculate the current position and the current pose based on a difference between the current pose and the reference pose when the current pose is not a reference pose Conversion attitude corresponding to the attitude.
  • the real-time electronic device of the present invention establishes a communication connection with a PTZ system.
  • the PTZ system includes a PTZ
  • the electronic device includes a display screen, a communication module, and a processor.
  • the communication module is configured to obtain a current attitude of the pan / tilt head through the communication connection.
  • the processor is configured to determine a current pose of the pan / tilt head, and calculate the current position and the current pose based on a difference between the current pose and the reference pose when the current pose is not a reference pose Conversion attitude corresponding to the attitude.
  • the display screen is used to display the converted attitude.
  • the photographing system according to the embodiment of the present invention includes the above-mentioned gimbal system and the above-mentioned electronic device.
  • a computer-readable storage medium has a computer program stored thereon.
  • the computer program may be executed by a processor to complete the above-mentioned gesture conversion method; or the computer program may be executed by a processor to complete the above-mentioned gesture display method.
  • attitude conversion method change the current attitude of the gimbal when the pose of the gimbal is not the reference attitude
  • the converted attitude is obtained.
  • the converted attitude can make the user more intuitively understand the rotation of the corresponding axis of the gimbal, and improve the user experience.
  • FIG. 1 is a schematic flowchart of an attitude conversion method of a gimbal according to some embodiments of the present invention.
  • FIG. 2 is a schematic block diagram of a PTZ system according to some embodiments of the present invention.
  • FIG. 3 to FIG. 7 are schematic flowcharts of an attitude conversion method of a pan / tilt according to some embodiments of the present invention.
  • FIG. 8 is a schematic flowchart of a pose display method of a pan / tilt according to some embodiments of the present invention.
  • FIG. 9 is a schematic block diagram of an electronic device according to some embodiments of the present invention.
  • FIG. 10 to FIG. 14 are schematic flowcharts of a posture display method of a pan / tilt according to some embodiments of the present invention.
  • FIG. 15 is a schematic diagram of a photographing system according to some embodiments of the present invention.
  • Attitude conversion methods include:
  • the present invention further provides a PTZ system 10.
  • the gimbal system 10 includes a gimbal 11, an attitude sensor 13, and a processor 14.
  • the gimbal system 10 may be an unmanned aerial vehicle equipped with a gimbal, a handheld gimbal device, or a professional-grade gimbal device used for shooting movies.
  • the head 11 can be a single-axis head, a two-axis head, a three-axis head or a multi-axis head.
  • the attitude sensor 13 may be a three-axis gyroscope, a three-way accelerometer, or an inertial measurement unit.
  • the processor 14 may be provided on the gimbal 11 or on a device equipped with the gimbal 11, for example, on the body of an unmanned aerial vehicle equipped with a gimbal in the gimbal system 10, or in a hand-held part of a hand-held gimbal device. Or in the bearing structure of a professional-grade PTZ device. It can be understood that the description of the pan / tilt head system 10, the pan / tilt head 11, the attitude sensor 13, and the processor 14 is only the case of some embodiments.
  • step S11 may be implemented by the attitude sensor 13.
  • Steps S12 and S13 may be implemented by the processor 14. That is to say, the attitude sensor 13 can be used for acquiring the current attitude of the PTZ 11.
  • the processor 14 may be configured to determine the current pose of the gimbal 11 and, when the current pose is not a reference pose, calculate a converted pose corresponding to the current pose according to a difference between the current pose and the reference pose.
  • the reference posture includes any one of the positioning modes of PTZ 11 above, PTZ 11 below, PTZ 11 front, PTZ 11 rear, PTZ 11 left or PTZ 11 right. That is to say, the reference pose can be the PTZ 11 on the top, PTZ 11 on the bottom, PTZ 11 in front, PTZ 11 on the back, PTZ 11 on the left or PTZ 11 on the right.
  • the reference pose refers to the pose when the gimbal 11 is mounted in a default operating mode on a device on which it is mounted.
  • the current posture includes any of the positioning modes of PTZ 11 above, PTZ 11 below, PTZ 11 front, PTZ 11 rear, PTZ 11 left or PTZ 11 right. . That is to say, the current pose can be PTZ 11 on top, PTZ 11 on bottom, PTZ 11 in front, PTZ 11 on back, PTZ 11 on the left or PTZ 11 on the right.
  • the gimbal 11 is mounted below it by default. At this time, the reference attitude is considered to be the gimbal 11 underneath. At this time, when the gimbal 11 is changed to an upper position or another posture, the current posture is different from the reference posture at this time.
  • the reference pose is a description of the lower position of the gimbal 11 as an example.
  • the displayed posture of the pan / tilt head 11 relative to the geodetic coordinate system can facilitate the user to more intuitively understand the corresponding rotation of each axis of the pan / tilt head 11 at this time.
  • the measured attitude information of the pan / tilt head 11 is calculated based on the positioning of the pan / tilt head 11 below.
  • the posture sensor 13 of the pan / tilt head 11 measures and calculates according to a calibrated algorithm, the displayed posture is no longer the posture of the pan / tilt head 11 relative to the geodetic coordinate system, which cannot make users intuitive To understand the corresponding rotation of each axis of the head 11.
  • the PTZ 11 For example, if the attitude of the PTZ 11 is (0 °, 0 °, 0 °), then if the PTZ 11 is placed on the top, if it still needs to be used normally to shoot an upright image, the PTZ 11 is equipped with The shooting device needs to be rotated before it can be used. In one case, the gimbal 11 needs to rotate the tilt axis by 180 ° to ensure the normal shooting of the shooting device. At this time, the attitude of the gimbal 11 becomes (0 °, 180 °, 0 °), so that the attitude of the PTZ 11 is not intuitive, and the user experience is poor. It needs to be understood that the change in the posture display of the lower position to the upper position is only a possible situation. Actually, it will be different from the installation and use of the upper and lower positions, but both will be different. There are large differences that lead to unintuitive experiences.
  • the attitude conversion method of the pan / tilt 11 converts the measured current pose of the pan / tilt 11 to obtain a converted pose when the pose of the pan / tilt 11 is not the reference pose. Compared with the current pose, the converted pose can make the user A more intuitive understanding of the rotation of each axis of the gimbal 11 can improve the user experience.
  • Step S12 determining the current pose of the gimbal 11 includes:
  • S122 Determine the current pose of the PTZ 11 according to the equipped interface.
  • steps S121 and S122 may be implemented by the processor 14. That is to say, the processor 14 can be used to determine the mounting interface of the base device 12 currently used by the gimbal 11 and determine the current posture of the gimbal 11 according to the mounting interface.
  • the base device 12 includes at least one of an unmanned aerial vehicle, a gimbal base, and a vehicle. That is, the base device 12 may be any one of an unmanned aerial vehicle, a gimbal base, or a vehicle; or, the base device 12 may be an unmanned aerial vehicle and a gimbal base; or, the base device 12 It may be an unmanned aerial vehicle and a vehicle; or, the base device 12 may be a gimbal base and a vehicle; or, the base device 12 may be an unmanned aerial vehicle, a gimbal base and a vehicle.
  • the unmanned aerial vehicle when the base device 12 is an unmanned aerial vehicle, the unmanned aerial vehicle includes an upper mounting interface and a lower Interface.
  • the gimbal 11 When the gimbal 11 is mounted below, the gimbal 11 is connected to the mounted interface.
  • the information of the mounted interface can be sent by the UAV to the processor 14 through wired or wireless communication.
  • the processor 14 After receiving the mounting interface information, the processor 14 determines that the positioning mode of the pan / tilt head 11 at this time is a lower position according to the information.
  • the gimbal 11 when the gimbal 11 is mounted, the gimbal 11 is connected to the mounted interface.
  • the information of the mounted interface can be sent by the UAV to the processor 14 through wired or wireless communication.
  • the processor 14 determines that the positioning mode of the pan / tilt head 11 at this time is upper position according to the information.
  • the vehicle when the base device 12 is a vehicle, the vehicle includes an upper mounting interface and a lower mounting interface.
  • the gimbal 11 When the gimbal 11 is placed underneath, the gimbal 11 is connected to the underlay mount interface. At this time, the vehicle can send the information of the underlay mount interface to the processor 14 through wired or wireless communication.
  • the processor 14 receives After carrying the interface information, the processor 14 determines that the positioning mode of the PTZ 11 at this time is the lower position according to the information.
  • the PTZ 11 when the PTZ 11 is mounted, the PTZ 11 is connected to the mounted interface. At this time, the vehicle can send the information of the mounted interface to the processor 14 through wired or wireless communication.
  • the processor After receiving the piggyback interface information, the processor 14 determines that the positioning mode of the PTZ 11 at this time is upper position according to the information.
  • the current pose of the PTZ 11 can be determined according to the mounting interface of the PTZ 11.
  • the pan / tilt head 11 includes a base 101, and step S12 determines the current pose of the pan / tilt head 11 includes:
  • steps S123 and S124 may be implemented by the processor 14. That is, the processor 14 may be used to determine the attitude of the base 101 and determine the current pose of the gimbal 11 according to the attitude of the base 101.
  • the attitude of the base 101 can be measured by a three-axis gyroscope, an inertial measurement unit, and the like.
  • a three-axis gyroscope can measure the angle between the vertical axis of the gyro rotor and the base 101 in a three-dimensional coordinate system. Compared with the base 101 and the base 101, the vertical axis and the base 101 are compared. The included angle will change according to different placement methods, and the posture of the base 101 can be different.
  • the processor 14 obtains the attitude of the base 101 from the three-axis gyroscope, and determines the current pose of the gimbal 11 according to the read attitude of the base 101.
  • the inertial measurement unit usually includes three single-axis accelerometers and three single-axis gyroscopes. The attitude of the base 101 can also be detected by using three single-axis gyroscopes. In this way, the current posture of the gimbal 11 can be determined based on the measured posture of the base 101.
  • each placement manner corresponds to a preset standard posture.
  • the step S12 determines the current posture of the PTZ 11 includes:
  • step S125 and step S126 may both be implemented by the processor 14. That is to say, the processor 14 may be configured to obtain a posture difference between the current posture and a preset standard posture within a predetermined time, and determine the current position when the posture difference within the predetermined time is within the preset posture difference range.
  • the posture is the posture corresponding to the placement method.
  • the positioning manner of the pan / tilt head 11 includes an upper position of the pan / tilt head 11 and a lower position of the pan / tilt head 11 as an example.
  • the preset standard attitude is (0 °, 0 °, 0 °).
  • the attitude of the gimbal 11 will be limited by its limit, and In a range.
  • the attitude of the PTZ 11 measured by the attitude sensor 13 exceeds this range, it can be considered that the PTZ 11 is in another posture.
  • this other posture will also have its corresponding prediction. Assuming a standard attitude, taking the head 11 as an example, it can be (0 °, 180 °, 0 °).
  • the processor 14 obtains the current attitudes of the N heads 11 within a predetermined time
  • the attitudes between the current attitude of each head 11 and a preset standard attitude (0 °, 0 °, 0 °) are calculated separately. Difference, and calculate the attitude difference between the current attitude of each PTZ 11 and the preset standard attitude (0 °, 180 °, 0 °), if the current attitude of multiple PTZ 11 and preset standard attitude
  • the attitude differences between (0 °, 0 °, 0 °) are all within the preset attitude difference range, then it is determined that the current pose of the PTZ 11 is underneath the PTZ 11. If the attitude difference between the attitude and the preset standard attitude (0 °, 180 °, 0 °) is within the preset attitude difference range, it is determined that the current pose of the PTZ 11 is placed on top of the PTZ 11.
  • the current pose of the PTZ 11 can be determined based on the data set of the current pose of the PTZ 11.
  • the current pose of the PTZ 11 can also be determined by the user. After the user judges the current pose of the PTZ 11, the current pose of the PTZ 11 is input into the PTZ 11, so that the PTZ 11 judges whether to switch the current pose according to the current pose.
  • the manner in which the user inputs the current pose of the PTZ 11 can be set by a setting button on the PTZ 11 or a remote control device (such as a remote controller, mobile phone, computer, etc.) that communicates with the PTZ 11 is used to send the The current pose is to PTZ 11.
  • calculating the converted pose corresponding to the current pose according to the difference between the current pose and the reference pose includes:
  • S133 Determine a second attitude value according to the first attitude value and the attitude conversion value, and determine a transformation attitude according to the second attitude value.
  • steps S131, S132, and S133 may be implemented by the processor 14. That is to say, the processor 14 may be further configured to determine a first attitude value according to the acquired current pose, determine a pose conversion value based on a difference between the current pose and a reference pose, and determine a first pose value and a pose conversion value. The second attitude value, and the conversion attitude is determined according to the second attitude value.
  • the current attitude is represented by Euler angles.
  • the first attitude value is a quaternion corresponding to the current attitude.
  • the attitude conversion value corresponding to the difference between the current pose and the reference pose is also a quaternion, and the quaternion can represent the rotation of each axis of the gimbal 11 in the three-dimensional space.
  • the second attitude value obtained according to the first attitude value and the attitude transformation value is also a quaternion, and the transformation attitude corresponding to the second attitude value is the Euler angle after the current attitude transformation of the gimbal 11.
  • a first attitude value q 1 is obtained .
  • the head 11 includes at least one of a pitch axis, a yaw axis, and a roll axis. That is to say, the head 11 may include only the pitch axis, or only the yaw axis, or only the roll axis; or the head 11 may include both the pitch axis and the yaw axis, or both the pitch axis and the horizontal axis
  • the roll axis may include both a yaw axis and a roll axis; alternatively, the head 11 may include a pitch axis, a yaw axis, and a roll axis.
  • the difference between the current pose and the reference pose includes at least one of a difference in pitch angle, a difference in yaw angle, and a difference in roll angle.
  • the difference when the PTZ 11 only includes the pitch axis, the difference includes only the pitch angle difference; when the PTZ 11 includes only the yaw axis, the difference includes only the yaw angle difference; when the PTZ 11 includes only the roll axis, the difference Including only the roll angle difference; when the PTZ 11 includes both the pitch and yaw axes, the difference includes the pitch and yaw angle differences; when the PTZ 11 includes both the pitch and roll axes, the difference includes the pitch angle difference and Roll angle difference; when the PTZ 11 includes both the yaw axis and roll axis, the difference includes the yaw angle difference and the roll angle difference; when the PTZ 11 includes the pitch axis, yaw axis, and roll axis, the difference is simultaneously Includes differences in pitch, yaw, and roll
  • calculating the converted pose corresponding to the current pose based on the difference between the current pose and the reference pose includes:
  • S134 Calculate a converted attitude corresponding to the current attitude according to at least one of a difference in pitch angle, a difference in yaw angle, and a difference in roll angle.
  • step S134 may be implemented by the processor 14. That is, the processor 14 may be configured to calculate a converted attitude corresponding to the current attitude according to at least one of a difference in pitch angle, a difference in yaw angle, and a difference in roll angle.
  • the conversion attitude is calculated according to the difference in pitch angle; when the gimbal 11 includes only the yaw axis, the conversion attitude is calculated according to the difference in yaw angle; when the gimbal 11 includes only the horizontal axis
  • the converted attitude is calculated based on the roll angle difference; when the gimbal 11 includes both the pitch and yaw axes, the converted attitude is calculated based on the difference in the pitch angle and the yaw angle; when the gimbal 11 also includes the pitch axis
  • the converted attitude is calculated based on the difference in pitch angle and roll angle.
  • the converted attitude is calculated based on the difference in yaw angle and roll angle;
  • the gimbal 11 includes a pitch axis, a yaw axis, and a roll axis at the same time, the conversion attitude is calculated according to the difference in pitch angle, yaw angle, and roll angle.
  • the gimbal 11 includes a pitch axis, a yaw axis, and a roll axis as an example.
  • the reference position of the gimbal 11 is that the gimbal 11 is underneath, and the current position of the gimbal 11 is gimbal. 11 is set up, then the converted attitude of the head 11 set down can be calculated based on the difference in pitch angle, yaw angle and roll angle.
  • the PTZ 11 is mounted on an unmanned aerial vehicle, the PTZ 11 is equipped with a camera for shooting, and the current position corresponding to the initial position of the PTZ 11 is (0 °, 0 °, 0 °), then the PTZ 11 After turning 180 ° around the tilt axis to become up, the camera will reverse the picture taken by the camera. At this time, the picture provided to the user will also be reversed, causing the user to fail to watch the captured image or video normally.
  • the roll axis is rotated 180 ° so that the camera will not reverse the picture, that is, the roll angle difference is 180 °, and the gimbal 11 can be changed in the pitch axis direction and the yaw axis direction, that is, the difference in pitch angle.
  • the yaw angle difference is 0 °.
  • the current attitude of the head 11 is (0 °, 180 °, 105 °)
  • it is directly based on the difference in pitch angle, yaw angle and horizontal
  • the difference in the roll angle can be calculated to obtain the converted attitude of the head 11 when it is placed on the head (0 °, 0 °, -75 °).
  • the conversion attitude is directly calculated based on the angle difference of each axis, and the amount of data that the processor 14 needs to process is small.
  • the current attitude of the gimbal 11 is converted to provide a more intuitive attitude angle for the user, and it is convenient for the user to understand the rotation of each axis of the gimbal 11.
  • the present invention also provides a method for displaying the attitude of the PTZ 11.
  • the gimbal 11 establishes a communication connection with the electronic device 20.
  • the electronic device 20 includes a display screen 23.
  • Gesture display methods include:
  • the present invention further provides an electronic device 20.
  • the electronic device 20 establishes a communication connection with the gimbal system 10.
  • the gimbal system 10 includes a gimbal 11.
  • the electronic device 20 includes a communication module 21, a processor 22, and a display screen 23.
  • Step S21 may be implemented by the communication module 21.
  • Both steps S22 and S23 may be implemented by the processor 22.
  • Step S24 may be implemented by the display screen 23. That is, the communication module 21 can be used to obtain the current attitude of the PTZ 11 through a communication connection.
  • the processor 22 may be configured to determine a current pose of the gimbal 11 and calculate a converted pose corresponding to the current pose according to a difference between the current pose and the reference pose when the current pose is not a reference pose.
  • the display screen 23 can be used to display the switching attitude.
  • the electronic device 20 includes one or more of a remote controller, a mobile phone, a tablet computer, a smart watch, smart glasses, a smart helmet, and a gimbal display device. That is, the electronic device 20 may be any one of a remote controller, a mobile phone, a tablet computer, a smart watch, a smart glasses, a smart helmet, and a PTZ display device.
  • the electronic device 20 and the pan / tilt head system 10 can be wired for communication.
  • the electronic device 20 is a pan / tilt head display device, that is, a display component installed on the pan / tilt head device or integrated on the pan / tilt head device.
  • the display component communicates with the PTZ system 10 through an interface; or the electronic device 20 communicates with the PTZ system 10 through a data cable.
  • the electronic device 20 and the PTZ system 10 can communicate through wireless communication.
  • the electronic device 20 is a mobile phone or a remote control, and communicates with the PTZ system 10 through public or private protocols such as WiFi and Bluetooth. For communication.
  • the reference position of PTZ 11 includes any one of PTZ 11 top, PTZ 11 lower, PTZ 11 front, PTZ 11 rear, PTZ 11 left or PTZ 11 right. Species. That is to say, the reference pose can be the PTZ 11 on the top, PTZ 11 on the bottom, PTZ 11 in front, PTZ 11 on the back, PTZ 11 on the left or PTZ 11 on the right.
  • the reference pose refers to the pose when the gimbal 11 is mounted in a default operating mode on a device on which it is mounted.
  • the current pose of the PTZ 11 includes the placement of the PTZ 11 above, the PTZ 11 below, the PTZ 11 front, the PTZ 11 rear, the PTZ 11 left or the PTZ 11 right. Any one of them. That is to say, the current pose can be PTZ 11 on top, PTZ 11 on bottom, PTZ 11 in front, PTZ 11 on back, PTZ 11 on the left or PTZ 11 on the right.
  • the gimbal 11 is mounted below it by default.
  • the reference attitude is considered to be the lower position of the gimbal 11; when the unmanned aerial vehicle also has the structure mounted on the gimbal 11 or other positions, At this time, when the gimbal 11 is changed to an upper position or another posture, the current posture is different from the reference posture at this time.
  • the reference pose is a description of the lower position of the gimbal 11 as an example.
  • the displayed posture of the pan / tilt head 11 relative to the geodetic coordinate system can facilitate the user to intuitively understand the rotation of each axis of the pan / tilt head 11 at this time.
  • the current attitude measured by the attitude sensor 13 is calibrated based on the pan / tilt head 11 being positioned downward.
  • the processor 22 calculates the measurement data of the attitude sensor 13 according to a calibrated algorithm, the displayed attitude is no longer the attitude of the gimbal 11 relative to the geodetic coordinate system, and it cannot be intuitive for the user. To understand the corresponding rotation of each axis of the head 11.
  • the PTZ 11 will be rotated upward by 180 ° around the pitch axis and then changed to the upper position.
  • the attitude of the PTZ 11 will be (0 °, 180 °, 0 °). This will cause the attitude of the PTZ 11 to be unintuitive and the user experience will be poor.
  • the attitude display method of the gimbal 11 and the electronic device 20 when the pose of the gimbal 11 is not the reference posture, convert the current pose of the gimbal 11 to obtain a converted attitude, and display the converted attitude on the display screen 23 . Relative to the current posture, converting the posture can enable the user to more intuitively understand the rotation situation corresponding to each axis of the PTZ 11 and improve the user experience.
  • the gimbal system 10 further includes a base device 12.
  • the gimbal 11 is mounted on the base device 12.
  • Step S22 determining the current pose of the gimbal 11 includes:
  • S222 Determine the current pose of the PTZ 11 according to the loading interface.
  • steps S22 and S222 may be implemented by the processor 22. That is to say, the processor 22 may be used to obtain the mounting interface of the base device 12 currently used by the gimbal 11 from the communication module 21, where the communication module 21 obtains the mounting interface from the gimbal 11 through a communication connection.
  • the processor 22 may be further configured to determine a current pose of the PTZ 11 according to a loading interface.
  • the base device 12 includes at least one of an unmanned aerial vehicle, a gimbal base, and a vehicle. That is, the base device 12 may be any one of an unmanned aerial vehicle, a gimbal base, or a vehicle; or, the base device 12 may be an unmanned aerial vehicle and a gimbal base; or, the base device 12 It may be an unmanned aerial vehicle and a vehicle; or, the base device 12 may be a gimbal base and a vehicle; or, the base device 12 may be an unmanned aerial vehicle, a gimbal base and a vehicle.
  • the unmanned aerial vehicle when the base device 12 is an unmanned aerial vehicle, the unmanned aerial vehicle includes an upper mounting interface and a lower Interface.
  • the gimbal 11 is mounted downward, the gimbal 11 is connected to the mounted interface.
  • the information of the mounted interface can be sent by the UAV to the electronic device 20 connected to the communication through a wired communication method or a wireless communication method.
  • the processor 22 determines that the positioning mode of the pan / tilt 11 at this time is the lower position according to the information.
  • the gimbal 11 when the gimbal 11 is installed, the gimbal 11 is connected to the mounted interface.
  • the information of the mounted interface can be transmitted to the communication-connected electronics by a UAV through a wired communication method or a wireless communication method.
  • the device 20 and the processor 22 then determine that the positioning mode of the PTZ 11 at this time is upper position according to the information.
  • the vehicle when the base device 12 is a vehicle, the vehicle includes an upper mounting interface and a lower mounting interface.
  • the pan / tilt head 11 When the pan / tilt head 11 is lowered, the pan / tilt head 11 is connected to the lower mounting interface.
  • the vehicle can send the information of the lower mounting interface to the electronic device 20 connected to the communication through a wired communication method or a wireless communication method. 22 According to the information, it is determined that the positioning mode of the PTZ 11 at this time is downward.
  • the pan / tilt head 11 when the pan / tilt head 11 is mounted, the pan / tilt head 11 is connected to the upper mounting interface.
  • the vehicle can send the information of the upper mounting interface through a wired communication method or a wireless communication method to the communication-connected electronic device 20,
  • the processor 22 determines that the positioning mode of the pan / tilt 11 at this time is upper position according to the information.
  • the electronic device 20 can determine the current pose of the PTZ 11 according to the mounting interface of the PTZ 11.
  • the pan / tilt head 11 includes a base 101, and step S22 determines the current pose of the pan / tilt head 11 includes:
  • S224 Determine the current pose of the gimbal 11 according to the attitude of the base 101.
  • step S223 and step S224 may be implemented by the processor 22. That is to say, the field, the processor 22 may be used to obtain the attitude of the base 101 from the communication module 21, wherein the communication module 21 obtains the attitude of the base 101 from the gimbal 11 through a communication connection. The processor 22 may also be used to determine the current pose of the gimbal 11 according to the attitude of the base 101.
  • the attitude of the base 101 can be measured by a three-axis gyroscope, an inertial measurement unit, and the like.
  • a three-axis gyroscope can measure the angle between the vertical axis of the gyro rotor and the base 101 in a three-dimensional coordinate system. Compared with the base 101 and the base 101, the vertical axis and the base 101 are compared. The included angle will change according to different placement methods, and the posture of the base 101 can be different.
  • the gimbal system 10 sends the attitude of the base 101 to the electronic device 20 through a communication connection, and the processor 22 of the electronic device 20 determines the current pose of the gimbal 11 according to the attitude of the base 101 read from the communication module 21.
  • the inertial measurement unit usually includes three single-axis accelerometers and three single-axis gyroscopes.
  • the attitude of the base 101 can also be detected by using three single-axis gyroscopes. In this way, the current pose of the gimbal 11 can be determined according to the attitude of the base 101 of the gimbal 11.
  • each placement manner corresponds to a preset standard posture.
  • the step S22 determines the current posture of the PTZ 11 includes:
  • step S225 and step S226 may be implemented by the processor 22. That is to say, the processor 22 may be further configured to obtain a posture difference between the current posture and a preset standard posture within a predetermined time, and determine when the posture difference within the predetermined time is within the preset posture difference range.
  • the current pose is the pose corresponding to the placement method.
  • the current attitude within a predetermined time is sent by the PTZ system 10 to the electronic device 20 through a communication connection.
  • the positioning manner of the pan / tilt head 11 includes an upper position of the pan / tilt head 11 and a lower position of the pan / tilt head 11 as an example.
  • the preset standard attitude is (0 °, 0 °, 0 °).
  • the attitude of the pan / tilt head 11 will be limited by its limit, and In a range.
  • the attitude of the PTZ 11 measured by the attitude sensor 13 exceeds this range, it can be considered that the PTZ 11 is in another posture.
  • this other posture will also have its corresponding prediction.
  • a standard attitude taking the head 11 as an example, it can be (0 °, 180 °, 0 °).
  • the processor 22 obtains the current attitudes of the N heads 11 within a predetermined time, the attitude difference between the current attitude of each head 11 and a preset standard attitude (0 °, 0 °, 0 °) is calculated separately. And calculate the attitude difference between the current attitude of each PTZ 11 and the preset standard attitude (0 °, 180 °, 0 °).
  • the current attitude of multiple PTZs 11 and the preset standard attitude (0 °, 0 °, 0 °) are all within the preset attitude difference range, it is determined that the current pose of the PTZ 11 is under the PTZ 11, if the current attitudes of multiple PTZs 11 and If the attitude differences between the preset standard attitudes (0 °, 180 °, 0 °) are all within the preset attitude difference range, it is determined that the current pose of the PTZ 11 is placed on top of the PTZ 11.
  • the current pose of the PTZ 11 can be determined based on the data set of the current pose of the PTZ 11.
  • the current pose of the PTZ 11 can also be determined by the user. After the user judges the current pose of the PTZ 11, the user inputs the current pose of the PTZ 11 into the electronic device 20, so that the electronic device 20 determines whether to convert the current pose according to the current pose of the PTZ 11.
  • the manner in which the user inputs the current pose of the PTZ 11 can be set through physical keys on the electronic device 20 or a touch screen.
  • calculating the converted pose corresponding to the current pose according to the difference between the current pose and the reference pose includes:
  • S233 Determine a second attitude value according to the first attitude value and the attitude conversion value, and determine a transformation attitude according to the second attitude value.
  • steps S231, S232, and S233 may be implemented by the processor 22. That is to say, the processor 22 may be configured to determine a first posture value according to the acquired current posture, determine a posture conversion value according to a difference between the current posture and a reference posture, and determine the first posture value and the posture conversion value. The second attitude value, and the conversion attitude is determined according to the second attitude value.
  • the current attitude is represented by Euler angles.
  • the first attitude value is a quaternion corresponding to the current attitude.
  • the attitude conversion value corresponding to the difference between the current pose and the reference pose is also a quaternion, and the quaternion can represent the rotation of each axis of the gimbal 11 in the three-dimensional space.
  • the second attitude value obtained according to the first attitude value and the attitude transformation value is also a quaternion, and the transformation attitude corresponding to the second attitude value is the Euler angle after the current attitude transformation of the gimbal 11.
  • the processor 22 converts the Euler angle into a quaternion conversion formula
  • the head 11 includes at least one of a pitch axis, a yaw axis, and a roll axis. That is to say, the head 11 may include only the pitch axis, or only the yaw axis, or only the roll axis; or the head 11 may include both the pitch axis and the yaw axis, or both the pitch axis and the horizontal axis
  • the roll axis may include both a yaw axis and a roll axis; alternatively, the head 11 may include a pitch axis, a yaw axis, and a roll axis.
  • the difference between the current pose and the reference pose includes at least one of a difference in pitch angle, a difference in yaw angle, and a difference in roll angle.
  • the difference when the PTZ 11 only includes the pitch axis, the difference includes only the pitch angle difference; when the PTZ 11 includes only the yaw axis, the difference includes only the yaw angle difference; when the PTZ 11 includes only the roll axis, the difference Including only the roll angle difference; when the PTZ 11 includes both the pitch and yaw axes, the difference includes the pitch and yaw angle differences; when the PTZ 11 includes both the pitch and roll axes, the difference includes the pitch angle difference and Roll angle difference; when the PTZ 11 includes both the yaw axis and roll axis, the difference includes the yaw angle difference and the roll angle difference; when the PTZ 11 includes the pitch axis, yaw axis, and roll axis, the difference is simultaneously Includes differences in pitch, yaw, and roll
  • calculating the converted pose corresponding to the current pose based on the difference between the current pose and the reference pose includes:
  • S234 Calculate a converted attitude corresponding to the current attitude according to at least one of a difference in pitch angle, a difference in yaw angle, and a difference in roll angle.
  • step S234 may be implemented by the processor 22. That is, the processor 22 may be configured to calculate a converted attitude corresponding to the current attitude according to at least one of a difference in pitch angle, a difference in yaw angle, and a difference in roll angle.
  • the conversion attitude is calculated according to the difference in pitch angle; when the gimbal 11 includes only the yaw axis, the conversion attitude is calculated according to the difference in yaw angle; when the gimbal 11 includes only the horizontal axis
  • the converted attitude is calculated based on the roll angle difference; when the gimbal 11 includes both the pitch and yaw axes, the converted attitude is calculated based on the difference in pitch and yaw angle; when the gimbal 11 includes the pitch axis
  • the converted attitude is calculated based on the difference in pitch angle and roll angle.
  • the converted attitude is calculated based on the difference in yaw angle and roll angle;
  • the gimbal 11 includes a pitch axis, a yaw axis, and a roll axis at the same time, the conversion attitude is calculated according to the difference in pitch angle, yaw angle, and roll angle.
  • the gimbal 11 includes a pitch axis, a yaw axis, and a roll axis. 11 is set up, then the converted attitude of the head 11 set down can be calculated based on the difference in pitch angle, yaw angle and roll angle.
  • the PTZ 11 is mounted on an unmanned aerial vehicle, the PTZ 11 is equipped with a camera for shooting, and the current position corresponding to the initial position of the PTZ 11 is (0 °, 0 °, 0 °), then the PTZ 11 After turning 180 ° around the tilt axis to become up, the camera will reverse the picture taken by the camera.
  • the picture provided to the user will also be reversed, causing the user to fail to watch the captured image or video normally.
  • you need to change the The roll axis is rotated 180 ° so that the camera will not reverse the picture, that is, the roll angle difference is -180 °, and the gimbal 11 can be changed in the pitch axis direction and the yaw axis direction, that is, the pitch angle.
  • the difference and the yaw angle are both 0 °. Therefore, the processor 22 can determine the attitude conversion value (0, 1, 0, 0) according to the difference in pitch angle, difference in yaw angle, and difference in roll angle.
  • the processor 22 can directly calculate the gimbal 11 according to the difference in pitch angle, yaw angle and roll axis.
  • the converted attitude when the camera is placed upward is (0 °, 0 °, 0 °).
  • the processor 22 directly determines the difference in pitch angle, The yaw angle difference and the roll axis angle difference can be calculated to obtain the converted attitude when the head 11 is placed (0 °, 0 °, -75 °).
  • the angular difference between the current pose and the reference pose is determined.
  • the conversion attitude is directly calculated according to the angle difference of each axis, and the amount of data that the processor 22 needs to process is small.
  • the present invention further provides a shooting system 100.
  • the imaging system 100 includes a pan / tilt system 10 according to any one of the embodiments described above and an electronic device 20 according to any one of the embodiments described above.
  • the action of converting the current posture to the posture conversion can be implemented on the PTZ system 10 or on the electronic device 20. In this way, the current posture is converted into a converted posture, so that the user can more intuitively understand the rotation of each axis of the gimbal 11.
  • the invention also provides a computer-readable storage medium on which a computer program is stored.
  • the computer program can be executed by the processor 14 to complete the attitude conversion method of the pan / tilt head 11 according to any one of the foregoing embodiments.
  • the computer program may be executed by the processor 14 to complete the following steps:
  • a converted pose corresponding to the current pose is calculated according to the difference between the current pose and the reference pose.
  • the computer program may also be executed by the processor 14 to complete the following steps:
  • the current pose of the PTZ 11 is determined according to the mounting interface.
  • the invention also provides a computer-readable storage medium on which a computer program is stored.
  • the computer program can be executed by the processor 22 to complete the attitude display method of the pan / tilt head 11 according to any one of the foregoing embodiments.
  • a computer program may be executed by the processor 22 to perform the following steps:
  • the control display 23 displays the switching attitude.
  • the computer program may also be executed by the processor 22 to complete the following steps:
  • a second attitude value is determined according to the first attitude value and the attitude conversion value, and a converted attitude is determined according to the second attitude value.
  • Any process or method description in a flowchart or otherwise described herein can be understood as representing a module, fragment, or portion of code that includes one or more executable instructions for performing a particular logical function or step of a process
  • the scope of the preferred embodiments of the present invention includes additional implementations, in which the functions may be performed out of the order shown or discussed, including performing the functions in a substantially simultaneous manner or in the reverse order according to the functions involved, which should It is understood by those skilled in the art to which the embodiments of the present invention pertain.
  • Logic and / or steps represented in a flowchart or otherwise described herein, for example, a sequenced list of executable instructions that may be considered to perform a logical function, may be embodied in any computer-readable medium, For use by, or in combination with, an instruction execution system, device, or device (such as a computer-based system, a system including a processing circuit, or another system that can fetch and execute instructions from an instruction execution system, device, or device) Or equipment.
  • a "computer-readable medium” may be any device that can contain, store, communicate, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device.
  • computer readable media include the following: electrical connections (electronic devices) with one or more wirings, portable computer disk cartridges (magnetic devices), random access memory (RAM), Read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disk read-only memory (CDROM).
  • the computer-readable medium may even be paper or other suitable medium on which the program can be printed, because, for example, by optically scanning the paper or other medium, followed by editing, interpretation, or other suitable Processing to obtain the program electronically and then store it in computer memory.
  • each part of the present invention may be executed by hardware, software, firmware, or a combination thereof.
  • multiple steps or methods may be performed by software or firmware stored in a memory and executed by a suitable instruction execution system.
  • a logic gate circuit having a logic function for performing a logic function on a data signal Discrete logic circuits, application specific integrated circuits with suitable combinational logic gate circuits, programmable gate arrays (PGA), field programmable gate arrays (FPGA), etc.
  • each functional unit in each embodiment of the present invention may be integrated into one processing module, or each unit may exist separately physically, or two or more units may be integrated into one module.
  • the above integrated modules can be executed in the form of hardware or software functional modules. When the integrated module is executed in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.
  • the aforementioned storage medium may be a read-only memory, a magnetic disk, or an optical disk.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • User Interface Of Digital Computer (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

L'invention concerne un procédé de conversion d'attitude consistant à : obtenir l'attitude actuelle d'un panoramique horizontal-vertical (S11) ; déterminer la pose actuelle du panoramique horizontal-vertical (S12) ; et si la pose actuelle n'est pas une pose de référence, calculer une attitude de conversion correspondant à l'attitude actuelle d'après la différence entre la pose actuelle et la pose de référence (S13). L'invention concerne également un procédé d'affichage d'attitude, un système de panoramique horizontal-vertical, un dispositif électronique, un système de photographie, et un support de stockage lisible par ordinateur.
PCT/CN2018/089305 2018-05-31 2018-05-31 Procédé de conversion d'attitude, procédé d'affichage d'attitude, et système de panoramique horizontal-vertical WO2019227410A1 (fr)

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PCT/CN2018/089305 WO2019227410A1 (fr) 2018-05-31 2018-05-31 Procédé de conversion d'attitude, procédé d'affichage d'attitude, et système de panoramique horizontal-vertical
CN201880012712.1A CN110337624A (zh) 2018-05-31 2018-05-31 姿态转换方法、姿态显示方法及云台系统

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PCT/CN2018/089305 WO2019227410A1 (fr) 2018-05-31 2018-05-31 Procédé de conversion d'attitude, procédé d'affichage d'attitude, et système de panoramique horizontal-vertical

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CN114158271A (zh) * 2020-07-08 2022-03-08 深圳市大疆创新科技有限公司 云台控制方法、云台组件、装置、可移动平台和存储介质
WO2023272596A1 (fr) * 2021-06-30 2023-01-05 深圳市大疆创新科技有限公司 Procédé et appareil de traitement de système de cardan, et système de cardan
CN113848999B (zh) * 2021-12-01 2022-02-15 普宙科技(深圳)有限公司 一种云台正反倒置自适应控制方法、装置及云台

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