WO2020062281A1 - Procédé de commande de tête de berceau, tête de berceau, plateforme mobile et support de stockage lisible - Google Patents

Procédé de commande de tête de berceau, tête de berceau, plateforme mobile et support de stockage lisible Download PDF

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Publication number
WO2020062281A1
WO2020062281A1 PCT/CN2018/109185 CN2018109185W WO2020062281A1 WO 2020062281 A1 WO2020062281 A1 WO 2020062281A1 CN 2018109185 W CN2018109185 W CN 2018109185W WO 2020062281 A1 WO2020062281 A1 WO 2020062281A1
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WIPO (PCT)
Prior art keywords
gimbal
angular velocity
coordinate system
joint
euler
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PCT/CN2018/109185
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English (en)
Chinese (zh)
Inventor
刘帅
王映知
谢振生
Original Assignee
深圳市大疆创新科技有限公司
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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/CN2018/109185 priority Critical patent/WO2020062281A1/fr
Priority to CN201880087828.1A priority patent/CN111656298A/zh
Publication of WO2020062281A1 publication Critical patent/WO2020062281A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw

Definitions

  • the invention relates to the technical field of PTZ control, in particular to a control method of the PTZ, a PTZ, a computer movable platform, and a readable storage medium.
  • the PTZ has been widely used due to its stabilizing performance.
  • a camera can be mounted on the gimbal, and the camera shake usually affects the captured image or video.
  • you can set the camera on the gimbal and use the adjustment ability of the gimbal to maintain the camera's stable.
  • the PTZ can not only achieve stabilization, but also adjust the angle of the load on the PTZ.
  • a camera can be mounted on the gimbal, and the camera's shooting angle can be controlled by adjusting the angle of the gimbal.
  • the attitude of the PTZ is generally controlled to control the Euler angular velocity, so as to achieve a change in the attitude of the load, that is, the desired attitude is obtained by directly inputting the desired Euler angular velocity.
  • the user may pay more attention to the positional relationship of each axis arm of the gimbal relative to the base of the gimbal when controlling the gimbal.
  • the base is tilted, the positional relationship between each axis arm in the gimbal relative to the base of the gimbal will change, and the joint angle of the corresponding arm will change. Therefore, the expected Euler angular velocity directly input to the gimbal will change.
  • the gimbal may not be able to move to the desired attitude obtained from the directly entered desired Euler angle.
  • Embodiments of the present invention provide a control method for a PTZ, a PTZ, a movable platform, and a computer-readable storage medium.
  • the method for controlling a gimbal includes: obtaining a desired joint angular velocity of the gimbal in a gimbal joint angular coordinate system; according to the desired joint angular velocity, the gimbal joint angular coordinate system, and coordinates of the gimbal body
  • the conversion relationship between the system, the conversion relationship between the gimbal body coordinate system and the Euler coordinate system, converting the desired joint angular velocity to the desired Euler angular velocity; according to the current attitude of the gimbal and the expectation Euler angular velocity determines the desired attitude of the gimbal.
  • the pan / tilt according to the embodiment of the present invention includes a processor, and the processor is configured to:
  • the movable platform includes a main body and a pan / tilt head, the pan / tilt head is disposed on the main body, the pan / tilt head includes a processor, and the processor is configured to:
  • a computer-readable storage medium stores a computer program thereon, and the computer program can be executed by a processor to complete the control method described above.
  • a gimbal body coordinate can convert the expected joint angular velocity into the expected Euler angular velocity, and determine the desired attitude of the gimbal in combination with the current attitude of the gimbal and the expected Euler angular velocity.
  • the expected joint angular velocity is transformed by the coordinate system of the gimbal body, taking into consideration the joint space planning and the movement of the base of the gimbal, which can ensure that each axis arm of the gimbal is simultaneously Moving to the desired posture, that is, the positional relationship of each axis arm in the head relative to the base remains relatively fixed.
  • FIG. 1 is a schematic flowchart of a control method for a pan / tilt according to an embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of a movable platform according to an embodiment of the present invention.
  • FIG. 3 and 4 are schematic structural diagrams of a pan / tilt according to another embodiment of the present invention.
  • 5 to 9 are schematic flowcharts of a control method for a pan / tilt according to some embodiments of the present invention.
  • FIG. 10 is a schematic diagram of a control method of a pan / tilt according to some embodiments of the present invention.
  • FIG. 11 is a schematic flowchart of a control method for a pan / tilt according to some embodiments of the present invention.
  • FIG. 12 is a schematic diagram of a control method of a pan / tilt according to some embodiments of the present invention.
  • FIG. 13 to 22 are schematic flowcharts of a control method of a pan / tilt head according to some embodiments of the present invention.
  • FIG. 23 is a schematic diagram of a connection between a pan / tilt head and a computer-readable storage medium according to some embodiments of the present invention.
  • an embodiment of the present invention provides a control method of the PTZ 100.
  • the control method includes the following steps:
  • the gimbal 100 includes a processor 20.
  • the processor 20 is configured to: obtain a desired joint angular velocity of the gimbal 100 in a gimbal joint angular coordinate system; The conversion relationship between the gimbal joint angle coordinate system and the gimbal body coordinate system, and the conversion relationship between the gimbal body coordinate system and Euler coordinate system, convert the desired joint angular velocity to the desired Euler angular velocity; according to the 100 The current attitude and the expected Euler angular velocity determine the desired attitude of the gimbal 100.
  • control method according to the embodiment of the present invention can be implemented by the pan / tilt head 100 according to the embodiment of the present invention, where step S10, step S20, and step S30 can be implemented by the processor 20.
  • the head 100 can be a two-axis head, or a three-axis head.
  • the pan / tilt head 100 may be a pan / tilt head 100 mounted on the body of the movable platform.
  • the movable platform may include an unmanned aerial vehicle, a robot, or a mobile cart.
  • the movable platform may be a mobile cart 1000 including a vehicle body 200 (that is, the body of the mobile platform, which is also regarded as the base of the PTZ 100), and the PTZ 100 is disposed on the vehicle body 200.
  • the PTZ 100 may be a handheld PTZ, wherein the handle of the handheld PTZ is regarded as the base of the PTZ 100.
  • the gimbal 100 may be equipped with a load 30, and the load 30 may be an imaging device 32 (such as a camera, a camcorder, a mobile phone, a tablet computer, etc.) and / or a shooting device 31, etc., which can be configured differently according to the required scene. .
  • the attitude of the load 30 may change with the attitude of the pan / tilt head 100, and the stabilization of the pan / tilt head 100 may be achieved.
  • FIG. 2 and FIG. 3 are only schematic descriptions and are not limited. After the description here, the definitions are not repeated later.
  • this embodiment further uses a pan-tilt head 100 as a three-axis pan-tilt as an example for further description.
  • the tri-axis pan / tilt (rotating about a yaw axis, a roll axis, and a pitch axis) includes at least one rotation axis structure 10.
  • Each of the rotating shaft structures 10 may include a rotating shaft motor 12 and a rotating shaft arm 14.
  • the rotating shaft structure 10 corresponding to the yaw axis may include a yaw shaft motor 122 and a yaw shaft arm 142.
  • the rotating shaft structure 10 corresponding to the roll axis may include a horizontal axis.
  • the roller motor 124 and the roll axis arm 144 The roller motor 124 and the roll axis arm 144.
  • the rotation shaft structure 10 corresponding to the pitch axis may include a pitch axis motor 126 and a pitch axis axis arm 146.
  • the yaw axis motor 122, the roll axis motor 124, and the pitch axis motor 126 correspondingly control the corresponding axis arms to rotate about the yaw axis, the roll axis, and / or the pitch axis, so that the attitude control of the gimbal 100 can be achieved.
  • a desired joint angular velocity of the gimbal 100 in a gimbal joint angular coordinate system can be obtained, and the desired joint angular velocity is a control speed of a corresponding axis arm in the gimbal 100, and can be directly input by a user, for example,
  • the input desired joint angular velocity is 10 degrees / second, which can also be obtained by performing corresponding conversion according to the user's input operation, and can also be preset.
  • step S20 In order to accurately control the movement of the gimbal to the desired attitude, in step S20, please refer to FIG. 5.
  • the expected relationship between the angular velocity of the joint, the joint angle coordinate system of the gimbal and the coordinate system of the gimbal body, the gimbal body coordinate system, and Pull the conversion relationship between the coordinate systems to convert the expected joint angular velocity to the expected Euler angular velocity which specifically includes the following sub-steps:
  • Z is a yaw axis
  • X is a roll axis
  • Y is a pitch axis
  • the yaw axis arm 142 is an outer frame
  • the roll axis arm 144 is a middle frame
  • the pitch axis axis arm 146 is the inner frame.
  • the yaw axis motor 122 is used to drive the yaw axis axis arm 142 to rotate to drive the roll axis motor 124 and the roll axis axis arm 144, the pitch axis motor 126 and the pitch axis axis arm 146, and the load mounted on the gimbal 100 30 turns, the roll axis motor 124 is used to drive the roll axis arm 144 to rotate, to drive the pitch axis motor 126 and the pitch axis axis arm 146, and the load 30 is rotated, and the pitch axis motor 126 is used to drive the pitch axis axis arm 146 to rotate, Rotate by driving the load 30.
  • the conversion relationship between the joint angle coordinate system of the gimbal and the coordinate system of the gimbal body is related to the configuration of the gimbal 100, and the configuration of the gimbal is different.
  • the conversion relationship is different.
  • the rotation axis Voutz of the coordinate axis of the yaw axis joint angle is [0, 0, 1]
  • the rotation axis Vmidx of the coordinate axis of the roll axis joint angle is [1, 0, 0]
  • the pitch axis joint The rotation axis Vinny of the coordinate axis of the angle is [0, 1, 0].
  • V outz ⁇ b R y ′ * R x ′ * R z ′ * V outz
  • V midx ⁇ b R y ′ * R x ′ * V midx
  • V inny ⁇ b R y ′ * V inny
  • Ry ', Rx', and Rz ' correspond to the transpose of Ry, Rx, and Rz, respectively.
  • Ry, Rx, and Rz are the joint angle coordinate system around the Y axis (pitch axis), X axis (roll axis), and Z axis, respectively.
  • Yaw axis rotation matrix to the reference coordinate system.
  • Ry, Rx, Rz can be as follows:
  • the reference coordinate system is a coordinate system with a joint angle of 0, and A is a conversion angle of the joint angle coordinate system to the reference coordinate system.
  • step S21 the calculation formula of the expected body angular velocity W b is as follows:
  • W b R jb * W j ;
  • R jb is the conversion relationship between the gimbal joint angle coordinate system and the gimbal body coordinate system, as shown below:
  • inn_joint_ang_rad is the joint angle of the inner frame
  • mid_joint_ang_rad is the joint angle of the middle frame
  • the expected body angular velocity is converted into the expected Euler angular velocity.
  • inn_euler_ang_rad is the Euler angle of the inner frame
  • mid_euler_ang_rad is the Euler angle of the middle frame
  • the Euler angle of the inner frame and the Euler angle of the middle frame are the expected Euler angles of the gimbal 100 when the last closed loop, that is, the end of the last closed loop Shi Yuntai's real-time attitude.
  • the desired joint angular velocity can be converted into the Euler angular velocity via the gimbal body coordinate system.
  • the processor 20 is further configured to: according to the conversion relationship between the desired joint angular velocity, the PTZ joint angular coordinate system and the PTZ body coordinate system, the desired joint The angular velocity is converted into the expected body angular velocity; according to the conversion relationship between the expected body angular velocity, the gimbal body coordinate system, and the Euler coordinate system, the expected body angular velocity is converted into the desired Euler angular velocity.
  • steps S21 and S22 can be implemented by the processor 20.
  • the joint angle of the middle frame is 40 degrees
  • the joint angle of the inner frame is 40 degrees
  • the Euler angle of the inner frame is 10
  • the Euler angle of the middle frame is 0,
  • the expected joint angular velocity is [0 , 0,1].
  • the Euler angular velocity of the PTZ 100 is the joint angular velocity [0,0,1] by default.
  • the Euler angular velocity of the gimbal is [-0.3830, 0.6428, 0.6634].
  • the desired attitude of the pan / tilt head 100 may be determined according to the expected Euler angular velocity and the current attitude of the pan / tilt head 100. Assuming the movement time of the gimbal 100 is t, the expected attitude can be as follows:
  • tar_euler_roll (t) is the attitude corresponding to the roll axis in the desired attitude
  • tar_euler_pitch (t) is the component corresponding to the pitch axis in the desired attitude
  • tar_euler_yaw (t) is the component corresponding to the yaw axis in the desired attitude
  • Wx is the corresponding horizontal axis Roller expected Euler angular velocity
  • Wy is the expected Euler angular velocity corresponding to the pitch axis
  • Wz is the expected Euler angular velocity corresponding to the yaw axis
  • tar_euler_roll_init is the Euler angle corresponding to the roll axis in the current attitude
  • tar_euler_pitch_init is the current attitude
  • tar_euler_yaw_init is the Euler angle corresponding to the yaw axis in the current attitude.
  • the desired attitude of the gimbal 100 at any time that is, the desired joint angle corresponding to each axis arm in the gimbal 100 can be learned.
  • the desired posture obtained is actually the desired joint angle corresponding to the desired joint angular velocity.
  • the relationship between each axis arm in the gimbal 100 and the base of the gimbal 100 can be kept relatively stable.
  • a gimbal body coordinate can convert the expected joint angular velocity into the expected Euler angular velocity, and determine the desired attitude of the gimbal in combination with the current attitude of the gimbal and the expected Euler angular velocity.
  • the expected joint angular velocity is transformed by the coordinate system of the gimbal body, taking into account the joint space planning and the movement of the base, which can ensure that each axis arm in the gimbal can move to the desired level simultaneously
  • the attitude that is, the positional relationship of each axis arm in the head relative to the base remains relatively fixed.
  • the movable platform is a mobile trolley 1000
  • the gimbal 100 is a two-axis gimbal (taking rotation around the yaw axis and pitch axis as an example).
  • the gimbal 100 may include a yaw axis shaft arm 142 and The yaw axis motor 122, the pitch axis arm 146, and the pitch axis motor 126, and the load 30 is the shooting device 31.
  • the user can control the movement of the mobile cart 1000 and the pan / tilt 100 through a remote controller, for example, control the mobile cart 1000 to shoot on a horizontal plane.
  • the moving dolly 1000 when the moving dolly 1000 is tilted, for example, the moving dolly 1000 is moving on an inclined plane, and the pitch axis shaft arm 146 in the gimbal 100 is in the stabilization mode, if the user only controls the gimbal 100 to rotate about the yaw axis, then The control of the gimbal 100 is to use Euler angle control.
  • the rotation of the yaw axis arm 142 will cause the pitch axis arm 146 in the stabilization mode to rotate, but the pitch axis axis arm 146 will rotate around the Z axis of the world coordinate system.
  • the shooting direction of the shooting device 31 is still parallel to the horizontal direction, that is, the bullets fired by the shooting device 31 are still fired in the horizontal direction, instead of being fired by the user in a direction parallel to the inclined plane.
  • the hitting accuracy of the shooting device 31 will be low.
  • the pitch axis arm 146 when the yaw axis arm 142 is controlled as described above, since the joint angular velocity is expected to be converted via the PTZ body coordinate system, the pitch axis arm 146 will not rotate around the Z axis of the world coordinate system, and It rotates around the gimbal body and also around the Z axis of the vehicle body 200 (ie, the base of the gimbal 100). In this way, even if the mobile cart 1000 is tilted, the tilting axis arm 146 will also be tilted with the mobile cart 1000 at the same time, which is beneficial for the shooting device 31 to align with competitors on the slope.
  • the user wants to change the attitude of the shooting device 31 to the direction parallel to the inclined plane by directly inputting the Euler angular velocity and needs to control the left and right back and forth firing, the user needs to input the yaw axis axis arm 142 and the pitch axis axis arm at the same time.
  • the Euler angular speed of 146 is relatively complicated to operate, and it is not necessarily able to accurately control the pitch axis shaft arm 146, so that the attitude of the shooting device 31 is changed to a direction parallel to the inclined plane.
  • the user can only input the joint angular velocity for one axis (for example, the yaw axis), and the shooting direction of the shooting device 31 can be parallel to the slope surface and can be swung back and forth.
  • the operation is simple and easy to control.
  • the head 100 is a handheld head.
  • the head 100 may include a yaw axis arm 142 and a yaw axis motor 122, a roll axis arm 146 and a roll axis motor 126, and a pitch axis axis.
  • the arm 146 and the pitch axis motor 126, and the load 30 is the imaging device 32.
  • the user can capture static sensing data (such as pictures) or dynamic sensing data (such as videos) through the imaging device 32.
  • a desired motion path for example, the shooting path is that the imaging device 32 shoots first toward the ground and then shoots toward the sky
  • the angle of the handle's tilt is different. If the angle of the handle is different, if you continue to use the original attitude angle mode (that is, the mode controlled by directly inputting the desired Euler angle or the desired Euler angle speed), the Euler angle that can be achieved by the corresponding arm of the gimbal 100 It can be different.
  • the handle when the handle is tilted by 40 degrees and the handle is tilted by 60 degrees, if the same Euler angle or Euler angular speed that is directly input is used to control, the Euler reachable by the roll axis arm 144 in the gimbal 100 The angles are different, and even the expected Euler angle input by the user cannot be reached, so that the same video effect cannot be guaranteed in different usage scenarios.
  • a desired posture corresponding to the desired joint angle can be determined, that is, when the gimbal 100 moves to the desired posture, the gimbal 100 moves to the desired joint angular velocity.
  • Corresponding position of the desired joint angle is the same, the corresponding axis arm in the gimbal 100 can be controlled to the desired joint angle, and the cloud cannot be realized due to the different tilting angle of the handheld gimbal.
  • Expected control of the corresponding arm in the stage 100 is
  • the purpose of moving the imaging device 32 to the desired joint angle can be used to achieve the same shooting effect in different scenes.
  • control method further includes the following steps:
  • the processor 20 is further configured to control the PTZ 100 to rotate to a desired attitude according to a desired Euler angular velocity.
  • step S40 may be implemented by the processor 20.
  • the current attitude of the gimbal 100 is obtained to obtain the current Euler angle (yaw angle, roll angle, and pitch angle), and the expected Euler angle velocity is superimposed on the current Euler angle to obtain the desired Euler angle, that is The desired attitude is controlled to rotate the gimbal 100 to a desired Euler angle, thereby rotating the load 30 to a desired attitude.
  • the current attitude can be represented by Euler angles.
  • the firing direction of the current shooting device 31 is parallel to the horizontal plane, and then the expected Euler angular velocity is superimposed on the current Euler angle. Pull the angle to get the desired Euler angle.
  • the desired Euler angle can be used to indicate the desired attitude.
  • the desired attitude is such that the firing direction of the shooting device 31 is parallel to the inclined plane.
  • the gimbal 100 is controlled to rotate to the desired angle according to the closed-loop control method. Attitude, the shooting device 31 can fire a bullet in a direction parallel to the slope surface.
  • the PTZ 100 can also be controlled to rotate to the desired posture according to step S40, so that the imaging device 32 can take a video during the desired posture or move to the desired posture.
  • the speed is uniform
  • the joints are not dependent on the joint angle during the rotation. Dependence of angular accuracy is low, and makes the captured video picture smooth and smooth even more uniform.
  • it can be ensured that each axis arm moves to a specified position in the joint space during the movement time, that is, the desired joint angle position, without caring whether the base of the pan / tilt 100 is inclined.
  • step S40 controlling the pan / tilt head 100 to rotate to a desired posture according to the desired Euler angular velocity, including the following sub-steps:
  • the PTZ 100 is controlled to rotate to a desired attitude according to a desired Euler angular velocity.
  • the processor 20 is further configured to: when the preset shooting trigger event occurs, control the pan / tilt head 100 to rotate to a desired attitude according to a desired Euler angular velocity.
  • step S41 can be implemented by the processor 20.
  • the pan / tilt head 100 may be equipped with an imaging device 32. After determining the desired pose of the pan / tilt head 100 according to the current pose of the pan / tilt head 100 and the desired Euler angle, the pan / tilt head 100 may not be controlled to rotate to the desired pose immediately. That is, after determining the desired attitude of the PTZ 100, the user can first keep the current attitude of the PTZ 100 unchanged, and then pre-arrange the shooting scene or allow the person to pose the action, and then trigger it by a preset shooting trigger event The pan / tilt 100 moves to a desired posture, and during the process of the pan / tilt 100 to a desired posture, the imaging device 32 simultaneously performs a preset shooting action.
  • the shooting trigger event may be a user inputting a shooting start instruction, such as pressing a shooting button on the PTZ 100, clicking on the screen of the PTZ 100 to start shooting, issuing a predetermined shooting voice instruction, or triggering on a control terminal of the PTZ 100
  • the imaging device on the gimbal 100 performs shooting and the like.
  • the load 30 may also include an imaging device, that is, use the mobile cart 1000 to capture images and / or videos.
  • step S10 obtaining the expected joint angular velocity of the gimbal 100 in the gimbal joint angular coordinate system includes the following sub-steps:
  • S11 Receive input information for controlling the rotation speed of the PTZ 100;
  • the processor 20 is further configured to: receive input information for controlling the rotation speed of the PTZ 100; The expected joint angular velocity in the joint angular coordinate system.
  • steps S11 and S12 can be implemented by the processor 20.
  • the user can control the rotation speed of the PTZ 100.
  • the desired joint angular velocity of the PTZ 100 can be determined.
  • the input information may be input by a user at various control terminals that communicate with the PTZ 100.
  • the control terminal includes a remote controller, a mobile phone, an iPad, and a computer.
  • the user input mode may be a joystick operation of the remote controller, a display input device of the remote controller or the PTZ 100, a mobile phone interface, or a computer interface operation.
  • Each type of input information corresponds to a different processing method to obtain the desired joint angular velocity.
  • the input information includes various types, such as a joystick operation lever amount, a desired joint angle, a desired motion path, and the like.
  • the input information includes the desired joint angle.
  • the desired joint angular velocity of the PTZ 100 in the PTZ joint angle coordinate system is determined, including the following sub-steps:
  • the input information includes a desired joint angle
  • the processor 20 is further configured to determine whether the PTZ 100 is in accordance with the desired joint angle, the current posture, and the preset motion time.
  • step S121 may be implemented by the processor 20.
  • the desired joint angle may be a single input by the user. It can be understood that after the current pose of the PTZ 100 is obtained, the current joint angle of the PTZ 100 can be obtained.
  • the imaging device 32 performs shooting according to a desired movement path, and the exercise time t may be a shooting duration set by a user. For example, if the input desired joint angle is directly to the right of the current screen, and the preset movement time is 10 seconds as an example, the desired motion of the PTZ 100 is to rotate from the current joint angle to the current picture within 10 seconds. Directly to the right, the PTZ 100 forms a shooting path of the imaging device 32 during the movement.
  • the pan / tilt head may enter the preset shooting mode by default. After the shooting is completed, the pan / tilt head 100 may exit the preset.
  • the shooting mode retains the original stabilization mode or the following mode, or the PTZ 100 can remain in the preset shooting mode, which is not specifically limited here.
  • the desired joint angle includes a plurality of, and in step S121, the PTZ 100 in the PTZ joint angle coordinate system is determined according to the desired joint angle, the current posture, and the preset movement time.
  • Expected joint angular velocity including the following substeps:
  • S1211 Determine the desired joint angular velocity of the PTZ 100 in the PTZ joint angle coordinate system corresponding to each desired motion path according to the multiple desired joint angles, the current posture, and the preset motion time. Each desired motion path is based on the multiple desired joints. The angle and current attitude are determined.
  • the desired joint angle includes a plurality of points
  • the processor 20 is further configured to determine the gimbal according to the plurality of desired joint angles, a current posture, and a preset motion time.
  • 100 corresponds to the desired joint angular velocity of each desired motion path in the gimbal joint angle coordinate system, and each desired motion path is determined according to a plurality of desired joint angles and the current posture.
  • step S1211 can be implemented by the processor 20.
  • the desired joint angle may be multiple values input by the user at a single time, or multiple values input by the user multiple times.
  • the PTZ 100 is controlled to move according to the plurality of desired joint angles, and the PTZ 100 can move according to a complete desired motion path.
  • the posture corresponding to the joint angle is expected to be W1, W2, W3, W4, and W5
  • the first path may be the path between W1 and W2, and the second path is between W2 and W3.
  • the third path is the path between W3 and W4, and the fourth path is the path between W4 and W5, so that at least one desired motion path (represented by the curve Q) can be formed.
  • the user when the imaging device 32 is provided on the pan / tilt head 100, the user can set various paths according to the shooting requirements, so that the imaging device 32 on the pan / tilt 100 can move along more complicated paths at one time, and simultaneously shoot Pictures with better continuity, users can produce more interesting shooting effects by inputting multiple different desired joint angles, such as shooting effects that turn around the world.
  • the input information may include a desired motion path in addition to the desired joint angle.
  • the input information includes a desired motion path.
  • determining a desired joint angular velocity of the gimbal 100 in a gimbal joint angular coordinate system includes the following sub-steps:
  • S123 Determine a desired joint angular velocity of the gimbal 100 in the gimbal joint angle coordinate system according to the desired joint angle, the current posture, and the preset movement time.
  • the input information includes a desired motion path
  • the processor 20 is further configured to determine the desired joint angle of the PTZ 100 according to the desired motion path;
  • the current attitude and the preset movement time determine the desired joint angular velocity of the gimbal 100 in the gimbal joint angular coordinate system.
  • steps S122 and S123 can be implemented by the processor 20.
  • one or more desired joint angles may be determined according to a desired motion path.
  • the desired motion path may be directly a curve Q representing the motion path of the imaging device 32, and the curve Q may be input by a user in the PTZ 100 or the control terminal of the PTZ 100, or may be obtained from the PTZ Pre-stored expected motion paths within 100.
  • the state of each point in the desired motion path can be represented by the desired joint angle of the PTZ 100, but if the desired motion path includes multiple sub-paths, the expectations corresponding to the head and tail points in the multiple sub-paths can be determined The joint angle is sufficient.
  • the desired motion path may be determined according to the attitude change of the gimbal 100 when the gimbal 100 is manually moved.
  • the movement track of the imaging device 32 when the user moves the pan / tilt 100 can be recorded, and the movement track can be saved and used as a desired movement path. In this way, the user can input the desired motion path more intuitively, and the operation is simple.
  • the imaging device 32 is mounted on the pan / tilt 100, and the control method includes the following steps:
  • the imaging device 32 is mounted on the pan / tilt head 100, and the processor 20 is further configured to output the imaging device 32 during the manual movement of the pan / tilt head 100. Preview screen.
  • step S50 can be implemented by the processor 20.
  • the imaging device 32 can continue to shoot while the pan / tilt 100 is manually moved, and the user can preview whether the video captured by the path can meet the requirements through the output preview screen, and can further choose whether to use the The throbbing path serves as the desired motion path.
  • the input information may also be information input in history.
  • the desired joint angular velocity of the gimbal 100 in the gimbal joint angle coordinate system is determined according to the input information, including the following sub-steps:
  • the processor 20 is further configured to: determine a target speed mode that matches the input information among multiple historical speed modes; and determine the PTZ according to the target speed mode.
  • steps S124 and S125 can be implemented by the processor 20.
  • the desired joint angular velocity when the desired joint angular velocity is determined according to the input information of the user, after the desired joint angular velocity is determined, the desired joint angular velocity can be recorded. Through continuous accumulation, multiple desired joint angular velocities form multiple historical velocity patterns. And formed multiple historical speed modes. Therefore, when controlling the PTZ 100, the PTZ 100 can output multiple historical speed modes, and the user can meet the target speed mode required by the current control among the multiple historical speed modes. The PTZ 100 can be selected by the user The target speed mode of the PTZ camera determines the desired joint angular velocity of the gimbal 100 in the joint angular coordinate system.
  • the PTZ 100 can output multiple historical speed modes to the control terminal of the PTZ 100 and display them on the display screen of the control terminal, and then the user selects the target speed mode on the control terminal; or, the PTZ 100 can also Multiple historical speed modes are displayed on the display of the device where the PTZ 100 is located.
  • the display can be set on the handle, and the user can use the display on the handle.
  • Select a target speed mode; or, the PTZ 100 may also be provided with a speaker, and a plurality of historical speed modes are output by the speaker, and then the user selects the target speed mode.
  • the manner of interaction between the user and the control terminal and / or the PTZ 100 may include, but is not limited to, touch, somatosensory, and voice.
  • the pan-tilt head 100 shown in FIG. 3 is taken as an example for description.
  • the pan-tilt head 100 is provided with an imaging device 32.
  • the user uses the PTZ 100 to shoot, the user can input the desired joint angle to control the PTZ 100 to move to the desired joint angle for shooting.
  • the desired joint angle When the user enters the desired joint angle, according to the shooting time of the PTZ 100 and the cloud
  • the current joint angle and desired joint angle of the stage 100 can convert the corresponding desired joint angular velocity, and the speed pattern can be stored.
  • step S124 may be triggered, thereby matching a target speed pattern corresponding to the current desired joint angle among multiple historical speed modes.
  • the target speed mode includes the desired joint angular velocity of the gimbal 100 in the gimbal joint angular coordinate system. Using the desired Euler angular velocity obtained by the conversion of the desired joint angular velocity to control the motion of the gimbal 100 can make the imaging device 32 in different scenes. , The PTZ 100 follows the same desired motion path to shoot.
  • the input information may also be a joystick operation amount. Specifically, the input information includes the amount of joystick operation.
  • the desired joint angular velocity of the PTZ 100 in the PTZ joint angular coordinate system is determined, including the following sub-steps:
  • S126 Determine a desired joint angular velocity of the pan / tilt head 100 in the joint angle coordinate system of the pan / tilt according to the correspondence between the amount of the joystick control lever and the preset joystick control lever amount and the joint angular velocity.
  • the input information includes a joystick operation lever amount
  • the processor 20 is further configured to: according to the joystick operation lever amount and the preset joystick operation lever amount and joint The correspondence between the angular velocities determines the desired joint angular velocity of the gimbal 100 in the gimbal joint angular coordinate system.
  • step S126 may be implemented by the processor 20.
  • the amount of the joystick used to control the shaft arm is converted into the input values Raw_y and Raw_z of the two channels.
  • the input value Raw_y is the amount of joystick corresponding to the pitch axis arm 146
  • the input value Raw_z is the amount of joystick corresponding to the yaw axis arm 142.
  • the user can perform a joystick operation only on the yaw axis axis arm 142 to achieve the corresponding attitude control of the pitch axis axis arm 146, especially on the base of the pan / tilt 100 When tilted.
  • the input values Raw_y and Raw_z are subjected to a deadband limitation.
  • the dead band is limited to the minimum value of the input value. Taking the minimum input value of 1 as an example, for input values less than 1, the corresponding expected joint angular velocity is uniformly given as 0. For example, if the input value is 0.5, the desired joint angular velocity is 0, so as to prevent the joystick from triggering the step of acquiring the desired joint angular velocity of the gimbal 100 due to a small vibration input by a user.
  • step S10 the desired joint angular velocity of the gimbal 100 in the gimbal joint angular coordinate system is obtained, including the following sub-steps:
  • step S20 the desired joint angular velocity is converted into the desired European angular velocity according to the conversion relationship between the desired joint angular velocity, the PTZ joint angular coordinate system and the PTZ body coordinate system, and the conversion relationship between the PTZ body coordinate system and the Euler coordinate system.
  • the control method further includes the following steps:
  • S60 It is detected whether the second axis arm in the gimbal 100 is in the stabilization mode, and the first axis arm is used to drive the second axis arm to rotate;
  • step S20 is triggered.
  • the processor 20 is further configured to: obtain a desired joint angular velocity of the first axis arm in the gimbal 100 in a gimbal joint angular coordinate system; and detect a cloud Whether the second axis arm in the stage 100 is in the stabilization mode, the first axis arm is used to drive the second axis arm to rotate; if so, step S20 is triggered.
  • step S60 can be implemented by the processor 20.
  • the first shaft arm is a shaft arm to be controlled
  • the second shaft arm is a shaft arm that is driven when the first shaft arm rotates.
  • the first shaft arm is an outer frame as shown in FIG. 4, and the second shaft arm is a second shaft arm.
  • the first axis arm includes a yaw axis axis arm 142
  • the second axis arm includes a pitch axis axis arm 146 and / or a roll axis axis arm 144; for example, the first axis arm It is the middle frame as shown in FIG. 4, and the second axis arm is the inner frame.
  • the PTZ 100 may include two control modes, a stabilization mode and a follow mode.
  • the stabilization mode the Euler angle of the corresponding arm in the gimbal 100 is locked.
  • the gimbal 100 can follow the target object to rotate.
  • the second axis arm in the gimbal 100 is in the stabilization mode, if the base of the gimbal 100 is tilted, the second axis arm is still around the world coordinate system while the user controls the rotation of the first axis arm.
  • the Z axis rotates, which is not good in a hit confrontation scene such as a moving cart 1000.
  • step S20 it can be further detected whether the second shaft arm is in the stabilization mode, and if so, step S20 can be triggered. If the second axis arm is not in the stabilization mode, such as in the following mode, the joint angle of the second axis arm has been locked at this time. When the trolley 1000 is moved up the slope, the rotation of the yaw axis axis arm 142 will not cause the pitch The pivot arm 146 rotates around the pitch axis without triggering step S20.
  • the pitch axis arm 146 when the pitch axis arm 146 is in the stabilization mode, that is, in the mode of locking the Euler angle, whether the mobile trolley 1000 moves on the horizontal plane or on the inclined plane, if the user moves If only the Euler angular velocity of the yaw axis is input, the Euler angle of the pitch axis arm 146 (ie, the Euler angle of the shooting device 31) will always be unchanged, for example, it will always be horizontal. This obviously does not meet the actual needs of the shooting target of the mobile trolley 1000 when going uphill (such as hitting competitors in the competition).
  • the user can enter the Euler angular velocity corresponding to the yaw axis and the Euler angular velocity corresponding to the pitch axis at the same time. So that the shooting device 31 shoots in a direction parallel to the inclined plane. However, the user needs to input two Euler angular velocities at the same time, and the operation is complicated.
  • the user can input the joint angular velocity of the yaw axis axis arm 142 and obtain the desired Euler angular velocity of the gimbal 100 through the above-mentioned conversion of S20.
  • the gimbal 100 is based on When the desired Euler angular velocity moves, the head 100 can rotate around the Z axis of the base of the head 100, so that the shooting direction of the shooting device 31 can be parallel to the inclined plane.
  • the control method further includes the following steps:
  • the processor 20 is further configured to: detect whether the base of the gimbal 100 is tilted; if yes, trigger based on the desired joint angular velocity and gimbal joint angle coordinates
  • step S70 can be implemented by the processor 20.
  • step S70 if it is detected that the base of the gimbal 100 is not tilted, it is not necessary to trigger step S20. If it is detected that the base of the gimbal 100 is tilted, step S20 is triggered.
  • the corresponding control of any of the axis arms in the head 100 has a small influence on the attitude of the other axis arms, and the Euler angle corresponding to any of the axis arms is unique. Therefore, when the base of the gimbal 100 is not tilted, the desired joint angular velocity may not be converted via the gimbal body coordinate system, and the gimbal 100 may be directly controlled using the desired joint angular velocity, or according to other input information of the user.
  • the PTZ 100 controls to reduce the consumption of unnecessary computing resources.
  • step S20 Taking the load 30 as the imaging device 32 as an example, if it is detected that the base of the gimbal 100 (in this case, the handle of the gimbal is not tilted), it is considered that the joint angle coordinate system on the handle is still coincident with the world coordinate system There is no need to trigger step S20.
  • FIG. 17 and FIG. 18 can be correspondingly combined, that is, whether the base of the gimbal 100 is tilted and whether the second axis arm in the gimbal 100 is in a stabilization mode are detected simultaneously. If both occur at the same time, the desired joint angle will be transformed via the gimbal body coordinate system, so as to reduce the waste of computing resources if the transformation is unnecessary.
  • step S70 detects whether the base of the PTZ 100 is tilted, including the following sub-steps:
  • the processor 20 is further configured to: obtain a posture parameter of the base of the gimbal 100; and determine the base of the gimbal 100 relative to the horizontal plane according to the posture parameter. Whether the included angle is greater than a preset angle threshold; if so, determine that the base is tilted.
  • steps S71 and S72 can be implemented by the processor 20.
  • the attitude parameters of the base of the gimbal 100 generally have a large difference, which can be reflected in the difference between the angle between the base of the gimbal 100 and the horizontal plane. Therefore, whether the tilt of the base can be determined by determining whether the included angle of the base of the head 100 with respect to the horizontal plane is greater than a preset angle threshold.
  • the preset angle threshold may be determined in advance based on experimental statistical data, or may be input by a user.
  • the preset angle threshold may be 0.
  • the angle of the base of the PTZ 100 with respect to the horizontal plane is greater than 0 degrees, it is determined that the base is tilted, and when the angle of the base of the PTZ 100 with respect to the horizontal plane is equal to At 0 degrees, it is considered that the base of the head 100 is not tilted.
  • the base of the pan / tilt head 100 is tilted.
  • the pan / tilt head 100 is a pan / tilt mounted on a moving cart 1000 shown in FIG. 2, such as moving
  • the driving device of the mobile trolley 1000 such as a wheel pressing on the small gravel
  • the base of the gimbal 100 may tilt.
  • the included angle of the base with respect to the horizontal plane may be small, and has little influence on the attitude control of the gimbal 100. Therefore, in order to avoid misunderstanding that the base of the PTZ 100 is tilted, the preset angle threshold may be a threshold greater than 0, and the specific numerical value may be set as required.
  • Step S20 Taking the load 30 as the shooting device 31 as an example, assuming that the preset angle threshold is 5 degrees, when the angle between the base of the gimbal 100 and the horizontal plane is less than 10 degrees, it is considered that the trolley is still moving in a relatively horizontal plane without requiring Step S20 is triggered. Taking the load 30 as the imaging device 32 as an example, when the angle between the base of the gimbal 100 and the horizontal plane is less than 5 degrees, it is considered that the handle of the hand-held gimbal is not tilted without triggering step S20.
  • determining whether the included angle of the base of the PTZ 100 with respect to the horizontal plane is greater than a preset angle threshold in step S72 includes:
  • S721 Determine whether the included angle of the base of the PTZ 100 with respect to the horizontal plane within a preset period is greater than a preset angle threshold.
  • the processor 20 is further configured to determine whether the included angle of the base of the PTZ 100 with respect to the horizontal plane within a preset time period is greater than a preset angle threshold.
  • step S721 can be implemented by the processor 20.
  • the included angle of the determined base of the PTZ 100 with respect to the horizontal plane is generally different, but the base of the PTZ 100 is tilted by mistake
  • the duration is generally shorter.
  • the preset duration may be stored in the PTZ 100 in advance or determined by user input. In one embodiment, the preset duration is 1 second, and the determination period of the attitude parameter of the base of the gimbal 100 is 0.001 second.
  • the base of the gimbal 100 is determined 1000 times relative to the horizontal plane within 1 second, If the included angles are all larger than the preset angle threshold, the base of the PTZ 100 is considered to be inclined. If one of them is determined that the included angle of the base of the PTZ 100 with respect to the horizontal plane is not larger than the preset angle threshold, for example, the 1000th time If the preset conditions are met, it is considered that the base of the gimbal 100 is tilted by mistake.
  • the included angle of the base of the PTZ 100 with respect to the horizontal plane is greater than a preset angle threshold within a preset time period, it can be considered that the base of the PTZ 100 is inclined.
  • step S20 when it is detected that the base of the gimbal 100 is tilted, it can be considered that the moving cart 1000 moves on the inclined surface, and at this time, step S20 needs to be triggered. If the included angle of the base of the PTZ 100 with respect to the horizontal plane is smaller than the preset angle threshold within a preset period, or if the included angle is continuously smaller than the preset angle threshold, step S20 is not triggered.
  • the angle between the base of the pan / tilt head 100 and the horizontal plane may be larger than a predetermined value in a short time.
  • Set the angle threshold Therefore, by setting the preset duration, it can be further accurately judged whether the base of the PTZ 100 is in a tilt situation that needs to trigger step S20.
  • the attitude parameters of the base of the PTZ 100 can be determined in the following two ways:
  • a first attitude sensor is provided on the gimbal 100.
  • the current attitude of the PTZ 100 is acquired by a first attitude sensor.
  • step S71 obtains the attitude parameters of the base of the PTZ 100, including the following sub-steps:
  • the processor 20 is further configured to determine the attitude parameters of the base of the gimbal 100 according to the current attitude of the gimbal 100.
  • step S711 may be implemented by the processor 20.
  • the first attitude sensor is set on the gimbal 100 and acquires the current attitude of the gimbal 100 in real time.
  • the first attitude sensor may be an Inertial Measurement Unit (IMU).
  • the IMU may include three single-axis accelerometers and three single-axis gyroscopes. Using the IMU to measure the angular velocity and acceleration of the gimbal 100 in the three-dimensional space, the current attitude of the gimbal 100 can be calculated by integrating.
  • the relationship between the PTZ 100 and the base of the PTZ 100 can be used to obtain the attitude parameters of the PTZ 100's base and further determine whether the PTZ 100's base has occurred. tilt.
  • a second attitude sensor is provided on the base of the PTZ 100.
  • the attitude parameter of the base of the gimbal 100 is acquired by a second attitude sensor.
  • the second attitude sensor can directly detect the attitude parameter of the base of the PTZ 100 to further determine whether the base of the PTZ 100 is tilted.
  • the second attitude sensor may be an accelerometer.
  • control method before determining the desired attitude of the PTZ 100 according to the current attitude of the PTZ 100 and the expected Euler angular velocity, that is, before step S30, the control method further includes the following steps:
  • the speed corresponding to the third axis arm in the expected Euler angular velocity is controlled to be a preset value, and the head 100 is not provided with a third axis arm.
  • the processor 20 is further configured to control the speed of the corresponding third axis arm of the desired Euler angular velocity to a preset value, and the gimbal 100 is not provided with a third axis arm. .
  • step S80 may be implemented by the processor 20.
  • the desired Euler angular velocity may correspond to three axis arms (corresponding to the yaw axis, the pitch axis, and the roll axis).
  • the speed of the third axis arm can be set to a preset value to prevent the motor torque output from being saturated and affect the control of other axis arms.
  • the preset value may be, for example, 0.
  • the Euler angular velocity of the third axis arm in the pan / tilt head 100 can also be controlled to a preset value. That is, this embodiment can be applied to a handheld gimbal.
  • the pan / tilt head 100 in the embodiment of the present invention may be a pan / tilt with any configuration, and may also be loaded with any load 30, which is applicable to a situation where the posture of the pan / tilt head 100 cannot be effectively controlled due to the tilt of the base of the pan / tilt head 100.
  • a computer-readable storage medium 300 includes a computer program that can be executed by the processor 20 to complete the control method of any one of the foregoing embodiments.
  • the computer program may be executed by the processor 20 to complete the control method described in the following steps:
  • the computer program can also be executed by the processor 20 to complete the control method described in the following steps:
  • first and second are only used for description purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the technical features indicated. quantity. Therefore, the features defined as “first” and “second” may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present invention, the meaning of "a plurality" is two or more, unless it is specifically and specifically defined otherwise.
  • the terms “installation”, “connected”, and “connected” should be understood in a broad sense unless explicitly stated and limited otherwise.
  • they may be fixed connections, or Removable connection or integral connection; can be mechanical connection, electrical connection or can communicate with each other; can be directly connected, or indirectly connected through an intermediate medium, can be the internal connection of two components or two components Interaction.
  • the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific situations.
  • Any process or method description in a flowchart or otherwise described herein can be understood as a module, fragment, or portion of code that includes one or more executable instructions for implementing 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 implement a logical function, may be embodied in any computer-readable medium, For use by instruction execution systems, devices, or devices (such as computer-based systems, systems that include processing modules, or other systems that can take instructions from and execute instructions) 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 (control methods) 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 embodiments of the present invention may be implemented by hardware, software, firmware, or a combination thereof.
  • multiple steps or methods may be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system.
  • a suitable instruction execution system For example, if implemented in hardware, as in another embodiment, it may be implemented using any one or a combination of the following techniques known in the art: 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 may be implemented in the form of hardware or software functional modules. If the integrated module is implemented 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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Abstract

La présente invention concerne un procédé de commande de tête de berceau (100), une tête de berceau (100), une plateforme mobile et un support de stockage lisible (300). Le procédé de commande consiste à : obtenir une vitesse angulaire d'articulation souhaitée d'une tête de berceau (100) dans un système de coordonnées angulaires d'articulation de tête de berceau (S10) ; sur la base de la relation de conversion entre la vitesse angulaire d'articulation souhaitée, le système de coordonnées angulaires d'articulation de tête de berceau et un système de coordonnées de corps de tête de berceau et de la relation de conversion entre le système de coordonnées de corps de tête de berceau et un système de coordonnées d'Euler, convertir la vitesse angulaire d'articulation souhaitée en une vitesse angulaire d'Euler souhaitée (S20) ; sur la base de l'état actuel de la tête de berceau (100) et de la vitesse angulaire d'Euler souhaitée, déterminer l'état souhaité de la tête de berceau (100) (S30).
PCT/CN2018/109185 2018-09-30 2018-09-30 Procédé de commande de tête de berceau, tête de berceau, plateforme mobile et support de stockage lisible WO2020062281A1 (fr)

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PCT/CN2018/109185 WO2020062281A1 (fr) 2018-09-30 2018-09-30 Procédé de commande de tête de berceau, tête de berceau, plateforme mobile et support de stockage lisible
CN201880087828.1A CN111656298A (zh) 2018-09-30 2018-09-30 云台的控制方法、云台、可移动平台及可读存储介质

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