WO2021007697A1 - Gimbal and control method and external control apparatus therefor - Google Patents

Abstract

A gimbal and a control method therefor. A gimbal and an external control apparatus therefor are also comprised, wherein the gimbal and the external control apparatus are in communication connection. The method comprises: acquiring an angular velocity of an external control apparatus; performing integration processing on the angular velocity, and determining a target attitude of a gimbal; and controlling, according to the target attitude, the gimbal to rotate, wherein the integration frequency of the integration processing is greater than the communication frequency between the gimbal and the external control apparatus. The movement velocity of the present gimbal can correspond to the speed of an external control apparatus controlled by a user, and the rotation velocity is relatively uniform.

Description

PTZ and its control method and external control device Technical field

The invention relates to the field of pan-tilt control, in particular to a pan-tilt, a control method thereof, and an external control device.

Background technique

At present, users control the attitude of the pan/tilt by controlling the attitude of an external control device, achieving the purpose of controlling the pan/tilt by somatosensory. Usually, the external control device informs the pan/tilt of its real-time attitude, and the pan/tilt rotates directly according to the real-time attitude of the external control device. However, under normal circumstances, there may be differences in the size of the posture at different times. The above-mentioned direct rotation method based on the real-time posture size will make the difference in the rotation speed of the gimbal at different times more obvious, resulting in uneven and non-delicate rotation of the gimbal.

In order to solve the problem of uneven and non-delicate speed of the gimbal, if the gimbal moves at the same speed at different times, the external control device will generate a new expected posture before the gimbal posture does not reach the current expected posture. Causes a serious problem of cloud movement delay.

In addition, the posture of the external control device cannot intuitively reflect how fast the user controls the external control device. Therefore, when the pan/tilt moves according to the posture of the external control device, it cannot control the movement of the pan/tilt according to the speed of the user controlling the external control device. The speed of PTZ movement is inconsistent with the speed of user control. PTZ movement cannot reflect the real user control behavior, and the user experience is poor.

Summary of the invention

The invention provides a pan-tilt, a control method thereof, and an external control device.

Specifically, the present invention is implemented through the following technical solutions:

According to the first aspect of the present invention, there is provided a pan-tilt control method, the pan-tilt and an external control device are communicatively connected, and the method includes:

Acquiring the angular velocity of the external control device;

Performing integral processing on the angular velocity to determine the target attitude of the pan/tilt;

Controlling the rotation of the pan/tilt according to the target posture;

Wherein, the integration frequency of the integration processing is greater than the communication frequency between the pan-tilt and the external control device.

According to a second aspect of the present invention, there is provided a pan-tilt, which is connected to an external control device in wireless communication, the pan-tilt includes:

Storage device for storing program instructions;

One or more processors call program instructions stored in the storage device, and when the program instructions are executed, the one or more processors are individually or collectively configured to implement the following operations:

Acquiring the angular velocity of the external control device;

Performing integral processing on the angular velocity to determine the target attitude of the pan/tilt;

Controlling the rotation of the pan/tilt according to the target posture;

Wherein, the integration frequency of the integration processing is greater than the communication frequency between the pan-tilt and the external control device.

According to a third aspect of the present invention, there is provided a pan-tilt control method, which is applied to an external control device connected by pan-tilt communication, and the method includes:

Acquiring the angular velocity of the external control device;

Send the angular velocity to the pan/tilt, so that the pan/tilt controls the attitude of the pan/tilt according to the angular velocity.

According to a fourth aspect of the present invention, there is provided an external control device, which is connected to a pan-tilt in wireless communication, the external control device includes:

Angular velocity detection sensor; and

A processor electrically coupled to the angular velocity detection sensor, and the processor is configured to:

Acquiring the angular velocity of the external control device through the angular velocity detection sensor;

Send the angular velocity to the pan/tilt, so that the pan/tilt controls the attitude of the pan/tilt according to the angular velocity.

It can be seen from the technical solutions provided by the above embodiments of the present invention that the PTZ of the present invention performs integration processing on the diagonal velocity of the external control device, and when determining the target attitude of the PTZ, the integration frequency of the integration processing is set to be greater than that of the PTZ and the outside. The communication frequency between the control devices, the speed of the pan/tilt rotation changes smoothly, which reduces the speed difference of the pan/tilt at different times, and makes the speed of the pan/tilt rotation more uniform and delicate; at the same time, the pan/tilt is based on the external control device. Movement at an angular velocity, the speed of the pan/tilt movement can correspond to the speed at which the user controls the external control device, and the movement of the pan/tilt can reflect the real user control behavior, thereby bringing a better user experience.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present invention, the following will briefly introduce the accompanying drawings used in the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative labor.

Figure 1A is a structural diagram of a pan-tilt control system in an embodiment of the present invention;

Fig. 1B is an application scenario diagram of a pan-tilt control system in an embodiment of the present invention;

2 is a method flow chart of the PTZ control method on the PTZ side in an embodiment of the present invention;

FIG. 3 is a method flow chart of the PTZ control method on the PTZ side in another embodiment of the present invention;

Fig. 4 is a structural block diagram of a pan-tilt in an embodiment of the present invention;

FIG. 5 is a method flowchart of the pan/tilt control method on the side of the external control device in an embodiment of the present invention;

Fig. 6 is a structural block diagram of an external control device in an embodiment of the present invention.

Reference signs:

100: PTZ; 110: storage device; 120: first processor;

200: external control device; 210: angular velocity detection sensor; 220: second processor.

Detailed ways

Currently, the external control device sends its real-time attitude to the pan-tilt, and the pan-tilt directly rotates according to the real-time attitude of the external control device. Since there may be differences in the size of the posture at different times, if the above-mentioned method of direct rotation according to the real-time posture size is adopted, the difference in the rotation speed of the gimbal at different times may be obvious, resulting in uneven and non-fine rotation of the gimbal.

In addition, the posture of the external control device cannot intuitively reflect how fast the user controls the external control device. Therefore, when the pan/tilt moves according to the posture of the external control device, it cannot control the movement of the pan/tilt according to the speed of the user controlling the external control device. The speed of PTZ movement is inconsistent with the speed of user control. PTZ movement cannot reflect the real user control behavior, and the user experience is poor.

In view of the above-mentioned problems, the pan/tilt control method of the embodiment of the present invention implements the following operations on the side of the external control device: acquire the angular velocity of the external control device; send the angular velocity to the pan/tilt so that the pan/tilt based on the The angular velocity controls the attitude of the pan/tilt. Perform the following operations on the pan/tilt side: obtain the angular velocity of the external control device; perform integral processing on the angular velocity to determine the target attitude of the pan/tilt; control the rotation of the pan/tilt according to the target attitude; wherein, The integration frequency of the integration processing is greater than the communication frequency between the pan-tilt and the external control device.

The pan/tilt of the present invention performs integration processing on the diagonal velocity of the external control device, and when determining the target attitude of the pan/tilt, the integration frequency of the integration processing is set to be greater than the communication frequency between the pan/tilt and the external control device, and the pan/tilt rotates The speed change of the PTZ is relatively smooth, which reduces the speed difference of the PTZ at different times, making the rotation speed of the PTZ more uniform and delicate; at the same time, the PTZ is moving based on the angular velocity of the external control device, and the speed of the PTZ movement can be compared with Corresponding to the speed at which the user controls the external control device, the pan-tilt movement can reflect the real user control behavior, thereby bringing a better user experience.

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

It should be noted that, in the case of no conflict, the following embodiments and features in the implementation can be combined with each other.

1A, the pan/tilt head 100 of the embodiment of the present invention is in communication connection with the external control device 200. Optionally, the pan/tilt head 100 and the external control device 200 realize the communication connection based on a wireless communication method. The wireless communication method may be Bluetooth, Wi-Fi or other wireless communication methods; optionally, the pan-tilt 100 and the external control device 200 realize a communication connection based on a wired communication method.

The external control device 200 of the embodiment of the present invention may be a mobile phone, a tablet computer, etc., and may also be a motion sensory control device of the pan/tilt head 100.

In the embodiment shown in FIG. 1B, the external control device 200 is a mobile phone, and the user controls the pan/tilt head 100 to rotate by controlling the posture of the mobile phone. Optionally, when the display surface of the mobile phone faces the user, and the mobile phone is placed vertically (as shown in Figure 1B in the mobile phone placement direction), the user controls the mobile phone to move forward (toward the user, that is, along the length of the mobile phone) Rotate or turn back to control the pitch angle of the pan/tilt 100; the user controls the mobile phone to turn left or right (the orientation of the display surface of the mobile phone is basically unchanged), and correspondingly controls the yaw angle of the pan/tilt 100; Control the mobile phone to turn left or right, corresponding to control the roll angle of the PTZ 100. It can be understood that when the display surface of the mobile phone faces the sky or the ground and the mobile phone is placed horizontally, the above operations and the corresponding control angle of the PTZ 100 are also applicable. Of course, in actual applications, the above operations and the corresponding cloud The control angle of the stage 100 may have other methods, which are not specifically limited here.

In the first embodiment and the second embodiment, the implementation process of the pan-tilt control method will be described in detail from the side of the pan-tilt 100 and the side of the external control device 200 respectively.

Example one

Fig. 2 is a method flow chart of the pan/tilt control method on the side of the pan/tilt 100 in an embodiment of the present invention; as shown in Fig. 2, the pan/tilt control method may include but is not limited to the following steps:

S201: Obtain the angular velocity of the external control device 200;

In some embodiments, the pan/tilt 100 receives the angular velocity of the external control device 200 sent by the external control device 200. In this embodiment, the pan/tilt 100 passively receives the angular velocity of the external control device 200; optionally, When the pan-tilt 100 and the external control device 200 communicate based on Bluetooth, the pan-tilt 100 can receive the angular velocity of the external control device 200 sent by the external control device 200 via Bluetooth. Of course, when the pan/tilt head 100 communicates with the external control device 200 based on other communication methods, the pan/tilt head 100 receives the communication link of the angular velocity of the external control device 200 sent by the external control device 200 and changes accordingly.

In some embodiments, the pan/tilt 100 reads the angular velocity of the external control device 200 from the external control device 200; optionally, the pan/tilt 100 accesses the data port of the external control device 200 at preset time intervals. The station 100 actively reads the angular velocity of the external control device 200.

In some embodiments, the angular velocity acquired through step S201 is the first angular velocity of the external control device 200 in its body coordinate system; wherein, the external control device 200 includes an angular velocity detection sensor, and the angular velocity acquired through step S201 is the angular velocity detection sensor The detected first angular velocity of the external control device 200 in its body coordinate system. The angular velocity detection sensor can be a gyroscope or other angular velocity detection sensors. For example, when the external control device 200 is a mobile phone, the angular velocity detection sensor is a gyroscope built into the mobile phone. It should be noted that the body coordinate system of the external control device 200 is a coordinate system established by the external control device 200 for the body as a reference.

In some embodiments, the angular velocity obtained in step S201 is the second angular velocity of the external control device 200 in the absolute coordinate system, and the second angular velocity is determined according to the first angular velocity of the external control device 200 in its body coordinate system. The external control device 200 includes an angular velocity detection sensor, and the first angular velocity is detected by the angular velocity detection sensor. The absolute coordinate system in this embodiment may be a world coordinate system or other absolute coordinate systems. It can be understood that the coordinate system where the second angular velocity is located may be the same as the coordinate system where the angular velocity of the pan/tilt head 100 is controlled.

S202: Perform integration processing on the angular velocity to determine the target attitude of the pan/tilt head 100, where the integration frequency of the integration processing is greater than the communication frequency between the pan/tilt head 100 and the external control device 200;

When the angular velocity is integrated, the integration frequency of the integration processing is set to be greater than the communication frequency between the pan/tilt 100 and the external control device 200, and the determined target attitude of the pan/tilt 100 is a smooth transition, which reduces the pan/tilt. The speed difference of the rotation of 100 at different times makes the rotation speed of the pan-tilt 100 more uniform and delicate. In this embodiment, the integration duration corresponding to the integration interval of the integration processing is Δt=1/integration frequency. The integration frequency of the integration process can be the default value or set by the user. Optionally, the integration frequency of the integration processing is 1 kHz (unit: kilohertz), and the communication frequency between the pan-tilt 100 and the external control device 200 is 20 Hz (unit: hertz). Of course, the integration frequency of the integration process and the communication frequency between the pan-tilt 100 and the external control device 200 can also be set to other sizes.

In some embodiments, the angular velocity obtained in step S201 is the first angular velocity omega_body(x, y, z) of the external control device 200 in its body coordinate system, and the platform 100 needs to convert the first angular velocity into an absolute coordinate system The second angular velocity omega_ned(x, y, z) is lowered, and then the second angular velocity is integrated to determine the target attitude of the gimbal 100. Referring to FIG. 3, when the gimbal 100 performs integration processing on the angular velocity to determine the target attitude of the gimbal 100, it specifically includes the following steps:

S301: Convert the first angular velocity to the second angular velocity in the absolute coordinate system;

S302: Perform integration processing on the second angular velocity to determine the target attitude of the pan-tilt 100.

In the following, the implementation process of converting the first angular velocity omega_body (x, y, z) of the external control device 200 in its body coordinate system into the second angular velocity omega_ned (x, y, z) in the absolute coordinate system will be described in detail.

Optionally, converting the first angular velocity into the second angular velocity in the absolute coordinate system may include but not limited to steps (1) to (3):

(1) Obtain posture information of the external control device 200;

The pan/tilt head 100 can access the interface of the external control device 200 to read the posture information of the external control device 200. The interface can be a hardware data interface or a program interface. Of course, the posture information of the external control device 200 may be sent to the pan/tilt 100 by the external control device 200.

Among them, the posture information may include posture quaternion, and may also include other posture information of the external control device 200.

(2) According to the posture information, determine the conversion relationship between the body coordinate system and the absolute coordinate system for coordinate conversion;

Among them, according to the posture information, the realization process of determining the conversion relationship between the body coordinate system and the absolute coordinate system for coordinate conversion may include but not limited to steps (21) to (22):

(21) Convert the attitude quaternion into Euler angles;

In this embodiment, the attitude quaternion is Q_real(q ₀ , q ₁ , q ₂ , q ₃ ), and the Euler angle is euler (φ, θ, ψ), where,

a is the rotation angle between the front and back of the body coordinate system, x, y, z are the vector representations in the corresponding directions, φ, θ, and ψ are the angle values of the corresponding roll direction and the corresponding pitch in the Euler angles. The angle of the direction and the angle value corresponding to the yaw direction.

In this embodiment, the formula for converting the attitude quaternion into Euler angles is:

θ=-arcsin(2(q ₁ q ₃ -q ₀ q ₂ ))

(22) Determine the conversion relationship according to Euler angle.

In some embodiments, determining the coordinate conversion relationship according to the Euler angle may include: setting the angle value corresponding to the yaw direction in the Euler angle to 0; according to the angle value corresponding to the roll direction in the Euler angle, the corresponding pitch The angle value of the direction and the angle value of the corresponding yaw direction determine the conversion relationship. When the external control device 200 is a mobile phone, set ψ to 0 and place the mobile phone horizontally (the mobile phone display surface is perpendicular to the horizontal plane, and the length of the mobile phone is left and right) and vertically (the mobile phone display surface is perpendicular to the horizontal plane, and the mobile phone When the length direction of the mobile phone is up and down), control the mobile phone to rotate forward (along the length of the mobile phone) or backward, which corresponds to the pitch angle of the pan/tilt 100; if ψ is not equal to 0, when the mobile phone is placed vertically, control The mobile phone rotates forward (along the length of the mobile phone) or backwards to control the pitch angle of the PTZ 100; when the mobile phone is placed horizontally, control the mobile phone to rotate forward or backward, corresponding to the yaw angle of the PTZ 100 , Resulting in inconsistent somatosensory control.

In this embodiment, the conversion relationship between the body coordinate system and the absolute coordinate system for coordinate conversion is expressed by a cosine matrix, and the cosine matrix for the coordinate conversion between the body coordinate system and the absolute coordinate system is expressed as:

Among them, R _z (ψ) is the matrix corresponding to the yaw direction in the cosine matrix;

R _y (θ) is the matrix corresponding to the pitch direction in the cosine matrix;

R _x (φ) is the matrix corresponding to the roll direction in the cosine matrix.

It is understandable that the conversion relationship between the body coordinate system and the absolute coordinate system for coordinate conversion can also be expressed in other ways, and is not limited to using a cosine matrix to represent the conversion relationship between the body coordinate system and the absolute coordinate system for coordinate conversion.

(3) According to the conversion relationship and the first angular velocity, the second angular velocity is obtained.

The calculation method of the second angular velocity omega_ned(x,y,z) includes but is not limited to the following formula:

omega_ned(x,y,z)=omega_body(x,y,z)*R

Understandably, the above steps (1) to (3) can also be implemented in an external controller.

In some embodiments, the angular velocity obtained in step S201 is the second angular velocity omega_ned(x,y,z) of the external control device 200 in the absolute coordinate system, and the pan/tilt 100 directly integrates the second angular velocity to determine The target posture of the gimbal 100.

In addition, the execution process of step S202 can be placed in a timer to realize the cyclic integral of the angular velocity. Of course, the execution process of step S202 may not be placed in the timer.

In some embodiments, the pan-tilt 100 is provided with a timer, and the angular velocity is integrated by the timer to determine the target posture of the pan-tilt 100. Optionally, the timer defines three angular velocity variables (that is, the movement speed of the pan-tilt 100, these three angular velocity variables are all component variables of Euler angular velocity): roll angular velocity Vgx, pitch angular velocity Vgy, and yaw angular velocity Vgz, these three The angular velocity variables are continuously integrated in the timer and converted into the target attitude: roll axis attitude tar_x, pitch axis attitude tar_y and yaw axis attitude tar_z.

Optionally, the integration frequency is equal to the working frequency of the timer; optionally, the working frequency of the timer is 1kHz. Of course, the integration frequency and the working frequency of the timer may not be equal.

Optionally, the pan-tilt 100 is also provided with an external interrupt program. When the angular velocity obtained in step S201 is the first angular velocity omega_body(x,y,z) of the external control device 200 in its body coordinate system, the pan/tilt head 100 will convert the first angular velocity into the second angular velocity in the absolute coordinate system omega_ned(x,y,z) (in this embodiment, the second angular velocity is also Euler’s angular velocity), and then the second angular velocity is assigned to the movement velocity of the pan/tilt 100 in the external interrupt program; when the angular velocity obtained in step S201 is external When the control device 200 is set to the second angular velocity omega_ned(x, y, z) in the absolute coordinate system, the second angular velocity is assigned to the movement speed of the pan/tilt 100 in the external interrupt program. When assigning the second angular velocity to the movement speed of the pan-tilt 100, specifically, Vgx=omega_ned(x), Vgy=omega_ned(y), and Vgz=omega_ned(z).

It should be noted that x, y, and z in omega_body(x,y,z) are the roll angular velocity, pitch angular velocity, and yaw angular velocity of the external control device 200 in its body coordinate system; omega_ned(x,y x, y, and z in z) are the roll angular velocity, pitch angular velocity, and yaw angular velocity of the external control device 200 in the absolute coordinate system.

In addition, the angular velocity acquisition frequency and the communication frequency in step S201 may be equal or not equal.

In some embodiments, the acquisition frequency of the angular velocity in step S201 is equal to the communication frequency, such as 20 Hz. The pan-tilt control method of this embodiment may further include: if a new angular velocity is acquired, replacing the current angular velocity of the integral processing Into a new angular velocity. In this embodiment, the movement of the pan/tilt 100 is based on the real-time angular velocity of the external control device 200. The movement speed of the pan/tilt 100 can correspond to the speed at which the user controls the external control device 200. The movement of the pan/tilt 100 can reflect the real The user controls the behavior, thereby bringing a better user experience.

Further, in some embodiments, the pan/tilt head 100 further includes a counter, which is used to record the number of acquisitions of the new angular velocity, so as to determine the communication quality between the pan/tilt head 100 and the external control device 200. In this embodiment, the pan-tilt control method further includes: updating the count value of the counter every time a new angular velocity is acquired. Optionally, the initial value of the counter (the count value of the counter when the pan-tilt 100 is turned on) is 0, and the count value of the counter is increased by 1 each time a new angular velocity is acquired. When the pan-tilt 100 is shut down, the counter value is reset to zero.

In the related art, when the pan-tilt 100 does not acquire the attitude of the external control device 200, or the acquired attitude of the external control device 200 is 0, the pan-tilt 100 immediately stops moving. In fact, the pan-tilt 100 does not acquire the attitude. The posture to the external control device 200 may be due to slow communication speed, frame drop, stable communication connection, etc., which temporarily deteriorate the communication quality between the pan/tilt 100 and the external control device 200. If the pan/tilt 100 and the external control device If the communication recovery interval between 200 is short, the pan-tilt 100 will stop moving immediately, which will cause the pan-tilt 100 to freeze immediately, which will bring a bad control experience to the user.

In order to prevent the pan-tilt 100 from getting stuck when the pan-tilt 100 does not obtain the new angular velocity, the pan-tilt 100 immediately stops moving and causes the pan-tilt 100 to freeze. The pan-tilt 100 in this embodiment is based on the unupdated duration of the count value. 100 for different controls.

Optionally, if the time period during which the count value is not updated is less than or equal to the preset time threshold value, the most recently acquired angular velocity is integrated to determine the real-time target attitude of the pan/tilt head 100; according to the real-time target attitude, the pan/tilt head 100 is controlled to rotate. The duration of the count value not being updated is less than or equal to the preset duration threshold, which indicates that the pan/tilt 100 has not acquired a new angular velocity. This may be the reason for the temporary deterioration of the communication quality between the pan/tilt 100 and the external control device 200. The communication with the external control device 200 is actually not interrupted, and the user may still be operating the external control device 200. Therefore, the control platform 100 continues to maintain the latest angular velocity movement, which brings the user a better control experience .

Optionally, if the time period during which the count value is not updated is greater than the preset time period threshold, the rotation of the pan/tilt head 100 is stopped. The time period for which the count value is not updated is greater than the preset time period threshold, which indicates that the communication between the pan-tilt 100 and the external control device 200 is interrupted, and the pan-tilt 100 stops moving.

The size of the aforementioned preset duration threshold can be set as needed, or can be a default value. Optionally, the acquisition frequency of the angular velocity in step S201 and the communication frequency between the pan-tilt 100 and the external control device 200 are both 20 Hz, and the preset duration threshold is 100 ms (unit: milliseconds), that is, the duration if the count value is not updated If it does not exceed 100ms, it is considered that the communication between the pan/tilt 100 and the external control device 200 has not been interrupted; if the count value is not updated for longer than 100ms, it is considered that the communication between the pan/tilt 100 and the external control device 200 is completely interrupted, The pan/tilt 100 needs to stop moving.

S203: Control the pan-tilt 100 to rotate according to the target posture.

Through the above step S203, the pan-tilt 100 can be controlled to move to the position corresponding to the target posture.

When the pan/tilt head 100 controls the rotation of the pan/tilt head 100 according to the target posture, a closed-loop control method may be adopted. It is understandable that the implementation process of controlling the rotation of the pan/tilt head 100 according to the target posture is in the prior art, and the embodiment of the present invention will not be described in detail.

Corresponding to the pan-tilt control method of the foregoing embodiment, the embodiment of the present invention also provides a pan-tilt 100. Referring to FIG. 4, the pan-tilt 100 includes a storage device 110 and one or more first processors 120.

The storage device 110 is used to store program instructions; one or more first processors 120 call the program instructions stored in the storage device 110. When the program instructions are executed, the one or more first processors 120 individually Or collectively configured to perform the following operations: obtain the angular velocity of the external control device 200; perform integration processing on the angular velocity to determine the target attitude of the pan/tilt 100; control the rotation of the pan/tilt 100 according to the target attitude; The integration frequency is greater than the communication frequency between the pan-tilt 100 and the external control device 200.

The first processor 120 may implement the pan/tilt control method according to the embodiments shown in FIG. 2 and FIG. 3 of the present invention. The pan/tilt control method in the foregoing embodiment may be referred to for description of the pan/tilt 100 in this embodiment.

The aforementioned storage device 110 may include a volatile memory (volatile memory), such as random-access memory (RAM); the storage device 110 may also include a non-volatile memory (non-volatile memory), such as flash memory. A memory (flash memory), a hard disk drive (HDD) or a solid-state drive (SSD); the storage device 110 may also include a combination of the foregoing types of memories.

The aforementioned first processor 120 may be a central processing unit (CPU). The first processor 120 may also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application-specific integrated circuit (ASIC), field-programmable gate array (field-programmable gate array) array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like.

Example two

The pan/tilt control method of this embodiment is applied to an external control device 200 that is communicatively connected to the pan/tilt 100. The external control device 200 may be a mobile phone, a tablet computer, etc., or a motion sensory control device of the pan/tilt 100. Referring to Figure 5, the PTZ control method may include the following steps:

S501: Obtain the angular velocity of the external control device 200;

In some embodiments, the angular velocity is the first angular velocity of the external control device 200 in its body coordinate system detected by the angular velocity detection sensor. Optionally, the external control device 200 includes an angular velocity detection sensor, and the first angular velocity of the external control device 200 in its body coordinate system is obtained through detection of the angular velocity detection sensor. The angular velocity detection sensor can be a gyroscope or other angular velocity detection sensors. For example, when the external control device 200 is a mobile phone, the angular velocity detection sensor is a gyroscope built into the mobile phone. It should be noted that the body coordinate system of the external control device 200 is a coordinate system established by the external control device 200 for the body as a reference.

In some embodiments, the angular velocity is the second angular velocity of the external control device 200 in the absolute coordinate system. The process of obtaining the angular velocity of the external control device 200 may include the following steps (1) to (2):

(1) Obtain the first angular velocity of the external control device 200 in its body coordinate system;

The method of obtaining the first angular velocity in step (1) is the same as the method of obtaining the first angle in the foregoing embodiment, and will not be repeated here.

(2) Convert the first angular velocity in the body coordinate system of the external control device 200 into the second angular velocity in the absolute coordinate system.

Wherein, the realization process of converting the first angular velocity to the second angular velocity through the external control device 200 is similar to the realization process of converting the first angular velocity to the second angular velocity through the pan/tilt 100 in the first embodiment, and this embodiment will not Repeat.

S502: Send the angular velocity to the pan-tilt 100, so that the pan-tilt 100 controls the attitude of the pan-tilt 100 according to the angular velocity.

The external control device 200 can send the angular velocity to the pan/tilt head 100 via Bluetooth or other communication links.

In addition, the angular velocity sent by the external control device 200 to the pan-tilt 100 may be the first angular velocity or the second angular velocity. In this embodiment, the angular velocity sent by the external control device 200 to the pan/tilt 100 is the second angular velocity. The process of converting the first angular velocity to the second angular velocity is placed in the external control device 200, which reduces the calculation of the pan/tilt 100 and further Optimized the control of PTZ 100.

Corresponding to the pan/tilt control method of this embodiment, the embodiment of the present invention also provides an external control device 200. Referring to FIG. 6, the external control device 200 includes an angular velocity detection sensor 210 and a second processor 220, wherein the angular velocity The detection sensor 210 is electrically coupled to the second processor 220. The angular velocity detection sensor 210 may be a gyroscope or other angular velocity detection sensors.

The second processor 220 is configured to: obtain the angular velocity of the external control device 200 through the angular velocity detection sensor 210; and send the angular velocity to the pan-tilt 100 so that the pan-tilt 100 controls the attitude of the pan/tilt 100 according to the angular velocity.

The second processor 220 may implement the pan-tilt control method of the second embodiment shown in FIG. 5 of the present invention. The external control device 200 of this embodiment can be described with reference to the pan-tilt control method of the second embodiment above.

The aforementioned second processor 220 may be a central processing unit (CPU). The second processor 220 may also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application-specific integrated circuits (ASICs), field-programmable gate arrays (field-programmable gate arrays). array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like.

In addition, an embodiment of the present invention also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of the pan-tilt control method of the above-mentioned embodiment are realized.

The computer-readable storage medium may be the internal storage unit of the pan/tilt or external control device described in any of the foregoing embodiments, such as a hard disk or a memory. The computer-readable storage medium may also be an external storage device of a pan-tilt or an external control device, such as a plug-in hard disk, a smart media card (SMC), an SD card, and a flash memory card equipped on the device (Flash Card) etc. Further, the computer-readable storage medium may also include both an internal storage unit of a pan-tilt or an external control device and an external storage device. The computer-readable storage medium is used to store the computer program and other programs and data required by the pan/tilt or external control device, and can also be used to temporarily store data that has been output or will be output.

A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing relevant hardware through a computer program. The program can be stored in a computer readable storage medium. During execution, it may include the procedures of the above-mentioned method embodiments. Wherein, the storage medium may be a magnetic disk, an optical disc, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM), etc.

The above-disclosed are only some embodiments of the present invention, which of course cannot be used to limit the scope of rights of the present invention. Therefore, equivalent changes made according to the claims of the present invention still fall within the scope of the present invention.

Claims (52)

1. A method for controlling a pan-tilt, characterized in that the pan-tilt is communicatively connected with an external control device, and the method includes:

   Acquiring the angular velocity of the external control device;

   Performing integral processing on the angular velocity to determine the target attitude of the pan/tilt;

   Controlling the rotation of the pan/tilt according to the target posture;

   Wherein, the integration frequency of the integration processing is greater than the communication frequency between the pan-tilt and the external control device.
2. The method according to claim 1, wherein the pan/tilt is equipped with a timer, and the integral processing of the angular velocity to determine the target posture of the pan/tilt comprises:

   The angular velocity is integrated by the timer to determine the target posture of the pan/tilt.
3. The method according to claim 2, wherein the integration frequency is equal to the working frequency of the timer.
4. The method according to claim 2, wherein the acquisition frequency of the angular velocity is equal to the communication frequency;

   The method also includes:

   If a new angular velocity is obtained, the current angular velocity of the integration process is replaced with the new angular velocity.
5. The method according to claim 4, wherein the pan-tilt includes a counter, and the counter is used to record the number of acquisitions of the new angular velocity;

   The method also includes:

   Each time the new angular velocity is acquired, the count value of the counter is updated.
6. The method of claim 5, wherein the method further comprises:

   If the time period during which the count value has not been updated is less than or equal to the preset time period threshold, performing the integration processing on the most recently acquired angular velocity to determine the real-time target attitude of the pan/tilt;

   Control the rotation of the pan/tilt according to the real-time target posture.
7. The method according to claim 6, wherein the method further comprises:

   If the time period during which the count value is not updated is greater than the preset time period threshold, the rotation of the pan/tilt is stopped.
8. The method according to claim 1, wherein the external control device comprises an angular velocity detection sensor, and the angular velocity is the first value of the external control device in its body coordinate system detected by the angular velocity detection sensor. Angular velocity

   The performing integration processing on the angular velocity to determine the target posture of the pan/tilt includes:

   Converting the first angular velocity into a second angular velocity in an absolute coordinate system;

   Perform integration processing on the second angular velocity to determine the target posture of the pan/tilt.
9. The method according to claim 8, wherein the converting the first angular velocity into a second angular velocity in an absolute coordinate system comprises:

   Acquiring posture information of the external control device;

   Determine the conversion relationship between the body coordinate system and the absolute coordinate system for coordinate conversion according to the posture information;

   According to the conversion relationship and the first angular velocity, the second angular velocity is obtained.
10. The method according to claim 9, wherein the posture information includes a posture quaternion, and the conversion relationship between the body coordinate system and the absolute coordinate system for coordinate conversion is determined according to the posture information, include:

    Converting the attitude quaternion into Euler angles;

    According to the Euler angle, the conversion relationship is determined.
11. The method according to claim 10, wherein the determining the coordinate conversion relationship according to the Euler angles comprises:

    Set the angle value corresponding to the yaw direction in the Euler angle to 0;

    The conversion relationship is determined according to the angle value corresponding to the roll direction, the angle value corresponding to the pitch direction, and the angle value corresponding to the yaw direction in the Euler angles.
12. The method according to claim 1, wherein the angular velocity is the second angular velocity of the external control device in an absolute coordinate system.
13. The method according to claim 12, wherein the external control device comprises an angular velocity detection sensor, and the second angular velocity is based on the detection of the angular velocity detection sensor by the external control device in its body coordinate system The first angular velocity is determined.
14. The method according to claim 8 or 13, wherein the angular velocity detection sensor is a gyroscope.
15. The method according to claim 1, wherein the obtaining the angular velocity of the external control device comprises:

    The angular velocity of the external control device sent by the external control device is received via Bluetooth.
16. The method according to claim 1, wherein the external control device is a mobile phone.
17. A pan-tilt, characterized in that the pan-tilt is in communication connection with an external control device, and the pan-tilt includes:

    Storage device for storing program instructions;

    One or more processors call program instructions stored in the storage device, and when the program instructions are executed, the one or more processors are individually or collectively configured to implement the following operations:

    Acquiring the angular velocity of the external control device;

    Performing integral processing on the angular velocity to determine the target attitude of the pan/tilt;

    Controlling the rotation of the pan/tilt according to the target posture;

    Wherein, the integration frequency of the integration processing is greater than the communication frequency between the pan-tilt and the external control device.
18. The pan/tilt head according to claim 17, wherein the pan/tilt head is provided with a timer, and when the one or more processors perform integration processing on the angular velocity to determine the target attitude of the pan/tilt head, Separately or collectively are further configured to perform the following operations:

    The angular velocity is integrated by the timer to determine the target posture of the pan/tilt.
19. The pan/tilt head according to claim 18, wherein the integration frequency is equal to the working frequency of the timer.
20. The pan/tilt platform according to claim 18, wherein the acquisition frequency of the angular velocity is equal to the communication frequency;

    The one or more processors, individually or collectively, are further configured to perform the following operations:

    If a new angular velocity is obtained, the current angular velocity of the integration process is replaced with the new angular velocity.
21. The pan/tilt head according to claim 20, wherein the pan/tilt head comprises a counter, and the counter is used to record the number of acquisitions of the new angular velocity;

    The one or more processors, individually or collectively, are further configured to perform the following operations:

    Each time the new angular velocity is acquired, the count value of the counter is updated.
22. The pan/tilt head according to claim 21, wherein the one or more processors are separately or collectively further configured to perform the following operations:

    If the time period during which the count value has not been updated is less than or equal to the preset time period threshold, performing the integration processing on the most recently acquired angular velocity to determine the real-time target attitude of the pan/tilt;

    Control the rotation of the pan/tilt according to the real-time target posture.
23. The pan/tilt head according to claim 22, wherein the one or more processors are separately or collectively further configured to perform the following operations:

    If the time period during which the count value is not updated is greater than the preset time period threshold, the rotation of the pan/tilt is stopped.
24. The pan/tilt head according to claim 17, wherein the external control device comprises an angular velocity detection sensor, and the angular velocity is the first position of the external control device in its body coordinate system detected by the angular velocity detection sensor. Angular velocity

    When the one or more processors perform integration processing on the angular velocity to determine the target attitude of the pan/tilt head, they are further configured individually or collectively to implement the following operations:

    Converting the first angular velocity into a second angular velocity in an absolute coordinate system;

    Perform integration processing on the second angular velocity to determine the target posture of the pan/tilt.
25. The pan/tilt head according to claim 24, wherein when the one or more processors convert the first angular velocity into the second angular velocity in an absolute coordinate system, they are further configured individually or collectively to Used to implement the following operations:

    Acquiring posture information of the external control device;

    Determine the conversion relationship between the body coordinate system and the absolute coordinate system for coordinate conversion according to the posture information;

    According to the conversion relationship and the first angular velocity, the second angular velocity is obtained.
26. The pan/tilt head according to claim 25, wherein the posture information includes a posture quaternion, and the one or more processors are determining the body coordinate system and the absolute coordinate according to the posture information. When the system performs the conversion relationship of coordinate conversion, it is separately or collectively further configured to implement the following operations:

    Converting the attitude quaternion into Euler angles;

    According to the Euler angle, the conversion relationship is determined.
27. The pan/tilt head according to claim 26, wherein when the one or more processors determine the coordinate conversion relationship according to the Euler angle, they are separately or collectively further configured to implement Do as follows:

    Set the angle value corresponding to the yaw direction in the Euler angle to 0;

    The conversion relationship is determined according to the angle value corresponding to the roll direction, the angle value corresponding to the pitch direction, and the angle value corresponding to the yaw direction in the Euler angles.
28. The pan/tilt head of claim 17, wherein the angular velocity is the second angular velocity of the external control device in an absolute coordinate system.
29. The pan/tilt head according to claim 28, wherein the external control device comprises an angular velocity detection sensor, and the second angular velocity is measured by the external control device in its body coordinate system based on the angular velocity detection sensor. The first angular velocity is determined.
30. The pan/tilt head according to claim 24 or 29, wherein the angular velocity detection sensor is a gyroscope.
31. The pan/tilt head according to claim 17, wherein when the one or more processors acquire the angular velocity of the external control device, they are separately or collectively further configured to perform the following operations:

    The angular velocity of the external control device sent by the external control device is received via Bluetooth.
32. The pan-tilt according to claim 17, wherein the external control device is a mobile phone.
33. A pan-tilt control method, characterized in that the method is applied to an external control device connected to the pan-tilt communication, and the method includes:

    Acquiring the angular velocity of the external control device;

    Send the angular velocity to the pan/tilt, so that the pan/tilt controls the attitude of the pan/tilt according to the angular velocity.
34. The method of claim 33, wherein the external control device comprises an angular velocity detection sensor, and the angular velocity is the first value of the external control device in its body coordinate system detected by the angular velocity detection sensor. Angular velocity.
35. The method according to claim 33, wherein the angular velocity is the second angular velocity of the external control device in an absolute coordinate system.
36. The method according to claim 35, wherein said obtaining the angular velocity of the external control device comprises:

    Acquiring the first angular velocity of the external control device in its body coordinate system;

    The first angular velocity in the body coordinate system of the external control device is converted into the second angular velocity in the absolute coordinate system.
37. The method according to claim 36, wherein the converting the first angular velocity in the body coordinate system of the external control device into the second angular velocity in the absolute coordinate system comprises:

    Acquiring posture information of the external control device;

    Determine the conversion relationship between the body coordinate system and the absolute coordinate system for coordinate conversion according to the posture information;

    According to the conversion relationship and the first angular velocity, the second angular velocity is obtained.
38. The method according to claim 37, wherein the posture information comprises a posture quaternion, and the conversion relationship between the body coordinate system and the absolute coordinate system for coordinate conversion is determined according to the posture information, include:

    Converting the attitude quaternion into Euler angles;

    According to the Euler angle, the conversion relationship is determined.
39. The method of claim 38, wherein the determining the conversion relationship according to the Euler angle comprises:

    Set the angle value corresponding to the yaw direction in the Euler angle to 0;

    The conversion relationship is determined according to the angle value corresponding to the roll direction, the angle value corresponding to the pitch direction, and the angle value corresponding to the yaw direction in the Euler angles.
40. The method according to claim 33, wherein the sending the angular velocity to the pan/tilt head comprises:

    Send the angular velocity to the pan/tilt via Bluetooth.
41. The method according to claim 33, wherein the external control device is a mobile phone.
42. The method according to claim 33, wherein the angular velocity detection sensor is a gyroscope.
43. An external control device is connected to the pan/tilt in wireless communication, characterized in that the external control device includes:

    Angular velocity detection sensor; and

    A processor electrically coupled to the angular velocity detection sensor, and the processor is configured to implement the following operations:

    Acquiring the angular velocity of the external control device through the angular velocity detection sensor;

    Send the angular velocity to the pan/tilt, so that the pan/tilt controls the attitude of the pan/tilt according to the angular velocity.
44. The external control device according to claim 43, wherein the external control device comprises an angular velocity detection sensor, and the angular velocity is detected by the angular velocity detection sensor in its body coordinate system. The first angular velocity.
45. The external control device of claim 43, wherein the angular velocity is a second angular velocity of the external control device in an absolute coordinate system.
46. The external control device according to claim 45, wherein the processor is further configured to perform the following operations when acquiring the angular velocity of the external control device:

    Acquiring the first angular velocity of the external control device in its body coordinate system;

    The first angular velocity in the body coordinate system of the external control device is converted into the second angular velocity in the absolute coordinate system.
47. The external control device according to claim 46, wherein when the processor converts the first angular velocity in the body coordinate system of the external control device into the second angular velocity in the absolute coordinate system, it is It is further configured to implement the following operations:

    Acquiring posture information of the external control device;

    Determine the conversion relationship between the body coordinate system and the absolute coordinate system for coordinate conversion according to the posture information;

    According to the conversion relationship and the first angular velocity, the second angular velocity is obtained.
48. The external control device according to claim 47, wherein the posture information includes a posture quaternion, and the processor determines the body coordinate system and the absolute coordinate system according to the posture information. When the transformation relationship of the coordinate transformation, it is further configured to implement the following operations:

    Converting the attitude quaternion into Euler angles;

    According to the Euler angle, the conversion relationship is determined.
49. The external control device according to claim 48, wherein the processor is further configured to perform the following operations when determining the conversion relationship according to the Euler angle:

    Set the angle value corresponding to the yaw direction in the Euler angle to 0;

    The conversion relationship is determined according to the angle value corresponding to the roll direction, the angle value corresponding to the pitch direction, and the angle value corresponding to the yaw direction in the Euler angles.
50. The external control device according to claim 43, wherein the processor is further configured to perform the following operations when sending the angular velocity to the pan/tilt head:

    Send the angular velocity to the pan/tilt via Bluetooth.
51. The external control device of claim 43, wherein the external control device is a mobile phone.
52. The external control device of claim 43, wherein the angular velocity detection sensor is a gyroscope.

Images