WO2021102797A1

WO2021102797A1 - Gimbal control method, control device, and control system

Info

Publication number: WO2021102797A1
Application number: PCT/CN2019/121595
Authority: WO
Inventors: 刘帅; 谢振生; 邓波
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-11-28
Filing date: 2019-11-28
Publication date: 2021-06-03
Also published as: CN112292650A

Abstract

A gimbal control method, a control device (50), and a control system. A gimbal (1011) is provided on a mobile platform. The gimbal control method comprises: acquiring offset information used to control motion of the gimbal (1011); acquiring a motion status reference coefficient of the gimbal (1011) corresponding to a current motion mode of the mobile platform, wherein the current motion mode is selected from multiple motion modes on the basis of a detected motion mode selection operation, and the multiple motion modes respectively correspond to different motion status reference coefficients of the gimbal (1011); determining a target motion status parameter of the gimbal (1011) according to the offset information and the motion status reference coefficient of the gimbal (1011) corresponding to the current motion mode; and controlling the gimbal (1011) according to the target motion status parameter. The control method automatically adjusts a motion status of the gimbal (1011) according to the motion mode of the mobile platform, such that the speed of the mobile platform in different motion modes closely matches the speed of the gimbal (1011), thereby improving the shooting capability of the mobile platform.

Description

PTZ control method, control device and control system

Technical field

The present invention relates to the field of electronic technology, in particular to a pan-tilt control method, control device and control system.

Background technique

With the advancement of science and the development of technology, the intelligent mobile technology of various mobile platforms has achieved vigorous development, and the application of mobile platforms has become more and more extensive. These mobile platforms can be drones, unmanned cars, etc. Using a mobile platform to shoot a certain scene is one of the important applications of the mobile platform, and the PTZ, as a supporting device for the installation and fixing of the camera and other tasks in the mobile platform, plays a vital role in the shooting process of the mobile platform The role of.

At present, in the process of using a mobile platform to shoot a target scene, the motion state of the pan/tilt is relatively stable compared to the mobile platform. For example, during the shooting of a mobile platform, the mobile platform accelerates in the direction close to the target scene, but no matter how fast the mobile platform is, the gimbal will raise the pitch angle at a preset fixed speed; another example is on the mobile platform. During the shooting process, the mobile platform moves at a constant speed around the target scene. Similarly, no matter how high the speed of the mobile platform is, the gimbal raises the pitch angle at a preset fixed speed. In this case, there is a problem that the speed of the mobile platform does not closely match the speed of the pan/tilt (such as the rotation speed), which makes the shooting effect of the mobile platform poor.

Summary of the invention

The embodiment of the present invention provides a pan/tilt control method, control device and control system, which can dynamically adjust the movement speed of the pan/tilt.

On the one hand, an embodiment of the present invention provides a pan-tilt control method. The pan-tilt is set on a mobile platform, and the method includes:

Acquiring lever amount information used for motion control of the pan/tilt;

Obtain the motion state reference coefficient of the pan/tilt head corresponding to the current motion mode of the mobile platform. The current motion mode is selected from a plurality of motion modes through a detected motion mode selection operation, wherein the Multiple motion modes correspond to respective reference coefficients of the motion state of the pan/tilt head;

Determine the target motion state parameter of the pan/tilt head according to the lever amount information and the motion state reference coefficient of the pan/tilt head corresponding to the current motion mode;

The pan-tilt is controlled according to the target motion state parameter.

On the other hand, an embodiment of the present invention provides a control device, the control device includes a processor and a memory, the memory and the processor are connected to each other, wherein:

The memory is used to store a computer program, and the computer program includes program instructions;

The processor is used to execute when calling the program instructions:

Acquiring lever amount information used for motion control of the pan/tilt;

The pan-tilt is controlled according to the target motion state parameter.

Correspondingly, an embodiment of the present invention also provides a device for controlling a pan-tilt, the device includes:

An acquisition module, configured to acquire lever amount information used for motion control of the pan/tilt;

The acquiring module is further configured to acquire the motion state reference coefficient of the pan/tilt head corresponding to the current motion mode of the mobile platform, and the current motion mode is selected from a plurality of motion modes through a detected motion mode selection operation , Wherein the multiple motion modes correspond to respective reference coefficients of the motion state of the pan/tilt head;

A determining module, for the user to determine the target motion state parameter of the pan/tilt head according to the lever amount information and the motion state reference coefficient of the pan/tilt head corresponding to the current motion mode;

The control module is used to control the pan/tilt head according to the target motion state parameter.

Correspondingly, an embodiment of the present invention also provides a control system. The control system includes the control device, a pan/tilt, and a mobile platform described in the second aspect of the embodiment of the present invention. The pan/tilt is set on the mobile platform. The control device is used to control the pan-tilt during the movement of the mobile platform.

Correspondingly, the embodiment of the present invention also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned pan-tilt control method is implemented.

In the embodiment of the present invention, the control device may determine the target motion state of the pan/tilt head according to the acquired lever amount information used to control the movement of the pan/tilt head and the motion state reference coefficient of the pan/tilt head corresponding to the current motion mode of the mobile platform Parameters, so that the control device can control the pan/tilt according to the target motion state parameters, so that the control device can automatically adjust the movement state of the pan/tilt according to the movement mode of the mobile platform, and the speed of the mobile platform in different movement modes can be more closely related to the speed of the pan/tilt. It can effectively improve the shooting effect of the mobile platform.

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 drawings needed in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative labor, other drawings can be obtained from these drawings.

FIG. 1 is a schematic diagram of the architecture of a control system provided by an embodiment of the present invention;

FIG. 2 is a schematic flowchart of a method for controlling a PTZ according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a process for obtaining a reference coefficient of a motion state according to an embodiment of the present invention;

4 is a schematic structural diagram of a device for controlling a pan/tilt head provided by an embodiment of the present invention;

Fig. 5 is a schematic structural diagram of a control device provided by an embodiment of the present invention.

Detailed ways

The pan-tilt is a supporting device used to install and fix the camera and other task loads in the mobile platform. During the shooting process of the mobile platform, it can assist in rotating the camera or make sure that the camera can shoot images stably during the movement. At the same time, movable platforms such as drones can control the moving speed automatically or manually, and can set different motion modes for the mobile platform. Different motion modes are set with different moving speeds. In the embodiment of the present invention, for different The movement mode and the lever amount information used to control the rotation speed of the gimbal are used to comprehensively control the movement of the gimbal, so that the movement of the gimbal under different movement modes and/or different lever amounts The state is different, and the movement state of the pan/tilt includes the movement speed or movement acceleration of the pan/tilt.

The pan/tilt control method provided by the embodiments of the present invention can be executed by an independent control device, the control device may be a ground station or a remote control, etc., the mobile platform and the pan/tilt may include a communication interface for directly establishing a communication connection with the control device , Or a communication connection can be established between the PTZ and the mobile platform, and the PTZ communicates with the control device through the mobile platform. The control device may also be set in a mobile platform or a pan/tilt, and process the received lever amount information sent by a ground controller or a user terminal to complete the control of the rotation speed of the pan/tilt. The gimbal is set on a mobile platform, which can be a drone, an unmanned vehicle, an unmanned ship, etc.

In the embodiment of the present invention, the motion state reference coefficients can be set for the above-mentioned motion modes, and different motion state reference coefficients can be set for different sports modes, and the motion speed of the pan/tilt, or called the target motion state parameter, can be Calculated based on the lever amount and the reference coefficient of the motion state. The motion state reference coefficient may include a speed coefficient or an acceleration coefficient, and the specific motion state reference coefficient of the pan/tilt head corresponding to the current motion mode of the mobile platform may include a speed threshold or an acceleration threshold. The mobile platform includes multiple motion modes, and the multiple motion modes correspond to the motion state reference coefficients of the respective pan/tilt heads, that is, the multiple motion modes of the mobile platform correspond to the speed thresholds or acceleration thresholds of the respective pan/tilt heads. The target motion state parameter may include target speed or target acceleration.

In order to better understand the pan-tilt control method, control device, and control system provided by the embodiments of the present invention, the following first describes the control system applicable to the embodiments of the present invention.

Please refer to FIG. 1, which is a schematic structural diagram of a control system provided by an embodiment of the present invention. In the embodiment of the present invention, the mobile platform is described by taking a drone as an example. As shown in FIG. 1, the control system may include: an unmanned aerial vehicle 101 and a remote control 102, and a pan/tilt 1011 is arranged on the unmanned aerial vehicle 101. In the control system consisting of the drone 101, the remote control 102 and the pan/tilt 1011 set on the drone 101, the remote control 102 can obtain the lever amount information used to control the movement of the pan/tilt 1011; the remote control 102 The reference coefficient of the motion state of the pan/tilt 1011 corresponding to the current motion mode of the UAV 101 can also be obtained. The current motion mode of the UAV 101 is selected from multiple motion modes by the remote control 102 through the detected motion mode selection operation Wherein, the multiple motion modes of the drone 101 correspond to the respective motion state reference coefficients of the PTZ 1011; the remote control 102 according to the lever amount information and the motion state of the PTZ 1011 corresponding to the current motion mode of the drone 101 With reference to the coefficients, the target motion state parameters of the pan/tilt head 1011 are determined; the remote control 102 controls the pan/tilt head 1011 according to the target motion state parameters.

It is understandable that the control system provided in the embodiments of the present invention is to illustrate the technical solutions of the embodiments of the present invention more clearly, and does not constitute a limitation on the technical solutions provided in the embodiments of the present invention. Those of ordinary skill in the art will know that With the evolution of the system architecture and the emergence of new business scenarios, the technical solutions provided by the embodiments of the present invention are equally applicable to similar technical problems.

Referring again to FIG. 2, it is a schematic flow chart of a PTZ control method provided by an embodiment of the present invention. The PTZ control method provided by the embodiment of the present invention can be executed by a control device, which can be independent of the mobile platform or the cloud. The control device can also be set on a mobile platform, or a pan-tilt or other equipment, or the control device can also be set in a user terminal. The method includes but is not limited to the following steps.

S201: Obtain lever amount information used for motion control of the pan/tilt. The control device can detect the operation of the joystick of the user terminal by the user, and obtain the lever amount information used to control the movement of the pan/tilt. The lever amount information may include the lever amount value and the control lever amount type. The value of the control stick can correspond to the speed of the pan/tilt, and the speed of a pan/tilt can be obtained through different values of the control stick; the value of the control stick can also correspond to the acceleration of the pan/tilt, and the amount can be measured by different control sticks. The value can correspond to the acceleration of a gimbal. The lever amount type may include the lever amount for controlling the pitch axis pitch and the lever amount for controlling the yaw axis yaw.

In one embodiment, the value of the control lever can be any value in the interval [0, a], and a can be a real number greater than 0. When the value of the control lever is "0", the value of the control lever corresponds to The speed coefficient of the pan/tilt is "0 degrees per second". When the value of the control stick is "a", the speed of the pan/tilt corresponding to the value of the control stick is the speed limit value of the movement of the pan/tilt.

In one embodiment, the value of the control lever can be any value in the interval [0, a], and a can be a real number greater than 0. When the value of the control lever is "0", the value of the control lever corresponds to The acceleration of the pan/tilt is "0 degree per square second". When the value of the control stick is "a", the acceleration of the pan/tilt corresponding to the value of the control stick is the acceleration limit value of the movement of the pan/tilt.

S202: Obtain a reference coefficient of the motion state of the pan/tilt head corresponding to the current motion mode of the mobile platform. The mobile platform may include multiple motion modes, and the motion state reference coefficients of the respective pan/tilt heads corresponding to the multiple motion modes may be set by the user through the user terminal, and the control device may receive and store the motion state reference coefficients set by the user terminal. When the user terminal detects the user's exercise mode selection operation, the user terminal can select the exercise mode corresponding to the user's exercise mode selection operation from the multiple exercise modes of the mobile platform, and use this exercise mode as the current exercise mode of the mobile platform , And then the control device can obtain the reference coefficient of the motion state of the pan/tilt corresponding to the current motion mode of the mobile platform, and the multiple motion modes of the mobile platform correspond to the reference coefficient of the motion state of the respective pan/tilt; when the user terminal does not detect the user's motion During the mode selection operation, the current motion state reference coefficient maintained by the pan/tilt head remains unchanged. The current motion state reference coefficient may be the motion state reference coefficient of the pan/tilt head acquired when the control device executed the pan/tilt head control method last time, or It is the reference coefficient of the motion state of the pan/tilt set by default in the control device.

In an embodiment, the motion state reference coefficient may include a velocity coefficient or an acceleration coefficient, the velocity coefficient may include a linear velocity coefficient or an angular velocity coefficient, and the acceleration coefficient may include a linear acceleration coefficient or an angular acceleration coefficient. The multiple motion modes of the mobile platform correspond to the motion state reference coefficients of the respective pan/tilt heads. The reference coefficients may include a speed threshold or an acceleration threshold, or the speed coefficient may be a speed threshold, and the speed threshold may include a linear velocity threshold or an angular velocity threshold, and the acceleration coefficient may be Is an acceleration threshold, and the acceleration threshold may include a linear acceleration threshold or an angular acceleration threshold.

Taking the mobile platform as an unmanned aerial vehicle as an example, please refer to Fig. 3, which is a schematic diagram of a flow chart for obtaining the reference coefficients of the motion state provided by the implementation of the present invention. "P mode", "S mode" and "T mode". Among them, "P mode" is GPS (Global Positioning System) mode, which is a sport mode that is frequently used in drones. In this mode, the ultimate flight attitude angle of drones can be 25 degrees. Left and right, the front-view limit flight line speed can be about 14 meters per second, and the rear-view limit flight line speed can be about 12 meters per second; "S mode" is the sports mode, in which the drone's limit flight line The speed can be increased to about 20 meters per second; "T mode" is a tripod mode, which limits the flight speed based on the GPS mode. In this mode, the limit flight line speed of the drone can be reduced to 1 meter per second. About seconds. The three motion modes of the drone correspond to the respective reference coefficients of the motion state of the PTZ. The user terminal detects the user's motion mode selection operation, and selects from the 3 motion modes of the drone the one corresponding to the user's motion mode selection operation Sport mode. When the sport mode is "P mode", the control device obtains the reference coefficient of the motion state of the pan/tilt corresponding to "P mode". When the sport mode is "S mode", the control device obtains the same "" corresponds to the reference coefficient of the motion state of the pan/tilt. When the motion mode is "T mode", the control device obtains the reference coefficient of the motion state of the pan/tilt corresponding to "T mode", and obtains the reference coefficient of the motion state according to the obtained corresponding reference coefficient of the motion state. Controlling the movement of the PTZ mainly refers to the rotation speed or rotation acceleration. When the user terminal does not detect the user's motion mode selection operation, the current motion state reference coefficient maintained by the pan/tilt head remains unchanged. The current motion state reference coefficient may be the cloud motion state reference coefficient obtained when the control device executed the pan/tilt head control method last time. The reference coefficient of the motion state of the platform may also be the reference coefficient of the motion state of the pan/tilt set by default in the control device.

In this way, the control device can automatically determine the reference coefficient of the motion state of the pan/tilt according to the motion mode of the mobile platform, so that the mobile platform and the pan/tilt are closely matched.

In one embodiment, the multiple motion modes of the mobile platform corresponding to the motion state reference coefficients of the respective pan/tilt can be set by the user through the user terminal. After the setting is completed, the control device may correspond to the multiple motion modes of the mobile platform acquired. The motion state reference coefficients of the respective pan/tilt heads are stored in the memory of the control device. In this way, the user can set multiple motion modes of the mobile platform corresponding to the motion state reference coefficients of their respective pan/tilt heads according to different shooting requirements for the target scene, thereby improving user experience.

Optionally, the multiple motion modes of the mobile platform corresponding to the motion state reference coefficients of the respective pan/tilt heads may also be set by the control device by default and stored in the memory of the control device.

S203: Determine the target motion state parameter of the pan/tilt head according to the lever amount information and the motion state reference coefficient of the pan/tilt head corresponding to the current motion mode. The reference coefficient of the motion state of the pan/tilt corresponding to the current motion mode may include a speed threshold. Multiple motion modes correspond to the speed threshold of their respective pan/tilt. The target motion state parameters of the pan/tilt may include the target speed, and the control device may be based on the lever amount information. And the speed threshold to determine the target speed of the pan/tilt. The target speed can be calculated according to the lever amount and speed threshold of the lever amount information. For example, the full lever amount value is 1, and the current lever amount information has a lever amount value of 0.5. Then the determined target speed is half of the speed threshold, and the target speed is less than or equal to the speed threshold.

Taking the mobile platform as a drone as an example, the user terminal selects the "S mode" from the three motion modes of the drone through the detected user's motion mode selection operation, and the control device obtains the "S mode" from the drone. The speed threshold of the pan/tilt corresponding to “Mode” is “0.01 degrees per second”, and the lever amount of the lever amount information used to control the movement of the pan/tilt acquired by the control device is the value in the interval [0,1].” 0.8", when the value of the control lever is "0", the target speed of the PTZ is determined to be "0 degrees per second", when the value of the control lever is "1", the target speed of the PTZ is determined to be The speed threshold is "0.01 degrees per second". When the control lever value is "0.8", the target speed of the pan/tilt is determined to be "0.008 degrees per second".

In one embodiment, the reference coefficient of the motion state of the pan/tilt head corresponding to the current motion mode may include an acceleration threshold, and multiple motion modes may correspond to the acceleration threshold values of their respective pan/tilt heads. The target motion state parameters of the pan/tilt may include the target acceleration. The device can determine the target acceleration of the pan/tilt head according to the stick amount information and the acceleration threshold. The target acceleration can be calculated according to the stick amount information and the acceleration threshold, for example, the product of the two. The target acceleration is less than or equal to the acceleration threshold.

Taking the mobile platform as a drone as an example, the user terminal selects the “P mode” from the three movement modes of the drone through the detected user's movement mode selection operation, and the control device obtains the “P mode” from the drone. The acceleration threshold of the pan/tilt corresponding to “Mode” is “0.01 degree per square second”, and the lever amount of the lever amount information used to control the movement of the pan/tilt acquired by the control device is the value in the interval [0,1] "0.3", when the value of the control stick is "0", the target acceleration of the PTZ is determined to be "0 degrees per second", when the value of the control stick is "1", the target of the PTZ is determined The acceleration is the acceleration threshold value "0.01 degree per square second". When the control stick value is "0.3", the determined target speed of the pan/tilt is "0.003 degree per square second".

In one embodiment, the control device may calculate the acceleration threshold value according to the smoothness parameter corresponding to the current motion mode of the mobile platform and the speed threshold of the pan-tilt corresponding to the current motion mode of the mobile platform. The multiple motion modes of the mobile platform can correspond to the smoothness parameters of their respective PTZ. The value of the smoothness parameter is related to the size of the acceleration threshold. The larger the smoothness parameter value, the smaller the acceleration threshold, and the smoothness parameter can be passed by the user. User terminal settings, smoothness parameters can also be set by default by the control device. The multiple motion modes of the mobile platform may correspond to the speed thresholds of their respective PTZ. The smoothness parameter is marked as smoothing, the speed threshold is marked as V, and the acceleration threshold is marked as A. The control device calculates the acceleration threshold according to the smoothness parameter and the speed threshold as follows:

A=10×deg2rad×0.8 ^smoothing ×V％

Among them, deg2rad is a constant 57.3.

Taking the movable platform as the drone as an example, when the control device detects that the current motion mode of the drone is "P mode", the control device can use the smoothness parameter and "P mode" of the pan/tilt corresponding to the "P mode". The speed threshold of the gimbal corresponding to mode" is calculated to obtain the acceleration threshold of the gimbal corresponding to "P mode". The calculation formula is:

A_p=10×deg2rad×0.8 ^smoothing_p ×V_p%

Among them, A_p is the acceleration threshold of the pan/tilt corresponding to "P mode", smoothing_p is the smoothness parameter of the pan/tilt corresponding to "P mode", and V_p is the speed threshold of the pan/tilt corresponding to "P mode".

Similarly, when the control device detects that the current motion mode of the drone is "S mode", the control device can use the smoothness parameter of the pan/tilt corresponding to "S mode" and the speed of the pan/tilt corresponding to "S mode". The threshold value is calculated to obtain the acceleration threshold value of the PTZ corresponding to "S mode". The calculation formula is:

A_s=10×deg2rad×0.8 ^smoothing_s ×V_s%

Among them, A_s is the acceleration threshold of the pan/tilt corresponding to "S mode", smoothing_s is the smoothness parameter of the pan/tilt corresponding to "S mode", and V_s is the speed threshold of the pan/tilt corresponding to "S mode".

Similarly, when the control device detects that the current motion mode of the drone is "T mode", the control device can use the smoothness parameter of the pan/tilt corresponding to "T mode" and the speed of the pan/tilt corresponding to "T mode". The threshold value is calculated to obtain the acceleration threshold value of the gimbal corresponding to "T mode". The calculation formula is:

A_t=10×deg2rad×0.8 ^smoothing_t ×V_t％

Among them, A_t is the acceleration threshold of the pan/tilt corresponding to "T mode", smoothing_t is the smoothness parameter of the pan/tilt corresponding to "T mode", and V_t is the speed threshold of the pan/tilt corresponding to "T mode".

S204: Control the pan/tilt according to the target motion state parameter. The target motion state parameter of the pan/tilt may include the target speed. The target speed may be calculated according to the lever amount and speed threshold of the lever amount information used to control the pan/tilt acquired by the control device. The control device may be calculated according to the speed threshold of the pan/tilt. The target speed determines the initial target acceleration of the pan/tilt. When the initial target acceleration is less than or equal to the acceleration threshold, the control device can determine that the initial target acceleration is the target acceleration of the pan/tilt corresponding to the current motion mode of the mobile platform. When the initial target acceleration is greater than the acceleration When setting the threshold, the control device may determine that the acceleration threshold is the target acceleration of the pan/tilt corresponding to the current motion mode of the mobile platform, and the determined target acceleration is less than or equal to the acceleration threshold of the pan/tilt corresponding to the current motion mode of the mobile platform. The multiple motion modes of corresponds to the acceleration threshold of the respective pan/tilt, and the control device can control the pan/tilt according to the target acceleration.

In one embodiment, the specific implementation manner for the control device to determine the initial target acceleration of the pan/tilt head according to the target speed of the pan/tilt may be: the control device may correspond to the lever amount information acquired at the first moment for controlling the pan/tilt. The target speed of the pan/tilt and the target speed of the pan/tilt corresponding to the lever amount information acquired at the second moment for controlling the pan/tilt, determine the initial target acceleration of the pan/tilt at the first moment, and the first moment is at the second moment After the moment.

In an embodiment, the target speed of the pan/tilt corresponding to the lever amount information for controlling the pan/tilt acquired at the first time by the control device is "0.003 degrees per second", and the target speed acquired by the control device at the second time is used for The target speed of the pan/tilt corresponding to the lever amount information for controlling the pan/tilt is "0.001 degree per second", the first moment is after the second moment, and the time difference between the first moment and the second moment is “2s”, and the control device is based on The target speed of the pan/tilt corresponding to the first moment and the target speed of the pan/tilt corresponding to the second moment are determined. The initial target acceleration of the pan/tilt at the first moment is “0.001 degree per square second”. The initial target acceleration "0.001 degree per square second" is less than the acceleration threshold of the gimbal "0.002 degrees per square second", the control device determines the initial target acceleration "0.001 degree per square second" as the target acceleration of the gimbal, and the control device can follow the target The acceleration "0.001 degree per square second" controls the pan/tilt.

In an embodiment, the target speed of the pan/tilt corresponding to the lever amount information used to control the pan/tilt acquired at the first time by the control device is "0.005 degrees per second", and the target speed acquired by the control device at the second time is used for The target speed of the pan/tilt corresponding to the lever amount information for controlling the pan/tilt is "0.001 degree per second", the first moment is after the second moment, and the time difference between the first moment and the second moment is “2s”, and the control device is based on The target speed of the pan/tilt corresponding to the first moment and the target speed of the pan/tilt corresponding to the second moment are determined. The initial target acceleration of the pan/tilt at the first moment is “0.002 degrees per square second”. The initial target acceleration "0.002 degrees per square second" is greater than the acceleration threshold of the gimbal "0.001 degrees per square second". The control device determines the acceleration threshold "0.001 degrees per square second" as the target acceleration of the gimbal, and the control device can be based on the target acceleration "0.001 degree per square second" controls the pan/tilt.

In one embodiment, the target motion state parameter of the pan/tilt head may include target acceleration, and the target acceleration may be calculated according to the lever amount and acceleration threshold value of the rod amount information used to control the motion of the pan/tilt head acquired by the control device, The control device can control the pan/tilt according to the target acceleration.

In one embodiment, when the lever amount information is a lever amount used to control the tilt axis of the pan/tilt, the control device may use the lever amount used to control the tilt axis of the gimbal and the current motion mode of the mobile platform. The corresponding reference coefficient of the motion state of the pan/tilt is used to determine the target motion state parameters of the pan/tilt. The control device can control the pan/tilt to rotate on the pitch axis according to the target motion state parameters of the pan/tilt; when the lever amount information is used to control the tilt of the pan/tilt When the amount of the control lever of the wing axis, the control device can determine the target of the gimbal according to the amount of the control lever used to control the yaw axis of the gimbal and the reference coefficient of the movement state of the gimbal corresponding to the current movement mode of the mobile platform Motion state parameters, the control device can control the pan-tilt to rotate on the yaw axis according to the target motion state parameters of the pan-tilt.

In the embodiment of the present invention, the control device may determine the target motion state of the pan/tilt head according to the acquired lever amount information used to control the movement of the pan/tilt head and the motion state reference coefficient of the pan/tilt head corresponding to the current motion mode of the mobile platform Parameters, so that the control device can control the pan/tilt according to the target motion state parameters. Through the embodiment of the present invention, the control device can automatically adjust the movement state of the pan/tilt according to the movement mode of the mobile platform, so that in the process of using the mobile platform to shoot the target scene, the speed of the mobile platform in different movement modes is the same as that of the pan/tilt. The speed is more closely matched, which can effectively improve the shooting effect.

Refer to FIG. 4, which is a schematic structural diagram of an apparatus for controlling a pan-tilt provided in an embodiment of the present invention. The apparatus for controlling a pan-tilt provided in an embodiment of the present invention may be deployed in the control device. The device 40 for controlling a pan-tilt includes:

The obtaining module 401 is configured to obtain the lever amount information used for motion control of the pan-tilt;

The obtaining module 401 is further configured to obtain a reference coefficient of the motion state of the pan/tilt head corresponding to the current motion mode of the mobile platform. The current motion mode is selected from a plurality of motion modes through a detected motion mode selection operation. Selected, wherein the multiple motion modes correspond to respective reference coefficients of the motion state of the pan/tilt head;

The determining module 402 is configured to determine the target motion state parameter of the pan/tilt head according to the lever amount information and the motion state reference coefficient of the pan/tilt head corresponding to the current motion mode;

The control module 403 is configured to control the pan/tilt head according to the target motion state parameter.

In an embodiment, the reference coefficients of the motion states of the pan/tilt heads corresponding to the multiple motion modes are set by the user through the user terminal.

In an embodiment, the motion state reference coefficient includes: a speed coefficient or an acceleration coefficient.

In an embodiment, the motion state reference coefficients of the respective pan/tilt heads corresponding to the multiple motion modes include: a speed threshold or an acceleration threshold.

In an embodiment, the target motion state parameter includes a target speed;

The control module 403 is specifically used for:

According to the target speed, determine the target acceleration of the pan/tilt head corresponding to the current motion mode, wherein the determined target acceleration is less than or equal to the target acceleration of the pan/tilt head corresponding to the current motion mode of the mobile platform An acceleration threshold, where the multiple motion modes correspond to the acceleration thresholds of the respective pan/tilt heads;

The pan-tilt is controlled according to the target acceleration.

In one embodiment, the control module 403 is specifically used for:

Determining the initial target acceleration of the pan/tilt head according to the target speed;

When the initial target acceleration is less than or equal to the acceleration threshold, determining that the initial target acceleration is the target acceleration;

When the initial target acceleration is greater than the acceleration threshold, it is determined that the acceleration threshold is the target acceleration.

In one embodiment, the acceleration thresholds of the pan/tilt heads corresponding to the multiple motion modes are set by the user through the user terminal.

In an embodiment, the acceleration threshold is calculated according to the smoothness parameter corresponding to the current motion mode and the speed threshold of the pan/tilt head corresponding to the current motion mode, and the multiple motion modes correspond to The respective smoothness parameters, and the multiple motion modes correspond to respective speed thresholds.

In an embodiment, the smoothness parameter corresponding to the current sports mode is set by the user through the user terminal; or, the smoothness parameter corresponding to the current sports mode is set by default.

In one embodiment, the control module 403 is specifically used for:

When the lever amount information is a lever amount used to control the pitch axis, control the pan/tilt head to rotate on the pitch axis according to the target motion state parameter; or,

When the lever amount information is a lever amount used to control the yaw axis, the pan/tilt head is controlled to rotate on the yaw axis according to the target motion state parameter.

In the embodiment of the present invention, the acquisition module 401 of the device 40 for controlling the pan/tilt may acquire the lever amount information used for the movement control of the pan/tilt and the reference coefficient of the movement state of the pan/tilt corresponding to the current movement mode of the mobile platform; The determining module 402 can determine the target motion state parameter of the pan/tilt head according to the acquired lever amount information used to control the motion of the pan/tilt head and the motion state reference coefficient of the pan/tilt head corresponding to the current motion mode of the mobile platform; thereby controlling the module 403 can control the pan/tilt according to the target motion state parameters. Through the embodiment of the present invention, the device 40 for controlling the pan/tilt can automatically adjust the movement state of the pan/tilt according to the movement mode of the mobile platform, so that the speed of the mobile platform in different movement modes is more closely matched with the speed of the pan/tilt, and is more effective. Improved the shooting effect of the mobile platform.

Please refer to FIG. 5, which is a schematic structural diagram of a control device according to an embodiment of the present invention. The control device 50 described in this embodiment includes a processor 501 and a memory 502. The aforementioned processor 501 and memory 502 are connected by a bus.

The above-mentioned processor 501 may be a central processing unit (CPU), and the processor 501 may also be other general-purpose processors, digital signal processors (Digital Signal Processors, DSPs), and application specific integrated circuits (Application Specific Integrated Circuits). ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gates 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.

The aforementioned memory 502 may include a read-only memory and a random access memory, and provides program instructions and data to the processor 501. A part of the memory 502 may also include a non-volatile random access memory. Wherein, when the processor 501 calls the program instructions, it is used to execute:

Acquiring lever amount information used for motion control of the pan/tilt;

The pan-tilt is controlled according to the target motion state parameter.

In an embodiment, the target motion state parameter includes a target speed;

The processor 501 is specifically configured to:

The controlling the pan/tilt head according to the target motion state parameter includes:

The pan-tilt is controlled according to the target acceleration.

In an embodiment, the processor 501 is specifically configured to:

In one embodiment, the acceleration threshold is set according to the speed threshold.

In an embodiment, the processor 501 is specifically configured to:

In specific implementation, the processor 501 and the memory 502 described in the embodiment of the present invention can perform the implementation described in the PTZ control method provided in Figure 2 of the embodiment of the present invention, and can also perform the implementation described in Figure 4 of the embodiment of the present invention. The implementation of the device for controlling the PTZ will not be repeated here.

In the embodiment of the present invention, the processor 501 of the control device 50 may obtain the lever amount information used to control the movement of the pan/tilt and the movement state reference coefficient of the pan/tilt corresponding to the current movement mode of the mobile platform, and according to the acquired The lever amount information used to control the motion of the pan/tilt and the motion state reference coefficient of the pan/tilt corresponding to the current motion mode of the mobile platform determine the target motion state parameters of the pan/tilt, so that the processor 501 can determine the target motion state parameters of the pan/tilt. Control the PTZ. Through the embodiment of the present invention, the control device 50 can automatically adjust the movement state of the pan/tilt according to the movement mode of the mobile platform, so that the speed of the mobile platform in different movement modes is more closely matched with the speed of the pan/tilt, and the mobile platform is more effectively improved. The shooting effect.

The embodiment of the present invention also provides a control system. The control system may include the control device, the pan-tilt and the mobile platform described in the embodiment shown in FIG. 5, the pan-tilt is set on the mobile platform, and the control device The structure of each of the foregoing embodiments may be adopted to control the pan-tilt during the movement of the mobile platform.

The embodiment of the present invention also provides a computer-readable storage medium, the computer-readable storage medium stores program instructions, and the program execution may include part or all of the pan/tilt control method in the corresponding embodiment in FIG. 2 step.

It should be noted that for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the described sequence of actions. Because according to the present invention, certain steps can be performed in other order or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are part of the embodiments of the present invention, and the involved actions and modules are not necessarily required by the present invention.

Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above-mentioned embodiments can be completed by a program instructing relevant hardware. The program can be stored in a computer-readable storage medium, and the storage medium can include: Flash disk, read-only memory (Read-Only Memory, ROM), random access device (Random Access Memory, RAM), magnetic disk or optical disk, etc.

The above provides a detailed introduction to the pan/tilt control method, control device, and control system provided by the embodiments of the present invention. Specific examples are used in this article to illustrate the principles and implementation of the present invention. The description of the above embodiments is only used To help understand the method of the present invention and its core idea; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation and the scope of application. In summary, this specification The content should not be construed as limiting the present invention.

Claims

A method for controlling a pan-tilt, characterized in that the pan-tilt is set on a mobile platform, and the method includes:

Acquiring lever amount information used for motion control of the pan/tilt;

Obtain the motion state reference coefficient of the pan/tilt head corresponding to the current motion mode of the mobile platform. The current motion mode is selected from a plurality of motion modes through a detected motion mode selection operation, wherein the Multiple motion modes correspond to respective reference coefficients of the motion state of the pan/tilt head;

Determine the target motion state parameter of the pan/tilt head according to the lever amount information and the motion state reference coefficient of the pan/tilt head corresponding to the current motion mode;

The pan-tilt is controlled according to the target motion state parameter.
The method according to claim 1, wherein the reference coefficients of the motion states of the pan/tilt heads corresponding to the multiple motion modes are set by the user through the user terminal.
The method according to claim 1 or 2, wherein the motion state reference coefficient comprises: a speed coefficient or an acceleration coefficient.
The method according to any one of claims 1 to 3, wherein the motion state reference coefficients of the pan/tilt heads corresponding to each of the multiple motion modes include: a speed threshold or an acceleration threshold.
The method according to any one of claims 1 to 4, wherein the target motion state parameter includes a target speed;

The controlling the pan/tilt head according to the target motion state parameter includes:

According to the target speed, determine the target acceleration of the pan/tilt head corresponding to the current motion mode, wherein the determined target acceleration is less than or equal to the target acceleration of the pan/tilt head corresponding to the current motion mode of the mobile platform An acceleration threshold, where the multiple motion modes correspond to the acceleration thresholds of the respective pan/tilt heads;

The pan-tilt is controlled according to the target acceleration.
The method of claim 5, wherein the determining the target acceleration of the pan/tilt head according to the target speed comprises:

Determining the initial target acceleration of the pan/tilt head according to the target speed;

When the initial target acceleration is less than or equal to the acceleration threshold, determining that the initial target acceleration is the target acceleration;

When the initial target acceleration is greater than the acceleration threshold, it is determined that the acceleration threshold is the target acceleration.
The method according to claim 5 or 6, wherein the acceleration thresholds of the pan/tilt heads corresponding to the multiple motion modes are set by the user through the user terminal.
The method according to claim 5 or 6, wherein the acceleration threshold is set according to a speed threshold.
The method according to claim 8, wherein the acceleration threshold is calculated according to the smoothness parameter corresponding to the current motion mode and the speed threshold of the pan/tilt head corresponding to the current motion mode, The multiple motion modes correspond to respective smoothness parameters, and the multiple motion modes correspond to respective speed thresholds.
The method according to claim 9, wherein the smoothness parameter corresponding to the current sports mode is set by the user through the user terminal; or, the smoothness parameter corresponding to the current sports mode is a default setting of.
The method according to claim 1, wherein said controlling said pan-tilt according to said target motion state parameter comprises:

When the lever amount information is a lever amount used to control the pitch axis, controlling the pan/tilt head to rotate on the pitch axis according to the target motion state parameter;

When the lever amount information is a lever amount used to control the yaw axis, control the pan/tilt head to rotate on the yaw axis according to the target motion state parameter.
A control device, characterized in that the control device comprises: a processor and a memory, the memory and the processor are connected to each other, wherein:

The memory is used to store a computer program, and the computer program includes program instructions;

When the processor calls the program instructions, it is used to execute:

Acquiring lever amount information used for motion control of the pan/tilt;

Obtain the motion state reference coefficient of the pan/tilt head corresponding to the current motion mode of the mobile platform. The current motion mode is selected from a plurality of motion modes by detecting a user's motion mode selection operation, wherein the Multiple motion modes correspond to respective reference coefficients of the motion state of the pan/tilt head;

Determine the target motion state parameter of the pan/tilt head according to the lever amount information and the motion state reference coefficient of the pan/tilt head corresponding to the current motion mode;

The pan-tilt is controlled according to the target motion state parameter.
The control device according to claim 12, wherein the reference coefficients of the motion states of the pan/tilt heads corresponding to the multiple motion modes are set by the user through the user terminal.
The control device according to claim 12 or 13, wherein the motion state reference coefficient comprises: a speed coefficient or an acceleration coefficient.
The control device according to any one of claims 12-14, wherein the motion state reference coefficients of the multiple motion modes corresponding to the respective pan/tilt heads comprise: a speed threshold or an acceleration threshold.
15. The control device according to any one of claims 12-15, wherein the target motion state parameter includes a target speed;

When the processor controls the pan/tilt head according to the target motion state parameter, it is specifically configured to perform the following steps:

According to the target speed, determine the target acceleration of the pan/tilt head corresponding to the current motion mode, wherein the determined target acceleration is less than or equal to the target acceleration of the pan/tilt head corresponding to the current motion mode of the mobile platform An acceleration threshold, where the multiple motion modes correspond to the acceleration thresholds of the respective pan/tilt heads;

The pan-tilt is controlled according to the target acceleration.
The control device according to claim 16, wherein the processor is specifically configured to perform the following steps when determining the target acceleration of the pan/tilt head according to the target speed:

Determining the initial target acceleration of the pan/tilt head according to the target speed;

When the initial target acceleration is less than or equal to the acceleration threshold, determining that the initial target acceleration is the target acceleration;

When the initial target acceleration is greater than the acceleration threshold, it is determined that the acceleration threshold is the target acceleration.
The control device according to claim 16 or 17, wherein the acceleration thresholds of the pan/tilt heads corresponding to the multiple motion modes are set by the user through the user terminal.
The control device according to claim 16 or 17, wherein the acceleration threshold is set according to a speed threshold.
The control device of claim 19, wherein the acceleration threshold is calculated based on the smoothness parameter corresponding to the current motion mode and the speed threshold of the pan/tilt head corresponding to the current motion mode. , The multiple motion modes correspond to respective smoothness parameters, and the multiple motion modes correspond to respective speed thresholds.
The control device according to claim 20, wherein the smoothness parameter corresponding to the current sports mode is set by the user through the user terminal; or, the smoothness parameter corresponding to the current sports mode is Set by default.
The control device according to claim 12, wherein the processor is specifically configured to perform the following steps when controlling the pan/tilt head according to the target motion state parameter:

When the lever amount information is a lever amount used to control the pitch axis, control the pan/tilt head to rotate on the pitch axis according to the target motion state parameter; or,

When the lever amount information is a lever amount used to control the yaw axis, the pan/tilt head is controlled to rotate on the yaw axis according to the target motion state parameter.
A control system, characterized in that the control system includes:

mobile platform;

PTZ, the PTZ is set on the mobile platform;

The control device according to any one of claims 12-22, which is used to control the pan-tilt during the movement of the mobile platform.