WO2021134644A1

WO2021134644A1 - Gimbal control method and gimbal

Info

Publication number: WO2021134644A1
Application number: PCT/CN2019/130861
Authority: WO
Inventors: 林荣华
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-12-31
Filing date: 2019-12-31
Publication date: 2021-07-08
Also published as: CN112544065A

Abstract

A gimbal control method and a gimbal. The gimbal is mounted on a base, a photographic apparatus is mounted on the gimbal, and the gimbal is configured to rotate around at least two axes. The method comprises: when the gimbal is in a first person view (FPV) follow mode, if an attitude control amount sent by a gimbal control apparatus is received, converting the attitude control amount according to an Euler angle rotation sequence of the photographic apparatus to obtain a first target Euler angle component of the photographic apparatus; determining a target Euler angle of the photographic apparatus according to the first target Euler angle component and a second target Euler angle component of the photographic apparatus, wherein the second target Euler angle component is determined according to the real-time detection attitude of the base; and controlling the rotation of the gimbal according to the target Euler angle, wherein when the gimbal is in the FPV follow mode, the attitudes of at least two axes vary with the attitude of the base. According to the present application, when the rotation of the gimbal is controlled, a picture of the photographic apparatus rotates around a global coordinate system, and the picture better conforms to user expectation.

Description

PTZ control method and PTZ

Technical field

This application relates to the field of pan-tilt, and in particular to a method for controlling a pan-tilt and a pan-tilt.

Background technique

Existing pan/tilt heads in the FPV (First Person View) follow mode, due to poorly defined function design or technical limitations, either did not achieve joystick control, or achieved joystick control in the joint coordinate system, which was impossible. To meet the needs of different application scenarios, it is impossible to give full play to the different characteristics of various control devices, and it is inconvenient for the operator to control the screen direction.

Summary of the invention

This application provides a method for controlling a pan-tilt and a pan-tilt.

According to a first aspect of the present application, there is provided a method for controlling a pan/tilt, the pan/tilt is mounted on a base, the pan/tilt is mounted with a photographing device, and the pan/tilt is configured to rotate around at least two axes , The method includes:

When the pan/tilt head is in the first-person main angle of view FPV follow mode, if the attitude control amount sent by the control device of the pan/tilt head is received, the attitude control amount will be adjusted according to the Euler angle rotation sequence of the camera. Performing conversion to obtain the first target Euler angle component of the photographing device;

Determine the target Euler angle of the camera according to the first target Euler angle component and the second target Euler angle component of the camera, and the second target Euler angle component is based on the base Real-time detection of posture determination;

Controlling the rotation of the pan/tilt according to the target Euler angle;

Wherein, when the pan/tilt is in the FPV following mode, the posture of the at least two axes changes following the posture of the base.

According to a second aspect of the present application, there is provided a pan-tilt, the pan-tilt including:

Base

A shaft assembly provided on the base, the shaft assembly is used to mount a photographing device, and the shaft assembly is configured to rotate about at least two shafts; and

A controller, the controller is electrically connected to the pan-tilt, and the controller is used for:

Controlling the rotation of the pan/tilt according to the target Euler angle;

According to the technical solution provided by the embodiments of this application, when the pan/tilt is in the FPV follow mode, according to the Euler angle rotation sequence of the camera, the attitude control value sent by the control device is converted to obtain the first target Euler angle component of the camera , And then determine the target Euler angle of the camera according to the first target Euler angle component and the second target Euler angle component determined according to the real-time detection attitude of the base, and control the pan/tilt rotation according to the target Euler angle, and the user is controlling the cloud When the stage rotates, the screen of the camera rotates around the world coordinate system, the direction of the screen rotation is more in line with the user's requirements, and the screen is more in line with the user's expectations.

Description of the drawings

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

Figure 1 is a perspective view of a pan-tilt in an embodiment of the present invention;

2 is a schematic diagram of a method flow chart of a method for controlling a pan-tilt in an embodiment of the present application;

Figure 3 is a perspective view of the handheld PTZ shown in Figure 1 when it is placed upright;

4A is a schematic diagram of the photographing device in an embodiment of the present application when photographing in a horizontal orientation;

4B is a schematic diagram of the photographing device in an embodiment of the present application when photographing in a vertical orientation;

FIG. 5 is a schematic flow chart of an implementation manner of controlling the rotation of the pan/tilt head according to the target Euler angle in an embodiment of the present application;

Fig. 6 is a schematic diagram of a preset interpolation strategy in an embodiment of the present application;

FIG. 7 is a schematic flow chart of a method for controlling a pan-tilt in an embodiment of the present application;

Fig. 8 is a structural block diagram of a pan-tilt in an embodiment of the present application.

Detailed ways

The existing gimbal can realize joystick control in the joint coordinate system in the FPV (First Person View) follow mode of the first-person main view. For example, when the control device is a remote control, the amount of rod generated by the remote sensor may correspond to a joint Angle rotation, the pan/tilt controls a joint angle correspondingly, and other joint angles are not affected. The picture taken by the camera rotates around the joint coordinate system, and the picture may not meet the user's expectations. Therefore, this kind of joystick control is realized on the joint coordinate system. The method is not convenient for the operator to control the screen direction. Among them, in the joint coordinate system, each axis of the pan/tilt moves independently.

For this, in this application, when the pan/tilt is in the FPV follow mode, according to the Euler angle rotation sequence of the camera, the attitude control amount sent by the control device is converted to obtain the first target Euler angle component of the camera, and then according to the first target Euler angle component. The target Euler angle component and the second target Euler angle component determined according to the real-time detection attitude of the base determine the target Euler angle of the camera, and control the rotation of the pan/tilt according to the target Euler angle. When the user controls the rotation of the pan/tilt, the camera is taken. The screen of the device rotates around the world coordinate system, the rotation direction of the screen is more in line with the user's requirements, and the screen is more in line with the user's expectations. For example, when the gimbal is a three-axis handheld gimbal, assuming that the handle of the handheld gimbal is tilted at this time, if it is necessary to control the corresponding axis arm on the handheld gimbal to rotate around the yaw axis through the control device, control in the corresponding attitude If the amount is only converted to a joint angle, at this time, the pitch motor can be driven to rotate, but the roll motor and yaw motor will not rotate. Because the camera rotates around the body coordinate system, the changes in the shooting screen will be more rigid and abrupt. , And when the corresponding attitude control value is converted to a corresponding Euler angle, not only can the pitch motor be driven to rotate, but the roll motor and the yaw motor may also rotate. As the camera rotates around the world coordinate system, the The yaw change expected by the user will be achieved, and the changes in the shooting picture will be smoother and more cohesive.

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

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.

The pan/tilt in the embodiment of the present application is mounted on a base, the pan/tilt is mounted with a photographing device, and the pan/tilt is configured to rotate around at least two axes. In the embodiment of the present application, when the base is tilted, the camera can rotate around the world coordinate system under the control of the pan/tilt. The shooting device can be a camera, a SLR, a mirrorless single, a sports camera, a smart phone, and other shooting devices.

Wherein, the pan/tilt is configured to rotate around at least two axes. The pan/tilt head of this embodiment may be configured to rotate around two axes, or it may be configured to rotate around three axes or more than three axes. For example, in some embodiments, the pan/tilt is configured to rotate about two axes, the two axes including a yaw axis and a pitch axis. In other embodiments, the pan/tilt is configured to rotate around three axes, the three axes including the yaw axis, the pitch axis, and the roll axis.

The pan/tilt in the embodiments of the present application may be a handheld pan/tilt or an airborne pan/tilt. The airborne pan/tilt may be mounted on a movable platform, which may be an unmanned aerial vehicle, an unmanned vehicle, a mobile robot, etc. .

Exemplarily, please refer to Fig. 1. The pan/tilt is a handheld pan/tilt, and the pan/tilt is a three-axis pan/tilt. The pan/tilt in this embodiment is configured to rotate around the yaw axis, pitch axis, and roll axis. The handheld gimbal may include an outer frame 11, a middle frame 12, and an inner frame. The outer frame 11 is configured to rotate about a yaw axis, the middle frame 12 is configured to rotate about a roll axis, and the inner frame is configured to rotate about a pitch axis, And the inner frame is used to mount the camera 2. Wherein, the outer frame 11 includes a yaw axis arm and is driven by a yaw axis motor, the middle frame 12 includes a roll axis arm and is driven by a roll axis motor, and the inner frame includes a pitch axis arm and is driven by a pitch axis motor driven.

The specific implementation process of the pan-tilt control method in the embodiment of the present application will be described below.

FIG. 2 is a schematic flow chart of a method for controlling a pan-tilt in an embodiment of the present application; please refer to FIG. 2, the method for controlling a pan-tilt according to an embodiment of the present application may include the following steps:

S201: When the pan/tilt is in the first-person main angle of view FPV follow mode, if the attitude control amount sent by the control device of the pan/tilt is received, the attitude control amount is converted according to the Euler angle rotation sequence of the camera to obtain the camera's The first target Euler angle component, where, when the gimbal is in the FPV follow mode, the attitude of at least two axes changes with the attitude of the base;

Illustratively, taking the gimbal configured to rotate around the yaw axis, roll axis, and pitch axis as an example, when the camera is in the FPV follow mode, the yaw axis, roll axis, and pitch axis are all in follow mode. In addition, when the camera is in the normal follow mode, the roll axis is in free mode, the roll axis is used for stabilization, and the pitch axis and/or yaw axis are in follow mode. Among them, in the free mode, the base of the pan/tilt moves, but the corresponding arm of the pan/tilt does not rotate. In the follow mode, the corresponding axis moves with the movement of the base of the pan/tilt.

The control device can be a mobile terminal such as a mobile phone, a tablet computer, or a fixed terminal, or a remote control or other device capable of controlling the rotating structure, and can also be integrated on the handle of the pan-tilt. Exemplarily, the control device is a remote control, and the amount of posture control is determined according to the amount of stick generated by the user operating the joystick of the remote control.

In the embodiment of the present application, step S201 is to directly convert the attitude control amount to obtain the first target Euler angle component of the shooting device according to the Euler angle rotation sequence of the shooting device, but the attitude control amount is less than the first target Euler angle component. The conversion between is not a simple correspondence. The conversion in this embodiment may include the conversion of the Euler angular velocity of the pan/tilt rotation, or the conversion of the Euler angle of the pan/tilt rotation. For example, in some embodiments, the conversion is the conversion of the Euler angular velocity of the pan/tilt rotation, and the first target Euler angular component is the Euler angular velocity. In some other embodiments, the conversion is the conversion of the Euler angle size of the pan/tilt rotation, and the first target Euler angle component is the Euler angle size.

In the embodiment of the present application, the Euler angle rotation sequence of the camera needs to be determined according to the shooting orientation of the camera.

Taking the PTZ configured to rotate around three axes as an example, for example, the Euler angle of the camera corresponds to the rotation of the first axis, the second axis, and the third axis, where the first axis is parallel to the light of the camera. The axis direction, the first axis, the second axis, and the third axis are orthogonal to each other. The direction of the first axis, the direction of the second axis, and the direction of the third axis are determined according to the placement direction of the camera and the direction of the optical axis. Illustratively, the camera is placed in a horizontal orientation and the optical axis of the camera is parallel to In the horizontal plane, the third axis is the vertical direction, and both the first axis and the second axis are parallel to the horizontal plane.

In this article, the first axis corresponds to the roll axis, the second axis corresponds to the pitch axis, and the third axis corresponds to the yaw axis. For ease of description, the first axis, the second axis, and the third axis are denoted by X, Y, and Z, respectively.

In some embodiments, the camera is in the horizontal orientation shooting mode, and the rotation sequence of the Euler angle of the camera is: the third axis, the first axis, the second axis, or the second axis, the first axis, and the third axis. Further, according to the configuration of the pan-tilt, it is determined which of the above-mentioned Euler angle rotation sequence of the photographing device corresponding to the switched control instruction is. Optionally, when the pan-tilt is in the ZXY configuration, the Euler angle rotation sequence of the camera is: the third axis, the first axis, and the second axis. Optionally, when the pan-tilt is in the YXZ configuration, the Euler angle rotation sequence of the camera is: the second axis, the first axis, and the third axis.

Among them, when the camera is in the horizontal orientation shooting mode, the component of the attitude control quantity used to control the rotation of the gimbal around the yaw axis is obtained by conversion based on the third axis in the Euler angle rotation sequence, and the attitude control quantity is used for control The component of the gimbal's rotation around the pitch axis is converted based on the second axis in the Euler angle rotation sequence, and the component used to control the gimbal's rotation around the roll axis in the attitude control quantity is the first component in the rotation sequence based on the Euler angle. One-axis conversion is obtained. Exemplarily, the gimbal is in the ZXY configuration, the Euler angle rotation sequence of the camera is: Z, X, Y, and the component used to control the rotation of the gimbal around the yaw axis in the attitude control is converted to obtain the camera's The Euler angular velocity or Euler angle of rotation around Z in the Euler angle rotation sequence; convert the component used to control the rotation of the gimbal around the pitch axis in the attitude control quantity to obtain the Euler angle rotation sequence of the camera around Y The Euler angular velocity or the size of the Euler angle of rotation; the component used to control the rotation of the gimbal around the roll axis in the attitude control is converted to obtain the Euler angular velocity or the Euler angle rotating around X in the Euler angle rotation sequence of the camera. The size of the pull angle. For another example, the gimbal is in the YXZ configuration, and the Euler angle rotation sequence of the camera is: Y, X, Z. The component used to control the rotation of the gimbal around the yaw axis in the attitude control is converted to obtain the Euler angle of the camera. The Euler angular velocity or Euler angle of rotation around Z in the pull angle rotation sequence; convert the component used to control the rotation of the gimbal around the pitch axis in the attitude control quantity to obtain the Euler angle rotation sequence of the camera to rotate around Y The Euler angular velocity or Euler angle size of the angle; convert the component used to control the rotation of the gimbal around the roll axis in the attitude control quantity to obtain the Euler angular velocity or Euler angle rotating around X in the Euler angle rotation sequence of the camera Angle size.

In some embodiments, the camera is in the vertical orientation shooting mode, and the rotation sequence of the Euler angle of the camera is: second axis, first axis, second axis, or third axis, first axis, third axis . Further, the Euler angle rotation sequence of the camera corresponding to the switched control instruction is determined according to the configuration of the pan/tilt head, which one of the above Euler angle rotation sequences is, optionally, when the pan/tilt head is in the ZXY configuration , The Euler angle rotation sequence of the camera is: the third axis, the first axis, and the third axis. Optionally, when the pan/tilt is in the YXZ configuration, the Euler angle rotation sequence of the camera is: the second axis, the first axis, and the second axis.

Among them, when the camera is in the vertical orientation shooting mode, if the Euler angle rotation sequence of the camera is: second axis, first axis, second axis, then the attitude control quantity is used to control the pan/tilt to rotate around the yaw axis The component and the component used to control the rotation of the gimbal around the pitch axis are obtained by conversion based on the second axis in the Euler angle rotation sequence. The component used to control the rotation of the gimbal around the roll axis in the attitude control quantity is based on the Euler angle rotation. The first axis in the rotation sequence of the pull angle is converted. In this embodiment, the Euler angle rotation sequence of the shooting device is: Y, X, Y, and the components used to control the rotation of the gimbal around the yaw axis in the attitude control value are converted to obtain the Euler angle rotation sequence of the shooting device The Euler angular velocity or Euler angle size of the rotation around the first Y; convert the component used to control the rotation of the gimbal around the pitch axis in the attitude control quantity to obtain the Euler angle rotation sequence of the camera to rotate around the second Y The Euler angular velocity or Euler angle size of the angle; convert the component used to control the rotation of the gimbal around the roll axis in the attitude control quantity to obtain the Euler angular velocity or Euler angle rotating around X in the Euler angle rotation sequence of the camera Angle size.

When the camera is in the vertical orientation shooting mode, if the Euler angle rotation sequence of the camera is: third axis, first axis, third axis, the component of the attitude control quantity used to control the rotation of the gimbal around the yaw axis, And the component used to control the rotation of the gimbal around the pitch axis is obtained by conversion based on the third axis in the Euler angle rotation sequence, and the component used to control the rotation of the gimbal around the roll axis in the attitude control quantity is based on the Euler angle The first axis in the rotation sequence is transformed. In this embodiment, the Euler angle rotation sequence of the shooting device is: Z, X, Z, and the components used to control the rotation of the pan/tilt around the yaw axis in the attitude control value are converted to obtain the Euler angle rotation sequence of the shooting device The Euler angular velocity or Euler angle of rotation around the first Z; convert the component used to control the rotation of the gimbal around the pitch axis in the attitude control quantity to obtain the Euler angle rotation sequence of the camera to rotate around the second Z The Euler angular velocity or Euler angle size of the angle; convert the component used to control the rotation of the gimbal around the roll axis in the attitude control quantity to obtain the Euler angular velocity or Euler angle rotating around X in the Euler angle rotation sequence of the camera Angle size.

Take a three-axis gimbal and the gimbal is configured to rotate around the yaw axis, pitch axis, and roll axis as an example to illustrate the gimbal of the ZXY configuration and the gimbal of the YXZ configuration. For the ZXY configuration gimbal, when the gimbal is placed upright and the joint angles of the outer frame, middle frame and inner frame are all 0 degrees, the outer frame rotates around the yaw axis, the middle frame rotates around the roll axis, and the inner frame Rotate around the pitch axis. For a gimbal of YXZ configuration, when the gimbal is placed upright and the joint angles of the outer frame, middle frame and inner frame are all 0 degrees, the outer frame rotates around the pitch axis, the middle frame around the roll axis, and the inner frame around the The yaw axis rotates.

Exemplarily, following the embodiment of the above-mentioned handheld pan/tilt, please refer to FIG. 3. The handheld pan/tilt also includes a handle 3 and a screen 4 and buttons (not shown) provided on the front of the handle 3. When the handheld PTZ is placed upright, the screen 4 faces the user, and the lens of the shooting device is facing away from the user. As shown in FIG. 3, it is a state diagram of the handheld PTZ placed upright. The handheld PTZ shown in Figure 3 is a ZXY configuration PTZ.

It should be noted that the horizontal orientation shooting may also be referred to as horizontal shooting, and the vertical orientation shooting may also be referred to as vertical shooting.

Among them, the horizontal orientation of the shooting device means that the shooting device is installed horizontally on the pan/tilt support, so that it can take a horizontal picture relative to the horizontal plane. For a given picture aspect ratio, the shooting device is a mobile phone as an example, please refer to Figure 4A, 10 is the horizontal plane, 20 is the long side of the screen, and 30 is the short side of the screen. Rotate the long side 20 of the screen to the horizontal direction (that is, the long side 20 of the screen is parallel to the horizontal plane 10) for shooting. The device is photographed in a horizontal orientation. The shooting device in the vertical orientation means that the shooting device is installed vertically on the pan/tilt support to take a vertical picture with respect to the horizontal plane. The embodiment in which the above-mentioned shooting device is a mobile phone is used. Please refer to Fig. 4B. The long side 20 is rotated to the vertical direction (that is, the long side 20 of the picture is perpendicular to the horizontal plane) for shooting, that is, the shooting device shoots in a vertical orientation. Of course, the exemplary definitions of horizontal shooting and vertical shooting can also be completely opposite to the above description.

S202: Determine the target Euler angle of the camera according to the first target Euler angle component and the second target Euler angle component of the camera, and the second target Euler angle component is determined according to the real-time detection attitude of the base;

In this embodiment, when the pan/tilt is in the FPV follow mode, the pan/tilt is not only controlled by the control device, but also follows the posture of the base. It should be understood that when the pan/tilt is in the FPV follow mode, when the control device does not input the amount of attitude control and the pan/tilt is not under the control of the control device, the attitude of the camera only changes with the change of the base's attitude. That is, step S201 is omitted, and the target Euler angle in step S202 is determined according to the second target Euler angle component. In addition, when the camera only follows the posture of the base, if the deviation between the current posture of the camera and the real-time detection posture of the base of the pan/tilt is less than or equal to the preset deviation threshold, there is no need to control the posture of the camera; If the deviation between the current attitude of the camera and the real-time detected attitude of the base of the pan/tilt is greater than the preset deviation threshold, the attitude of the camera is controlled to follow the attitude of the base.

In this embodiment, when the pan/tilt is in the FPV follow mode, the priority of the control device to control the pan/tilt is higher than the priority of the attitude of the pan/tilt following the base, that is, when the attitude control amount sent by the control device is acquired, The pan/tilt is not only controlled by the control device, but also follows the attitude of the base.

Wherein, according to the first target Euler angle component and the second target Euler angle component of the camera, the process of determining the target Euler angle of the camera may include: according to the first target Euler angle component and the second target Euler angle component of the camera. The sum of the target Euler angle components determines the target Euler angle of the camera. Optionally, target Euler angle=(first target Euler angle component+second target Euler angle component).

The real-time detection attitude of the pedestal can be characterized by the real-time attitude quaternion of the pedestal, or the real-time attitude Euler angle of the pedestal.

In some embodiments, the method for acquiring the real-time detection attitude of the base may include: acquiring the real-time attitude quaternion of the camera; and determining the real-time attitude quaternion of the base according to the real-time attitude quaternion of the camera. The real-time attitude quaternion of is used to characterize the real-time detection attitude of the base. Among them, the real-time posture quaternion of the camera can be obtained through the detection of an inertial measurement unit (IMU, Inertial Measurement Unit) provided on the camera. Of course, the IMU can also be set on the inner frame of the pan/tilt. Furthermore, a handheld pan/tilt is taken as an example to illustrate how to determine the real-time attitude quaternion of the base according to the real-time attitude quaternion of the camera. The base is the handle of the handheld pan/tilt. The handheld pan/tilt in this embodiment also includes an accelerometer, which is used to detect the real-time posture quaternion qmesa of the camera. The real-time attitude quaternion of the handle is determined according to the real-time attitude quaternion of the camera and the joint angle of the gimbal. Take a three-axis gimbal with a ZXY configuration as an example. The joint angle of the gimbal includes the yaw joint angle. For joint_yaw, roll joint angle joint_roll and pitch joint angle joint_pitch, each joint angle is the joint angle of the corresponding axis motor. According to the shaft angle conversion formula, q_yaw, q_roll and q_pitch are obtained. The conjugate or inverse of q_yaw, q_roll and q_pitch are q_yaw_inv, q_roll_inv and q_pitch_inv respectively. The calculation formula of the real-time attitude quaternion qhandle of the handle is as follows:

qhandle=qmesa*q_pitch_inv*q_roll_inv*q_yaw_inv (1);

Among them, joint represents the joint angle, and q represents the quaternion.

In other embodiments, an inertial measurement unit is provided on the base, and the real-time detection attitude of the base is obtained through the detection of the inertial measurement unit on the base.

In some embodiments, the realization process of determining the second target Euler angle component based on the real-time detection attitude of the base may include: the second target Euler angle component is based on the real-time detection attitude of the base and the relationship between the camera and the base. The preset attitude deviation between the two is determined. Exemplarily, the real-time attitude quaternion of the base is obtained by the above formula (1), and the preset attitude deviation is also characterized by quaternion, that is, the preset attitude quaternion deviation offset, and the second target Euler angle component corresponds to The target posture quaternion component is determined according to the product of the real-time posture quaternion of the base and the offset, and then the second target Euler angle component is determined according to the target posture quaternion component corresponding to the second target Euler angle component. Optionally, the target attitude quaternion component corresponding to the second target Euler angle component=real-time attitude quaternion of the base*offset.

The size of the preset attitude deviation can be set as required. Optionally, the preset attitude deviation is the attitude deviation between the camera and the base when the pan/tilt enters the FPV follow mode; of course, the preset attitude deviation can also be other settings. Set attitude deviation.

S203: Control the gimbal to rotate according to the target Euler angle.

Fig. 5 is a schematic flow chart of an implementation method of controlling the rotation of the gimbal according to the target Euler angle in an embodiment of the present application; please refer to Fig. 5, the realization process of controlling the rotation of the gimbal according to the target Euler angle may include:

S501: Determine the quaternion of the target posture of the shooting device according to the target Euler angle;

Exemplarily, taking the ZXY configuration of the PTZ as an example, the camera is in the horizontal orientation shooting mode, the rotation sequence of the Euler angle of the camera is: Z, X, Y, the conversion formula of Euler angle to quaternion is as follows :

Among them, q is the converted quaternion, Inn_Y, Mid_X, and Out_Z are the Euler angles of the corresponding ZXY rotation sequence.

According to the above formula (2), the target Euler angle can be converted into a target attitude quaternion.

S502: Determine the joint angle of the gimbal according to the quaternion of the target posture;

In this step, the target joint angle of the pan-tilt is determined according to the target posture quaternion and the posture quaternion corresponding to the current posture of the camera. Specifically, the target posture quaternion and the posture quaternion corresponding to the current posture of the camera are determined. Yuan, determine the quaternion attitude deviation; according to the quaternion attitude deviation, determine the target joint angle of the pan/tilt. Wherein, the quaternion attitude deviation is determined according to the difference obtained by subtracting the quaternion of the current attitude of the camera from the quaternion of the target attitude. Optionally, the quaternion attitude deviation=(target attitude quaternion- The posture quaternion corresponding to the current posture of the camera).

In addition, when determining the target joint angle of the pan/tilt head based on the quaternion attitude deviation, specifically, the target joint angle of the pan/tilt head is determined based on the quaternion attitude deviation and the Jacobian inverse matrix. Taking the gimbal configured to rotate around the yaw axis, roll axis, and pitch axis as an example, the target joint angle includes the joint angle corresponding to the yaw motor, the joint angle corresponding to the roll motor, and the joint angle corresponding to the pitch motor. Among them, the yaw motor It is used to control the gimbal to rotate around the yaw axis, the roll motor is used to control the gimbal to rotate around the roll axis, and the pitch motor is used to control the gimbal to rotate around the pitch axis.

Optionally, the current posture quaternion of the camera is different from the target posture quaternion, and the implementation process of S502 may include but is not limited to the following steps:

(1) Determine at least one intermediate posture quaternion between the current posture quaternion and the target posture quaternion according to the current posture quaternion, the target posture quaternion and the preset interpolation strategy;

The preset interpolation strategy can be selected according to needs. In some embodiments, according to the current pose quaternion, the target pose quaternion, and the preset interpolation strategy, it is determined at least between the current pose quaternion and the target pose quaternion. The realization process of an intermediate posture quaternion may include: determining at least one middle position between the current posture quaternion and the target posture quaternion according to the current posture quaternion, the target posture quaternion, and at least one time change parameter Posture quaternion. Among them, at least one time change parameter corresponds to at least one intermediate posture quaternion one-to-one. Optionally, the time change parameter includes multiple, and the direction of the posture switching from the current posture quaternion to the target posture quaternion, and the time change parameters corresponding to the multiple intermediate posture quaternions show an increasing trend.

Assuming that the current attitude quaternion is expressed as q ₀ and the target attitude quaternion is expressed as q ₁ , between the current attitude quaternion q ₀ and the target attitude quaternion q ₁ , the quaternion smoothing interpolation algorithm slerp is used, such as The following calculation formula calculates the intermediate attitude quaternion q _t :

In formula (3), t is a time parameter that varies from 0 to 1, and ω is _{the angle difference between directions q 0} to q ₁ , as shown in Figure 6. It can be understood that t can also be a time parameter other than 0 to 1, which represents the time for the current attitude quaternion q _{0 to} change to the target attitude quaternion q ₁ , and can be converted to 0 through normalized expressions. 1 time change parameter.

Optionally, the magnitudes of the quaternion attitude deviations of the posture quaternions that are adjacent to each other are equal; alternatively, the magnitudes of the quaternion posture deviations of the posture quaternions that are adjacent to each other may not be equal.

(2) Determine the target joint angle of the pan/tilt head according to the current posture quaternion, at least one intermediate posture quaternion, and the target posture quaternion.

Specifically, the corresponding joint angle is determined according to the quaternion of each adjacent posture and the Euler angle rotation sequence of the camera; then according to the joint angle corresponding to each adjacent posture, from the quaternion of the current posture to the quaternion of the target posture To switch the direction of, control the rotation of the pan/tilt in turn to control the smooth rotation of the camera.

By interpolation, at least one intermediate pose quaternion is inserted between the current pose quaternion and the target pose quaternion. According to the quaternion corresponding to the adjacent pose, the quaternion pose deviation corresponding to the adjacent pose is determined, and then According to the quaternion posture deviation corresponding to the adjacent posture, determine the joint angle corresponding to the adjacent posture, and then according to the joint angle corresponding to each adjacent posture, the direction of switching from the current posture to the target posture is controlled in turn to control the pan/tilt rotation to make the shooting The device rotates smoothly.

S503: Control the rotation of the gimbal according to the joint angle of the gimbal.

Wherein, when the target joint angle includes the joint angle corresponding to the heading motor, the joint angle corresponding to the roll motor, and the joint angle corresponding to the pitch motor, the realization process of S503 may include: controlling the heading motor to rotate the joint angle corresponding to the heading motor, and control The roll motor rotates the joint angle corresponding to the roll motor, and controls the pitch motor to rotate the joint angle corresponding to the pitch motor.

In addition, when the gimbal is in the normal follow mode, if you control the gimbal to center or take a selfie, the gimbal is in the joint coordinate system to achieve centering or self-timer control, and the gimbal cannot return to a horizontal neutral position as a shooting device. Starting point, it is not convenient for the gimbal operator to hold it with the handle tilted, level, and upside down, and thus cannot hold it in the posture that he likes, the most labor-saving, and the most conducive to shooting, so that it is easier to tilt the base slightly in an upright scene. Good performance of stabilization, shooting scenes in the flashlight (the base is switched from upright to forward or backward by 90 degrees), horizontally holding more comfortably, holding upside down in a low camera position, not even in FPV mode Selfie. For example, when the gimbal is in the normal follow mode, if the base is tilted and the gimbal returns to the center, the camera may shoot the ground. If you control the posture of the camera by the joystick, the specific plane of the camera is parallel to the horizontal plane. And the lens of the camera is facing forward, which will be more laborious.

For this, in some embodiments, when the pan/tilt is in the FPV follow mode, the pan/tilt can be controlled to switch to a preset target posture with one button, and the preset target posture may include the posture of the gimbal when returning to the center or the position of the gimbal. The pitch joint angle is 0 degrees (self-timer). The gimbal can be controlled by centering or self-timer in the world coordinate system. The gimbal can return to a horizontal middle position as the starting point of the shooting device, which is convenient for the operator to tilt, level, and hang upside down with the handle. Hold it in an upright position, so as to slightly tilt the base in an upright scene to better exert the stabilization performance, and hold the scene more horizontally when shooting with a flashlight (the base is switched from upright to forward or backward by 90 degrees). Hold it upside down comfortably in a low camera position, which is conducive to self-timer in FPV mode. Specifically, referring to FIG. 7, the method for controlling the pan/tilt may further include the following steps:

S701: when the pan/tilt is in the FPV follow mode, a first trigger instruction for instructing the pan/tilt to switch to a preset target posture is acquired;

S702: According to the first trigger instruction, control the pan/tilt to switch to a preset target posture.

Through step S701 and step S702, it is realized that the pan/tilt is in the FPV follow mode, and the pan/tilt is controlled to switch to the preset target posture with one button, which is convenient for the operator of the pan/tilt to hold in the posture that he likes, is the most labor-saving, and is most conducive to shooting. .

The preset target posture can be set according to needs. In this embodiment, the preset target posture can include the posture of the pan/tilt when returning to the center, the pitch joint angle of the pan/tilt is 0 degrees (Selfie), and so on.

In some embodiments, the preset target posture is the posture when the pan/tilt is returned to the center. In this embodiment, when the pan/tilt is returned to the center, the specific plane in the coordinate system of the camera is parallel to the horizontal plane, and the direction of the optical axis of the camera is parallel. In a specific plane. Further, when the pan/tilt is returned to the center, the lens of the photographing device faces forward (that is, the lens of the photographing device faces away from the user). In this embodiment, when the shooting device is placed upright, the lens of the shooting device faces away from the user, the optical axis direction of the shooting device is parallel to the horizontal plane, and the specific plane is also parallel to the horizontal plane.

In other embodiments, the preset target posture is that the pitch joint angle of the gimbal is 0 degrees. At this time, the gimbal is in the Selfie mode. When the pitch joint angle of the gimbal is 0 degrees, the lens of the camera is facing the user and the lens It is easier to target users. Taking the gimbal as a handheld gimbal as an example, when the pitch joint angle of the gimbal is 0 degrees, if the handle is placed vertically, the specific plane in the coordinate system of the camera and the central axis of the handle (that is, the central axis in the length direction of the handle) Vertical; it should be understood that if the handle is placed obliquely, the specific plane in the coordinate system of the photographing device is perpendicular to the central axis of the handle.

The first trigger instruction can be generated in a variety of ways. For example, in some of the embodiments, the pan/tilt includes a base and a control unit provided on the base, and the first trigger instruction is generated by the user triggering the control unit. The control part may include keys, buttons, knobs or a combination of the above. The control unit in this embodiment may include one or more. When the pan/tilt is a handheld pan/tilt, the handheld pan/tilt may include a handle, and the control part may be provided on the handle. In some other embodiments, the first trigger instruction is generated by the user operating the external device and sent by the external device. The external device can communicate with the pan/tilt. The external device may include a mobile terminal such as a mobile phone and a tablet computer, a fixed terminal, or a remote control or other control device of the pan/tilt.

In addition, the control method of the pan/tilt may further include: when the pan/tilt is in the FPV follow mode, before acquiring the real-time attitude quaternion of the base, if a second trigger instruction indicating that the pan/tilt enters the FPV follow mode is acquired, then according to the first 2. Trigger the instruction to control the pan/tilt to enter the FPV follow mode. That is, before executing S201, it is necessary to trigger the pan-tilt to enter the FPV follow mode.

The second trigger instruction can be generated in a variety of ways. For example, in some of the embodiments, the pan/tilt includes a base and a second control part provided on the base, and the second trigger instruction is generated by the user triggering the second control part. . The control part may include keys, buttons, knobs or a combination of the above. The control unit in this embodiment may include one or more. When the pan/tilt is a handheld pan/tilt, the handheld pan/tilt may include a handle, and the control part may be provided on the handle. In other embodiments, the second trigger instruction is generated by the user operating the external device and sent by the external device. The external device can communicate with the pan/tilt. The external device may include a mobile terminal such as a mobile phone and a tablet computer, a fixed terminal, or a remote control or other control device of the pan/tilt.

Corresponding to the control method of the pan/tilt head in the foregoing embodiment, the embodiment of the present application also provides a pan/tilt head. With reference to FIGS. 1 and 8, the pan/tilt head includes a base, a shaft assembly and a controller. Wherein, the shaft assembly is arranged on the base, and the shaft assembly is used to mount the imaging device. The shaft assembly of this embodiment is configured to rotate around at least two axes. Optionally, the shaft assembly is configured to rotate around a yaw axis, a pitch axis, and a roll axis; optionally, the shaft assembly is configured to rotate around a yaw axis. The axis and the pitch axis rotate. The controller is electrically connected with the pan/tilt, and optionally, the controller is arranged on the base.

Specifically, the controller is used for: when the pan/tilt is in the first-person main angle of view FPV follow mode, if it receives the attitude control amount sent by the control device of the pan/tilt, it will perform the attitude control amount according to the Euler angle rotation sequence of the camera. The first target Euler angle component of the camera is obtained by conversion; the target Euler angle component of the camera is determined according to the first target Euler angle component and the second target Euler angle component of the camera, and the second target Euler angle component is It is determined according to the real-time detection attitude of the base; according to the target Euler angle, the pan/tilt is controlled to rotate; wherein, when the pan/tilt is in the FPV following mode, the attitude of at least two axes changes with the attitude of the base.

For the implementation process and working principle of the controller, please refer to the description of the pan-tilt control method in the foregoing embodiment, which will not be repeated here.

The controller in this embodiment may be a central processing unit (CPU). The controller may further include a hardware chip. The above-mentioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof. The above-mentioned PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

In addition, when the pan/tilt is a handheld pan/tilt, the base can be the handle of the handheld pan/tilt or be set on the handle of the handheld pan/tilt.

In addition, an embodiment of the present application 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 method for controlling the pan/tilt head of the above-mentioned embodiment are realized.

The computer-readable storage medium may be the internal storage unit of the pan/tilt head 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 the pan-tilt, such as a plug-in hard disk, a smart media card (SMC), an SD card, a flash memory card (Flash Card), etc. equipped on the device . Further, the computer-readable storage medium may also include both an internal storage unit of the pan-tilt 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, 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, and 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 of the embodiments of this application, which of course cannot be used to limit the scope of rights of this application. Therefore, equivalent changes made in accordance with the claims of this application still fall within the scope of this application.

Claims

A method for controlling a pan/tilt, the pan/tilt is mounted on a base, a photographing device is mounted on the pan/tilt, and the pan/tilt is configured to rotate around at least two axes, characterized in that the method includes :

When the pan/tilt head is in the first-person main angle of view FPV follow mode, if the attitude control amount sent by the control device of the pan/tilt head is received, the attitude control amount will be adjusted according to the Euler angle rotation sequence of the camera. Performing conversion to obtain the first target Euler angle component of the photographing device;

Determine the target Euler angle of the camera according to the first target Euler angle component and the second target Euler angle component of the camera, and the second target Euler angle component is based on the base Real-time detection of posture determination;

Controlling the rotation of the pan/tilt according to the target Euler angle;

Wherein, when the pan/tilt is in the FPV following mode, the posture of the at least two axes changes following the posture of the base.
The method according to claim 1, wherein the conversion includes conversion of the Euler angular velocity of the rotation of the pan/tilt, or conversion of the size of the Euler angle of the rotation of the pan/tilt.
The method according to claim 1, wherein the determining the target Euler angle of the photographing device according to the first target Euler angle component and the second target Euler angle component of the photographing device, include:

The target Euler angle of the camera is determined according to the sum of the first target Euler angle component and the second target Euler angle component of the camera.
The method according to claim 1, wherein the controlling the rotation of the pan/tilt head according to the target Euler angle comprises:

Determining the quaternion of the target posture of the photographing device according to the target Euler angle;

Determine the joint angle of the pan/tilt head according to the quaternion of the target posture;

The rotation of the pan/tilt head is controlled according to the joint angle of the pan/tilt head.
The method according to claim 4, wherein the quaternion of the current posture of the camera is different from the quaternion of the target posture, and the quaternion of the pan/tilt head is determined according to the quaternion of the target posture. Joint angle, including:

Determine at least one intermediate posture quaternion between the current posture quaternion and the target posture quaternion according to the current posture quaternion, the target posture quaternion and a preset interpolation strategy;

Determine the target joint angle of the pan/tilt head according to the current posture quaternion, at least one of the intermediate posture quaternion, and the target posture quaternion.
The method according to claim 5, wherein the determining the current attitude quaternion and the target based on the current attitude quaternion, the target attitude quaternion, and a preset interpolation strategy At least one intermediate posture quaternion between posture quaternions, including:

Determine at least one intermediate posture quaternion between the current posture quaternion and the target posture quaternion according to the current posture quaternion, the target posture quaternion and at least one time change parameter ；

Wherein, at least one of the time change parameters and at least one intermediate posture quaternion correspond one-to-one.
The method according to claim 1, wherein the method for acquiring the real-time detection posture of the base includes:

Acquiring the real-time attitude quaternion of the camera;

The real-time attitude quaternion of the base is determined according to the real-time attitude quaternion of the photographing device, and the real-time attitude quaternion of the base is used to characterize the real-time detection attitude of the base.
The method according to claim 1, wherein the second target Euler angle component is determined according to the real-time detection attitude of the base, and comprises:

The second target Euler angle component is determined according to the real-time detection attitude of the base and the preset attitude deviation between the camera and the base.
The method according to claim 8, wherein the preset attitude deviation is the attitude deviation between the camera and the base when the pan/tilt head enters the FPV follow mode.
The method according to claim 1, wherein when the camera is in the horizontal orientation shooting mode, the rotation sequence of the Euler angle of the camera is: third axis, first axis, second axis, Or a second axis, a first axis, and a third axis, the first axis is parallel to the optical axis direction of the imaging device, and the first axis, the second axis, and the third axis are respectively orthogonal;

Wherein, the component of the attitude control quantity used to control the rotation of the gimbal around the yaw axis is obtained by conversion based on the third axis in the Euler angle rotation sequence, and is used to control the rotation of the gimbal around the pitch axis The component of is converted based on the second axis in the Euler angle rotation sequence, and the component used to control the rotation of the pan/tilt around the roll axis is converted based on the first axis in the Euler angle rotation sequence get.
The method according to claim 10, wherein when the photographing device is placed in a horizontal orientation and the optical axis of the photographing device is parallel to a horizontal plane, the third axis is a vertical direction;

When the pan-tilt is in the ZXY configuration, the Euler angle rotation sequence of the photographing device is: the third axis, the first axis, and the second axis.
The method according to claim 10, wherein when the photographing device is placed in a horizontal orientation and the optical axis of the photographing device is parallel to a horizontal plane, the third axis is a vertical direction;

When the pan-tilt is in the YXZ configuration, the Euler angle rotation sequence of the camera is: second axis, first axis, and third axis.
The method according to claim 1, wherein when the camera is in the vertical orientation shooting mode, the rotation sequence of the Euler angle of the camera is: second axis, first axis, second axis , Or the third axis, the first axis, the third axis, the first axis is parallel to the optical axis direction of the imaging device, and the first axis, the second axis, and the third axis are respectively orthogonal ；

If the Euler angle rotation sequence of the camera is: second axis, first axis, second axis, then the component of the attitude control quantity used to control the rotation of the pan/tilt around the yaw axis and used to control the The component of the pan/tilt rotation around the pitch axis is obtained by conversion based on the second axis in the Euler angle rotation sequence, and the component used to control the rotation of the pan/tilt around the roll axis is based on the Euler angle rotation The first axis in the sequence is converted;

If the Euler angle rotation sequence of the photographing device is: the third axis, the first axis, and the third axis, the component of the attitude control quantity used to control the rotation of the pan/tilt around the yaw axis, and used to control the The component of the pan/tilt rotation around the pitch axis is obtained by conversion based on the third axis in the Euler angle rotation sequence, and the component used to control the rotation of the pan/tilt around the roll axis is based on the Euler angle rotation The first axis in the sequence is transformed.
The method according to claim 13, wherein when the photographing device is placed in a horizontal orientation and the optical axis of the photographing device is parallel to a horizontal plane, the third axis is a vertical direction;

When the pan-tilt is in the ZXY configuration, the Euler angle rotation sequence of the photographing device is: the third axis, the first axis, and the third axis.
The method according to claim 13, wherein when the photographing device is placed in a horizontal orientation and the optical axis of the photographing device is parallel to a horizontal plane, the third axis is a vertical direction;

When the PTZ is in the YXZ configuration, the Euler angle rotation sequence of the camera is: second axis, first axis, and second axis.
The method according to claim 1, wherein the method further comprises:

When the pan/tilt is in the FPV follow mode, acquiring a first trigger instruction instructing the pan/tilt to switch to a preset target posture;

According to the first trigger instruction, control the pan/tilt head to switch to the preset target posture.
The method according to claim 16, wherein the preset target posture includes the posture of the pan/tilt when returning to the center;

Wherein, when the pan/tilt is returned to the center, the specific plane in the coordinate system of the camera is parallel to the horizontal plane, and the direction of the optical axis of the camera is parallel to the specific plane.
The method according to claim 16, wherein the preset target attitude includes that the pitch joint angle of the pan/tilt is 0 degrees.
The method according to claim 16, wherein the pan/tilt head comprises: a base and a first control unit provided on the base, and the first trigger instruction is triggered by a user to trigger the first control unit Produce; or

The first trigger instruction is generated by a user operating an external device and sent by the external device.
The method according to claim 1, characterized in that, before acquiring the real-time attitude quaternion of the base when the pan/tilt is in the first-person main-view FPV follow mode, the method further comprises:

Acquiring a second trigger instruction indicating that the pan/tilt enters the FPV follow mode;

According to the second trigger instruction, control the pan/tilt to enter the FPV follow mode.
The method according to claim 20, wherein the pan/tilt head comprises: a base and a second control unit provided on the base, and the second trigger instruction is triggered by a user to trigger the second control unit Produce; or

The second trigger instruction is generated by a user operating an external device and sent by the external device.
The method according to claim 1, wherein the pan/tilt is configured to rotate around two axes, the two axes including a yaw axis and a pitch axis.
The method according to claim 1, wherein the pan-tilt is configured to rotate around three axes, and the three axes include a yaw axis, a pitch axis, and a roll axis.
A pan-tilt, characterized in that the pan-tilt includes:

Base

A shaft assembly provided on the base, the shaft assembly is used to mount a photographing device, and the shaft assembly is configured to rotate about at least two shafts; and

A controller, the controller is electrically connected to the pan-tilt, and the controller is used for:

When the pan/tilt head is in the first-person main angle of view FPV follow mode, if the attitude control amount sent by the control device of the pan/tilt head is received, the attitude control amount will be adjusted according to the Euler angle rotation sequence of the camera. Performing conversion to obtain the first target Euler angle component of the photographing device;

Determine the target Euler angle of the camera according to the first target Euler angle component and the second target Euler angle component of the camera, and the second target Euler angle component is based on the base Real-time detection of posture determination;

Controlling the rotation of the pan/tilt according to the target Euler angle;

Wherein, when the pan/tilt is in the FPV following mode, the posture of the at least two axes changes following the posture of the base.
The pan/tilt head according to claim 24, wherein the conversion includes conversion of the Euler angular velocity of the rotation of the pan/tilt, or conversion of the size of the Euler angle of the rotation of the pan/tilt.
The pan/tilt head according to claim 24, wherein the controller determines the target of the camera according to the first target Euler angle component and the second target Euler angle component of the camera. When Euler angle, it is specifically used for:

The target Euler angle of the camera is determined according to the sum of the first target Euler angle component and the second target Euler angle component of the camera.
The pan/tilt head according to claim 24, wherein when the controller controls the rotation of the pan/tilt head according to the target Euler angle, it is specifically configured to:

Determining the quaternion of the target posture of the photographing device according to the target Euler angle;

Determine the joint angle of the pan/tilt head according to the quaternion of the target posture;

The rotation of the pan/tilt head is controlled according to the joint angle of the pan/tilt head.
The pan/tilt head according to claim 27, wherein the current posture quaternion of the camera is different from the target posture quaternion, and the controller determines the quaternion according to the target posture quaternion. When describing the joint angle of the PTZ, it is specifically used for:

Determine at least one intermediate posture quaternion between the current posture quaternion and the target posture quaternion according to the current posture quaternion, the target posture quaternion and a preset interpolation strategy;

Determine the target joint angle of the pan/tilt head according to the current posture quaternion, at least one of the intermediate posture quaternion, and the target posture quaternion.
The pan/tilt head according to claim 28, wherein the controller determines the quaternion in the current posture according to the quaternion of the current posture, the quaternion of the target posture, and a preset interpolation strategy. When it is at least one intermediate posture quaternion between the target posture quaternion and the target posture quaternion, it is specifically used for:

Determine at least one intermediate posture quaternion between the current posture quaternion and the target posture quaternion according to the current posture quaternion, the target posture quaternion and at least one time change parameter ；

Wherein, at least one of the time change parameters and at least one intermediate posture quaternion correspond one-to-one.
The pan/tilt head according to claim 24, wherein the controller is specifically configured to:

Acquiring the real-time attitude quaternion of the camera;

The real-time attitude quaternion of the base is determined according to the real-time attitude quaternion of the photographing device, and the real-time attitude quaternion of the base is used to characterize the real-time detection attitude of the base.
The pan/tilt head according to claim 24, wherein the second target Euler angle component is determined according to the real-time detection attitude of the base, and comprises:

The second target Euler angle component is determined according to the real-time detection attitude of the base and the preset attitude deviation between the camera and the base.
The pan/tilt head according to claim 31, wherein the preset attitude deviation is the attitude deviation between the camera and the base when the pan/tilt head enters the FPV follow mode.
The pan/tilt head according to claim 24, wherein when the camera is in the horizontal orientation shooting mode, the rotation sequence of the Euler angle of the camera is: third axis, first axis, second axis , Or the second axis, the first axis, the third axis, the first axis is parallel to the optical axis direction of the imaging device, and the first axis, the second axis, and the third axis are respectively orthogonal ；

Wherein, the component of the attitude control quantity used to control the rotation of the gimbal around the yaw axis is obtained by conversion based on the third axis in the Euler angle rotation sequence, and is used to control the rotation of the gimbal around the pitch axis The component of is converted based on the second axis in the Euler angle rotation sequence, and the component used to control the rotation of the pan/tilt around the roll axis is converted based on the first axis in the Euler angle rotation sequence get.
The pan/tilt head according to claim 33, wherein when the photographing device is placed in a horizontal orientation and the optical axis of the photographing device is parallel to a horizontal plane, the third axis is a vertical direction;

When the pan-tilt is in the ZXY configuration, the Euler angle rotation sequence of the photographing device is: the third axis, the first axis, and the second axis.
The pan/tilt head according to claim 33, wherein when the photographing device is placed in a horizontal orientation and the optical axis of the photographing device is parallel to a horizontal plane, the third axis is a vertical direction;

When the pan-tilt is in the YXZ configuration, the Euler angle rotation sequence of the camera is: second axis, first axis, and third axis.
The pan/tilt head according to claim 24, wherein when the camera is in the vertical orientation shooting mode, the rotation sequence of the Euler angle of the camera is: second axis, first axis, second axis Axis, or the third axis, the first axis, the third axis, the first axis is parallel to the optical axis direction of the imaging device, the first axis, the second axis, and the third axis are positive respectively cross;

If the Euler angle rotation sequence of the photographing device is: second axis, first axis, second axis, then the component of the attitude control quantity used to control the rotation of the pan/tilt around the yaw axis and the The component of the pan/tilt rotation around the pitch axis is obtained by conversion based on the second axis in the Euler angle rotation sequence, and the component used to control the rotation of the pan/tilt around the roll axis is based on the Euler angle rotation The first axis in the sequence is converted;

If the Euler angle rotation sequence of the photographing device is: the third axis, the first axis, and the third axis, the component of the attitude control quantity used to control the rotation of the pan/tilt around the yaw axis, and used to control the The component of the pan/tilt rotation around the pitch axis is obtained by conversion based on the third axis in the Euler angle rotation sequence, and the component used to control the rotation of the pan/tilt head around the roll axis is based on the Euler angle rotation The first axis in the sequence is transformed.
The pan/tilt head according to claim 36, wherein when the photographing device is placed in a horizontal orientation and the optical axis of the photographing device is parallel to a horizontal plane, the third axis is a vertical direction;

When the pan-tilt is in the ZXY configuration, the Euler angle rotation sequence of the photographing device is: the third axis, the first axis, and the third axis.
The pan/tilt head according to claim 36, wherein when the photographing device is placed in a horizontal orientation and the optical axis of the photographing device is parallel to a horizontal plane, the third axis is a vertical direction;

When the PTZ is in the YXZ configuration, the Euler angle rotation sequence of the camera is: second axis, first axis, and second axis.
The pan-tilt according to claim 24, wherein the controller is further used for:

When the pan/tilt is in the FPV follow mode, acquiring a first trigger instruction instructing the pan/tilt to switch to a preset target posture;

According to the first trigger instruction, control the pan/tilt to switch to the preset target posture.
The pan/tilt head according to claim 39, wherein the preset target posture comprises the posture of the pan/tilt head when returning to the center;

Wherein, when the pan/tilt is returned to the center, the specific plane in the coordinate system of the camera is parallel to the horizontal plane, and the direction of the optical axis of the camera is parallel to the specific plane.
The pan/tilt head according to claim 39, wherein the preset target attitude includes that the pitch joint angle of the pan/tilt head is 0 degrees.
The pan/tilt head according to claim 39, wherein the pan/tilt head comprises: a base and a first control part provided on the base, and the first trigger instruction is triggered by the user to trigger the first control part. Partly produced; or

The first trigger instruction is generated by a user operating an external device and sent by the external device.
The pan/tilt head according to claim 24, wherein the controller is further configured to: before the pan/tilt head is in the first-person main-view FPV follow mode and obtain the real-time attitude quaternion of the base, the controller is further configured to:

Acquiring a second trigger instruction indicating that the pan/tilt enters the FPV follow mode;

According to the second trigger instruction, control the pan/tilt to enter the FPV follow mode.
The pan/tilt head according to claim 43, wherein the pan/tilt head comprises: a base and a second control part provided on the base, and the second trigger instruction is triggered by the user to trigger the second control unit. Partly produced; or

The second trigger instruction is generated by a user operating an external device and sent by the external device.
The pan/tilt head according to claim 24, wherein the pan/tilt head is configured to rotate around two axes, the two axes including a yaw axis and a pitch axis.
The pan/tilt head of claim 24, wherein the pan/tilt head is configured to rotate around three axes, and the three axes include a yaw axis, a pitch axis, and a roll axis.