WO2021134645A1 - Procédé de commande de cardan et cardan - Google Patents

Procédé de commande de cardan et cardan Download PDF

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Publication number
WO2021134645A1
WO2021134645A1 PCT/CN2019/130862 CN2019130862W WO2021134645A1 WO 2021134645 A1 WO2021134645 A1 WO 2021134645A1 CN 2019130862 W CN2019130862 W CN 2019130862W WO 2021134645 A1 WO2021134645 A1 WO 2021134645A1
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WO
WIPO (PCT)
Prior art keywords
axis
posture
pan
target
tilt
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Application number
PCT/CN2019/130862
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English (en)
Chinese (zh)
Inventor
林荣华
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2019/130862 priority Critical patent/WO2021134645A1/fr
Priority to CN201980091863.5A priority patent/CN113423643A/zh
Publication of WO2021134645A1 publication Critical patent/WO2021134645A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • G05D3/20—Control of position or direction using feedback using a digital comparing device

Definitions

  • This application relates to the field of pan-tilt, and in particular to a method for controlling a pan-tilt and a pan-tilt.
  • This application provides a method for controlling a pan-tilt and a pan-tilt.
  • a method for controlling a pan/tilt the pan/tilt is equipped with a photographing device, and the pan/tilt is configured to rotate around at least two axes, and the method includes:
  • the shooting device When the shooting device is in the vertical orientation shooting mode, acquiring the current posture of the shooting device and the target posture of the shooting device;
  • the preset control instruction can ensure that when the camera is in the vertical orientation shooting mode, the pan/tilt head always maintains a fixed degree of rotational freedom during the rotation process.
  • a pan-tilt including:
  • 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;
  • a controller the controller is electrically connected to the pan-tilt, and the controller is used for:
  • the shooting device When the shooting device is in the vertical orientation shooting mode, acquiring the current posture of the shooting device and the target posture of the shooting device;
  • the preset control instruction can ensure that when the camera is in the vertical orientation shooting mode, the pan/tilt head always maintains a fixed degree of rotational freedom during the rotation process.
  • preset control instructions are used to avoid the gimbal lock problem during pan/tilt control, thereby realizing full-space vertical shooting, satisfying arbitrary The angle of the vertical shooting needs.
  • Figure 1 is a perspective view of a pan-tilt in an embodiment of the present invention
  • FIG. 2A is a schematic diagram of the shooting device in an embodiment of the present application when shooting in a vertical orientation
  • 2B is a schematic diagram of the photographing device in an embodiment of the present application when photographing in a horizontal orientation
  • FIG. 3 is a schematic flowchart of a method for controlling a pan-tilt in an embodiment of the present application
  • Figure 4 is a perspective view of the handheld PTZ shown in Figure 1 when it is placed upright;
  • FIG. 5 is a schematic diagram of a preset interpolation strategy in an embodiment of the present application.
  • Fig. 6 is a structural block diagram of a pan-tilt in an embodiment of the present application.
  • this application uses preset control commands to avoid gimbal locking problems when the camera is controlled by the camera when the camera is in the vertical orientation shooting mode, thereby realizing full-space vertical shooting and meeting the requirements for vertical shooting at any angle .
  • the camera in the embodiment of the application is equipped with a camera.
  • the camera is mounted on the base when the base is tilted, the camera can rotate around the world coordinate system under the control of the camera.
  • the shooting device can be a camera, a SLR, a mirrorless single, a sports camera, a smart phone, and other shooting devices.
  • 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.
  • the pan/tilt is configured to rotate about two axes, the two axes including a yaw axis and a pitch axis.
  • 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. .
  • 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
  • the inner frame is configured to rotate about a pitch axis
  • the inner frame is used to mount the camera 2.
  • 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
  • the inner frame includes a pitch axis arm and is driven by a pitch axis motor driven.
  • the vertical orientation shooting can also be called vertical shooting.
  • the shooting device in the vertical orientation means that the shooting device is installed vertically on the pan/tilt support, so as to capture a vertical image relative to the horizontal plane.
  • the camera is a mobile phone.
  • Figure 2A Rotate the long side 20 of the screen to the vertical direction (that is, the long side 20 of the screen is perpendicular to the horizontal plane) for shooting. That is, the camera takes the vertical orientation to take the shot.
  • Horizontal orientation shooting can also be called horizontal shooting.
  • the horizontal orientation shooting 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.
  • the device is a mobile phone as an example.
  • 10 is the horizontal plane
  • 20 is the long side of the screen
  • 30 is the short side of the screen.
  • the exemplary definitions of horizontal shooting and vertical shooting can also be completely opposite to the above description.
  • pan-tilt control method in the embodiment of the present application will be described below.
  • FIG. 3 is a schematic flow chart of a method for controlling a pan-tilt in an embodiment of the present application; please refer to FIG. 3, the method for controlling a pan-tilt according to an embodiment of the present application may include the following steps:
  • S301 Acquire the current posture of the shooting device and the target posture of the shooting device when the shooting device is in the vertical orientation shooting mode;
  • the current posture and the target posture can be characterized by Euler angles, or can be characterized by quaternion.
  • An inertial measurement unit (IMU, Inertial Measurement Unit) can be set on the camera, and the current posture of the camera can be obtained according to the inertial measurement unit on the camera.
  • the IMU can also be set on the inner frame of the pan/tilt.
  • the target posture can be acquired using different strategies.
  • the target posture is determined according to the posture control amount sent by the control device of the pan/tilt head, that is, the posture of the camera is controlled by the control device.
  • 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.
  • the control device is a remote control
  • the amount of posture control is determined according to the amount of stick generated by the user operating the joystick of the remote control.
  • the target posture is determined based on the real-time detected posture of the base of the pan/tilt, that is, the posture of the camera changes with the posture of the base.
  • the target attitude is determined based on the attitude control amount sent by the control device of the pan/tilt and the real-time detection attitude of the base of the pan/tilt, that is, the attitude control amount of the camera is generated by the control device and the position of the base.
  • the posture is decided together.
  • the priority of controlling the posture of the camera by the control device is higher than the priority of the posture of the camera changing with the posture of the base, that is, when the posture sent by the control device is acquired
  • the target attitude is determined according to the attitude control amount sent by the control device of the PTZ.
  • the posture of the camera device changes with the posture of the base.
  • the camera can only be controlled by the control device at this time.
  • the target attitude is determined according to the attitude control amount sent by the control device, and the target attitude is not Will be affected by changes in the posture of the base.
  • the posture of the camera will follow the change of the base's posture.
  • the target posture is determined based on the real-time detection posture of the base of the pan/tilt, and the target posture will not be sent by the control device. The influence of the amount of attitude control.
  • the yaw axis, roll axis, and pitch axis are all free modes.
  • 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.
  • the free mode the base of the pan/tilt moves, but the corresponding arm of the pan/tilt does not rotate.
  • the follow mode the corresponding axis moves with the movement of the base of the pan/tilt.
  • the pan/tilt when the pan/tilt is in the follow mode, if the deviation between the current attitude of the camera and the real-time detection attitude of the base of the camera is less than or equal to the preset deviation threshold, there is no need to control the attitude of the camera; if the current attitude of the camera is If the deviation of the real-time detection attitude from the base of the pan/tilt head is greater than the preset deviation threshold, the attitude of the camera is controlled to follow the attitude of the base.
  • S302 Determine the target joint angle of the pan/tilt according to the current posture, the target posture, and the Euler angle rotation sequence of the camera corresponding to the preset control command, where the preset control command can make the camera in the vertical orientation shooting mode ,
  • the gimbal always maintains a fixed degree of freedom of rotation during the rotation process;
  • the gimbal is configured to rotate around two axes, the two axes include the yaw axis and the pitch axis, and the degree of freedom of rotation that the gimbal always maintains a fixed dimension during the rotation means: the gimbal is rotating During the process, it can always rotate around the yaw axis and pitch axis; another example, the gimbal is configured to rotate around three axes, the three axes include the yaw axis, the pitch axis and the roll axis. The gimbal is in the process of rotating
  • the degree of freedom of rotation that always maintains a fixed dimension means that the gimbal can always rotate around the yaw axis, pitch axis, and roll axis during the rotation.
  • 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.
  • 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.
  • the first axis corresponds to the roll axis
  • the second axis corresponds to the pitch axis
  • the third axis corresponds to the yaw axis.
  • the first axis, the second axis, and the third axis are denoted by X, Y, and Z, respectively.
  • the Euler angle rotation sequence of the camera corresponding to the preset control instruction is: the second axis, the first axis, the second axis, or the third axis, the first axis, and the third axis.
  • the Euler angle rotation sequence of the camera corresponding to the preset control instruction is determined according to the configuration of the pan/tilt head.
  • the Euler angle rotation sequence of the camera corresponding to the preset control command is: the third axis, the first axis, and the third axis.
  • the Euler angle rotation sequence of the camera corresponding to the preset control instruction is: second axis, first axis, and second axis.
  • 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.
  • 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.
  • 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.
  • the screen 4 faces the user, and the lens of the shooting device is facing away from the user.
  • FIG. 4 it is a state diagram of the handheld PTZ placed upright.
  • the handheld PTZ shown in Figure 4 is a ZXY configuration PTZ.
  • a realization process of determining the target joint angle of the pan/tilt head according to the current posture, the target posture, and the Euler angle rotation sequence of the camera corresponding to the preset control instruction may include but is not limited to the following steps:
  • the target posture is determined according to the posture control amount sent by the control device of the pan-tilt.
  • the implementation process of step (1) may include: acquiring the last target posture of the camera; determining the first Euler angle corresponding to the last target posture according to the Euler angle rotation sequence of the camera corresponding to the preset control instruction; According to the first Euler angle and the second Euler angle, the target Euler angle is determined.
  • the second Euler angle is obtained by converting the attitude control amount based on the Euler angle rotation sequence of the camera corresponding to the preset control instruction.
  • the gimbal is controlled in a closed loop mode, that is, the camera is controlled by the camera to move from the current posture to the target posture.
  • the final position of the camera may deviate from the target posture. Accumulation of control deviations will result in larger deviations and poor control accuracy. That is, in the last control, the camera may not be able to reach the last target posture of the camera. Therefore, in the current control, the second Euler angle corresponding to the posture control amount corresponds to the last target posture. The first Euler angle is superimposed to determine the target Euler angle, which reduces the superimposition of the deviation and makes the control more accurate.
  • the last target attitude can be determined based on the attitude control amount sent by the control device of the pan/tilt, or determined based on the real-time detection attitude of the base of the pan/tilt, or based on the attitude control sent by the control device of the pan/tilt.
  • the amount and the real-time detection attitude of the base of the PTZ are determined together.
  • the target Euler angle is determined according to the sum of the first Euler angle and the second Euler angle.
  • the target Euler angle is the sum of the first Euler angle and the second Euler angle.
  • the last target posture is converted to obtain the first Euler angle of the camera, and the first Euler angle of the camera is obtained according to the preset control instruction.
  • the attitude control amount is converted to obtain the second Euler angle.
  • the last target attitude and attitude control amount used to control the rotation of the gimbal around an axis corresponds to a change in the Euler angle of the gimbal.
  • a change in the Euler angle of the gimbal may need to control one or more joints of the gimbal.
  • the first Euler angle of the camera is obtained by converting the last target posture according to the Euler angle rotation sequence of the camera corresponding to the preset control instruction, and the first Euler angle of the camera is obtained according to the preset control instruction.
  • the Euler angle rotation sequence and the conversion of the attitude control amount to obtain the second Euler angle is a way to make the rotation direction of the camera more in line with the user's requirements, thus making the images captured by the camera more satisfy the user's expectations.
  • the gimbal is a three-axis handheld gimbal
  • the handle of the handheld gimbal is tilted at this time
  • 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.
  • the Euler angle rotation sequence of the camera corresponding to the preset control instruction is: second axis, first axis, second axis
  • the component used to control the gimbal's rotation around the yaw axis in the last target attitude is 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 yaw axis in the last target attitude is converted to obtain the first Y1 component in the first Euler angles (Y1, X1, Y1).
  • the component used to control the rotation of the gimbal around the pitch axis is converted to obtain the second Y1 component in the first Euler angle (Y1, X1, Y1).
  • the Euler angle rotation sequence of the camera corresponding to the preset control command is: third axis, first axis, third axis, the component used to control the gimbal's rotation around the yaw axis in the last target attitude, and
  • the component that controls the rotation of the gimbal around the pitch axis is obtained by conversion based on the third axis in the Euler angle rotation sequence. Specifically, the component used to control the rotation of the gimbal around the yaw axis in the last target attitude is converted to obtain the first Z1 component in the first Euler angles (Z1, X1, Z1). The component used to control the rotation of the gimbal around the pitch axis is converted to obtain the second Z1 component in the first Euler angle (Z1, X1, Z1).
  • the Euler angle rotation sequence of the camera corresponding to the preset control command is: second axis, first axis, second axis, or: third axis, first axis, third axis, used in the last target attitude
  • the components used to control the rotation of the gimbal around the roll axis are all converted based on the first axis in the Euler angle rotation sequence, that is, the component used to control the rotation of the gimbal around the roll axis in the last target attitude is converted , Get the X1 component in the first Euler angle.
  • the Euler angle rotation sequence of the camera corresponding to the preset control command 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 rotation component of the gimbal around the pitch axis is 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 yaw axis in the attitude control variable is converted to obtain the first Y2 component in the second Euler angle (Y2, X2, Y2), and the attitude control variable is used to control the cloud
  • the components of the stage rotation around the pitch axis are converted to obtain the second Y2 component in the second Euler angle (Y2, X2, Y2).
  • the Euler angle rotation sequence of the camera corresponding to the preset control command is: the third axis, the first axis, and the third axis
  • the component of the rotation of the stage around the pitch axis is obtained by conversion based on the third axis in the Euler angle rotation sequence.
  • the component used to control the rotation of the gimbal around the yaw axis in the attitude control is converted to obtain the first Z2 component in the second Euler angle (Z2, X2, Z2), and the attitude control is used to control the cloud
  • the components of the rotation of the station around the pitch axis are converted to obtain the second Z2 component in the second Euler angle (Z2, X2, Z2).
  • the Euler angle rotation sequence of the camera corresponding to the preset control command is: the second axis, the first axis, the second axis, or: the third axis, the first axis, and the third axis.
  • the components used to control the rotation of the gimbal around the roll axis are all converted based on the first axis in the Euler angle rotation sequence, that is, the component used to control the rotation of the gimbal around the roll axis in the attitude control value is converted to obtain The X2 component in the second Euler angle.
  • the conversion includes the conversion of the Euler angular velocity of the pan/tilt rotation, or the conversion of the Euler angle size of the pan/tilt rotation.
  • the conversion is the conversion of the Euler angular velocity of the pan/tilt rotation.
  • the Euler angle rotation sequence of the camera corresponding to the preset control command is: second axis, first axis, second axis, then the components in the second Euler angle (Y2, X2, Y2) are all
  • the components in the first Euler angle (Y1, X1, Y1) are also the corresponding Euler angular velocity.
  • the Euler angle rotation sequence of the camera corresponding to the preset control command is: the third axis, the first axis, and the third axis
  • the components in the second Euler angle (Z2, X2, Z2) are all corresponding to the Euler angles. Pull angular velocity, the components in the first Euler angle (Z1, X1, Z1) are also corresponding Euler angular velocity.
  • the conversion is the conversion of the Euler angle size of the pan/tilt rotation.
  • the Euler angle rotation sequence of the camera corresponding to the preset control command is: the second axis, the first axis, and the first axis.
  • the components in the second Euler angles (Y2, X2, Y2) are all corresponding Euler angles
  • the components in the first Euler angles (Y1, X1, Y1) are also corresponding Euler angles. Angle size.
  • the Euler angle rotation sequence of the camera corresponding to the preset control command is: the third axis, the first axis, and the third axis
  • the components in the second Euler angle (Z2, X2, Z2) are all corresponding to the Euler angles.
  • the size of the pull angle, the components in the first Euler angle (Z1, X1, Z1) are also the corresponding Euler angle size.
  • the range of the angle value corresponding to the roll direction in the target Euler angle is 90 degrees ⁇ the first preset angle or -90 degrees ⁇ the second preset angle, that is, when the camera is controlled by the control device .
  • the angle value corresponding to the roll direction in the target Euler angle is within the above-mentioned angle range (90 degrees ⁇ the first preset angle or -90 degrees ⁇ the second preset angle) to ensure that the camera is in the vertical orientation for shooting Mode.
  • the camera is controlled by the control device, if the angle value corresponding to the roll direction in the target Euler angle of the camera exceeds the above-mentioned angle range, in some embodiments, the camera is controlled by the pan/tilt to exit the vertical orientation shooting mode; In some other embodiments, the value of the angle corresponding to the roll direction in the target Euler angle of the camera controlled by the pan/tilt is the limit angle of the current rotation direction corresponding to the vertical orientation shooting mode.
  • the first preset angle and the second preset angle can be set as required, for example, the first preset angle and the second preset angle are both 45 degrees.
  • the target posture is determined according to the real-time detection posture of the base of the pan/tilt.
  • the implementation process of step (1) may include: based on the Euler angle rotation sequence of the camera corresponding to the preset control instruction, converting the roll posture component in the target posture into 90 degrees or -90 degrees to obtain the target Euler angle.
  • the Euler angle rotation sequence of the camera corresponding to the preset control command is no matter: the second axis, the first axis, the second axis, or the third axis, the first axis, and the third axis.
  • the posture component corresponding to one axis is maintained at 90 degrees or -90 degrees. Through such control, it is ensured that the camera is always in the vertical orientation shooting mode.
  • the target Euler angle is converted into the first attitude quaternion.
  • the conversion relationship between the Euler angle and the quaternion is in the prior art. No detailed introduction.
  • the current attitude needs to be converted into the second attitude quaternion according to the conversion relationship between Euler angles and quaternions; if the current attitude is represented by quaternions, it is omitted The conversion process of Euler angles to quaternion above.
  • the realization process of step (3) may include: determining the quaternion attitude deviation according to the first attitude quaternion and the second attitude quaternion; determining the target joint angle of the pan/tilt according to the quaternion attitude deviation.
  • the quaternion attitude deviation is determined according to the difference obtained by subtracting the second attitude quaternion from the first attitude quaternion.
  • the quaternion attitude deviation (first attitude quaternion-second attitude Quaternion).
  • the target joint angle of the pan/tilt head is determined based on the quaternion attitude deviation and the Jacobian inverse matrix.
  • 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.
  • 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
  • the pitch motor is used to control the gimbal to rotate around the pitch axis.
  • the realization process of determining the target joint angle of the pan/tilt may include:
  • the preset interpolation strategy can be selected as required.
  • the process of determining at least one intermediate pose between the current pose and the target pose may include: according to the current pose , The target posture and at least one time change parameter to determine at least one intermediate posture between the current posture and the target posture.
  • at least one time change parameter corresponds to at least one intermediate posture in a one-to-one correspondence.
  • the time change parameter includes multiple, and the direction of the posture switching from the current posture to the target posture, and the time change parameters corresponding to the multiple intermediate postures show an increasing trend.
  • the current posture quaternion is represented by q 0
  • the target posture quaternion is represented by q 1
  • the current posture quaternion q 0 and the target posture quaternion are calculated as the following formula:
  • t is a time parameter that varies from 0 to 1
  • ⁇ is the angle difference between directions q 0 to q 1 , as shown in Figure 5.
  • t can also be a time parameter other than 0 to 1, which represents the time when the current posture quaternion q 0 changes to the target posture quaternion q 1 , and can be converted to 0 to 1 through a normalized expression. Parameter between time changes.
  • the Euler angle deviations of the postures adjacent to the position are equal; optionally, the Euler angle deviations of the postures adjacent to the position may also be unequal.
  • the corresponding joint angle is determined according to the Euler angle rotation sequence of the camera corresponding to each adjacent posture and the preset control instruction; and then the direction of switching from the current posture to the target posture according to the joint angle corresponding to each adjacent posture , Control the rotation of the pan/tilt in turn to control the smooth rotation of the camera. That is, there are multiple target joint angles, which include joint angles corresponding to adjacent poses.
  • At least one intermediate pose is inserted between the current pose and the target pose.
  • the quaternion pose deviation corresponding to the adjacent pose is determined, and then the quaternion corresponding to the adjacent pose is determined.
  • posture deviation determine the joint angles corresponding to the adjacent postures, and then according to the joint angles corresponding to each adjacent posture, the direction of switching from the current posture to the target posture is sequentially controlled to rotate the pan/tilt so that the camera rotates smoothly.
  • the realization process of S303 may include: controlling the heading motor to rotate the joint angle corresponding to the heading motor, and controlling 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.
  • the method for controlling the pan/tilt further includes: when the camera is in the vertical orientation shooting mode, acquiring the shooting Before the current posture of the device and the target posture of the shooting device, if the first trigger instruction indicating that the shooting device enters the vertical orientation shooting mode is acquired, the shooting device is controlled to be in the vertical orientation shooting mode.
  • the first trigger instruction can be generated in a variety of ways.
  • 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.
  • the handheld pan/tilt may include a handle, and the control part may be provided on the handle.
  • 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.
  • the realization process of controlling the shooting device to be in the vertical orientation shooting mode may include: acquiring the current shooting mode of the shooting device; and controlling the shooting device to be in the vertical shooting mode according to the current shooting mode.
  • the current shooting mode is a vertical orientation shooting mode.
  • controlling the shooting device to be in the vertical orientation shooting mode may include: maintaining the shooting device in the vertical orientation shooting mode. That is, when the current shooting mode is the vertical orientation shooting mode, there is no need to switch the mode.
  • controlling the shooting device to be in the vertical shooting mode may include: controlling the shooting device to switch the shooting device from the current shooting mode to the vertical shooting mode. That is, when the current shooting mode is a non-vertical-oriented shooting mode, it is necessary to switch the mode to switch the shooting device from the non-vertical-oriented shooting mode to the vertical-oriented shooting mode.
  • controlling the shooting device to switch from the current shooting mode of the shooting device to the vertical orientation shooting mode may include but is not limited to the following steps:
  • the gimbal is configured to rotate around two axes, the two axes include the yaw axis and the pitch axis.
  • the degree of freedom of the gimbal to maintain the original dimension of rotation means: before the mode is switched, the gimbal is Rotate around the yaw axis and pitch axis; after the mode is switched, the gimbal also rotates around the yaw axis and pitch axis.
  • the gimbal is configured to rotate around three axes, including the yaw axis, pitch axis, and roll axis.
  • the rotation freedom of the gimbal to maintain the original dimension means: before the mode is switched, the cloud The platform rotates around the yaw axis, pitch axis and roll axis; after the mode is switched, the gimbal also rotates around the yaw axis, pitch axis and roll axis.
  • the control command for switching the pan/tilt that is, the switching sequence of the Euler angle of the camera, the sequence of Euler angle rotation of the camera corresponding to the preset control command after switching needs to correspond to the vertical orientation shooting mode
  • the shooting orientation of the shooting device refer to the description of the Euler angle rotation sequence of the shooting device corresponding to the preset control instruction in the embodiment of the above-mentioned target posture acquisition process.
  • the control instruction of the pan/tilt is switched directly according to the first trigger instruction, it will be based on the preset Setting a control command to control the shooting device to switch from horizontal orientation shooting to vertical orientation shooting will cause the rotation axes of the two motors to overlap, which will cause the universal joint to lock up.
  • the process of switching the control command of the pan/tilt head to the preset control command may include: acquiring the real-time roll posture component of the camera; if the real-time roll posture component When the preset condition is met, the control command of the pan/tilt is switched to the preset control command.
  • the real-time roll posture component of the camera can be obtained according to the detection of the inertial measurement unit on the camera.
  • the current shooting mode includes the horizontal orientation shooting mode
  • the preset conditions include: the real-time roll attitude component is not 0 degrees, 180 or -180 degrees, that is, when the current shooting mode is the horizontal orientation shooting mode, if the real-time roll attitude component is If it is not 0 degree, 180 or -180 degree, directly switch the control command of the pan/tilt to the preset control command.
  • the preset control command control the camera to switch from the horizontal orientation shooting mode to the vertical orientation shooting mode There is no problem of gimbal locking.
  • control method of the pan/tilt head of this embodiment may further include: if the real-time roll posture component does not meet the preset condition, controlling the rotation of the pan/tilt so that the real-time roll posture component of the camera is offset by a preset angle, And make the real-time roll posture component of the shifted camera meet the preset condition.
  • the camera When the real-time roll posture component does not meet the preset conditions, if the control command of the pan/tilt head is directly switched to the preset control command, the camera will be controlled to switch from the non-vertical orientation shooting mode to the vertical orientation according to the preset control command
  • the shooting mode will cause the problem of gimbal locking; in this embodiment, when the real-time roll posture component does not meet the preset conditions, the pan-tilt is first controlled to rotate, so that the real-time roll posture component of the shooting device is shifted by the preset angle. And make the real-time roll posture component of the shifted camera meet the preset condition; then switch the control command of the pan-tilt to the preset control command. At this time, according to the preset control command, the camera is controlled from the non-vertical orientation Switching the shooting mode to the vertical orientation shooting mode will not cause the problem of gimbal locking.
  • controlling the rotation of the pan/tilt so that the real-time roll posture component of the camera is shifted by a preset angle and the real-time roll posture component of the shifted camera meets the preset condition may include: according to the current shooting The control instruction corresponding to the mode controls the rotation of the pan-tilt so that the real-time roll posture component of the camera is shifted by a preset angle, and the real-time roll posture component of the shifted camera meets the preset condition.
  • the Euler angle rotation sequence of the shooting device corresponding to the control command corresponding to the current shooting mode is: second axis, first axis, third axis, or third axis, first axis, The second axis.
  • it is determined which of the above-mentioned Euler angle rotation sequence is the Euler angle rotation sequence of the camera corresponding to the control instruction corresponding to the current shooting mode.
  • the Euler angle rotation sequence of the camera corresponding to the control command corresponding to the current shooting mode is: the third axis, the first axis, and the second axis.
  • the Euler angle rotation sequence of the camera corresponding to the control command corresponding to the current shooting mode is: the second axis, the first axis, and the third axis.
  • making the real-time roll posture component of the offset camera device meet the preset conditions may include: controlling the rotation of the pan/tilt according to the Euler angle rotation sequence of the third axis, the first axis, and the second axis to The real-time roll posture component of the photographing device is shifted by a preset angle, and the real-time roll posture component of the shifted photographing device meets the preset condition.
  • the size of the preset angle can be set as required, for example, the preset angle can be 5 degrees or other degrees.
  • the pan/tilt is controlled to rotate so that the target roll posture component of the camera is 90 degrees or -90 degrees, so that the camera can switch from the current shooting mode to the vertical orientation shooting mode.
  • the method further includes: acquiring the attitude of the base of the pan/tilt; according to the attitude of the base, controlling the optical axis direction of the photographing device through the pan/tilt to be substantially parallel to the middle plane of the base.
  • the posture of the base can be directly obtained.
  • an inertial measurement unit IMU
  • the posture of the base is obtained through the detection of the inertial measurement unit on the base; the posture of the base It can also be obtained indirectly.
  • the posture of the base is determined according to the posture 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 posture qmesa of the camera.
  • the posture of the handle is determined according to the posture of the camera and the joint angle of the gimbal.
  • the joint angles of the gimbal include yaw joint angle 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.
  • 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 handle posture qhandle is as follows:
  • joint represents the joint angle
  • q represents the quaternion
  • the base is a handle
  • the middle plane of the base is the middle plane in the length direction of the handle.
  • the implementation process may include:
  • the realization process of determining the initial posture of the camera during mode switching may include: determining the posture cosine matrix according to the real-time posture; shooting corresponding to the posture cosine matrix and the preset control instruction
  • the rotation sequence of the Euler angles of the device determines the initial posture of the camera when the mode is switched.
  • the attitude cosine matrix is represented by a quaternion, in this article, q represents a quaternion.
  • the Euler angle rotation sequence of the camera is: Z, X, Y, referred to as ZXY rotation sequence; when the camera is in the vertical orientation shooting mode, the Euler angle of the camera
  • the angular rotation sequence is: Z, X, Z, referred to as ZXZ rotation sequence.
  • the real-time posture of the camera is the Euler angle of the ZXY rotation sequence, assuming that the Euler angle of the ZXY rotation sequence is (Out_Z, Mid_X, Inn_Y), where Out_Z, Mid_X, Inn_Y correspond to Euler rotating around Z, X, Y Angle size, formula (4) is transformed into:
  • q 0 , q 1 , q 2 , and q 3 are the four elements of a quaternion, respectively. Combining formulas (4) and (6), it can be determined:
  • the initial posture of the camera can be determined when the mode is switched.
  • the initial posture is the Euler angle (Out_Z, Mid_X, Inn_Z) of the ZXZ rotation sequence, where Out_Z, Mid_X, Inn_Z correspond to The Euler angle of Z, X, Z rotation.
  • Out_Z, Mid_X, Inn_Z are respectively one solution of the Euler angle of the corresponding ZXZ rotation sequence, and the other solution is (-pi+Inn_Z,-Mid_X,-pi+Out_Z).
  • the specific solution is based on the current base orientation and other information determine.
  • the camera can be controlled by the pan-tilt to reach the initial posture, and then the camera can be controlled by the pan-tilt to reach the target posture from the initial posture to a posture of 90 degrees or -90 degrees;
  • the rolling posture component is 90 degrees or -90 degree posture superposition, and the camera is controlled by the pan-tilt to reach the posture obtained by superposition.
  • attitude components of the camera such as the yaw attitude component and/or the pitch attitude component, may not be controlled, or as required
  • the other posture components of the control camera are preset sizes.
  • the method for controlling the pan/tilt head further includes: when the shooting device is in the vertical orientation shooting mode, if a second trigger instruction instructing the shooting device to exit the vertical orientation shooting mode is obtained, controlling the shooting device to exit Vertical orientation shooting mode.
  • the second trigger instruction can be generated in multiple ways.
  • the pan/tilt includes a base and a control part provided on the base, and the second trigger instruction is generated by the user triggering the 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.
  • the handheld pan/tilt may include a handle, and the control part may be provided on the handle.
  • 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.
  • the embodiment of the present application also provides a pan/tilt head.
  • the pan/tilt head includes a base, a shaft assembly, and a controller.
  • 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.
  • 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.
  • the controller is used to: when the shooting device is in the vertical orientation shooting mode, obtain the current posture of the shooting device and the target posture of the shooting device; according to the current posture, the target posture, and the Euler angle of the shooting device corresponding to the preset control instruction Rotation sequence, determine the target joint angle of the gimbal; control the rotation of the gimbal according to the target joint angle; among them, the preset control command can make the gimbal always remain fixed during the rotation of the camera when the camera is in the vertical orientation shooting mode Dimensional degrees of freedom of rotation.
  • 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 (complex programmable logic device, CPLD), a field-programmable gate array (FPGA), a general array logic (generic array logic, GAL) or any combination thereof.
  • the base can be the handle of the handheld pan/tilt or be set on the handle of the handheld pan/tilt.
  • 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 .
  • 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.
  • 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.
  • 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.

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  • Engineering & Computer Science (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Accessories Of Cameras (AREA)
  • Studio Devices (AREA)

Abstract

L'invention concerne un procédé de commande de cardan et un cardan. Un dispositif d'appareil de prise de vues (2) est monté sur un cardan, et le cardan est conçu pour tourner autour d'au moins deux axes. Le procédé comprend les étapes consistant à : lorsque le dispositif d'appareil de prise de vues (2) est en mode de photographie à orientation portrait, obtenir une attitude actuelle du dispositif d'appareil de prise de vues (2) et une attitude cible du dispositif d'appareil de prise de vues (2) (S301) ; déterminer un angle cible de joint du cardan conformément à l'attitude actuelle, à l'attitude cible et à une séquence de rotation d'angle d'Euler du dispositif de caméra (2) correspondant à une instruction de commande prédéfinie (S302), l'instruction de commande prédéfinie pouvant amener le cardan à conserver toujours un degré de liberté de rotation dans une dimension fixe pendant la rotation lorsque le dispositif d'appareil de prise de vues (2) se trouve en mode de photographie à orientation portrait ; et commander la rotation du cardan selon l'angle cible de joint (S303). Selon le présent procédé, lorsque le dispositif d'appareil de prise de vues (2) est en mode de photographie à orientation portrait, une instruction de commande prédéfinie est adoptée pour éviter le problème de blocage d'un joint universel pendant la commande du cardan, ce qui permet d'obtenir une photographie à orientation portrait dans l'espace entier et de satisfaire aux exigences de la photographie à orientation portrait selon n'importe quel angle.
PCT/CN2019/130862 2019-12-31 2019-12-31 Procédé de commande de cardan et cardan WO2021134645A1 (fr)

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PCT/CN2019/130862 WO2021134645A1 (fr) 2019-12-31 2019-12-31 Procédé de commande de cardan et cardan
CN201980091863.5A CN113423643A (zh) 2019-12-31 2019-12-31 云台的控制方法和云台

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JP6369877B2 (ja) * 2017-01-04 2018-08-08 エスゼット ディージェイアイ オスモ テクノロジー カンパニー リミテッドＳＺ ＤＪＩ Ｏｓｍｏ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．， Ｌｔｄ． プラットフォーム
WO2019084709A1 (fr) * 2017-10-30 2019-05-09 深圳市大疆创新科技有限公司 Procédé de commande tête panoramique basculante, tete panoramique basculante, système de commande et dispositif mobile
WO2019227347A1 (fr) * 2018-05-30 2019-12-05 深圳市大疆创新科技有限公司 Procédé de commande de cardan, dispositif photographique et support de stockage lisible

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US20130014584A1 (en) * 2011-07-12 2013-01-17 Kabushiki Kaisha Toshiba Tracking apparatus
CN106249745A (zh) * 2016-07-07 2016-12-21 苏州大学 四轴无人机的控制方法
CN106681369A (zh) * 2016-12-01 2017-05-17 广州亿航智能技术有限公司 一种云台姿态控制方法及系统
CN108513637A (zh) * 2017-04-21 2018-09-07 深圳市大疆创新科技有限公司 云台及云台控制方法
CN108318035A (zh) * 2018-01-08 2018-07-24 山东大学 一种基于欧拉角的姿态测量算法中避免万向节死锁的方法

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