WO2021217371A1

WO2021217371A1 - Control method and apparatus for movable platform

Info

Publication number: WO2021217371A1
Application number: PCT/CN2020/087325
Authority: WO
Inventors: 高成强; 吴博
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-04-27
Filing date: 2020-04-27
Publication date: 2021-11-04

Abstract

A control method and apparatus for a movable platform. The method comprises: acquiring the current position of a target in a picture taken by a photographic apparatus, wherein the target is a tracked object of the movable platform (S301); according to the current position of the target in the picture taken by the photographic apparatus and a desired position of the target in the photographed picture, determining a target attitude difference, which is represented by a target attitude representation type, of a gimbal, wherein the target attitude representation type is a special orthogonal group matrix or a quaternion (S302); according to the target attitude difference, determining the Euler angular velocity of the rotation of the gimbal (S303); and according to the Euler angular velocity, controlling the gimbal to rotate, such that the position of the target in the picture taken by the photographic apparatus tends to approach the desired position (S304), so as to achieve control synchronization. Moreover, the Euler angular velocity is obtained according to the target attitude difference represented by the special orthogonal group matrix or the quaternion; therefore, singularity of the Euler angles can be avoided, such that the problem of degradation of the rotational degree of freedom is solved, and the control mode for the gimbal is optimized.

Description

Control method and device of movable platform

Technical field

The embodiments of the present application relate to the technical field of movable platforms, and in particular, to a method and device for controlling a movable platform.

Background technique

The movable platform is equipped with a pan-tilt for carrying the camera. The camera can take images during the movement of the movable platform. The more common one is the follow mode. When the movable platform determines the target in the image collected by the camera Later, the movable platform will control the pan-tilt to follow the target, so that the target is located at the target position in the image captured by the shooting device, such as the center position of the image.

At present, the method of controlling the pan/tilt to follow the target is to obtain the current Euler angle of the pan/tilt and the target Euler angle of the pan/tilt corresponding to the target position in the image. According to the above-mentioned current Euler angle and the target Euler angle, determine the Euler angle error of the gimbal to rotate, according to the Euler angle error, determine the angular velocity of the gimbal to rotate, and then control the gimbal to rotate according to the angular velocity. However, in the current gimbal control, the control error of the gimbal is eliminated by the separate control of the pitch axis and the yaw axis of the gimbal. In this way, there is a problem of unsynchronization in the control, and the actual rotation path of the gimbal is not The smallest path; in addition, the Euler angle is singular when expressing the attitude of the gimbal and the rotation of the gimbal. When the gimbal is in certain attitudes, the rotation of the three degrees of freedom of the gimbal will degenerate into two degrees of freedom. , The control may fail.

Summary of the invention

The embodiment of the present application provides a control method and device for a movable platform to optimize the control method of the pan/tilt.

In a first aspect, an embodiment of the present application provides a method for controlling a movable platform. The movable platform includes a pan-tilt and a camera mounted on the pan-tilt, and the method includes:

Acquiring the current position of the target in the shooting picture of the shooting device, wherein the target is a tracking object of the movable platform;

According to the current position of the target in the shooting screen of the shooting device and the desired position of the target in the shooting screen, determine the target attitude difference of the pan/tilt in the target attitude representation type, and the target attitude represents The type is a special orthogonal group matrix or quaternion;

Determine the Euler angular velocity of the rotation of the gimbal according to the target attitude difference;

According to the Euler angular velocity, the pan/tilt head is controlled to rotate so that the position of the target in the shooting frame of the shooting device approaches the desired position.

In a second aspect, an embodiment of the present application provides a control device for a movable platform. The movable platform includes a pan/tilt and a photographing device mounted on the pan/tilt. The control device includes a memory and at least one processor. ；

The memory is used to store program code;

The at least one processor calls the program code, and when the program code is executed, it is used to: obtain the current position of the target object in the shooting frame of the shooting device, wherein the target object is the movable Targets tracked by the platform;

In a third aspect, an embodiment of the present application provides a movable platform, the movable platform including at least one processor, a pan-tilt, and a photographing device mounted on the pan-tilt;

The at least one processor is used to:

In the fourth aspect, an embodiment of the present application provides a movable platform, the movable platform includes the control device of the movable platform as described in the embodiment of the present application in the second aspect, a pan-tilt, and a platform mounted on the pan-tilt. Shooting device.

In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium that stores a computer program, and when the computer program is executed, it implements the method described in the embodiment of the present application in the first aspect. The control method of the movable platform.

In a sixth aspect, an embodiment of the present application provides a program product, the program product includes a computer program, the computer program is stored in a readable storage medium, and at least one processor can read the A computer program, and the at least one processor executes the computer program to implement the control method of the movable platform according to the embodiment of the present application in the first aspect.

In summary, the mobile platform control method and device provided by the embodiments of the present application acquire the current position of the target in the shooting screen of the shooting device, and then according to the current position of the target in the shooting screen of the shooting device and the target The desired position of the object in the shooting screen is determined, and the target attitude difference of the gimbal expressed by a special orthogonal group matrix or a quaternion is determined; then according to the target attitude difference, the Euler angular velocity of the gimbal rotation is determined, and according to the Euler angular velocity, Control the rotation of the pan/tilt so that the position of the target object in the shooting frame of the shooting device approaches the desired position to achieve control synchronization. In this embodiment, a special orthogonal group matrix or a quaternion is used to express the target attitude difference, and then the Euler angular velocity used to control the rotation of the pan/tilt is determined according to the target attitude difference expressed by the special orthogonal group matrix or quaternion, which can avoid Euler angular velocity. The singularity of the pull angle does not have the problem of the degradation of the degree of freedom of rotation, and the control method of the pan/tilt is optimized.

Description of the drawings

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

Fig. 1 is a schematic architecture diagram of an unmanned aerial system according to an embodiment of the present application;

Figure 2 is a schematic diagram of an application scenario provided by an embodiment of the application;

FIG. 3 is a flowchart of a method for controlling a movable platform according to an embodiment of the application;

4 is a flowchart of a method for controlling a movable platform provided by another embodiment of the application;

5 is a schematic structural diagram of a control device for a movable platform provided by an embodiment of the application;

FIG. 6 is a schematic structural diagram of a movable platform provided by an embodiment of this application;

FIG. 7 is a schematic structural diagram of a movable platform provided by another embodiment of this application.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of the present application, but not all of 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 when a component is referred to as being "fixed to" another component, it can be directly on the other component or a centered component may also exist. When a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be a centered component at the same time.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of this application. The terms used in the specification of the application herein are only for the purpose of describing specific embodiments, and are not intended to limit the application. The term "and/or" as used herein includes any and all combinations of one or more related listed items.

The embodiments of the present application provide a method and device for controlling a movable platform. Among them, the movable platform can be unmanned aerial vehicles, unmanned vehicles, unmanned ships, robots, handheld PTZ, etc. The following description of the mobile platform of this application uses drones as an example. It will be obvious to those skilled in the art that other types of drones can be used without restriction, and the embodiments of the present application can be applied to various types of drones. For example, the drone can be a small or large drone. In some embodiments, the drone may be a rotorcraft, for example, a multi-rotor drone propelled by multiple propulsion devices through the air, and the embodiments of the present application are not limited thereto.

Fig. 1 is a schematic architecture diagram of an unmanned aerial system according to an embodiment of the present application. In this embodiment, a rotary wing drone is taken as an example for description.

The unmanned aerial system 100 may include a drone 110, a display device 130, and a control terminal 140. Among them, the UAV 110 may include a power system 150, a flight control system 160, a frame, and a pan/tilt 120 carried on the frame. The drone 110 can wirelessly communicate with the control terminal 140 and the display device 130. Among them, the drone 110 further includes a battery (not shown in the figure), and the battery provides electrical energy for the power system 150. The UAV 110 may be an agricultural UAV or an industrial application UAV, and there is a need for cyclic operation. Correspondingly, the battery also has the need for cyclic operation.

The frame may include a fuselage and a tripod (also called a landing gear). The fuselage may include a center frame and one or more arms connected to the center frame, and the one or more arms extend radially from the center frame. The tripod is connected with the fuselage and used for supporting the UAV 110 when it is landed.

The power system 150 may include one or more electronic governors (referred to as ESCs) 151, one or more propellers 153, and one or more motors 152 corresponding to the one or more propellers 153, wherein the motors 152 are connected to Between the electronic governor 151 and the propeller 153, the motor 152 and the propeller 153 are arranged on the arm of the UAV 110; the electronic governor 151 is used to receive the driving signal generated by the flight control system 160 and provide driving according to the driving signal Current is supplied to the motor 152 to control the speed of the motor 152. The motor 152 is used to drive the propeller to rotate, thereby providing power for the flight of the drone 110, and the power enables the drone 110 to realize one or more degrees of freedom of movement. In some embodiments, the drone 110 may rotate about one or more rotation axes. For example, the aforementioned rotation axis may include a roll axis (Roll), a yaw axis (Yaw), and a pitch axis (pitch). It should be understood that the motor 152 may be a DC motor or an AC motor. In addition, the motor 152 may be a brushless motor or a brushed motor.

The flight control system 160 may include a flight controller 161 and a sensing system 162. The sensing system 162 is used to measure the attitude information of the drone, that is, the position information and state information of the drone 110 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, and three-dimensional angular velocity. The sensing system 162 may include, for example, at least one of sensors such as a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (IMU), a vision sensor, a global navigation satellite system, and a barometer. For example, the global navigation satellite system may be the Global Positioning System (GPS). The flight controller 161 is used to control the flight of the drone 110, for example, it can control the flight of the drone 110 according to the attitude information measured by the sensor system 162. It should be understood that the flight controller 161 can control the drone 110 according to pre-programmed program instructions, and can also control the drone 110 by responding to one or more remote control signals from the control terminal 140.

Each pan/tilt head 120 may include a motor 122. The pan/tilt 120 is used to carry a load, and the load is, for example, a camera 123. The flight controller 161 can control the movement of the pan/tilt 120 through the motor 122. Optionally, as another embodiment, the pan/tilt head 120 may further include a controller for controlling the movement of the pan/tilt head 120 by controlling the motor 122. It should be understood that the pan-tilt 120 may be independent of the drone 110 or a part of the drone 110. It should be understood that the motor 122 may be a DC motor or an AC motor. In addition, the motor 122 may be a brushless motor or a brushed motor. It should also be understood that the pan/tilt may be located on the top of the drone or on the bottom of the drone.

The photographing device 123 may be, for example, a device for capturing images, such as a camera or a video camera, and the photographing device 123 may communicate with the flight controller and take pictures under the control of the flight controller. The imaging device 123 of this embodiment at least includes a photosensitive element, and the photosensitive element is, for example, a Complementary Metal Oxide Semiconductor (CMOS) sensor or a Charge-coupled Device (CCD) sensor.

The display device 130 is located on the ground end of the unmanned aerial vehicle 100, can communicate with the drone 110 in a wireless manner, and can be used to display the attitude information of the drone 110. In addition, the image photographed by the photographing device 123 may also be displayed on the display device 130. It should be understood that the display device 130 may be an independent device or integrated in the control terminal 140.

The control terminal 140 is located on the ground end of the unmanned aerial vehicle 100, and can communicate with the drone 110 in a wireless manner for remote control of the drone 110.

It should be understood that the aforementioned naming of the components of the unmanned aerial system is only for identification purposes, and should not be construed as a limitation to the embodiments of the present application.

Fig. 2 is a schematic diagram of an application scenario provided by an embodiment of the application. As shown in Fig. 2, Fig. 2 shows a drone 201 and a control terminal 202 of the drone. The control terminal 202 of the drone 201 may be one or more of a remote control, a smart phone, a desktop computer, a laptop computer, and a wearable device (watch, bracelet). In the embodiment of the present application, the control terminal 202 is the remote controller 2021 and the terminal device 2022 as an example for schematic description. The terminal device 2022 is, for example, a smart phone, a wearable device, a tablet computer, etc., but the embodiment of the present application is not limited thereto.

The drone 201 includes a fuselage 2011 and a gimbal 2012 connected to the fuselage 2011, and the gimbal 2012 is used to carry a load 2013. Wherein, the load 2013 includes a camera, the drone transmits the image captured by the camera to the control terminal 202, and the control terminal 202 displays the image captured by the camera. In a scene where the drone 201 tracks a target, the drone 201 tracks the target so that the target is always located in the shooting picture captured by the shooting device displayed on the control terminal. In some scenarios, it is necessary to control the target object to be located at a fixed target position of the shooting image, such as the center position of the shooting image. However, in the current gimbal control, the control error of the gimbal is eliminated by the separate control of the pitch axis and the yaw axis of the gimbal. In this way, there is a problem of unsynchronization in the control, and the actual rotation path of the gimbal is not The smallest path; in addition, the Euler angle is singular when expressing the attitude of the gimbal and the rotation of the gimbal. When the gimbal is in certain attitudes, the rotation of the three degrees of freedom of the gimbal will degenerate into two degrees of freedom. , The control may fail. Therefore, in this embodiment, a special orthogonal group matrix or a quaternion is used to express the target attitude difference, and the Euler angular velocity used to control the rotation of the pan/tilt can be determined according to the target attitude difference expressed by the special orthogonal group matrix or quaternion. The singularity of Euler angles is avoided, there is no problem of degradation of the degree of freedom of rotation, and the control method of the pan/tilt is optimized. The specific implementation process adopts the solutions of the following embodiments of the present application.

FIG. 3 is a flowchart of a method for controlling a movable platform according to an embodiment of the application. The method of this embodiment can be applied to a control device of a movable platform. The control device of the movable platform may be arranged on the movable platform; or, a part of the control device of the movable platform is arranged on the movable platform, and the other part is arranged on the control terminal of the movable platform. The movable platform includes a pan-tilt and a camera mounted on the pan-tilt. In this embodiment, the control device of the movable platform is set on the movable platform as an example. As shown in FIG. 3, the method of this embodiment may include:

S301. Acquire the current position of the target object in the shooting frame of the shooting device, where the target object is a tracking object of a movable platform.

In this embodiment, the movable platform can take images through the camera mounted on the pan-tilt. If it is determined that an object captured in the captured image is a target, the target is represented as a tracking target of the movable platform, and the movable platform tracks the target, such as the follow mode of the movable platform. The method for determining the target object is, for example, recognizing an object in the captured image as the target object through the image, or the user determines that an object in the captured image is the target object by operating the screen displayed by the control terminal, and so on. After the photographing device photographs the target, the current position of the target in the photographing frame of the photographing device can be obtained.

Wherein, in the process of tracking the target by the movable platform, the movable platform may adjust the posture of the movable platform so that the target is located in the shooting frame of the shooting device, or the movable platform may adjust the posture of the pan-tilt so that the target is located on the shooting device. Alternatively, the movable platform can adjust the posture of the movable platform and the posture of the pan/tilt so that the target is located in the shooting frame of the shooting device.

The attitude may include: attitude in the pitch direction, attitude in the roll direction, and attitude in the yaw direction.

S302. According to the current position of the target in the shooting image of the shooting device and the desired position of the target in the shooting image, determine the target posture difference of the PTZ in the target posture representation type, and the target posture representation type is a special orthogonal group Matrix or quaternion.

In this embodiment, the movable platform tracks the target, and the desired target may be located at a position in the shooting frame of the shooting device, and this position may be referred to as the desired position. The movable platform determines the target attitude difference of the pan/tilt according to the current position of the target in the shooting picture of the shooting device and the desired position of the target in the shooting picture. The target posture difference may represent the posture difference between the current posture of the pan/tilt head corresponding to when the target is at the current position in the shooting screen and the expected posture of the pan/tilt head when the target is at the desired position in the shooting screen. The target posture difference indicates that the posture of the pan/tilt head changes, so that the position of the target object in the shooting screen approaches the desired position, or even is located at the desired position.

Among them, the target posture difference in this embodiment is the target posture difference represented by the target posture representation type, and the target posture representation type is a special orthogonal group matrix or a quaternion or an axis angle.

S303. Determine the Euler angular velocity of the pan/tilt rotation according to the target attitude difference.

In this embodiment, after the above-mentioned target attitude difference of the pan/tilt is determined, the Euler angular velocity of the pan/tilt rotation is determined according to the target attitude difference represented by the special orthogonal group matrix or the numerical target attitude difference represented by the quaternion. Angular velocity represents the Euler angular velocity used by the gimbal from the current attitude to the target attitude difference.

S304. Control the rotation of the pan/tilt according to the Euler angular velocity, so that the position of the target in the shooting frame of the shooting device approaches a desired position.

In this embodiment, after the Euler angular velocity is determined, the rotation of the gimbal is controlled according to the Euler angular velocity, so that the posture of the gimbal changes the target posture difference as much as possible, so that the posture of the gimbal rotates toward the desired posture. According to the target attitude difference, the Euler angular velocity of the pan/tilt rotation is determined, so that the position of the target in the shooting image of the shooting device approaches the desired position, and even the position of the target in the shooting image of the shooting device is located at the desired position.

Optionally, if the Euler angular velocity is determined by the control terminal of the movable platform, the control terminal of the movable platform sends the Euler angular velocity to the movable platform. Then the movable platform controls the rotation of the pan/tilt according to the received Euler angular velocity.

In this embodiment, the current position of the target in the shooting screen of the shooting device is acquired, and then according to the current position of the target in the shooting screen of the shooting device and the desired position of the target in the shooting screen, the special feature of the pan/tilt is determined. Orthogonal group matrix or quaternion representation of the target attitude difference; then according to the target attitude difference, determine the Euler angular velocity of the gimbal rotation, and control the rotation of the gimbal according to the Euler angular velocity, so that the target is on the shooting screen of the camera The position in is approaching to the desired position to achieve control synchronization. In this embodiment, a special orthogonal group matrix or a quaternion is used to express the target attitude difference, and then the Euler angular velocity for controlling the rotation of the pan/tilt is determined according to the target attitude difference expressed by the special orthogonal group matrix or the quaternion. Instead of determining the angular velocity based on the Euler angle error, and controlling the pan/tilt rotation based on the angular velocity. Therefore, the singularity of Euler angles can be avoided, there is no problem of degradation of the degree of freedom of rotation, and the control method of the PTZ is optimized.

On the basis of the embodiment shown in FIG. 3, FIG. 4 is a flowchart of a method for controlling a movable platform provided by another embodiment of this application. As shown in FIG. 4, the method in this embodiment may include:

S401. Acquire a current position of a target object in a shooting frame of the shooting device, where the target object is a tracking object of a movable platform.

In this embodiment, for the specific implementation process of the foregoing S401, reference may be made to the related description in the embodiment shown in FIG. 3, which will not be repeated here.

S402: Determine the target Euler angle error of the pan/tilt head to be adjusted according to the current position and the expected position.

In this embodiment, the current position corresponds to the current Euler angle of the gimbal, and the desired position also corresponds to the expected Euler angle of the gimbal. The shooting position of the camera. Therefore, according to the current position and the expected position, the target Euler angle error that the pan/tilt should be adjusted can be determined.

Among them, a possible implementation of S402 above is: determining the position difference between the current position and the expected position according to the current position and expected position of the target in the shooting picture; this position difference can also be mapped to the posture of the PTZ The target attitude difference that needs to be adjusted to eliminate this position difference. Then, according to the position difference, the focal length of the camera, and the size of the image sensor in the camera, determine the target Euler angle error that the pan/tilt should adjust. Here, the target Euler angle error represents the target attitude difference of the pan/tilt.

The position difference includes the difference in the length direction of the shooting screen and the difference in the height direction of the shooting screen. Specifically: Determine the Euler angle error of the yaw direction that the gimbal should adjust according to the difference in the length direction of the shooting screen, the focal length of the camera and the length of the image sensor; and according to the difference in the width direction of the shooting screen , The focal length of the camera and the width of the image sensor determine the Euler angle error of the pitch direction that the gimbal should be adjusted. Optionally, the Euler angle error in the pitch direction that the pan/tilt should adjust has nothing to do with the above position difference, and the Euler angle error in the pitch direction that the pan/tilt should adjust is a preset value, for example, 0.

S403: According to the target Euler angle error, determine the target attitude difference represented by the target attitude representation type that the gimbal should adjust.

In this embodiment, the target attitude difference represented by the target attitude representation type is converted from the target Euler angle error representing the attitude difference. Using the target attitude difference represented by the target attitude representation type to control the control of the gimbal can overcome the problems of Euler angle singularity and rotation degree of freedom degradation in the process of using Euler angle error to control the gimbal, and optimize the gimbal's way to control.

In some embodiments, the target Euler angle error determined according to the current position and the expected position of the target in the shooting image includes: Euler angle error in the pitch direction and Euler angle error in the yaw axis direction. Wherein, the Euler angle error in the roll direction may not be determined based on the current position and the desired position of the target in the shooting image. The Euler angle error in the roll direction may be a preset value, for example, the Euler angle error in the roll direction. The pull angle error is 0.

Taking the above-mentioned target attitude representation type as a special orthogonal group matrix as an example, according to the target Euler angle error, a possible realization method of determining the target attitude difference expressed by the target attitude representation type that the gimbal should adjust can be: The Euler angle error in the pitch direction is converted into the attitude difference in the pitch direction of the special orthogonal group matrix, and the Euler angle error in the yaw direction is converted into the attitude difference in the yaw direction of the special orthogonal group matrix. Then according to the attitude difference in the pitch direction of the special orthogonal group matrix and the attitude difference in the yaw direction of the special orthogonal group matrix, determine the target attitude difference expressed by the special orthogonal group matrix that the pan/tilt should adjust. For example, the product of the attitude difference in the pitch direction of the special orthogonal group matrix and the attitude difference in the yaw direction of the special orthogonal group matrix is obtained, and then the target attitude difference represented by the special orthogonal group matrix to be adjusted by the gimbal is determined according to the product.

Optionally, according to the attitude difference in the pitch direction of the special orthogonal group matrix, the attitude difference in the roll direction of the special orthogonal group matrix, and the attitude difference in the yaw direction of the special orthogonal group matrix, it can be determined that the gimbal should be adjusted to the special direction. The target posture difference represented by the intersection group matrix. For example, obtain the attitude difference in the pitch direction of the special orthogonal group matrix, the attitude difference in the roll direction of the special orthogonal group matrix, the attitude difference in the yaw direction of the special orthogonal group matrix, and the product of the three. The adjusted target posture difference represented by a special orthogonal group matrix. For example, the product is determined as the target attitude difference represented by a special orthogonal group matrix that the pan/tilt should adjust. Among them, the attitude difference in the roll direction of the special orthogonal group matrix is converted from the Euler angle error in the roll direction. Since the Euler angle error in the roll direction is a preset value, the attitude difference in the roll direction of the special orthogonal group matrix can also be preset, or, in the process of obtaining the target attitude difference according to the roll The Euler angle error of the direction is determined.

Taking the aforementioned target attitude representation type as a quaternion as an example, according to the target Euler angle error, a possible realization method of determining the target attitude difference expressed by the target attitude representation type that the gimbal should adjust can be: changing the pitch direction The Euler angle error is converted into the attitude difference in the quaternion pitch direction, and the Euler angle error in the yaw direction is converted into the attitude difference in the quaternion yaw direction. Then, according to the attitude difference in the quaternion pitch direction and the attitude difference in the quaternion yaw direction, determine the target attitude difference expressed by the quaternion that the gimbal should adjust. For example, obtain the product of the attitude difference in the quaternion pitch direction and the attitude difference in the quaternion yaw direction, and then determine the target attitude difference expressed by the quaternion that the gimbal should adjust based on the product.

Optionally, according to the attitude difference in the quaternion pitch direction, the attitude difference in the quaternion roll direction, and the attitude difference in the quaternion yaw direction, determine the target attitude difference expressed by the quaternion that the gimbal should adjust . For example, obtain the product of the attitude difference in the quaternion pitch direction, the attitude difference in the quaternion roll direction, and the attitude difference in the quaternion yaw direction, and then determine the quaternion that the gimbal should be adjusted according to the product. The target attitude is poor. For example, the product is determined as the target attitude difference expressed by the quaternion that the pan/tilt should adjust. Among them, the attitude difference in the quaternion roll direction is converted from the Euler angle error in the roll direction. Since the Euler angle error in the roll direction is a preset value, the attitude difference in the quaternion roll direction can also be preset, or, in the process of obtaining the target attitude difference according to the roll direction The Euler angle error is determined.

S404: Determine an attitude control error corresponding to the target attitude representation type according to the target attitude difference.

In this embodiment, if the target posture representation type is a special orthogonal group matrix, the posture control error corresponding to the special orthogonal group matrix is determined according to the target posture difference represented by the special orthogonal group matrix. If the target posture representation type is a quaternion, then the quaternion corresponding attitude control error is determined according to the above-mentioned target posture difference represented by the quaternion.

If the target pose representation type is a special orthogonal group matrix, a possible implementation of S404 is: determine the antisymmetric matrix of the special orthogonal group matrix according to the special orthogonal group matrix used to represent the target pose difference , And then transform the antisymmetric matrix into a column vector, and then determine the attitude control error corresponding to the special orthogonal group matrix according to the column vector. For example, each element in the column of vectors is determined as the control error of each attitude direction in the attitude control error. For example, the three elements in the column vector are determined as the control error in the pitch direction, the control error in the roll direction, and the control error in the yaw direction. The column vector is, for example, a three-dimensional column vector. Correspondingly, the above-mentioned special orthogonal group matrix for representing the above-mentioned target attitude difference is a 3*3 matrix.

If the target pose representation type is a quaternion, a possible implementation of S404 above is: obtain the quaternion used to represent the target pose difference; then according to the imaginary part of the quaternion used to represent the target pose difference , Determine the rotation axis corresponding to the PTZ adjustment target attitude difference, and determine the rotation angle corresponding to the PTZ adjustment target attitude difference according to the imaginary part and real part of the quaternion used to represent the target attitude difference; Rotate the angle to determine the attitude control error corresponding to the quaternion. This attitude control error can also be referred to as shaft angle error.

Optionally, the above-mentioned rotation axis is a rotation axis represented by a 3-dimensional column vector. Correspondingly, according to the rotation axis and the rotation angle, a possible implementation of determining the attitude control error corresponding to the quaternion is: obtaining the intermediate 3-dimensional column vector according to the product of the rotation angle and the rotation axis represented by the 3-dimensional column vector; The product of the rotation axis and the rotation angle represented by the 3-dimensional column vector is a 3-dimensional column vector, and this embodiment may determine the product as an intermediate 3-dimensional column vector. Then the three elements in the middle 3-dimensional column vector are determined as the control error in the pitch direction, the control error in the roll direction, and the control error in the yaw direction.

After determining the attitude control error corresponding to the target attitude representation type, the Euler angular velocity of the pan/tilt rotation is determined according to the attitude control error. For example, determine the Euler angular velocity of the pan/tilt rotation according to the attitude control error corresponding to the special orthogonal group matrix, or determine the Euler angular velocity of the pan/tilt rotation according to the attitude control error corresponding to the quaternion. In this embodiment, after obtaining the target attitude difference represented by the special orthogonal group matrix or quaternion, first obtain the attitude control error corresponding to the special orthogonal group matrix or quaternion, and then obtain the Euler angular velocity according to the attitude control error This effectively avoids the loss of freedom in the process of controlling the rotation of the pan/tilt by Euler angle error.

Optionally, in a possible implementation manner, determining the Euler angular velocity of the pan/tilt rotation according to the attitude control error may include S405 and S406.

S405. Determine the angular velocity of the pan/tilt rotation according to the attitude control error.

In this embodiment, after the attitude control error corresponding to the special orthogonal group matrix or the quaternion is obtained, the angular velocity of the pan/tilt rotation is determined according to the attitude control error.

Optionally, the angular velocity of the pan/tilt rotation may be determined according to the attitude control error and the preset control coefficient; for example, the angular velocity of the pan/tilt rotation may be determined according to the product of the preset control coefficient and the attitude control error.

Among them, the attitude control error may include the control error of the pitch direction, the control error of the roll direction, and the control error of the yaw direction. The angular velocity of the pan/tilt rotation includes the angular velocity of the pitch direction, the angular velocity of the roll direction, and the angular velocity of the yaw direction. In this embodiment, the product of the preset control coefficient and the control error in the pitch direction can be obtained, and the angular velocity in the pitch direction of the pan/tilt rotation can be determined according to the product. For example, the product can be determined as the angular velocity in the pitch direction of the pan/tilt rotation. The product of the preset control coefficient and the control error in the roll direction is obtained, and the angular velocity in the roll direction of the pan/tilt rotation is determined according to the product. For example, the product is determined as the angular velocity in the roll direction of the pan/tilt rotation. The product of the preset control coefficient and the control error of the yaw direction is obtained, and the angular velocity of the yaw direction of the pan/tilt rotation is determined according to the product, for example, the product is determined as the angular velocity of the yaw direction of the pan/tilt rotation.

It should be noted that the preset control coefficients used for obtaining angular velocities in different directions may be the same control coefficient, or may also be not all the same control coefficients. The preset control coefficient for the special orthogonal group matrix and the preset control system for the quaternion may be the same or different.

In this embodiment, by first obtaining attitude control errors in different directions, and then uniformly obtaining angular velocities in different directions. This effectively avoids the situation of separate calculation errors in different directions and given angular velocities separately.

S406: Determine the Euler angular velocity of the pan/tilt rotation according to the angular velocity.

After obtaining the angular velocity of the gimbal rotation, the angular velocity of the gimbal rotation is converted into the Euler angular velocity of the gimbal rotation.

Optionally, the obtained Euler angular velocity is also related to the current attitude of the target attitude representation type of the gimbal. That is, before determining the Euler angular velocity of the gimbal rotation, the current attitude of the target attitude representation type of the gimbal is also obtained, and then the Euler angular velocity of the gimbal rotation is determined according to the above angular velocity and the current attitude of the target attitude representation type of the gimbal. .

Wherein, the current posture of the target posture indication type of the aforementioned pan/tilt may include: the current posture of the target posture indication type in the pitch direction, and the current posture of the target posture indication type in the roll direction. The angular velocity may include: the angular velocity in the pitch direction, the angular velocity in the roll direction, and the angular velocity in the yaw direction. The Euler angular velocity may include the Euler angular velocity in the pitch direction, the Euler angular velocity in the roll direction, and the Euler angular velocity in the yaw direction. In this embodiment, the Euler angular velocity in the pitch direction can be determined according to the angular velocity in the pitch direction. For example, the angular velocity in the pitch direction is determined as the Euler angular velocity in the pitch direction. And according to the angular velocity in the roll direction and the current posture in the pitch direction of the target posture indication type, the Euler angular velocity in the roll direction of the pan/tilt rotation is determined. For example, the Euler angular velocity in the roll direction is determined according to the product of the current posture in the pitch direction and the angular velocity in the roll direction according to the target posture indication type. For example, it is determined that the product is the Euler angular velocity in the roll direction. The Euler angular velocity in the yaw direction of the pan/tilt rotation is also determined according to the angular velocity in the yaw direction, the current attitude in the pitch direction of the target attitude representation type, and the current attitude in the roll direction of the target attitude representation type. For example, the Euler angular velocity in the yaw direction is determined according to the product of the current attitude of the target attitude representation type in the roll direction, the current attitude of the target attitude representation type in the pitch direction, and the angular velocity in the yaw direction. For example, it is determined that the product is the Euler angular velocity in the yaw direction.

Therefore, after the angular velocity is obtained in this embodiment, the angular velocity is further converted into Euler angular velocity according to the current attitude of the pan/tilt, which ensures the global effectiveness of controlling the pan/tilt.

S407: Control the rotation of the pan/tilt according to the Euler angular velocity, so that the position of the target in the shooting image of the shooting device approaches a desired position.

In this embodiment, the specific implementation process of S407 can refer to the related description in the embodiment shown in FIG. 3, which will not be repeated here.

In this embodiment, the rotation of the pan/tilt is controlled according to the Euler angular velocity, so that the change of the pan/tilt's attitude is closer to the target attitude difference that needs to be changed, and as much as possible to ensure that the position of the target in the shooting image is close to the desired position and achieve control synchronization. Moreover, the Euler angular velocities in the three attitude directions are obtained, and the rotation of the gimbal can be controlled accordingly, which can shorten the rotation path of the gimbal and make the rotation of the gimbal more rapid, accurate and smooth. In addition, the Euler angular velocity is obtained from the target attitude difference expressed by a special orthogonal group matrix or quaternion, not the target attitude difference expressed by Euler angles, so the singularity of Euler angles can be avoided, and there is no rotation. The problem of degree of freedom degradation optimizes the control method of the PTZ.

The following is an example to illustrate the solution of the present application with the target pose representation type being a special orthogonal group matrix or a quaternion.

After the shooting device captures the target, the current position of the target in the shooting frame of the shooting device can be obtained, that is, the current coordinates of the target in the shooting frame are (b _cx , b _cy ). Among them, the size of the photographed frame of the photographing device includes the length I _w in the longitudinal direction and the width I _{h in the} width direction. For example, the desired position of the target in the shooting picture is the center position of the shooting picture, and the desired position, that is, the desired coordinates of the target in the shooting picture, may be (0.5I _w , 0.5I _h ). The aforementioned unit may be a pixel. Then, according to the current position and the desired position, determine the position difference (the difference x _p in the length direction and the difference y _{p in the} width direction):

According to the above position difference, the focal length cam _{f of the} camera (unit: um) and the size of the image sensor of the camera (length dimension is cam _cw , width dimension is cam _ch , unit is um), determine the pitch direction that the gimbal should be adjusted target error Δpitch _tar Euler angles and the target yaw direction Euler angle error Δyaw _tar:

_{Among them, the target Euler angle error Δroll tar} in the roll direction that the pan/tilt should adjust is 0. The target Euler angle error that the pan/tilt should adjust can be recorded as {Δyaw _tar , Δpitch _tar , Δroll _tar }.

The current Euler angle of the gimbal includes the current Euler angle in the pitch direction, which is pitch _cur , the current Euler angle in the yaw direction, yaw _cur , and the current Euler angle in the roll direction, roll _cur . The current Euler angle of the gimbal can be recorded as {yaw _cur , pitch _cur , roll _cur }.

In one implementation, that is, in the implementation of expressing the attitude of the pan/tilt with a special orthogonal group matrix, the details are as follows:

1, into the special Δpitch _tar pitch direction orthogonal group attitude difference matrix R (Δpitch _tar), into the special Δyaw _tar yaw direction orthogonal group posture difference matrix R (Δyaw _tar), into the Δroll _tar _{The posture difference R (Δroll tar} ) of the special orthogonal group matrix in the roll direction. Among them, R() converts Euler angles into a special orthogonal group matrix.

2. According to R (Δpitch _tar ), R (Δyaw _tar ), R (Δroll _tar ), obtain the target attitude difference R _tar represented by a special orthogonal group matrix.

3. According to R _tar , obtain the attitude control error corresponding to the special orthogonal group matrix. In particular, so that R _e = R _tar acquired anti-symmetric matrix R _e M _e:

The obtained _Me is a 3*3 antisymmetric matrix, and then _{Me is} transformed into a column vector V _error , V _error is a 3-dimensional column vector, and V _error represents the attitude control error.

V _error = (M _e ) ^∨ , where () ^∨ means to convert the antisymmetric matrix into a column vector.

4. Convert attitude control error V _error into angular velocity w.

w = K _p V _error = [w _roll w _pitch w _yaw ] ^T , where K _p is the preset control coefficient, w _yaw is the angular velocity in the yaw direction, w _pitch is the angular velocity in the pitch direction, and w _roll is the roll direction Angular velocity.

5, the angular velocity w is converted to an angular velocity w Euler _Euler.

Among them, R (pitch _cur _{) is converted from the current Euler angle pitch cur} of the pitch direction of the gimbal into a special orthogonal group matrix, and R (roll _cur ) is converted from the current Euler angle roll _{cur of the roll direction of the gimbal.} It is a special orthogonal group matrix.

6. The Euler angular velocity is output to the pan-tilt for pan-tilt control.

In another implementation manner, that is, in the implementation manner in which the attitude of the PTZ is expressed by a quaternion, the details are as follows:

1. Convert Δpitch _tar into the attitude difference q in the quaternion pitch direction (Δpitch _tar ), convert Δyaw _tar into the attitude difference q in the quaternion yaw direction (Δyaw _tar ), and convert Δroll _tar into quaternion horizontal The posture difference in the rolling direction q (Δroll _tar ). Among them, q() converts Euler angles to quaternions.

2. According to q(Δpitch _tar ), q(Δyaw _tar ), q(Δroll _tar ), obtain the target attitude difference R _tar expressed by a quaternion.

3. According to q _tar , obtain the attitude control error corresponding to the quaternion, which can also be called the axis angle error. Specifically, let q _error =q _tar to obtain the rotation axis u and the rotation angle θ:

_{θ = arctan (|| q error,} v ||, q error, w), _where, q _{error, v} represents the imaginary part q _{_error,} q _{error, w} represents the real part of q _error.

_{Then, the attitude control error V error is} obtained according to the rotation axis u and the rotation angle θ, and V _error is a three-dimensional column vector.

V _error =θu.

4. Convert attitude control error V _error into angular velocity w.

5, the angular velocity w is converted to an angular velocity w Euler _Euler.

The above symbol □ represents the multiplication between the quaternion and the 3-dimensional column vector.

Among them, q(pitch _cur _{) is converted from the current Euler angle pitch cur} in the pitch direction of the gimbal to a quaternion, and q(roll _cur _{) is converted from the current Euler angle roll cur} in the roll direction of the gimbal to four. Yuan number.

6. The Euler angular velocity is output to the pan-tilt for pan-tilt control.

In summary, the embodiments of the present application can improve the control effect of the pan/tilt in the movable platform, and make the rotation of the pan/tilt more rapid, accurate, and smooth. The effectiveness of control can be guaranteed in any posture of the PTZ, there is no control singularity, and the degree of freedom is reduced. The gimbal rotates to make the path of the target at the desired position better, shorter and smoother. Moreover, the Euler angular velocity output by the application to the pan/tilt is better than the angular velocity in the prior art in terms of control effect.

An embodiment of the present application also provides a computer storage medium, the computer storage medium stores program instructions, and the program execution may include some or all of the steps of the movable platform control method in any of the above embodiments. .

FIG. 5 is a schematic structural diagram of a control device for a movable platform provided by an embodiment of the application. The movable platform of this embodiment includes a pan-tilt and a camera mounted on the pan-tilt. As shown in FIG. 5, the control device 500 of the movable platform of this embodiment includes: at least one processor 501, and the figure takes one processor 501 as an example.

The at least one processor 501 is configured to: obtain the current position of a target object in the shooting frame of the shooting device, wherein the target object is a tracking object of the movable platform; The current position in the shooting screen of the device and the desired position of the target in the shooting screen determine the target attitude difference of the pan/tilt head expressed in the target attitude representation type, and the target attitude representation type is a special orthogonal group matrix Or a quaternion; according to the target attitude difference, determine the Euler angular velocity of the pan/tilt rotation; according to the Euler angular velocity, control the rotation of the pan/tilt so that the target is photographed by the camera The position on the screen approaches the desired position.

Optionally, the at least one processor 501 is specifically configured to: determine the attitude control error corresponding to the target attitude representation type according to the target attitude difference; Euler angular velocity.

Optionally, the at least one processor 501 is specifically configured to: determine the angular velocity of the pan/tilt rotation according to the attitude control error; and determine the Euler angular velocity of the pan/tilt rotation according to the angular velocity.

Optionally, the attitude control error includes a control error in a pitch direction, a control error in a roll direction, and a control error in a yaw direction. The at least one processor 501 is specifically configured to: determine the angular velocity of the pitch direction of the pan/tilt rotation according to the product of the preset control coefficient and the control error in the pitch direction; The product of the control error of the direction determines the angular velocity of the roll direction of the pan/tilt head rotation; and the product of the preset control coefficient and the control error of the yaw direction determines the angular velocity of the yaw direction of the pan/tilt rotation.

Optionally, the at least one processor 501 is further configured to obtain the current posture of the target posture representation type of the gimbal before determining the Euler angular velocity of the gimbal rotation according to the posture control error .

When the at least one processor 501 determines the Euler angular velocity of the pan/tilt rotation according to the angular velocity, it is specifically configured to: determine the The Euler angular velocity of the pan/tilt rotation.

Optionally, the current posture of the target posture indication type of the pan/tilt includes: the current posture of the pitch direction of the target posture indication type, and the current posture of the roll direction of the target posture indication type.

Optionally, the angular velocity includes: angular velocity in the pitch direction, angular velocity in the roll direction, and angular velocity in the yaw direction. The at least one processor 501 is specifically configured to: determine the Euler angular velocity in the pitch direction according to the angular velocity in the pitch direction;

Determine the Euler angular velocity in the roll direction of the gimbal rotation according to the angular velocity in the roll direction and the current posture in the pitch direction of the target attitude; The attitude represents the current attitude of the type roll direction, and determines the Euler angular velocity of the yaw direction of the pan/tilt rotation.

Optionally, if the target pose representation type is a special orthogonal group matrix, the at least one processor 501 is specifically configured to: determine an antisymmetric matrix according to the special orthogonal group matrix used to represent the target pose difference Convert the antisymmetric matrix into a column vector; determine the attitude control error corresponding to the target attitude representation type according to the column vector.

Optionally, the at least one processor 501 is specifically configured to: determine each element in the column vector as the control error of each attitude direction in the attitude control error.

Optionally, the special orthogonal group matrix is a 3*3 matrix, and the column vector is a 3-dimensional column vector;

The at least one processor 501 is specifically configured to determine the three elements in the column vector as the control error in the pitch direction, the control error in the roll direction, and the control error in the yaw direction, respectively.

Optionally, if the target attitude representation type is a quaternion, the at least one processor 501 is specifically configured to: determine the cloud according to the imaginary part of the quaternion used to represent the target attitude difference The stage adjusts the rotation axis corresponding to the target attitude difference; according to the imaginary part and the real part of the quaternion used to represent the target attitude difference, determine the rotation angle corresponding to the PTZ to adjust the target attitude difference; according to The rotation axis and the rotation angle determine the attitude control error corresponding to the target attitude representation type.

Optionally, the rotation axis is a rotation axis represented by a 3-dimensional column vector. The at least one processor 501 is specifically configured to: obtain an intermediate 3-dimensional column vector according to the product of the rotation angle and the rotation axis represented by the 3-dimensional column vector; and determine the three elements in the intermediate 3-dimensional column vector respectively It is the control error of the pitch direction, the control error of the roll direction, and the control error of the yaw direction.

Optionally, the at least one processor 501 is specifically configured to: determine the target Euler angle error to be adjusted by the pan/tilt according to the current position and the expected position; according to the target Euler angle error, Determine the target attitude difference represented by the target attitude representation type that the pan/tilt should adjust.

Optionally, the target Euler angle error includes: Euler angle error in the pitch direction and Euler angle error in the yaw axis direction.

Optionally, if the target attitude representation type is a special orthogonal group matrix, the at least one processor 501 is specifically configured to: convert the Euler angle error in the pitch direction into the attitude of the special orthogonal group matrix in the pitch direction Difference; convert the Euler angle error of the yaw direction into the attitude difference of the yaw direction of the special orthogonal group matrix; according to the attitude difference of the special orthogonal group matrix in the pitch direction and the attitude difference of the special orthogonal group matrix in the yaw direction , Determine the target attitude difference represented by a special orthogonal group matrix that the pan/tilt should adjust.

Optionally, the at least one processor 501 is specifically configured to: obtain the product of the attitude difference in the pitch direction of the special orthogonal group matrix and the attitude difference in the yaw direction of the special orthogonal group matrix; and determine according to the product The target attitude difference represented by a special orthogonal group matrix that the pan/tilt should adjust.

Optionally, if the target attitude representation type is a quaternion, the at least one processor 501 is specifically configured to: convert the Euler angle error in the pitch direction into the attitude difference in the quaternion pitch direction; The Euler angle error of the heading direction is converted into the attitude difference of the quaternion yaw direction; according to the attitude difference of the quaternion pitch direction and the attitude difference of the quaternion yaw direction, determine the four that the gimbal should be adjusted. The target posture difference expressed by the element number.

Optionally, the at least one processor 501 is specifically configured to: obtain the product of the attitude difference in the quaternion pitch direction and the attitude difference in the quaternion yaw direction; and determine the pan/tilt head according to the product The target attitude difference expressed as a quaternion that should be adjusted.

Optionally, the at least one processor 501 is specifically configured to: determine a position difference between the current position and the desired position according to the current position and the desired position;

According to the position difference, the focal length of the photographing device, and the size of the image sensor of the photographing device, the target Euler angle error to be adjusted by the pan/tilt head is determined.

Optionally, the position difference includes the difference in the length direction of the shooting picture and the difference in the height direction of the shooting picture. The at least one processor 501 is specifically configured to determine the yaw direction of the pan/tilt head to be adjusted according to the difference in the length direction of the shooting image, the focal length of the shooting device, and the length dimension of the image sensor According to the difference in the width direction of the shooting picture, the focal length of the shooting device and the width of the image sensor, the Euler angle error in the pitch direction that the pan/tilt should be adjusted is determined.

Optionally, the control device 500 of the movable platform of this embodiment may further include a memory 502. The memory 502 is used to store program codes. The at least one processor 501 calls the program code, and when the program code is executed, it is used to implement the foregoing methods.

The control device of the movable platform of this embodiment can be used to implement the technical solutions of the foregoing method embodiments of the present application, and the implementation principles and technical effects are similar, and will not be repeated here.

6 is a schematic structural diagram of a movable platform provided by an embodiment of the application. As shown in FIG. 6, the movable platform 600 of this embodiment includes a pan/tilt 601, and a camera 602 mounted on the pan/tilt 601 And at least one processor 603. One processor 603 is shown as an example in the figure.

The at least one processor 603 is configured to: obtain the current position of the target in the shooting frame of the shooting device 602, where the target is the tracking object of the movable platform 600; according to the location of the target The current position in the shooting picture of the shooting device 602 and the desired position of the target in the shooting picture are determined, and the target attitude difference of the pan/tilt 601 expressed in the target attitude representation type is determined, and the target attitude representation type is special Orthogonal group matrix or quaternion; according to the target attitude difference, determine the Euler angular velocity of the pan/tilt 601 rotation; according to the Euler angular velocity, control the rotation of the pan/tilt 601 so that the target is in The position in the photographing frame of the photographing device 602 approaches the desired position.

Optionally, the at least one processor 603 is specifically configured to: determine the attitude control error corresponding to the target attitude representation type according to the target attitude difference; and determine the rotation of the pan/tilt head 601 according to the attitude control error The Euler angular velocity.

Optionally, the at least one processor 603 is specifically configured to: determine the angular velocity of the pan/tilt 601 rotation according to the attitude control error; and determine the Euler angular velocity of the pan/tilt 601 rotation according to the angular velocity.

Optionally, the attitude control error includes a control error in a pitch direction, a control error in a roll direction, and a control error in a yaw direction. The at least one processor 603 is specifically configured to: determine the angular velocity in the pitch direction of the pan/tilt 601 rotation according to the product of the preset control coefficient and the control error in the pitch direction; The product of the control error of the rolling direction determines the angular velocity of the rolling direction of the pan/tilt 601 rotation; the product of the preset control coefficient and the control error of the yaw direction determines the yaw direction of the pan/tilt 601 rotation The angular velocity.

Optionally, the at least one processor 603 is further configured to obtain the target attitude representation type of the pan/tilt 601 before determining the Euler angular velocity of the pan/tilt 601 rotation according to the attitude control error Current posture.

When the at least one processor 603 determines the Euler angular velocity at which the pan/tilt 601 rotates according to the angular velocity, it is specifically configured to: determine the current attitude according to the angular velocity and the target attitude representation type of the pan/tilt 601 The Euler angular velocity at which the pan/tilt 601 rotates.

Optionally, the current posture of the target posture indication type of the pan/tilt head 601 includes: the current posture of the pitch direction of the target posture indication type, and the current posture of the roll direction of the target posture indication type.

Optionally, the angular velocity includes: angular velocity in the pitch direction, angular velocity in the roll direction, and angular velocity in the yaw direction. The at least one processor 603 is specifically configured to: determine the Euler angular velocity in the pitch direction according to the angular velocity in the pitch direction; determine the rotation of the pan/tilt head 601 according to the angular velocity in the roll direction and the current attitude in the pitch direction of the target attitude indication type The Euler angular velocity in the roll direction of the yaw direction, the current attitude in the pitch direction of the target attitude representation type, and the current attitude in the roll direction of the target attitude representation type to determine the Euler angular velocity in the yaw direction of the pan/tilt 601 rotation. Angle speed.

Optionally, if the target pose representation type is a special orthogonal group matrix, the at least one processor 603 is specifically configured to: determine an antisymmetric matrix according to the special orthogonal group matrix used to represent the target pose difference Convert the antisymmetric matrix into a column vector; determine the attitude control error corresponding to the target attitude representation type according to the column vector.

Optionally, the at least one processor 603 is specifically configured to: determine each element in the column vector as the control error of each attitude direction in the attitude control error.

Optionally, the special orthogonal group matrix is a 3*3 matrix, and the column vector is a 3-dimensional column vector. The at least one processor 603 is specifically configured to determine the three elements in the column vector as the control error in the pitch direction, the control error in the roll direction, and the control error in the yaw direction, respectively.

Optionally, if the target attitude representation type is a quaternion, the at least one processor 501 is specifically configured to: determine the cloud according to the imaginary part of the quaternion used to represent the target attitude difference The stage 601 adjusts the rotation axis corresponding to the target attitude difference; according to the imaginary part and the real part in the quaternion used to represent the target attitude difference, it is determined that the pan/tilt 601 adjusts the rotation angle corresponding to the target attitude difference ; According to the rotation axis and the rotation angle, determine the attitude control error corresponding to the target attitude representation type.

Optionally, the rotation axis is a rotation axis represented by a 3-dimensional column vector. The at least one processor 603 is specifically configured to: obtain an intermediate 3-dimensional column vector according to the product of the rotation angle and the rotation axis represented by the 3-dimensional column vector; They are respectively determined as the control error in the pitch direction, the control error in the roll direction, and the control error in the yaw direction.

Optionally, the at least one processor 603 is specifically configured to: determine the target Euler angle error that the pan/tilt head 601 should adjust according to the current position and the expected position;

According to the target Euler angle error, the target attitude difference represented by the target attitude representation type that the pan/tilt 601 should be adjusted is determined.

Optionally, if the target attitude representation type is a special orthogonal group matrix, the at least one processor 603 is specifically configured to: convert the Euler angle error in the pitch direction into the attitude of the special orthogonal group matrix in the pitch direction Difference; convert the Euler angle error of the yaw direction into the attitude difference of the yaw direction of the special orthogonal group matrix; according to the attitude difference of the special orthogonal group matrix in the pitch direction and the attitude difference of the special orthogonal group matrix in the yaw direction , Determine the target attitude difference represented by the special orthogonal group matrix that the pan/tilt 601 should adjust.

Optionally, the at least one processor 603 is specifically configured to: obtain the product of the attitude difference in the pitch direction of the special orthogonal group matrix and the attitude difference in the yaw direction of the special orthogonal group matrix; and determine according to the product The PTZ 601 should adjust the target attitude difference represented by a special orthogonal group matrix.

Optionally, if the target attitude representation type is a quaternion, the at least one processor 603 is specifically configured to: convert the Euler angle error in the pitch direction into the attitude difference in the quaternion pitch direction; The Euler angle error of the heading direction is converted into the attitude difference of the quaternion yaw direction; according to the attitude difference of the quaternion pitch direction and the attitude difference of the quaternion yaw direction, it is determined that the gimbal 601 should be adjusted The target posture difference represented by the quaternion.

Optionally, the at least one processor 603 is specifically configured to: obtain the product of the attitude difference in the quaternion pitch direction and the attitude difference in the quaternion yaw direction; and determine the pan/tilt head according to the product 601 The target attitude difference expressed in quaternion that should be adjusted.

Optionally, the at least one processor 603 is specifically configured to: determine the position difference between the current position and the desired position according to the current position and the desired position; The focal length of the photographing device 602 and the size of the image sensor of the photographing device 602 determine the target Euler angle error that the pan/tilt 601 should adjust.

Optionally, the position difference includes the difference in the length direction of the shooting picture and the difference in the height direction of the shooting picture. The at least one processor 603 is specifically configured to determine the offset that the pan/tilt head 601 should adjust according to the difference in the length direction of the shooting picture, the focal length of the shooting device 602, and the length dimension of the image sensor. Euler angle error in the heading direction; according to the difference in the width direction of the shooting picture, the focal length of the camera 602, and the width size of the image sensor, determine the Euler in the pitch direction that the pan/tilt 601 should adjust Angle error.

Optionally, the movable platform 600 of this embodiment may further include a memory (not shown in the figure). The memory is used to store program codes. The at least one processor 603 calls the program code, and when the program code is executed, it is used to implement the foregoing methods.

Optionally, the movable platform 600 of this embodiment may further include a communication device (not shown in the figure), and the communication device is used to communicate with a control terminal of the movable platform.

The movable platform of this embodiment can be used to implement the technical solutions of the foregoing method embodiments of the present application, and its implementation principles and technical effects are similar, and will not be repeated here.

FIG. 7 is a schematic structural diagram of a movable platform provided by another embodiment of the application. As shown in FIG. The camera 703 on the PTZ 702.

The photographing device 703 is used to photograph an image. The control device 701 of the movable platform can control the rotation of the pan/tilt 702.

Wherein, the control device 701 of the movable platform may adopt the structure of the device embodiment shown in FIG. 5, and correspondingly, may execute the technical solution provided by any of the foregoing method embodiments, which will not be repeated here.

A person of ordinary skill in the art can understand that all or part of the steps in the above method embodiments can be implemented by a program instructing relevant hardware. The foregoing program can be stored in a computer readable storage medium. When the program is executed, it is executed. Including the steps of the foregoing method embodiment; and the foregoing storage medium includes: read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disks or optical disks, etc., which can store program codes Medium.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the application, not to limit them; although the application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or equivalently replace some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present application. Scope.

Claims

A method for controlling a movable platform, wherein the movable platform includes a pan-tilt and a photographing device mounted on the pan-tilt, and the method includes:

Acquiring the current position of the target in the shooting picture of the shooting device, wherein the target is a tracking object of the movable platform;

According to the current position of the target in the shooting screen of the shooting device and the desired position of the target in the shooting screen, determine the target attitude difference of the pan/tilt in the target attitude representation type, and the target attitude represents The type is a special orthogonal group matrix or quaternion;

Determine the Euler angular velocity of the rotation of the gimbal according to the target attitude difference;

According to the Euler angular velocity, the pan/tilt head is controlled to rotate so that the position of the target in the shooting frame of the shooting device approaches the desired position.
The method according to claim 1, wherein the determining the Euler angular velocity of the pan-tilt rotation according to the target attitude difference comprises:

Determine the attitude control error corresponding to the target attitude representation type according to the target attitude difference;

According to the attitude control error, the Euler angular velocity of the pan/tilt rotation is determined.
The method according to claim 2, wherein determining the Euler angular velocity of the pan/tilt rotation according to the attitude control error comprises:

Determine the angular velocity of the rotation of the pan/tilt according to the attitude control error;

According to the angular velocity, the Euler angular velocity of the rotation of the pan/tilt is determined.
The method according to claim 3, wherein the attitude control error includes a control error in a pitch direction, a control error in a roll direction, and a control error in a yaw direction, and the attitude control error is determined based on the attitude control error. State the angular velocity of the pan/tilt rotation, including:

Determine the angular velocity of the pitch direction of the pan/tilt rotation according to the product of the preset control coefficient and the control error in the pitch direction;

Determine the angular velocity in the roll direction of the pan/tilt rotation according to the product of the preset control coefficient and the control error in the roll direction;

The angular velocity of the yaw direction of the pan/tilt rotation is determined according to the product of the preset control coefficient and the control error of the yaw direction.
The method according to claim 3 or 4, wherein before determining the Euler angular velocity of the pan/tilt rotation according to the attitude control error, the method further comprises:

Acquiring the current posture of the target posture representation type of the pan/tilt;

According to the angular velocity, determining the Euler angular velocity of the pan/tilt rotation includes:

Determine the Euler angular velocity of the rotation of the pan/tilt head according to the angular velocity and the current attitude of the target attitude representation type of the pan/tilt head.
The method according to claim 5, wherein the current attitude of the target attitude representation type of the pan/tilt head includes: the current attitude of the pitch direction of the target attitude representation type and the current attitude of the roll direction of the target attitude representation type.
The method according to claim 6, wherein the angular velocity comprises: angular velocity in a pitch direction, angular velocity in a roll direction, and angular velocity in a yaw direction;

The determining the Euler angular velocity of the rotation of the gimbal according to the angular velocity and the current posture of the target posture representation type of the gimbal includes:

According to the angular velocity in the pitch direction, determine the Euler angular velocity in the pitch direction;

Determine the Euler angular velocity in the roll direction of the pan/tilt rotation according to the angular velocity in the roll direction and the current posture in the pitch direction of the target posture indication type;

Determine the Euler angular velocity of the yaw direction of the pan/tilt rotation according to the angular velocity of the yaw direction, the current attitude of the target attitude indicating the type of pitch direction, and the current attitude of the target attitude indicating the type of roll direction.
The method according to any one of claims 2-7, wherein if the target posture representation type is a special orthogonal group matrix, the target posture difference is determined based on the target posture representation type. Attitude control errors, including:

Determine the antisymmetric matrix according to the special orthogonal group matrix used to represent the target attitude difference;

Converting the antisymmetric matrix into a column vector;

According to the column vector, the attitude control error corresponding to the target attitude representation type is determined.
The method according to claim 8, wherein the determining the attitude control error corresponding to the target attitude representation type according to the column vector comprises:

Each element in the column vector is determined as the control error of each attitude direction in the attitude control error.
The method according to claim 9, wherein the special orthogonal group matrix is a 3*3 matrix, and the column vector is a 3-dimensional column vector;

Each element in the column vector is determined as the control error of each attitude direction in the attitude control error, including:

The three elements in the column vector are respectively determined as the control error in the pitch direction, the control error in the roll direction, and the control error in the yaw direction.
The method according to any one of claims 2-7, wherein if the target posture representation type is a quaternion, the posture control corresponding to the target posture representation type is determined according to the target posture difference Errors, including:

Determine, according to the imaginary part of the quaternion used to represent the target attitude difference, that the pan/tilt adjusts the rotation axis corresponding to the target attitude difference;

Determine, according to the imaginary part and the real part of the quaternion used to represent the target attitude difference, the rotation angle corresponding to the adjustment of the target attitude difference by the pan/tilt;

Determine the attitude control error corresponding to the target attitude representation type according to the rotation axis and the rotation angle.
The method according to claim 11, wherein the rotation axis is a rotation axis represented by a 3-dimensional column vector;

The determining the attitude control error corresponding to the target attitude representation type according to the rotation axis and the rotation angle includes:

Obtaining an intermediate 3-dimensional column vector according to the product of the rotation angle and the rotation axis represented by the 3-dimensional column vector;

The three elements in the intermediate 3-dimensional column vector are respectively determined as the control error in the pitch direction, the control error in the roll direction, and the control error in the yaw direction.
The method according to any one of claims 1-12, wherein the determination of the The target attitude difference expressed by the target attitude representation type that the gimbal should adjust, including:

Determine the target Euler angle error that the pan/tilt should adjust according to the current position and the expected position;

According to the target Euler angle error, determine the target attitude difference represented by the target attitude representation type that the pan/tilt should adjust.
The method according to claim 13, wherein the target Euler angle error comprises: Euler angle error in the pitch direction and Euler angle error in the yaw axis direction.
The method according to claim 14, wherein if the target pose representation type is a special orthogonal group matrix, the target pose is determined according to the target Euler angle error. The target attitude difference indicated by the indication type, including:

Convert the Euler angle error in the pitch direction into the attitude difference in the pitch direction of the special orthogonal group matrix;

Convert the Euler angle error of the yaw direction into the attitude difference of the yaw direction of the special orthogonal group matrix;

According to the attitude difference in the pitch direction of the special orthogonal group matrix and the attitude difference in the yaw direction of the special orthogonal group matrix, the target attitude difference represented by the special orthogonal group matrix to be adjusted by the pan/tilt is determined.
The method according to claim 15, characterized in that, according to the attitude difference in the pitch direction of the special orthogonal group matrix and the attitude difference in the yaw direction of the special orthogonal group matrix, it is determined that the pan/tilt head should be adjusted to the special right direction. The target posture difference represented by the intersection group matrix includes:

Obtaining the product of the attitude difference in the pitch direction of the special orthogonal group matrix and the attitude difference in the yaw direction of the special orthogonal group matrix;

According to the product, determine the target attitude difference represented by a special orthogonal group matrix that the pan/tilt should adjust.
The method according to claim 14, wherein if the target attitude representation type is a quaternion, the target attitude representation type that the pan/tilt should be adjusted is determined according to the target Euler angle error The poor target attitude includes:

Convert the Euler angle error in the pitch direction into the attitude difference in the quaternion pitch direction;

Convert the Euler angle error of the yaw direction into the attitude difference of the quaternion yaw direction;

According to the attitude difference in the quaternion pitch direction and the attitude difference in the quaternion yaw direction, determine the target attitude difference represented by the quaternion to be adjusted by the pan/tilt head.
The method according to claim 17, characterized in that, according to the attitude difference in the quaternion pitch direction and the attitude difference in the quaternion yaw direction, it is determined that the pan/tilt head should be adjusted in quaternion. The poor target attitude includes:

Obtaining the product of the attitude difference in the quaternion pitch direction and the attitude difference in the quaternion yaw direction;

According to the product, determine the target attitude difference represented by a quaternion that the pan/tilt should adjust.
The method according to any one of claims 13-18, wherein the determining the target Euler angle error that the pan/tilt head should adjust according to the current position and the desired position comprises:

Determine the position difference between the current position and the desired position according to the current position and the desired position;

According to the position difference, the focal length of the photographing device, and the size of the image sensor of the photographing device, the target Euler angle error to be adjusted by the pan/tilt head is determined.
The method according to claim 19, wherein the position difference comprises a difference in the length direction of the shooting picture and a difference in the height direction of the shooting picture;

According to the position difference, the focal length of the photographing device, and the size of the image sensor in the photographing device, determining the target Euler angle error of the pan/tilt head to be adjusted includes:

Determine the Euler angle error of the yaw direction to be adjusted by the pan/tilt head according to the difference in the length direction of the shooting image, the focal length of the shooting device, and the length dimension of the image sensor;

According to the difference in the width direction of the photographed image, the focal length of the photographing device, and the width dimension of the image sensor, the Euler angle error of the pitch direction to be adjusted by the pan/tilt is determined.
A control device for a movable platform, characterized in that the movable platform includes a pan/tilt and a photographing device mounted on the pan/tilt, and the control device includes a memory and at least one processor;

The memory is used to store program code;

The at least one processor calls the program code, and when the program code is executed, is used to:

Acquiring the current position of the target in the shooting picture of the shooting device, wherein the target is a tracking object of the movable platform;

According to the current position of the target in the shooting screen of the shooting device and the desired position of the target in the shooting screen, determine the target attitude difference of the pan/tilt in the target attitude representation type, and the target attitude represents The type is a special orthogonal group matrix or quaternion;

Determine the Euler angular velocity of the rotation of the gimbal according to the target attitude difference;

According to the Euler angular velocity, the pan/tilt head is controlled to rotate so that the position of the target in the shooting frame of the shooting device approaches the desired position.
The control device according to claim 21, wherein the at least one processor is specifically configured to:

Determine the attitude control error corresponding to the target attitude representation type according to the target attitude difference;

According to the attitude control error, the Euler angular velocity of the pan/tilt rotation is determined.
The control device according to claim 22, wherein the at least one processor is specifically configured to:

Determine the angular velocity of the rotation of the pan/tilt according to the attitude control error;

According to the angular velocity, the Euler angular velocity of the rotation of the pan/tilt is determined.
The control device according to claim 23, wherein the attitude control error includes a control error in a pitch direction, a control error in a roll direction, and a control error in a yaw direction, and the at least one processor is specifically configured to :

Determine the angular velocity of the pitch direction of the pan/tilt rotation according to the product of the preset control coefficient and the control error in the pitch direction;

Determine the angular velocity in the roll direction of the pan/tilt rotation according to the product of the preset control coefficient and the control error in the roll direction;

The angular velocity of the yaw direction of the pan/tilt rotation is determined according to the product of the preset control coefficient and the control error of the yaw direction.
The control device according to claim 23 or 24, wherein the at least one processor is further configured to obtain the cloud before determining the Euler angular velocity of the pan/tilt rotation according to the attitude control error The target posture of the station represents the current posture of the type;

The at least one processor is specifically configured to determine the Euler angular velocity of the pan/tilt rotation according to the angular velocity:

Determine the Euler angular velocity of the rotation of the pan/tilt head according to the angular velocity and the current attitude of the target attitude representation type of the pan/tilt head.
The control device according to claim 25, wherein the current attitude of the target attitude representation type of the pan/tilt head includes: the current attitude of the pitch direction of the target attitude representation type, and the current attitude of the roll direction of the target attitude representation type. .
The control device according to claim 26, wherein the angular velocity comprises: the angular velocity in the pitch direction, the angular velocity in the roll direction, and the angular velocity in the yaw direction;

The at least one processor is specifically used for:

According to the angular velocity in the pitch direction, determine the Euler angular velocity in the pitch direction;

Determine the Euler angular velocity in the roll direction of the pan/tilt rotation according to the angular velocity in the roll direction and the current posture in the pitch direction of the target posture indication type;

Determine the Euler angular velocity of the yaw direction of the pan/tilt rotation according to the angular velocity of the yaw direction, the current attitude of the target attitude indicating the type of pitch direction, and the current attitude of the target attitude indicating the type of roll direction.
The control device according to any one of claims 22-27, wherein if the target pose representation type is a special orthogonal group matrix, the at least one processor is specifically configured to:

Determine the antisymmetric matrix according to the special orthogonal group matrix used to represent the target attitude difference;

Converting the antisymmetric matrix into a column vector;

According to the column vector, the attitude control error corresponding to the target attitude representation type is determined.
The control device according to claim 28, wherein the at least one processor is specifically configured to:

Each element in the column vector is determined as the control error of each attitude direction in the attitude control error.
The control device according to claim 29, wherein the special orthogonal group matrix is a 3*3 matrix, and the column vector is a 3-dimensional column vector;

The at least one processor is specifically used for:

The three elements in the column vector are respectively determined as the control error in the pitch direction, the control error in the roll direction, and the control error in the yaw direction.
The control device according to any one of claims 22-27, wherein if the target posture representation type is a quaternion, the at least one processor is specifically configured to:

Determine, according to the imaginary part of the quaternion used to represent the target attitude difference, that the pan/tilt adjusts the rotation axis corresponding to the target attitude difference;

Determine, according to the imaginary part and the real part of the quaternion used to represent the target attitude difference, the rotation angle corresponding to the adjustment of the target attitude difference by the pan/tilt;

Determine the attitude control error corresponding to the target attitude representation type according to the rotation axis and the rotation angle.
The control device according to claim 31, wherein the rotation axis is a rotation axis represented by a 3-dimensional column vector;

The at least one processor is specifically used for:

Obtaining an intermediate 3-dimensional column vector according to the product of the rotation angle and the rotation axis represented by the 3-dimensional column vector;

The three elements in the intermediate 3-dimensional column vector are respectively determined as the control error in the pitch direction, the control error in the roll direction, and the control error in the yaw direction.
The control device according to any one of claims 21-32, wherein the at least one processor is specifically configured to:

Determine the target Euler angle error that the pan/tilt should adjust according to the current position and the expected position;

According to the target Euler angle error, determine the target attitude difference represented by the target attitude representation type that the pan/tilt should adjust.
The control device according to claim 33, wherein the target Euler angle error comprises: Euler angle error in the pitch direction and Euler angle error in the yaw axis direction.
The control device according to claim 34, wherein if the target pose representation type is a special orthogonal group matrix, the at least one processor is specifically configured to:

Convert the Euler angle error in the pitch direction into the attitude difference in the pitch direction of the special orthogonal group matrix;

Convert the Euler angle error of the yaw direction into the attitude difference of the yaw direction of the special orthogonal group matrix;

According to the attitude difference in the pitch direction of the special orthogonal group matrix and the attitude difference in the yaw direction of the special orthogonal group matrix, the target attitude difference represented by the special orthogonal group matrix to be adjusted by the pan/tilt is determined.
The control device according to claim 35, wherein the at least one processor is specifically configured to:

Obtaining the product of the attitude difference in the pitch direction of the special orthogonal group matrix and the attitude difference in the yaw direction of the special orthogonal group matrix;

According to the product, determine the target attitude difference represented by a special orthogonal group matrix that the pan/tilt should adjust.
The control device according to claim 34, wherein if the target posture representation type is a quaternion, the at least one processor is specifically configured to:

Convert the Euler angle error in the pitch direction into the attitude difference in the quaternion pitch direction;

Convert the Euler angle error of the yaw direction into the attitude difference of the quaternion yaw direction;

According to the attitude difference in the quaternion pitch direction and the attitude difference in the quaternion yaw direction, determine the target attitude difference represented by the quaternion to be adjusted by the pan/tilt head.
The control device according to claim 37, wherein the at least one processor is specifically configured to:

Obtaining the product of the attitude difference in the quaternion pitch direction and the attitude difference in the quaternion yaw direction;

According to the product, determine the target attitude difference represented by a quaternion that the pan/tilt should adjust.
The control device according to any one of claims 33-38, wherein the at least one processor is specifically configured to:

Determine the position difference between the current position and the expected position according to the current position and the expected position;

According to the position difference, the focal length of the photographing device, and the size of the image sensor of the photographing device, the target Euler angle error to be adjusted by the pan/tilt head is determined.
The control device according to claim 39, wherein the position difference comprises a difference in the length direction of the shooting picture and a difference in the height direction of the shooting picture;

The at least one processor is specifically used for:

Determine the Euler angle error of the yaw direction to be adjusted by the pan/tilt head according to the difference in the length direction of the shooting image, the focal length of the shooting device, and the length dimension of the image sensor;

According to the difference in the width direction of the photographed image, the focal length of the photographing device, and the width dimension of the image sensor, the Euler angle error of the pitch direction to be adjusted by the pan/tilt is determined.
A movable platform, characterized in that the movable platform comprises the control device of the movable platform according to any one of claims 21-40, a pan-tilt, and a photographing device mounted on the pan-tilt.
A computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium; when the computer program is executed, the portable platform according to any one of claims 1-20 is realized的控制方法。 Control methods.