WO2022040932A1 - 云台的控制方法、云台及存储介质 - Google Patents

云台的控制方法、云台及存储介质 Download PDF

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Publication number
WO2022040932A1
WO2022040932A1 PCT/CN2020/111136 CN2020111136W WO2022040932A1 WO 2022040932 A1 WO2022040932 A1 WO 2022040932A1 CN 2020111136 W CN2020111136 W CN 2020111136W WO 2022040932 A1 WO2022040932 A1 WO 2022040932A1
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WO
WIPO (PCT)
Prior art keywords
gimbal
load
sensor
information
ptz
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PCT/CN2020/111136
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English (en)
French (fr)
Inventor
李兵
吴迪
吴金远
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深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2020/111136 priority Critical patent/WO2022040932A1/zh
Priority to CN202080007178.2A priority patent/CN113316748A/zh
Publication of WO2022040932A1 publication Critical patent/WO2022040932A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/10—Control of position or direction without using feedback

Definitions

  • the present application relates to the field of PTZ technology, and in particular, to a PTZ control method, a PTZ and a storage medium.
  • the mobile phone clip ie, the load fixing device
  • the gimbal is detachably connected to the gimbal through a magnetic attraction structure. This will easily lead to changes in the installation angle of the phone clip and the gimbal each time, or the installation angle between the phone clip and the phone changes. After the gimbal is erected, although the gimbal is positive, the picture taken by the mobile phone will be crooked.
  • the existing solutions are to ensure that the relative position of the gimbal and the mobile phone is fixed, and the accuracy of the relative position fixed is ensured through the structure.
  • the structure is difficult to ensure repeatability.
  • the present application provides a control method of a PTZ, a PTZ and a storage medium.
  • the present application provides a method for controlling a PTZ, including:
  • the motor movement of the gimbal is controlled.
  • the present application provides a pan-tilt head, the pan-tilt head comprising: a memory and a processor;
  • the memory is used to store computer programs
  • the processor is configured to execute the computer program and implement the following steps when executing the computer program:
  • the motor movement of the gimbal is controlled.
  • the present application provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the processor realizes the control of the pan/tilt as described above. method.
  • the embodiments of the present application provide a control method of a pan-tilt head, a pan-tilt head, and a storage medium, for acquiring data information of a first sensor of a load, and determining the current attitude information of the load according to the data information of the first sensor;
  • the current attitude information of the gimbal, the load and the load fixing device of the gimbal are movably connected; according to the current attitude information of the load and the current attitude information of the gimbal, the load and the gimbal are determined.
  • the attitude difference between the load and the gimbal controls the motor movement of the gimbal according to the attitude difference between the load and the gimbal.
  • the load and the load fixing device of the gimbal can be movably connected, and the relative position of the load and the gimbal may change, because the current attitude information of the load can be determined according to the acquired data information of the first sensor of the load, according to the current attitude information of the load and
  • the obtained current attitude information of the gimbal can determine the attitude difference between the load and the gimbal, and can determine whether the relative position of the load and the gimbal has changed, and control the motor movement of the gimbal (or adjust the gimbal accordingly). It can provide technical support for ensuring the relative position stability of the load and the gimbal.
  • the attitude difference between the load and the gimbal exceeds a certain range (for example, the range visible to the user or the range unacceptable to the user)
  • the captured picture will exceed the user's expectation (for example, the user wants the human eye to see that the picture is positive, and the result is The human eye sees that the picture is crooked)
  • the motor movement of the gimbal can be adjusted to keep the attitude difference between the load and the gimbal within a certain range, so as to ensure that the captured picture meets the user's expectations (for example, the user wants to The human eye sees the picture as positive, and as a result, the human eye sees the picture as positive).
  • FIG. 1 is a schematic flowchart of an embodiment of a control method for a PTZ of the present application
  • FIG. 2 is a schematic diagram of an embodiment of a mobile phone clip fixing a mobile phone in the control method of the PTZ of the present application;
  • Fig. 3 is the side view of Fig. 2;
  • Fig. 4 is the rear view of Fig. 2;
  • FIG. 5 is a schematic diagram of an embodiment of the mobile phone sticking and fixing the mobile phone in the control method of the PTZ of the present application;
  • Fig. 6 is the side view of Fig. 5;
  • Fig. 7 is the rear view of Fig. 5;
  • FIG. 8 is a schematic flowchart of another embodiment of a control method for a PTZ of the present application.
  • FIG. 9 is a schematic structural diagram of an embodiment of a pan/tilt according to the present application.
  • the mobile phone clip that is, the load fixing device
  • the gimbal is detachably connected, resulting in the change of the installation angle of the mobile phone clip and the gimbal each time, or the change of the installation angle between the mobile phone clip and the mobile phone, then Although the gimbal is positive, the picture taken by the mobile phone will be crooked.
  • the existing solutions all use the structure to ensure the relative position fixation and the relative position fixation accuracy of the gimbal and the mobile phone, but the structure is difficult to ensure the repeatability.
  • the embodiments of the present application provide a control method of a pan-tilt head, a pan-tilt head, and a storage medium, for acquiring data information of a first sensor of a load, and determining the current attitude information of the load according to the data information of the first sensor;
  • the current attitude information of the gimbal, the load and the load fixing device of the gimbal are movably connected; according to the current attitude information of the load and the current attitude information of the gimbal, the load and the gimbal are determined.
  • the attitude difference between the load and the gimbal controls the motor movement of the gimbal according to the attitude difference between the load and the gimbal.
  • the load and the load fixing device of the gimbal can be movably connected, and the relative position of the load and the gimbal may change, because the current attitude information of the load can be determined according to the acquired data information of the first sensor of the load, according to the current attitude information of the load and
  • the obtained current attitude information of the gimbal can determine the attitude difference between the load and the gimbal, and can determine whether the relative position of the load and the gimbal has changed, and control the motor movement of the gimbal (or adjust the gimbal accordingly). It can provide technical support for ensuring the relative position stability of the load and the gimbal.
  • the attitude difference between the load and the gimbal exceeds a certain range (for example, the range visible to the user or the range unacceptable to the user)
  • the captured picture will exceed the user's expectation (for example, the user wants the human eye to see that the picture is positive, and the result is The human eye sees that the picture is crooked)
  • the motor movement of the gimbal can be adjusted to keep the attitude difference between the load and the gimbal within a certain range, so as to ensure that the captured picture meets the user's expectations (for example, the user wants to The human eye sees the picture as positive, and as a result, the human eye sees the picture as positive).
  • FIG. 1 is a schematic flowchart of an embodiment of a control method for a pan/tilt head of the present application. The method includes:
  • Step S101 Acquire data information of a first sensor of the load, and determine current attitude information of the load according to the data information of the first sensor.
  • Step S102 Obtain the current attitude information of the gimbal, and the load is movably connected to the load fixing device of the gimbal. It should be noted that there is no obvious sequence relationship between step S101 and step S102.
  • Step S103 Determine the attitude difference between the load and the gimbal according to the current attitude information of the load and the current attitude information of the gimbal.
  • Step S104 Control the motor movement of the gimbal according to the attitude difference between the load and the gimbal.
  • the load can be the action object of the gimbal.
  • the load includes the photographing device.
  • a relatively common and widely used photographing device may be a mobile terminal with a camera, such as various mobile phones, tablet computers, and the like.
  • the first sensor may be a sensor configured in the load through which data measured can give information on the attitude of the load.
  • the first sensor includes an accelerometer or an inertial measurement unit.
  • An accelerometer or inertial measurement unit is also common standard for loads at no additional cost.
  • the current attitude information of the load may be obtained by acquiring the data information of the first sensor of the load and determined by the data information of the first sensor of the load. If the load is not re-fixed, the current attitude information of the load is generally relatively stable, and the determined current attitude information of the load can be saved. If the load is fixed again, the data information of the first sensor of the load can be obtained again, and the current attitude information of the load can be determined by the data information of the first sensor of the load.
  • the gimbal itself is equipped with sensors to measure its own attitude in real time. Obtaining the current attitude information of the gimbal can usually easily determine the current attitude information of the gimbal through the measurement data of the sensors equipped with the gimbal.
  • the load is movably connected to the load fixing device of the gimbal, when the user fixes the load in the load fixing device of the gimbal, it is difficult to ensure the position between the load and the gimbal every time. relatively fixed. Therefore, it is difficult to ensure that the current attitude of the load is the target attitude that the gimbal wants to control.
  • the current attitude information of the load is determined according to the acquired data information of the first sensor of the load, and the current attitude information of the gimbal is obtained. According to the current attitude information of the load and the current attitude information of the gimbal, the relationship between the load and the gimbal can be determined. According to the attitude difference between the load and the gimbal, the motor movement of the gimbal is controlled.
  • the attitude difference between the load and the gimbal is within the predetermined range, the current attitude of the gimbal can be maintained, and the movement of the motor does not need to be adjusted; If the attitude difference exceeds the predetermined range, the movement of the motor can be adjusted to keep the attitude difference between the load and the pan/tilt within the predetermined range.
  • the load fixing device includes a mobile phone clip or a mobile phone sticker.
  • FIG. 1 is a schematic diagram of a mobile phone clip fixing a mobile phone
  • Figure 3 is a side view of Figure 2
  • Figure 4 is a rear view of Figure 2
  • the button 13 on the side 12 of the mobile phone 10 is shorter than the length AA of the contact between the mobile phone clip 20 and the upper surface 11 of the mobile phone 10, the length BB of the contact between the mobile phone clip 20 and the side surface 12 of the mobile phone 10 is shortened, and the contact area between the mobile phone clip 20 and the mobile phone 10 is not enough.
  • the method of the embodiment of the present application can be used to determine the current posture information of the mobile phone according to the acquired data information of the first sensor of the mobile phone, obtain the current posture information of the PTZ, and obtain the current posture information of the mobile phone according to the current posture information of the mobile phone.
  • the attitude information and the current attitude information of the gimbal can determine the attitude difference between the mobile phone and the gimbal. According to the attitude difference between the mobile phone and the gimbal, it can be determined that the mobile phone is crooked. If the gimbal is currently In the horizontal state, the current attitude of the gimbal can be used as the target attitude of the mobile phone, and the motor movement of the gimbal can be adjusted to make the attitude of the mobile phone reach the target attitude of the mobile phone after the movement; if the gimbal is not currently in a horizontal state, the attitude information of the gimbal is obtained Before, the gimbal needs to be adjusted to a level state.
  • FIG. 5 is a schematic diagram of a mobile phone sticker fixing a mobile phone
  • FIG. 6 is a side view of FIG. 5
  • FIG. 7 is a rear view of FIG.
  • the current attitude information of the mobile phone is determined according to the acquired data information of the first sensor of the mobile phone, and the current attitude of the gimbal is obtained.
  • the attitude difference between the mobile phone and the gimbal can be determined, and according to the attitude difference between the mobile phone and the gimbal, it can be determined that the mobile phone is If it is crooked, the gimbal is currently in a horizontal state.
  • the load fixing device in order to facilitate carrying and storage, is detachably connected to the pan/tilt head. That is, when you need to use it, connect the load fixture to the pan/tilt, and when you don't need it, remove the load fixture from the pan/tilt.
  • the load fixture is connected to the head via a magnetic structure.
  • the current attitude information of the load is determined according to the acquired data information of the first sensor of the load, and the current attitude information of the gimbal is obtained. According to the current attitude information of the load and the current attitude information of the gimbal, the relationship between the load and the gimbal can be determined. According to the attitude difference between the load and the gimbal, the motor movement of the gimbal is controlled. In this way, technical support can be provided for ensuring the relative position stability of the load and the gimbal.
  • the data information of the first sensor of the load is obtained, and the current attitude information of the load is determined according to the data information of the first sensor;
  • the load fixing device can be movably connected; according to the current attitude information of the load and the current attitude information of the gimbal, determine the attitude difference between the load and the gimbal; according to the relationship between the load and the gimbal; The attitude difference between the two controls the motor movement of the gimbal.
  • the load and the load fixing device of the gimbal can be movably connected, and the relative position of the load and the gimbal may change, because the current attitude information of the load can be determined according to the acquired data information of the first sensor of the load, according to the current attitude information of the load and
  • the obtained current attitude information of the gimbal can determine the attitude difference between the load and the gimbal, and can determine whether the relative position of the load and the gimbal has changed, and control the motor movement of the gimbal (or adjust the gimbal accordingly). It can provide technical support for ensuring the relative position stability of the load and the gimbal.
  • the attitude difference between the load and the gimbal exceeds a certain range (for example, the range visible to the user or the range unacceptable to the user)
  • the captured picture will exceed the user's expectation (for example, the user wants the human eye to see that the picture is positive, and the result is The human eye sees that the picture is crooked)
  • the motor movement of the gimbal can be adjusted to keep the attitude difference between the load and the gimbal within a certain range, so as to ensure that the captured picture meets the user's expectations (for example, the user wants to The human eye sees the picture as positive, and as a result, the human eye sees the picture as positive).
  • the gimbal In practical applications, it is necessary to keep the captured image positive, and users have more extensive needs for this kind of shooting. At this time, the gimbal is currently in a horizontal state. Ideally, the attitude of the load is exactly the same as that of the gimbal. The actual situation is There is an attitude difference between the load and the gimbal. When the attitude difference between the load and the gimbal is acceptable within the preset range (less than or equal to the preset range), it is not necessary to adjust the movement of the motor. When the attitude difference between the load and the pan/tilt is larger than the preset range, which is unacceptable, the movement of the motor needs to be adjusted.
  • step S104 the controlling the motor movement of the gimbal according to the attitude difference between the load and the gimbal may include: if the gimbal currently reaches a horizontal state, the load and the gimbal are in a horizontal state.
  • the attitude difference between the heads is greater than the preset range, then the current attitude information of the head is used as the target attitude of the load, and the motor movement of the head is controlled so that the attitude of the load after the movement reaches the desired attitude. describe the target posture.
  • the current attitude of the gimbal is the target attitude of the load.
  • the attitude difference between the heads is greater than the preset range, then the current attitude information of the head is used as the target attitude of the load, and the motor movement of the head is controlled so that the attitude of the load after the movement reaches the desired attitude. describe the target posture. In this way, the load can be kept relatively horizontal.
  • step S102 before acquiring the current attitude information of the pan/tilt, the method may further include: controlling the pan/tilt to reach a horizontal state.
  • the method of acquiring the data information of the first sensor of the payload may be a wireless manner or a wired manner, that is, the acquiring the data information of the first sensor of the payload may include: through a wireless link A road or wired link obtains the data information of the first sensor of the load.
  • the wireless link includes a Bluetooth link or a Wi-Fi link.
  • Bluetooth and WIFI are basically standard configurations, and the data information of the first sensor of the load can be directly obtained by using Bluetooth and WIFI, which is convenient and quick without adding extra cost.
  • the wired link includes a universal serial bus (USB) link
  • USB universal serial bus
  • USB is also a standard configuration
  • the data information of the first sensor of the load is directly obtained by using the USB, which is convenient and quick without increasing the extra cost.
  • step S102 the acquiring the current attitude information of the pan/tilt head may include: sub-step S1021 and sub-step S1022, as shown in FIG. 8 .
  • Sub-step S1021 Acquire data information of the second sensor of the PTZ.
  • Sub-step S1022 Determine the current attitude information of the PTZ according to the data information of the second sensor of the PTZ.
  • the second sensor may be a sensor configured in the gimbal, through which data measured can give information on the attitude of the load.
  • the second sensor typically includes an inertial measurement unit.
  • An inertial measurement unit is also standard on the gimbal at no additional cost.
  • FIG. 9 is a schematic structural diagram of an embodiment of a pan-tilt head of the present application. It should be noted that the pan-tilt head of this embodiment can execute the steps in the above-mentioned control method of the pan-tilt head. For a detailed description of the relevant content, please refer to the above-mentioned The related content of the control method of the PTZ will not be repeated here.
  • the pan/tilt 100 includes: a memory 1 and a processor 2; the processor 2 and the memory 1 are connected through a bus.
  • the processor 2 may be a microcontroller unit, a central processing unit or a digital signal processor, and so on.
  • the memory 1 may be a Flash chip, a read-only memory, a magnetic disk, an optical disk, a U disk, a mobile hard disk, and the like.
  • the memory 1 is used to store a computer program; the processor 2 is used to execute the computer program and implement the following steps when executing the computer program:
  • the processor executes the computer program, the following steps are implemented: if the gimbal is currently in a horizontal state, and the attitude difference between the load and the gimbal is greater than a preset range, then the The current attitude information of the gimbal is used as the target attitude of the load, and the motor of the gimbal is controlled to move so that the attitude of the loaded load reaches the target attitude.
  • the first sensor includes an accelerometer or an inertial measurement unit.
  • the processor when executing the computer program, implements the following steps: acquiring data information of the first sensor of the payload through a wireless link or a wired link.
  • the wireless link includes a Bluetooth link or a Wi-Fi link.
  • the wired link includes a universal serial bus (USB) link.
  • USB universal serial bus
  • the processor executes the computer program, the following steps are implemented: acquiring data information of the second sensor of the pan-tilt; determining the current posture of the pan-tilt according to the data information of the second sensor of the pan-tilt information.
  • the second sensor includes an inertial measurement unit.
  • the payload includes a mobile terminal.
  • the load fixing device is detachably connected with the pan/tilt.
  • the load fixing device includes a mobile phone clip or a mobile phone sticker.
  • the present application also provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor enables the processor to control the pan/tilt according to any one of the above method.
  • the relevant content please refer to the above-mentioned relevant content section, which will not be repeated here.
  • the computer-readable storage medium may be an internal storage unit of the above-mentioned PTZ, such as a hard disk or a memory.
  • the computer-readable storage medium may also be an external storage device, such as an equipped plug-in hard disk, smart memory card, secure digital card, flash memory card, and the like.

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Abstract

一种云台的控制方法、云台及存储介质，该方法包括：获取荷载的第一传感器的数据信息，根据所述第一传感器的数据信息，确定所述荷载当前的姿态信息(S101)；获取云台当前的姿态信息，所述荷载与所述云台的荷载固定装置可活动连接(S102)；根据所述荷载当前的姿态信息与所述云台当前的姿态信息，确定所述荷载与所述云台之间的姿态差(S103)；根据所述荷载与所述云台之间的姿态差，控制云台的电机运动(S104)。

Description

云台的控制方法、云台及存储介质 技术领域
本申请涉及云台技术领域，尤其涉及一种云台的控制方法、云台及存储介质。
背景技术
现有的手持云台，手机夹(即荷载固定装置)通过磁吸结构和云台可拆卸连接。这容易导致手机夹和云台每次的安装角度发生变化，或者手机夹和手机之间的安装角度发生变化，那么云台立起来之后，虽然云台是正的，但是手机拍摄的画面却会是歪的。
为了保证云台上的设备拍摄画面不歪，现有的方案都是保证云台和手机的相对位置固定，通过结构来保证相对位置固定的精度。但是，对于手机夹可拆卸的云台，结构很难保证重复精度。
发明内容
基于此，本申请提供一种云台的控制方法、云台及存储介质。
第一方面，本申请提供一种云台的控制方法，包括：
获取荷载的第一传感器的数据信息，根据所述第一传感器的数据信息，确定所述荷载当前的姿态信息；
获取云台当前的姿态信息，所述荷载与所述云台的荷载固定装置可活动连接；
根据所述荷载当前的姿态信息与所述云台当前的姿态信息，确定所述荷载与所述云台之间的姿态差；
根据所述荷载与所述云台之间的姿态差，控制云台的电机运动。
第二方面，本申请提供一种云台，所述云台包括：存储器和处理器；
所述存储器用于存储计算机程序；
所述处理器用于执行所述计算机程序并在执行所述计算机程序时，实现如下步骤：
获取荷载的第一传感器的数据信息，根据所述第一传感器的数据信息，确定所述荷载当前的姿态信息；
获取云台当前的姿态信息，所述荷载与所述云台的荷载固定装置可活动连接；
根据所述荷载当前的姿态信息与所述云台当前的姿态信息，确定所述荷载与所述云台之间的姿态差；
根据所述荷载与所述云台之间的姿态差，控制云台的电机运动。
第三方面，本申请提供一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时使所述处理器实现如上所述的云台的控制方法。
本申请实施例提供了一种云台的控制方法、云台及存储介质，获取荷载的第一传感器的数据信息，根据所述第一传感器的数据信息，确定所述荷载当前的姿态信息；获取云台当前的姿态信息，所述荷载与所述云台的荷载固定装置可活动连接；根据所述荷载当前的姿态信息与所述云台当前的姿态信息，确定所述荷载与所述云台之间的姿态差；根据所述荷载与所述云台之间的姿态差，控制云台的电机运动。荷载与云台的荷载固定装置可活动连接，荷载与云台的相对位置可能发生变化，由于根据获取的荷载的第一传感器的数据信息能够确定荷载当前的姿态信息，根据荷载当前的姿态信息与获取的云台当前的姿态信息，能够确定荷载与所述云台之间的姿态差，能够确定荷载与云台的相对位置是否发生变化，并据此控制云台的电机运动(或调整云台的电机运动，或不调整云台的电机运动)，能够为保证荷载与云台的相对位置稳定提供技术支持。当荷载与所述云台之间的姿态差超出一定范围(例如：用户可见的范围或用户不可接受的范围)，拍摄的画面会超出用户的预期(例如用户希望人眼看到画面是正的，结果人眼看到画面是歪的)，此时能够调整云台的电机运动，使荷载与所述云台之间的姿态差保持在一定范围之内，保证拍摄的画面满足用户的 预期(例如用户希望人眼看到画面是正的，结果人眼看到画面也是正的)。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本申请。
附图说明
为了更清楚地说明本申请实施例技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本申请云台的控制方法一实施例的流程示意图；
图2是本申请云台的控制方法中手机夹固定手机一实施例的示意图；
图3是图2的侧视图；
图4是图2的后视图；
图5是本申请云台的控制方法中手机贴固定手机一实施例的示意图；
图6是图5的侧视图；
图7是图5的后视图；
图8是本申请云台的控制方法另一实施例的流程示意图；
图9是本申请云台一实施例的结构示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
附图中所示的流程图仅是示例说明，不是必须包括所有的内容和操作/步骤，也不是必须按所描述的顺序执行。例如，有的操作/步骤还可以分解、组合或部分合并，因此实际执行的顺序有可能根据实际情况改变。
现有的手持云台，手机夹(即荷载固定装置)和云台可拆卸连接，导致手机夹和云台每次的安装角度发生变化，或者手机夹和手机之间的安装角度发生 变化，那么虽然云台是正的，但是手机拍摄的画面却会是歪的。现有的方案都是通过结构保证云台和手机的相对位置固定和相对位置固定的精度，但是结构很难保证重复精度。
本申请实施例提供了一种云台的控制方法、云台及存储介质，获取荷载的第一传感器的数据信息，根据所述第一传感器的数据信息，确定所述荷载当前的姿态信息；获取云台当前的姿态信息，所述荷载与所述云台的荷载固定装置可活动连接；根据所述荷载当前的姿态信息与所述云台当前的姿态信息，确定所述荷载与所述云台之间的姿态差；根据所述荷载与所述云台之间的姿态差，控制云台的电机运动。荷载与云台的荷载固定装置可活动连接，荷载与云台的相对位置可能发生变化，由于根据获取的荷载的第一传感器的数据信息能够确定荷载当前的姿态信息，根据荷载当前的姿态信息与获取的云台当前的姿态信息，能够确定荷载与所述云台之间的姿态差，能够确定荷载与云台的相对位置是否发生变化，并据此控制云台的电机运动(或调整云台的电机运动，或不调整云台的电机运动)，能够为保证荷载与云台的相对位置稳定提供技术支持。当荷载与所述云台之间的姿态差超出一定范围(例如：用户可见的范围或用户不可接受的范围)，拍摄的画面会超出用户的预期(例如用户希望人眼看到画面是正的，结果人眼看到画面是歪的)，此时能够调整云台的电机运动，使荷载与所述云台之间的姿态差保持在一定范围之内，保证拍摄的画面满足用户的预期(例如用户希望人眼看到画面是正的，结果人眼看到画面也是正的)。
下面结合附图，对本申请的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
参见图1，图1是本申请云台的控制方法一实施例的流程示意图，所述方法包括：
步骤S101：获取荷载的第一传感器的数据信息，根据所述第一传感器的数据信息，确定所述荷载当前的姿态信息。
步骤S102：获取云台当前的姿态信息，所述荷载与所述云台的荷载固定装置可活动连接。需要说明的是，步骤S101和步骤S102没有明显的先后顺序关系。
步骤S103：根据所述荷载当前的姿态信息与所述云台当前的姿态信息， 确定所述荷载与所述云台之间的姿态差。
步骤S104：根据所述荷载与所述云台之间的姿态差，控制云台的电机运动。
荷载可以是云台的作用对象，在较多的应用场景下，荷载包括拍摄装置。对于手持云台来说，较为常见的、应用较为广泛的拍摄装置可以是带有摄像头的移动终端，例如各种各样的手机、平板电脑，等等。
第一传感器可以是配置在荷载中、通过其测量的数据能够给出荷载姿态信息的传感器。所述第一传感器包括加速度计或惯性测量单元。加速度计或惯性测量单元也是荷载常见的标准配置，不会增加额外成本。
本实施例中，荷载当前的姿态信息可以是获取荷载的第一传感器的数据信息，通过荷载的第一传感器的数据信息来确定得到的。如果荷载没有重新固定，荷载当前的姿态信息一般是比较稳定的，可以将确定的荷载当前的姿态信息保存起来。如果荷载重新固定，可以重新获取荷载的第一传感器的数据信息，通过荷载的第一传感器的数据信息确定荷载当前的姿态信息。
云台本身配备有传感器以实时测量自身的姿态，获取云台当前的姿态信息通常可以方便地通过云台配备的传感器的测量数据来确定云台当前的姿态信息。
在本实施例中，由于荷载与所述云台的荷载固定装置可活动连接，当用户将荷载固定在云台的荷载固定装置中时，难以保证每次能够使荷载与云台之间的位置相对固定。因此难以保证荷载当前的姿态就是云台所要控制而达到的目标姿态。根据获取的荷载的第一传感器的数据信息确定所述荷载当前的姿态信息，获取云台当前的姿态信息，根据荷载当前的姿态信息以及云台当前的姿态信息，可以确定荷载与所述云台之间的姿态差，根据荷载与所述云台之间的姿态差，控制云台的电机运动，例如：用户希望拍摄某个固定角度的图像，此时要保证荷载与所述云台之间的姿态差在预定范围内，如果荷载与所述云台之间的姿态差在预定范围内，则可以保持云台当前的姿态，可以不用调整电机的运动；如果荷载与所述云台之间的姿态差超出预定范围，则可以调整电机的运动，使荷载与所述云台之间的姿态差保持在预定范围内。
其中，所述荷载固定装置包括手机夹或手机贴。
荷载以手机为例，荷载固定装置以手机夹为例说明。参见图2至图4，图2是手机夹固定手机的示意图，图3是图2的侧视图，图4是图2的后视图，在一应用场景中，由于结构的限制，为了避开手机10侧面12的按键13，相比较手机夹20与手机10上表面11接触的长度AA，手机夹20与手机10侧面12接触的长度BB变短，手机夹20和手机10之间的接触面积不够，这容易导致手机夹20没法将手机10夹太紧，容易导致手机10无法夹正。此时即使云台是正的，但是手机是歪的，手机拍摄的画面也是歪的。如果用户希望拍出正的画面，可以采用本申请实施例的方法，根据获取的手机的第一传感器的数据信息确定所述手机当前的姿态信息，获取云台当前的姿态信息，根据手机当前的姿态信息以及云台当前的姿态信息，可以确定手机与所述云台之间的姿态差，根据手机与所述云台之间的姿态差，即可确定手机是歪的，如果云台当前是水平状态，可以将云台当前的姿态作为手机的目标姿态，调整云台的电机运动，使运动后手机的姿态达到手机的目标姿态；如果云台当前不是水平状态，在获取云台的姿态信息之前，需要将云台调整到水平状态。
荷载以手机为例，荷载固定装置以手机贴为例说明。参见图5至图7，图5是手机贴固定手机的示意图，图6是图5的侧视图，图7是图5的后视图，由于手机贴30与手机10可拆卸连接，用户将手机10安装到手机贴30上时，难以保证每次能够使手机10和手机贴30的安装角度保持不变，这也容易导致此时即使云台是正的，但是手机是歪的，拍摄出来的画面也是歪的。如果用户希望拍出正的画面，可以采用本申请实施例的方法，如果云台当前是水平状态，根据获取的手机的第一传感器的数据信息确定所述手机当前的姿态信息，获取云台当前的姿态信息，根据手机当前的姿态信息以及云台当前的姿态信息，可以确定手机与所述云台之间的姿态差，根据手机与所述云台之间的姿态差，即可确定手机是歪的，云台当前是水平状态，可以将云台当前的姿态作为手机的目标姿态，调整云台的电机运动，使运动后手机的姿态达到手机的目标姿态；如果云台当前不是水平状态，在获取云台的姿态信息之前，需要将云台调整到水平状态。
在一实施例中，为了方便携带和收纳，所述荷载固定装置与所述云台可拆卸连接。即需要使用的时候，将荷载固定装置连接到云台上，当不需要使用的 时候，将荷载固定装置从云台上取下。例如，荷载固定装置通过磁吸结构和云台相连。
由于荷载固定装置与所述云台可拆卸连接，用户将荷载固定装置安装到所述云台上时，难以保证每次能够使荷载固定装置和云台的安装角度保持不变，这也容易导致此时即使云台是正的，但是荷载是歪的。因此难以保证荷载当前的姿态就是云台所要控制而达到的目标姿态。根据获取的荷载的第一传感器的数据信息确定所述荷载当前的姿态信息，获取云台当前的姿态信息，根据荷载当前的姿态信息以及云台当前的姿态信息，可以确定荷载与所述云台之间的姿态差，根据荷载与所述云台之间的姿态差，控制云台的电机运动。通过这种方式，能够为保证荷载与云台的相对位置稳定提供技术支持。
本申请实施例获取荷载的第一传感器的数据信息，根据所述第一传感器的数据信息，确定所述荷载当前的姿态信息；获取云台当前的姿态信息，所述荷载与所述云台的荷载固定装置可活动连接；根据所述荷载当前的姿态信息与所述云台当前的姿态信息，确定所述荷载与所述云台之间的姿态差；根据所述荷载与所述云台之间的姿态差，控制云台的电机运动。荷载与云台的荷载固定装置可活动连接，荷载与云台的相对位置可能发生变化，由于根据获取的荷载的第一传感器的数据信息能够确定荷载当前的姿态信息，根据荷载当前的姿态信息与获取的云台当前的姿态信息，能够确定荷载与所述云台之间的姿态差，能够确定荷载与云台的相对位置是否发生变化，并据此控制云台的电机运动(或调整云台的电机运动，或不调整云台的电机运动)，能够为保证荷载与云台的相对位置稳定提供技术支持。当荷载与所述云台之间的姿态差超出一定范围(例如：用户可见的范围或用户不可接受的范围)，拍摄的画面会超出用户的预期(例如用户希望人眼看到画面是正的，结果人眼看到画面是歪的)，此时能够调整云台的电机运动，使荷载与所述云台之间的姿态差保持在一定范围之内，保证拍摄的画面满足用户的预期(例如用户希望人眼看到画面是正的，结果人眼看到画面也是正的)。
在实际应用中，保持拍摄的图像是正的，用户对这种拍摄需求更为广泛，此时云台当前达到水平状态，理想情况下荷载的姿态与所述云台的姿态完全一样，实际情况是荷载与所述云台之间存在姿态差，当荷载与所述云台之间的姿 态差在预设范围内(小于或等于预设范围)可以接受时，可以不需要调整电机的运动，当荷载与所述云台之间的姿态差大于预设范围不能接受时，则需要调整电机的运动。
在一实施例中，步骤S104，所述根据所述荷载与所述云台之间的姿态差，控制云台的电机运动，可以包括：若所述云台当前达到水平状态，所述荷载与所述云台之间的姿态差大于预设范围，则将所述云台当前的姿态信息作为所述荷载的目标姿态，控制所述云台的电机运动，使运动后的荷载的姿态达到所述目标姿态。
本实施例中，如果云台当前达到水平状态(即正位，如果拍摄装置也在水平状态，此时可以拍摄出正的画面)，云台当前的姿态即为荷载的目标姿态，如果荷载与所述云台之间的姿态差大于预设范围，则将所述云台当前的姿态信息作为所述荷载的目标姿态，控制所述云台的电机运动，使运动后的荷载的姿态达到所述目标姿态。通过这种方式，能够使荷载保持在相对水平状态。
如果当前云台不在水平状态，则步骤S102中，所述获取云台当前的姿态信息之前，还可以包括：控制所述云台达到水平状态。
其中，步骤S101中，获取荷载的第一传感器的数据信息的方式可以是无线的方式也可以是有线的方式，即所述获取所述荷载的第一传感器的数据信息，可以包括：通过无线链路或有线链路获取所述荷载的第一传感器的数据信息。
其中，所述无线链路包括蓝牙链路或无线保真WIFI链路。蓝牙和WIFI基本是标准配置，直接利用蓝牙和WIFI获取荷载的第一传感器的数据信息，不会增加额外的成本，方便快捷。
其中，所述有线链路包括通用串行总线USB链路，USB也是标准配置，直接利用USB获取荷载的第一传感器的数据信息，不会增加额外的成本，方便快捷。
在一实施例中，步骤S102中，所述获取云台当前的姿态信息，可以包括：子步骤S1021和子步骤S1022，如图8所示。
子步骤S1021：获取云台的第二传感器的数据信息。
子步骤S1022：根据所述云台的第二传感器的数据信息，确定所述云台当 前的姿态信息。
第二传感器可以是配置在云台中、通过其测量的数据能够给出荷载姿态信息的传感器。在云台中，所述第二传感器常见的包括惯性测量单元。惯性测量单元也是云台的标准配置，不会增加额外成本。
参见图9，图9是本申请云台一实施例的结构示意图，需要说明的是，本实施例的云台能够执行上述云台的控制方法中的步骤，相关内容的详细说明，请参见上述云台的控制方法的相关内容，在此不再赘叙。
所述云台100包括：存储器1和处理器2；处理器2与存储器1通过总线连接。
其中，处理器2可以是微控制单元、中央处理单元或数字信号处理器，等等。
其中，存储器1可以是Flash芯片、只读存储器、磁盘、光盘、U盘或者移动硬盘等等。
所述存储器1用于存储计算机程序；所述处理器2用于执行所述计算机程序并在执行所述计算机程序时，实现如下步骤：
获取荷载的第一传感器的数据信息，根据所述第一传感器的数据信息，确定所述荷载当前的姿态信息；获取云台当前的姿态信息，所述荷载与所述云台的荷载固定装置可活动连接；根据所述荷载当前的姿态信息与所述云台当前的姿态信息，确定所述荷载与所述云台之间的姿态差；根据所述荷载与所述云台之间的姿态差，控制云台的电机运动。
其中，所述处理器在执行所述计算机程序时，实现如下步骤：若所述云台当前达到水平状态，所述荷载与所述云台之间的姿态差大于预设范围，则将所述云台当前的姿态信息作为所述荷载的目标姿态，控制所述云台的电机运动，使运动后的荷载的姿态达到所述目标姿态。
其中，所述处理器在执行所述计算机程序时，实现如下步骤：控制所述云台达到水平状态。
其中，所述第一传感器包括加速度计或惯性测量单元。
其中，所述处理器在执行所述计算机程序时，实现如下步骤：通过无线链路或有线链路获取所述荷载的第一传感器的数据信息。
其中，所述无线链路包括蓝牙链路或无线保真WIFI链路。
其中，所述有线链路包括通用串行总线USB链路。
其中，所述处理器在执行所述计算机程序时，实现如下步骤：获取云台的第二传感器的数据信息；根据所述云台的第二传感器的数据信息，确定所述云台当前的姿态信息。
其中，所述第二传感器包括惯性测量单元。
其中，所述荷载包括移动终端。
其中，所述荷载固定装置与所述云台可拆卸连接。
其中，所述荷载固定装置包括手机夹或手机贴。
本申请还提供一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时使所述处理器实现如上任一项所述的云台的控制方法。相关内容的详细说明请参见上述相关内容部分，在此不再赘叙。
其中，该计算机可读存储介质可以是上述云台的内部存储单元，例如硬盘或内存。该计算机可读存储介质也可以是外部存储设备，例如配备的插接式硬盘、智能存储卡、安全数字卡、闪存卡，等等。
应当理解，在本申请说明书中所使用的术语仅仅是出于描述特定实施例的目的而并不意在限制本申请。
还应当理解，在本申请说明书和所附权利要求书中使用的术语“和/或”是指相关联列出的项中的一个或多个的任何组合以及所有可能组合，并且包括这些组合。
以上所述，仅为本申请的具体实施例，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到各种等效的修改或替换，这些修改或替换都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以权利要求的保护范围为准。

Claims (25)

  1. 一种云台的控制方法，其特征在于，包括：
    获取荷载的第一传感器的数据信息，根据所述第一传感器的数据信息，确定所述荷载当前的姿态信息；
    获取云台当前的姿态信息，所述荷载与所述云台的荷载固定装置可活动连接；
    根据所述荷载当前的姿态信息与所述云台当前的姿态信息，确定所述荷载与所述云台之间的姿态差；
    根据所述荷载与所述云台之间的姿态差，控制云台的电机运动。
  2. 根据权利要求1所述的方法，其特征在于，所述根据所述荷载与所述云台之间的姿态差，控制云台的电机运动，包括：
    若所述云台当前达到水平状态，所述荷载与所述云台之间的姿态差大于预设范围，则将所述云台当前的姿态信息作为所述荷载的目标姿态，控制所述云台的电机运动，使运动后的荷载的姿态达到所述目标姿态。
  3. 根据权利要求2所述的方法，其特征在于，所述获取云台当前的姿态信息之前，包括：
    控制所述云台达到水平状态。
  4. 根据权利要求1所述的方法，其特征在于，所述第一传感器包括加速度计或惯性测量单元。
  5. 根据权利要求1所述的方法，其特征在于，所述获取荷载的第一传感器的数据信息，包括：
    通过无线链路或有线链路获取所述荷载的第一传感器的数据信息。
  6. 根据权利要求5所述的方法，其特征在于，所述无线链路包括蓝牙链路或无线保真WIFI链路。
  7. 根据权利要求5所述的方法，其特征在于，所述有线链路包括通用串行总线USB链路。
  8. 根据权利要求1所述的方法，其特征在于，所述获取云台当前的姿态信息，包括：
    获取云台的第二传感器的数据信息；
    根据所述云台的第二传感器的数据信息，确定所述云台当前的姿态信息。
  9. 根据权利要求8所述的方法，其特征在于，所述第二传感器包括惯性测量单元。
  10. 根据权利要求1所述的方法，其特征在于，所述荷载包括移动终端。
  11. 根据权利要求1所述的方法，其特征在于，所述荷载固定装置与所述云台可拆卸连接。
  12. 根据权利要求1所述的方法，其特征在于，所述荷载固定装置包括手机夹或手机贴。
  13. 一种云台，其特征在于，所述云台包括：存储器和处理器；
    所述存储器用于存储计算机程序；
    所述处理器用于执行所述计算机程序并在执行所述计算机程序时，实现如下步骤：
    获取荷载的第一传感器的数据信息，根据所述第一传感器的数据信息，确定所述荷载当前的姿态信息；
    获取云台当前的姿态信息，所述荷载与所述云台的荷载固定装置可活动连接；
    根据所述荷载当前的姿态信息与所述云台当前的姿态信息，确定所述荷载与所述云台之间的姿态差；
    根据所述荷载与所述云台之间的姿态差，控制云台的电机运动。
  14. 根据权利要求13所述的云台，其特征在于，所述处理器在执行所述计算机程序时，实现如下步骤：
    若所述云台当前达到水平状态，所述荷载与所述云台之间的姿态差大于预设范围，则将所述云台当前的姿态信息作为所述荷载的目标姿态，控制所述云台的电机运动，使运动后的荷载的姿态达到所述目标姿态。
  15. 根据权利要求14所述的云台，其特征在于，所述处理器在执行所述计算机程序时，实现如下步骤：
    控制所述云台达到水平状态。
  16. 根据权利要求13所述的云台，其特征在于，所述第一传感器包括加 速度计或惯性测量单元。
  17. 根据权利要求13所述的云台，其特征在于，所述处理器在执行所述计算机程序时，实现如下步骤：
    通过无线链路或有线链路获取所述荷载的第一传感器的数据信息。
  18. 根据权利要求17所述的云台，其特征在于，所述无线链路包括蓝牙链路或无线保真WIFI链路。
  19. 根据权利要求17所述的云台，其特征在于，所述有线链路包括通用串行总线USB链路。
  20. 根据权利要求13所述的云台，其特征在于，所述处理器在执行所述计算机程序时，实现如下步骤：
    获取云台的第二传感器的数据信息；
    根据所述云台的第二传感器的数据信息，确定所述云台当前的姿态信息。
  21. 根据权利要求20所述的云台，其特征在于，所述第二传感器包括惯性测量单元。
  22. 根据权利要求13所述的云台，其特征在于，所述荷载包括移动终端。
  23. 根据权利要求13所述的云台，其特征在于，所述荷载固定装置与所述云台可拆卸连接。
  24. 根据权利要求13所述的云台，其特征在于，所述荷载固定装置包括手机夹或手机贴。
  25. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时使所述处理器实现如权利要求1-12任一项所述的云台的控制方法。
PCT/CN2020/111136 2020-08-25 2020-08-25 云台的控制方法、云台及存储介质 WO2022040932A1 (zh)

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CN110431507A (zh) * 2018-05-31 2019-11-08 深圳市大疆创新科技有限公司 一种云台控制方法及云台
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