WO2022051916A1

WO2022051916A1 - Gimbal control method and apparatus, gimbal, and storage medium

Info

Publication number: WO2022051916A1
Application number: PCT/CN2020/114108
Authority: WO
Inventors: 楼致远; 林荣华
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-09-08
Filing date: 2020-09-08
Publication date: 2022-03-17
Also published as: CN113272756A

Abstract

A gimbal control method and apparatus, a gimbal, and a storage medium. The method comprises: acquiring a reference attitude of a plurality of trajectory points of a gimbal input by a user, the reference attitude of a plurality of trajectory points being used for defining a motion trajectory of the gimbal, and the plurality of trajectory points comprising a connection trajectory point at which the stay time of the gimbal is zero (S101); planning the speed of motion of the gimbal along a target trajectory segment in the motion trajectory so that the target trajectory segment is continuous in terms of speed at the connection trajectory point, the target trajectory segment comprising the connection trajectory point (S102); and controlling, according to the planned speed, the gimbal to move along the motion trajectory (S103).

Description

PTZ control method, device, PTZ and storage medium

technical field

The present application relates to the field of PTZ technology, and in particular, to a PTZ control method, device, PTZ and storage medium.

Background technique

Track recording and track delay are the common shooting functions of the handheld gimbal. The track information is preset, and then the gimbal automatically shoots.

At present, the trajectory recording and trajectory delay, the trajectory generated by pre-planning mostly adopts the method of linear interpolation or the method of T-shaped or S-shaped curve. The linear interpolation method only guarantees the continuity of the position on the trajectory segment, the velocity and acceleration on the trajectory segment are discontinuous, and there is a sudden change in the velocity and acceleration, resulting in an unsmooth trajectory. Smooth and smooth. The method of T-shaped or S-shaped curve ensures the continuity of position, velocity and acceleration on each trajectory segment, but does not consider the velocity of the two adjacent trajectory segments before and after the joining trajectory point with a dwell time of 0 at the joining trajectory point And the continuity of acceleration, the actual picture is not ideal.

SUMMARY OF THE INVENTION

Based on this, the present application provides a pan-tilt control method, device, pan-tilt and storage medium.

In a first aspect, the present application provides a PTZ control method, the method includes:

Obtain the reference poses of multiple track points of the gimbal entered by the user, the reference poses of the multiple track points are used to define the motion track of the gimbal, and the multiple track points include the one where the dwell time of the gimbal is zero. connecting track points;

planning the speed of the movement of the pan/tilt head along the target trajectory segment in the motion trajectory, so that the speed of the target trajectory segment at the connection trajectory point is continuous, and the target trajectory segment includes the connection trajectory point;

According to the planned speed, the PTZ is controlled to move along the movement track.

In a second aspect, the present application provides a pan-tilt control device, the device is communicatively connected to the pan-tilt, and the device includes: 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:

In a third aspect, the present application provides a pan-tilt head, the pan-tilt head comprising the above-mentioned pan-tilt-tilt control device.

In a fourth aspect, the present application 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 implements the above-mentioned PTZ control method.

Embodiments of the present application provide a pan-tilt control method, device, pan-tilt, and storage medium, for obtaining reference poses of multiple track points of the pan-tilt input by a user, and the reference poses of the multiple track points are used to define the The movement track of the gimbal, the multiple track points include the connecting track points where the dwell time of the gimbal is zero; The speed at the connection trajectory point is continuous, and the target trajectory segment includes the connection trajectory point; according to the planned speed, the gimbal is controlled to move along the motion trajectory. Since the target trajectory segment includes the connecting trajectory points where the dwell time of the gimbal is zero, the speed at which the gimbal moves along the target trajectory segment in the motion trajectory is planned, so that the target trajectory segment at the connecting trajectory point is The speed is continuous. According to the planned speed, the gimbal is controlled to move along the motion trajectory. In this way, the speed of the gimbal at the connecting trajectory point of the target trajectory segment can be made continuous, so that the gimbal starts from the The entire movement between the start track point and the end track point is relatively smooth and smooth, and there will be no drastic changes and vibrations, which can make the actual picture captured by the camera on the gimbal more smooth and smooth, without drastic changes. and vibration, the picture taken is ideal.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not limiting of the present application.

Description of drawings

In order to explain the technical solutions of the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. For those of ordinary skill, other drawings can also be obtained from these drawings without any creative effort.

1 is a schematic flowchart of an embodiment of a pan-tilt control method of the present application;

2 is a schematic flowchart of another embodiment of a pan-tilt control method of the present application;

3 is a schematic flowchart of another embodiment of a pan-tilt control method of the present application;

4 is a schematic flowchart of another embodiment of a pan-tilt control method of the present application;

5 is a schematic flowchart of another embodiment of a pan-tilt control method of the present application;

6 is a schematic structural diagram of an embodiment of a PTZ and related devices in the PTZ control method of the present application;

FIG. 7 is a schematic diagram of a control process of an embodiment of the pan/tilt head and related device of FIG. 6;

8 is a schematic diagram of an interface for setting track information in the track delay in the PTZ control method of the present application;

9 is a schematic diagram of an interface for setting track information in track recording by the PTZ control method of the present application;

10 is a schematic diagram of an embodiment of a trajectory curve and trajectory planning in the PTZ control method of the present application;

FIG. 11 is a schematic structural diagram of an embodiment of a pan-tilt control device of the present application.

detailed description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

The flowcharts shown in the figures are for illustration only, and do not necessarily include all contents and operations/steps, nor do they have to be performed in the order described. For example, some operations/steps can also be decomposed, combined or partially combined, so the actual execution order may be changed according to the actual situation.

At present, the trajectory recording and trajectory delay, the trajectory generated by pre-planning mostly adopts the method of linear interpolation or the method of T-shaped or S-shaped curve. The linear interpolation method only ensures the continuity of the position on the trajectory segment. There are sudden changes in the speed and acceleration on the trajectory segment, the trajectory is not smooth, and the picture changes and vibrates violently during the shooting process, and the captured picture is not smooth and smooth. The T-shaped or S-shaped curve method does not consider the continuity of the velocity and acceleration of the two adjacent track segments before and after the connecting track point where the dwell time is 0, and the actual picture is not ideal.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and features in the embodiments may be combined with each other without conflict.

Referring to FIG. 1, FIG. 1 is a schematic flowchart of an embodiment of a pan-tilt control method of the present application. The method includes:

Step S101: Obtain the reference postures of multiple trajectory points of the gimbal input by the user, the reference postures of the multiple trajectory points are used to define the motion trajectory of the gimbal, and the multiple trajectory points include the dwell time of the gimbal The zero-joint trajectory point.

The trajectory point can be a specified position input by the user and required to be reached by the gimbal; the reference attitude of the trajectory point can be a designated posture input by the user and required to reach the specified position. The reference attitudes of the multiple track points can be used to define the motion track of the gimbal, and the relevant information of the track points input by the user may also include: the number of track points, the arrival sequence of the multiple track points, the position of the gimbal in the adjacent Time to move between two track points, how long the gimbal stays at each track point, etc. Wherein, the plurality of track points include the connecting track points where the dwell time of the gimbal is zero, that is, the gimbal does not stay at the connecting track points.

The gimbal is usually driven by multiple motors, corresponding to multiple directions. The motor in each direction drives the shaft arm connected to it to rotate. It is said that the position and attitude of the gimbal can be jointly determined by the motion trajectories of these multiple motors.

The manner of acquiring the reference poses of the multiple track points of the gimbal entered by the user may be that the user directly inputs the reference poses of the multiple track points of the gimbal on the gimbal. Since the input function of the input device on the PTZ is limited, it is not very convenient for the user to use. In one embodiment, the reference attitudes of multiple track points of the PTZ can be input through the mobile terminal, and then sent to the PTZ control device, that is, the steps S101, the acquiring the reference pose of the multiple track points of the pan/tilt head input by the user may include: receiving the reference pose of the multiple track points of the pan/tilt head input by the user and sent by the mobile terminal.

Step S102: Plan the speed of the movement of the pan/tilt head along the target trajectory segment in the motion trajectory, so that the speed of the target trajectory segment at the connection trajectory point is continuous, and the target trajectory segment includes the connection trajectory point .

Step S103: Control the pan/tilt to move along the motion track according to the planned speed.

Continuous can mean that no sudden change or jump occurs (the sudden change or jump can mean that there is no buffer in the middle, suddenly becomes larger, or suddenly becomes smaller, or suddenly becomes zero; the sudden change or jump in the speed of the movement will make the movement of the gimbal not stable. smooth, non-smooth), continuous includes no change or gradual change (gradually larger or gradually smaller). Velocity continuity can mean that the velocity does not undergo sudden changes or jumps, does not change, or changes gradually.

The velocity continuous at the engagement trajectory point may mean that the velocity at the engagement trajectory point does not abruptly or jumps, does not change, or undergoes a gradual change. The continuous speed can make the movement of the gimbal smooth and smooth.

There are many specific implementation modes of step S102, including but not limited to: the adjacent trajectory segments before and after the connecting trajectory point can be planned separately, but the starting speed of the following trajectory segment can be equal to the ending speed of the previous trajectory segment, or only the following trajectory. The starting speed of the segment can be slightly lower than the ending speed of the preceding track segment, or only the starting speed of the following track segment can be slightly greater than the ending speed of the preceding track segment; another example: the adjacent track segments before and after the connecting track point can be combined Planning together, that is, the adjacent trajectory segments before and after the connecting trajectory point can be planned as a whole; and so on.

For example: the number of trajectory points of the gimbal is 5, the arrival order of the trajectory points is trajectory point 1, trajectory point 2, trajectory point 3, trajectory point 4 and trajectory point 5, and the trajectory segments are respectively: trajectory point 1 and trajectory point 5. Track segment between track point 2, track segment between track point 2 and track point 3, track segment between track point 3 and track point 4, track segment between track point 4 and track point 5. If the track point 3 is the connecting track point, the dwell time of the gimbal at the track point 3 is zero. The trajectory segment between the trajectory point 2 and the trajectory point 3 and the trajectory segment between the trajectory point 3 and the trajectory point 4 are all target trajectory segments. Alternatively, you can plan the trajectory segment between trajectory point 2 and trajectory point 3, and the trajectory segment between trajectory point 3 and trajectory point 4, respectively. When planning the speed, pay attention to the connection of the two trajectory segments at trajectory point 3. Make the velocity at trajectory point 3 continuous. Alternatively, the trajectory segment between the trajectory point 2 and the trajectory point 3, and the trajectory segment between the trajectory point 3 and the trajectory point 4 can be planned as a whole, even if the trajectory point 2, the trajectory point 3 and the trajectory point 4 jointly define the motion trajectory , take the trajectory point 2, the trajectory point 3 and the trajectory point 4 as a continuous trajectory segment, and the velocity at the trajectory segment 3 is continuous at this time.

When the user specifies the track point that the gimbal needs to reach, the gimbal usually needs to stay at the track point. Therefore, under normal circumstances, the gimbal moves in the track segment between every two adjacent track points. The movement of the gimbal A trajectory is usually composed of multiple such trajectory segments. For the connection track points that the user specifies that the gimbal needs to reach and does not need the gimbal to stay, since the gimbal does not need to stay at the connecting track point, the speed of the gimbal moving along the target track segment in the motion track is planned, so that the The speed of the target trajectory segment at the connecting trajectory point is continuous. In this way, it can be ensured that when the PTZ is controlled to move along the motion trajectory according to the planned speed, the PTZ will move at the target trajectory segment. The speed at the connecting track points is continuous, so that the entire motion track of the gimbal from the starting track point to the ending track point is relatively smooth and smooth, without violent changes and vibrations, which can make the shooting device on the gimbal relatively smooth. The actual picture is relatively smooth and smooth, without drastic changes and vibrations, and the picture taken is ideal.

This embodiment of the present application acquires the reference poses of multiple track points of the gimbal entered by the user, the reference poses of the multiple track points are used to define the motion track of the gimbal, and the multiple track points include the stop of the gimbal The time-zero connection trajectory point; the speed of the pan/tilt moving along the target trajectory segment in the motion trajectory is planned, so that the speed of the target trajectory segment at the connection trajectory point is continuous, and the target trajectory segment includes The connecting track point; according to the planned speed, the gimbal is controlled to move along the motion track. Since the target trajectory segment includes the connecting trajectory points where the dwell time of the gimbal is zero, the speed at which the gimbal moves along the target trajectory segment in the motion trajectory is planned, so that the target trajectory segment at the connecting trajectory point is The speed is continuous. According to the planned speed, the gimbal is controlled to move along the motion trajectory. In this way, the speed of the gimbal at the connecting trajectory point of the target trajectory segment can be made continuous, so that the gimbal starts from the The entire movement between the start track point and the end track point is relatively smooth and smooth, and there will be no drastic changes and vibrations, which can make the actual picture captured by the camera on the gimbal more smooth and smooth, without drastic changes. And vibration, the picture taken is ideal.

The details of step S102 will be described in detail below.

In one embodiment, at the connecting track point, in addition to the continuous speed, the acceleration is also continuous, that is, in step S102, the speed of the gimbal moving along the target track segment in the motion track is planned, so that the target track segment is moved. The speed at the connecting track point is continuous, which may include: planning the speed of the pan/tilt head moving along the target track segment in the motion track, so that the speed and acceleration of the target track segment at the connecting track point are are continuous.

Since the acceleration is also continuous at the connecting trajectory point, this can further ensure the continuity of the velocity at the connecting trajectory point, thus further ensuring that the speed of the gimbal at the connecting trajectory point of the target trajectory segment is continuous, and the motion trajectory of the target trajectory segment is It is smooth and smooth, and there will be no drastic changes and vibrations, so that the actual picture captured by the shooting device on the gimbal can be relatively smooth and smooth, without drastic changes and vibrations, and the captured picture is ideal.

Among them, when the adjacent trajectory segments before and after the connection trajectory point are combined together for planning, the trajectory function can be used to plan the velocity, which can easily and conveniently realize that both the velocity and the acceleration at the connection trajectory point are continuous.

In an embodiment, the motion trajectory of the gimbal is taken as a whole, and multiple trajectory segments are taken as a whole, and the multiple trajectory segments are connected to each other, and the trajectory function is used to plan the speed, that is, step S102, the described pairing of the gimbal is performed. Planning along the speed of the target trajectory segment in the motion trajectory so that the speed and acceleration of the target trajectory segment at the connecting trajectory point are both continuous, including: moving the pan/tilt along the motion trajectory through a trajectory function The velocity and acceleration of the target trajectory segment at the connecting trajectory point are both continuous.

Since the motion trajectory of the gimbal is taken as a whole, the multiple trajectory segments in the motion trajectory are taken as a whole, and the multiple trajectory segments are connected to each other. When the acceleration is continuous, it can also make the speed change of the gimbal in the entire movement trajectory very smooth and smooth, so that the speed of the gimbal in the entire movement trajectory will not change drastically and vibrate.

The trajectory function is a preset function that can at least make the velocity and acceleration of the target trajectory segment continuous. In one embodiment, the trajectory function may also be a trajectory function matched with computing power.

The trajectory parameters of the trajectory function are unknown, and the trajectory parameters of these trajectory segments can be obtained according to the relevant information of multiple trajectory points input by the user.

In one embodiment, the trajectory function includes a polynomial function of more than three times, such as a cubic function, a quartic function, a quintic function, and the like. The form of polynomial function is relatively simple, and the amount of calculation is moderate, and the polynomial function of more than three times can ensure that the motion parameters are continuous.

In one embodiment, the trajectory function includes a cubic function. Using a cubic function can reduce the amount of calculation on the one hand, and on the other hand, it does not require much torque of the motor, which can reduce the cost of the motor.

In one embodiment, the trajectory function includes a Bezier curve function.

Referring to FIG. 2, in an embodiment, in step S102, the speed of the pan/tilt head moving along the motion track is planned by a track function, so that the speed and acceleration of the target track segment at the connection track point are both equal. Continuous, may include: sub-step S1021, sub-step S1022, sub-step S1023 and sub-step S1024.

Sub-step S1021: According to the non-connected trajectory points whose dwell time is not zero, the motion trajectory of the gimbal is divided according to the arrival order of the trajectory points, and a plurality of second trajectory segments corresponding to the motors in each direction are obtained, each The starting speed and the ending speed of the two track segments are both zero, and include one or more first track segments, the pan/tilt includes N motors corresponding to N directions, and the first track segment includes two adjacent track segments. A trajectory segment between successively arrived trajectory points.

For non-connected track points whose dwell time is not zero, since the gimbal needs to stay for a certain period of time when it reaches the track point, the speed of the gimbal can drop to zero when it reaches the track point. Continue to the next trajectory segment, that is, you can start accelerating from zero speed. For the connecting track point with zero dwell time, since the gimbal does not need to stop when it reaches the track point, the gimbal does not need to reduce the speed to zero when it reaches the track point, and the gimbal can continue to the next segment directly from the track point. Track segment, that is, the next track segment can be started from the speed at which the track point is reached.

The gimbal is usually driven by multiple motors, corresponding to multiple directions. The motor in each direction drives the corresponding shaft arm to move. , the position and attitude of the gimbal can be jointly determined by the motion trajectories of these multiple motors. In this embodiment, the motion trajectories of the pan/tilt head are divided, respectively corresponding to the motion trajectories of the motors in each direction. After the motion track of the gimbal is split, the motion of the motor includes rotational motion, the speed of the motor can be angular velocity, the acceleration of the motor can be angular acceleration, and the position of the motor after rotation can be an angle.

For the trajectory point that does not need to stay, it can be used as the connecting trajectory point of two adjacent first trajectory segments (that is, the end trajectory point of the previous first trajectory segment and the starting trajectory point of the next first trajectory segment). By connecting the track points, the track of the gimbal can be split according to the arrival sequence of the track points to obtain multiple second track segments corresponding to the motor motion in each direction, so that the starting speed and ending speed of each second track segment are If the second trajectory segment includes a connecting trajectory point, the second trajectory segment includes a plurality of first trajectory segments, and if the second trajectory segment does not include a connecting trajectory point, the second trajectory segment includes a first trajectory segment.

Sub-step S1022: Use the trajectory function to make the velocity and acceleration of the target trajectory segment in the second trajectory segment at the connecting trajectory point equal to obtain the velocity of each trajectory point, and the target trajectory segment includes the previous first trajectory segment and the following first trajectory, the ending trajectory point of the former first trajectory segment includes the connecting trajectory point, and the starting trajectory point of the latter first trajectory segment includes the connecting trajectory point.

In this embodiment, the speed of the motor corresponding to each direction of each track point is obtained by calculating the known information. The known information includes the reference posture of multiple track points of the gimbal entered by the user and other related information of the multiple track points, such as: the arrival sequence of the track points, the movement time of the gimbal at two adjacent track points, Dwell time at track points, etc. In the second trajectory segment, the target trajectory segment including the former first trajectory segment and the latter first trajectory segment have the same velocity and acceleration at the connecting trajectory point, and the connecting trajectory point includes the end trajectory point of the previous first trajectory segment and The starting trajectory point of the first trajectory segment after the And the acceleration does not change, take the speed and acceleration of the end trajectory point of the first trajectory segment as the speed and acceleration of the starting trajectory point of the first trajectory segment), so as to obtain the motor speed of each trajectory point corresponding to each direction. speed. This method is relatively simple and does not waste control time.

Sub-step S1023: According to the speed of each trajectory point and the expression of the trajectory parameter corresponding to each first trajectory segment of the motor corresponding to each direction, obtain the corresponding value of each first trajectory segment of the motor corresponding to each direction. , the expression of the trajectory parameter corresponding to each first trajectory segment of the motor corresponding to each direction is represented by the starting position, ending position, starting speed and ending speed of the first trajectory segment .

In this embodiment, the expression of the trajectory parameter corresponding to each first trajectory segment of the motor corresponding to each direction is passed through the starting position (which can be the starting angle) and the ending position (which can be the starting angle) of the first trajectory segment. ending angle), starting velocity (which can be the starting angular velocity), and ending velocity (which can be the ending angular velocity). Among them, the starting position and ending position of the first trajectory segment are the target positions of the two trajectory points before and after the first trajectory segment, which can be obtained from the reference attitude input by the user; the starting speed and ending speed of the first trajectory segment, That is, the target velocity of the two trajectory points before and after the first trajectory segment, which can be calculated through the previous step.

When the starting position, ending position, starting speed and ending speed of the first trajectory segment are known, the expression of the trajectory parameters corresponding to each first trajectory segment of the motor corresponding to each direction is: The trajectory parameters of each first trajectory segment of the motor corresponding to each direction can be obtained by calculation.

Sub-step S1024: Determine the target speed of the motor corresponding to each direction at the running time t according to the trajectory function and the trajectory parameters corresponding to each first trajectory segment.

After the trajectory parameters are determined, the target speed of the motor corresponding to each direction at the running time t can be determined.

In one embodiment, the number of the directions includes three mutually perpendicular directions, that is, the X axis, the Y axis, and the Z axis in the three-dimensional space.

Referring to FIG. 3 , in an embodiment, step S103 , controlling the pan/tilt to move along the motion trajectory according to the planned speed may include sub-step S103A1 , sub-step S103A2 and sub-step S103A3 .

Sub-step S103A1: According to the trajectory function and the trajectory parameters corresponding to each first trajectory segment, determine the target position of the motor corresponding to the three directions at the running time t, and the target position includes the target Euler angle.

Sub-step S103A2: Convert the target Euler angles of the motor corresponding to the three directions at the running time t into the target attitude quaternion of the motor corresponding to the three directions at the running time t.

Sub-step S103A3: Control the motion of the three-axis motor of the pan/tilt according to the target attitude quaternion of the motor corresponding to the three directions at the running time t.

Generally speaking, since Euler angles are more readable, intuitive, and widely used, Euler angles are usually used for the target position in this embodiment. However, the Euler rotation corresponding to the Euler angle is to be rotated in the order of a fixed coordinate axis, so different orders will cause different results, which is easy to bring inconvenience to the control. The quaternion stores the information of the rotation axis and rotation angle, which can conveniently describe the rotation of the rigid body around any axis. Quaternion rotation only needs a four-dimensional quaternion to perform rotation around any vector passing through the origin, which is convenient, fast and more efficient.

In an embodiment, step S103, the control of the pan/tilt head to move along the motion trajectory according to the planned speed may further include: sub-step S103B1 and sub-step S103B2, as shown in FIG. 4 .

Sub-step S103B1: According to the trajectory function and the trajectory parameters corresponding to each first trajectory segment, determine the target position of the motor corresponding to each direction at the running time t.

Sub-step S103B2: According to the target position of the motor corresponding to each direction at the running time t, control the movement of the motor corresponding to each direction of the pan/tilt, so that the motor corresponding to each direction after the movement is at the running time t. reach the target position.

In this embodiment, when the motor of the gimbal is controlled to move, it is required that the motor corresponding to each direction finally reaches the target position at the movement time t. In this way, it can be ensured that the motor of the gimbal reaches the predetermined target position strictly according to the predetermined time, so as to provide technical support for the subsequent shooting of pictures that satisfy the user.

In one embodiment, in order to facilitate the subsequent precise control, the target position (which may be the target angle) and the target velocity (which may be the target angular velocity) may be determined, that is, sub-step S1024. The trajectory parameters corresponding to the first trajectory segment, and determining the target speed of the motor corresponding to each direction at the running time t may include: determining the running speed according to the trajectory function and the trajectory parameters corresponding to the first trajectory segment of the motor in each direction. The target position and target speed of the motor corresponding to each direction at time t.

At this time, referring to FIG. 5 , in step S103 , the controlling of the pan/tilt head to move on the movement track according to the planned speed may further include: sub-step S103C1 and sub-step S103C2 .

Sub-step S103C1: According to the target speed of the motor corresponding to each direction at the running time t, perform feedforward control on the motion of the motor corresponding to each direction of the pan/tilt head.

Sub-step S103C2: According to the target position of the motor corresponding to each direction at the running time t, feedback control is performed on the motion of the motor corresponding to each direction of the pan/tilt head.

Feedforward control can refer to observing the situation, collecting and arranging information, grasping laws, and predicting trends, correctly predicting possible problems in the future, and taking measures in advance to eliminate possible deviations in the budding state, in order to avoid different development stages in the future. measures to be taken in advance of possible problems. In this embodiment, since the target speed of the motor corresponding to each direction at the running time t is known, it is possible to correctly predict the possible problems in the process of reaching the running time t, and take measures in advance to eliminate the possible deviations In the budding state, the measures taken in advance to avoid possible problems in the process of reaching the running time t provide technical support to make the motors corresponding to each direction at the running time t reach the target position as much as possible.

Regardless of whether the speed of the motor corresponding to each direction at the running time t reaches the target speed, the ultimate goal is that the position of the motor corresponding to each direction at the running time t can reach the target position, so as to ensure that the captured picture meets the user's needs. , and feedback control is also required for this purpose.

Feedback control can refer to comparing the actual results after a certain action and task is completed, so as to have an impact on the next action and play a control role. Its characteristics are: it can respond in time to the objective effect caused by each step of the planning decision in the implementation process, and adjust and revise the next implementation plan accordingly, so that the implementation of the planning decision and the original plan itself are dynamic. achieve coordination. In this embodiment, since the target position of the motor corresponding to each direction at the running time t is known, the current position of the motor (for example, the rotation angle) can be continuously measured in the process of reaching the running time t, and the current position of the motor can be measured accordingly. Compare the position of the motor with the target position (for example, compare the current rotation angle of the motor with the target angle), and then react in time, and adjust and modify the next control scheme accordingly, and finally make the corresponding direction at the running time t. The position of the motor and the target position are dynamically coordinated.

The embodiment of the present application has both feedforward control and feedback control. From the perspective of feedforward control, due to the addition of feedback control, the requirements for the accuracy of the feedforward control model are reduced, and the disturbance of unmeasured interference signals can be corrected; From the perspective of feedback control, the feedforward control function performs rough adjustment on the main disturbance in time, which greatly reduces the burden of feedback control.

The following takes the PTZ of the three-axis motor as an example to illustrate the control process of the PTZ using feedback control.

Referring to FIG. 6, the pan/tilt and related devices include: a roll axis motor 1, a pitch axis (pitch axis) motor 2, a yaw axis (yaw axis) motor 3, a pan/tilt base 4, and a fixing mechanism for a photographing device (Inertially including inertial measurement elements) 5 , photographing device 6 .

Referring to Figure 7, the gimbal uses the inertial measurement element as the feedback device and the motor as the output element to form a closed-loop control system. In this control system, the control amount is the attitude of the gimbal (that is, the angle of rotation of the three motors), that is, given a target attitude (that is, the respective target angles of the three motors at time t), the measured attitude is achieved through feedback control to achieve the target attitude. .

In an application scenario, the movement of the gimbal is controlled for shooting, and the method further includes: acquiring shooting information of the shooting function input by the user, the shooting information of the shooting function and the multiple track points of the gimbal input by the user corresponds to the reference pose.

The shooting information of the shooting function may be information related to shooting requirements corresponding to the shooting function. The shooting information of the shooting function input by the user may be the shooting function input by the user and the information related to the shooting requirement corresponding to the shooting function. Through the shooting information of the shooting function input by the user, the shooting function selected by the user can be determined on the one hand, and the shooting function selected by the user can be determined on the other hand. On the one hand, information related to the shooting requirements of the user corresponding to the shooting function can be determined.

Among them, the more commonly used shooting functions include track recording or track delay. Track recording may refer to presetting the movement track of the pan/tilt, controlling the pan/tilt to move according to the preset movement track, and controlling the photographing device to shoot while the pan/tilt moves according to the set movement track. The track delay may be to preset the movement track of the gimbal, control the gimbal to move according to the preset movement track, and perform time-lapse shooting according to the preset track during the process of the gimbal moving according to the set movement track.

8 and FIG. 9, FIG. 8 is a schematic diagram of an interface of setting track information in the track delay by the pan-tilt control method of the present application, and FIG. 9 is a schematic diagram of an interface of setting the track information in the track recording by the pan-tilt control method of the present application. As shown in the figure, under the shooting function of track delay or track video, the track point information of each track point can be set, including the number of track points, the three-dimensional attitude information of each track point, and the first track segment of each segment. The movement time of , and the dwell time of each trajectory point.

Wherein, the method further includes: in the process of controlling the pan/tilt to move along the motion track according to the planned speed, controlling the shooting device on the pan/tilt according to the shooting information of the shooting function input by the user to shoot.

The gimbal is controlled to move along the motion trajectory according to the planned speed, and at the same time, the shooting device on the gimbal is controlled to shoot according to the shooting requirements set by the user, which can give users a different shooting experience. The embodiment of the present application can make the gimbal The entire movement of the motor in each direction from the start track point to the end track point is relatively smooth and smooth, and there will be no drastic changes and vibrations. It is smooth, without drastic changes and vibrations, and the pictures taken are ideal.

Wherein, the photographing device may be mounted on the platform. That is, the shooting device and the gimbal are two independent devices.

In another embodiment, the PTZ includes a PTZ shooting device, that is, the PTZ integrated shooting device is a PTZ shooting device.

The above process is described in detail below by taking a cubic function as an example.

1. Trajectory function and trajectory planning:

a. Let the trajectory curve s(t) be a function of time t, and the user sets a total of n+1 trajectory points, which are respectively denoted as q ₀ , q ₁ ,...,q _n , then the trajectory curve has n segments of the first trajectory segment, The trajectory function of the first trajectory segment is denoted as q _k (t), as shown in FIG. 10 . Among them, the initial velocity of the known trajectory curve is v ₀ and the final velocity v _n .

s(t)={q _k (t),t∈[t _k ,t _k+1 ],k=0,...,n-1}

q _k (t)= _ak,0 + _ak,1 (tt _k )+ _ak,2 (tt _k ) ² + _ak,3 (tt _k ) ³

b. For the first trajectory segment of the k-th segment, the trajectory parameters a _k,0 , _ak,1 , _ak,2 , _ak,3 can pass through the starting position q _k of this segment and the ending position q _{k+ 1} , the starting speed v _k and the ending speed v _k+1 are represented.

c. Consider that the position, velocity and acceleration of the connecting trajectory point of the first trajectory segment of the k-th segment and the first trajectory segment of the k+1-th segment are continuous, so there are:

d. Simplify the first trajectory segment of n segments as in step c to obtain the matrix pattern:

v={v ₀ ,v ₁ ,...,v _n-1 ,v _n } ^T

e. Through the LU factorization of the A matrix, the velocity of each trajectory point can be solved, and the velocity matrix v can be obtained.

f. Substitute each velocity of the velocity matrix v into the dth step, and the trajectory parameters _ak,0 , _ak,1 , _ak,2 , _ak,3 of each first trajectory segment can be solved.

2. Consider the trajectory information input by the user: the three-dimensional attitude information of each trajectory point (which can be target angle information in three directions), the stay time of each trajectory point, and the movement time of each first trajectory segment.

a. The user inputs the trajectory points of the motor in three directions, which are divided into three separate degrees of freedom for processing, that is, the trajectory curves S ₁ (t), S ₂ (t), and S ₃ (t) need to be solved in three directions. .

b. Consider the trajectory curve of one of the degrees of freedom (ie direction), such as S ₁ (t), and split it according to whether the trajectory point has a dwell time (for example: set 7 trajectory points, of which the 3rd and 6th trajectory If the point needs to stay, split S ₁ (t) into three segments, corresponding to the second track segment S _1,1 (t) of the 1st, 2nd, and 3rd track points respectively; corresponding to the 3rd, 4th, 5th, and 6th track points respectively. The second trajectory segment S _1,2 (t) of each trajectory point corresponds to the second trajectory segment S _1,3 (t) of the 6th and 7th trajectory points; the trajectory curve of the other two degrees of freedom (ie directions) S ₂ (t), S ₃ (t) perform the same operations as S ₁ (t)).

c. Plan the second trajectory segment S _1,1 (t), S _1,2 (t), S _1,3 (t) through the first step above; the trajectory curves of the other two degrees of freedom (ie directions) S ₂ (t), S ₃ (t) do the same.

d. Store the track parameters of each first track segment of the relevant second track segment.

e. The trajectory recording or trajectory delay runs in real time, and the target position outputs S ₁ (t), S ₂ (t), and S ₃ (t) of the three degrees of freedom are obtained respectively through the running time t.

f. Convert the target Euler angle position information of the real-time output of S ₁ (t), S ₂ (t), S ₃ (t) of the three degrees of freedom into the target attitude quaternion, and control the three axes of the gimbal accordingly. The motor moves to control the shooting device on the gimbal to shoot.

In the above manner, the trajectory curve of the embodiment of the present application is continuous in position, speed and acceleration, and the connection of the first trajectory segment of each segment is considered, so that the generated trajectory curve is very smooth, and the trajectory recording or trajectory delay shooting pictures such as It is better, the captured picture has no sense of sudden change, and it is smooth and natural.

Referring to FIG. 11, FIG. 11 is a schematic structural diagram of an embodiment of a pan-tilt control device of the present application. It should be noted that the pan-tilt control device of this embodiment can execute the steps in the above-mentioned pan-tilt control method. Please refer to the above-mentioned PTZ control method, which will not be repeated here.

The apparatus 100 is connected to the PTZ in communication, and the apparatus 100 includes: a memory 1 and a processor 2; the processor 2 and the memory 1 are connected through a bus.

Wherein, the processor 2 may be a microcontroller unit, a central processing unit or a digital signal processor, and so on.

Wherein, 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:

Obtain the reference poses of multiple track points of the gimbal entered by the user, the reference poses of the multiple track points are used to define the motion track of the gimbal, and the multiple track points include the one where the dwell time of the gimbal is zero. Connecting track points; planning the speed of the movement of the gimbal along the target track segment in the motion track, so that the speed of the target track segment at the connecting track point is continuous, and the target track segment includes the connecting track point; control the pan/tilt to move along the motion track according to the planned speed.

Wherein, when executing the computer program, the processor implements the following steps: planning the speed of the movement of the pan/tilt head along the target trajectory segment in the motion trajectory, so that the target trajectory segment is at the connecting trajectory point The velocity and acceleration are both continuous.

Wherein, when executing the computer program, the processor implements the following steps: planning the speed of the pan/tilt head moving along the motion track through a track function, so that the speed of the target track segment at the connection track point and acceleration are continuous.

Wherein, when executing the computer program, the processor implements the following steps: according to the non-connected trajectory points whose dwell time is not zero, split the motion trajectory of the gimbal according to the arrival order of the trajectory points, and obtain the corresponding A plurality of second trajectory segments of the motor in the direction of the motor, the starting speed and the ending speed of each second trajectory segment are zero, and include one or more first trajectory segments, and the pan/tilt includes N corresponding to N directions The first trajectory segment includes a trajectory segment between two adjacent trajectory points that arrive in succession; through the trajectory function, the velocity and the velocity of the target trajectory segment in the second trajectory segment at the connecting trajectory point and The acceleration is equal to obtain the velocity of each trajectory point, the target trajectory segment includes the first first trajectory segment and the first trajectory after the first trajectory, the end trajectory point of the first trajectory segment includes the connecting trajectory point, the trajectory point after the The starting trajectory point of a trajectory segment includes the connecting trajectory point; according to the speed of each trajectory point, the expression of the trajectory parameter corresponding to each first trajectory segment of the motor corresponding to each direction, the corresponding each The trajectory parameter corresponding to each first trajectory segment of the motor in each direction, the expression of the trajectory parameter corresponding to each first trajectory segment of the motor corresponding to each direction is the starting position of the first trajectory segment, The end position, the start speed and the end speed are represented; according to the trajectory function and the trajectory parameters corresponding to each first trajectory segment, the target speed of the motor corresponding to each direction at the running time t is determined.

Wherein, the number of the directions includes three mutually perpendicular directions.

Wherein, when executing the computer program, the processor implements the following steps: according to the trajectory function and the trajectory parameters corresponding to each first trajectory segment, determine the target position of the motor corresponding to the three directions at the running time t , the target position includes the target Euler angle; the target Euler angle of the motor corresponding to the three directions at the running time t is converted into the target attitude quaternion of the motor corresponding to the three directions at the running time t; The target attitude quaternion of the motor corresponding to the three directions at time t controls the motion of the three-axis motor of the gimbal.

Wherein, when executing the computer program, the processor implements the following steps: according to the trajectory function and the trajectory parameters corresponding to each first trajectory segment, determine the target position of the motor corresponding to each direction at the running time t ; According to the target position of the motor corresponding to each direction at the running time t, control the motor movement corresponding to each direction of the pan/tilt, so that the motor corresponding to each direction after the movement reaches the said running time t target location.

Wherein, when executing the computer program, the processor implements the following steps: according to the trajectory function and the trajectory parameters corresponding to each first trajectory segment, determine the target position and target of the motor corresponding to each direction at the running time t speed.

Wherein, when the processor executes the computer program, the following steps are implemented: according to the target speed of the motor corresponding to each direction at the running time t, the motion of the motor corresponding to each direction of the pan/tilt is performed in advance Feedback control; according to the target position of the motor corresponding to each direction at the running time t, feedback control is performed on the movement of the motor corresponding to each direction of the pan/tilt.

Wherein, the trajectory function includes a polynomial function of more than three times.

Wherein, the trajectory function includes a cubic function.

Wherein, the trajectory function includes a Bezier curve function.

Wherein, when executing the computer program, the processor implements the following steps: acquiring the shooting information of the shooting function input by the user, and the shooting information of the shooting function corresponds to the trajectory information input by the user.

Wherein, when executing the computer program, the processor implements the following steps: in the process of controlling the pan/tilt head to move along the motion trajectory according to the planned speed, according to the shooting information of the shooting function input by the user , and control the shooting device on the PTZ to shoot.

Wherein, the photographing device is mounted on the pan/tilt.

Wherein, the pan/tilt includes a pan/tilt photographing device.

Wherein, the shooting function includes track recording or track delay.

Wherein, the device further includes a communication circuit, and when the processor executes the computer program, the processor implements the following steps: controlling the communication circuit to receive a reference sent by the mobile terminal for multiple trajectory points of the pan/tilt head input by the user attitude.

The present application further provides a pan-tilt head, the pan-tilt head comprising the pan-tilt-tilt control device according to any one of the above. For a detailed description of the related content, please refer to the above-mentioned PTZ control device, which will not be repeated here.

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 implement the pan-tilt control method described in any one of the above . For a detailed description of the relevant content, please refer to the above-mentioned relevant content section, which will not be repeated here.

Wherein, the computer-readable storage medium may be an internal storage unit of the above-mentioned PTZ control device, 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.

It should be understood that the terms used in the specification of the present application are only for the purpose of describing particular embodiments and are not intended to limit the present application.

It will also be understood that, as used in this specification and the appended claims, the term "and/or" refers to and including any and all possible combinations of one or more of the associated listed items.

The above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalents within the technical scope disclosed in the present application. Modifications or substitutions shall be covered by the protection scope of this application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

A PTZ control method, comprising:

Obtain the reference poses of multiple track points of the gimbal entered by the user, the reference poses of the multiple track points are used to define the motion track of the gimbal, and the multiple track points include the one where the dwell time of the gimbal is zero. connecting track points;

planning the speed of the movement of the pan/tilt head along the target trajectory segment in the motion trajectory, so that the speed of the target trajectory segment at the connection trajectory point is continuous, and the target trajectory segment includes the connection trajectory point;

According to the planned speed, the PTZ is controlled to move along the movement track.
The method according to claim 1, wherein the speed of the pan/tilt head moving along the target trajectory segment in the motion trajectory is planned, so that the speed of the target trajectory segment at the connecting trajectory point is continuous ,include:

The speed of the movement of the pan/tilt head along the target track segment in the motion track is planned, so that the speed and acceleration of the target track segment at the connecting track point are both continuous.
The method according to claim 2, wherein the speed of the pan/tilt moving along the target trajectory segment in the motion trajectory is planned, so that the speed of the target trajectory segment at the connecting trajectory point and the Accelerations are all continuous, including:

The speed of the gimbal moving along the motion track is planned by the track function, so that both the speed and the acceleration of the target track segment at the connecting track point are continuous.
The method according to claim 3, wherein the speed of the gimbal moving along the motion track is planned by a track function, so that the speed and acceleration of the target track segment at the connection track point are the same Continuous, including:

According to the non-connected trajectory points whose dwell time is not zero, the motion trajectory of the gimbal is divided according to the arrival order of the trajectory points, and a plurality of second trajectory segments corresponding to the motors in each direction are obtained. The starting speed and the ending speed are both zero, and include one or more first trajectory segments, the pan/tilt includes N motors corresponding to N directions, and the first trajectory segment includes two adjacent trajectories that arrive in succession track segments between points;

The velocity and acceleration of the target trajectory segment in the second trajectory segment at the connecting trajectory point are equalized by the trajectory function, and the velocity of each trajectory point is obtained, and the target trajectory segment includes the first trajectory segment before and the trajectory after the first trajectory segment. a trajectory, the ending trajectory point of the former first trajectory segment includes the connecting trajectory point, and the starting trajectory point of the latter first trajectory segment includes the connecting trajectory point;

According to the speed of each trajectory point and the expression of the trajectory parameter corresponding to each first trajectory segment of the motor corresponding to each direction, the trajectory parameter corresponding to each first trajectory segment of the motor corresponding to each direction is obtained, The expression of the trajectory parameter corresponding to each first trajectory segment of the motor corresponding to each direction is represented by the starting position, ending position, starting speed and ending speed of the first trajectory segment;

According to the trajectory function and the trajectory parameters corresponding to each first trajectory segment, the target speed of the motor corresponding to each direction at the running time t is determined.
The method according to claim 4, wherein the number of the directions includes three mutually perpendicular directions.
The method according to claim 5, wherein the controlling the pan/tilt to move along the motion trajectory according to the planned speed comprises:

According to the trajectory function and the trajectory parameters corresponding to each first trajectory segment, determine the target position of the motor corresponding to the three directions at the running time t, and the target position includes the target Euler angle;

Convert the target Euler angles of the motor corresponding to the three directions at the running time t into the target attitude quaternion of the motor corresponding to the three directions at the running time t;

According to the target attitude quaternion of the motor corresponding to the three directions at the running time t, the motion of the three-axis motor of the gimbal is controlled.
The method according to claim 4, wherein the controlling the pan/tilt to move along the motion trajectory according to the planned speed comprises:

Determine the target position of the motor corresponding to each direction at the running time t according to the trajectory function and the trajectory parameters corresponding to each first trajectory segment;

According to the target position of the motor corresponding to each direction at the running time t, the movement of the motor corresponding to each direction of the gimbal is controlled, so that the motor corresponding to each direction after the movement reaches the target at the running time t Location.
The method according to claim 4, wherein, determining the target speed of the motor corresponding to each direction at the running time t according to the trajectory function and the trajectory parameters corresponding to each first trajectory segment, comprising:

According to the trajectory function and the trajectory parameters corresponding to each first trajectory segment, the target position and target speed of the motor corresponding to each direction at the running time t are determined.
The method according to claim 8, wherein the controlling the pan/tilt to move along the motion trajectory according to the planned speed comprises:

According to the target speed of the motor corresponding to each direction at the running time t, feedforward control is performed on the motion of the motor corresponding to each direction of the gimbal;

According to the target position of the motor corresponding to each direction at the running time t, feedback control is performed on the movement of the motor corresponding to each direction of the pan/tilt head.
The method according to claim 3, wherein the trajectory function comprises a polynomial function of more than three times.
The method of claim 10, wherein the trajectory function comprises a cubic function.
The method of claim 3, wherein the trajectory function comprises a Bezier curve function.
The method according to claim 1, wherein the method further comprises:

The shooting information of the shooting function input by the user is acquired, and the shooting information of the shooting function corresponds to the reference poses of the multiple track points of the pan/tilt head input by the user.
The method of claim 13, wherein the method further comprises:

During the process of controlling the pan/tilt head to move along the motion track according to the planned speed, the camera on the pan/tilt head is controlled to shoot according to the shooting information of the shooting function input by the user.
The method according to claim 14, wherein the photographing device is mounted on the platform.
The method according to claim 14, wherein the pan/tilt comprises a pan/tilt photographing device.
The method according to claim 13, wherein the shooting function includes track recording or track delay.
The method according to claim 1, wherein the obtaining the reference poses of multiple trajectory points of the PTZ input by the user comprises:

The reference poses of multiple track points of the pan/tilt head input by the user and sent by the mobile terminal are received.
A pan-tilt control device, characterized in that the device is connected in communication with the pan-tilt, and the device comprises: 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:

Obtain the reference poses of multiple track points of the gimbal entered by the user, the reference poses of the multiple track points are used to define the motion track of the gimbal, and the multiple track points include the one where the dwell time of the gimbal is zero. connecting track points;

planning the speed of the movement of the pan/tilt head along the target trajectory segment in the motion trajectory, so that the speed of the target trajectory segment at the connection trajectory point is continuous, and the target trajectory segment includes the connection trajectory point;

The gimbal is controlled to move along the motion track according to the planned speed.
The device according to claim 19, wherein, when the processor executes the computer program, the following steps are implemented:

The speed of the movement of the pan/tilt head along the target track segment in the motion track is planned, so that the speed and acceleration of the target track segment at the connecting track point are both continuous.
The apparatus according to claim 20, wherein when the processor executes the computer program, the following steps are implemented:

The speed of the gimbal moving along the motion track is planned by the track function, so that both the speed and the acceleration of the target track segment at the connecting track point are continuous.
The device according to claim 21, wherein, when the processor executes the computer program, the following steps are implemented:

According to the non-connected trajectory points whose dwell time is not zero, the motion trajectory of the gimbal is divided according to the arrival order of the trajectory points, and a plurality of second trajectory segments corresponding to the motors in each direction are obtained. The starting speed and the ending speed are both zero, and include one or more first trajectory segments, the pan/tilt includes N motors corresponding to N directions, and the first trajectory segment includes two adjacent trajectories that arrive in succession track segments between points;

The velocity and acceleration of the target trajectory segment in the second trajectory segment at the trajectory junction point are equalized by the trajectory function to obtain the velocity of each trajectory point, and the target trajectory segment includes the previous first trajectory segment and the next trajectory segment. a trajectory, the ending trajectory point of the former first trajectory segment includes the connecting trajectory point, and the starting trajectory point of the latter first trajectory segment includes the connecting trajectory point;

According to the speed of each trajectory point and the expression of the trajectory parameter corresponding to each first trajectory segment of the motor corresponding to each direction, the trajectory parameter corresponding to each first trajectory segment of the motor corresponding to each direction is obtained, The expression of the trajectory parameter corresponding to each first trajectory segment of the motor corresponding to each direction is represented by the starting position, ending position, starting speed and ending speed of the first trajectory segment;

According to the trajectory function and the trajectory parameters corresponding to each first trajectory segment, the target speed of the motor corresponding to each direction at the running time t is determined.
The device according to claim 22, wherein the number of the directions includes three mutually perpendicular directions.
The apparatus according to claim 23, wherein when the processor executes the computer program, the following steps are implemented:

According to the trajectory function and the trajectory parameters corresponding to each first trajectory segment, determine the target position of the motor corresponding to the three directions at the running time t, and the target position includes the target Euler angle;

Convert the target Euler angles of the motor corresponding to the three directions at the running time t into the target attitude quaternion of the motor corresponding to the three directions at the running time t;

According to the target attitude quaternion of the motor corresponding to the three directions at the running time t, the motion of the three-axis motor of the gimbal is controlled.
The device according to claim 22, wherein, when the processor executes the computer program, the following steps are implemented:

Determine the target position of the motor corresponding to each direction at the running time t according to the trajectory function and the trajectory parameters corresponding to each first trajectory segment;

According to the target position of the motor corresponding to each direction at the running time t, the movement of the motor corresponding to each direction of the gimbal is controlled, so that the motor corresponding to each direction after the movement reaches the target at the running time t Location.
The device according to claim 22, wherein, when the processor executes the computer program, the following steps are implemented:

According to the trajectory function and the trajectory parameters corresponding to each first trajectory segment, the target position and target speed of the motor corresponding to each direction at the running time t are determined.
The apparatus according to claim 26, wherein, when the processor executes the computer program, the following steps are implemented:

According to the target speed of the motor corresponding to each direction at the running time t, feedforward control is performed on the motion of the motor corresponding to each direction of the gimbal;

According to the target position of the motor corresponding to each direction at the running time t, feedback control is performed on the movement of the motor corresponding to each direction of the pan/tilt head.
The apparatus according to claim 21, wherein the trajectory function comprises a polynomial function of more than three times.
The apparatus of claim 28, wherein the trajectory function comprises a cubic function.
The apparatus of claim 21, wherein the trajectory function comprises a Bezier curve function.
The device according to claim 19, wherein, when the processor executes the computer program, the following steps are implemented:

The shooting information of the shooting function input by the user is acquired, and the shooting information of the shooting function corresponds to the reference poses of the multiple track points of the pan/tilt head input by the user.
The device according to claim 31, wherein, when the processor executes the computer program, the following steps are implemented:

During the process of controlling the pan/tilt head to move along the motion track according to the planned speed, the camera on the pan/tilt head is controlled to shoot according to the shooting information of the shooting function input by the user.
The apparatus according to claim 32, wherein the imaging device is mounted on the pan/tilt head.
The device according to claim 32, wherein the PTZ comprises a PTZ shooting device.
The device according to claim 31, wherein the shooting function includes track recording or track delay.
The apparatus according to claim 19, wherein the apparatus further comprises a communication circuit, and when the processor executes the computer program, the following steps are implemented:

The communication circuit is controlled to receive the reference poses of multiple track points of the pan/tilt head input by the user and sent by the mobile terminal.
A PTZ, characterized in that the PTZ comprises the PTZ control device according to any one of claims 19-36.
A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the process according to any one of claims 1-18 PTZ control method.