WO2022061772A1

WO2022061772A1 - Gimbal control method and apparatus, movable platform, and storage medium

Info

Publication number: WO2022061772A1
Application number: PCT/CN2020/117907
Authority: WO
Inventors: 刘力源; 隋企; 梁健航
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-09-25
Filing date: 2020-09-25
Publication date: 2022-03-31
Also published as: CN113302569A

Abstract

A gimbal control method and apparatus, a movable platform, and a storage medium. A gimbal is detachably arranged on a movable platform; the method comprises: acquiring a gimbal power-on signal; on the basis of the gimbal power-on signal, acquiring identity identification information of the gimbal; on the basis of the identity identification information, determining whether the gimbal can be controlled by means of the movable platform; and, when the gimbal cannot be controlled by means of the movable platform, controlling the gimbal to implement a parameter calibration operation so that the gimbal can be controlled by means of the movable platform. In the technical solution provided in the present embodiments, after it is determined that a gimbal has been replaced, the gimbal can be controlled to perform a parameter calibration operation so that the gimbal can be controlled by means of the movable platform, conveniently and quickly meeting the needs of users to manually replace gimbals, and also enabling a gimbal parameter calibration operation to be implemented automatically after detecting that the gimbal has been replaced, without the need for an after-sales approach, thereby providing a better user experience.

Description

PTZ control method, device, removable platform and storage medium

technical field

Embodiments of the present invention relate to the field of PTZ technology, and in particular, to a PTZ control method, device, movable platform and storage medium.

Background technique

In the prior art, during the maintenance operation of the gimbal, the replacement operation of the gimbal is generally realized through an after-sales approach. However, the above operations will be time-consuming and laborious, and the maintenance cost will be relatively high, especially for the traversing machine with the main sports scene, the daily damage is more common, if the replacement operation of the gimbal is realized through after-sales channels, it will greatly Increased labor cost and time cost.

SUMMARY OF THE INVENTION

Embodiments of the present invention provide a pan-tilt control method, device, removable platform and storage medium, which are used to solve the time-consuming and laborious operation of replacing the pan-tilt in the prior art through an after-sales approach. , The maintenance cost is also relatively high.

A first aspect of the present invention is to provide a pan-tilt control method, wherein the pan-tilt is detachably arranged on a movable platform, and the method includes:

Obtain the power-on signal of the gimbal;

Acquire the identity information of the PTZ according to the power-on signal of the PTZ;

Based on the identity information, judging whether the PTZ can be controlled by the movable platform;

When the PTZ cannot be controlled through the movable platform, the PTZ is controlled to perform parameter calibration operation, so that the PTZ can be controlled through the movable platform.

A second aspect of the present invention is to provide a pan-tilt control device, the pan-tilt is detachably arranged on a movable platform, the pan-tilt includes a shaft assembly and a pan-tilt motor, and the pan-tilt motor is used for driving The shaft assembly rotates; the device includes:

memory for storing computer programs;

A processor for running a computer program stored in the memory to achieve:

Obtain the power-on signal of the gimbal;

A third aspect of the present invention is to provide a movable platform, comprising:

body;

A gimbal is used to support a load, the gimbal is detachably arranged on the body, the gimbal includes a shaft assembly and a gimbal motor, and the gimbal motor is used to drive the shaft assembly to rotate;

In the pan-tilt control device according to the second aspect, the pan-tilt control device is used to control the pan-tilt.

A fourth aspect of the present invention is to provide a computer-readable storage medium, the storage medium is a computer-readable storage medium, and program instructions are stored in the computer-readable storage medium, and the program instructions are used in the first aspect. The PTZ control method described above.

In the technical solution provided by the embodiments of the present invention, the gimbal is detachably connected to the movable platform, which provides the possibility for the user to replace the gimbal by himself. The power-on signal of the gimbal obtains the identification information of the gimbal, and then automatically determines whether the gimbal on the movable platform has been replaced based on the identification information. After confirming that the gimbal has been replaced, the corresponding parameters of each gimbal may be inconsistent. At this time, it may not be possible to control the replaced gimbal through the movable platform. Therefore, the gimbal can be controlled to perform parameter calibration operation, so as to realize the control of the replaced gimbal through the movable platform, which is not only convenient and fast It satisfies the user's requirement that the gimbal can be replaced manually, and after detecting that the gimbal has been replaced, the gimbal parameter calibration operation can be automatically realized without after-sales channels, which brings a more friendly user experience to the user and further improves the performance of the gimbal. The practicability of the method is beneficial to the promotion and application of the market.

Description of drawings

The drawings described herein are used to provide further understanding of the present application and constitute a part of the present application. The schematic embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation of the present application. In the attached image:

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

2 is a schematic flowchart of controlling the pan/tilt to perform parameter calibration operation provided by an embodiment of the present invention;

3 is a schematic flowchart of controlling the pan/tilt to perform parameter calibration operation provided by another embodiment of the present invention;

4 is a schematic flowchart of obtaining the preset calibration parameters corresponding to the PTZ based on the identity information provided by an embodiment of the present invention;

5 is a schematic flowchart of controlling a motor on the pan/tilt head and an inertial measurement unit IMU to perform a parameter calibration operation according to an embodiment of the present invention;

6 is a schematic flowchart of another pan-tilt control method provided by an embodiment of the present invention;

7 is a schematic flowchart of another pan-tilt control method provided by an embodiment of the present invention;

FIG. 8 is a schematic flowchart of another pan-tilt control method provided by an embodiment of the present invention;

9 is a schematic flowchart of another pan-tilt control method provided by an embodiment of the present invention;

10 is a schematic flowchart of controlling the pan/tilt to perform a parameter calibration operation again based on the at least one recalibration instruction provided by an embodiment of the present invention;

11 is a schematic flowchart of still another pan-tilt control method provided by an embodiment of the present invention;

FIG. 12 is a schematic flowchart of another pan-tilt control method provided by an embodiment of the present invention;

13 is a schematic flowchart of a pan-tilt control method provided by an application embodiment of the present invention;

14 is a schematic flowchart of another pan-tilt control method provided by an application embodiment of the present invention;

15 is a schematic structural diagram of a pan-tilt control device according to an embodiment of the present invention;

FIG. 16 is a schematic structural diagram of a movable platform according to an embodiment of the present invention.

detailed description

In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments These are some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terms used herein in the description of the present invention are for the purpose of describing specific embodiments only, and are not intended to limit the present invention.

In order to facilitate the understanding of the technical solutions of the present application, the prior art is briefly described below:

For a detachable gimbal (the gimbal is detachably installed on the movable platform), the gimbal parameters corresponding to the gimbal (for example: parameters related to the motor set on the gimbal, and parameters set on the gimbal sensor-related parameters) can be stored in the chip for controlling the gimbal, and the above-mentioned chip for controlling the gimbal can be set on the body of the movable platform or on the gimbal. When the gimbal detachably installed on the movable platform or other equipment installed on the gimbal (for example, the camera module installed on the gimbal) is damaged, the user can purchase the gimbal separately and replace it by himself Cloud platform. For example, the gimbal is detachably installed on the movable platform through connectors (connectors such as screws, nuts, or cables), and when the gimbal is damaged or other equipment installed on the gimbal is damaged, the gimbal can be removed. Or other devices installed on the PTZ can be replaced.

Under normal circumstances, in the process of performing the gimbal replacement operation, it is necessary to perform the gimbal parameter calibration operation. Specifically, because the pan-tilt parameters used to realize the parameter calibration operation are stored in the chip that controls the pan-tilt, that is, when the movable platform leaves the factory, the chip can record the pan-tilt parameters of the original pan-tilt. After the gimbal is replaced alone, since the gimbal parameters corresponding to the replaced gimbal are inconsistent with the parameters of the original gimbal recorded in the chip, there is a possibility that the replaced gimbal cannot be used directly and matches the gimbal parameters before the replacement. Case. In order to be able to apply and control the replaced PTZ, it is necessary to perform parameter calibration on the replaced PTZ.

For example, the parameters corresponding to the gimbal motor and the Inertial Measurement Unit (IMU) can be recorded in the preset memory. For example, during the production stage of the gimbal, the factory original camera module will be recorded. The product serial number (Serial Number, SN for short). After leaving the factory, if the user replaces the gimbal, the parameters recorded in the preset memory match the gimbal corresponding to the factory, and different gimbal parameters correspond to different gimbal parameters. Therefore, after replacing the gimbal, parameter calibration and calibration must be performed again for the current gimbal. After the parameter calibration and calibration are completed, the parameters recorded in the preset memory can be updated, and then the gimbal can be accurately controlled and calibrated. Use action.

It should be noted that when the camera module and the gimbal are detachably connected, the user can individually replace the camera module or the gimbal according to application requirements and design requirements. However, when replacing the camera module on the gimbal alone, since the IMU located on the gimbal may be set in the camera module, at this time, the IMU set in the camera module will also follow the camera module. changes due to the replacement operation. The IMU parameters in the gimbal parameters recorded on the movable platform match the IMU parameters corresponding to the factory, and different IMUs may correspond to different IMU parameters. Therefore, when replacing the camera module on the gimbal alone, it is also necessary to perform parameter calibration and calibration operations again to achieve precise control and use of the gimbal.

In the process of gimbal maintenance, the gimbal parameter calibration operation generally solves the problems of gimbal damage, gimbal replacement and gimbal parameter re-calibration through after-sales channels. However, the above operations will be time-consuming and laborious, and the maintenance cost will be relatively high, especially for the main sports scene, the daily damage is more common. Increased labor cost and time cost.

In order to solve the problems of time-consuming, labor-intensive, and high maintenance cost in the prior art when the calibration operation of pan-tilt parameters is realized through after-sales channels, the present embodiment provides a pan-tilt control method, device, Removable platform and storage medium. Specifically, the gimbal is detachably connected to the movable platform, which provides the possibility for users to replace the gimbal by themselves. When the gimbal is installed on the UAV, by obtaining the power-on signal of the gimbal, it can be Obtain the identity information of the PTZ according to the power-on signal of the PTZ, and then automatically determine whether the PTZ on the movable platform has been replaced based on the identity information. After confirming that the PTZ has been replaced, the corresponding parameters of each PTZ may be inconsistent. , at this time, it may not be possible to control the replaced gimbal through the movable platform. Therefore, the gimbal can be controlled to perform parameter calibration operation, so that the replaced gimbal can be controlled through the movable platform, which is not only convenient and fast It satisfies the user's requirement that the gimbal can be replaced manually, and after detecting that the gimbal has been replaced, the gimbal parameter calibration operation can be automatically realized without after-sales channels, which brings a more friendly user experience to the user and further improves the performance of the gimbal. The practicability of the method is beneficial to the promotion and application of the market.

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

FIG. 1 is a schematic flowchart of a pan-tilt control method provided by an embodiment of the present invention; with reference to FIG. 1 , the present embodiment provides a pan-tilt control method, wherein the pan-tilt is detachably arranged on a movable platform Above, the above-mentioned PTZ can be any one of the following: all types of PTZ control chips such as airborne PTZ, handheld PTZ and the PTZ are independent of each other, and the movable platform can include at least one of the following: Drones, unmanned vehicles, unmanned ships, mobile robots, etc.

In addition, the execution body of the method may be a pan-tilt control device, and it can be understood that the pan-tilt control device may be implemented as software, or a combination of software and hardware. During specific implementation, the PTZ control device may be an electronic device with data processing capability, such as a computer, server, cloud server, electronic terminal, etc., or a computer chip or integrated circuit with data processing capability, such as a central processing unit (Central Processing Unit, CPU), digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC) or off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) and so on.

Specifically, the PTZ control method may include:

Step S101: Acquire a PTZ power-on signal.

Step S102: Acquire the identity information of the PTZ according to the power-on signal of the PTZ.

Step S103: Based on the identification information, it is determined whether the PTZ can be controlled through the movable platform.

Step S104 : when the PTZ cannot be controlled through the movable platform, the PTZ is controlled to perform parameter calibration operation, so that the PTZ can be controlled through the movable platform.

The specific implementation process and implementation effect of each of the above steps are described in detail below:

Step S101: Acquire a PTZ power-on signal.

Among them, the gimbal power-on signal is used to identify that the gimbal has been powered on, that is, every time the gimbal is powered on, the gimbal that is used to identify that the gimbal has been powered on is obtained. electric signal. Specifically, this embodiment does not limit the specific acquisition method of the gimbal power-on signal, and those skilled in the art can set it according to specific application requirements and design requirements, for example: pre-configured to monitor whether the gimbal is powered on The operating sensor, through which the gimbal power-on signal used to identify whether to power on the gimbal can be obtained. Of course, those skilled in the art can also use other methods to obtain the PTZ power-on signal, for example: obtaining the PTZ power-on signal through a pre-configured monitoring interface, etc., as long as the PTZ power-on signal can be obtained. The accuracy and reliability are sufficient, and will not be repeated here.

For the PTZ, during the production stage of the PTZ, unique identification information will be configured for each PTZ, so that different PTZs can correspond to different identification information. Specifically, the identification information of the gimbal can have different representations. For example, during the production stage of the gimbal, the product serial number (Serial Number, SN for short) of the original camera module configured on the gimbal will be recorded. ), and then determine the product serial number of the camera module as the identification information of the gimbal. Alternatively, during the production stage of the gimbal, the product serial number of the gimbal can be recorded, and then the product serial number of the gimbal can be determined as the identification information of the gimbal. Of course, the identity information of the PTZ can also be other types of information, as long as different PTZs can correspond to different identity information, which will not be repeated here.

After the gimbal power-on signal is acquired, the gimbal's identity information can be obtained based on the gimbal power-on signal. Among them, an achievable way is: the gimbal power-on signal includes the gimbal's identity information, and after the gimbal power-on signal is obtained, the gimbal power-on signal can be analyzed and processed to obtain the gimbal's power-on signal. identification information. Or, another achievable manner is: the identity information is stored in a preset area, and the mapping relationship between the identity information and the identity information of the PTZ is preconfigured. After the gimbal power-on signal is acquired, a preset area, for example, the storage of the gimbal, may be accessed based on the gimbal power-on signal to obtain the identification information of the gimbal. Or, another achievable manner is: acquiring the load identification information of the load located on the gimbal according to the power-on signal of the gimbal; and determining the load identification information as the identification information of the gimbal.

Among them, when the identification information is such as the product serial number of the gimbal instead of the load identification information, based on the fact that when the load is a camera module, there is a detachable connection between it and the gimbal, then, when the parameters of the gimbal are calibrated Before and after the gimbal is powered on, it can be pre-detected whether the gimbal and the camera module are electrically connected. If the gimbal and the camera module are electrically connected, proceed to step S103; The methods include but are not limited to lighting, voice, image, text, vibration, etc., for example: prompting through display devices, remote control devices, and indicators on movable platforms.

Specifically, different types of loads may be provided on the gimbal, and the loads may include at least one of the following: a camera module, a follow-spot light, a ranging sensor, and the like. When the load identification information is determined as the identification information of the gimbal, in order to accurately obtain the identification information of the gimbal, after the power-on signal of the gimbal is obtained, the location on the gimbal can be obtained based on the power-on signal of the gimbal. The payload identification information of the payload. Among them, the load identification information of the load on the gimbal can be stored in the memory of the load. After obtaining the power-on signal of the gimbal, it can actively send an information acquisition request to the load, and the load can return the load of the load on the gimbal based on the information acquisition request. identification information, thereby effectively ensuring the accuracy and reliability of acquiring the load identification information of the load on the PTZ. After acquiring the load identification information of the load on the gimbal, the load identification information can be determined as the gimbal identification information, thereby effectively ensuring the accuracy and reliability of acquiring the gimbal identification information.

Of course, those skilled in the art can also obtain the identity information of the PTZ in other ways, as long as the accuracy and reliability of acquiring the identity information of the PTZ can be ensured, which will not be repeated here.

Step S103: Based on the identity information, it is judged whether the PTZ can be controlled through the movable platform.

After the identification information is acquired, the identification information can be analyzed and processed to determine whether the PTZ can be controlled through the movable platform based on the analysis and processing results. Specifically, based on the identity information, judging whether the PTZ can be controlled through the movable platform may include: acquiring the original PTZ identity information stored in the movable platform; when the identity information matches the original PTZ identity information , it is determined that the PTZ can be controlled through the movable platform; when the identity information does not match the identity information of the original PTZ, it is determined that the PTZ cannot be controlled through the movable platform.

Wherein, original PTZ identity information corresponding to the original PTZ set on the movable platform is preset, and the original PTZ identity information can be stored in a memory in the movable platform. After acquiring the identity information corresponding to the current PTZ, the original PTZ identity information stored in the movable platform can be acquired based on the identity information. After the original PTZ identity information is obtained, the original PTZ identity information can be analyzed and matched with the identity information. When the identity information matches the original PTZ identity information, it means that the PTZ set on the movable platform It has not been replaced, so it can be determined that the PTZ can be controlled through the movable platform. When the identity information does not match the original PTZ identity information, it means that the PTZ set on the movable platform has been replaced, and it can be determined that the PTZ cannot be controlled through the movable platform.

It should be noted that since the identity information has different expressions, the original PTZ identity information corresponding to the identity information also has different expressions. For example, when the product serial number of the camera module is determined as the identification information of the gimbal, the original gimbal identification information may be the pre-stored product serial number of the camera module before replacement. At this time, after obtaining the product serial number of the camera module before replacement, the identification information can be compared with the product serial number of the camera module before replacement, and the identification information can be compared with the product serial number of the camera module before replacement. If they do not match, it means that the gimbal set on the movable platform has been replaced, and it can be determined that the gimbal cannot be controlled through the movable platform. When the identification information matches the product serial number of the camera module before replacement, it means that the gimbal set on the movable platform has not been replaced, and it can be determined that the gimbal can be controlled through the movable platform.

When the product serial number of the gimbal is determined as the identification information of the gimbal, the original gimbal identity information may be the product serial number of the gimbal before the replacement of the gimbal stored in advance. At this time, after obtaining the product serial number of the gimbal before the replacement, the identification information can be compared with the product serial number of the gimbal before the replacement. When the numbers do not match, it means that the gimbal set on the movable platform has been replaced, and it can be determined that the gimbal cannot be controlled through the movable platform. When the identification information matches the product serial number of the gimbal before the replacement, it means that the gimbal set on the movable platform has not been replaced, and it can be determined that the gimbal can be controlled through the movable platform.

When it is determined that the gimbal cannot be controlled through the movable platform, the gimbal can be controlled to perform parameter calibration, wherein the parameters for controlling the gimbal to perform parameter calibration can include at least one of the following: an angle sensor arranged on the gimbal The parameters of the PTZ, the parameters of the inertial measurement unit IMU set on the PTZ, etc., after the parameter calibration operation, the PTZ can be controlled through the movable platform. Among them, the angle sensor is installed on the motor of the gimbal, and is used to obtain the rotation angle of the motor, and control the motor according to the attitude data detected by the IMU, thereby achieving the stabilization of the gimbal or the angle adjustment of the sensing range of the load. Angle sensors include but are not limited to Hall sensors and photoelectric encoders.

In some instances, the method in this embodiment may further include: when the identity information matches the original PTZ identity information, it means that no replacement operation has occurred on the PTZ set on the movable platform. By calibrating the parameters of the gimbal, you can directly control the gimbal through the movable platform.

In the pan-tilt control method provided by this embodiment, the PTZ power-on signal is acquired, the PTZ's identity information is acquired according to the PTZ's power-on signal, and then the mobile platform is automatically determined based on the identity information. Whether the gimbal has been replaced, after it is determined that the gimbal has been replaced, since the gimbal cannot be controlled through the movable platform at this time, the gimbal can be controlled to perform parameter calibration, so that the movable platform can The control of the PTZ not only conveniently and quickly meets the user's need to manually replace the PTZ, but also can automatically realize the PTZ parameter calibration operation without the need of after-sales after detecting that the PTZ has been replaced, so as to provide users with It brings a more friendly user experience, further improves the practicability of the method, and is beneficial to the promotion and application of the market.

FIG. 2 is a schematic flowchart of a parameter calibration operation for controlling a pan/tilt according to an embodiment of the present invention; on the basis of the above embodiment, and continuing to refer to FIG. 2 , this embodiment provides an implementation manner of a parameter calibration operation. , Specifically, the parameter calibration operation of controlling the PTZ in this embodiment may include:

Step S201: Acquire a network operating state corresponding to the movable platform.

Step S202: when the network running state is a non-networking state, control the pan/tilt to perform a parameter calibration operation based on the measurement and calibration parameters.

Step S203 : when the network running state is the networking state, control the PTZ to perform a parameter calibration operation based on the preset calibration parameters.

Wherein, for the mobile platform, when the mobile platform is applied, different application scenarios may correspond to different network operation states, and the network operation state may include a non-networked state and a networked state. Specifically, the network operation state corresponding to the movable platform mainly refers to whether the remote control device corresponding to the movable platform can access the online server or cloud server through the network. The preset calibration parameters for the gimbal to perform parameter calibration operations.

This embodiment does not limit the specific acquisition method of the network running state, and those skilled in the art can set it according to specific application requirements and design requirements. Server or cloud server, specifically, the remote control device can send data packets to the online server or cloud server, and detect whether it can receive the feedback information returned by the online server or cloud server based on the data packet within a preset time period. When the feedback information returned by the online server or the cloud server can be received within the preset time period, it can be determined that the remote control device corresponding to the mobile platform can access the online server or the cloud server, and it can be further determined that the remote control device corresponding to the mobile platform can access the online server or the cloud server. The corresponding network running state is the online state. When the feedback information returned by the online server or the cloud server cannot be received within the preset time period, it can be determined that the remote control device corresponding to the mobile platform cannot access the online server or the cloud server, and it can be further determined that the remote control device corresponding to the movable platform cannot access the online server or the cloud server. The network running state corresponding to the mobile platform is a non-networking state.

When it is determined that the network operation state corresponding to the mobile platform is not connected to the Internet, it means that the online server or cloud server cannot be directly accessed through the remote control device at this time, and the online server or cloud server cannot be obtained. The standard parameters for the parameter calibration operation, therefore, the measurement calibration parameters can be obtained. The measurement calibration parameters can be parameters detected by controlling the gimbal to perform preset actions, and then the measurement and calibration parameters can be used to control the gimbal to perform parameter calibration. The operation, specifically, controls the motor on the gimbal and the inertial measurement unit IMU to perform the parameter calibration operation based on the measured calibration parameters. When it is determined that the network operation state corresponding to the mobile platform is the network state, it means that the online server or cloud server is accessed through the remote control device at this time, and then the parameters used for the PTZ can be obtained directly through the online server or cloud server. The preset calibration parameters of the calibration operation, therefore, the PTZ can be directly controlled to perform the parameter calibration operation based on the preset calibration parameters.

In this embodiment, by acquiring the network operating state corresponding to the movable platform, when the network operating state is a non-networked state, the pan/tilt is controlled based on the measurement and calibration parameters to perform a parameter calibration operation; when the network operating state is a networked state When the preset calibration parameters are used, the gimbal is controlled to perform parameter calibration operation, which effectively realizes different parameter calibration operations based on different network operating states corresponding to the movable platform, which not only greatly improves the parameter calibration of the gimbal. The quality and efficiency of the calibration operation, and also the flexibility and reliability of the use of the method are improved.

FIG. 3 is a schematic flowchart of a parameter calibration operation for controlling a pan/tilt according to another embodiment of the present invention; on the basis of the above embodiment, with continued reference to FIG. 3 , this embodiment provides another parameter calibration operation. The implementation manner, specifically, in this embodiment, the parameter calibration operation of controlling the PTZ may include:

Step S301: Acquire the current operating state corresponding to the PTZ.

Step S302: Based on the current operating state, control the PTZ to perform a parameter calibration operation.

Among them, for the movable platform, when the movable platform is applied, in different application scenarios, the PTZ set on the movable platform can correspond to different operating states, and the operating states can include static state and non-static state. rest state. Specifically, this embodiment does not limit the specific implementation manner of acquiring the current operating state corresponding to the PTZ, and those skilled in the art can set according to specific application requirements and design requirements, for example: a movable platform can set There is a fuselage IMU, and the data of the fuselage IMU can determine whether the movable platform is in a static state, and then judge whether the gimbal is in a static state. Specifically, if the deviation between the IMU data at the previous moment and the IMU data at the next moment is greater than or equal to the preset threshold, it means that the body of the movable platform at this moment is in a shaking state, and it can be determined that the movable platform is set in the movable platform. The gimbal on the platform is in a non-static state; if the deviation between the IMU data at the previous moment and the IMU data at the next moment is less than the preset threshold, it means that the body of the movable platform is not in a shaking state at this time, and then It can be determined that the gimbal set on the movable platform is in a stationary state.

Of course, those skilled in the art can also use other methods to obtain the current operating state corresponding to the PTZ, as long as the accuracy and reliability of the acquisition of the current operating state corresponding to the PTZ can be ensured, which will not be repeated here. .

After acquiring the current running state corresponding to the gimbal, the gimbal can be controlled to perform parameter calibration based on the current running state. Specifically, controlling the PTZ to perform parameter calibration based on the current operating state may include: when the current operating state is a stationary state, controlling the PTZ to perform a parameter calibration operation based on the measured calibration parameters; when the current operating state is a non-static state , the gimbal is controlled to perform parameter calibration based on the preset calibration parameters.

Specifically, when the current operating state corresponding to the gimbal is the stationary state, the measurement calibration parameters are obtained at this time. The measurement calibration parameters may be parameters detected by controlling the gimbal to perform preset actions, and then the measurement calibration parameters can be used. to control the gimbal to perform parameter calibration operations. Specifically, based on the measurement and calibration parameters, control the motor on the gimbal and the inertial measurement unit IMU to perform parameter calibration operations. When the current operating state corresponding to the gimbal is a non-stationary state, since the gimbal in the non-stationary state cannot accurately calibrate the parameters of the motor and the inertial measurement unit IMU, the preset calibration parameters can be obtained, and then based on The preset calibration parameters are used to control the gimbal to perform parameter calibration operations, which can effectively ensure the accuracy and reliability of parameter calibration operations on the gimbal.

In some other instances, when the current operating state is a stationary state, preset calibration parameters may also be acquired, and then the gimbal is controlled to perform parameter calibration operations based on the preset calibration parameters.

In this embodiment, by acquiring the current operating state corresponding to the gimbal, when the current operating state is a stationary state, the motor on the gimbal and the inertial measurement unit IMU are controlled to perform parameter calibration operations; or, in the current operating state When it is in a non-stationary state, the gimbal is controlled based on the preset calibration parameters to perform parameter calibration operations, thereby effectively realizing different parameter calibration operations based on different operating states of the gimbal, which not only greatly improves the parameter calibration. The quality and efficiency of the operation, and also ensure the accuracy and reliability of the parameter calibration operation of the PTZ.

In some instances, before controlling the gimbal to perform parameter calibration based on the preset calibration parameters, the method in this embodiment may further include: acquiring preset calibration parameters corresponding to the gimbal based on the identification information.

Wherein, after the identification information is obtained, the identification information can be analyzed and processed to obtain preset calibration parameters corresponding to the gimbal, and the above preset calibration parameters can include at least one of the following: motor parameters, IMU parameters , the motor parameters include but are not limited to the motor neutral position, the parameters of the angle sensor, etc. Specifically, referring to FIG. 4 , based on the identity information, obtaining the preset calibration parameters corresponding to the PTZ may include:

Step S401: Generate a parameter acquisition request corresponding to the PTZ based on the identity information.

Step S402: Send a parameter acquisition request to the server, where the server stores preset calibration parameters corresponding to multiple standard PTZs.

Step S403: Receive the PTZ calibration parameters corresponding to the PTZ sent by the server based on the parameter acquisition request.

Because different types of PTZs can correspond to different preset calibration parameters, and different preset calibration parameters can be stored in the server in advance, so that most types or even all types of PTZs can be calibrated. . After the identification information is obtained, the identification information can be analyzed and processed to generate a parameter acquisition request corresponding to the PTZ, and the parameter acquisition request is used to obtain the calibration parameters of the PTZ corresponding to the current PTZ. Among them, the preset calibration parameters corresponding to multiple types of PTZs are stored in the server. In order to accurately obtain the PTZ calibration parameters corresponding to the current PTZ, after the parameter acquisition request is obtained, the parameters can be obtained. The request is sent to the server.

Specifically, the parameter acquisition request includes the identity information corresponding to the current pan/tilt, and after the server acquires the parameter acquisition request, it may determine, from the preset calibration parameters corresponding to multiple types of pan/tilts based on the parameter acquisition request, the identification information corresponding to the current pan/tilt The PTZ calibration parameters corresponding to the PTZ can then be sent to the PTZ control device, so that the PTZ control device can receive the PTZ calibration corresponding to the PTZ sent by the server based on the parameter acquisition request. parameter.

For example, the plurality of standard PTZs stored in the server may include the first type PTZ, the second type PTZ, the third type PTZ, the fourth type PTZ, and the fifth type PTZ, the first type PTZ. There are preset calibration parameters a, the second type of PTZ corresponds to preset calibration parameters b, the third type PTZ corresponds to preset calibration parameters c, the fourth type PTZ corresponds to preset calibration parameters d and the fifth type The gimbal corresponds to a preset calibration parameter e.

If the pan-tilt type corresponding to the current pan-tilt is the third-type pan-tilt, a parameter acquisition request may be generated based on the identity information corresponding to the third-type pan-tilt, and then the parameter acquisition request may be sent to the server. After the server acquires the parameter acquisition request, it can be determined that the identity information corresponding to the parameter acquisition request is the identity information corresponding to the third type of pan-tilt. The preset calibration parameter c is determined as the gimbal calibration parameter corresponding to the current gimbal, and then the preset calibration parameter c can be sent to the gimbal control device, so that the gimbal control device can obtain the cloud corresponding to the gimbal. The platform calibration parameters further improve the accuracy and reliability of the acquisition of the calibration parameters of the gimbal.

In other instances, in the process that the server obtains the calibration parameters of the PTZ corresponding to the PTZ and sends the calibration parameters of the PTZ to the PTZ control device, in order to ensure the safety and reliability of data transmission, in The process of the server sending the PTZ calibration parameters corresponding to the PTZ to the PTZ control device may include the following steps: encrypting and compressing the PTZ calibration parameters corresponding to the PTZ, and obtaining the encrypted PTZ calibration parameters , send the encrypted PTZ calibration parameters to the PTZ control device, and after the PTZ control device obtains the encrypted PTZ calibration parameters, it can decrypt the encrypted PTZ calibration parameters, so as to obtain the same parameters as the PTZ. Corresponding PTZ calibration parameters, which not only ensures the accuracy and reliability of the acquisition of PTZ calibration parameters, but also improves the safety and reliability of acquisition of PTZ calibration parameters.

In this embodiment, a parameter acquisition request corresponding to the PTZ is generated based on the identity information, wherein the server stores preset calibration parameters corresponding to multiple standard PTZs, and then a parameter acquisition request can be sent to the server, thereby The PTZ control device can receive the PTZ calibration parameters corresponding to the PTZ sent by the server based on the parameter acquisition request, thus effectively ensuring the accuracy and reliability of acquiring the PTZ calibration parameters, and further improving the performance of the method. practicality.

FIG. 5 is a schematic flowchart of a parameter calibration operation for controlling a motor on a pan/tilt head and an inertial measurement unit IMU provided by an embodiment of the present invention; on the basis of the foregoing embodiment, with continued reference to FIG. 5 , in this embodiment, the control The specific implementation of the parameter calibration operation performed by the motor on the gimbal and the inertial measurement unit IMU is not limited, and those skilled in the art can set it according to specific application requirements and design requirements. Preferably, the measurement-based calibration in this embodiment is Parameter controlling the pan/tilt to perform parameter calibration operation may include:

Step S501: Acquire motor parameters corresponding to the motors on the gimbal and IMU parameters corresponding to the inertial measurement unit IMU.

Step S502: Based on the motor parameters, control the motor on the gimbal to perform a parameter calibration operation.

Step S503: Based on the IMU parameters, the IMU located on the PTZ is controlled to perform a parameter calibration operation.

Among them, different types of PTZs can be provided with different numbers of motors, for example, one motor can be set on a single-axis PTZ, two motors can be set on a dual-axis PTZ, and three motors can be set on a three-axis PTZ Motors. Multiple motors may be provided on the multi-axis gimbal. Specifically, those skilled in the art can select different types of gimbal according to specific application scenarios and application requirements. Generally speaking, the motors on the gimbal can include at least one of the following: yaw motor, roll motor, pitch motor, etc. When calibrating the parameters of the motors on the gimbal, it is necessary to calibrate the motors on the gimbal. Perform parameter calibration for all motors on the

Taking the angle sensor on the motor as the Hall sensor as an example, the parameter calibration operation for the motor may include: Hall peak-to-peak calibration operation, Hall neutral calibration operation, and motor neutral calibration operation. The above calibration operations are described below. To give a brief description:

The Hall peak-to-peak calibration operation may include the following steps: acquiring the magnetic field electrodes of the motor, the magnetic field electrodes including the magnetic field south pole S and the magnetic field north pole N, and then placing a Hall sensor at the lower end of the magnetic field electrode of the motor to control the motor to rotate, so as to obtain the Hall element at the lower end of the magnetic field electrode. The Hall peak-to-peak value in one cycle, specifically, the Hall sensor can be a bidirectional Hall sensor, or the number of Hall sensors can be two, so that the peak-to-peak value of the two Hall signals can be obtained. The peak-to-peak value of the signal is the calibration parameter obtained after the calibration operation is implemented.

The Hall median calibration operation may include the following steps: acquiring the peak-to-peak values corresponding to the two-way Hall signals, and determining the median value of the two-way Hall signals based on the above-mentioned peak-to-peak values, where the median value is obtained after the calibration operation is implemented calibration parameters. In some instances, in order to improve the quality and efficiency of the calibration operation, the Hall center calibration operation can be performed after the Hall peak-to-peak calibration operation, so that the Hall center calibration can be performed directly using the peak-to-peak value after the Hall peak-to-peak calibration operation. operate.

The motor neutral position calibration operation may include the following steps: controlling the shaft arm of the gimbal to rotate through the motor, obtaining the result that the shaft arm of the gimbal collides with the preset limit, and obtaining the mechanical angle of the motor according to the result of the collision with the preset limit. The median is the calibration parameter obtained after the calibration operation.

After the calibration operation of the motor parameters is completed, the IMU located on the gimbal is controlled based on the IMU parameters to perform the parameter calibration operation. The above-mentioned parameter calibration operation mainly includes the accelerometer zero offset calibration operation. For the accelerometer at the position, in order to realize the zero offset calibration operation of the accelerometer, the acceleration parameters output by the accelerometers located at different positions can be obtained, and then the correlation between the acceleration parameters and the acceleration of gravity can be determined, and the above correlation relationship can be used to calibrate Get the zero-bias parameter of the accelerometer. In some instances, the accelerometer set on the gimbal may be a three-axis accelerometer, so that when performing the zero-bias calibration operation of the accelerometer, the three-axis zero-bias parameters of the accelerometer can be obtained.

After completing the zero-bias calibration operation of the accelerometer, the calibrated accelerometer can be used to perform the zero-bias calibration operation of the Hall sensor. Specifically, the accelerometer after the parameter calibration operation can be used for the zero-bias calibration operation of the Hall sensor. Provide a more accurate reference level, based on the reference level, the zero offset parameters of the Hall sensors at the two horizontal axes can be calibrated, so that the zero position of the Hall sensor corresponds to the reference level, thus completing the parameter calibration operation for the motor and IMU .

It can be known from the above that the measured calibration parameters may include motor parameters corresponding to the motors on the gimbal and IMU parameters corresponding to the IMU. Wherein, the preset calibration parameters are of the same category as the parameters of the measurement calibration.

In this embodiment, the motor parameters corresponding to the motor on the gimbal and the IMU parameters corresponding to the IMU are obtained, and then the motor on the gimbal is controlled based on the motor parameters to perform parameter calibration operation, and based on the IMU parameters, the The IMU on the gimbal performs parameter calibration operation, thereby realizing the parameter calibration operation on the gimbal. After completing the parameter calibration operation on the gimbal, it is convenient for the user to control the gimbal through the movable platform, which further improves the method. Stable reliability of use.

FIG. 6 is a schematic flowchart of another pan/tilt control method provided by an embodiment of the present invention; on the basis of the above-mentioned embodiment, referring to FIG. 6 , after obtaining the motor parameters corresponding to the motors on the pan/tilt , in order to ensure the quality and efficiency of the parameter calibration operation of the motor, the motor parameters used for the parameter calibration operation can be calibrated in real time before the parameter calibration operation of the motor or during the parameter calibration operation of the motor. Data detection operation to determine whether the motor parameters used for parameter calibration operation are valid. Specifically, the method in this embodiment may further include:

Step S601: Obtain a first parameter range corresponding to the motor parameters.

Step S602: Identify whether the motor parameters are valid based on the first parameter range.

Step S603: When it is determined that the motor parameters are valid, control the motor on the gimbal based on the motor parameters to perform parameter calibration operations.

During the parameter calibration operation of the motor, any parameters used for the parameter calibration operation may include valid data and invalid data. The valid data may refer to the data of the motor parameters within the preset standard range, and the invalid data may refer to the motor Data whose parameters are beyond the preset standard range, such as: some infinite data, some infinitely small data, etc. Therefore, in order to accurately identify whether the motor parameters used for the parameter calibration operation are valid, the first parameter range corresponding to the motor parameters can be obtained. A parameter range may be the same or different, and the first parameter range corresponding to different motor parameters of the same type of gimbal may be the same or different.

The first parameter range corresponding to the motor parameters may be stored in a preset area, and the first parameter range corresponding to the motor parameters may be acquired by accessing the preset area. After the first parameter range is obtained, whether the motor parameters are valid can be identified based on the first parameter range. Specifically, the first parameter range can be analyzed and compared with the motor parameters. When the motor parameters are within the first parameter range, the It is determined that the motor parameters are valid. At this time, it is allowed to control the motor on the gimbal for parameter calibration based on the valid motor parameters; when the motor parameters exceed the first parameter range, it can be determined that the motor parameters are invalid, and the invalid motor parameters are prohibited. To control the motor on the PTZ to perform parameter calibration operation, so as to avoid invalid parameter calibration operation by the PTZ control device and waste of data processing resources.

Wherein, the first parameter range may include multiple ones, depending on the number of motor parameters. For details, refer to the motor parameters mentioned above. The first parameter ranges corresponding to the respective motor parameters may be the same, and the first parameter ranges corresponding to the motor parameters of the respective motors may also be different.

In this embodiment, by acquiring the first parameter range corresponding to the motor parameters, and then identifying whether the motor parameters are valid based on the first parameter range, when it is determined that the motor parameters are valid, the motor on the gimbal is allowed to be controlled based on the valid motor parameters The parameter calibration operation is performed, thereby effectively ensuring the stability and reliability of the parameter calibration operation on the motor on the gimbal, and further improving the stability and reliability of the parameter calibration operation on the gimbal, which is conducive to ensuring that the mobile platform is based on the cloud. The stable and reliable control of the platform.

FIG. 7 is a schematic flowchart of another pan-tilt control method provided by an embodiment of the present invention; on the basis of the above-mentioned embodiment, referring to FIG. 7, after acquiring the IMU parameters corresponding to the IMU on the pan-tilt , in order to ensure the quality and efficiency of the parameter calibration operation on the IMU, the IMU parameters used for the parameter calibration operation can be calibrated in real time before the parameter calibration operation on the IMU or during the parameter calibration operation on the IMU. The data detection operation is used to determine whether the IMU parameters used for the parameter calibration operation are valid. Specifically, the method in this embodiment may further include:

Step S701: Acquire a second parameter range corresponding to the IMU parameter.

Step S702: Identify whether the IMU parameters are valid based on the second parameter range.

Step S703: When it is determined that the IMU parameters are valid, the IMU located on the PTZ is allowed to perform parameter calibration based on the IMU parameters.

During the parameter calibration operation on the IMU, any parameters used for the parameter calibration operation may include valid data and invalid data. The valid data may refer to the data whose IMU parameters are within the preset standard range, and the invalid data may refer to the IMU Data whose parameters are beyond the preset standard range, such as: some infinite data, some infinitely small data, etc. Therefore, in order to accurately identify whether the IMU parameters used for the parameter calibration operation are valid, the second parameter range corresponding to the IMU parameters can be obtained. The second parameter ranges may be the same or different, and the second parameter ranges corresponding to different IMU parameters of the same type of PTZ may be the same or different.

The second parameter range corresponding to the IMU parameter may be stored in a preset area, and the second parameter range corresponding to the IMU parameter may be acquired by accessing the preset area. After the second parameter range is acquired, whether the IMU parameters are valid can be identified based on the second parameter range. Specifically, the second parameter range can be analyzed and compared with the IMU parameters. When the IMU parameters are within the second parameter range, the It is determined that the IMU parameters are valid. At this time, the IMU on the gimbal can be controlled to perform parameter calibration based on the valid IMU parameters. When the IMU parameters exceed the second parameter range, it can be determined that the IMU parameters are invalid, and the invalid IMU parameters are prohibited. It can control the IMU on the PTZ to perform parameter calibration operation, so as to avoid the invalid parameter calibration operation performed by the PTZ control device and waste data processing resources.

The second parameter range may correspond to the aforementioned accelerometer bias, and the second parameter range corresponding to each IMU may be different.

In this embodiment, by acquiring the second parameter range corresponding to the IMU parameters, and then identifying whether the IMU parameters are valid based on the second parameter range, when it is determined that the IMU parameters are valid, the IMU on the gimbal is allowed to be controlled based on the valid IMU parameters The parameter calibration operation is carried out, thereby effectively ensuring the stability and reliability of the parameter calibration operation on the IMU on the gimbal, and further improving the stability and reliability of the parameter calibration operation on the gimbal, which is conducive to ensuring that the cloud-based platform is based on the mobile platform. The stable and reliable control of the platform.

FIG. 8 is a schematic flowchart of another pan-tilt control method provided by an embodiment of the present invention; on the basis of the above-mentioned embodiment, with continued reference to FIG. 8 , when performing parameter calibration on the pan-tilt, two methods may be included. The results of the calibration operation, that is, the success of the calibration operation and the failure of the calibration operation, in order to allow the user to know the results of the parameter calibration operation on the PTZ in time, after controlling the PTZ to perform the parameter calibration operation, the method in this embodiment may also include:

Step S801: Identify whether the parameter calibration operation on the pan/tilt head is successful.

Step S802: Generate prompt information based on the recognition result.

After controlling the gimbal to perform the parameter calibration operation, it can be identified whether the parameter calibration operation on the gimbal is successful. Specifically, identifying whether the parameter calibration operation on the gimbal is successful may include: obtaining the calibrated parameters corresponding to the gimbal. ; Determine the parameter standard range corresponding to the calibrated parameters; when the calibrated parameters are within the parameter standard range, it is determined that the parameter calibration operation of the gimbal is successful; when the calibrated parameters are outside the parameter standard range, it is determined to The parameter calibration operation of the gimbal was unsuccessful.

After controlling the gimbal to perform parameter calibration, the calibrated parameters corresponding to the gimbal can be obtained, and then the standard range of parameters corresponding to the calibrated parameters can be determined. It can be understood that the calibrated parameters of the same type of gimbal correspond to The parameter standard ranges of , can be the same or different, and the parameter standard ranges corresponding to the calibrated parameters of different types of PTZs can be the same or different.

It can be understood that the parameter standard range corresponding to the calibrated parameter can be stored in the preset area, and the parameter standard range corresponding to the calibrated parameter can be obtained by accessing the preset area. After the parameter standard range is obtained, whether the parameter calibration operation of the gimbal is successful can be identified based on the parameter standard range. Specifically, the parameter standard range can be analyzed and compared with the calibrated parameters. When the calibrated parameters are within the parameter standard range , it can be determined that the parameter calibration operation of the gimbal is successful; when the parameters after calibration exceed the parameter standard range, it can be determined that the parameter calibration operation of the gimbal is unsuccessful.

After identifying whether the parameter calibration operation on the gimbal is successful, the identification result can be obtained. In order to enable the user to know the identification result of whether the parameter calibration operation on the gimbal is successful in time, prompt information can be generated based on the identification result. Generating prompt information based on the recognition result may include: generating first prompt information based on the recognition result of successful parameter calibration on the pan/tilt; or generating second prompt information based on the recognition result of unsuccessful parameter calibration on the pan/tilt.

Specifically, when the recognition result of the parameter calibration operation on the PTZ is that the parameter calibration operation is successful, first prompt information may be generated, and the first prompt information may include: voice prompt information, display light prompt information, interface prompt information, etc., the above-mentioned first prompt information is used to prompt the user that the parameter calibration operation on the PTZ is successful. When the recognition result of the parameter calibration operation on the PTZ is that the parameter calibration operation fails, second prompt information can be generated, and the second prompt information can include: voice prompt information, display light prompt information, interface prompt information, vibration Prompt information, etc. The above-mentioned second prompt information is used to prompt the user that the parameter calibration operation on the PTZ fails. After acquiring the first prompt information and/or the second prompt information, the first prompt information and/or the second prompt information may be displayed through a display device, and the above-mentioned display device may include a mobile phone terminal, a glasses terminal, or a Indicator lights installed on the movable platform, etc.

In this embodiment, by identifying whether the parameter calibration operation on the PTZ is successful, prompt information is generated based on the recognition result, and then the prompt information can be displayed on the display device, so that the user can know the parameter calibration on the PTZ in time through the display device. Whether the operation is successful further ensures the friendliness of interaction with the user and improves the practicability of the method.

In some instances, after it is determined that the parameter calibration operation on the pan-tilt head is successful, the method in this embodiment may further include:

Step S803: Based on the calibrated parameters, perform an update operation on the original PTZ parameters stored in the movable platform and corresponding to the original PTZ identity information.

Step S804: Based on the identity information, perform an update operation on the original PTZ identity information stored in the movable platform.

Among them, the movable platform stores the original PTZ parameters corresponding to the original PTZ identity information. The quality and efficiency of the control of the gimbal each time, after the calibration parameters corresponding to the gimbal are obtained, the original gimbal corresponding to the original gimbal identity information stored in the movable platform can be stored based on the calibrated parameters. The parameters are updated, so that when the gimbal is powered on later, the updated gimbal parameters stored in the movable platform can be directly obtained.

In addition, the original PTZ identity information corresponding to the original PTZ identity information is stored in the movable platform. After the PTZ on the movable platform is replaced and it is determined that the parameter calibration operation of the PTZ is successful, in order to be able to To ensure the quality and efficiency of the control of the PTZ each time, after obtaining the identity information corresponding to the PTZ, you can update the original PTZ identity information stored in the removable platform based on the identity information, so as to After the PTZ is powered on, the updated identity information stored in the movable platform can be directly obtained.

It should be noted that, in this embodiment, the execution sequence between the above steps S803 and S804 is not limited to the execution sequence in the above embodiment. For example, the step S803 may be executed after the step S804, or the step S803 and the step S804 may be executed simultaneously. For execution, those skilled in the art can adjust the execution order of the above steps S803 and S804 according to specific application scenarios and design requirements, and details are not repeated here.

It can be understood that when the parameter calibration operation is performed on the gimbal based on the preset calibration parameters, the preset calibration parameters can be used to directly update the original gimbal parameters stored in the movable platform and corresponding to the original gimbal identity information. , and can use the identity information to update the original PTZ identity information stored in the removable platform. That is, the calibrated parameters may include preset calibration parameters.

In this embodiment, the original PTZ parameters stored in the movable platform corresponding to the original PTZ identity information are updated based on the calibrated parameters, and the original PTZ identity information stored in the movable platform is updated based on the identity information. The update operation effectively realizes that when the PTZ is powered on, the PTZ parameters after the update operation and the identity information of the updated PTZ can be obtained directly through the movable platform, so as to realize the operation of the cloud platform. After the PTZ is powered on, the PTZ can be controlled directly based on the PTZ parameters and identification information, which further improves the quality and efficiency of the PTZ control.

In some instances, after it is determined that the parameter calibration operation on the PTZ is unsuccessful, the method in this embodiment may further include: prohibiting the PTZ and/or the movable platform from being controlled by the remote control device.

After it is determined that the parameter calibration operation of the gimbal fails, it means that the gimbal cannot be accurately controlled through the movable platform at this time. The device controls the pan/tilt and/or movable platform.

Specifically, an implementation method is that the PTZ is set on the movable platform, and the movable platform is communicatively connected with a remote control device. Under normal circumstances, the remote control device can control the PTZ through the movable platform. After it is determined that the parameter calibration operation of the PTZ fails, it means that the remote control device at this time cannot accurately control the PTZ through the movable platform. PTZ control.

In another implementation manner, when the PTZ is set on the movable platform, the movable platform can be communicatively connected with a remote control device, and under normal circumstances, the remote control device can control the movable platform. However, after it is determined that the parameter calibration operation on the PTZ fails, it means that the remote control device at this time cannot precisely control the movable platform.

In addition, the gimbal is the main component on the movable platform. When the gimbal located on the movable platform fails to work normally, the load set on the gimbal cannot be controlled through the gimbal, and the corresponding load cannot be obtained. load status information. At this time, in order to ensure the safe and reliable operation of the movable platform, it may be prohibited to control the movable platform through the remote control device. For example: in an aerial camera, if real-time image transmission is not possible, the drone will lose its meaning of aerial photography, and the user cannot take the initiative to avoid obstacles, which makes the drone at risk of bombing. When the station cannot be controlled normally, it is also forbidden to control the drone through remote control equipment, which is conducive to ensuring the safe use of the drone and the user experience.

Another way of realizing it is that the PTZ is set on the movable platform, and the movable platform is communicatively connected with a remote control device. control. After it is determined that the parameter calibration operation of the PTZ fails, it means that the remote control device at this time cannot accurately control the movable platform and the PTZ located on the movable platform. At this time, in order to ensure the operation of the movable platform and the PTZ The safety and reliability of the mobile platform and the PTZ can be prohibited from being controlled by the remote control device.

FIG. 9 is a schematic flowchart of another pan-tilt control method provided by an embodiment of the present invention; on the basis of the above embodiment, referring to FIG. 9 , after it is determined that the parameter calibration operation on the pan-tilt is unsuccessful, you can Attempt to perform parameter calibration operation on the PTZ. Specifically, the method in this embodiment may further include:

Step S901: Generate at least one recalibration instruction corresponding to the PTZ.

Step S902: Based on the at least one re-calibration instruction, control the PTZ to perform a parameter calibration operation again.

Wherein, after it is determined that the parameter calibration operation on the PTZ is unsuccessful, at least one re-calibration command corresponding to the PTZ can be generated; it can be understood that the number of the at least one re-calibration command can be one or more. Yes, those skilled in the art can set the number of recalibration instructions according to specific application requirements and design requirements.

After obtaining at least one re-calibration command, the gimbal can be controlled to re-calibrate the parameters based on the at least one re-calibration command. It should be noted that one re-calibration command can control the gimbal to re-calibrate the parameters once. The calibration command can control the PTZ to re-calibrate parameters for many times.

In some instances, referring to FIG. 10 , in this embodiment, based on at least one re-calibration instruction, controlling the pan/tilt to perform the parameter calibration operation again may include:

Step S9021: During the parameter calibration operation, obtain an operation node that fails to perform parameter calibration on the gimbal. The operation node includes at least one of the following: a motor located on the gimbal and an inertial measurement unit IMU located on the gimbal.

Step S9022: Based on the at least one re-calibration instruction, the control operation node performs the parameter calibration operation again.

Specifically, when controlling the gimbal to perform parameter calibration, it may include parameter calibration of the motor located on the gimbal and parameter calibration of the IMU located on the gimbal, and when the parameter calibration of the gimbal fails, It may be caused by the failure to perform parameter calibration on the motor located on the PTZ, and/or the failure to perform parameter calibration on the IMU on the PTZ. When controlling the gimbal to re-calibrate parameters, in order to improve the efficiency of re-calibrating parameters, the operation nodes on the gimbal that fail to perform parameter calibration can be acquired during the parameter calibration operation. The above-mentioned operation nodes may include the following At least one of: a motor on the gimbal, an inertial measurement unit IMU on the gimbal. After the at least one recalibration instruction is acquired, the operation node may be controlled to perform the parameter calibration operation again based on the at least one recalibration instruction.

For example 1, when performing parameter calibration on the gimbal, you can perform parameter calibration on the motor on the gimbal and on the IMU on the gimbal. When the parameter calibration of the IMU on the gimbal fails, after generating at least one re-calibration command, the IMU on the gimbal can be controlled to re-calibrate the parameters based on the at least one re-calibration command, without the need to re-calibrate the parameters of the IMU on the gimbal. The motor performs the parameter calibration operation again, which can effectively improve the quality and efficiency of the parameter calibration operation again.

For example 2, when performing parameter calibration on the gimbal, you can perform parameter calibration on the motor on the gimbal and on the IMU on the gimbal. When the IMU on the gimbal fails to perform parameter calibration, after at least one re-calibration command is generated, the motor on the gimbal and the IMU on the gimbal can be controlled to re-calibrate the parameters based on the at least one re-calibration command. Therefore, the parameter calibration operation for the PTZ is effectively realized again, and the stability and reliability of the parameter calibration operation on the PTZ is further improved.

For example 3, when performing parameter calibration on the gimbal, you can perform parameter calibration on the motor located on the gimbal and the IMU on the gimbal. When the parameter calibration of the IMU on the gimbal is successful, after at least one re-calibration command is generated, the motor on the gimbal can be controlled to re-calibrate the parameters based on the at least one re-calibration command, without the need to re-calibrate the parameters on the gimbal. The IMU performs the parameter calibration operation, thereby effectively realizing the parameter calibration operation of the gimbal again, and further improving the stability and reliability of the parameter calibration operation on the gimbal.

In this embodiment, in the process of parameter calibration operation, the operation node on the PTZ whose parameter calibration operation fails to be obtained is obtained, and then based on at least one re-calibration instruction, the operation node is controlled to perform the parameter calibration operation again, which effectively realizes that only for The operation node that has not successfully performed the parameter calibration operation does not need to perform the parameter calibration operation again, which greatly improves the quality and efficiency of the re-parameter calibration operation, and further improves the The stability and reliability of the method are obtained.

11 is a schematic flowchart of still another pan-tilt control method provided by an embodiment of the present invention; on the basis of any of the above embodiments, referring to FIG. 11 , when controlling the pan-tilt to perform parameter calibration, in order to allow The user obtains the process of performing parameter calibration on the PTZ in time, and the method in this embodiment may further include:

Step 1101: Generate status prompt information for identifying that the PTZ is performing a parameter calibration operation.

Step 1102: Output status prompt information.

In the process of controlling the gimbal to perform parameter calibration, a state prompt information for identifying the gimbal in the process of parameter calibration can be generated, and the state prompt information can include any one of the following: voice prompt information, display light prompt information, interface information, etc. In order to enable the user to know the status of the parameter calibration operation on the PTZ in time, after obtaining the status prompt information used to identify that the PTZ is performing the parameter calibration operation, the status prompt information can be output. The prompt information is displayed, and the above-mentioned display device may include a mobile phone terminal, a glasses terminal, an indicator light provided on the movable platform, and the like. Specifically, when the status prompt information is interface prompt information, the corresponding status prompt information can be displayed through the display interface of the mobile phone terminal or the display interface of the glasses terminal; the voice prompt information can be displayed through the voice broadcast module set on the mobile phone terminal and the glasses terminal. broadcast.

In some instances, when the status prompt information is the display light prompt information, the status prompt information can also be displayed through an indicator light provided on the movable platform.

In this embodiment, when the PTZ is controlled to perform the parameter calibration operation, the status prompt information for identifying that the PTZ is performing the parameter calibration operation is generated, and the status prompt information is output, so that the user can know the correctness of the parameters in time through the status prompt information. The state of the PTZ performing parameter calibration operation ensures the friendliness of interaction with users and further improves the practicability of the method.

FIG. 12 is a schematic flowchart of another pan-tilt control method provided by an embodiment of the present invention; on the basis of the above embodiment, referring to FIG. 12, before outputting the status prompt information, in order to ensure that the status prompt information For the stability and reliability of the display, the method in this embodiment may further include:

Step S1201: Detect the communication connection state between the remote control device and the display device.

Step S1202: When the remote control device is in communication connection with the display device, it is allowed to display the status prompt information through the display device.

Step S1203: when the remote control device and the display device are not connected, display the status prompt information through the indicator light set on the movable platform.

Because different types of status prompt information can be displayed through different types of display devices, for example: when the status prompt information is interface prompt information, the corresponding status prompt information can be displayed through the display interface of the mobile phone or the display interface of the glasses; When the status prompt information is voice prompt information, the voice prompt information can be broadcast through the voice broadcast module set on the mobile phone terminal and the glasses terminal. Specifically, when the status prompt information is displayed through the display interface of the mobile phone, the application scenarios of the mobile platform may include video aerial photography scenes, power inspection scenes, etc., such as aerial photography machines, inspection machines, and so on. When the status prompt information is displayed through the display interface of the glasses side, the application scene of the movable platform may include a virtual reality scene, such as a traversing machine and the like.

After obtaining the status prompt information, in order to ensure the stability and reliability of displaying the status prompt information, the communication connection state between the remote control device and the display device can be detected. Specifically, the remote control device can be controlled to send data packets to the display device. Then, it is detected whether the feedback data returned by the display device based on the data packet is obtained within the preset time period. When the remote control device receives the feedback data returned by the display device based on the data packet within the preset time period, the remote control device can be determined. communicate with the display device; when the remote control device does not receive the feedback data returned by the display device based on the data packet within the preset time period, it can be determined that the remote control device and the display device are not in communication connection.

When the remote control device is communicatively connected with the display device, it means that the state prompt information at this time can be displayed on the display device, and then the state prompt information can be displayed through the display device. Of course, in order to ensure that the user can know the stability and reliability of the status prompt information in time, in addition to displaying the status prompt information through the display device, the status prompt information can also be displayed through the indicator lights set on the movable platform. For example: when the parameter calibration operation of the gimbal is successful, the indicator light on the movable platform can be controlled to display green; when the parameter calibration operation of the gimbal fails, the indicator light on the movable platform can be controlled to display red; During the parameter calibration operation of the gimbal, the indicator light on the movable platform can be controlled to display yellow. Alternatively, when the parameter calibration operation of the gimbal is successful, the indicator light on the movable platform can be controlled to keep on; during the parameter calibration operation of the gimbal or when the parameter calibration fails, the movable platform can be controlled. The light on it flashes. In this way, the user can directly know the process state of the parameter calibration operation of the PTZ through the display device and the indicator light on the mobile platform to display the state prompt information, which further improves the practicability of the method.

When the remote control device and the display device are not connected in communication, it means that the status prompt information at this time cannot be displayed on the display device. The indicator light on the mobile platform displays the status prompt information, so that the user can directly know the process state of the parameter calibration operation of the PTZ through the indicator light on the mobile platform, which further improves the practicability of the method.

In a specific application, referring to FIG. 13 , this application embodiment provides a pan-tilt control method, wherein the pan-tilt is detachably arranged on the fuselage of the drone. The gimbal control method can solve the problem in the prior art that if the user replaces the gimbal, he needs to manually trigger the parameter calibration operation of the entire gimbal, and the gimbal itself cannot automatically detect the replacement and trigger the parameter calibration operation. Specifically, a camera module is provided on the gimbal, the camera module corresponds to a camera module serial number SN, and the camera module SN is the identification information of the gimbal. Specifically, the PTZ control method may include the following steps:

Step 1: When the PTZ is powered on, a parameter acquisition request for acquiring the identity information of the current PTZ is generated.

Specifically, when the PTZ is powered on, the PTZ or the control terminal may generate a parameter acquisition request based on the power-on signal of the PTZ power-on operation, wherein the control terminal is used to power on the PTZ and/or the movable The platform controls, and the above parameter acquisition request is used to acquire the identity information of the current PTZ.

Step 2: Obtain and request the first serial number SN of the camera module on the current gimbal based on the parameters.

Among them, the current gimbal refers to the gimbal set on the drone body after the replacement operation. The first serial number SN of the camera module on the current gimbal stores the gimbal chip of the first serial number SN, and the first serial number SN can be obtained by accessing the gimbal chip.

Step 3: Obtain the second serial number SN of the camera module on the original gimbal.

The original gimbal may refer to the gimbal set on the drone body before the replacement operation, and the second serial number SN of the camera module on the original gimbal may be stored in the control chip of the drone or in the camera. In the module, the second serial number SN of the camera module on the original gimbal can be obtained by accessing the control chip of the drone or the camera module.

Step 4: Compare whether the first serial number SN matches the second serial number SN.

Step 5: When the first serial number SN matches the second serial number SN, there is no need to perform parameter calibration on the PTZ.

Specifically, when the first serial number SN matches the second serial number SN, it means that the gimbal located on the UAV has not been replaced, and therefore, it is unnecessary to perform a parameter calibration operation on the gimbal.

Step 6: When the first serial number SN does not match the second serial number SN, perform a parameter calibration operation on the PTZ.

Among them, when the first serial number SN does not match the second serial number SN, it means that the gimbal located on the UAV has been replaced. Therefore, in order to accurately control the gimbal, the parameters of the gimbal can be calibrated. The operation specifically includes: firstly performing a parameter calibration operation on the motor located on the PTZ, then performing a parameter calibrating operation on the IMU located on the PTZ, and performing validity detection on the data used for the parameter calibration operation.

Step 7: In the process of performing parameter calibration on the PTZ, generate prompt information.

Among them, in the process of parameter calibration of the gimbal, in order to allow the user to know the process of parameter calibration in time, a prompt message can be generated, and the prompt message can be "Gimbal calibration is in progress, please do not intervene". After the prompt information is generated, the prompt information can be displayed through the display module of the remote control device and the display module of the wearable terminal, so that the user can know the process of the parameter calibration operation of the PTZ through the prompt information displayed on the display module. The wearable terminal may include wearable glasses, wearable watches, and the like.

Step 8: After performing the parameter calibration operation on the PTZ, check whether the parameter calibration operation is successful.

After performing parameter calibration on the gimbal, obtain the calibrated parameters corresponding to the gimbal, and determine the parameter calibration range corresponding to the calibrated parameters. When the calibrated parameters are within the parameter calibration range, determine the gimbal The parameter calibration operation is successful; when the parameter is outside the parameter calibration range after calibration, it is determined that the parameter calibration operation of the gimbal fails.

Step 9: After it is determined that the gimbal parameter calibration operation is successful, the new SN data of the camera module on the current gimbal and the gimbal parameters obtained after the gimbal calibration operation are saved.

Step 10: After it is determined that the pan-tilt parameter calibration operation fails, a re-calibration instruction is generated, and the parameter calibration operation is performed again on the pan-tilt based on the re-calibration instruction.

Step 11: After the PTZ calibration operation is successful, a first prompt message for identifying the successful PTZ parameter calibration operation can be generated; after the PTZ calibration operation fails, a message used to identify the PTZ parameter calibration failure can be generated. second prompt information; and display the second prompt information through the display module.

Among them, the first prompt information is used to inform the user to use the gimbal normally after the parameter calibration of the gimbal is completed, so as to ensure that all functions and accuracy corresponding to the drone and the gimbal are not affected. In some instances, the first prompt information may include progress information of the parameter calibration operation performed by the gimbal, that is, the progress information of the parameter calibration operation performed with the gimbal is represented by a progress bar.

In the PTZ control method provided in this embodiment, the PTZ can perform parameter calibration operation on the PTZ, and the process of identifying whether the PTZ is replaced can be judged by the PTZ or the control terminal. After it is determined that the PTZ has been replaced , you can send a PTZ calibration command to the PTZ, so that the PTZ can perform parameter calibration operation, thus effectively realizing that it can be independent of external modules, networks, servers, data transmission encryption/decryption, and no information security risks. For users, the gimbal can be replaced at any time and the parameter calibration operation can be performed at any time. After the parameter calibration operation is completed, the gimbal and movable platform can be controlled normally through the control terminal, which is not only more convenient and fast for users to manually replace the cloud It can automatically detect whether the gimbal is replaced. After the gimbal is replaced, the parameter calibration operation of the gimbal can be performed automatically, thereby improving the friendliness of interaction with users.

In other instances, the pan-tilt control method in this embodiment may implement the parameter calibration operation of the pan-tilt by using pre-downloaded data. Specifically, the pan-tilt control method may include the following steps:

Step 11: Before leaving the factory, obtain the standard calibration data corresponding to each type of PTZ, and store the standard calibration data of each type of PTZ in the server.

Step 12: When the PTZ is powered on, a parameter acquisition request for acquiring the identity information of the current PTZ is generated.

Step 13: Obtain and request the first serial number SN of the camera module on the current gimbal based on the parameters.

Step 14: Obtain the second serial number SN of the camera module on the original gimbal.

Step 15: Compare whether the first serial number SN matches the second serial number SN.

Step 16: When the first serial number SN matches the second serial number SN, there is no need to perform parameter calibration on the PTZ.

Step 17: When the first serial number SN does not match the second serial number SN, a parameter calibration operation needs to be performed on the pan/tilt head.

Step 18: When it is determined that a parameter calibration operation of the pan/tilt is required, standard calibration data corresponding to the current pan/tilt is obtained from the server based on the module serial number SN.

Specifically, after detecting that the gimbal is replaced, the first serial number SN corresponding to the camera module on the current gimbal can be uploaded to the server, so that the server can return the standard calibration of the corresponding gimbal based on the first serial number SN data packets to the drone.

Step 19: Perform a calibration operation of the parameters of the pan/tilt based on the standard calibration data corresponding to the current pan/tilt.

When the UAV obtains the standard calibration data package, the main control of the aircraft can decompress the standard calibration data package. After the decompression operation, the standard calibration data can be directly stored in the memory on the gimbal, so that no gimbal is required. Performing the motor parameter calibration operation and the IMU parameter calibration operation separately can realize the parameter calibration operation of the gimbal.

In some instances, referring to FIG. 14 , when the server transmits the standard calibration data to the UAV, in order to ensure the safety and reliability of data transmission, the standard calibration data can be compressed and encrypted, so that encrypted data packets can be obtained. . In this way, after the UAV obtains the encrypted data packet, the remote control device or the aircraft master control on the UAV can decompress and decrypt the encrypted data packet, so as to obtain the standard calibration data corresponding to the current PTZ. The standard calibration parameters are also the above-mentioned preset calibration parameters.

In the PTZ control method provided in this embodiment, after it is detected that the PTZ is replaced, the parameter calibration operation is automatically triggered by the server, thereby improving the quality and efficiency of the parameter calibration operation on the PTZ, and also preventing the PTZ from being damaged. After the replacement, it enters an abnormal state and cannot be used normally, which further ensures the safety and reliability of the use of the PTZ and the movable platform, and also improves the user experience and effectively improves the stability and reliability of the method.

FIG. 15 is a schematic structural diagram of a pan-tilt control device provided by an embodiment of the present invention; with reference to FIG. 15 , the present embodiment provides a pan-tilt control device, wherein the pan-tilt is detachably arranged on a movable platform Furthermore, the pan/tilt may include a shaft assembly and a pan/tilt motor, and the pan/tilt motor is used to drive the shaft assembly to rotate; the pan/tilt control device may be used to execute the pan/tilt control method corresponding to FIG. 1 above. Specifically, the PTZ control device may include:

a memory 12 for storing computer programs;

The processor 11 is used for running the computer program stored in the memory 12 to realize:

Obtain the power-on signal of the gimbal;

According to the power-on signal of the gimbal, obtain the identification information of the gimbal;

Based on the identification information, determine whether the PTZ can be controlled through the movable platform;

In addition, the structure of the image coding apparatus may further include a communication interface 13 for implementing the communication between the PTZ control apparatus and other devices or a communication network.

In some instances, when the processor 11 obtains the identification information of the gimbal according to the power-on signal of the gimbal, the processor 11 is configured to: obtain the load identification information of the load located on the gimbal according to the power-on signal of the gimbal; The payload identification information is determined as the identification information of the PTZ.

In some instances, when the processor 11 determines whether the PTZ can be controlled through the movable platform based on the identity information, the processor 11 is configured to: obtain the original PTZ identity information stored in the movable platform; When the identification information matches the original gimbal identity information, it is determined that the gimbal can be controlled through the movable platform; when the identification information does not match the original gimbal identity information, it is determined that the gimbal cannot be controlled through the movable platform. control.

In some instances, when the processor 11 controls the PTZ to perform a parameter calibration operation, the processor 11 is configured to: obtain the network operating state corresponding to the movable platform; when the network operating state is a non-networked state, perform calibration based on measurement The parameter controls the PTZ to perform the parameter calibration operation; when the network running state is the networking state, the PTZ is controlled to perform the parameter calibration operation based on the preset calibration parameters.

In some instances, when the processor 11 controls the pan-tilt to perform a parameter calibration operation, the processor 11 is configured to: obtain a current operating state corresponding to the pan-tilt; and control the pan-tilt to perform a parameter calibration operation based on the current operating state.

In some instances, when the processor 11 controls the pan/tilt to perform a parameter calibration operation based on the current operating state, the processor 11 is configured to: control the pan/tilt based on the measurement and calibration parameters to perform a parameter calibration operation when the current operating state is a stationary state. Parameter calibration operation; when the current running state is a non-stationary state, control the PTZ to perform parameter calibration operation based on the preset calibration parameters.

In some instances, before controlling the pan/tilt to perform a parameter calibration operation based on the preset calibration parameters, the processor 11 is configured to: obtain the preset calibration parameters corresponding to the pan/tilt based on the identification information.

In some instances, when the processor 11 acquires preset calibration parameters corresponding to the PTZ based on the identity information, the processor 11 is configured to: generate a parameter acquisition request corresponding to the PTZ based on the identity information; A parameter acquisition request is sent, and the server stores preset calibration parameters corresponding to a plurality of standard PTZs; and the PTZ calibration parameters corresponding to the PTZs sent by the server based on the parameter acquisition request are received.

In some instances, when the processor 11 controls the gimbal to perform a parameter calibration operation based on the measurement and calibration parameters, the processor 11 is configured to: obtain motor parameters corresponding to the motors on the gimbal and motor parameters corresponding to the inertial measurement unit IMU IMU parameters; based on motor parameters, control the motor on the gimbal to perform parameter calibration operations; based on IMU parameters, control the IMU located on the gimbal to perform parameter calibration operations.

In some instances, after acquiring the motor parameters corresponding to the motors on the gimbal, the processor 11 is configured to: acquire a first parameter range corresponding to the motor parameters; identify whether the motor parameters are valid based on the first parameter range; When it is determined that the motor parameters are valid, it is allowed to control the motor on the gimbal to perform parameter calibration based on the motor parameters.

In some instances, after obtaining the IMU parameters corresponding to the inertial measurement unit IMU, the processor 11 is configured to: obtain a second parameter range corresponding to the IMU parameters; identify whether the IMU parameters are valid based on the second parameter range; When the IMU parameters are valid, it is allowed to control the IMU located on the gimbal to perform parameter calibration based on the IMU parameters.

In some instances, after controlling the pan-tilt head to perform the parameter calibration operation, the processor 11 is configured to: identify whether the parameter calibration operation on the pan-tilt head is successful; and generate prompt information based on the recognition result.

In some instances, when the processor 11 identifies whether the parameter calibration operation on the PTZ is successful, the processor 11 is configured to: obtain the calibrated parameters corresponding to the PTZ; determine the parameter standard range corresponding to the calibrated parameters; When the parameters after calibration are within the parameter standard range, it is determined that the parameter calibration operation of the gimbal is successful; when the parameters after calibration are outside the parameter standard range, it is determined that the parameter calibration operation of the gimbal is unsuccessful.

In some instances, when the processor 11 generates prompt information based on the identification result, the processor 11 is configured to: generate the first prompt information based on the identification result of the successful parameter calibration operation on the gimbal; or, based on the parameter calibration on the gimbal If the operation is unsuccessful, a second prompt message is generated.

In some instances, after it is determined that the parameter calibration operation on the PTZ is successful, the processor 11 is configured to: based on the calibrated parameters, update the original PTZ parameters corresponding to the original PTZ identity information stored in the movable platform Operation; based on the identity information, update the original PTZ identity information stored in the removable platform.

In some instances, after it is determined that the parameter calibration operation on the pan/tilt is unsuccessful, the processor 11 is configured to: generate at least one re-calibration instruction corresponding to the pan/tilt; based on the at least one re-calibration instruction, control the pan/tilt to re-calibrate the parameters Calibration operation.

In some instances, when the processor 11 controls the pan-tilt head to perform the parameter calibration operation again based on at least one re-calibration instruction, the processor 11 is configured to: during the parameter calibration operation process, acquire the information about the unsuccessful parameter calibration operation on the pan-tilt head. An operation node, the operation node includes at least one of the following: a motor located on the PTZ, and an inertial measurement unit IMU located on the PTZ; based on at least one re-calibration instruction, the operation node is controlled to perform a parameter calibration operation again.

In some instances, after determining that the parameter calibration operation on the pan/tilt is unsuccessful, the processor 11 is configured to: prohibit the control of the pan/tilt and/or the movable platform by the remote control device.

In some instances, when the processor 11 controls the pan/tilt to perform a parameter calibration operation, the processor 11 is configured to: generate status prompt information for identifying that the pan/tilt is performing a parameter calibration operation; and output the status prompt information.

In some instances, before outputting the state prompt information, the processor 11 is configured to: detect the communication connection state between the remote control device and the display device; when the remote control device and the display device are in communication connection, allow the display device to display the state prompt information ; When the remote control device and the display device are not connected, the state prompt information is displayed through the indicator light arranged on the movable platform.

The apparatus shown in FIG. 15 may execute the method of the embodiment shown in FIG. 1 to FIG. 14 . For the part not described in detail in this embodiment, reference may be made to the related description of the embodiment shown in FIG. 1 to FIG. 14 . For the execution process and technical effects of the technical solution, refer to the descriptions in the embodiments shown in FIG. 1 to FIG. 14 , which will not be repeated here.

FIG. 16 is a schematic structural diagram of a movable platform provided by an embodiment of the present invention. Referring to FIG. 16 , this embodiment provides a movable platform. The movable platform may include at least one of the following: an unmanned aerial vehicle. , unmanned vehicles and handheld gimbals, etc. Specifically, the movable platform may include:

fuselage 21;

The pan/tilt head 22 is used to support the load, and the pan/tilt head 22 is detachably arranged on the fuselage 21, the pan/tilt head includes a shaft assembly and a pan/tilt motor, and the pan/tilt motor is used to drive the shaft assembly to rotate;

The pan-tilt control device 23 shown in FIG. 15 is used to control the pan-tilt 22 .

The specific implementation process and implementation principle of the movable platform shown in FIG. 16 are similar to the specific implementation process and implementation principle of the PTZ control device shown in FIG. related descriptions of the examples. For the execution process and technical effect of the technical solution, refer to the description in the embodiment shown in FIG. 15 , which will not be repeated here.

In addition, an embodiment of the present invention provides a storage medium, where the storage medium is a computer-readable storage medium, and program instructions are stored in the computer-readable storage medium, and the program instructions are used to implement the above-mentioned embodiments shown in FIG. 1 to FIG. 14 . PTZ control method in .

The technical solutions and technical features in the above embodiments can be used alone or combined in the case of conflict with the present invention, as long as they do not exceed the cognitive scope of those skilled in the art, they all belong to the equivalent embodiments within the protection scope of the present application .

In the several embodiments provided by the present invention, it should be understood that the disclosed related remote control devices and methods may be implemented in other manners. For example, the embodiments of the remote control device described above are only illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components. May be combined or may be integrated into another system, or some features may be omitted, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, and the indirect coupling or communication connection of the remote control device or unit may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.

The integrated unit, if implemented in the form of a software functional unit and sold or used as an independent product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , including several instructions for causing a computer processor (processor) to perform all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, Read-Only Memory (ROM, Read-Only Memory), Random Access Memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes.

The above descriptions are only the embodiments of the present invention, and are not intended to limit the scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the description and drawings of the present invention, or directly or indirectly applied to other related technologies Fields are similarly included in the scope of patent protection of the present invention.

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

Claims

A pan-tilt control method, characterized in that the pan-tilt is detachably arranged on a movable platform, and the method comprises:

Obtain the power-on signal of the gimbal;

Acquire the identity information of the PTZ according to the power-on signal of the PTZ;

Based on the identity information, judging whether the PTZ can be controlled by the movable platform;

When the PTZ cannot be controlled through the movable platform, the PTZ is controlled to perform parameter calibration operation, so that the PTZ can be controlled through the movable platform.
The method according to claim 1, wherein obtaining the identity information of the PTZ according to the power-on signal of the PTZ comprises:

According to the power-on signal of the PTZ, obtain the load identification information of the load located on the PTZ;

The load identification information is determined as the identification information of the PTZ.
The method according to claim 1, wherein, based on the identification information, judging whether the PTZ can be controlled by the movable platform, comprising:

Obtain the original PTZ identity information stored in the movable platform;

When the identity information matches the original PTZ identity information, it is determined that the PTZ can be controlled through the movable platform;

When the identity information does not match the original PTZ identity information, it is determined that the PTZ cannot be controlled through the movable platform.
The method according to claim 1, wherein controlling the PTZ to perform a parameter calibration operation comprises:

obtaining the network operating state corresponding to the movable platform;

When the network operating state is a non-networking state, controlling the PTZ to perform parameter calibration based on the measurement and calibration parameters;

When the network operating state is the networking state, the pan/tilt is controlled to perform parameter calibration operations based on preset calibration parameters.
The method according to claim 1, wherein controlling the PTZ to perform a parameter calibration operation comprises:

Obtain the current operating state corresponding to the PTZ;

Based on the current operating state, the PTZ is controlled to perform a parameter calibration operation.
The method according to claim 5, wherein, based on the current operating state, controlling the PTZ to perform a parameter calibration operation, comprising:

When the current operating state is a stationary state, control the pan/tilt to perform parameter calibration based on the measurement calibration parameters;

When the current operating state is a non-stationary state, the gimbal is controlled to perform parameter calibration operations based on preset calibration parameters.
The method according to claim 4 or 6, characterized in that, before controlling the pan/tilt head to perform a parameter calibration operation based on preset calibration parameters, the method further comprises:

Based on the identification information, the preset calibration parameters corresponding to the PTZ are acquired.
The method according to claim 7, wherein, based on the identity information, acquiring the preset calibration parameters corresponding to the PTZ comprises:

generating a parameter acquisition request corresponding to the PTZ based on the identity information;

sending a parameter acquisition request to a server, where the server stores preset calibration parameters corresponding to multiple standard PTZs;

Receive a PTZ calibration parameter corresponding to the PTZ sent by the server based on the parameter acquisition request.
The method according to claim 4 or 6, characterized in that, controlling the PTZ to perform parameter calibration operations based on measurement calibration parameters, comprising:

Acquiring motor parameters corresponding to the motor on the PTZ and IMU parameters corresponding to the inertial measurement unit IMU;

Based on the motor parameters, control the motor on the gimbal to perform parameter calibration operations;

Based on the IMU parameters, the IMU located on the PTZ is controlled to perform a parameter calibration operation.
The method according to claim 9, wherein after acquiring the motor parameters corresponding to the motors on the pan/tilt head, the method further comprises:

obtaining a first parameter range corresponding to the motor parameter;

Identifying whether the motor parameter is valid based on the first parameter range;

When it is determined that the motor parameters are valid, it is allowed to control the motors on the pan/tilt head to perform parameter calibration operations based on the motor parameters.
The method according to claim 9, wherein after acquiring the IMU parameters corresponding to the inertial measurement unit IMU, the method further comprises:

obtaining a second parameter range corresponding to the IMU parameter;

identifying whether the IMU parameter is valid based on the second parameter range;

When it is determined that the IMU parameters are valid, it is allowed to control the IMU located on the PTZ to perform a parameter calibration operation based on the IMU parameters.
The method according to any one of claims 1-11, wherein after controlling the pan/tilt to perform parameter calibration, the method further comprises:

Identify whether the parameter calibration operation of the PTZ is successful;

Generate prompt information based on the recognition result.
The method according to claim 12, wherein identifying whether the parameter calibration operation on the PTZ is successful comprises:

Obtain the calibrated parameters corresponding to the PTZ;

Determine the parameter standard range corresponding to the calibrated parameter;

When the calibrated parameters are within the parameter standard range, it is determined that the parameter calibration operation on the pan-tilt head is successful;

When the calibrated parameter is outside the parameter standard range, it is determined that the parameter calibration operation on the PTZ is unsuccessful.
The method according to claim 13, wherein generating prompt information based on the recognition result, comprising:

Based on the recognition result of the successful parameter calibration operation on the pan-tilt head, the first prompt information is generated; or,

The second prompt information is generated based on the identification result that the parameter calibration operation on the pan/tilt is unsuccessful.
The method according to claim 13, wherein after it is determined that the parameter calibration operation on the PTZ is successful, the method further comprises:

Based on the calibrated parameters, update the original PTZ parameters stored in the movable platform and corresponding to the original PTZ identity information;

Based on the identity information, an update operation is performed on the original PTZ identity information stored in the movable platform.
The method according to claim 13, wherein after it is determined that the parameter calibration operation on the PTZ is unsuccessful, the method further comprises:

generating at least one recalibration instruction corresponding to the PTZ;

Based on the at least one re-calibration instruction, the PTZ is controlled to perform a parameter calibration operation again.
The method according to claim 16, wherein, based on the at least one re-calibration instruction, controlling the PTZ to perform a parameter calibration operation again, comprising:

During the parameter calibration operation, an operation node on the gimbal that fails to perform the parameter calibration operation is acquired, and the operation node includes at least one of the following: a motor located on the gimbal, an inertial motor located on the gimbal measurement unit IMU;

Based on the at least one re-calibration instruction, the operation node is controlled to perform a parameter calibration operation again.
The method according to claim 13, characterized in that, after determining that the parameter calibration operation on the PTZ is unsuccessful, the method further comprises:

Control of the pan/tilt and/or movable platform by means of a remote control device is prohibited.
The method according to any one of claims 1-11, characterized in that, when controlling the PTZ to perform a parameter calibration operation, the method further comprises:

generating status prompt information for identifying that the PTZ is performing a parameter calibration operation;

Output the status prompt information.
The method according to claim 19, wherein before outputting the status prompt information, the method further comprises:

Detect the communication connection status between the remote control device and the display device;

When the remote control device is communicatively connected to the display device, allowing the display device to display the status prompt information;

When the remote control device and the display device are not connected, the status prompt information is displayed through an indicator light disposed on the movable platform.
A pan-tilt control device, characterized in that the pan-tilt is detachably arranged on a movable platform, the pan-tilt includes a shaft assembly and a pan-tilt motor, and the pan-tilt motor is used to drive the shaft assembly to perform rotating; the device includes:

memory for storing computer programs;

A processor for running a computer program stored in the memory to achieve:

Obtain the power-on signal of the gimbal;

Acquire the identity information of the PTZ according to the power-on signal of the PTZ;

Based on the identity information, judging whether the PTZ can be controlled by the movable platform;

When the PTZ cannot be controlled through the movable platform, the PTZ is controlled to perform parameter calibration operation, so that the PTZ can be controlled through the movable platform.
The device according to claim 21, wherein when the processor acquires the identity information of the PTZ according to the PTZ power-on signal, the processor is configured to:

According to the power-on signal of the PTZ, obtain the load identification information of the load located on the PTZ;

The load identification information is determined as the identification information of the PTZ.
The device according to claim 21, wherein when the processor determines whether the mobile platform can control the pan-tilt based on the identification information, the processor is configured to:

Obtain the original PTZ identity information stored in the movable platform;

When the identity information matches the original PTZ identity information, it is determined that the PTZ can be controlled through the movable platform;

When the identity information does not match the original PTZ identity information, it is determined that the PTZ cannot be controlled through the movable platform.
The device according to claim 21, wherein when the processor controls the pan/tilt to perform parameter calibration, the processor is configured to:

obtaining the network operating state corresponding to the movable platform;

When the network operating state is a non-networking state, controlling the PTZ to perform parameter calibration based on the measurement and calibration parameters;

When the network operating state is the networking state, the pan/tilt is controlled to perform parameter calibration operations based on preset calibration parameters.
The device according to claim 21, wherein when the processor controls the pan/tilt to perform parameter calibration, the processor is configured to:

Obtain the current operating state corresponding to the PTZ;

Based on the current operating state, the PTZ is controlled to perform a parameter calibration operation.
The device according to claim 25, wherein when the processor controls the pan/tilt head to perform a parameter calibration operation based on the current operating state, the processor is configured to:

When the current operating state is a stationary state, control the pan/tilt to perform parameter calibration based on the measurement calibration parameters;

When the current operating state is a non-stationary state, the gimbal is controlled to perform a parameter calibration operation based on preset calibration parameters.
device according to claim 24 or 26, is characterized in that, before controlling described PTZ to carry out parameter calibration operation based on preset calibration parameter, described processor is used for:

Based on the identification information, the preset calibration parameters corresponding to the PTZ are acquired.
The apparatus according to claim 27, wherein when the processor acquires the preset calibration parameter corresponding to the pan/tilt based on the identity information, the processor is configured to:

generating a parameter acquisition request corresponding to the PTZ based on the identity information;

sending a parameter acquisition request to a server, where the server stores preset calibration parameters corresponding to multiple standard PTZs;

Receive a PTZ calibration parameter corresponding to the PTZ sent by the server based on the parameter acquisition request.
The device according to claim 24 or 26, wherein when the processor controls the pan/tilt to perform a parameter calibration operation based on the measurement and calibration parameters, the processor is configured to:

Acquiring motor parameters corresponding to the motor on the PTZ and IMU parameters corresponding to the inertial measurement unit IMU;

Based on the motor parameters, control the motor on the gimbal to perform parameter calibration operations;

Based on the IMU parameters, the IMU located on the PTZ is controlled to perform a parameter calibration operation.
The device according to claim 29, wherein after acquiring the motor parameters corresponding to the motors on the pan/tilt head, the processor is configured to:

obtaining a first parameter range corresponding to the motor parameter;

Identifying whether the motor parameter is valid based on the first parameter range;

When it is determined that the motor parameters are valid, it is allowed to control the motors on the pan/tilt head to perform parameter calibration operations based on the motor parameters.
The apparatus according to claim 29, wherein after acquiring the IMU parameters corresponding to the inertial measurement unit IMU, the processor is configured to:

obtaining a second parameter range corresponding to the IMU parameter;

identifying whether the IMU parameter is valid based on the second parameter range;

When it is determined that the IMU parameters are valid, it is allowed to control the IMU located on the PTZ to perform a parameter calibration operation based on the IMU parameters.
The device according to any one of claims 21-31, wherein after controlling the pan/tilt to perform parameter calibration, the processor is configured to:

Identify whether the parameter calibration operation of the PTZ is successful;

Generate prompt information based on the recognition result.
The device according to claim 32, wherein when the processor identifies whether the parameter calibration operation on the pan/tilt is successful, the processor is configured to:

Obtain the calibrated parameters corresponding to the PTZ;

Determine the parameter standard range corresponding to the calibrated parameter;

When the calibrated parameter is within the parameter standard range, it is determined that the parameter calibration operation on the PTZ is successful;

When the calibrated parameter is outside the parameter standard range, it is determined that the parameter calibration operation on the PTZ is unsuccessful.
The apparatus according to claim 33, wherein when the processor generates prompt information based on the identification result, the processor is configured to:

Based on the recognition result of the successful parameter calibration operation on the pan-tilt head, the first prompt information is generated; or,

The second prompt information is generated based on the identification result that the parameter calibration operation on the pan/tilt is unsuccessful.
The apparatus according to claim 33, wherein after determining that the parameter calibration operation on the pan/tilt head is successful, the processor is configured to:

Based on the calibrated parameters, update the original PTZ parameters stored in the movable platform and corresponding to the original PTZ identity information;

Based on the identity information, an update operation is performed on the original PTZ identity information stored in the movable platform.
The apparatus according to claim 33, wherein after determining that the parameter calibration operation on the pan/tilt is unsuccessful, the processor is configured to:

generating at least one recalibration instruction corresponding to the PTZ;

Based on the at least one re-calibration instruction, the PTZ is controlled to perform a parameter calibration operation again.
The device according to claim 36, wherein when the processor controls the pan/tilt to perform a parameter calibration operation again based on the at least one recalibration instruction, the processor is configured to:

During the parameter calibration operation, an operation node on the gimbal that fails to perform the parameter calibration operation is acquired, and the operation node includes at least one of the following: a motor located on the gimbal, an inertial motor located on the gimbal measurement unit IMU;

Based on the at least one re-calibration instruction, the operation node is controlled to perform a parameter calibration operation again.
The device according to claim 33, wherein after determining that the parameter calibration operation on the pan-tilt head is unsuccessful, the processor is configured to:

Control of the pan/tilt and/or movable platform by means of a remote control device is prohibited.
The device according to any one of claims 21-31, wherein when the processor controls the pan/tilt to perform a parameter calibration operation, the processor is configured to:

generating status prompt information for identifying that the PTZ is performing a parameter calibration operation;

Output the status prompt information.
The apparatus according to claim 39, wherein before outputting the status prompt information, the processor is configured to:

Detect the communication connection status between the remote control device and the display device;

When the remote control device is communicatively connected to the display device, allowing the display device to display the status prompt information;

When the remote control device and the display device are not connected, the status prompt information is displayed through an indicator light disposed on the movable platform.
A movable platform, characterized in that, comprising:

body;

A gimbal is used to support a load, the gimbal is detachably arranged on the body, the gimbal includes a shaft assembly and a gimbal motor, and the gimbal motor is used to drive the shaft assembly to rotate;

The pan-tilt control device according to any one of claims 21-40, wherein the pan-tilt control device is used to control the pan-tilt.
A computer-readable storage medium, characterized in that the storage medium is a computer-readable storage medium, and program instructions are stored in the computer-readable storage medium, and the program instructions are used to implement any one of claims 1-20 The PTZ control method described in item.