WO2022061772A1 - Procédé et appareil de commande de cardan, plateforme mobile, et support d'enregistrement - Google Patents

Procédé et appareil de commande de cardan, plateforme mobile, et support d'enregistrement Download PDF

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Publication number
WO2022061772A1
WO2022061772A1 PCT/CN2020/117907 CN2020117907W WO2022061772A1 WO 2022061772 A1 WO2022061772 A1 WO 2022061772A1 CN 2020117907 W CN2020117907 W CN 2020117907W WO 2022061772 A1 WO2022061772 A1 WO 2022061772A1
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WIPO (PCT)
Prior art keywords
ptz
parameter
gimbal
parameters
pan
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PCT/CN2020/117907
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English (en)
Chinese (zh)
Inventor
刘力源
隋企
梁健航
Original Assignee
深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2020/117907 priority Critical patent/WO2022061772A1/fr
Priority to CN202080008000.XA priority patent/CN113302569A/zh
Publication of WO2022061772A1 publication Critical patent/WO2022061772A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • G05D3/20—Control of position or direction using feedback using a digital comparing device

Definitions

  • 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.
  • the replacement operation of the gimbal is generally realized through an after-sales approach.
  • 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.
  • 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:
  • the PTZ 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:
  • a processor for running a computer program stored in the memory to achieve:
  • the PTZ 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 third aspect of the present invention is to provide a movable platform, comprising:
  • 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 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 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.
  • 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.
  • FIG. 1 is a schematic flowchart of a pan-tilt control method according to an embodiment of the present invention
  • FIG. 2 is a schematic flowchart of controlling the pan/tilt to perform parameter calibration operation provided by an embodiment of the present invention
  • FIG. 3 is a schematic flowchart of controlling the pan/tilt to perform parameter calibration operation provided by another embodiment of the present invention.
  • FIG. 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
  • FIG. 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
  • FIG. 6 is a schematic flowchart of another pan-tilt control method provided by an embodiment of the present invention.
  • FIG. 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.
  • FIG. 9 is a schematic flowchart of another pan-tilt control method provided by an embodiment of the present invention.
  • FIG. 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
  • FIG. 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.
  • FIG. 13 is a schematic flowchart of a pan-tilt control method provided by an application embodiment of the present invention.
  • FIG. 14 is a schematic flowchart of another pan-tilt control method provided by an application embodiment of the present invention.
  • FIG. 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.
  • the gimbal parameters corresponding to the gimbal 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.
  • the gimbal detachably installed on the movable platform or other equipment installed on the gimbal for example, the camera module installed on the gimbal
  • the user can purchase the gimbal separately and replace it by himself Cloud platform.
  • 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.
  • 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.
  • 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.
  • the parameters corresponding to the gimbal motor and the Inertial Measurement Unit (IMU) can be recorded in the preset memory.
  • the factory original camera module will be recorded.
  • the product serial number Serial Number, SN for short.
  • 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.
  • the user can individually replace the camera module or the gimbal according to application requirements and design requirements.
  • 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.
  • the gimbal parameter calibration operation 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.
  • 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.
  • the present embodiment provides a pan-tilt control method, device, Removable platform and storage medium.
  • the gimbal is detachably connected to the movable platform, which provides the possibility for users to replace the gimbal by themselves.
  • 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.
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • CPU Central Processing Unit
  • DSP digital signal processor
  • ASIC Application Specific Integrated Circuit
  • FPGA Field-Programmable Gate Array
  • 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.
  • Step S101 Acquire a PTZ power-on signal.
  • 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 is 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.
  • PTZ power-on signal 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.
  • Step S102 Acquire the identity information of the PTZ according to the power-on signal of the PTZ.
  • 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.
  • 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.
  • the gimbal's identity information can be obtained based on the gimbal power-on signal.
  • the gimbal power-on signal includes the gimbal's identity information
  • the gimbal power-on signal can be analyzed and processed to obtain the gimbal's power-on signal.
  • identification information is stored in a preset area, and the mapping relationship between the identity information and the identity information of the PTZ is preconfigured.
  • 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.
  • 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.
  • the identification information is such as the product serial number of the gimbal instead of the load identification information
  • the load is a camera module, there is a detachable connection between it and the gimbal
  • 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.
  • the loads may include at least one of the following: a camera module, a follow-spot light, a ranging sensor, and the like.
  • 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 can be stored in the memory of the load.
  • 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.
  • Step S103 Based on the identity information, it is judged whether the PTZ can be controlled through the movable platform.
  • 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.
  • 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.
  • the original PTZ identity information stored in the movable platform can be acquired based on the identity information.
  • the original PTZ identity information can be analyzed and matched with the identity information.
  • 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.
  • 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.
  • the original PTZ identity information corresponding to the identity information also has different expressions.
  • 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.
  • 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.
  • 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.
  • the original gimbal identity information may be the product serial number of the gimbal before the replacement of the gimbal stored in advance.
  • the identification information can be compared with the product serial number of the gimbal before the replacement.
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the network operation state may include a non-networked state and a networked state.
  • 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.
  • 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.
  • 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.
  • the network running state corresponding to the mobile platform is a non-networking state.
  • 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.
  • the network operation state corresponding to the mobile platform is the network state
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • preset calibration parameters may also be acquired, and then the gimbal is controlled to perform parameter calibration operations based on the preset calibration parameters.
  • 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.
  • the method in this embodiment may further include: acquiring preset calibration parameters corresponding to the gimbal based on the identification information.
  • 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.
  • 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.
  • different types of PTZs can correspond to different preset calibration parameters
  • 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.
  • 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.
  • 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.
  • the parameter acquisition request includes the identity information corresponding to the current pan/tilt
  • the server 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.
  • 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
  • the gimbal corresponds to a preset calibration parameter e.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the motors on the gimbal can include at least one of the following: yaw motor, roll motor, pitch motor, etc.
  • the parameter calibration operation for the motor may include: Hall peak-to-peak calibration operation, Hall neutral calibration operation, and motor neutral calibration operation.
  • Hall peak-to-peak calibration operation Hall neutral calibration operation
  • motor neutral calibration operation motor neutral calibration operation
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the calibrated accelerometer can be used to perform the zero-bias calibration operation of the Hall sensor.
  • the accelerometer after the parameter calibration operation can be used for the zero-bias calibration operation of the Hall sensor.
  • 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 .
  • the measured calibration parameters may include motor parameters corresponding to the motors on the gimbal and IMU parameters corresponding to the IMU.
  • the preset calibration parameters are of the same category as the parameters of the measurement calibration.
  • 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.
  • FIG. 6 is a schematic flowchart of another pan/tilt control method provided by an embodiment of the present invention.
  • 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.
  • 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.
  • 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
  • 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.
  • 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.
  • 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 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.
  • FIG. 7 is a schematic flowchart of another pan-tilt control method provided by an embodiment of the present invention.
  • 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.
  • 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.
  • 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
  • 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.
  • 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 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the identification result After identifying whether the parameter calibration operation on the gimbal is successful, the identification result can be obtained.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the original PTZ identity information corresponding to the original PTZ identity information is stored in the movable platform.
  • 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
  • the execution sequence between the above steps S803 and S804 is not limited to the execution sequence in the above embodiment.
  • the step S803 may be executed after the step S804, or the step S803 and the step S804 may be executed simultaneously.
  • 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.
  • 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.
  • 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.
  • the method in this embodiment may further include: prohibiting the PTZ and/or the movable platform from being controlled by the remote control device.
  • the device controls the pan/tilt and/or movable platform.
  • 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.
  • the movable platform 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.
  • the gimbal is the main component on the movable platform.
  • the load set on the gimbal cannot be controlled through the gimbal, and the corresponding load cannot be obtained. load status information.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the gimbal to perform parameter calibration 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • FIG. 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.
  • 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.
  • 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.
  • 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.
  • the status prompt information 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.
  • 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
  • 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.
  • the corresponding status prompt information can be displayed through the display interface of the mobile phone or the display interface of the glasses;
  • the voice prompt information can be broadcast through the voice broadcast module set on the mobile phone terminal and the glasses terminal.
  • 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.
  • the application scene of the movable platform may include a virtual reality scene, such as a traversing machine and the like.
  • the communication connection state between the remote control device and the display device can be detected.
  • 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.
  • 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.
  • the remote control device 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.
  • the status prompt information can also be displayed through the indicator lights set on the movable platform.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • a prompt message can be generated, and the prompt message can be "Gimbal calibration is in progress, please do not intervene".
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the gimbal can be replaced at any time and the parameter calibration operation can be performed at any time.
  • 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.
  • the pan-tilt control method in this embodiment may implement the parameter calibration operation of the pan-tilt by using pre-downloaded data.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • the server transmits the standard calibration data to the UAV
  • the standard calibration data can be compressed and encrypted, so that encrypted data packets can be obtained.
  • 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.
  • 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.
  • the PTZ control device may include:
  • the processor 11 is used for running the computer program stored in the memory 12 to realize:
  • the PTZ 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 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.
  • the processor 11 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.
  • 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.
  • the processor 11 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.
  • the processor 11 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.
  • the processor 11 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.
  • the processor 11 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.
  • the processor 11 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.
  • the processor 11 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.
  • the processor 11 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.
  • 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.
  • 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.
  • the processor 11 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.
  • the processor 11 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.
  • 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.
  • 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.
  • the processor 11 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.
  • the processor 11 is configured to: prohibit the control of the pan/tilt and/or the movable platform by the remote control device.
  • the processor 11 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.
  • the processor 11 before outputting the state prompt information, 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 .
  • the apparatus shown in FIG. 15 may execute the method of the embodiment shown in FIG. 1 to FIG. 14 .
  • FIG. 16 is a schematic structural diagram of a movable platform provided by an embodiment of the present invention.
  • 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.
  • the movable platform may include:
  • 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 .
  • 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 disclosed related remote control devices and methods may be implemented in other manners.
  • the embodiments of the remote control device described above are only illustrative.
  • the division of the modules or units is only a logical function division.
  • 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.
  • 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.
  • 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.

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Abstract

Procédé et appareil de commande de cardan, plateforme mobile, et support d'enregistrement. Un cardan est disposé de manière amovible sur une plateforme mobile ; le procédé consiste à : acquérir un signal de mise sous tension de cardan ; sur la base du signal de mise sous tension de cardan, acquérir des informations d'identification d'identité du cardan ; sur la base des informations d'identification d'identité, déterminer si le cardan peut être commandé au moyen de la plateforme mobile ; et, lorsque le cardan ne peut pas être commandé au moyen de la plateforme mobile, commander le cardan pour exécuter une opération d'étalonnage de paramètres de telle sorte que le cardan peut être commandé au moyen de la plateforme mobile. Dans la solution technique des présents modes de réalisation, après détermination du remplacement d'un cardan, le cardan peut être commandé pour exécuter une opération d'étalonnage de paramètres de telle sorte que le cardan peut être commandé au moyen de la plateforme mobile, ce qui permet de satisfaire de façon pratique et rapide les besoins des utilisateurs pour remplacer manuellement des cardans, et ce qui permet également d'automatiquement exécuter une opération d'étalonnage de paramètres de cardan après détection du remplacement du cardan, et ce, sans approche après-vente, ce qui permet de garantir une meilleure expérience utilisateur.
PCT/CN2020/117907 2020-09-25 2020-09-25 Procédé et appareil de commande de cardan, plateforme mobile, et support d'enregistrement WO2022061772A1 (fr)

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CN202080008000.XA CN113302569A (zh) 2020-09-25 2020-09-25 云台控制方法、装置、可移动平台和存储介质

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CN115499591A (zh) * 2022-09-20 2022-12-20 重庆紫光华山智安科技有限公司 一种监控装置预置点迁移方法、系统、设备及介质

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