WO2022205147A1 - Procédé et appareil de commande de mouvements liés - Google Patents

Procédé et appareil de commande de mouvements liés Download PDF

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Publication number
WO2022205147A1
WO2022205147A1 PCT/CN2021/084609 CN2021084609W WO2022205147A1 WO 2022205147 A1 WO2022205147 A1 WO 2022205147A1 CN 2021084609 W CN2021084609 W CN 2021084609W WO 2022205147 A1 WO2022205147 A1 WO 2022205147A1
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WO
WIPO (PCT)
Prior art keywords
sliding
target
rotation
axis
target direction
Prior art date
Application number
PCT/CN2021/084609
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English (en)
Chinese (zh)
Inventor
王振动
刘帅
黄常建
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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 CN202180087796.7A priority Critical patent/CN116848486A/zh
Priority to PCT/CN2021/084609 priority patent/WO2022205147A1/fr
Publication of WO2022205147A1 publication Critical patent/WO2022205147A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules

Definitions

  • the present application relates to the technical field of control, and in particular, to a linkage control method and device.
  • the slide rail may include a linear slide rail, a circular slide rail, and the like.
  • linear slide rails + pan-tilt cameras can realize the lens movement shooting of horizontal, vertical and oblique movements of the lens.
  • the linear slide and the gimbal are controlled by different people, that is, one person controls the linear slide and the other controls the gimbal.
  • this method has a problem that it cannot be ensured that the rotation of the head and the sliding of the linear rail can be completed at the same time.
  • the embodiments of the present application provide a linkage control method and device to solve the problem in the prior art that the rotation of the pan/tilt head and the sliding of the linear slide rail cannot be ensured to end at the same time.
  • an embodiment of the present application provides a linkage control method.
  • the method is used to control a pan/tilt head and a slide rail, the pan/tilt head is used for carrying a photographing device and can drive the photographing device to rotate, and the slide rail is used for
  • the method includes:
  • the sliding of the sliding rail in the target direction and the rotation of the pan/tilt around the target axis are controlled, so that the sliding rail is in the target direction
  • the sliding on and the rotation of the head about the target axis can be started and stopped at the same time.
  • an embodiment of the present application provides a linkage control device, the device is used to control a pan-tilt and a slide rail, the pan-tilt is used for carrying a photographing device and can drive the photographing device to rotate, and the slide rail is used for
  • the linkage control device includes: a memory and a processor;
  • the memory for storing program codes
  • the processor calls the program code, and when the program code is executed, is configured to perform the following operations:
  • the sliding of the sliding rail in the target direction and the rotation of the pan/tilt around the target axis are controlled, so that the sliding rail is in the target direction
  • the sliding on and the rotation of the head about the target axis can be started and stopped at the same time.
  • embodiments of the present application provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and the computer program includes at least one piece of code, and the at least one piece of code can be executed by a computer to control all
  • the computer executes the method described in any one of the above first aspects.
  • an embodiment of the present application provides a computer program, which, when the computer program is executed by a computer, is used to implement the method described in any one of the foregoing first aspects.
  • the embodiments of the present application provide a linkage control method and device.
  • the sliding rail is controlled according to the sliding position range and the rotation angle range.
  • the sliding in the target direction and the rotation of the gimbal around the target axis enable the sliding of the slide rail in the target direction and the rotation of the gimbal around the target axis to start and stop at the same time, realizing the joint control of the gimbal and the slide rail , and can make the sliding of the slide rail and the rotation of the gimbal start and stop at the same time, avoiding the problem that one of the gimbal and the slide rail has stopped moving, while the other is still moving, so as to avoid the problem of The problem of the shooting effect caused by the rotation of the gimbal and the sliding of the slide rails are not completed at the same time, which is beneficial to improve the shooting effect.
  • FIG. 1 is a schematic diagram of an application scenario of a joint control method provided by an embodiment of the present application
  • FIG. 2 is a schematic flowchart of a joint control method provided by an embodiment of the present application
  • 3A-3D are schematic diagrams of a sliding position range and a rotation angle range provided by an embodiment of the application.
  • FIG. 4 is a schematic flowchart of a linkage control method provided by another embodiment of the present application.
  • FIG. 5A and FIG. 5B are schematic diagrams of calculating the first distance according to the first angle using the tangent theorem of trigonometric functions according to an embodiment of the present application;
  • FIG. 6A and FIG. 6B are schematic diagrams of calculating a first angle by using the tangent theorem of trigonometric functions according to a first distance according to an embodiment of the present application;
  • FIG. 7 is a schematic flowchart of a linkage control method provided by another embodiment of the present application.
  • FIG. 8 is a schematic structural diagram of a joint control apparatus provided by an embodiment of the present application.
  • the joint control method provided by the embodiment of the present application can be applied to the application scenario shown in FIG. 1 .
  • the application scenario may include a pan/tilt 11 , a slide rail 12 and a joint control device 13 .
  • the pan/tilt 11 is used for carrying a photographing device and can drive the photographing device to rotate
  • the slide rail 12 is used for carrying the pan/tilt 11 and can drive the photographing device to move
  • the joint control device 13 is used for using
  • the method provided in the embodiment of the present application controls the pan/tilt 11 and the slide rail 12 .
  • the gimbal 11 may be, for example, a supporting device such as a handheld gimbal, which can realize stabilization of shooting.
  • the shooting device may be, for example, a video camera, a camera, a camera, a mobile phone, or the like, which can realize video shooting.
  • the pan/tilt 11 and the photographing device may be separate, for example, in the form of a handheld pan/tilt + mobile phone, or the pan/tilt 11 and the photographing device may be integrated, for example, in the form of a pan/tilt camera.
  • the slide rail 12 can be, for example, a linear slide rail, an annular slide rail, or the like.
  • the joint control device 13 is located outside the pan-tilt 11 and the slide rail 12 .
  • the joint control device 13 may be included in the control device for controlling the pan-tilt 11 and the slide rail. 12 in the control terminal. It can be understood that, in other embodiments, the joint control device 13 may also be included in the pan/tilt head 11 or the slide rail 12 .
  • FIG. 2 is a schematic flowchart of a linkage control method provided by an embodiment of the present application.
  • the execution body of this embodiment may be the joint control apparatus in FIG. 1 , and may specifically be a processor of the joint control apparatus.
  • the method of this embodiment may include:
  • Step 21 Acquire a range of sliding positions of the slide rail in the target direction and a range of rotation angles of the pan/tilt around the target axis.
  • the target direction refers to the direction in which the photographing device is expected to slide along the slide rail during the photographing process.
  • the target direction is related to the type of slide rail and/or the placement of the slide rail. Taking the slide rail including a linear slide rail as an example, when the slide rail is placed horizontally, the target direction may include a horizontal direction, and when the slide rail is placed vertically, the target direction may include a vertical direction.
  • the target axis refers to the axis corresponding to the direction in which the camera is expected to rotate around the pan/tilt head during the shooting process. The number of the target axes may be one or more.
  • the target axis may include a yaw axis.
  • the slide rail and the gimbal can be used to support the shooting mode in the focus tracking mode shown in FIG. 3A .
  • the dots represent the target to be photographed in the follow-focus mode
  • the range between the position A 1 and the position B 1 on the slide rail represents the sliding position range of the slide rail in the target direction
  • the rectangular frame represents the shooting device
  • the thick dashed line represents the orientation of the lens
  • the thin dashed line represents the vertical direction
  • the range between the rotation angle of the gimbal around the yaw axis - ⁇ 1 and the rotation angle of the gimbal around the yaw axis ⁇ 1 represents the yaw of the gimbal around the yaw axis Rotation angle range for shaft rotation.
  • the definition of the positive and negative of the rotation angle is only an example, and in other embodiments, it may also be the rotation angle ⁇ 1 and the rotation angle - ⁇ 1 .
  • the slide rail and the pan/tilt can be used to support the panorama scanning mode shooting manner shown in FIG. 3B .
  • the range between the position A 2 and the position B 2 on the slide rail represents the sliding position range of the slide rail in the target direction
  • the rectangular frame represents the lens of the photographing device
  • the thick dashed line represents the orientation of the lens
  • the thin dashed line represents the orientation of the lens.
  • the range between the rotation angle of the gimbal around the yaw axis ⁇ 2 and the rotation angle of the gimbal around the yaw axis - ⁇ 2 represents the rotation angle range of the gimbal around the yaw axis.
  • the target axis may further include a pitch axis.
  • the definition of the positive and negative of the rotation angle is only an example, and in other embodiments, it may also be the rotation angle - ⁇ 2 and the rotation angle ⁇ 2 .
  • the slide rail includes a linear slide rail
  • the target direction includes a vertical direction
  • the target axis includes a pitch axis.
  • the slide rail and the gimbal may be used to support the shooting mode in the focus tracking mode shown in FIG. 3C .
  • the dots represent the target to be photographed in the follow-focus mode
  • the range between the position A 3 and the position B 3 on the slide rail represents the sliding position range of the slide rail in the target direction
  • the rectangular frame represents the photographing device
  • the thick dotted line indicates the orientation of the lens
  • the thin dotted line indicates the horizontal direction
  • the range between the rotation angle of the gimbal around the pitch axis - ⁇ 3 and the rotation angle of the gimbal around the pitch axis ⁇ 3 indicates the rotation angle of the gimbal around the pitch axis.
  • Rotation angle range The definition of the positive and negative of the rotation angle is only an example, and in other embodiments, it may also be the rotation angle ⁇ 3 and the rotation angle - ⁇ 3 .
  • the slide rail and the pan/tilt can be used to support the panorama scanning mode shooting manner shown in FIG. 3D .
  • the range between the position A 4 and the position B 4 on the slide rail represents the sliding position range of the slide rail in the target direction
  • the rectangular frame represents the lens of the photographing device
  • the thick dashed line represents the orientation of the lens
  • the thin dashed line represents the orientation of the lens.
  • the range between the rotation angle of the gimbal around the pitch axis ⁇ 4 and the rotation angle of the gimbal around the pitch axis - ⁇ 4 represents the rotation angle range of the gimbal around the pitch axis.
  • the target axis may further include a yaw axis.
  • the definition of the positive and negative of the rotation angle is only an example, and in other embodiments, it may also be the rotation angle - ⁇ 4 and the rotation angle ⁇ 4 .
  • the specific manner of acquiring the sliding position range and the rotation angle range can be flexibly implemented according to requirements.
  • the sliding position range and the rotation angle range may be acquired from other devices, for example, the sliding position range and the rotation angle range sent by other devices may be received.
  • the sliding position range and the rotation angle range may be determined according to control parameters used to control the movement of the slide rail and the pan/tilt head.
  • the acquiring the sliding position range of the slide rail in the target direction and the rotation angle range of the pan/tilt around the target axis may specifically include: acquiring a range for controlling the slide rail and the cloud. and, according to the control parameters, determine the sliding position range of the slide rail sliding in the target direction and the rotation angle range of the pan/tilt head rotating around the target axis.
  • control parameters for controlling the motion of the slide rail and the pan/tilt can be flexibly implemented as required.
  • the control parameters used to control the movement of the slide rail may include, for example, the position A 1 and the position B 1 in FIG. 3A
  • the control parameters used to control the movement of the pan/tilt head may include, for example, the position shown in FIG. 3A .
  • the rotation angle - ⁇ 1 and the rotation angle ⁇ 1 , A 1 can be used as the starting sliding position of the sliding position range
  • B 1 can be used as the ending sliding position of the sliding position range, for example, - ⁇ 1 can be used as the starting sliding position of the rotation angle range.
  • the starting rotation angle, ⁇ 1 can be used as the ending rotation angle of the rotation angle range, for example.
  • a 1 , B 1 , - ⁇ 1 and ⁇ 1 can be obtained by, for example, dotted.
  • control parameters used to control the movement of the slide rail may include, for example, the position A 1 in FIG. 3A and the distance L between the position A 1 and the position B 1 in FIG.
  • the control parameters of the motion of the gimbal may include, for example, the rotation angle - ⁇ 1 and the rotation angle ⁇ in FIG. 3A
  • A1 may be used as the starting sliding position of the sliding position range, for example, and A1 and L may be determined as the sliding position range.
  • the position B 1 of the end sliding position, - ⁇ 1 can be used as the starting rotation angle of the rotation angle range, and the end rotation angle ⁇ 1 of the rotation angle range can be determined according to - ⁇ 1 and ⁇ .
  • a 1 and - ⁇ 1 can be obtained, for example, by using dots
  • L and ⁇ can be obtained, for example, by obtaining user input.
  • Step 22 Control the sliding of the sliding rail in the target direction and the rotation of the pan/tilt around the target axis according to the sliding position range and the rotation angle range, so that the sliding rail is in the desired position.
  • the sliding in the target direction and the rotation of the head about the target axis can be started and stopped at the same time.
  • the sliding position range represents a position range in which the slide rail is expected to slide in the target direction
  • the rotation angle range represents an angle range in which the pan/tilt head is expected to rotate around the target axis.
  • the control target for the sliding of the sliding rail in the target direction and the rotation of the gimbal around the target axis is: the sliding rail is in the target direction
  • the sliding on and the rotation of the head about the target axis can start and end at the same time. It should be noted that any joint control method for controlling the pan/tilt and the slide rail that complies with this control objective falls within the protection scope of the present application.
  • the gimbal and the sliding rail are controlled according to the sliding position range and the rotation angle range, so that the sliding of the sliding rail in the target direction and the rotation of the gimbal It is not difficult to realize that the rotation of the target axis can be started at the same time.
  • the rotation angle of the head around the target axis is the initial rotation angle of the rotation angle range
  • the slide rail is in the
  • the sliding position in the target direction is the initial sliding position of the sliding position range
  • the joint control method provided in this embodiment controls the sliding rail in the target direction according to the sliding position range and rotation angle range by acquiring the sliding position range of the sliding rail in the target direction and the rotation angle range of the pan/tilt around the target axis.
  • the sliding of the PTZ and the rotation of the PTZ around the target axis so that the sliding of the slide rail in the target direction and the rotation of the PTZ around the target axis can start and stop at the same time, which realizes the joint control of the PTZ and the sliding rail, and can make
  • the sliding of the slide rail and the rotation of the gimbal start and stop at the same time, avoiding the problem that one of the gimbal and the slide rail has stopped moving, while the other is still moving, so as to avoid the problem of the rotation of the gimbal.
  • the problem of shooting effect caused by the sliding of the slide rail not ending at the same time is beneficial to improve the shooting effect.
  • FIG. 4 is a schematic flowchart of a linkage control method provided by another embodiment of the present application. Based on the embodiment shown in FIG. 2 , this embodiment mainly describes an optional implementation manner of step 22 . As shown in FIG. 4 , the method of this embodiment may include:
  • Step 41 Acquire a sliding position range of the slide rail in the target direction and a rotation angle range of the pan/tilt around the target axis.
  • step 41 is similar to step 21, and details are not repeated here.
  • Step 42 During the movement of the slide rail and the pan/tilt head, adjust the slide rail in the target direction and/or the The rotation of the gimbal around the target axis is such that when the rotation angle of the gimbal around the target axis reaches the end rotation angle of the rotation angle range, the slide rail slides in the target direction.
  • the sliding position can reach the end sliding position of the sliding position range.
  • the sliding of the slide rail in the target direction and/or the rotation of the pan/tilt around the target axis may be adjusted in real time, so that the pan/tilt can rotate around the target axis in a real-time manner.
  • the rotation angle reaches the end rotation angle of the rotation angle range
  • the sliding position of the sliding rail in the target direction can reach the end sliding position of the sliding position range, so that the sliding rail is in the sliding position.
  • the sliding in the target direction and the rotation of the head about the target axis can be stopped at the same time.
  • the following mode 1 or mode 2 may be used to perform real-time adjustment.
  • step 42 may specifically include: taking the pan/tilt as a reference, adjusting the sliding of the slide rail in the target direction in real time according to the sliding position range and the rotation angle range.
  • the rotation of the pan/tilt around the target axis is controlled according to the obtained rotation angular velocity.
  • the angular velocity of the gimbal around the target axis is 1°/sec
  • the rotational angular velocity may be determined by user input, for example.
  • the rotational angular velocity may also be obtained in other ways, which is not limited in this application.
  • Example 1 On the basis of the known rotational angular velocity and the rotational angle range, the angle at which the gimbal is expected to rotate around the target axis at different times can be obtained.
  • Example 1 Suppose the rotation angle required to turn from the start rotation angle of the rotation angle range to the end rotation angle is 10°, and at the 0th second, the gimbal is controlled to rotate at a constant speed of 1°/sec around the target axis.
  • the expected rotation angle of the gimbal around the target axis is 1°
  • the expected rotation angle of the gimbal around the target axis is 2°
  • the expected rotation angle of the pan/tilt around the target axis is 3°
  • ... the expected rotation angle of the pan/tilt around the target axis is 10°.
  • the use of seconds as the time granularity is only an example, and it is understood that other time units may also be used as the time granularity.
  • a possible situation is that the control accuracy of the gimbal may be very high, and the actual rotation angle of the gimbal around the target axis of rotation at any moment is almost equal to the expected rotation angle of the gimbal around the target axis;
  • Another possible situation is that the control precision of the pan/tilt is not high enough, and the actual rotation angle of the pan/tilt around the target axis at any moment is quite different from the expected rotation angle of the pan/tilt around the target axis.
  • the actual rotation angle of the pan/tilt around the target axis may be used as a reference, or the expected rotation angle of the pan/tilt around the target axis may be used as a reference, and the sliding position range can be calculated in real time according to the sliding position range. and the rotation angle range, adjust the sliding of the slide rail in the target direction.
  • the angle at which the pan/tilt is expected to rotate around the target axis can be used as a reference, and the sliding rail can be adjusted in the target direction according to the sliding position range and the rotation angle range in real time. sliding.
  • the pan/tilt is used as a reference to adjust the sliding position range and the rotation angle range in real time.
  • the sliding of the slide rail in the target direction may specifically include the following steps 421 and 422 .
  • Step 421 Determine a first distance that the slide rail is expected to slide in the target direction at the current moment according to the first angle at which the gimbal is expected to rotate around the target axis at the current moment; the first angle is the same as the The rotation angle range is related, and the first distance is related to the sliding position range;
  • Step 422 Adjust the sliding of the sliding rail in the target direction to reduce the The difference between the distance the slide rail actually slides in the target direction and the distance the slide rail is expected to slide in the target direction.
  • the first angle may be, for example, 1° in the first second, 2° in the second second, and the like in Example 1.
  • Example 2 On the basis of obtaining the expected rotation angle of the pan/tilt around the target axis at different times, combined with the sliding position range, the expected sliding distance of the slide rail in the target direction at different times can be obtained.
  • Example 2 on the basis of Example 1, it is assumed that the distance that the slide rail needs to slide from the start sliding position of the sliding position range to the end sliding position is 10 meters, and at the 0th second, the sliding rail starts to be controlled to 1 meter. If the sliding speed per second slides at a constant speed in the target direction, it can be obtained: in the first second, the sliding distance of the sliding rail in the target direction is expected to be 1 meter, and in the second second, the sliding distance is expected to be 1 meter. The distance that the rail slides in the target direction is 2 meters, the distance that the rail slides in the target direction is expected to be 3 meters at the 3rd second, ..., the rail is expected at the 10th second The sliding distance in the target direction is 10 meters.
  • a query method may be used to determine the first distance that the slide rail is expected to slide in the target direction at the current moment.
  • step 421 may specifically include: according to the first angle at which the gimbal is expected to rotate around the target axis at the current moment and the corresponding relationship between the rotation angle and the sliding distance at different times, determining that the sliding rail is expected to be at the current moment. The first distance to slide in the target direction. It can be understood that the corresponding relationship between the rotation angle and the sliding distance at different times is related to the sliding position range. Referring to the previous example 1 and example 2, the corresponding relationship between the rotation angle and the sliding distance at different times can be, for example, as shown in Table 1 below.
  • step 421 may specifically include: according to the first angle at which the gimbal is expected to rotate around the target axis at the current moment, using the tangent theorem of trigonometric functions , and calculate the first distance that the slide rail is expected to slide in the target direction at the current moment.
  • the starting sliding position of the sliding position range is A 1 in FIG. 3A
  • the ending position range is B 1 in FIG. 3A
  • the first angle that the gimbal rotates around the target axis is ⁇ 1
  • ⁇ 1 is less than ⁇ 1
  • the first distance S 1 that the slide rail is expected to slide in the target direction at the current moment is shown in FIG. 5A .
  • L 1 represents the distance from A 1 to the position C 1
  • L 1 can satisfy the following formula (2)
  • L 1 ' represents the distance from the position D 1 to C 1
  • L 1 ' can satisfy the following formula (3).
  • ⁇ 1 represents the angle size of the initial rotation angle of the rotation angle range
  • h 1 is perpendicular to the straight line where A 1 and B 1 are located
  • h 1 is used to represent the rotation angle of the pan/tilt around the target axis The vertical distance between the target and the lens when it is 0° and the lens is aimed at the target.
  • ⁇ 1 represents the angle size of the initial rotation angle of the rotation angle range
  • h 1 is perpendicular to the straight line where A 1 and B 1 are located
  • h 1 is used to represent the rotation angle of the pan/tilt around the target axis is 0° and the lens is aimed at the target, the vertical distance between the target and the lens
  • ⁇ 1 represents the angle at which the gimbal is expected to rotate around the target axis at the current moment.
  • ⁇ 1 can be equal to v 1 multiplied by t, where v 1 represents the rotational angular velocity of the gimbal around the target axis, and the unit can be degrees/second, and t represents the gimbal around the target axis.
  • the rotation duration of the target axis, the unit can be seconds.
  • ⁇ 1 can be obtained by calculating in an integral manner.
  • the starting sliding position of the sliding position range is A 1 in FIG. 3A
  • the ending position range is B 1 in FIG. 3A
  • the first angle that the gimbal rotates around the target axis is ⁇ 1 ' and ⁇ 1 ' is greater than ⁇ 1
  • the first distance S that the slide rail is expected to slide in the target direction at the current moment is S 1 ', can satisfy the following formula (4).
  • L 1 represents the distance from A 1 to the position C 1
  • L 1 can satisfy the aforementioned formula (2)
  • L 2 ′ represents the distance from the position E 1 to C 1
  • L 2 ′ can satisfy the following formula (5).
  • ⁇ 1 represents the angle size of the initial rotation angle of the rotation angle range
  • h 1 is perpendicular to the straight line where A 1 and B 1 are located
  • h 1 is used to represent the rotation angle of the pan/tilt around the target axis is 0° and the lens is aimed at the target, the vertical distance between the target and the lens
  • ⁇ 1 represents the angle at which the gimbal is expected to rotate around the target axis at the current moment.
  • step 422 the sliding of the sliding rail in the target direction may be adjusted by adjusting the sliding speed of the sliding rail.
  • step 422 may specifically include: when the second distance is greater than the first distance, reducing the sliding speed of the slide rail in the target direction; when the second distance is less than the first distance; When a distance is reached, the sliding speed of the sliding rail in the target direction is increased.
  • the step size for increasing the sliding speed of the slide rail in the target direction and the step size for reducing the sliding speed of the slide rail in the target direction can be flexibly implemented according to requirements, Both can be the same or different.
  • the sliding of the sliding rail in the target direction can be adjusted based on the desired rotation angle of the gimbal around the target axis, and the actual sliding distance of the sliding rail in the target direction can be reduced in time.
  • the sliding position of the sliding rail in the target direction can reach the end sliding position of the sliding position range.
  • step 42 may further include: according to the second angle of the actual rotation of the gimbal around the target axis at the current moment and the first angle of the expected rotation of the gimbal around the target axis at the current moment , adjust the rotation of the gimbal around the target axis to reduce the difference between the actual rotation angle of the gimbal around the target axis and the expected rotation angle of the gimbal around the target axis . Therefore, feedback control for the gimbal can be realized, the control accuracy of the gimbal can be improved, and the control accuracy of the gimbal is too low, resulting in the inability to ensure the sliding of the slide rail in the target direction and the rotation of the gimbal around the place.
  • the problem that the rotation of the target axis can end at the same time is described.
  • step 42 may specifically include: taking the slide rail as a reference, and adjusting the rotation of the pan/tilt around the target axis according to the sliding position range and the rotation angle range in real time.
  • the sliding of the sliding rail in the target direction is controlled according to the obtained sliding speed.
  • the sliding speed of the sliding rail in the target direction is 1 m/s
  • the sliding speed may be determined by user input, for example.
  • the sliding speed can also be obtained in other ways, which is not limited in this application.
  • the distance that the sliding rail should be expected to slide in the target direction at different times can be obtained.
  • Example 3 suppose that the sliding distance of the sliding rail from the starting sliding position of the sliding position range to the ending sliding position is 10 meters, and at the 0th second, the sliding rail starts to be controlled at the sliding speed of 1 m/s in the specified position. If sliding at a constant speed in the target direction, it can be obtained: in the first second, the expected sliding distance of the rail in the target direction should be 1 meter, and in the second second, the rail is expected to slide in the target direction.
  • the distance of sliding up should be 2 meters, at the 3rd second, the sliding distance of the sliding rail in the target direction should be expected to be 3 meters, ..., at the 10th second, the sliding rail is expected to be at the target
  • the swipe distance in the direction should be 10 meters.
  • the use of seconds as the time granularity is only an example, and it is understood that other time units may also be used as the time granularity.
  • a possible situation is that the control accuracy of the sliding rail may be very high, and the actual sliding distance of the sliding rail in the target direction at any time is almost equal to the expected sliding distance of the sliding rail in the target direction ;
  • Another possible situation is that the control accuracy of the slide rail is not high enough, and the actual sliding distance of the slide rail in the target direction at any moment is quite different from the expected sliding distance of the slide rail in the target direction.
  • the actual sliding distance of the sliding rail in the target direction may be used as a benchmark, or the expected sliding distance of the sliding rail in the target direction may be used as a benchmark, and the sliding rail can be used in real time according to the sliding distance.
  • the position range and the rotation angle range are used to adjust the rotation of the pan/tilt around the target axis.
  • the distance that the sliding rail is expected to slide in the target direction may be used as a reference, and the pan/tilt can be adjusted in real time according to the sliding position range and the rotation angle range around the target axis rotation.
  • the sliding rail when the distance that the sliding rail is expected to slide in the target direction is used as a reference, the sliding rail is used as a reference to adjust the sliding position range and the rotation angle range in real time according to the sliding position range and the rotation angle range.
  • the rotation of the pan/tilt around the target axis may specifically include the following steps 423 and 424 .
  • Step 423 according to the first distance that the slide rail is expected to slide in the target direction at the current moment, determine the first angle that the gimbal is expected to rotate around the target axis at the current moment; the first distance is the same as the The rotation angle range is related to the sliding position range;
  • Step 424 According to the difference between the second angle of the actual rotation of the gimbal around the target axis at the current moment and the first angle, adjust the rotation of the gimbal around the target axis to reduce the amount of the gimbal.
  • the first distance may be, for example, 1 meter in the first second, 2 meters in the second second, etc. in Example 3.
  • Example 4 On the basis of obtaining the expected distance that the slide rail should slide in the target direction at different times, combined with the rotation angle range, the angle at which the gimbal is expected to rotate around the target axis at different times can be obtained.
  • Example 4 on the basis of Example 3, it is assumed that the rotation angle of the gimbal from the starting rotation angle of the rotation angle range to the ending rotation angle is 10°, and at the 0th second, the gimbal starts to be controlled at 1°.
  • the rotation angular velocity per second rotates around the target axis at a constant speed, it can be obtained: in the first second, the expected rotation angle of the gimbal around the target axis should be 1°, and in the second second, it is expected that the gimbal rotates around the target axis.
  • the rotation angle of the target axis should be 2°, and at the 3rd second, the expected rotation angle of the gimbal around the target axis should be 3°, ..., at the 10th second, it is expected that the gimbal rotates around the The angle of rotation of the target axis should be 10°.
  • a query method may be used to determine the first angle at which the pan/tilt head is expected to rotate around the target axis at the current moment.
  • step 423 may specifically include: according to the first distance at which the slide rail is expected to slide in the target direction at the current moment and the corresponding relationship between the sliding distance and the rotation angle at different times, determining that the pan/tilt head at the current moment is expected to slide.
  • the first angle of rotation about the target axis Referring to the previous example 3 and example 4, the corresponding relationship between the rotation angle and the sliding distance at different times can be, for example, as shown in Table 1 above.
  • a real-time calculation method may be used to determine the first angle at which the pan/tilt head is expected to rotate around the target axis at the current moment.
  • step 423 may specifically include: according to the first distance that the slide rail is expected to slide in the target direction at the current moment, using a trigonometric function tangent Theorem, calculate the first angle that the gimbal is expected to rotate around the target axis at the current moment.
  • the starting sliding position of the sliding position range is A 3 in FIG. 3C
  • the ending position range is B 3 in FIG. 3C .
  • the first distance that the slide rail slides in the target direction is S 3 and S 3 is smaller than the distance between A 3 and C 3 , then as shown in FIG. 6A , at the current moment it is expected that the gimbal rotates around the target axis at the first An angle ⁇ 3 can satisfy the following formula (6).
  • ⁇ 3 represents the angular size of the initial rotation angle of the rotation angle range
  • L 3 ' represents the distance from position D 3 to C 3
  • L 3 ' can satisfy the following formula (7), h 3 and A 3 and B
  • the straight line where 3 is located is vertical, and h 3 is used to represent the vertical distance between the target and the lens when the rotation angle of the pan/tilt head around the target axis is 0° and the lens is aimed at the target.
  • S 3 represents the first distance that the slide rail is expected to slide in the target direction at the current moment
  • L 3 represents the distance from A 3 to C 3
  • L 3 may satisfy the following formula (8).
  • L 3 can be equal to v 3 multiplied by t, where v 3 represents the sliding speed of the slide rail in the target direction, and the unit can be m/s, and t represents the cloud
  • the rotation time of the stage around the target axis, the unit can be seconds.
  • L 3 can be calculated by means of an integral method.
  • ⁇ 3 represents the angle size of the initial rotation angle of the rotation angle range
  • h 3 is perpendicular to the straight line where A 3 and B 3 are located
  • h 3 is used to represent the rotation angle of the pan/tilt around the target axis The vertical distance between the target and the lens when it is 0° and the lens is aimed at the target.
  • the starting sliding position of the sliding position range is A 3 in FIG. 3C
  • the ending position range is B 3 in FIG. 3C
  • the first distance that the slide rail slides in the target direction is S 3 ′ and S 3 ′ is greater than the distance between A 3 and C 3 , as shown in FIG. 6B .
  • the first angle ⁇ 3 ' can satisfy the following formula (9).
  • ⁇ 3 represents the angular size of the initial rotation angle of the rotation angle range
  • L 4 ' represents the distance from position E 3 to C 3
  • L 4 ' can satisfy the following formula (10)
  • h 3 and A 3 and B The straight line where 3 is located is vertical
  • h 3 is used to represent the vertical distance between the target and the lens when the rotation angle of the pan/tilt head around the target axis is 0° and the lens is aimed at the target.
  • S 3 ′ represents the first distance that the slide rail is expected to slide in the target direction at the current moment
  • L 3 represents the distance from A 3 to C 3
  • L 3 can satisfy the aforementioned formula (8).
  • step 424 the rotation of the pan/tilt around the target axis may be adjusted by adjusting the rotational angular velocity of the pan/tilt.
  • step 424 may specifically include: when the second angle is greater than the first angle, reducing the rotational angular velocity of the gimbal around the target axis; when the second angle is smaller than the first angle When the angle is increased, the rotational angular velocity of the pan/tilt around the target axis is increased.
  • the step size for increasing the rotational angular velocity of the pan/tilt around the target axis and the step size for reducing the rotational angular velocity of the pan/tilt about the target axis can be flexibly implemented according to requirements. Can be the same or different.
  • steps 423 and 424 it is possible to adjust the rotation of the gimbal around the target axis based on the sliding distance of the desired slide rail in the target direction, so as to reduce the actual rotation angle of the gimbal around the target axis in time.
  • the slide rail is used as the reference to expect the difference between the angles at which the head rotates around the target axis, so that when the rotation angle of the head around the target axis reaches the end rotation angle of the rotation angle range , the sliding position of the sliding rail in the target direction can reach the end sliding position of the sliding position range.
  • step 42 may further include: adjusting the sliding rail in the Sliding in the target direction to reduce the difference between the distance the slide rail actually slides in the target direction and the distance the slide rail is expected to slide in the target direction.
  • the joint control method provided by this embodiment adjusts the sliding of the sliding rail in the target direction and/or the rotation of the pan/tilt around the target axis according to the sliding position range and the rotation angle range in real time during the movement of the sliding rail and the pan/tilt. , so that when the rotation angle of the gimbal around the target axis reaches the end rotation angle of the rotation angle range, the sliding position of the slide rail in the target direction can reach the end sliding position of the sliding position range, so that the slide rail is in the target direction.
  • the sliding and the rotation of the gimbal around the target axis can be stopped at the same time.
  • FIG. 7 is a schematic flowchart of a linkage control method provided by another embodiment of the present application. Based on the embodiment shown in FIG. 2 , this embodiment mainly describes an optional implementation manner of step 22 . As shown in FIG. 7 , the method of this embodiment may include:
  • Step 71 Acquire a sliding position range of the slide rail in the target direction and a rotation angle range of the pan/tilt around the target axis.
  • step 41 is similar to step 21, and details are not repeated here.
  • Step 72 Determine the target movement duration according to the sliding position range and the rotation angle range.
  • the target motion duration refers to the expected duration of the sliding rail from the start sliding position of the sliding position range in the target direction to the stop sliding when it reaches the end sliding position, and the expected duration
  • the pan/tilt starts to rotate around the target axis from the initial rotation angle of the rotation angle range until the time period for stopping rotation when the rotation is terminated.
  • the target movement duration may be greater than or equal to the maximum value of the shortest sliding duration and the shortest rotation duration.
  • the determining the target motion duration according to the sliding position range and the rotation angle range may specifically include: according to the sliding position range and the maximum sliding speed of the sliding rail sliding in the target direction. , and calculate the shortest sliding duration of the slide rail in the target direction; according to the rotation angle range and the maximum rotation angular velocity of the pan/tilt around the target axis, calculate the pan/tilt around the target axis.
  • Example 5 assuming that the target axis includes a yaw axis (yaw) and a pitch axis (pitch), and the rotation angle range corresponding to the yaw axis needs to be rotated as yaw_angle, and the rotation angle range corresponding to the pitch axis needs to be rotated.
  • yaw yaw axis
  • pitch axis pitch axis
  • pitch_angle the sliding distance of the sliding position range corresponding to the target direction of the sliding rail is denoted as s
  • the movement of the sliding rail and the gimbal is a uniform motion, it can be calculated: the gimbal revolves around the yaw axis
  • the shortest rotation duration of rotation yaw_min_t yaw_angle/yaw_rate_max, yaw_rate_max represents the maximum rotation angular velocity of the gimbal around the yaw axis
  • Pitch_min_t pitch_angle/pitch_rate_max
  • pitch_rate_max Represents the maximum rotational angular velocity of the gimbal around the pitch axis
  • Slide_min_t s/slide_rate_max
  • slide_rate_max represents the slide rail in the target direction Swipe's maximum swipe speed.
  • the maximum rotation duration of rotation yaw_min_t yaw_
  • Step 73 Control the sliding of the slide rail in the target direction according to the target movement duration, so that when the slide rail slides in the target direction the duration of the slide rail reaches the target movement duration, the The sliding position at which the sliding rail slides in the target direction can reach the end sliding position of the sliding position range.
  • the sliding of the slide rail in the target direction may be controlled according to the target movement duration and the required sliding speed.
  • the controlling the sliding of the sliding rail in the target direction according to the target movement duration may specifically include: sliding the sliding rail in the target direction.
  • the speed control is the quotient of the sliding distance corresponding to the sliding position range and the target movement duration.
  • Step 74 Control the rotation of the pan/tilt around the target axis according to the target movement duration, so that when the duration of the pan/tilt rotation around the target axis reaches the target movement duration, the cloud The rotation angle at which the stage rotates around the target axis can reach the end rotation angle of the rotation angle range.
  • the pan/tilt can be controlled to rotate around the target axis in accordance with the required rotation speed according to the target movement duration.
  • the controlling the rotation of the pan/tilt around the target axis according to the target movement duration may specifically include: controlling the rotation angular velocity of the pan/tilt around the target axis. is the quotient of the rotation angle corresponding to the rotation angle range and the target movement duration.
  • step 73 and step 74 are executed simultaneously.
  • the joint control method provided in this embodiment determines the target movement duration according to the sliding position range and the rotation angle range, and controls the sliding of the slide rail in the target direction according to the target movement duration, so that the sliding duration of the slide rail in the target direction is controlled.
  • the target motion duration is reached, the sliding position of the slide rail in the target direction can reach the end sliding position of the sliding position range.
  • the rotation of the gimbal around the target axis is controlled to prevent the gimbal from rotating around the target axis.
  • the rotation angle of the gimbal around the target axis can reach the end rotation angle of the rotation angle range, so that the sliding of the slide rail in the target direction and the rotation of the gimbal around the target axis can be stopped at the same time.
  • the apparatus 80 may include: a processor 81 and a memory 82 .
  • the memory 82 is used to store program codes
  • the processor 81 calls the program code, and when the program code is executed, is configured to perform the following operations:
  • the sliding of the sliding rail in the target direction and the rotation of the pan/tilt around the target axis are controlled, so that the sliding rail is in the target direction
  • the sliding on and the rotation of the head about the target axis can be started and stopped at the same time.
  • the joint control apparatus provided in this embodiment can be used to implement the technical solutions of the foregoing method embodiments, and the implementation principle and technical effects thereof are similar to those of the method embodiments, and are not repeated here.

Abstract

Procédé et appareil de commande de mouvements liés. Le procédé comprend : étape 21 : acquérir une plage de position de coulissement d'un rail coulissant (12) qui coulisse dans une direction cible et une plage d'angle de rotation d'un cardan (11) qui tourne autour d'un arbre cible ; et étape 22 : sur la base de la plage de position de coulissement et de la plage d'angle de rotation, commander le rail coulissant (12) pour coulisser dans la direction cible et le cardan (11) pour tourner autour de l'arbre cible, de telle sorte que le coulissement du rail coulissant (12) dans la direction cible et la rotation du cardan (11) autour de l'arbre cible peuvent démarrer simultanément et s'arrêter simultanément.
PCT/CN2021/084609 2021-03-31 2021-03-31 Procédé et appareil de commande de mouvements liés WO2022205147A1 (fr)

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CN202180087796.7A CN116848486A (zh) 2021-03-31 2021-03-31 联动控制方法及装置
PCT/CN2021/084609 WO2022205147A1 (fr) 2021-03-31 2021-03-31 Procédé et appareil de commande de mouvements liés

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104469292A (zh) * 2014-11-27 2015-03-25 国网上海市电力公司 一种姿态自校正云台摄像机控制装置及其方法
WO2015132281A1 (fr) * 2014-03-04 2015-09-11 Thales Procédé de contrôle d'un système de détection et de suivi d'une cible
CN105487552A (zh) * 2016-01-07 2016-04-13 深圳一电航空技术有限公司 无人机跟踪拍摄的方法及装置
CN108255198A (zh) * 2017-12-28 2018-07-06 广州亿航智能技术有限公司 一种无人机飞行状态下的摄像云台控制系统和控制方法
CN110913146A (zh) * 2019-12-31 2020-03-24 北京科旭威尔科技股份有限公司 一种用于轨道车和云台定点联动拍摄的方法

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015132281A1 (fr) * 2014-03-04 2015-09-11 Thales Procédé de contrôle d'un système de détection et de suivi d'une cible
CN104469292A (zh) * 2014-11-27 2015-03-25 国网上海市电力公司 一种姿态自校正云台摄像机控制装置及其方法
CN105487552A (zh) * 2016-01-07 2016-04-13 深圳一电航空技术有限公司 无人机跟踪拍摄的方法及装置
CN108255198A (zh) * 2017-12-28 2018-07-06 广州亿航智能技术有限公司 一种无人机飞行状态下的摄像云台控制系统和控制方法
CN110913146A (zh) * 2019-12-31 2020-03-24 北京科旭威尔科技股份有限公司 一种用于轨道车和云台定点联动拍摄的方法

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