WO2022241756A1 - 云台控制方法和机械臂 - Google Patents

云台控制方法和机械臂 Download PDF

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Publication number
WO2022241756A1
WO2022241756A1 PCT/CN2021/095118 CN2021095118W WO2022241756A1 WO 2022241756 A1 WO2022241756 A1 WO 2022241756A1 CN 2021095118 W CN2021095118 W CN 2021095118W WO 2022241756 A1 WO2022241756 A1 WO 2022241756A1
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WO
WIPO (PCT)
Prior art keywords
base
pan
tilt
mechanical arm
pose
Prior art date
Application number
PCT/CN2021/095118
Other languages
English (en)
French (fr)
Inventor
刘帅
张洪记
谢振生
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.)
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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 PCT/CN2021/095118 priority Critical patent/WO2022241756A1/zh
Publication of WO2022241756A1 publication Critical patent/WO2022241756A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • 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 field of pan-tilt control, in particular to a pan-tilt control method and a mechanical arm.
  • the handheld gimbal includes a handle and a gimbal mounted on the handle.
  • the user holds the handle and turns and/or moves the handle, and the gimbal will change with the attitude of the handle.
  • the traditional way for the user to hold the handle and turn and/or move the handle to demonstrate the function of the handheld gimbal Not only is the workload heavy, but it is also impossible to accurately reproduce user operations.
  • the present application provides a pan-tilt control method and a mechanical arm.
  • an embodiment of the present application provides a method for controlling a pan/tilt platform, the method including:
  • the indication signal indicating the movement of the mechanical arm When the indication signal indicating the movement of the mechanical arm is detected, the current pose of the base of the pan/tilt is obtained, wherein the base is mechanically coupled with the mechanical arm, and the mechanical arm includes at least three rotation axes;
  • the motion of the robotic arm is controlled so that the base moves to the target pose.
  • the embodiment of the present application provides a mechanical arm, the mechanical arm includes:
  • a storage device for storing program instructions
  • One or more processors calling the program instructions stored in the storage device, when the program instructions are executed, the one or more processors are individually or jointly configured to implement the first aspect described method.
  • an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the method described in the first aspect is implemented.
  • the application mechanically couples the base of the pan/tilt to the mechanical arm, and moves the base to the target pose through the movement of the mechanical arm, so that the user's operation can be simulated, and the user's use can be simulated. Reproducibility, strong repeatability and high control precision.
  • FIG. 1A is a schematic structural diagram of a robotic arm in an embodiment of the present application.
  • Fig. 1B is a schematic structural diagram of a robotic arm in another embodiment of the present application.
  • FIG. 2A is a schematic structural view of a handheld pan-tilt in an embodiment of the present application.
  • FIG. 2B is a schematic diagram of the hand-held pan-tilt shown in FIG. 2A when the pan-tilt enters the forward-shooting mode;
  • FIG. 2C is a schematic diagram of the hand-held gimbal shown in FIG. 2A when the gimbal enters the reverse shooting mode;
  • FIG. 2D is a schematic diagram of the handheld gimbal shown in FIG. 2A when the gimbal enters the flashlight mode;
  • FIG. 2E is a schematic diagram of the handheld gimbal shown in FIG. 2A when the gimbal enters the flashlight mode;
  • FIG. 2F is a schematic diagram of the handheld gimbal shown in FIG. 2A when the gimbal enters the left vertical shooting mode;
  • FIG. 2G is a schematic diagram of the hand-held gimbal shown in FIG. 2A when the gimbal enters the right vertical shooting mode;
  • Fig. 3 is a schematic flow chart of a pan-tilt control method in an embodiment of the present application.
  • Fig. 4 is a structural block diagram of a robot arm in an embodiment of the present application.
  • this application mechanically couples the base of the pan-tilt to the robotic arm, and moves the base to the target pose through the movement of the robotic arm, so that the user's operation can be simulated, and the user's use can be reproduced, repeatability Strong and high control precision.
  • At least one means one or more, and “multiple” means two or more.
  • “And/or” describes the association relationship of associated objects, indicating that there can be three types of relationships, for example, A and/or B, which can mean: A exists alone, A and B exist at the same time, and B exists alone, where A, B can be singular or plural.
  • the character “/” generally indicates that the contextual objects are an “or” relationship.
  • “At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items.
  • At least one (unit) of a, b, or c can represent: a, b, c, a and b, a and c, b and c, or a and b and c, wherein a, b, c can be single or multiple.
  • the robotic arm of the embodiment of the present application includes at least three rotation axes.
  • the base of the pan-tilt is mechanically coupled to the robotic arm.
  • the movement of the robotic arm can drive the base to rotate and/or translate, and the pan-tilt changes with the attitude of the base.
  • the mechanical arm includes at least three rotating shafts, and the number of rotating shafts is less than 6.
  • the number of rotating shafts can be 3, 4 or 5.
  • the movement of the mechanical arm can drive the base to rotate, and finally realize the rotation of the pan/tilt. turn.
  • the mechanical arm 10 includes three rotation axes (in FIG. 1A, each circle represents a rotation axis), and the three rotation axes intersect each other (can be orthogonal or non-orthogonal) ), two adjacent rotation axes are connected by shaft arms.
  • the three rotation axes are yaw axis, roll axis and pitch axis respectively.
  • the movement of the mechanical arm 10 can drive the base to rotate around these three rotation axes, and finally Realize the rotation of cloud platform 20.
  • the mechanical arm includes at least 6 rotation axes, and the movement of the mechanical arm can drive the base to rotate, and can also drive the base to translate, finally realizing the rotation and/or translation of the pan/tilt.
  • the mechanical arm 10 includes 6 rotation axes (in FIG. 1B , the central axis of each cylinder represents a rotation axis).
  • the mechanical arm 10 also includes a bearing part
  • the base of the pan/tilt 20 is mechanically coupled with the bearing part (such as the groove in Figure 1B), and the at least three rotating shafts rotate to drive the bearing part to rotate and/or or translate, thereby driving the base to rotate and/or translate.
  • the way of mechanical coupling between the base and the carrying part can be selected according to needs, for example, the mechanical coupling between the base and the carrying part can be achieved through clamping, threaded connection and the like. It should be noted that, in the embodiment of the present application, after the base is mechanically coupled to the bearing part, the pose change of the base is consistent with the pose change of the bearing part.
  • the gimbal 20 can be a two-axis gimbal or a three-axis gimbal, but is not limited thereto.
  • pan/tilt 20 can be a handheld pan/tilt, or an airborne pan/tilt.
  • the pan/tilt 20 is a handheld pan/tilt.
  • the handheld pan/tilt may include a handle 1, a pan/tilt assembly 2 arranged on the handle 1, and a screen 4 and buttons (not shown) arranged on the front of the handle 1, etc.
  • the pan-tilt assembly 2 is used to mount the photographing device 3 to stabilize the photographing device 3 .
  • the gimbal assembly 2 includes a yaw axis motor 21 , a roll axis motor 22 and a pitch axis motor 23 .
  • the end of the handle 1 away from the pan/tilt assembly 2 (also referred to as the bottom of the handle 1 ) is mechanically coupled to the bearing part; optionally, the side part of the handle 1 is mechanically coupled to the bearing part.
  • the screen 4 faces the user, and the lens of the photographing device 3 faces away from the user.
  • the shooting mode of the pan/tilt assembly 2 of the handheld pan/tilt can include at least one of forward shooting, reverse shooting, up flashlight, down flashlight, left vertical shooting and right vertical shooting.
  • the angle between the first axis direction and the vertical direction in the coordinate system of the handle 1 is called the first angle
  • the angle between the second axis direction and the vertical direction in the coordinate system of the handle 1 is called the second angle
  • the angle between the third axis direction and the vertical direction in the coordinate system of the handle 1 is called the third angle.
  • the direction of the first axis, the direction of the second axis, and the direction of the third axis can be defined according to requirements.
  • the first axis points to the front of the handle 1
  • the second axis points to the front of the handle 1.
  • the direction of the axis points to the left of the handle 1, and the direction of the third axis points to the bottom of the handle 1.
  • the direction of the first axis is x1
  • the direction of the second axis is y1
  • the direction of the third axis is z1.
  • the first axis direction, the second axis direction, and the third axis direction can also be other directions, which can be specifically set according to needs.
  • the vertical direction of this embodiment is the vertical direction of the fixed coordinate system.
  • the vertical direction is the Z-axis direction in the world coordinate system, such as the Z-axis direction shown in FIG. 2A.
  • the vertical direction of this embodiment is The vertical direction is vertically downward. It can be understood that the vertical direction may also be a vertical direction or other directions in other fixed coordinate systems.
  • the first axis points to the front of the handle 1
  • the second axis points to the left side of the handle 1
  • the third axis points to the bottom of the handle 1
  • the vertical direction is the world.
  • the Z-axis direction in the coordinate system is taken as an example for description.
  • the directions of the x1 axis and the y1 axis are respectively perpendicular to the direction of the Z axis
  • the direction of the third axis is parallel to the direction of the Z axis.
  • first axis direction, the second axis direction, and the third axis direction are all deformation methods of the present application, because the coordinates The change of included angle judgment made by deformation is within the scope of protection of the present application.
  • the third included angle is greater than or equal to 135 degrees and less than or equal to 180 degrees, and the gimbal component 2 of the handheld gimbal enters the forward-shooting mode.
  • FIG. 2B is a schematic diagram of the gimbal component 2 of the handheld gimbal shown in FIG. 2A entering the forward-shooting mode.
  • the third included angle is 180 degrees, and the camera lens of the shooting device 3 faces the rear of the handle 1 .
  • the third included angle is less than or equal to 45 degrees and greater than or equal to 0 degrees, and the gimbal assembly 2 of the hand-held gimbal enters the reverse shooting mode.
  • FIG. 2C is a schematic diagram when the gimbal assembly 2 of the handheld gimbal shown in FIG. 2A enters the reverse shooting mode , as shown in FIG. 2C , the third included angle is 0 degrees, and the camera lens of the shooting device 3 faces the rear of the handle 1 .
  • FIG. 2D is when the gimbal assembly 2 of the handheld gimbal shown in FIG. 2A enters the flashlight-on mode.
  • the first included angle is 180 degrees.
  • the first included angle is less than or equal to 45 degrees and greater than or equal to 0 degrees, and the gimbal assembly 2 of the handheld gimbal enters the flashlight down mode.
  • FIG. 2E is a schematic diagram of the gimbal assembly 2 of the handheld gimbal shown in FIG. 2A entering the flashlight down mode. , as shown in FIG. 2E , the first included angle is 0 degrees.
  • the second included angle is less than or equal to 45 degrees and greater than or equal to 0 degrees, the gimbal component 2 of the handheld gimbal enters the left vertical shooting mode, and FIG. 2F is when the gimbal component 2 of the handheld gimbal shown in FIG. 2A enters the left vertical shooting mode
  • the schematic diagram of , as shown in FIG. 2F , the second included angle is 0 degrees.
  • the second included angle is greater than or equal to 135 degrees and less than or equal to 180 degrees, and the gimbal component 2 of the handheld gimbal enters the right vertical shooting mode.
  • FIG. 2G is when the gimbal component 2 of the handheld gimbal shown in FIG. 2A enters the right vertical shooting mode As shown in FIG. 2G , the second included angle is 180 degrees.
  • the shooting mode of the cloud platform assembly 2 of the hand-held platform comprises multiple, as, the shooting mode of the cloud platform assembly 2 of the hand-held platform comprises forward shooting, reverse shooting, upper flashlight, lower flashlight, left vertical shooting and right vertical shooting , the handle 1 is rotated, and the gimbal assembly 2 can switch to the corresponding shooting mode according to the posture of the handle 1 .
  • the mechanical arm 10 of the embodiment of the present application can simulate and/or reproduce the user's use of the pan-tilt, and can be applied to the scene of demonstrating the use of the pan-tilt; the control accuracy of the mechanical arm 10 is relatively high, so the mechanical arm 10 of the embodiment of the application
  • the arm 10 can also be applied to the scene of controlling the pan/tilt in a narrow space.
  • Fig. 3 is the schematic flow chart of the pan-tilt control method in an embodiment of the present application; the execution subject of the control method of the pan-tilt in the embodiment of the present application may be a mechanical arm, or an independent controller located on the mechanical arm, or a mechanical arm. Combination of the arm and this independent controller.
  • the pan-tilt control method according to the embodiment of the present application may include steps S301-S302.
  • the indication signal includes at least one of a first indication signal for indicating the movement of the mechanical arm to simulate the operation of the pan/tilt by the user and a second indication signal for indicating the movement of the mechanical arm to reproduce the operation of the pan/tilt by the user
  • the indication signal is a first indication signal; in some other embodiments, the indication signal is a second indication signal; in some other embodiments, the indication signal includes a first indication signal and a second indication signal, the robotic arm can move according to the order in which the first indication signal and the second indication signal are detected.
  • the robotic arm moves first to simulate the pan/tilt being operated by the user , and then move to reproduce the pan/tilt being operated by the user; for another example, the second indication signal is detected first, and then the first indication signal is detected, the mechanical arm moves first to reproduce the pan/tilt being operated by the user, and then moves to simulate the pan/tilt operated by the user.
  • the detection is determined.
  • the mechanical arm is provided with a first electrical connection part
  • the base is provided with a second electrical connection part.
  • the first electrical connection part is connected to the second electrical connection part.
  • the parts are connected to realize the electrical connection between the pan-tilt and the robotic arm.
  • the first electrical connection part and the second electrical connection part can be male and female connectors that are compatible with each other.
  • the first control part is arranged on the mechanical arm, and the first control part can be a physical control part such as a button or a knob.
  • the first control part can also be a virtual key displayed on the display screen.
  • the movement of the mechanical arm can be controlled by a remote terminal (such as a remote controller or a mobile phone, etc.), and the first indication signal is sent by the remote terminal.
  • the second indication signal is detected can also include multiple ways, for example, in some embodiments, the second indication signal is generated when the second control part is triggered, the second control part is arranged on the mechanical arm, and the second control part It can be a physical control part such as a button or a knob. When the mechanical arm includes a display screen, the second control part can also be a virtual button displayed on the display screen. In some other embodiments, the movement of the mechanical arm can be controlled by a remote control terminal (such as a remote control or a mobile phone, etc.), and the second indication signal is sent by the remote control terminal.
  • a remote control terminal such as a remote control or a mobile phone, etc.
  • the target posture corresponds to the basic operation of the user to be simulated.
  • the user operation to be simulated may include at least one of starting the gimbal and controlling the gimbal to switch between a plurality of preset shooting modes
  • the target pose may include the preset when the gimbal is activated at least one of the attitude information of the base and the attitude information of the base when the pan/tilt is switched between multiple preset shooting modes.
  • the user operations to be simulated are not limited to the two listed above, and may also be other user operations.
  • the target pose is the preset pose information of the base when the pan/tilt is activated
  • the pan/tilt control method in the embodiment of the present application may further include: when the base is in the target pose, Turn on the gimbal. That is, according to the current pose and the target pose of the base, the movement of the robotic arm is controlled so that when the base moves to the target pose, the gimbal is turned on, thereby simulating the user operation of starting the gimbal when the base is in a preset pose.
  • the user operation to be simulated may include starting the gimbal when the gimbal is in the preset shooting mode, the target pose is the posture of the corresponding base when the gimbal is in the preset shooting mode, and the preset posture of the base is The information is the attitude information of the base corresponding to the gimbal in the preset shooting mode.
  • the preset shooting mode can include at least one of forward shooting, reverse shooting, upper flashlight, lower flashlight, left vertical shooting and right vertical shooting.
  • the motion of the mechanical arm can be used to simulate the forward shooting to start the gimbal, and the reverse shooting to start the cloud At least one of the user operations of starting the pan/tilt with the flashlight up, starting the pan/tilt with the flashlight down, starting the pan/tilt with the left vertical shot, and starting the pan/tilt with the right vertical shot.
  • the gimbal In order to simulate the user operation of starting the gimbal, the gimbal is in the off state before turning on the gimbal.
  • the pan/tilt is turned off during the movement of the robotic arm, that is, the pan/tilt is turned off before the robotic arm rotates, so that the power of the pan/tilt can be saved.
  • the gimbal is in the open state. When the base is in the target pose, the gimbal is turned off, and then the gimbal is turned on. This can also simulate the start of the gimbal through the movement of the mechanical arm. User operations on the platform.
  • the mechanical arm includes a relay, and the power supply of the pan-tilt is controlled to be turned on and off through the relay, so as to control the opening and closing of the pan-tilt.
  • the hand-held gimbal when the mechanical arm is at zero position, the hand-held gimbal is in the state shown in Figure 2B, and the gimbal is started by simulating a left vertical shot through the mechanical arm. After the mechanical arm rotates from zero to the left to 90 degrees, the handheld gimbal is in In the left vertical shooting mode shown in 2F, the gimbal is controlled to turn on through the relay, and the user operation of the robotic arm simulating the left vertical shooting to start the gimbal is realized.
  • the target pose includes the attitude information of the base when the gimbal switches between multiple preset shooting modes, and the gimbal can be controlled to switch between multiple preset shooting modes through the simulation of the robotic arm
  • the user operation of the gimbal, switching between multiple preset shooting modes may include but not limited to the following user operations:
  • the up-flashlight mode or the down-flashlight mode is required between the forward shooting mode and the reverse shooting mode.
  • the pan/tilt is turned on.
  • the user can observe the changes in the pictures taken by the shooting device during the switching process of the shooting mode of the pan/tilt controlled by the robotic arm simulation, and simulate the movement of the pan/tilt.
  • Shooting mode switching is more intuitive.
  • the hand-held gimbal is in the state shown in Figure 2B, and the gimbal is controlled from the flashlight mode to the vertical shooting mode through the mechanical arm simulation, and the mechanical arm rotates 90° forward from the zero position, and then Control the gimbal to turn on through the relay, the gimbal starts normally, and enters the flashlight mode. Then, control the mechanical arm to rotate backward by 90° so that the mechanical arm returns to the zero position again. At this time, the gimbal enters the upright shooting mode, so as to realize the user operation from the flashlight mode to the upright shooting mode through the mechanical arm simulation.
  • the user operation to be simulated may be preset, or may be manually input by the user in real time, for example, the user sets the user operation to be simulated through the display screen of the robotic arm.
  • the user operations to be simulated include multiple.
  • Each user operation to be simulated corresponds to a target pose of the base, and the movement of the robotic arm is controlled so that the base moves to the target pose of the base corresponding to each user operation to be simulated.
  • the movement of the robotic arm is controlled so that the base moves sequentially to the target pose of the base corresponding to the current user operation to be simulated , control the mechanical arm to reset (for example, the mechanical arm is reset to zero position), and then control the movement of the mechanical arm according to the pose of the base after the reset of the robotic arm and the target pose of the base corresponding to the next user operation to be simulated, so that The base sequentially moves to the target pose of the base corresponding to the next user operation to be simulated, wherein the current pose may be the pose of the base after the mechanical arm is reset.
  • the robotic arm can simulate multiple user actions.
  • the target pose is determined based on the pose of the base corresponding to the user operation to be simulated, that is, the target pose is preset.
  • the target pose includes the position of the base when the pan/tilt is operated by the user. Pose information, the pose information is detected by the sensing unit of the base.
  • the mechanical arm includes at least three rotation axes, and the user operation to be reproduced includes the base being rotated; optionally, the mechanical arm includes at least six rotation axes, and the user operation to be reproduced includes the base being rotated and The base is at least one of translated. It should be understood that the user operation to be reproduced may also be other, such as starting the pan/tilt.
  • the user operation to be reproduced includes the base being rotated
  • the pose information includes pose information
  • the sensing unit includes an inertial measurement unit of the base
  • the pose information is obtained through detection by the inertial measurement unit.
  • the inertial measurement unit can also be replaced by other attitude sensors.
  • the rotation of the robotic arm is controlled to control the rotation of the base, so that the manual rotation of the base by the user can be reproduced through the robotic arm.
  • the attitude information may include angular velocity information when the base is rotated, and the mechanical arm rotates according to the angular velocity information.
  • the speed at which the base rotates when the user rotates the base can be reproduced by the speed at which the mechanical arm rotates.
  • the 3 angular velocities bx, by, bz (respectively yaw attitude angular velocity, roll attitude angular velocity and pitch attitude angular velocity) of the coordinate system of the base are obtained through the gyroscope of the inertial measurement unit, and these three velocities are recorded for a period of time (such as 10 minutes or other duration), and then the robot arm can be controlled to move to reproduce the three angular velocities bx, by, bz of the coordinate system of the base.
  • the angular velocity of the coordinate system of the base is the terminal velocity of the mechanical arm, and then according to the inverse Jacobian of the mechanical arm, the joint angular velocity of the corresponding joint of the mechanical arm can be obtained, thereby driving the corresponding joint of the mechanical arm to move, thereby Reproduce the user's hand operation and rotating mirror.
  • the following user operations can be reproduced through the robotic arm: pan the camera lens to the left, pan the camera lens to the right, pan the camera lens up, pan the camera lens down, pan the camera lens counterclockwise , panning the camera lens of the camera clockwise, and rotating compound motion (the rotating compound motion includes panning the camera lens of the camera device in different directions).
  • the user operation to be reproduced includes the translation of the base
  • the pose information includes translation information
  • the sensing unit includes a distance sensor of the base
  • the translation information is obtained by detection of the distance sensor.
  • the translation accuracy of the base requires higher accuracy of the distance sensor, for example, the distance sensor can be a radar ranging sensor.
  • the translation information may include linear velocity information when the base is translated.
  • the mechanical arm rotates according to the linear velocity information.
  • the speed of the base translation when the user translates the base can be reproduced by the speed of the mechanical arm rotation.
  • the base is a handle of the handheld pan/tilt, and the process of operating the handle by the user can be simulated or reproduced by the movement of the mechanical arm.
  • the embodiment of the present application also provides a mechanical arm, please refer to FIG. 1A , FIG. 1B and FIG. 4 , the robotic arm in the embodiment of the present application may include at least three rotation axes, a storage device, and one or more processors.
  • the storage device is used for storing program instructions.
  • the storage device stores the executable instruction computer program of the cloud platform control method, and the storage device may include at least one type of storage medium, and the storage medium includes a flash memory, a hard disk, a multimedia card, a card type memory (for example, SD or DX memory, etc.), Random Access Memory (RAM), Static Random Access Memory (SRAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), Programmable Read Only Memory (PROM), Magnetic storage, magnetic disks, optical disks, etc.
  • the robotic arm may cooperate with a network storage device performing a storage function of the memory through a network connection.
  • the storage may be an internal storage unit of the robotic arm, such as a hard disk or memory of the robotic arm.
  • the memory can also be an external storage device of the robotic arm, such as a plug-in hard disk equipped on the robotic arm, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash memory card (Flash Card), etc.
  • the storage may also include both an internal storage unit of the robotic arm and an external storage device.
  • Memory is used to store computer programs and other programs and data needed by the device.
  • the memory can also be used to temporarily store data that has been output or will be output.
  • One or more processors call the program instructions stored in the storage device, and when the program instructions are executed, the one or more processors are individually or jointly configured to implement the pan-tilt control method shown in FIG. 3 .
  • the processor can be a central processing unit (Central Processing Unit, CPU), and can also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), on-site Programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • a general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like.
  • the embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the pan-tilt control method shown in FIG. 3 is implemented.
  • the computer-readable storage medium may be an internal storage unit of the robotic arm described in any of the foregoing embodiments, such as a hard disk or a memory.
  • the computer-readable storage medium can also be an external storage device of the mechanical arm, such as a plug-in hard disk equipped on the device, a smart memory card (Smart Media Card, SMC), an SD card, a flash memory card (Flash Card), etc.
  • the computer-readable storage medium may also include both an internal storage unit of the robotic arm and an external storage device.
  • the computer-readable storage medium is used to store the computer program and other programs and data required by the robot arm, and can also be used to temporarily store outputted or to-be-outputted data.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM) or a random access memory (Random Access Memory, RAM), etc.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
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Abstract

一种云台控制方法和机械臂（10），云台控制方法包括：当检测到指示机械臂（10）运动的指示信号时，获取云台（20）的基座的当前位姿，其中，基座与机械臂（10）机械耦合，机械臂（10）包括至少三个转动轴；根据当前位姿以及基座的目标位姿，控制机械臂（10）运动，使得基座运动至目标位姿。

Description

云台控制方法和机械臂 技术领域
本申请涉及云台控制领域，尤其涉及一种云台控制方法和机械臂。
背景技术
手持云台包括手柄和搭载于手柄的云台，在使用时，用户手握的手柄并转动和/或移动手柄，云台会跟随手柄的姿态变化而变化。在一些场景下，如展示手持云台的功能，这就需要多次重复给用户展示手持云台的使用，传统的用户手握手柄并转动和/或移动手柄来展示手持云台的功能的方式不仅工作量大，也无法精确复现用户操作。
发明内容
本申请提供一种云台控制方法和机械臂。
第一方面，本申请实施例提供一种云台控制方法，所述方法包括：
当检测到指示机械臂运动的指示信号时，获取所述云台的基座的当前位姿，其中，所述基座与机械臂机械耦合，所述机械臂包括至少三个转动轴；
根据所述当前位姿以及所述基座的目标位姿，控制所述机械臂运动，使得所述基座运动至所述目标位姿。
第二方面，本申请实施例提供一种机械臂，所述机械臂包括：
至少三个转动轴；
存储装置，用于存储程序指令；以及
一个或多个处理器，调用所述存储装置中存储的程序指令，当所述程序指令被执行时，所述一个或多个处理器单独地或共同地被配置成用于实施第一方面所述的方法。
第三方面，本申请实施例提供一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现第一方面所述的方法。
根据本申请实施例提供的技术方案，本申请将云台的基座与机械臂机械耦合，通过机械臂运动，使得基座运动至目标位姿，从而可以模拟用户操作，并可以对用户的使用进行复现，可重复性强且控制精度高。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍。
图1A是本申请一实施例中的机械臂的结构示意图；
图1B是本申请另一实施例中的机械臂的结构示意图；
图2A是本申请一实施例中的手持云台的结构示意图；
图2B是图2A所示的手持云台的云台进入正拍模式时的示意图；
图2C是图2A所示的手持云台的云台进入倒拍模式时的示意图；
图2D是图2A所示的手持云台的云台进入上手电筒模式时的示意图；
图2E是图2A所示的手持云台的云台进入下手电筒模式时的示意图；
图2F是图2A所示的手持云台的云台进入左竖拍模式时的示意图；
图2G是图2A所示的手持云台的云台进入右竖拍模式时的示意图；
图3是本申请一实施例中的云台控制方法的流程示意图；
图4是本申请一实施例中的机械臂的结构框图。
附图标记：
10、机械臂；20、云台；1：手柄；2：云台组件；21：偏航轴电机；22：横滚轴电机；23、俯仰轴电机；3：拍摄装置；4：屏幕。
具体实施方式
在展示手持云台的功能时，需要多次重复给用户展示手持云台的使用，传统的用户手握手柄并转动和/或移动手柄来展示手持云台的功能的方式不仅工作量大，也无法精确复现用户操作。对于此，本申请将云台的基座与机械臂机械耦合，通过机械臂运动，使得基座运动至目标位姿，从而可以模拟用户操作，并可以对用户的使用进行复现，可重复性强且控制精度高。
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行描述。
需要说明的是，在不冲突的情况下，下述的实施例及实施方式中的特征可以相互组合。
本申请中，“至少一个”是指一个或者多个，“多个”是指两个或两个以上。“和/或”，描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B的情况，其中A,B可以是单数或者复数。字符“/”一般表示前后关联对象是一种“或”的关系。“以下至少一项(个)”或其类似表达，是指的这些项中的任意组合，包括单项(个)或复数项(个)的任意组合。例如，a、b、或c中的至少一项(个)，可以表示：a、b、c，a和b,a和c，b和c,或a和b和c，其中a、b、c可以是单个，也可以是多个。
本申请实施例的机械臂包括至少三个转动轴，云台的基座与机械臂机械耦合， 机械臂运动，能够带动基座转动和/或平移，云台跟随基座的姿态变化而变化。
在一些实施例中，机械臂包括至少三个转动轴，且转动轴的数量小于6，转动轴的数量可以为3、4或5，机械臂运动，能够带动基座转动，最终实现云台的转动。示例性的，请参见图1A，机械臂10包括三个转动轴(图1A中，每个圆圈表示一个转动轴)，三个转动轴两两相交(可以为正交，也可以为非正交)，相邻两个转动轴通过轴臂连接，例如，三个转动轴分别为偏航轴、横滚轴及俯仰轴，机械臂10运动，能够带动基座绕这三个转动轴转动，最终实现云台20的转动。
在另一些实施例中，机械臂包括至少6个转动轴，机械臂运动，能够带动基座转动，也能够带动基座平移，最终实现云台的转动和/或平移。示例性的，请参见图1B，机械臂10包括6个转动轴(图1B中，每个圆柱体的中心轴表示一个转动轴)。
本申请实施例中，机械臂10还包括承载部，云台20的基座与承载部(如图1B中的凹槽)机械耦合，所述至少三个转动轴转动，带动承载部转动和/或平移，从而带动基座转动和/或平移。基座与承载部机械耦合的方式可根据需要选择，例如，基座与承载部可通过卡接、螺纹连接等实现机械耦合。需要说明的是，本申请实施例中，基座与承载部机械耦合后，基座的位姿变化与承载部的位姿变化一致。
云台20可以为两轴云台或者三轴云台，但不限于此。
另外，云台20可以为手持云台，也可以为机载云台。
例如，云台20为手持云台，请参见图2A，手持云台可包括手柄1、设置于手柄1上的云台组件2以及设于手柄1正面的屏幕4和按键(未标出)等，该云台组件2用于搭载拍摄装置3，以对拍摄装置3进行增稳。其中，云台组件2包括偏航轴电机21、横滚轴电机22及俯仰轴电机23。
可选地，手柄1远离云台组件2的一端(也可称作手柄1的底部)与承载部机械耦合；可选地，手柄1的侧部与承载部机械耦合。
如图2B所示，手持云台正立放置时，屏幕4朝向用户，拍摄装置3的镜头背对用户。
手持云台的云台组件2的拍摄模式可包括正拍、倒拍、上手电筒、下手电筒、左竖拍和右竖拍中的至少一种。
下面，对各拍摄模式下手柄1的姿态进行说明。
假设手柄1的坐标系中的第一轴方向与竖直方向的夹角称作为第一夹角，手柄1的坐标系中的第二轴方向与竖直方向的夹角称作为第二夹角，手柄1的坐标系中的第三轴方向与竖直方向的夹角称作为第三夹角。
第一轴方向、第二轴方向、第三轴方向可根据需求进行定义，例如，在其中一 实施例中，在手持云台正立放置时，第一轴方向指向手柄1的前方，第二轴方向指向手柄1的左侧，第三轴方向指向手柄1的下方，如图2B所示，第一轴方向为x1，第二轴方向为y1，第三轴方向为z1。可以理解，第一轴方向、第二轴方向、第三轴方向也可为其他指向，具体可以根据需要设置。
本实施例的竖直方向为固定坐标系的竖直方向，在一实施例中，竖直方向为世界坐标系中的Z轴方向，如图2A所示的Z轴方向，本实施例的竖直方向为竖直向下。可以理解，竖直方向也可为其他固定坐标系中的竖直方向或其他指向。
以下实施例将以在手持云台正立放置时，第一轴方向指向手柄1的前方，第二轴方向指向手柄1的左侧，第三轴方向指向手柄1的下方，竖直方向为世界坐标系中的Z轴方向为例进行说明。如图2B所示，在手持云台正立放置时，x1轴方向、y1轴方向分别与Z轴方向正交，第三轴方向与Z轴方向平行。可以理解，将第一轴方向、第二轴方向、第三轴方向定义为其他指向或者将竖直方向定义为其他固定坐标系的竖直方向或其他指向均为本申请的变形方式，因坐标系变形作出的夹角判断变化均为本申请的保护范围。
第三夹角大于等于135度且小于等于180度，手持云台的云台组件2进入正拍模式，图2B是图2A所示的手持云台的云台组件2进入正拍模式时的示意图，如图2B所示，第三夹角为180度，拍摄装置3的镜头朝向手柄1的后方。
第三夹角小于等于45度且大于等于0度，手持云台的云台组件2进入倒拍模式，图2C是图2A所示的手持云台的云台组件2进入倒拍模式时的示意图，如图2C所示，第三夹角为0度，拍摄装置3的镜头朝向手柄1的后方。
第一夹角大于等于135度且小于等于180度时，手持云台的云台组件2进入上电筒模式，图2D是图2A所示的手持云台的云台组件2进入上手电筒模式时的示意图，如图2D所示，第一夹角为180度。
第一夹角小于等于45度且大于等于0度，手持云台的云台组件2进入下手电筒模式，图2E是图2A所示的手持云台的云台组件2进入下手电筒模式时的示意图，如图2E所示，第一夹角为0度。
第二夹角小于等于45度且大于等于0度，手持云台的云台组件2进入左竖拍模式，图2F是图2A所示的手持云台的云台组件2进入左竖拍模式时的示意图，如图2F所示，第二夹角为0度。
第二夹角大于等于135度且小于等于180度，手持云台的云台组件2进入右竖拍模式，图2G是图2A所示的手持云台的云台组件2进入右竖拍模式时的示意图，如图2G所示，第二夹角为180度。
当手持云台的云台组件2的拍摄模式包括多种时，如，手持云台的云台组件2 的拍摄模式包括正拍、倒拍、上手电筒、下手电筒、左竖拍和右竖拍，手柄1转动，云台组件2可根据手柄1的姿态切换至对应的拍摄模式。
本申请实施例的机械臂10可模拟和/或复现用户使用云台，可应用于对云台的使用进行展示的场景；机械臂10的控制精度较高，因此，本申请实施例的机械臂10也可应用于在狭小空间控制云台的场景。
图3是本申请一实施例中的云台控制方法的流程示意图；本申请实施例的云台的控制方法的执行主体可以为机械臂，也可以为设于机械臂的独立控制器，或者机械臂与该独立控制器的组合。请参见图3，本申请实施例的云台控制方法可包括步骤S301～S302。
其中，在S301中、当检测到指示机械臂运动的指示信号时，获取云台的基座的当前位姿，其中，基座与机械臂机械耦合，机械臂包括至少三个转动轴。
其中，基座与机械臂机械耦合的方式可参见上述实施例中相应部分的描述，机械臂的结构也可参见上述实施例中相应部分的描述，不再赘述。
可选地，指示信号包括用于指示机械臂运动以模拟云台被用户操作的第一指示信号和用于指示机械臂运动以复现云台被用户操作的第二指示信号中的至少一种，例如，在一些实施例中，指示信号为第一指示信号；在另外一些实施例中，指示信号为第二指示信号；在另外一些实施例中，指示信号包括第一指示信号和第二指示信号，机械臂可根据检测到第一指示信号和第二指示信号的先后顺序运动，如先检测到第一指示信号，后检测到第二指示信号，机械臂先运动以模拟云台被用户操作，再运动以复现云台被用户操作；又如，先检测到第二指示信号，后检测到第一指示信号，机械臂先运动以复现云台被用户操作，再运动以模拟云台被用户操作。
是否检测到第一指示信号的方式可包括多种，例如，在一些实施例中，当检测到云台的基座与机械臂机械耦合以使得云台与机械臂的电连接成功时，判断检测到第一指示信号，可选地，机械臂设有第一电连接部，基座设有第二电连接部，当基座与机械臂机械耦合时，第一电连接部与第二电连接部连接以实现云台与机械臂的电连接，第一电连接部及第二电连接部可以为相互适配的公头与母头。在另外一些实施例中，在云台的基座与机械臂机械耦合以使得云台与机械臂的电连接成功之后，当检测到第一控制部被触发时，判断检测到第一指示信号，第一控制部设于机械臂，第一控制部可以为按键或旋钮等实体控制部，当机械臂包括显示屏时，第一控制部也可以为显示屏显示的虚拟按键。在另外一些实施例中，可通过遥控终端(如遥控器或手机等)控制机械臂运动，第一指示信号由遥控终端发送。
是否检测到第二指示信号的方式也可包括多种，例如，在一些实施例中，第二指示信号由第二控制部被触发时产生，第二控制部设于机械臂，第二控制部可以为按键或旋钮等实体控制部，当机械臂包括显示屏时，第二控制部也可以为显示屏显示的 虚拟按键。在另外一些实施例中，可通过遥控终端(如遥控器或手机等)控制机械臂运动，第二指示信号由遥控终端发送。
在S302中、根据当前位姿以及基座的目标位姿，控制机械臂运动，使得基座运动至目标位姿。
其中，当指示信号包括用于指示机械臂运动以模拟云台被用户操作(如模拟云台的基座被用户手动操作)的第一指示信号时，目标姿态与待模拟的用户操作对应的基座的姿态信息相关，例如，待模拟的用户操作可包括启动云台和控制云台在多个预设的拍摄模式之间切换中的至少一种，目标位姿可包括云台被启动时预设的基座的姿态信息和云台在多个预设的拍摄模式之间切换时基座的姿态信息中的至少一种。应当理解的是，待模拟的用户操作不限于上述列举的两种，也可以为其他用户操作。
示例性的，在一些实施例中，目标位姿为云台被启动时预设的基座的姿态信息，本申请实施例的云台控制方法还可包括：当基座处于目标位姿时，开启云台。即根据当前位姿以及基座的目标位姿，控制机械臂运动，使得基座运动至目标位姿时，开启云台，从而模拟在基座处于预设姿态时启动云台的用户操作。可选地，待模拟的用户操作可包括在云台处于预设拍摄模式时启动云台，目标位姿为云台处于预设拍摄模式时对应的基座的姿态，预设的基座的姿态信息即为云台处于预设拍摄模式对应的基座的姿态信息。预设拍摄模式可包括正拍、倒拍、上手电筒、下手电筒、左竖拍和右竖拍中的至少一种，如此，可通过机械臂运动来模拟正拍启动云台、倒拍启动云台、上手电筒启动云台、下手电筒启动云台、左竖拍启动云台和右竖拍启动云台的用户操作中的至少一种。
为实现模拟启动云台的用户操作，在开启云台之前，云台处于关闭状态。可选地，在一些实施例中，机械臂运动的过程中，云台处于关闭状态，即机械臂转动之前，云台是关闭的，如此可以节省云台的电量。在另外一些实施例中，机械臂运动的过程中，云台处于开启状态，当基座处于目标位姿时，关闭云台，再开启云台，如此也能够实现通过机械臂运动来模拟启动云台的用户操作。
可选地，机械臂包括继电器，通过继电器控制云台的电源启闭，以控制云台的启闭。
例如，机械臂处于零位时，手持云台处于图2B所示的状态，通过机械臂模拟左竖拍启动云台，机械臂从零位向左转动到90度后，手持云台处于图2F所示的左竖拍模式，然后通过继电器控制云台开启，实现机械臂模拟左竖拍启动云台的用户操作。
在另外一些实施例中，目标位姿包括云台在多个预设的拍摄模式之间切换时基座的姿态信息，可通过机械臂模拟控制云台在多个预设的拍摄模式之间切换的用户操作，云台在多个预设的拍摄模式之间切换可包括但不限于如下用户操作：
(1)、下手电筒模式到正立他拍模式；
(2)、下手电筒模式到倒立他拍模式；
(3)、上手电筒模式到正立自拍模式；
(4)、上手电筒模式到倒立自拍模式；
(5)、正立他拍模式到下手电筒模式；
(6)、倒立他拍模式到下手电筒模式；
(7)、正立自拍模式到上手电筒模式；
(8)、倒立自拍模式到上手电筒模式；
(9)、正立他拍模式到下手电筒模式，再到倒立他拍模式；
(10)、正立他拍模式到上手电筒模式，再到倒立他拍模式；
(11)、正立自拍模式到上手电筒模式，再到倒立自拍模式；
(12)、正立自拍模式到下手电筒模式，再到倒立自拍模式；
(13)、倒立他拍模式到下手电筒模式，再到正立他拍模式；
(14)、倒立他拍模式到上手电筒模式，再到他拍正立模式；
(15)、倒立自拍模式到上手电筒模式，再到正立自拍模式；
(16)、倒立自拍模式到下手电筒模式，再到正立自拍模式；
(17)、正立他拍模式到下手电筒模式，再到倒立他拍模式，再到上手电筒模式；
(18)、正立他拍模式到上手电筒模式，再到倒立他拍模式，再到下手电筒模式；
(19)、正立自拍模式到上手电筒模式，再到倒立自拍模式，再到下手电筒模式
(20)、正立自拍模式到下手电筒模式，再到倒立自拍模式，再到上手电筒模式。
需要说明的是，一些拍摄模式之间无法直接切换，如正拍模式与倒拍模式之间需要经过上手电筒模式或下手电筒模式。
可选地，机械臂转动的过程中，云台处于开启状态，如此，用户可观察到在通过机械臂模拟控制云台的拍摄模式切换过程中，拍摄装置拍摄的画面的变化，模拟云台的拍摄模式切换更加直观。
例如，机械臂处于零位时，手持云台处于图2B所示的状态，通过机械臂模拟控制云台由下手电筒模式到正立他拍模式，机械臂从零位向前转动90°，然后通过继 电器控制云台开启，云台正常启动，并进入到下手电筒模式。接着，控制机械臂向后转动90°使得机械臂再次回到零位，此时，云台进入正拍模式，从而实现通过机械臂模拟下手电筒模式到正立他拍模式的用户操作。
待模拟的用户操作可为预先设置的，也可由用户实时手动输入，如用户通过机械臂的显示屏设置待模拟的用户操作。
可选地，待模拟的用户操作包括多个，在根据当前位姿以及基座的目标位姿，控制机械臂运动，使得基座运动至目标位姿时，可选地，根据当前位姿及每一待模拟的用户操作对应的基座的目标位姿，控制机械臂运动，使得基座依次运动至每一待模拟的用户操作对应的基座的目标位姿。可选地，在根据当前位姿及当前待模拟的用户操作对应的基座的目标位姿，控制机械臂运动，使得基座依次运动至当前待模拟的用户操作对应的基座的目标位姿时，控制机械臂复位(如机械臂复位至零位)，再根据机械臂复位后基座的位姿及下一待模拟的用户操作对应的基座的目标位姿，控制机械臂运动，使得基座依次运动至下一待模拟的用户操作对应的基座的目标位姿，其中，当前位姿可以为机械臂复位后基座的位姿。这样，机械臂可以模拟多个用户操作。
上述实施例中通过机械臂运动以模拟云台被用户操作时，目标位姿是基于待模拟的用户操作对应的基座的位姿确定的，即目标位姿是预先设置的。
当指示信号包括用于指示机械臂运动以复现云台被用户操作(如复现云台被用户手动操作)的第二指示信号时，目标位姿包括云台被用户操作时，基座的位姿信息，位姿信息由基座的传感单元检测获得。与上述实施例中通过机械臂运动以模拟云台被用户操作不同之处在于，通过机械臂运动以复现云台被用户操作的目标位姿是通过基座的传感单元检测获得的。
可选地，机械臂包括至少三个转动轴，待复现的用户操作包括基座被转动；可选地，机械臂包括至少六个转动轴，待复现的用户操作包括基座被转动和基座被平移中的至少一种。应当理解的是，待复现的用户操作也可为其他，如启动云台。
示例性的，在一些实施例中，待复现的用户操作包括基座被转动，位姿信息包括姿态信息，传感单元包括基座的惯性测量单元，姿态信息由惯性测量单元检测获得。应当理解的是，惯性测量单元也可替换成其他姿态传感器。在根据当前位姿以及基座的目标位姿，控制机械臂运动时，具体地，根据当前位姿和姿态信息，控制机械臂转动以控制基座转动，实现通过机械臂复现用户手动转动基座的操作。其中，姿态信息可包括基座被转动时的角速度信息，机械臂是按照该角速度信息转动的，可通过机械臂转动的快慢来复现用户转动基座时，基座转动的快慢。例如，通过惯性测量单元的陀螺仪获得基座的坐标系的3个角速度bx,by,bz(分别为偏航姿态角速度、横滚姿态角速度和俯仰姿态角速度)，记录这三个速度一段时间(如10分钟或其他时长)，然后可以控制机械臂运动去复现基座的坐标系的3个角速度bx,by,bz。
本申请实施例中，基座的坐标系的角速度就是机械臂的末端速度，然后根据机械臂的逆雅克比，可以得到机械臂相应关节的关节角速度，从而驱动机械臂的相应关节进行运动，从而复现了用户的手部操作及旋转运镜。
例如，可通过机械臂复现如下用户操作：向左摇拍摄装置的镜头、向右摇拍摄装置的镜头、向上摇拍摄装置的镜头、向下摇拍摄装置的镜头、逆时针摇拍摄装置的镜头、顺时针摇拍摄装置的镜头、旋转复合运动(旋转复合运动包括向不同方向摇拍摄装置的镜头)。
在另外一些实施例中，待复现的用户操作包括基座被平移，位姿信息包括平移信息，传感单元包括基座的距离传感器，平移信息由距离传感器检测获得，为保证机械臂复现基座被平移的精度，对距离传感器的精度要求较高，如距离传感器可以为雷达测距传感器。在根据当前位姿以及基座的目标位姿，控制机械臂运动时，具体地，根据当前位姿和平移信息，控制机械臂转动以控制基座的平移，如此，通过机械臂复现用户平移基座的操作。其中，平移信息可包括基座被平移时的线速度信息，机械臂是按照该线速度信息转动的，可通过机械臂转动的快慢来复现用户平移基座时，基座平移的快慢。
应当理解的是，当云台为手持云台时，基座为手持云台的手柄，可通过机械臂运动来模拟或复现用户操作手柄的过程。
本申请实施例还提供一种机械臂，请参见图1A、图1B和图4，本申请实施例的机械臂可包括至少三个转动轴、存储装置和一个或多个处理器。
其中，存储装置，用于存储程序指令。所述存储装置存储所述云台控制方法的可执行指令计算机程序，所述存储装置可以包括至少一种类型的存储介质，存储介质包括闪存、硬盘、多媒体卡、卡型存储器(例如，SD或DX存储器等等)、随机访问存储器(RAM)、静态随机访问存储器(SRAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、可编程只读存储器(PROM)、磁性存储器、磁盘、光盘等等。而且，所述机械臂可以与通过网络连接执行存储器的存储功能的网络存储装置协作。存储器可以是机械臂的内部存储单元，例如机械臂的硬盘或内存。存储器也可以是机械臂的外部存储设备，例如机械臂上配备的插接式硬盘，智能存储卡(Smart Media Card,SMC)，安全数字(Secure Digital,SD)卡，闪存卡(Flash Card)等。进一步的，存储器还可以既包括机械臂的内部存储单元也包括外部存储设备。存储器用于存储计算机程序以及设备所需的其他程序和数据。存储器还可以用于暂时地存储已经输出或者将要输出的数据。
一个或多个处理器，调用存储装置中存储的程序指令，当程序指令被执行时，一个或多个处理器单独地或共同地被配置成用于实施图3所示的云台控制方法。
所述处理器可以是中央处理单元(Central Processing Unit，CPU)，还可以是其 他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现场可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
本申请实施例还提供一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现图3所示的云台控制方法。
所述计算机可读存储介质可以是前述任一实施例所述的机械臂的内部存储单元，例如硬盘或内存。所述计算机可读存储介质也可以是机械臂的外部存储设备，例如所述设备上配备的插接式硬盘、智能存储卡(Smart Media Card，SMC)、SD卡、闪存卡(Flash Card)等。进一步的，所述计算机可读存储介质还可以既包括机械臂的内部存储单元也包括外部存储设备。所述计算机可读存储介质用于存储所述计算机程序以及所述机械臂所需的其他程序和数据，还可以用于暂时地存储已经输出或者将要输出的数据。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于一计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory，ROM)或随机存储记忆体(Random Access Memory，RAM)等。
以上所揭露的仅为本申请部分实施例而已，当然不能以此来限定本申请之权利范围，因此依本申请权利要求所作的等同变化，仍属本申请所涵盖的范围。

Claims (37)

  1. 一种云台控制方法，其特征在于，所述方法包括：
    当检测到指示机械臂运动的指示信号时，获取云台的基座的当前位姿，其中，所述基座与机械臂机械耦合，所述机械臂包括至少三个转动轴；
    根据所述当前位姿以及所述基座的目标位姿，控制所述机械臂运动，使得所述基座运动至所述目标位姿。
  2. 根据权利要求1所述的方法，其特征在于，所述指示信号包括用于指示所述机械臂运动以模拟云台被用户操作的第一指示信号和用于指示所述机械臂运动以复现云台被用户操作的第二指示信号中的至少一种。
  3. 根据权利要求2所述的方法，其特征在于，所述指示信号包括用于指示所述机械臂运动以模拟云台被用户操作的第一指示信号，所述目标位姿包括所述云台被启动时预设的所述基座的姿态信息和所述云台在多个预设的拍摄模式之间切换时所述基座的姿态信息中的至少一种。
  4. 根据权利要求2或3所述的方法，其特征在于，所述目标位姿包括所述云台被启动时预设的所述基座的姿态信息，所述方法还包括：
    当所述基座处于所述目标位姿时，开启所述云台。
  5. 根据权利要求4所述的方法，其特征在于，所述目标位姿包括所述云台处于预设拍摄模式时对应的所述基座的姿态，所述预设拍摄模式包括正拍、倒拍、上手电筒、下手电筒、左竖拍和右竖拍中的至少一种。
  6. 根据权利要求4所述的方法，其特征在于，所述机械臂运动的过程中，所述云台处于关闭状态。
  7. 根据权利要求3所述的方法，其特征在于，所述目标位姿包括所述云台在多个预设的拍摄模式之间切换时所述基座的姿态信息，所述机械臂转动的过程中，所述云台处于开启状态。
  8. 根据权利要求3所述的方法，其特征在于，所述检测到指示机械臂运动的指示信号，包括：
    检测到所述云台的基座与机械臂机械耦合以使得所述云台与所述机械臂的电连接成功；或者，
    在所述云台的基座与机械臂机械耦合以使得所述云台与所述机械臂的电连接成功之后，检测到第一控制部被触发，所述第一控制部设于所述机械臂。
  9. 根据权利要求1或3所述的方法，其特征在于，待模拟的用户操作为预先设置的。
  10. 根据权利要求9所述的方法，其特征在于，所述待模拟的用户操作包括多个，所述根据所述当前位姿以及所述基座的目标位姿，控制所述机械臂运动，使得所述基座运动至所述目标位姿，包括：
    根据所述当前位姿及每一所述待模拟的用户操作对应的所述基座的目标位姿，控 制所述机械臂运动，使得所述基座依次运动至每一所述待模拟的用户操作对应的所述基座的目标位姿。
  11. 根据权利要求2所述的方法，其特征在于，所述指示信号包括用于指示所述机械臂运动以复现云台被用户操作的第二指示信号，所述目标位姿包括所述云台被用户操作时，所述基座的位姿信息，所述位姿信息由所述基座的传感单元检测获得。
  12. 根据权利要求11所述的方法，其特征在于，所述机械臂包括至少六个转动轴，待复现的用户操作包括所述基座被转动和所述基座被平移中的至少一种。
  13. 根据权利要求12所述的方法，其特征在于，所述待复现的用户操作包括所述基座被转动，所述位姿信息包括姿态信息，所述传感单元包括惯性测量单元，所述姿态信息由所述惯性测量单元检测获得；
    所述根据所述当前位姿以及所述基座的目标位姿，控制所述机械臂运动，包括：
    根据所述当前位姿和所述姿态信息，控制所述机械臂转动以控制所述基座转动。
  14. 根据权利要求13所述的方法，其特征在于，所述姿态信息包括所述基座被转动时的角速度信息。
  15. 根据权利要求12所述的方法，其特征在于，所述待复现的用户操作包括所述基座被平移，所述位姿信息包括平移信息，所述传感单元包括距离传感器，所述平移信息由所述距离传感器检测获得；
    所述根据所述当前位姿以及所述基座的目标位姿，控制所述机械臂运动，包括：
    根据所述当前位姿和所述平移信息，控制所述机械臂转动以控制所述基座的平移。
  16. 根据权利要求15所述的方法，其特征在于，所述平移信息包括所述基座被平移时的线速度信息。
  17. 根据权利要求11所述的方法，其特征在于，所述第二指示信号由第二控制部被触发时产生，所述第二控制部设于所述机械臂。
  18. 根据权利要求1或11所述的方法，其特征在于，所述云台包括手持云台，所述基座包括所述手持云台的手柄。
  19. 一种机械臂，其特征在于，所述机械臂包括：
    至少三个转动轴；
    存储装置，用于存储程序指令；以及
    一个或多个处理器，调用所述存储装置中存储的程序指令，当所述程序指令被执行时，所述一个或多个处理器单独地或共同地被配置成用于实现如下操作：
    当检测到指示机械臂运动的指示信号时，获取云台的基座的当前位姿，其中，所述基座与机械臂机械耦合，所述机械臂包括至少三个转动轴；
    根据所述当前位姿以及所述基座的目标位姿，控制所述机械臂运动，使得所述基座运动至所述目标位姿。
  20. 根据权利要求19所述的机械臂，其特征在于，所述指示信号包括用于指示所述机械臂运动以模拟云台被用户操作的第一指示信号和用于指示所述机械臂运动以复 现云台被用户操作的第二指示信号中的至少一种。
  21. 根据权利要求20所述的机械臂，其特征在于，所述指示信号包括用于指示所述机械臂运动以模拟云台被用户操作的第一指示信号，所述目标位姿包括所述云台被启动时预设的所述基座的姿态信息和所述云台在多个预设的拍摄模式之间切换时所述基座的姿态信息中的至少一种。
  22. 根据权利要求20或21所述的机械臂，其特征在于，所述目标位姿包括所述云台被启动时预设的所述基座的姿态信息，所述一个或多个处理器单独地或共同地还被配置成用于实现如下操作：
    当所述基座处于所述目标位姿时，开启所述云台。
  23. 根据权利要求22所述的机械臂，其特征在于，所述目标位姿包括所述云台处于预设拍摄模式时对应的所述基座的姿态，所述预设拍摄模式包括正拍、倒拍、上手电筒、下手电筒、左竖拍和右竖拍中的至少一种。
  24. 根据权利要求22所述的机械臂，其特征在于，所述机械臂运动的过程中，所述云台处于关闭状态。
  25. 根据权利要求21所述的机械臂，其特征在于，所述目标位姿包括所述云台在多个预设的拍摄模式之间切换时所述基座的姿态信息，所述机械臂转动的过程中，所述云台处于开启状态。
  26. 根据权利要求21所述的机械臂，其特征在于，所述一个或多个处理器在检测到指示机械臂运动的指示信号时，单独地或共同地被进一步配置成用于实现如下操作：
    检测到所述云台的基座与机械臂机械耦合以使得所述云台与所述机械臂的电连接成功；或者，
    在所述云台的基座与机械臂机械耦合以使得所述云台与所述机械臂的电连接成功之后，检测到第一控制部被触发，所述第一控制部设于所述机械臂。
  27. 根据权利要求19或21所述的机械臂，其特征在于，待模拟的用户操作为预先设置的。
  28. 根据权利要求27所述的机械臂，其特征在于，所述待模拟的用户操作包括多个，所述一个或多个处理器在根据所述当前位姿以及所述基座的目标位姿，控制所述机械臂运动，使得所述基座运动至所述目标位姿时，单独地或共同地被进一步配置成用于实现如下操作：
    根据所述当前位姿及每一所述待模拟的用户操作对应的所述基座的目标位姿，控制所述机械臂运动，使得所述基座依次运动至每一所述待模拟的用户操作对应的所述基座的目标位姿。
  29. 根据权利要求20所述的机械臂，其特征在于，所述指示信号包括用于指示所述机械臂运动以复现云台被用户操作的第二指示信号，所述目标位姿包括所述云台被用户操作时，所述基座的位姿信息，所述位姿信息由所述基座的传感单元检测获得。
  30. 根据权利要求29所述的机械臂，其特征在于，所述机械臂包括至少六个转动 轴，待复现的用户操作包括所述基座被转动和所述基座被平移中的至少一种。
  31. 根据权利要求30所述的机械臂，其特征在于，所述待复现的用户操作包括所述基座被转动，所述位姿信息包括姿态信息，所述传感单元包括惯性测量单元，所述姿态信息由所述惯性测量单元检测获得；
    所述一个或多个处理器在根据所述当前位姿以及所述基座的目标位姿，控制所述机械臂运动时，单独地或共同地被进一步配置成用于实现如下操作：
    根据所述当前位姿和所述姿态信息，控制所述机械臂转动以控制所述基座转动。
  32. 根据权利要求31所述的机械臂，其特征在于，所述姿态信息包括所述基座被转动时的角速度信息。
  33. 根据权利要求30所述的机械臂，其特征在于，所述待复现的用户操作包括所述基座被平移，所述位姿信息包括平移信息，所述传感单元包括距离传感器，所述平移信息由所述距离传感器检测获得；
    所述一个或多个处理器在根据所述当前位姿以及所述基座的目标位姿，控制所述机械臂运动时，单独地或共同地被进一步配置成用于实现如下操作：
    根据所述当前位姿和所述平移信息，控制所述机械臂转动以控制所述基座的平移。
  34. 根据权利要求33所述的机械臂，其特征在于，所述平移信息包括所述基座被平移时的线速度信息。
  35. 根据权利要求29所述的机械臂，其特征在于，所述第二指示信号由第二控制部被触发时产生，所述第二控制部设于所述机械臂。
  36. 根据权利要求19或29所述的机械臂，其特征在于，所述云台包括手持云台，所述基座包括所述手持云台的手柄。
  37. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，该程序被处理器执行时实现权利要求1至18任一项所述的方法。
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