WO2023065112A1 - Procédé et appareil d'interaction de tête de trépied de suivi et de système de tête de trépied - Google Patents

Procédé et appareil d'interaction de tête de trépied de suivi et de système de tête de trépied Download PDF

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Publication number
WO2023065112A1
WO2023065112A1 PCT/CN2021/124681 CN2021124681W WO2023065112A1 WO 2023065112 A1 WO2023065112 A1 WO 2023065112A1 CN 2021124681 W CN2021124681 W CN 2021124681W WO 2023065112 A1 WO2023065112 A1 WO 2023065112A1
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WO
WIPO (PCT)
Prior art keywords
target
display screen
current display
state information
error
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PCT/CN2021/124681
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English (en)
Chinese (zh)
Inventor
谢振生
常贤茂
洪俊达
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深圳市大疆创新科技有限公司
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Priority to PCT/CN2021/124681 priority Critical patent/WO2023065112A1/fr
Publication of WO2023065112A1 publication Critical patent/WO2023065112A1/fr

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    • 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
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/04—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or holding steady relative to, a person, e.g. by chains, e.g. rifle butt or pistol grip supports, supports attached to the chest or head
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback

Definitions

  • the present application relates to the field of control technology, and in particular to an interaction method, device and a pan-tilt system when following a pan-tilt.
  • the gimbal can be used to stabilize the camera.
  • the user uses the gimbal to fix the shooting device, and can shoot stable and smooth pictures even under sports conditions.
  • the gimbal can provide the function of following the movement of the base.
  • the gimbal is following, if the parameter setting is strong, the gimbal following speed is faster, and the user can feel that the target of the gimbal following is the base of the gimbal.
  • the parameter setting is weaker, the gimbal will follow at a slower speed, and the smaller the error, the slower the motion, and it is difficult for the user to predict the motion of the gimbal, which makes it difficult for the user to predict the direction the lens will eventually align, resulting in It is more difficult for the user to aim the lens at the desired shooting target.
  • Embodiments of the present application provide a pan-tilt-following interaction method, device, and pan-tilt system to solve the problem in the prior art that it is difficult for a user to align a lens to a desired shooting target.
  • the embodiment of the present application provides a method for interacting with the PTZ when following, including:
  • the state information of the cloud platform target in the process of controlling the cloud platform to follow its base, calculate the error between the current state information of the cloud platform and the state information of the target in real time;
  • the state information includes attitude information and/or positional information in preset translational directions;
  • the embodiment of the present application provides a method for interacting with the PTZ when following, including:
  • the state information of the cloud platform target in the process of controlling the cloud platform to follow its base, calculate the error between the current state information of the cloud platform and the state information of the target in real time;
  • the state information includes attitude information and/or positional information in preset translational directions;
  • the preset position calculates the corresponding position of the state information of the target in the current display screen, wherein the preset position refers to the current state information of the pan/tilt in the current Display the corresponding position in the screen;
  • a target position identifier is displayed at a corresponding position of the state information of the target in the current display screen.
  • the embodiment of the present application provides a method for interacting with the PTZ when following, including:
  • the corresponding position of the state information of the cloud platform target in the current display screen is in the process of the cloud platform following its base, based on the current state of the cloud platform
  • the error between the state information of the target and the state information of the target and the preset position in the current display screen are calculated, and the preset position refers to the corresponding position of the current state information of the pan/tilt in the current display screen
  • the state information includes attitude information and/or position information in a preset translation direction
  • a target position identifier is displayed at a corresponding position of the state information of the target in the current display screen.
  • the embodiment of the present application provides a method for interacting with the PTZ when following, including:
  • the target position mark is displayed at the target position;
  • the target position is the corresponding position of the state information of the target in the current display screen, and the state information of the target is State information of the target of the pan-tilt in the mode of following the base of the pan-tilt, the state information includes posture information and/or position information in a preset translation direction;
  • the embodiment of the present application provides a PTZ follow-up interaction device, the device includes: a memory and a processor;
  • the memory is used to store program codes
  • the processor invokes the program code, and when the program code is executed, performs the following operations:
  • the state information of the cloud platform target in the process of controlling the cloud platform to follow its base, calculate the error between the current state information of the cloud platform and the state information of the target in real time;
  • the state information includes attitude information and/or positional information in preset translational directions;
  • the embodiment of the present application provides a PTZ follow-up interaction device, the device includes: a memory and a processor;
  • the memory is used to store program codes
  • the processor invokes the program code, and when the program code is executed, performs the following operations:
  • the state information of the cloud platform target in the process of controlling the cloud platform to follow its base, calculate the error between the current state information of the cloud platform and the state information of the target in real time;
  • the state information includes attitude information and/or positional information in preset translational directions;
  • the preset position calculates the corresponding position of the state information of the target in the current display screen, wherein the preset position refers to the current state information of the pan/tilt in the current Display the corresponding position in the screen;
  • a target position identifier is displayed at a corresponding position of the state information of the target in the current display screen.
  • the embodiment of the present application provides a PTZ follow-up interaction device, the device includes: a memory and a processor;
  • the memory is used to store program codes
  • the processor invokes the program code, and when the program code is executed, performs the following operations:
  • the corresponding position of the state information of the cloud platform target in the current display screen is in the process of the cloud platform following its base, based on the current state of the cloud platform
  • the error between the state information of the target and the state information of the target and the preset position in the current display screen are calculated, and the preset position refers to the corresponding position of the current state information of the pan/tilt in the current display screen
  • the state information includes attitude information and/or position information in a preset translation direction
  • a target position identifier is displayed at a corresponding position of the state information of the target in the current display screen.
  • the embodiment of the present application provides a pan/tilt follow-up interaction device, the device includes: a memory and a processor;
  • the memory is used to store program codes
  • the processor invokes the program code, and when the program code is executed, performs the following operations:
  • the target position mark is displayed at the target position;
  • the target position is the corresponding position of the state information of the target in the current display screen, and the state information of the target is State information of the target of the pan-tilt in the mode of following the base of the pan-tilt, the state information includes posture information and/or position information in a preset translation direction;
  • the embodiment of the present application provides a pan-tilt system, and the pan-tilt system includes:
  • the controller for controlling the controller of the pan tilt, the controller is used for:
  • the state information of the cloud platform target in the process of controlling the cloud platform to follow its base, calculate the error between the current state information of the cloud platform and the state information of the target in real time;
  • the state information includes attitude information and/or positional information in preset translational directions;
  • the embodiment of the present application provides a pan-tilt system, and the pan-tilt system includes:
  • the controller for controlling the controller of the pan tilt, the controller is used for:
  • the state information of the cloud platform target in the process of controlling the cloud platform to follow its base, calculate the error between the current state information of the cloud platform and the state information of the target in real time;
  • the state information includes attitude information and/or positional information in preset translational directions;
  • the preset position calculates the corresponding position of the state information of the target in the current display screen, wherein the preset position refers to the current state information of the pan/tilt in the current Display the corresponding position in the screen;
  • a target position identifier is displayed at a corresponding position of the state information of the target in the current display screen.
  • the embodiment of the present application provides a pan-tilt system, and the pan-tilt system includes:
  • the controller for controlling the controller of the pan tilt, the controller is used for:
  • the corresponding position of the state information of the cloud platform target in the current display screen is in the process of the cloud platform following its base, based on the current state of the cloud platform
  • the error between the state information of the target and the state information of the target and the preset position in the current display screen are calculated, and the preset position refers to the corresponding position of the current state information of the pan/tilt in the current display screen
  • the state information includes attitude information and/or position information in a preset translation direction
  • a target position identifier is displayed at a corresponding position of the state information of the target in the current display screen.
  • the embodiment of the present application provides a pan-tilt system, and the pan-tilt system includes:
  • the controller for controlling the controller of the pan tilt, the controller is used for:
  • the target position mark is displayed at the target position;
  • the target position is the corresponding position of the state information of the target in the current display screen, and the state information of the target is State information of the target of the pan-tilt in the mode of following the base of the pan-tilt, the state information includes posture information and/or position information in a preset translation direction;
  • an embodiment of the present application provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, 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 the computer Executing the method described in any one of the first aspect to the fourth aspect above.
  • An embodiment of the present application provides a computer program, which is used to implement the method described in any one of the first aspect to the fourth aspect when the computer program is executed by a computer.
  • the user by displaying to the user the error between the current state information of the pan/tilt and the state information of the target, or displaying to the user the corresponding position of the state information indicating the target of the pan/tilt in the current display screen, so that During the process of the gimbal following the base, the user can expect the movement of the gimbal according to the displayed content, so that the direction in which the lens will be finally aligned can be predicted according to the movement of the gimbal, so that the user can compare the direction in which the lens is finally aligned with the desired direction.
  • the movement of the base can be adjusted in time so as to timely adjust the expected final alignment direction of the lens, thereby facilitating the user to align the lens to a desired shooting target.
  • FIG. 1 is a schematic diagram of an application scenario of an interaction method when a pan/tilt follows in an embodiment of the present application
  • Fig. 2 is a schematic flow chart of the interaction method when the pan/tilt follows according to an embodiment of the present application
  • FIG. 3 is a schematic flow diagram of an interaction method when the pan/tilt follows according to another embodiment of the present application.
  • FIG. 4 is a schematic diagram of the relationship between the vertical field of view, the height of the image sensor, and the focal length of the lens provided by the embodiment of the present application;
  • FIG. 5A is a schematic diagram of the relationship between the first angle and the preset position provided by an embodiment of the present application.
  • FIG. 5B is a schematic diagram of the relationship between the second angle and the preset position provided by an embodiment of the present application.
  • FIG. 6 is a schematic diagram of determining a first corresponding position according to an embodiment of the present application.
  • FIG. 7 is a schematic diagram of the relationship between the target error and the position of the third edge provided by an embodiment of the present application.
  • FIG. 8 is a schematic diagram of displaying the current location identifier and the target location identifier in the current display screen provided by an embodiment of the present application;
  • FIG. 9 is a schematic diagram of displaying the current location identifier and the target location identifier in the current display screen provided by another embodiment of the present application.
  • FIG. 10 is a schematic flow diagram of an interaction method for pan-tilt following provided in another embodiment of the present application.
  • FIG. 11 is a schematic flow diagram of an interaction method when a pan/tilt follows according to another embodiment of the present application.
  • FIG. 12 is a schematic flow diagram of an interaction method for pan-tilt following provided in another embodiment of the present application.
  • FIG. 13 is a schematic structural diagram of an interaction device for pan-tilt following provided by an embodiment of the present application.
  • FIG. 14 is a schematic structural diagram of an interaction device when a pan/tilt follows according to another embodiment of the present application.
  • FIG. 15 is a schematic structural diagram of an interaction device for pan-tilt following provided in another embodiment of the present application.
  • FIG. 16 is a schematic structural diagram of an interaction device for pan-tilt following provided in another embodiment of the present application.
  • the application scenario may include a pan-tilt 11 and a base 12 , and the pan-tilt 11 may be set on the base 12 .
  • the pan/tilt 11 may include an axial stabilization mechanism, the axial stabilization mechanism includes at least one rotating shaft mechanism, and the rotating shaft mechanism includes at least one driving motor and at least one shaft arm rotating around a corresponding axis.
  • the rotating shaft mechanism may not include a shaft arm, but is directly connected to the load through a driving motor.
  • the cloud platform 11 can include three rotating shaft mechanisms, and these three rotating shaft mechanisms can include a drive motor and a pitch axis arm that rotate around the pitch axis, and rotate around the yaw (yaw) axis.
  • the axial stabilization mechanism can adjust the attitude of the gimbal according to the attitude of the base.
  • the platform 11 may include a vertical stabilization mechanism, and the vertical stabilization mechanism may directly carry a load so as to be in the vertical direction. It should be understood that the vertical stabilization mechanism can adjust the position of the pan-tilt according to the position of the base. Certainly, the platform 11 may also include a stabilizing mechanism for stabilizing the load such as in the horizontal direction or in the front-back direction.
  • the pan/tilt 11 may include an axial stabilization mechanism and a vertical stabilization mechanism.
  • the vertical stabilization mechanism may be arranged between the base 12 and the axial stabilization mechanism for bearing the axial stabilization stabilizing mechanism to stabilize the load on the axial stabilizing mechanism in the vertical direction.
  • the base 12 can specifically be any type of support structure that can be used to install the pan/tilt 11.
  • the base 12 can include a handle, a hand-held mechanism, a body of a movable platform, etc.
  • the movable platform can include an unmanned vehicle , drones, etc.
  • the application scenario may further include a controller 13 , which may be used to control the pan/tilt 11 .
  • the controller 13 in FIG. 1 is located in the base 12 for example only.
  • the controller 13 can determine the target posture of the pan-tilt 11 according to the current posture of the base 12, and control the posture of the pan-tilt 11 to follow the base according to the target posture of the pan-tilt 11 12; and/or, the controller 13 can determine the target position of the pan/tilt 11 in the preset translation direction according to the current position of the base 12 in the preset translation direction, and according to the preset position of the pan/tilt 11
  • the target position in the translation direction controls the position of the pan-tilt 11 to follow the position of the base 12 .
  • the current posture may be represented by current posture information
  • the current position may be represented by current position information
  • the target posture may be represented by target posture information
  • the target position may be represented by target position
  • both attitude and position can be understood as states, that is, both attitude and position of the pan/tilt can be understood as the state of the pan/tilt.
  • the controller 13 can control the gimbal to follow the base according to the status information of the gimbal target, and the current status of the gimbal can also exist relative to the status information of the gimbal target information, wherein the state information may include posture information and/or position information, and the position information is information on a position in a preset translation direction.
  • the pan/tilt follows its base, specifically, the pan/tilt follows the base in the vertical direction, that is, the position of the pan/tilt in the vertical direction can follow The position of its base in the vertical direction.
  • the pan/tilt includes an axial stabilization mechanism and does not include a vertical stabilization mechanism
  • the pan/tilt follows its base specifically may mean that the pan/tilt axially follows the base, that is, the posture of the pan/tilt follows the posture of its base.
  • the pan/tilt When the pan/tilt includes an axial stabilization mechanism and also includes a vertical stabilization mechanism, the pan/tilt follows its base specifically can be: the pan/tilt axially follows the base, and the vertical stabilization mechanism is used for stabilization; or, the pan/tilt The platform follows the base vertically, and the axial stabilization mechanism is used for stabilizing; or, the platform follows the base both axially and vertically.
  • the axial heel base can be a uniaxial heel, a biaxial heel or a triaxial heel.
  • the pan/tilt 11 may also include a fixing mechanism for fixing a load, such as a shooting device.
  • the shooting device may be a mobile phone or a camera, for example.
  • the base 12 as the handle as an example, when the user uses the fixed shooting device on the pan-tilt 11 to shoot the desired object, the user can turn the handle of the pan-tilt 11, since the controller 13 can control the attitude of the pan-tilt 11 to follow the handle Therefore, the pan-tilt 11 can rotate following the rotation of the handle, and the rotation of the pan-tilt will drive the camera to rotate, thereby changing the shooting direction of the camera, so that the camera can aim at the shooting target required by the user.
  • the speed at which the controller 13 controls the pan/tilt 11 to follow the base 12 may be slow.
  • the pan/tilt 11 can be controlled to follow the base 12 according to the set parameters
  • the pan/tilt follows The speed is fast
  • the parameter setting is weak
  • the gimbal will follow at a slow speed.
  • the pan/tilt follows at a slow speed, it is difficult for the user to predict the movement of the pan/tilt, which makes it difficult for the user to predict the direction in which the lens is finally aimed, which makes it difficult for the user to align the lens to the desired shooting target.
  • the current state information of the pan-tilt and the target's The error between the state information, or display to the user the corresponding position of the state information used to indicate the target of the gimbal in the current display screen, so that the user can expect the gimbal according to the displayed content during the process of the gimbal following the base.
  • the method provided in the embodiment of the present application can be executed by the interactive device when the pan-tilt is followed, and the specific product form of the interactive device when the pan-tilt is followed can be flexibly implemented according to requirements.
  • the interaction device when the pan-tilt follows can be included in the pan-tilt system, that is, the method provided in the embodiment of the present application can be executed by the pan-tilt system, for example, the interaction device when the pan-tilt follows can be implemented by the controller 13 , that is, the controller 13 may execute the method provided in the embodiment of the present application.
  • the pan/tilt system may include a display device, and the display device may be integrated, for example, integrated in the base, or detachable, for example, detachably connected with the base.
  • the interaction device when the pan-tilt follows can be included outside the pan-tilt system, that is, the method provided in the embodiment of the present application can be performed by a device outside the pan-tilt system, for example, the interaction device when the pan-tilt follows can be provided by
  • the control device communicatively connected with the pan-tilt system realizes, that is, the control device communicatively connected with the pan-tilt system can execute the method provided in the embodiment of the present application.
  • FIG. 2 is a schematic flowchart of a pan-tilt-following interaction method provided by an embodiment of the present application.
  • the execution subject of this embodiment may be an interaction device for pan-tilt following, specifically, a processor of the interaction device.
  • the method of this embodiment may include:
  • Step 21 in the process of controlling the pan-tilt to follow its base according to the state information of the pan-tilt target, calculate the error between the current state information of the pan-tilt and the state information of the target in real time; the state The information includes attitude information and/or position information in a preset translation direction.
  • the attitude information of the gimbal target refers to the attitude information of the gimbal determined according to the current attitude information of the base in the mode of following the base of the gimbal. According to the attitude information of the gimbal target, the attitude of the gimbal can be controlled to follow the attitude of its base. It should be noted that, regarding the determination of the attitude information of the pan-tilt target and the implementation of controlling the attitude of the pan-tilt to follow the attitude of its base, you can refer to the specific description in related technologies, and will not repeat them here.
  • the position information of the gimbal target refers to the position information of the gimbal in the preset translation direction determined according to the current position information of the base in the preset translation direction in the mode of following its base. According to the position information of the gimbal target, the position of the gimbal can be controlled to follow the position of its base. In practical applications, the motor drive can be used to maintain the joint angle between the vertical stabilization mechanism and the base, so that the position of the gimbal follows the position of its base. It should be noted that for the implementation of determining the position information of the pan-tilt target and controlling the position of the pan-tilt to follow the position of its base, reference may be made to specific descriptions in related technologies, which will not be repeated here.
  • the current status information of the gimbal refers to the status information of the gimbal at the current moment, which can be obtained through sensor measurement.
  • Sensor for example can be arranged on the fixing mechanism that is used for fixing shooting device of cloud platform, or can be arranged on the parts (such as the shaft arm of platform) that is fixedly connected with fixing mechanism of cloud platform, or can also be arranged on the shooting device .
  • the current state information of the gimbal can also be considered as the status information of the camera mounted on the gimbal at the current moment.
  • the error between the current state information of the gimbal and the state information of the target includes the attitude error between the current attitude information of the gimbal and the attitude information of the target;
  • the error between the current state information of the gimbal and the state information of the target includes the current position information of the gimbal in the preset translation direction, and the difference between the current position information of the gimbal in the preset The position error between the position information in the moving direction.
  • the current attitude information of the gimbal and the attitude information of the target of the gimbal may be represented by Euler angles or four elements.
  • the four elements of the current attitude information represent q_current
  • the four elements of the target attitude information represent q_follow_target
  • the error between the two q_follow_err the relationship between the three can satisfy the following formula (1).
  • Step 22 displaying the error.
  • the calculated error can be directly displayed.
  • the error can be displayed directly through the display device provided on the handle; or, the The calculated error is sent to other devices/equipment to display the error by other devices/equipment.
  • the base is a UAV
  • the error can be sent to the control terminal used to control the UAV to be displayed by the UAV. The control terminal displays the error.
  • the error between the calculated current state information of the pan/tilt and the state information of the target can be displayed graphically, that is, the error can be displayed graphically, so that the user can intuitively know the state of the pan/tilt
  • the error between the current position (and/or attitude) and the target position (and/or attitude) is beneficial to improve user experience.
  • the display error can be superimposed on the current display screen, so that the user can intuitively know the current position (and/or attitude) and target position (and and/or attitude).
  • the currently displayed image refers to the currently displayed shooting image. It should be understood that the currently displayed shooting picture is related to the picture taken by the shooting device mounted on the gimbal. If the shooting picture obtained by shooting is cut and then displayed, the cut shooting picture can be used as the current display picture; if it is The shooting picture obtained by shooting is not cut and displayed, and the uncut shooting picture can be used as the current display picture.
  • the pan/tilt can drive the shooting device to rotate, and the rotating shaft mechanism in the pan/tilt will rotate around one or more axes during the process of the pan/tilt following the base, therefore, during the process of the pan/tilt following the base, the photographing device
  • the shooting range of the camera also changes with the attitude of the gimbal, that is, the shooting picture of the shooting device is associated with the attitude of the gimbal.
  • the correlation between the shooting picture and the attitude of the gimbal can be ignored.
  • the thickness of the line between two fixed pixel blocks in the current display picture can be used to represent a certain rotation axis
  • the error in the direction that is, by displaying a connection line corresponding to the thickness of the error between two pixel blocks in the current display screen, the error in the direction of a certain rotation axis can be superimposed and displayed in the current display screen.
  • the correlation between the shooting picture and the attitude of the gimbal can be considered.
  • the current position indicator can be displayed through the corresponding position of the current state information of the gimbal in the current display picture , and at the corresponding position of the state information of the pan/tilt target in the current display screen, display the target position mark, so as to realize superimposing and displaying the error on the current display screen.
  • the method provided in this embodiment calculates and displays the error between the current state information of the pan-tilt and the state information of the target in real time during the process of controlling the pan-tilt to follow its base according to the state information of the pan-tilt target, so that During the process of the gimbal following the base, the user can predict the motion of the gimbal according to the displayed error between the gimbal's current attitude and the target attitude, and/or the error between the current position and the target position, so that the user can The movement of the gimbal anticipates the direction in which the lens is finally aligned, so that the user can adjust the movement of the base in time to adjust the expected lens in time when there is a deviation between the direction in which the expected lens is finally aligned and the direction in which the expected lens is finally aligned. The direction of the final alignment, so that it is convenient for the user to align the lens to the desired shooting target.
  • Fig. 3 is a schematic flow chart of the interaction method of the pan/tilt following provided by another embodiment of the present application.
  • this embodiment mainly describes a method of superimposing display errors in the current display screen Specific implementation, as shown in Figure 3, the method of this embodiment may include:
  • Step 31 during the process of controlling the pan/tilt to follow its base according to the state information of the pan/tilt target, calculate the error between the current state information of the pan/tilt and the state information of the target in real time.
  • step 31 is similar to step 21 and will not be repeated here.
  • Step 32 according to the error and the preset position in the current display screen, calculate the corresponding position of the state information of the target in the current display screen, the preset position refers to the current state information of the pan/tilt in the current The corresponding position on the display screen is displayed.
  • Step 33 displaying the target location mark at the corresponding position of the state information of the target in the current display screen, and displaying the current position mark at the preset position.
  • the current display screen may be constantly changing, and the current display screen when calculating the corresponding position of the state information of the target may be the same screen as the current display screen when displaying the target position identifier, or may be a different screen, but their corresponding The location is the same location on the screen used to display the current display.
  • the preset position can be flexibly selected according to requirements, for example, the center position of the screen can be used as the preset position.
  • the selection of the preset position may be related to the composition of the picture, and the focus position set in the screen may be used as the preset position, so that it is convenient for the user to compose the picture.
  • the corresponding position of the state information of the pan/tilt target in the current display screen may also vary. Therefore, in the process of the pan/tilt following its base, the display position of the target position mark in the current display screen can change with the change of the current state information of the pan/tilt, and the position difference between the current position mark and the target position mark The difference between the current status information related to the gimbal and the status information of the target.
  • the corresponding position of the status information of the gimbal target in the current display screen (that is, the position of the target position identifier in the current display screen) is the same as the corresponding position of the current status information of the gimbal in the current display screen (ie The error between the preset position) can represent the error between the current state information of the pan/tilt and the state information of the target.
  • the corresponding position of the status information of the target in the current display screen can be continuously approached to the preset position, and the current status information of the gimbal and the status of the target When the information is consistent, the corresponding position of the target's position information in the current display screen is the preset position.
  • the current location identifier and the target location identifier can overlap on the current display screen.
  • the current position mark and the target position mark can be the same or different, because the display position of the current position mark is fixed (that is, fixed as a preset position) during the process of the pan/tilt following its base, and the position of the current position mark The displayed position is variable, so although the current position mark is the same as the target position mark, the user can still distinguish which is the current position mark and which is the target position mark.
  • the current location identifier is different from the target location identifier, for example, the color of the current location identifier may be different from that of the target location identifier, and/or the shape of the current location identifier may be different from that of the target location identifier.
  • the error when the state information includes posture information, the error may include posture error, and the corresponding position of the state information of the target in the current display screen may include the first corresponding position of the posture information of the target in the current display screen, and the target The position identification may include a first target position identification for characterizing the first corresponding position, step 32 may include determining the first corresponding position according to the attitude error and the preset position in the current display screen, and step 33 may include displaying at the first corresponding position The first target location identifier.
  • the error may include a position error
  • the corresponding position of the state information of the target in the current display screen may include the second corresponding position of the position information of the target in the current display screen
  • the target position identification may include A second target location mark representing the second corresponding position
  • step 32 may include displaying the second target position mark at the second corresponding position
  • step 33 may include displaying the second target position mark at the second corresponding position. Therefore, when the error between the current state information of the pan-tilt and the state information of the target includes the position error and the attitude error, the position error and the attitude error can be displayed separately.
  • the preset location based on which the first corresponding location and the second corresponding location are determined may be the same location.
  • the embodiment of the present application may include the following three situations: 1), the state information includes attitude information but not position information, the first corresponding position is calculated according to the attitude error, and the first target position mark is displayed at the first corresponding position; 2), the state information includes position information but does not include attitude information, calculate the second corresponding position according to the position error, and display the second target position mark at the second corresponding position; 3), the state information includes attitude information and position information, according to the attitude calculating the first corresponding position by error, and displaying the first target position mark at the first corresponding position; and calculating the second corresponding position according to the position error, and displaying the second target position mark at the second corresponding position.
  • mode 1 can be used for the aforementioned case 1)
  • mode 2 can be used for the aforementioned case 2)
  • mode 1+mode 2 can be used for the aforementioned case 3.
  • the overall error size may be calculated according to the error, according to the error size and the preset position , to determine the corresponding position of the state information of the target in the current display screen.
  • step 32 may specifically include the following steps A and B.
  • Step A according to the attitude error, calculate the error angle on at least one axis under the gimbal coordinate system of the gimbal;
  • Step B determining the first corresponding position according to the error angle on the at least one axis and the preset position in the current display screen.
  • At least one axis in the gimbal coordinate system can be all or part of the axes in the gimbal coordinate system, which can be flexibly implemented according to requirements.
  • at least one axis may include a first axis corresponding to the vertical direction in the current display picture, and/or, a second axis corresponding to the horizontal direction in the current display picture.
  • the first axis in the gimbal coordinate system refers to the rotation axis that can move the current display screen in the vertical direction when the gimbal rotates around it.
  • the error angle Err_y on the y-axis in the gimbal coordinate system can satisfy the formula (2).
  • Vy is the Vy in the rotation axis [Vx, Vy, Vz] of the error q_follow_err represented by four elements, and Vy satisfies the following formula (3);
  • err_angle represents the rotation angle of the error q_follow_err represented by four elements, and err_angle satisfies the following formula (4).
  • the second axis in the gimbal coordinate system refers to the rotation axis that can move the current display screen in the horizontal direction when the gimbal rotates around it.
  • the error angle Err_z on the z-axis in the gimbal coordinate system can satisfy the formula (5).
  • Vz is the Vz in the rotation axis [Vx, Vy, Vz] of the error q_follow_err represented by four elements, Vz satisfies the following formula (6), err_angle represents the rotation angle of the error q_follow_err represented by four elements, and err_angle satisfies the aforementioned formula (4).
  • the first corresponding position may be calculated based on a pre-established two-dimensional coordinate system.
  • step B may specifically include: taking the ratio of the error angle on the first axis to the first angle as the attitude information of the target in the first coordinate system
  • the corresponding vertical coordinates are used to obtain the corresponding vertical position of the attitude information of the target in the current display screen. Therefore, the vertical position of the first target position mark in the current display screen can be linked with the rotation of the first axis.
  • the current display screen can move in the vertical direction, so it can ensure that the pan/tilt The consistency between the rotation around the first axis and the vertical position change of the first target position marker.
  • step B may specifically include: using the ratio of the error angle on the second axis to the second angle as the attitude information of the target at the second
  • the corresponding abscissa in a coordinate system is used to determine the corresponding horizontal position of the attitude information of the target in the current display screen. Therefore, the horizontal position of the first target position mark in the current display screen can be linked with the rotation of the second axis.
  • the current display screen can move in the horizontal direction, so it can ensure that the pan/tilt The consistency between the rotation around the second axis and the horizontal position change of the first target position mark.
  • the first angle and the second angle are both related to the preset position
  • the first coordinate system takes the preset position as the coordinate origin
  • the horizontal direction of the current display screen is the horizontal axis direction
  • the vertical direction of the current display screen is the vertical axis direction Cartesian coordinate system.
  • the first angle can be understood as an error angle corresponding to a unit length in the direction of the vertical axis in the first coordinate system. Since the edge position of the currently displayed picture in the vertical axis direction is related to the coordinate origin of the first coordinate system (ie the preset position), the distance to the coordinate origin of the first coordinate system is related to the preset position through the first angle, The vertical coordinate of the edge position of the currently displayed picture in the vertical axis direction in the first coordinate system can be the first specific value.
  • the first specific value may be 1, and the first angle may also be related to the vertical viewing angle corresponding to the current display screen, so that the vertical position of the first target position in the current display screen can be used to indicate When the gimbal is in the target posture, the subject of the device is photographed.
  • the vertical field angle corresponding to the current displayed picture may be equal to the vertical field angle of the shooting device; when the currently displayed picture is a cropped shooting picture, The vertical viewing angle corresponding to the currently displayed image may be smaller than the vertical viewing angle of the photographing device.
  • the vertical field of view fov_h of the photographing device the height sensor_size_h of the image sensor (sensor) of the photographing device and the focal length of the lens focus_len, the relationship between the three can be shown in Figure 4, according to Figure 4, it can be determined that the three satisfy Formula (7) is as follows.
  • fov_h 2 ⁇ arctan(0.5 ⁇ sensor_size_h/focus_len) Formula (7)
  • the error angle on the first axis of the gimbal coordinate system can be positive or negative.
  • the error angle on the first axis can correspond to the positive direction of the vertical axis of the first coordinate system.
  • the error angle on the axis is negative, it may correspond to the negative direction of the vertical axis of the first coordinate system.
  • the first angle can be between the preset position and the first edge position in the current display screen.
  • the field of view corresponding to the number of pixels.
  • there are two edge positions in the vertical axis direction of the current display picture and when the error angle on the first axis is positive, the first edge position can be one of the two edge positions in the positive direction of the vertical axis, the first When the error angle on the axis is negative, the first edge position may be one of the two edge positions in the negative direction of the vertical axis. Therefore, the vertical coordinate of the edge position of the current display picture in the vertical axis direction in the first coordinate system may be 1.
  • the number of pixels between the preset position and one edge position of the current display screen in the vertical axis direction is twice the number of pixels between the preset position and the other edge position of the current display screen in the vertical axis direction
  • the relationship between the first angle and the preset position may be as shown in FIG. 5A .
  • the coordinates of the edge position 51 in the first coordinate system with the preset position as the origin of the coordinates are (0, 1), where 1 can correspond to the vertical viewing angle corresponding to 1/3 of the current display screen, that is, the longitudinal
  • the corresponding first angle in the positive direction of the axis can be 1/3 times the vertical viewing angle corresponding to the current display screen;
  • the coordinates of the edge position 52 in the first coordinate system are also (0,1), and 1 can correspond to 2
  • the vertical viewing angle corresponding to the current display image of /3, that is, the first angle corresponding to the negative direction of the vertical axis may be 2/3 times the vertical viewing angle corresponding to the current display image.
  • the edge position 51 and the edge position 52 are two edge positions in the vertical axis direction from the preset position to the current display image.
  • the first angle may be equal to 1/2 times the vertical viewing angle corresponding to the current display image.
  • the preset position is the center position of the current display image, and the first angle is equal to 1/2 times the vertical viewing angle corresponding to the current display image. Therefore, the vertical coordinate of the edge position of the current display picture in the vertical axis direction in the first coordinate system may be 1.
  • the ordinate y corresponding to the target posture in the first coordinate system can satisfy the following formula (8)
  • Err_y represents the error angle on the y-axis in the gimbal coordinate system
  • fov_h represents the vertical field of view angle of the camera.
  • the second angle can be understood as an error angle corresponding to a unit length in the direction of the horizontal axis in the first coordinate system. Since the edge position of the currently displayed picture in the vertical axis direction is related to the coordinate origin of the first coordinate system (ie, the preset position), the distance to the coordinate origin of the first coordinate system is related to the preset position through the second angle, It can be made that the abscissa of the edge position of the currently displayed image in the vertical axis direction in the first coordinate system can be the second specific value.
  • the second specific value can be 1, and the second angle can also be related to the horizontal field of view corresponding to the current display screen, so that the vertical position of the target position in the current display screen can be used to indicate the pan/tilt Photograph the subject of the device while in the target pose.
  • the horizontal field of view corresponding to the current displayed picture may be equal to the horizontal field of view of the shooting device; when the currently displayed picture is a cropped shooting picture, The horizontal field of view corresponding to the currently displayed image may be smaller than the horizontal field of view of the photographing device.
  • the horizontal field of view fov_l of the photographing device, the horizontal size sensor_size_l of the image sensor (sensor) of the photographing device, and the focal length of the lens focus_len may satisfy the following formula (9).
  • the error angle on the second axis of the gimbal coordinate system can be positive or negative.
  • the error angle on the second axis can correspond to the positive direction of the horizontal axis of the first coordinate system.
  • the error angle on the axis is negative, it can correspond to the negative direction of the horizontal axis of the first coordinate system.
  • the second angle can be between the preset position and the second edge position in the current display screen.
  • the field of view corresponding to the number of pixels.
  • there are two edge positions in the direction of the horizontal axis in the current display picture and when the error angle on the second axis is positive, the second edge position can be one of the two edge positions in the positive direction of the horizontal axis, and the second When the error angle on the axis is negative, the second edge position may be one of the two edge positions in the negative direction of the horizontal axis. Therefore, the abscissa of the edge position of the current display image in the abscissa direction in the first coordinate system may be 1.
  • the number of pixels between the preset position and one edge position of the current display screen in the horizontal axis direction is twice the number of pixels between the preset position and the other edge position of the current display screen in the horizontal axis direction
  • the relationship among the second angle, the preset position and the first coordinate system may be as shown in FIG. 5B .
  • the coordinates of the edge position 61 in the first coordinate system with the preset position as the origin of the coordinates are (1,0), where 1 may correspond to the horizontal viewing angle corresponding to 1/3 of the current display screen, that is, the horizontal field of view.
  • the second angle corresponding to the negative axis direction can be 1/3 times the horizontal viewing angle corresponding to the current display screen; the abscissa of the edge position 62 in the first coordinate system is also (1,0), and 1 in it can be
  • the horizontal viewing angle corresponding to 2/3 of the current display image that is, the second angle corresponding to the positive direction of the horizontal axis may be 2/3 times the horizontal viewing angle corresponding to the current display image.
  • the edge position 61 and the edge position 62 are two edge positions in the horizontal axis direction from the preset position to the current display image.
  • the second angle may be equal to 1/2 times the horizontal viewing angle corresponding to the current display image.
  • the preset position is the center position of the current display image
  • the second angle is equal to 1/2 times the horizontal viewing angle corresponding to the current display image. Therefore, the abscissa of the edge position of the current display image in the abscissa direction in the first coordinate system may be 1.
  • the abscissa x corresponding to the target posture in the first coordinate system can satisfy the following formula (10)
  • Err_z represents the error angle on the z-axis in the gimbal coordinate system
  • fov_l represents the horizontal field of view angle of the shooting device.
  • the horizontal position and vertical position of the first target position mark in the current display screen can be used to indicate the subject of the shooting device when the pan/tilt is in the target posture, so that the user can not only expect
  • the rotation of the gimbal can also predict the change of the lens aimed at the object caused by the rotation of the gimbal, so that the user can predict the direction of the final alignment of the lens according to the rotation of the gimbal and the change of the lens aimed at the object, which is beneficial Improves the accuracy of the user's expected final alignment of the camera.
  • the object located in the first target position mark in the current display screen can be completed for the posture of the pan/tilt, so that the first target position indicator displayed at the first corresponding position in the current display screen can indicate that the posture of the pan/tilt follows the posture of its base desired subjects.
  • the object to be photographed may be a movable object, so that the user can aim the lens at the movable object.
  • the position of the first target position mark in the current display screen is related to the error between the current attitude information of the pan-tilt and the attitude information of the target and the preset position, and the preset position and the attitude information of the target are determined, so the position of the first target position mark in the current display screen can change with the change of the posture of the pan-tilt, and the posture of the pan-tilt changes with the change of the posture of the base, so the first target position mark
  • the position in the current display screen can change with the posture of the base, so that the first target position mark can be superimposed on the desired object in the current display screen, that is, the first target position mark can be used to clearly indicate to the user The object to be photographed, and can use the function of the gimbal to follow the base to realize the shooting of the object.
  • At least one axis may further include a third axis perpendicular to the first axis or the second axis.
  • the third axis can be, for example, the x-axis under the pan-tilt coordinate system.
  • Vx is Vx in the rotation axis [Vx, Vy, Vz] of the error q_follow_err represented by four elements, Vx satisfies the following formula (12), err_angle represents the rotation angle of the error q_follow_err represented by four elements, and err_angle satisfies the aforementioned formula (4).
  • the display gesture of the first target position mark in the current display screen can be linked with the rotation of the third axis.
  • the aforementioned displaying the first target position mark at the first corresponding position may specifically include: displaying the first target position mark at the first corresponding position, and rotating the first target position mark by a target angle, the target angle being on the third axis the error angle.
  • the determined coordinates corresponding to the posture information of the target in the first coordinate system may be located outside the current display screen. inside, or outside the current display.
  • the position represented by the coordinates corresponding to the posture information of the target in the first coordinate system can be used as the first corresponding position; once there is a target If the coordinates corresponding to the posture information of the target in the first coordinate system are located outside the current display screen, the position indicated by the coordinates corresponding to the posture information of the target in the first coordinate system cannot be used as the first corresponding position.
  • the aforementioned determination of the first corresponding position according to the posture error and the preset position in the current display screen may also include: determining the first corresponding position according to the corresponding coordinates of the target's posture information in the first coordinate system .
  • determining the first corresponding position according to the coordinates corresponding to the attitude information of the target in the first coordinate system may specifically include : Determining the intersection position of the line connecting the coordinate origin of the first coordinate system to the corresponding positions of the abscissa and ordinate and the edge of the current display screen; and determining the intersection position as the first corresponding position. Therefore, the first target position identifier can be used to represent the direction of the coordinates corresponding to the posture information of the target in the first coordinate system relative to the origin of the coordinates.
  • position x2 can be determined as the corresponding position of the target posture in the current display screen.
  • the second corresponding position may be calculated based on a pre-established one-dimensional coordinate system.
  • determining the second corresponding position may include: taking the ratio of the position error to the target error as the corresponding coordinate of the target position in the second coordinate system , to get the second corresponding position.
  • the target error is related to the preset position
  • the second coordinate system is a one-dimensional coordinate system with the preset position as the coordinate origin and the specific direction of the current display screen as the coordinate axis direction.
  • the target error can be understood as an error distance corresponding to a unit length in the direction of the coordinate axis in the second coordinate system. Since the edge position of the currently displayed screen in the direction of the coordinate axis is related to the coordinate origin of the second coordinate system (ie, the preset position), the distance to the coordinate origin of the second coordinate system is related, so the target error can be related to the preset position.
  • the coordinates of the edge position of the currently displayed picture in the direction of the coordinate axis in the second coordinate system may be a third specific value.
  • the specific direction can be determined based on the preset translation direction and the current attitude of the shooting device mounted on the gimbal.
  • the specific direction may be the vertical direction.
  • the preset translation direction is the vertical direction
  • the current shooting posture of the shooting device is vertical shooting
  • the specific direction may be the horizontal direction.
  • the third specific value may be 1, and the target error may also be the field of view angle corresponding to the current display screen, and The current focal length of the photographing device is related, so that the position of the second target position identifier in the current display screen can be used to indicate the subject of the photographing device when the pan/tilt is at the target position.
  • the target error may specifically be related to the horizontal viewing angle corresponding to the current display picture; when the specific direction is the vertical direction, the target error may be specifically related to the vertical viewing angle corresponding to the current display picture.
  • the position error can be positive or negative. When the position error is positive, it can correspond to the positive direction of the coordinate axis of the second coordinate system. When the position error is negative, it can correspond to the negative direction of the coordinate axis of the second coordinate system. .
  • the target error can be the preset position in the current display screen and the current The corresponding pan-tilt translation distance between the third edge positions in the display screen.
  • the position error is positive
  • the third edge position is one of the two edge positions in the positive direction of the coordinate axis.
  • the position error is negative
  • the third edge position The position is one of the two edge positions in the negative direction of the coordinate axis. Therefore, the coordinate of the edge position in the direction of the coordinate axis of the current display screen may be 1 in the second coordinate system.
  • the pan-tilt translation distance can be understood as the current focal length of the shooting device and the field angle corresponding to the current display picture, by moving the pan-tilt in the preset translation direction, the preset position in the current display picture
  • the screen content of the current display screen is moved to the third edge position along a specific direction, or the screen content at the third edge position in the current display screen is moved to a preset position along a specific direction, the distance that the pan/tilt needs to be translated.
  • the preset position is the position 71 in FIG. 7
  • the third edge position is the position 72 in FIG.
  • the position 71 in the specific direction and The displacement between positions 72 is 73
  • the pan-tilt translation distance can be the distance 74 in Figure 7.
  • the pan-tilt translation distance can be converted, and the object distance can be calculated according to the focal length get.
  • the dashed and solid line rectangles are used to represent the movement of the base of the gimbal in the vertical direction
  • the ellipse represents the lens
  • the angle between the two lines represents the FOV angle .
  • the position of the second target position mark in the current display screen can be used to indicate the subject of the shooting device when the pan/tilt is at the target position, so that the user can not only predict the position of the pan/tilt according to the displayed current position mark and the second target position mark Movement can also predict the change of the lens aiming object caused by the movement of the pan/tilt, so that the user can predict the direction of the final alignment of the lens according to the movement of the pan/tilt and the change of the lens aiming object, which is conducive to improving user expectations.
  • the resulting accuracy of the final alignment direction of the lens can be used to indicate the subject of the shooting device when the pan/tilt is at the target position, so that the user can not only predict the position of the pan/tilt according to the displayed current position mark and the second target position mark Movement can also predict the change of the lens aiming object caused by the movement of the pan/tilt, so that the user can predict the direction of the final alignment of the lens according to the movement of the pan/tilt
  • the object located in the second target position mark in the current display screen can be the object of the pan/tilt.
  • the position of the second target position mark in the current display screen is related to the error between the current position information of the pan-tilt and the position information of the target and the preset position, and the preset position and the position information of the target are determined, so the position of the second target position mark in the current display screen can change with the change of the position of the pan-tilt, and the position of the pan-tilt changes with the change of the position of the base, thus the second target position mark
  • the position in the current display screen can change with the position of the base, so that the second target position mark can be superimposed on the desired object in the current display screen, that is, the second target position mark can be used to clearly indicate to the user The object to be photographed, and can use the function of the gimbal to follow the base to realize the shooting of the object.
  • the corresponding coordinates of the determined target's position information in the second coordinate system may be located outside the current display screen. inside, or outside the current display.
  • the position represented by the coordinates corresponding to the position information of the target in the second coordinate system can be used as the second corresponding position; once there is a target If the coordinates corresponding to the position information of the object in the second coordinate system are outside the current display screen, the position indicated by the coordinates corresponding to the position information of the target in the first coordinate system cannot be used as the second corresponding position.
  • a position other than the preset position in the current display image may be used as the second corresponding position.
  • the aforementioned determination of the second corresponding position according to the position error and the preset position in the current display screen may also include: determining the second corresponding position according to the corresponding coordinates of the target's position information in the second coordinate system .
  • determining the second corresponding position according to the coordinates corresponding to the position information of the target in the second coordinate system may specifically include: when the coordinates corresponding to the position information of the target in the second coordinate system are positive coordinates, setting the second coordinates The position of the intersection point between the positive direction of the coordinate axis of the coordinate system and the edge of the current display screen is determined as the second corresponding position; when the coordinates corresponding to the position information of the target in the second coordinate system are negative coordinates, the coordinate axis of the second coordinate system is negative The intersection position of the direction and the edge of the current display screen is determined as the second corresponding position.
  • displaying the target position identification at the corresponding position of the target state information in the current display screen may specifically include: displaying the first type of target at the first target corresponding position of the target state information in the current display screen Position identification, the corresponding position of the first target is obtained by at least one coordinate corresponding to the first state information of the target in the first target coordinate system, at least one coordinate is related to the first error and is located within the current display screen, the first type
  • the target position identifier of is used to indicate that the corresponding coordinates of the first state information of the target in the first target coordinate system are located within the current display screen, wherein the first state information of the target includes the posture information of the target, and the first target coordinate system includes The first coordinate system, the first error includes the attitude error between the current attitude information of the gimbal and the attitude information of the target; and/or, the first state information of the target includes the position information of the target, and the first target coordinate system includes the second In the coordinate system, the first error includes a position error between the
  • the specific form of the first type of target location mark can be flexibly implemented.
  • the first type of target position mark can include a cross cursor.
  • the display effect of displaying the current position mark and the target position mark in the current display screen may be, for example, as shown in FIG. 8 . It should be noted that, in FIG. 8 , both the current position mark and the target position mark are cross cursors for example only.
  • displaying the target location identifier at the corresponding position of the target status information in the current display screen may specifically include: displaying the second type of icon at the second target corresponding position of the target status information in the current display screen.
  • Target position identification the corresponding position of the second target is obtained from at least one coordinate in the second target coordinate system of the second state information of the target, at least one coordinate is related to the second error and at least part of the coordinates are located outside the current display screen
  • the target position identifier of the second type is used to indicate that the corresponding coordinates of the second state information of the target in the second target coordinate system are located within the current display screen.
  • the second state information of the target includes the attitude information of the target, the second target coordinate system includes the first coordinate system, and the second error includes the attitude error between the current attitude information of the gimbal and the attitude information of the target; and/or,
  • the second state information of the target includes position information of the target, the second target coordinate system includes the second coordinate system, and the second error includes a position error between the current position information of the pan/tilt and the position information of the target.
  • the second type of target location identifier may include an arrow pointing to a direction in which the aforementioned connecting line extends from the coordinate origin. Therefore, the effect of the second type of target position identification representing the direction of the corresponding coordinates of the target posture in the corresponding coordinate system relative to the origin of the coordinates is more intuitive.
  • the arrow may point to the direction in which the line L extends from the origin O of the coordinates.
  • the preset position is the center position of the screen, and at least one axis includes the first axis and the second axis, then the corresponding ordinate and
  • the display effect of displaying the current position mark and the target position mark in the current display screen may be as shown in FIG. 9 , for example. It should be noted that the current position marked as a cross cursor in FIG. 9 is only an example.
  • the method provided in this embodiment calculates the corresponding position of the state information of the target in the current display screen according to the error and the preset position in the current display screen.
  • the preset position refers to the position of the current posture of the pan/tilt in the current display screen.
  • the target position mark is displayed at the corresponding position of the target's posture information in the current display screen, and the current position mark is displayed at the preset position, which can realize the distance between the current position mark and the target position mark in the current display screen relationship to represent the error relationship between the current state information of the gimbal and the state information of the target, so that the user can understand the error situation more vividly, which is conducive to improving the user experience.
  • FIG. 10 is a schematic flowchart of a pan-tilt-following interaction method provided by another embodiment of the present application.
  • the execution subject of this embodiment may be an interaction device for pan-tilt following, specifically, a processor of the interaction device.
  • the method of this embodiment may include:
  • Step 101 in the process of controlling the pan-tilt to follow its base according to the state information of the pan-tilt target, calculating the error between the current state information of the pan-tilt and the state information of the target in real time; the state
  • the information includes attitude information and/or position information in a preset translation direction.
  • step 101 is similar to step 21 and will not be repeated here.
  • Step 102 according to the error and the preset position in the current display screen, calculate the corresponding position of the state information of the target in the current display screen, wherein the preset position refers to the current state of the pan/tilt The corresponding position of the information in the current display screen.
  • Step 103 displaying a target location identifier at a corresponding position of the state information of the target in the current display screen.
  • the method provided in this embodiment in the process of controlling the pan-tilt to follow its base according to the state information of the pan-tilt target, calculates the error between the current state information of the pan-tilt and the state information of the target in real time, according to the error and preset
  • the location calculates the corresponding position of the state information of the target in the current display screen, and displays the target position identification at the corresponding position of the target state information in the current display screen, so that the user can follow the base during the pan/tilt.
  • the corresponding position of the target's status information in the current display screen is used to anticipate the motion of the pan/tilt.
  • FIG. 11 is a schematic flowchart of a pan-tilt-following interaction method provided by another embodiment of the present application.
  • the execution subject of this embodiment may be an interaction device for pan-tilt following, specifically, a processor of the interaction device.
  • the method of this embodiment may include:
  • Step 111 determine the corresponding position of the status information of the pan/tilt target in the current display screen; the corresponding position of the status information of the target in the current display screen is in the process of the pan/tilt following its base, based on the The error between the current state information of the pan/tilt and the state information of the target, and the preset position in the current display screen are calculated, and the preset position refers to the current state information of the pan/tilt in the current display screen
  • the state information includes attitude information and/or position information in a preset translation direction.
  • the corresponding position of the state information of the PTZ object in the current display screen can be calculated by the execution subject of this embodiment and a third party other than the PTZ.
  • a third party other than the PTZ Regarding the specific manner of the corresponding position of the status information of the third-party computing platform object in the current display screen, refer to the relevant description in the embodiment shown in FIG. 3 , which will not be repeated here.
  • the specific method for determining the corresponding position of the state information of the PTZ object in the current display screen is not limited in the present application.
  • the state information of the PTZ object can be determined by receiving the indication information sent by a third party and according to the indication information. The corresponding position in the currently displayed screen.
  • Step 112 displaying a target location identifier at a corresponding position of the target state information in the current display screen.
  • the method provided in this embodiment by determining the corresponding position of the state information of the pan-tilt target in the current display screen, and displaying the target position identification at the corresponding position of the state information of the target in the current display screen, so that the pan-tilt follows the base During the process, the user can anticipate the movement of the pan/tilt according to the corresponding position of the displayed target status information in the current display screen.
  • FIG. 12 is a schematic flowchart of a pan-tilt-following interaction method provided by another embodiment of the present application.
  • the execution subject of this embodiment may be an interaction device for pan-tilt following, specifically a processor of the interaction device.
  • the method of this embodiment may include:
  • Step 121 when the current state information of the platform is not the state information of the target, display the target position identification at the target position; the target position is the corresponding position of the state information of the target in the current display screen, and the target position
  • the status information is the status information of the target of the pan-tilt in the mode of following the base of the pan-tilt, and the status information includes posture information and/or position information in a preset translation direction.
  • the corresponding position of the state information of the target in the current display screen (that is, the target position) is not the preset position. It should be understood that when the current state information of the pan/tilt is approaching the state information of the target, the position of the target may be close to a preset position, and the corresponding position of the state information of the target in the current display screen may be calculated according to the preset position.
  • the corresponding position of the status information of the object in the current display screen can be obtained by the execution subject of this embodiment, or the execution subject of this embodiment and a third party other than the pan/tilt. It should be noted that, as for the specific manner of calculating the corresponding position of the state information of the pan/tilt object in the current display screen, refer to the related description in the embodiment shown in FIG. 3 , which will not be repeated here.
  • Step 122 when the current status information of the pan/tilt is the status information of the target, display the target location identifier at a preset position in the current display screen.
  • the target position logo is displayed at the target position, and when the current state information of the pan/tilt is the state information of the target, the current display screen
  • the target position mark is displayed at the preset position of the target, so that during the process of the pan-tilt following the base, the user can anticipate the movement of the pan-tilt according to the corresponding position of the displayed target status information in the current display screen.
  • FIG. 13 is a schematic structural diagram of a pan/tilt follow-up interaction device according to an embodiment of the present application.
  • the device 130 may include: a processor 131 and a memory 132 .
  • the memory 132 is used to store program codes
  • the processor 131 invokes the program code, and when the program code is executed, is used to perform the following operations:
  • the state information of the cloud platform target in the process of controlling the cloud platform to follow its base, calculate the error between the current state information of the cloud platform and the state information of the target in real time;
  • the state information includes attitude information and/or positional information in preset translational directions;
  • the interactive device for pan/tilt following provided in this embodiment can be used to execute the technical solutions of the method embodiments shown in FIG. 2 and FIG. 3 .
  • FIG. 14 is a schematic structural diagram of an interaction device when a pan/tilt follows according to another embodiment of the present application.
  • the device 140 may include: a processor 141 and a memory 142 .
  • the memory 142 is used to store program codes
  • the processor 141 invokes the program code, and when the program code is executed, is used to perform the following operations:
  • the state information of the cloud platform target in the process of controlling the cloud platform to follow its base, calculate the error between the current state information of the cloud platform and the state information of the target in real time;
  • the state information includes attitude information and/or positional information in preset translational directions;
  • the preset position calculates the corresponding position of the state information of the target in the current display screen, wherein the preset position refers to the current state information of the pan/tilt in the current Display the corresponding position in the screen;
  • a target position identifier is displayed at a corresponding position of the state information of the target in the current display screen.
  • the interactive device for pan/tilt follow-up provided in this embodiment can be used to implement the technical solution of the method embodiment shown in FIG. 10 , and its implementation principle and technical effect are similar to those of the method embodiment, and will not be repeated here.
  • FIG. 15 is a schematic structural diagram of a pan/tilt-following interaction device according to yet another embodiment of the present application.
  • the device 150 may include: a processor 151 and a memory 152 .
  • the memory 152 is used to store program codes
  • the processor 151 invokes the program code, and when the program code is executed, is used to perform the following operations:
  • the corresponding position of the state information of the cloud platform target in the current display screen is in the process of the cloud platform following its base, based on the current state of the cloud platform
  • the error between the state information of the target and the state information of the target and the preset position in the current display screen are calculated, and the preset position refers to the corresponding position of the current state information of the pan/tilt in the current display screen
  • the state information includes attitude information and/or position information in a preset translation direction
  • a target position identifier is displayed at a corresponding position of the state information of the target in the current display screen.
  • the interactive device for pan/tilt following provided in this embodiment can be used to implement the technical solution of the method embodiment shown in FIG. 11 , and its implementation principle and technical effect are similar to those of the method embodiment, and will not be repeated here.
  • FIG. 16 is a schematic structural diagram of an interaction device for pan/tilt follow provided in another embodiment of the present application.
  • the device 160 may include: a processor 161 and a memory 162 .
  • the memory 162 is used to store program codes
  • the processor 161 invokes the program code, and when the program code is executed, is used to perform the following operations:
  • the target position mark is displayed at the target position;
  • the target position is the corresponding position of the state information of the target in the current display screen, and the state information of the target is State information of the target of the pan-tilt in the mode of following the base of the pan-tilt, the state information includes posture information and/or position information in a preset translation direction;
  • the interactive device for pan-tilt follow-up provided in this embodiment can be used to implement the technical solution of the method embodiment shown in FIG. 12 , and its implementation principle and technical effect are similar to those of the method embodiment, and will not be repeated here.
  • the interactive device when the pan-tilt follows can specifically be included in the pan-tilt system.
  • the interactive device when the pan-tilt follows can specifically be the controller of the pan-tilt; or, the interactive device when the pan-tilt follows can specifically It may be included outside the pan-tilt system.
  • the interaction device when the pan-tilt follows may specifically be a control device connected to the pan-tilt system.
  • the embodiment of the present application also provides a pan-tilt system.
  • the structure of the pan-tilt system may include, as shown in FIG. device; and, for controlling the controller 13 of the cloud platform 12, the controller 13 is used for:
  • the error between the current state information of the pan-tilt and the state information of the target is calculated in real time, and the state information includes attitude information and/or position information in the preset translation direction, and display the error.
  • the embodiment of the present application also provides a pan-tilt system.
  • the structure of the pan-tilt system may include: a base 12; a pan-tilt 11 arranged on the base 12, the pan-tilt 11 is used to carry a camera; And, for controlling the controller 13 of the cloud platform 12, the controller 13 is used for:
  • the state information of the cloud platform target in the process of controlling the cloud platform to follow its base, calculate the error between the current state information of the cloud platform and the state information of the target in real time;
  • the state information includes attitude information and/or positional information in preset translational directions;
  • the preset position calculates the corresponding position of the state information of the target in the current display screen, wherein the preset position refers to the current state information of the pan/tilt in the current Display the corresponding position in the screen;
  • the target position mark is displayed.
  • the embodiment of the present application also provides a pan-tilt system.
  • the structure of the pan-tilt system may include: a base 12; a pan-tilt 11 arranged on the base 12, the pan-tilt 11 is used to carry a camera; And, for controlling the controller 13 of the cloud platform 11, the controller 13 is used for:
  • the corresponding position of the state information of the cloud platform target in the current display screen is in the process of the cloud platform following its base, based on the current state of the cloud platform
  • the error between the state information of the target and the state information of the target and the preset position in the current display screen are calculated, and the preset position refers to the corresponding position of the current state information of the pan/tilt in the current display screen
  • the state information includes attitude information and/or position information in a preset translation direction
  • a target position identifier is displayed at a corresponding position of the state information of the target in the current display screen.
  • the embodiment of the present application also provides a pan-tilt system.
  • the structure of the pan-tilt system may include: a base 12; a pan-tilt 11 arranged on the base 12, the pan-tilt 11 is used to carry a camera; And, for controlling the controller 13 of the cloud platform 11, the controller 13 is used for:
  • the target position mark is displayed at the target position;
  • the target position is the corresponding position of the state information of the target in the current display screen, and the state information of the target is State information of the target of the pan-tilt in the mode of following the base of the pan-tilt, the state information includes posture information and/or position information in a preset translation direction;
  • the above pan/tilt system may further include a control terminal and/or a shooting device, wherein the control terminal may communicate with the controller 13 for controlling the pan/tilt 11 , and the shooting device may be mounted on the pan/tilt 11 .
  • controller 13 in the above-mentioned pan/tilt system can also perform other steps, and for details, reference can be made to the content in the above-mentioned related method embodiments, which will not be repeated here.
  • the aforementioned program can be stored in a computer-readable storage medium.
  • the program executes the steps including the above-mentioned method embodiments; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk and other various media that can store program codes.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • User Interface Of Digital Computer (AREA)

Abstract

Procédé et appareil d'interaction (130, 140, 150, 160) d'une tête de trépied de suivi (11) et d'un système de tête de trépied, qui peuvent faciliter l'alignement par un utilisateur d'une lentille sur une cible de tir souhaitée. Le procédé consiste : dans un processus de commande d'une tête de trépied (11) permettant le suivi d'une base (12) de cette dernière sur la base d'informations d'état cible de la tête de trépied (11), à calculer en temps réel une erreur entre des informations d'état actuel de la tête de trépied (11) et des informations d'état cible, les informations d'état comprenant des informations de pose et/ou des informations de position dans une direction de translation prédéterminée (21) ; et à afficher l'erreur (22).
PCT/CN2021/124681 2021-10-19 2021-10-19 Procédé et appareil d'interaction de tête de trépied de suivi et de système de tête de trépied WO2023065112A1 (fr)

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PCT/CN2021/124681 WO2023065112A1 (fr) 2021-10-19 2021-10-19 Procédé et appareil d'interaction de tête de trépied de suivi et de système de tête de trépied

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06347219A (ja) * 1993-06-10 1994-12-20 Oyo Keisoku Kenkyusho:Kk 移動物体の計測装置
CN109196266A (zh) * 2017-09-25 2019-01-11 深圳市大疆灵眸科技有限公司 云台的控制方法、云台控制器及云台
CN109844394A (zh) * 2017-04-21 2019-06-04 深圳市大疆灵眸科技有限公司 一种云台的控制方法以及云台
CN110770669A (zh) * 2018-08-28 2020-02-07 深圳市大疆创新科技有限公司 云台的目标位置标记方法、云台与拍摄装置
CN110785601A (zh) * 2018-11-15 2020-02-11 深圳市大疆创新科技有限公司 手持云台的控制方法和手持云台

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06347219A (ja) * 1993-06-10 1994-12-20 Oyo Keisoku Kenkyusho:Kk 移動物体の計測装置
CN109844394A (zh) * 2017-04-21 2019-06-04 深圳市大疆灵眸科技有限公司 一种云台的控制方法以及云台
CN109196266A (zh) * 2017-09-25 2019-01-11 深圳市大疆灵眸科技有限公司 云台的控制方法、云台控制器及云台
CN110770669A (zh) * 2018-08-28 2020-02-07 深圳市大疆创新科技有限公司 云台的目标位置标记方法、云台与拍摄装置
CN110785601A (zh) * 2018-11-15 2020-02-11 深圳市大疆创新科技有限公司 手持云台的控制方法和手持云台

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