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WO2021134644A1 - Procédé de commande de cardan et cardan - Google Patents

Procédé de commande de cardan et cardan Download PDF

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Publication number
WO2021134644A1
WO2021134644A1 PCT/CN2019/130861 CN2019130861W WO2021134644A1 WO 2021134644 A1 WO2021134644 A1 WO 2021134644A1 CN 2019130861 W CN2019130861 W CN 2019130861W WO 2021134644 A1 WO2021134644 A1 WO 2021134644A1
Authority
WO
WIPO (PCT)
Prior art keywords
axis
pan
tilt
euler angle
target
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2019/130861
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English (en)
Chinese (zh)
Inventor
林荣华
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
Original Assignee
SZ DJI Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to PCT/CN2019/130861 priority Critical patent/WO2021134644A1/fr
Priority to CN201980052066.6A priority patent/CN112544065A/zh
Publication of WO2021134644A1 publication Critical patent/WO2021134644A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/62—Control of parameters via user interfaces
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices

Definitions

  • This application relates to the field of pan-tilt, and in particular to a method for controlling a pan-tilt and a pan-tilt.
  • This application provides a method for controlling a pan-tilt and a pan-tilt.
  • a method for controlling a pan/tilt the pan/tilt is mounted on a base, the pan/tilt is mounted with a photographing device, and the pan/tilt is configured to rotate around at least two axes ,
  • the method includes:
  • the attitude control amount sent by the control device of the pan/tilt head is received, the attitude control amount will be adjusted according to the Euler angle rotation sequence of the camera. Performing conversion to obtain the first target Euler angle component of the photographing device;
  • the posture of the at least two axes changes following the posture of the base.
  • a pan-tilt including:
  • a shaft assembly provided on the base, the shaft assembly is used to mount a photographing device, and the shaft assembly is configured to rotate about at least two shafts;
  • a controller the controller is electrically connected to the pan-tilt, and the controller is used for:
  • the attitude control amount sent by the control device of the pan/tilt head is received, the attitude control amount will be adjusted according to the Euler angle rotation sequence of the camera. Performing conversion to obtain the first target Euler angle component of the photographing device;
  • the posture of the at least two axes changes following the posture of the base.
  • the attitude control value sent by the control device is converted to obtain the first target Euler angle component of the camera , And then determine the target Euler angle of the camera according to the first target Euler angle component and the second target Euler angle component determined according to the real-time detection attitude of the base, and control the pan/tilt rotation according to the target Euler angle, and the user is controlling the cloud
  • the screen of the camera rotates around the world coordinate system, the direction of the screen rotation is more in line with the user's requirements, and the screen is more in line with the user's expectations.
  • Figure 1 is a perspective view of a pan-tilt in an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a method flow chart of a method for controlling a pan-tilt in an embodiment of the present application
  • Figure 3 is a perspective view of the handheld PTZ shown in Figure 1 when it is placed upright;
  • FIG. 4A is a schematic diagram of the photographing device in an embodiment of the present application when photographing in a horizontal orientation
  • 4B is a schematic diagram of the photographing device in an embodiment of the present application when photographing in a vertical orientation
  • FIG. 5 is a schematic flow chart of an implementation manner of controlling the rotation of the pan/tilt head according to the target Euler angle in an embodiment of the present application
  • Fig. 6 is a schematic diagram of a preset interpolation strategy in an embodiment of the present application.
  • FIG. 7 is a schematic flow chart of a method for controlling a pan-tilt in an embodiment of the present application.
  • Fig. 8 is a structural block diagram of a pan-tilt in an embodiment of the present application.
  • the existing gimbal can realize joystick control in the joint coordinate system in the FPV (First Person View) follow mode of the first-person main view.
  • the control device is a remote control
  • the amount of rod generated by the remote sensor may correspond to a joint Angle rotation
  • the pan/tilt controls a joint angle correspondingly, and other joint angles are not affected.
  • the picture taken by the camera rotates around the joint coordinate system, and the picture may not meet the user's expectations. Therefore, this kind of joystick control is realized on the joint coordinate system.
  • the method is not convenient for the operator to control the screen direction. Among them, in the joint coordinate system, each axis of the pan/tilt moves independently.
  • the attitude control amount sent by the control device is converted to obtain the first target Euler angle component of the camera, and then according to the first target Euler angle component.
  • the target Euler angle component and the second target Euler angle component determined according to the real-time detection attitude of the base determine the target Euler angle of the camera, and control the rotation of the pan/tilt according to the target Euler angle.
  • the camera is taken.
  • the screen of the device rotates around the world coordinate system, the rotation direction of the screen is more in line with the user's requirements, and the screen is more in line with the user's expectations.
  • the gimbal is a three-axis handheld gimbal
  • the handle of the handheld gimbal is tilted at this time
  • control in the corresponding attitude If the amount is only converted to a joint angle, at this time, the pitch motor can be driven to rotate, but the roll motor and yaw motor will not rotate. Because the camera rotates around the body coordinate system, the changes in the shooting screen will be more rigid and abrupt.
  • the pan/tilt in the embodiment of the present application is mounted on a base, the pan/tilt is mounted with a photographing device, and the pan/tilt is configured to rotate around at least two axes.
  • the camera when the base is tilted, the camera can rotate around the world coordinate system under the control of the pan/tilt.
  • the shooting device can be a camera, a SLR, a mirrorless single, a sports camera, a smart phone, and other shooting devices.
  • the pan/tilt is configured to rotate around at least two axes.
  • the pan/tilt head of this embodiment may be configured to rotate around two axes, or it may be configured to rotate around three axes or more than three axes.
  • the pan/tilt is configured to rotate about two axes, the two axes including a yaw axis and a pitch axis.
  • the pan/tilt is configured to rotate around three axes, the three axes including the yaw axis, the pitch axis, and the roll axis.
  • the pan/tilt in the embodiments of the present application may be a handheld pan/tilt or an airborne pan/tilt.
  • the airborne pan/tilt may be mounted on a movable platform, which may be an unmanned aerial vehicle, an unmanned vehicle, a mobile robot, etc. .
  • the pan/tilt is a handheld pan/tilt, and the pan/tilt is a three-axis pan/tilt.
  • the pan/tilt in this embodiment is configured to rotate around the yaw axis, pitch axis, and roll axis.
  • the handheld gimbal may include an outer frame 11, a middle frame 12, and an inner frame.
  • the outer frame 11 is configured to rotate about a yaw axis
  • the middle frame 12 is configured to rotate about a roll axis
  • the inner frame is configured to rotate about a pitch axis
  • the inner frame is used to mount the camera 2.
  • the outer frame 11 includes a yaw axis arm and is driven by a yaw axis motor
  • the middle frame 12 includes a roll axis arm and is driven by a roll axis motor
  • the inner frame includes a pitch axis arm and is driven by a pitch axis motor driven.
  • pan-tilt control method in the embodiment of the present application will be described below.
  • FIG. 2 is a schematic flow chart of a method for controlling a pan-tilt in an embodiment of the present application; please refer to FIG. 2, the method for controlling a pan-tilt according to an embodiment of the present application may include the following steps:
  • the yaw axis, roll axis, and pitch axis are all in follow mode.
  • the roll axis is in free mode, the roll axis is used for stabilization, and the pitch axis and/or yaw axis are in follow mode.
  • the free mode the base of the pan/tilt moves, but the corresponding arm of the pan/tilt does not rotate.
  • the follow mode the corresponding axis moves with the movement of the base of the pan/tilt.
  • the control device can be a mobile terminal such as a mobile phone, a tablet computer, or a fixed terminal, or a remote control or other device capable of controlling the rotating structure, and can also be integrated on the handle of the pan-tilt.
  • the control device is a remote control, and the amount of posture control is determined according to the amount of stick generated by the user operating the joystick of the remote control.
  • step S201 is to directly convert the attitude control amount to obtain the first target Euler angle component of the shooting device according to the Euler angle rotation sequence of the shooting device, but the attitude control amount is less than the first target Euler angle component.
  • the conversion between is not a simple correspondence.
  • the conversion in this embodiment may include the conversion of the Euler angular velocity of the pan/tilt rotation, or the conversion of the Euler angle of the pan/tilt rotation.
  • the conversion is the conversion of the Euler angular velocity of the pan/tilt rotation
  • the first target Euler angular component is the Euler angular velocity.
  • the conversion is the conversion of the Euler angle size of the pan/tilt rotation
  • the first target Euler angle component is the Euler angle size.
  • the Euler angle rotation sequence of the camera needs to be determined according to the shooting orientation of the camera.
  • the Euler angle of the camera corresponds to the rotation of the first axis, the second axis, and the third axis, where the first axis is parallel to the light of the camera.
  • the axis direction, the first axis, the second axis, and the third axis are orthogonal to each other.
  • the direction of the first axis, the direction of the second axis, and the direction of the third axis are determined according to the placement direction of the camera and the direction of the optical axis.
  • the camera is placed in a horizontal orientation and the optical axis of the camera is parallel to In the horizontal plane, the third axis is the vertical direction, and both the first axis and the second axis are parallel to the horizontal plane.
  • the first axis corresponds to the roll axis
  • the second axis corresponds to the pitch axis
  • the third axis corresponds to the yaw axis.
  • the first axis, the second axis, and the third axis are denoted by X, Y, and Z, respectively.
  • the camera is in the horizontal orientation shooting mode, and the rotation sequence of the Euler angle of the camera is: the third axis, the first axis, the second axis, or the second axis, the first axis, and the third axis.
  • the rotation sequence of the Euler angle of the camera is: the third axis, the first axis, the second axis, or the second axis, the first axis, and the third axis.
  • the configuration of the pan-tilt it is determined which of the above-mentioned Euler angle rotation sequence of the photographing device corresponding to the switched control instruction is.
  • the Euler angle rotation sequence of the camera is: the third axis, the first axis, and the second axis.
  • the Euler angle rotation sequence of the camera is: the second axis, the first axis, and the third axis.
  • the component of the attitude control quantity used to control the rotation of the gimbal around the yaw axis is obtained by conversion based on the third axis in the Euler angle rotation sequence, and the attitude control quantity is used for control
  • the component of the gimbal's rotation around the pitch axis is converted based on the second axis in the Euler angle rotation sequence, and the component used to control the gimbal's rotation around the roll axis in the attitude control quantity is the first component in the rotation sequence based on the Euler angle.
  • One-axis conversion is obtained.
  • the gimbal is in the ZXY configuration
  • the Euler angle rotation sequence of the camera is: Z, X, Y
  • the component used to control the rotation of the gimbal around the yaw axis in the attitude control is converted to obtain the camera's The Euler angular velocity or Euler angle of rotation around Z in the Euler angle rotation sequence
  • convert the component used to control the rotation of the gimbal around the pitch axis in the attitude control quantity to obtain the Euler angle rotation sequence of the camera around Y
  • the component used to control the rotation of the gimbal around the roll axis in the attitude control is converted to obtain the Euler angular velocity or the Euler angle rotating around X in the Euler angle rotation sequence of the camera.
  • the gimbal is in the YXZ configuration, and the Euler angle rotation sequence of the camera is: Y, X, Z.
  • the component used to control the rotation of the gimbal around the yaw axis in the attitude control is converted to obtain the Euler angle of the camera.
  • the Euler angular velocity or Euler angle of rotation around Z in the pull angle rotation sequence convert the component used to control the rotation of the gimbal around the pitch axis in the attitude control quantity to obtain the Euler angle rotation sequence of the camera to rotate around Y
  • the Euler angular velocity or Euler angle size of the angle convert the component used to control the rotation of the gimbal around the roll axis in the attitude control quantity to obtain the Euler angular velocity or Euler angle rotating around X in the Euler angle rotation sequence of the camera Angle size.
  • the camera is in the vertical orientation shooting mode, and the rotation sequence of the Euler angle of the camera is: second axis, first axis, second axis, or third axis, first axis, third axis .
  • the Euler angle rotation sequence of the camera corresponding to the switched control instruction is determined according to the configuration of the pan/tilt head, which one of the above Euler angle rotation sequences is, optionally, when the pan/tilt head is in the ZXY configuration , The Euler angle rotation sequence of the camera is: the third axis, the first axis, and the third axis.
  • the Euler angle rotation sequence of the camera is: the second axis, the first axis, and the second axis.
  • the attitude control quantity is used to control the pan/tilt to rotate around the yaw axis
  • the component and the component used to control the rotation of the gimbal around the pitch axis are obtained by conversion based on the second axis in the Euler angle rotation sequence.
  • the component used to control the rotation of the gimbal around the roll axis in the attitude control quantity is based on the Euler angle rotation.
  • the first axis in the rotation sequence of the pull angle is converted.
  • the Euler angle rotation sequence of the shooting device is: Y, X, Y, and the components used to control the rotation of the gimbal around the yaw axis in the attitude control value are converted to obtain the Euler angle rotation sequence of the shooting device
  • the Euler angular velocity or Euler angle size of the rotation around the first Y convert the component used to control the rotation of the gimbal around the pitch axis in the attitude control quantity to obtain the Euler angle rotation sequence of the camera to rotate around the second Y
  • the Euler angular velocity or Euler angle size of the angle convert the component used to control the rotation of the gimbal around the roll axis in the attitude control quantity to obtain the Euler angular velocity or Euler angle rotating around X in the Euler angle rotation sequence of the camera Angle size.
  • the Euler angle rotation sequence of the camera is: third axis, first axis, third axis, the component of the attitude control quantity used to control the rotation of the gimbal around the yaw axis, And the component used to control the rotation of the gimbal around the pitch axis is obtained by conversion based on the third axis in the Euler angle rotation sequence, and the component used to control the rotation of the gimbal around the roll axis in the attitude control quantity is based on the Euler angle
  • the first axis in the rotation sequence is transformed.
  • the Euler angle rotation sequence of the shooting device is: Z, X, Z, and the components used to control the rotation of the pan/tilt around the yaw axis in the attitude control value are converted to obtain the Euler angle rotation sequence of the shooting device
  • the Euler angular velocity or Euler angle of rotation around the first Z convert the component used to control the rotation of the gimbal around the pitch axis in the attitude control quantity to obtain the Euler angle rotation sequence of the camera to rotate around the second Z
  • the Euler angular velocity or Euler angle size of the angle convert the component used to control the rotation of the gimbal around the roll axis in the attitude control quantity to obtain the Euler angular velocity or Euler angle rotating around X in the Euler angle rotation sequence of the camera Angle size.
  • a three-axis gimbal and the gimbal is configured to rotate around the yaw axis, pitch axis, and roll axis as an example to illustrate the gimbal of the ZXY configuration and the gimbal of the YXZ configuration.
  • the ZXY configuration gimbal when the gimbal is placed upright and the joint angles of the outer frame, middle frame and inner frame are all 0 degrees, the outer frame rotates around the yaw axis, the middle frame rotates around the roll axis, and the inner frame Rotate around the pitch axis.
  • the handheld pan/tilt also includes a handle 3 and a screen 4 and buttons (not shown) provided on the front of the handle 3.
  • the screen 4 faces the user, and the lens of the shooting device is facing away from the user.
  • FIG. 3 it is a state diagram of the handheld PTZ placed upright.
  • the handheld PTZ shown in Figure 3 is a ZXY configuration PTZ.
  • horizontal orientation shooting may also be referred to as horizontal shooting
  • vertical orientation shooting may also be referred to as vertical shooting
  • the horizontal orientation of the shooting device means that the shooting device is installed horizontally on the pan/tilt support, so that it can take a horizontal picture relative to the horizontal plane.
  • the shooting device is a mobile phone as an example, please refer to Figure 4A, 10 is the horizontal plane, 20 is the long side of the screen, and 30 is the short side of the screen. Rotate the long side 20 of the screen to the horizontal direction (that is, the long side 20 of the screen is parallel to the horizontal plane 10) for shooting.
  • the device is photographed in a horizontal orientation.
  • the shooting device in the vertical orientation means that the shooting device is installed vertically on the pan/tilt support to take a vertical picture with respect to the horizontal plane.
  • the embodiment in which the above-mentioned shooting device is a mobile phone is used. Please refer to Fig. 4B.
  • the long side 20 is rotated to the vertical direction (that is, the long side 20 of the picture is perpendicular to the horizontal plane) for shooting, that is, the shooting device shoots in a vertical orientation.
  • the exemplary definitions of horizontal shooting and vertical shooting can also be completely opposite to the above description.
  • S202 Determine the target Euler angle of the camera according to the first target Euler angle component and the second target Euler angle component of the camera, and the second target Euler angle component is determined according to the real-time detection attitude of the base;
  • step S201 is omitted, and the target Euler angle in step S202 is determined according to the second target Euler angle component.
  • the attitude of the camera is controlled to follow the attitude of the base.
  • the priority of the control device to control the pan/tilt is higher than the priority of the attitude of the pan/tilt following the base, that is, when the attitude control amount sent by the control device is acquired.
  • the pan/tilt is not only controlled by the control device, but also follows the attitude of the base.
  • the process of determining the target Euler angle of the camera may include: according to the first target Euler angle component and the second target Euler angle component of the camera.
  • the sum of the target Euler angle components determines the target Euler angle of the camera.
  • target Euler angle (first target Euler angle component+second target Euler angle component).
  • the real-time detection attitude of the pedestal can be characterized by the real-time attitude quaternion of the pedestal, or the real-time attitude Euler angle of the pedestal.
  • the method for acquiring the real-time detection attitude of the base may include: acquiring the real-time attitude quaternion of the camera; and determining the real-time attitude quaternion of the base according to the real-time attitude quaternion of the camera.
  • the real-time attitude quaternion of is used to characterize the real-time detection attitude of the base.
  • the real-time posture quaternion of the camera can be obtained through the detection of an inertial measurement unit (IMU, Inertial Measurement Unit) provided on the camera.
  • IMU Inertial Measurement Unit
  • the IMU can also be set on the inner frame of the pan/tilt.
  • a handheld pan/tilt is taken as an example to illustrate how to determine the real-time attitude quaternion of the base according to the real-time attitude quaternion of the camera.
  • the base is the handle of the handheld pan/tilt.
  • the handheld pan/tilt in this embodiment also includes an accelerometer, which is used to detect the real-time posture quaternion qmesa of the camera.
  • the real-time attitude quaternion of the handle is determined according to the real-time attitude quaternion of the camera and the joint angle of the gimbal. Take a three-axis gimbal with a ZXY configuration as an example.
  • the joint angle of the gimbal includes the yaw joint angle.
  • each joint angle is the joint angle of the corresponding axis motor.
  • q_yaw, q_roll and q_pitch are obtained.
  • the conjugate or inverse of q_yaw, q_roll and q_pitch are q_yaw_inv, q_roll_inv and q_pitch_inv respectively.
  • the calculation formula of the real-time attitude quaternion qhandle of the handle is as follows:
  • joint represents the joint angle
  • q represents the quaternion
  • an inertial measurement unit is provided on the base, and the real-time detection attitude of the base is obtained through the detection of the inertial measurement unit on the base.
  • the realization process of determining the second target Euler angle component based on the real-time detection attitude of the base may include: the second target Euler angle component is based on the real-time detection attitude of the base and the relationship between the camera and the base. The preset attitude deviation between the two is determined.
  • the real-time attitude quaternion of the base is obtained by the above formula (1), and the preset attitude deviation is also characterized by quaternion, that is, the preset attitude quaternion deviation offset, and the second target Euler angle component corresponds to
  • the target posture quaternion component is determined according to the product of the real-time posture quaternion of the base and the offset, and then the second target Euler angle component is determined according to the target posture quaternion component corresponding to the second target Euler angle component.
  • the target attitude quaternion component corresponding to the second target Euler angle component real-time attitude quaternion of the base*offset.
  • the size of the preset attitude deviation can be set as required.
  • the preset attitude deviation is the attitude deviation between the camera and the base when the pan/tilt enters the FPV follow mode; of course, the preset attitude deviation can also be other settings. Set attitude deviation.
  • Fig. 5 is a schematic flow chart of an implementation method of controlling the rotation of the gimbal according to the target Euler angle in an embodiment of the present application; please refer to Fig. 5, the realization process of controlling the rotation of the gimbal according to the target Euler angle may include:
  • S501 Determine the quaternion of the target posture of the shooting device according to the target Euler angle
  • the camera is in the horizontal orientation shooting mode
  • the rotation sequence of the Euler angle of the camera is: Z, X, Y
  • the conversion formula of Euler angle to quaternion is as follows :
  • q is the converted quaternion
  • Inn_Y, Mid_X, and Out_Z are the Euler angles of the corresponding ZXY rotation sequence.
  • the target Euler angle can be converted into a target attitude quaternion.
  • S502 Determine the joint angle of the gimbal according to the quaternion of the target posture
  • the target joint angle of the pan/tilt head is determined based on the quaternion attitude deviation and the Jacobian inverse matrix.
  • the target joint angle includes the joint angle corresponding to the yaw motor, the joint angle corresponding to the roll motor, and the joint angle corresponding to the pitch motor.
  • the yaw motor It is used to control the gimbal to rotate around the yaw axis
  • the roll motor is used to control the gimbal to rotate around the roll axis
  • the pitch motor is used to control the gimbal to rotate around the pitch axis.
  • the current posture quaternion of the camera is different from the target posture quaternion, and the implementation process of S502 may include but is not limited to the following steps:
  • the preset interpolation strategy can be selected according to needs.
  • it is determined at least between the current pose quaternion and the target pose quaternion.
  • the realization process of an intermediate posture quaternion may include: determining at least one middle position between the current posture quaternion and the target posture quaternion according to the current posture quaternion, the target posture quaternion, and at least one time change parameter Posture quaternion.
  • at least one time change parameter corresponds to at least one intermediate posture quaternion one-to-one.
  • the time change parameter includes multiple, and the direction of the posture switching from the current posture quaternion to the target posture quaternion, and the time change parameters corresponding to the multiple intermediate posture quaternions show an increasing trend.
  • the quaternion smoothing interpolation algorithm slerp is used, such as The following calculation formula calculates the intermediate attitude quaternion q t :
  • t is a time parameter that varies from 0 to 1
  • ⁇ is the angle difference between directions q 0 to q 1 , as shown in Figure 6.
  • t can also be a time parameter other than 0 to 1, which represents the time for the current attitude quaternion q 0 to change to the target attitude quaternion q 1 , and can be converted to 0 through normalized expressions. 1 time change parameter.
  • the magnitudes of the quaternion attitude deviations of the posture quaternions that are adjacent to each other are equal; alternatively, the magnitudes of the quaternion posture deviations of the posture quaternions that are adjacent to each other may not be equal.
  • the corresponding joint angle is determined according to the quaternion of each adjacent posture and the Euler angle rotation sequence of the camera; then according to the joint angle corresponding to each adjacent posture, from the quaternion of the current posture to the quaternion of the target posture To switch the direction of, control the rotation of the pan/tilt in turn to control the smooth rotation of the camera.
  • At least one intermediate pose quaternion is inserted between the current pose quaternion and the target pose quaternion.
  • the quaternion pose deviation corresponding to the adjacent pose is determined, and then
  • the quaternion posture deviation corresponding to the adjacent posture determine the joint angle corresponding to the adjacent posture, and then according to the joint angle corresponding to each adjacent posture, the direction of switching from the current posture to the target posture is controlled in turn to control the pan/tilt rotation to make the shooting
  • the device rotates smoothly.
  • the realization process of S503 may include: controlling the heading motor to rotate the joint angle corresponding to the heading motor, and control The roll motor rotates the joint angle corresponding to the roll motor, and controls the pitch motor to rotate the joint angle corresponding to the pitch motor.
  • the gimbal when the gimbal is in the normal follow mode, if you control the gimbal to center or take a selfie, the gimbal is in the joint coordinate system to achieve centering or self-timer control, and the gimbal cannot return to a horizontal neutral position as a shooting device. Starting point, it is not convenient for the gimbal operator to hold it with the handle tilted, level, and upside down, and thus cannot hold it in the posture that he likes, the most labor-saving, and the most conducive to shooting, so that it is easier to tilt the base slightly in an upright scene.
  • the pan/tilt when the pan/tilt is in the FPV follow mode, the pan/tilt can be controlled to switch to a preset target posture with one button, and the preset target posture may include the posture of the gimbal when returning to the center or the position of the gimbal.
  • the pitch joint angle is 0 degrees (self-timer).
  • the gimbal can be controlled by centering or self-timer in the world coordinate system. The gimbal can return to a horizontal middle position as the starting point of the shooting device, which is convenient for the operator to tilt, level, and hang upside down with the handle.
  • the method for controlling the pan/tilt may further include the following steps:
  • step S701 and step S702 it is realized that the pan/tilt is in the FPV follow mode, and the pan/tilt is controlled to switch to the preset target posture with one button, which is convenient for the operator of the pan/tilt to hold in the posture that he likes, is the most labor-saving, and is most conducive to shooting. .
  • the preset target posture can be set according to needs.
  • the preset target posture can include the posture of the pan/tilt when returning to the center, the pitch joint angle of the pan/tilt is 0 degrees (Selfie), and so on.
  • the preset target posture is the posture when the pan/tilt is returned to the center.
  • the specific plane in the coordinate system of the camera is parallel to the horizontal plane, and the direction of the optical axis of the camera is parallel. In a specific plane.
  • the lens of the photographing device faces forward (that is, the lens of the photographing device faces away from the user).
  • the optical axis direction of the shooting device is parallel to the horizontal plane, and the specific plane is also parallel to the horizontal plane.
  • the preset target posture is that the pitch joint angle of the gimbal is 0 degrees. At this time, the gimbal is in the Selfie mode. When the pitch joint angle of the gimbal is 0 degrees, the lens of the camera is facing the user and the lens It is easier to target users.
  • the gimbal as a handheld gimbal as an example, when the pitch joint angle of the gimbal is 0 degrees, if the handle is placed vertically, the specific plane in the coordinate system of the camera and the central axis of the handle (that is, the central axis in the length direction of the handle) Vertical; it should be understood that if the handle is placed obliquely, the specific plane in the coordinate system of the photographing device is perpendicular to the central axis of the handle.
  • the first trigger instruction can be generated in a variety of ways.
  • the pan/tilt includes a base and a control unit provided on the base, and the first trigger instruction is generated by the user triggering the control unit.
  • the control part may include keys, buttons, knobs or a combination of the above.
  • the control unit in this embodiment may include one or more.
  • the handheld pan/tilt may include a handle, and the control part may be provided on the handle.
  • the first trigger instruction is generated by the user operating the external device and sent by the external device.
  • the external device can communicate with the pan/tilt.
  • the external device may include a mobile terminal such as a mobile phone and a tablet computer, a fixed terminal, or a remote control or other control device of the pan/tilt.
  • control method of the pan/tilt may further include: when the pan/tilt is in the FPV follow mode, before acquiring the real-time attitude quaternion of the base, if a second trigger instruction indicating that the pan/tilt enters the FPV follow mode is acquired, then according to the first 2. Trigger the instruction to control the pan/tilt to enter the FPV follow mode. That is, before executing S201, it is necessary to trigger the pan-tilt to enter the FPV follow mode.
  • the second trigger instruction can be generated in a variety of ways.
  • the pan/tilt includes a base and a second control part provided on the base, and the second trigger instruction is generated by the user triggering the second control part.
  • the control part may include keys, buttons, knobs or a combination of the above.
  • the control unit in this embodiment may include one or more.
  • the handheld pan/tilt may include a handle, and the control part may be provided on the handle.
  • the second trigger instruction is generated by the user operating the external device and sent by the external device.
  • the external device can communicate with the pan/tilt.
  • the external device may include a mobile terminal such as a mobile phone and a tablet computer, a fixed terminal, or a remote control or other control device of the pan/tilt.
  • the embodiment of the present application also provides a pan/tilt head.
  • the pan/tilt head includes a base, a shaft assembly and a controller.
  • the shaft assembly is arranged on the base, and the shaft assembly is used to mount the imaging device.
  • the shaft assembly of this embodiment is configured to rotate around at least two axes.
  • the shaft assembly is configured to rotate around a yaw axis, a pitch axis, and a roll axis; optionally, the shaft assembly is configured to rotate around a yaw axis.
  • the axis and the pitch axis rotate.
  • the controller is electrically connected with the pan/tilt, and optionally, the controller is arranged on the base.
  • the controller is used for: when the pan/tilt is in the first-person main angle of view FPV follow mode, if it receives the attitude control amount sent by the control device of the pan/tilt, it will perform the attitude control amount according to the Euler angle rotation sequence of the camera.
  • the first target Euler angle component of the camera is obtained by conversion; the target Euler angle component of the camera is determined according to the first target Euler angle component and the second target Euler angle component of the camera, and the second target Euler angle component is It is determined according to the real-time detection attitude of the base; according to the target Euler angle, the pan/tilt is controlled to rotate; wherein, when the pan/tilt is in the FPV following mode, the attitude of at least two axes changes with the attitude of the base.
  • the controller in this embodiment may be a central processing unit (CPU).
  • the controller may further include a hardware chip.
  • the above-mentioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof.
  • the above-mentioned PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.
  • the base can be the handle of the handheld pan/tilt or be set on the handle of the handheld pan/tilt.
  • an embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of the method for controlling the pan/tilt head of the above-mentioned embodiment are realized.
  • the computer-readable storage medium may be the internal storage unit of the pan/tilt head described in any of the foregoing embodiments, such as a hard disk or a memory.
  • the computer-readable storage medium may also be an external storage device of the pan-tilt, such as a plug-in hard disk, a smart media card (SMC), an SD card, a flash memory card (Flash Card), etc. equipped on the device .
  • the computer-readable storage medium may also include both an internal storage unit of the pan-tilt and an external storage device.
  • the computer-readable storage medium is used to store the computer program and other programs and data required by the pan/tilt, and can also be used to temporarily store data that has been output or will be output.
  • the program can be stored in a computer readable storage medium, and the program can be stored in a computer readable storage medium. During execution, it may include the procedures of the above-mentioned method embodiments.
  • the storage medium may be a magnetic disk, an optical disc, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM), etc.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Studio Devices (AREA)
  • Accessories Of Cameras (AREA)

Abstract

L'invention concerne un procédé de commande de cardan, ainsi qu'un cardan. Le cardan est monté sur une base, un appareil photographique est monté sur le cardan, et le cardan est configuré pour tourner autour d'au moins deux axes. Le procédé selon l'invention consiste : lorsque le cardan se trouve en mode de suivi en vue subjective (FPV), si une quantité de commande d'orientation envoyée par un appareil de commande de cardan est reçue, à convertir la quantité de commande d'orientation en fonction d'une séquence de rotation d'angle d'Euler de l'appareil photographique pour obtenir une première composante d'angle d'Euler cible de l'appareil photographique ; à déterminer un angle d'Euler cible de l'appareil photographique selon la première composante d'angle d'Euler cible et une deuxième composante d'angle d'Euler cible de l'appareil photographique, la deuxième composante d'angle d'Euler cible étant déterminée en fonction de l'orientation de détection en temps réel de la base ; et à commander la rotation du cardan selon l'angle d'Euler cible lorsque le cardan se trouve en mode de suivi FPV, les orientations d'au moins deux axes variant avec l'orientation de la base. Selon la présente invention, lorsque la rotation du cardan est commandée, une image de l'appareil photographique tourne autour d'un système de coordonnées mondial, et l'image est davantage conforme aux attentes de l'utilisateur.
PCT/CN2019/130861 2019-12-31 2019-12-31 Procédé de commande de cardan et cardan Ceased WO2021134644A1 (fr)

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CN201980052066.6A CN112544065A (zh) 2019-12-31 2019-12-31 云台的控制方法和云台

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