WO2019100249A1 - 云台的控制方法、云台以及无人飞行器 - Google Patents

云台的控制方法、云台以及无人飞行器 Download PDF

Info

Publication number
WO2019100249A1
WO2019100249A1 PCT/CN2017/112318 CN2017112318W WO2019100249A1 WO 2019100249 A1 WO2019100249 A1 WO 2019100249A1 CN 2017112318 W CN2017112318 W CN 2017112318W WO 2019100249 A1 WO2019100249 A1 WO 2019100249A1
Authority
WO
WIPO (PCT)
Prior art keywords
attitude
yaw
expected
current
pan
Prior art date
Application number
PCT/CN2017/112318
Other languages
English (en)
French (fr)
Inventor
刘帅
王映知
王文军
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201780007443.5A priority Critical patent/CN108521777B/zh
Priority to PCT/CN2017/112318 priority patent/WO2019100249A1/zh
Publication of WO2019100249A1 publication Critical patent/WO2019100249A1/zh
Priority to US16/871,853 priority patent/US20200271269A1/en

Links

Images

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F16M11/123—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints the axis of rotation intersecting in a single point, e.g. by using gimbals
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
    • F16M11/2035—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction
    • F16M11/2071—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction for panning and rolling
    • 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
    • F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • 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
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F16M2200/041—Balancing means for balancing rotational movement of the head
    • 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
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F16M2200/044—Balancing means for balancing rotational movement of the undercarriage
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G03B15/006—Apparatus mounted on flying objects
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera accessories
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/26—Pc applications
    • G05B2219/2651—Camera, photo
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils

Definitions

  • the embodiments of the present invention relate to the field of control technologies, and in particular, to a method for controlling a pan/tilt head, a pan/tilt head, and an unmanned aerial vehicle.
  • the pan/tilt is a device that stabilizes the payload, for example, the payload can be a photographing device.
  • the pan/tilt stabilizes the shooting equipment, allowing the shooting equipment mounted on the gimbal to produce a smooth and stable picture.
  • the pan/tilt sets corresponding mechanical limits in one or more of the yaw direction, the pitch direction, and the roll direction, so that the pan/tilt cannot achieve unrestricted rotation in this direction.
  • the PTZ will move from the current attitude to the expected attitude with the shortest path.
  • there may be mechanical limit in this process which will cause the PTZ to be stuck in the limit position, resulting in unfriendly users.
  • Embodiments of the present invention provide a control method for a pan/tilt head, a pan/tilt head, and an unmanned aerial vehicle to overcome the problem that the gimbal has mechanical limit during the motion.
  • a first aspect of the embodiments of the present invention provides a method for controlling a pan/tilt, including:
  • the control gimbal moves from the current posture to the expected posture according to the target moving direction, wherein the target moving direction is the shortest path from the gimbal The direction in which the front attitude deviates from the direction of motion of the intended attitude motion.
  • a second aspect of the embodiments of the present invention provides a cloud platform, including: a memory and a processor.
  • the memory is configured to store program code
  • the processor the program code is called, when the program code is executed, for:
  • control gimbal moves from the current posture to the expected posture according to the target moving direction, wherein the target moving direction is deviated from the moving direction of the gimbal moving from the current posture to the expected posture with the shortest path. direction.
  • a third aspect of the embodiments of the present invention provides an unmanned aerial vehicle comprising the pan/tilt head of the second aspect.
  • the control method of the pan/tilt head, the pan/tilt head and the unmanned aerial vehicle determine whether there is a mechanical limit in the process of moving the pan/tilt from the current posture to the expected posture with the shortest path, and when it is determined that there is a mechanical limit, the control The pan-tilt moves from the current attitude to the expected attitude according to the direction of motion opposite to the minimum path, ensuring that the gimbal will not be stuck in the limit posture and optimize the control strategy of the gimbal.
  • FIG. 1 is a physical structure diagram of a cloud platform according to an embodiment of the present invention.
  • FIG. 2 may be mechanically limited during the movement of the gimbal provided by the embodiment of the present invention.
  • FIG. 3 is a flowchart of a method for controlling a pan/tilt according to an embodiment of the present invention
  • FIG. 4 is a flowchart of a method for controlling a pan/tilt according to another embodiment of the present invention.
  • FIG. 5 is a schematic diagram of determining whether a mechanical limit exists in a process of moving a pan/tilt from a current yaw attitude to an expected yaw attitude in a shortest path according to an embodiment of the present invention
  • FIG. 6 is a schematic diagram of determining whether there is a mechanical limit in a process of moving a pan/tilt from a current yaw attitude to an expected yaw attitude in a shortest path according to another embodiment of the present invention
  • FIG. 7 is a schematic diagram of determining whether there is a mechanical limit in a process of moving a pan/tilt from a current yaw attitude to an expected yaw attitude in a shortest path according to another embodiment of the present invention.
  • FIG. 8 is a schematic diagram of determining whether there is a mechanical limit in a process of moving a pan/tilt from a current yaw attitude to an expected yaw attitude in a shortest path according to another embodiment of the present invention
  • FIG. 9 is a structural diagram of a cloud platform according to an embodiment of the present invention.
  • a component when referred to as being "fixed” to another component, it can be directly on the other component or the component can be present. When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • the pan/tilt is a device for stabilizing the payload built on the pan/tilt.
  • the payload can be a shooting device, and the pan/tilt can also adjust the working direction of the payload.
  • the pan/tilt can shoot the device. direction.
  • the cloud platform in the embodiment of the present invention may be a handheld cloud platform, or may be a cloud platform disposed on the movable platform, and the movable platform may be an unmanned aerial vehicle, an unmanned vehicle, or the like.
  • the pan/tilt head in the embodiment of the present invention may be a two-axis pan/tilt head or a multi-axis pan/tilt head. Here, a three-axis pan/tilt head is used for schematic description.
  • FIG. 1 is a schematic structural diagram of a pan/tilt head according to an embodiment of the present invention.
  • the cloud platform may specifically be a handheld cloud platform.
  • the platform 100 includes a pitch axis motor 101, a roll axis motor 102, a yaw axis motor 103, a pan/tilt base 104, a yaw axis arm 105, a camera fixing mechanism 106, and a pitch axis arm. 107.
  • the roll axis arm 108, the photographing device fixing mechanism 106 may be disposed on the pitch axis arm 107 for fixing the photographing device 109.
  • the pitch axis motor 101 is used to drive the shooting device 109 to rotate in the pitch direction
  • the roll axis motor 102 is used to drive the photographing device 109 to rotate in the yaw direction
  • the yaw axis motor 103 is used to drive the photographing device 109 to yaw.
  • the photographing device fixing mechanism 106 includes an inertial measurement unit (IMU) for detecting the posture of the photographing device 109, wherein the posture of the photographing device 109 is the posture of the pan/tilt, that is, The yaw posture of the photographing device 29 is the yaw attitude of the pan/tilt head, the pitch posture of the photographing device 109 is the pitch attitude of the pan/tilt head, and the roll posture of the photographing device 109 is the roll attitude of the pan/tilt head.
  • IMU inertial measurement unit
  • the pan/tilt has a corresponding mechanical limit in one of the yaw direction, the pitch direction and the roll direction, so that the pan/tilt cannot achieve unlimited rotation in this direction.
  • the yaw direction is schematically illustrated.
  • the rotation with the photographing device in the yaw direction indicates the rotation of the gimbal in the yaw direction.
  • the photographing device 201 is in the reference yaw attitude 202 at the initial moment, wherein the reference yaw attitude 202 is the yaw attitude of the photographing device 201 when the joint angle of the yaw axis motor is zero.
  • the photographing device 201 is biased The yaw attitude in which the voyage direction is in the middle direction, the yaw attitude can be expressed in the yaw attitude angle.
  • FIG. 2b if the photographing device moves in the yaw direction in the clockwise direction as shown in the figure, that is, the pan/tilt moves in the yaw direction in the clockwise direction as shown in FIG.
  • the gimbal will have a mechanical limit, that is, the gimbal will reach the limit angle when moving clockwise in the yaw direction, and the gimbal cannot continue to rotate in the clockwise direction.
  • the pan-tilt selects the shortest path to move from the current posture 204.
  • the pan/tilt will move in the yaw direction in the clockwise direction as shown in FIG. b to the expected posture 205, however, the pan/tilt will have a limit in the process of moving the current attitude 204 to the expected posture 205.
  • the gimbal will be limited to the limit posture 203 and cannot reach the expected posture 205.
  • the pan/tilt moves in the yaw direction in the counterclockwise direction as shown.
  • the shooting device rotates to the limit position 206, that is, the pan/tilt reaches the limit angle when moving in the yaw direction counterclockwise, the gimbal has a mechanical limit, and the pan/tilt cannot continue to rotate in the counterclockwise direction.
  • the pan-tilt selects the shortest path from the current posture 207 to the expected
  • the attitude 208 motion that is, the pan/tilt will move in the yaw direction in the counterclockwise direction as shown in the figure to the expected posture 208.
  • the pan/tilt will have a limit during the movement of the current attitude 207 to the expected posture 208, resulting in a limit position.
  • the gimbal will be limited to the limit gesture 207 that cannot reach the expected pose 208.
  • the PTZ may have mechanical limit, and the PTZ cannot reach the expected posture, which will cause confusion for the user and fail to achieve the desired control effect.
  • FIG. 3 is a flowchart of a method according to an embodiment of the present invention. As shown in FIG. 1, the method in this embodiment may include:
  • Step S301 Determine whether there is a mechanical limit in the process of moving the pan/tilt from the current posture to the expected posture in the shortest path.
  • the execution body of the method in this embodiment may be a cloud platform, and further, the execution body may be a processor of the pan/tilt.
  • the processor of the pan/tilt can determine whether the pan/tilt is present in the process of moving from the current pose 402 to the expected pose 403 with the minimum path 404.
  • Mechanical limit In this process, when there is a mechanical limit, the gimbal will be stuck in the limit posture, and the gimbal cannot move from the current posture 402 to the expected posture 403 in the shortest path.
  • Step S102 When it is determined that there is a mechanical limit, the control pan/tilt moves from the current posture to the expected posture according to the target moving direction, wherein the target moving direction is a moving direction that moves from the current posture to the expected posture with the shortest path of the gimbal. In the opposite direction.
  • the pan/tilt cannot control the direction of motion indicated by the gimbal according to the minimum path 404 according to the control strategy in the prior art.
  • the control pan/tilt approaches the current attitude 402 to the expected posture 403 state.
  • the processor controls the pan/tilt to move from the current posture 402 to the expected posture 403 according to the target moving direction 405, wherein the target moving direction 405 is a direction that is opposite to the direction of motion of the pan/tilt with the shortest path 404 moving from the current pose 402 to the expected pose 403, ie, the target motion direction 405 is the direction of motion that is offset from the direction of motion indicated by the shortest path 404.
  • the control gimbal follows the shortest path from the current pose to the expected pose. Specifically, when the processor determines that there is no mechanical limit in the process of moving the pan/tilt from the current pose 402 to the expected pose 403 with the minimum path 404, the processor controls the pan/tilt to move from the current pose 402 to the expected pose 403 with the minimum path 404. In this way, when there is a mechanical limit in the process of moving the current posture 402 to the expected posture 403, the pan/tilt can move from the current posture 402 to the expected posture 403 according to the target moving direction, so that the pan/tilt will not be stuck in the limit posture.
  • the pan/tilt can move from the current attitude 402 to the expected posture 403 with the shortest path, which can ensure the control efficiency of the pan/tilt.
  • the control strategy of the gimbal is enriched to ensure the accuracy and efficiency of the attitude control of the gimbal.
  • the control method of the pan/tilt determines whether there is a mechanical limit in the process of moving the pan/tilt from the current posture to the expected posture with the shortest path. When it is determined that there is a mechanical limit, the control pan/tilt is opposite to the minimum path. The movement direction moves from the current attitude movement to the expected posture, ensuring that the gimbal will not be stuck in the limit posture, and the control strategy of the gimbal is optimized.
  • determining whether there is a mechanical limit in the process of moving the gimbal from the current attitude to the expected attitude in the shortest path comprises: determining that the gimbal moves from the current yaw attitude to the expected yaw attitude in the shortest path Whether there is a mechanical limit in the process; when it is determined that there is a mechanical limit, the control gimbal moves from the current posture to the expected posture according to the target moving direction, wherein the target moving direction is the shortest path from the gimbal from the current posture
  • the direction away from the moving direction of the expected attitude motion includes: when it is determined that there is a mechanical limit, the control moves from the current yaw attitude to the expected yaw attitude according to the target yaw motion direction, wherein the target yaw motion direction is The direction away from the movement direction of the pan-tilt attitude from the current yaw attitude to the expected yaw attitude with the shortest path.
  • the pan/tilt can determine whether there is a machine in the process of moving from the current yaw attitude to the expected yaw attitude with the minimum path.
  • Limit when it is determined that there is a mechanical limit, the control gimbal moves from the current yaw attitude to the expected yaw attitude according to the target yaw motion direction, wherein the target yaw motion direction is the shortest path from the gimbal from the current The direction in which the yaw attitude deviates from the direction of motion of the expected yaw attitude motion.
  • the control gimbal moves from the current yaw attitude to the expected yaw attitude with the shortest path.
  • the shortest path may be the shortest yaw path.
  • a feasible way determining an angle at which the gimbal rotates relative to the reference yaw attitude when moving from the pre-yaw attitude to the expected yaw attitude with the shortest path; determining the gimbal from the shortest path according to the angle of the rotation Whether there is a mechanical limit during the current yaw attitude to the expected yaw attitude.
  • the angle 503 at which the gimbal rotates relative to the yaw reference attitude 502 in the yaw direction may be determined.
  • the pan/tilt can determine the angle 505 at which the pan/tilt moves from the current yaw attitude 501 to the expected yaw attitude 504 with a minimum path, and the cloud can be determined according to the angle of rotation 503 and the angle 505 of rotation.
  • the yaw attitude of the yaw axis motor of the yaw reference attitude pan/tilt is 0, corresponding to the yaw attitude, that is, the yaw attitude corresponding to the gimbal in the yaw direction.
  • the yaw limit angle may be a maximum angle at which the gimbal can rotate relative to the reference yaw attitude in the yaw direction.
  • the angle 503 of rotation may be determined by the joint angle of the yaw axis motor, and the angle 505 of rotation may be determined based on the yaw attitude difference between the current yaw attitude 501 and the expected yaw attitude 504, specifically And determining the attitude angle difference between the yaw attitude angle corresponding to the current yaw attitude and the yaw attitude angle corresponding to the expected yaw attitude.
  • determining whether there is a mechanical limit in the process of moving the pan/tilt from the current yaw attitude to the expected yaw attitude according to the angle of the rotation comprises: when the angle of the rotation is greater than the deviation of the platform
  • the gimbal has a mechanical limit in the process of moving from the current yaw attitude to the expected yaw attitude with the shortest path, that is, when the gimbal moves from the current attitude to the expected attitude, the gimbal is relative to the yaw reference attitude.
  • angle of rotation is greater than the yaw limit angle, it is determined that there is a mechanical limit in the process of the pan/tilt moving from the current yaw attitude to the expected yaw attitude with the shortest path.
  • angle of rotation ⁇ is smaller than the yaw limit angle of the pan/tilt, it is determined that there is no mechanical limit in the process of moving the pan/tilt from the current yaw attitude to the expected yaw attitude with the shortest path.
  • Another feasible way to determine the yaw axis drive power of the gimbal in the current yaw attitude The angular difference between the joint angle of the machine and the yaw attitude angle of the gimbal in the expected yaw attitude; determining, according to the difference, the pan-tilt moving from the current yaw attitude to the expected yaw attitude with the shortest path Is there a mechanical limit?
  • the joint angle 602 of the yaw axis motor of the gimbal can be determined, wherein the joint angle 602 can reflect which direction the gimbal is from the reference bias.
  • the flight attitude 603 moves to the current yaw attitude 601.
  • the limit position 604 is reached.
  • the angular range 605 is a range of yaw attitude angles between the current yaw attitude 601 and the yaw transition attitude 606, the yaw transition gesture 606 being determined according to the current yaw attitude 601, ie, the photographing device mounted on the pan/tilt
  • the shooting direction in the yaw transition posture 606 is opposite to the shooting direction in the current yaw attitude 601.
  • the angle difference between the joint angle of the yaw axis driving motor and the yaw attitude angle of the gimbal in the expected yaw attitude of the gimbal in the current yaw attitude can be determined, and the difference can be determined according to the difference. Whether the yaw attitude angle corresponding to the attitude is located in the yaw attitude angle range 605 as shown in the figure. When the difference is determined according to the difference, the attitude angle corresponding to the expected posture is located in the yaw attitude angle range 605 as shown in the figure, and is determined. Whether the gimbal has a mechanical limit in the process of moving from the current yaw attitude to the expected yaw attitude with the shortest path.
  • the joint angle of the yaw axis driving motor in the current yaw attitude is within the first yaw joint angle range
  • the angle difference satisfies the first preset yaw angle requirement
  • the joint angle of the yaw axis driving motor of the gimbal in the current yaw attitude is in the second yaw
  • the angle difference is within the range of the joint angle
  • the angle difference satisfies the second preset yaw angle requirement
  • the pan/tilt moving from the reference posture 701 to the limit posture 702 in the yaw direction from the clockwise direction is mechanically limited.
  • the pan/tilt moves in a clockwise direction
  • the pan/tilt can reach any expected posture with a minimum path, and there is no mechanical limit, wherein the limit transition posture 703 is determined according to the limit posture 702, that is, installed in the cloud.
  • the photographing direction of the photographing apparatus on the stage in the limit posture 702 is opposite to the photographing direction in the limit transition posture 703.
  • the joint angle of the yaw axis driving motor of the gimbal in the current yaw attitude is within the range of the first yaw joint angle
  • the expected yaw attitude is in the limit posture 702 and the yaw transition posture 705
  • the yaw transition posture 705 is determined according to the current yaw attitude 704, that is, the photographing device installed on the pan/tilt
  • the shooting direction in the yaw transition posture 705 is opposite to the shooting direction in the current yaw attitude 704.
  • the joint angle of the yaw axis motor of the gimbal is positive, assuming that the yaw limit angle of the gimbal is 340 degrees, and the yaw attitude angle corresponding to the reference attitude yaw attitude is 0.
  • the yaw attitude angle is positive only to the yaw attitude angle of 180 degrees
  • the yaw attitude angle is negative only to the yaw attitude angle of -180 degrees, ie the yaw attitude angle
  • the yaw attitude at 180 degrees is the same as the yaw attitude when the yaw attitude angle is -180 degrees.
  • the yaw attitude angle corresponding to the limit posture is -20 degrees.
  • the joint angle of the yaw axis driving motor of the gimbal in the current yaw attitude is at the first yaw joint angle
  • the range is between 160 degrees and 340 degrees
  • the pan/tilt moves in the process of moving to the expected posture with the minimum path motion.
  • the angle difference between the joint angle of the current yaw axis drive motor and the yaw attitude angle of the gimbal in the expected yaw attitude When located between the first yaw threshold angle and the second yaw threshold angle, it can be determined It is expected that the yaw attitude is between the limit attitude 702 and the yaw transition attitude 705. At this time, there is a mechanical limit during the movement of the gimbal from the minimum path to the expected attitude.
  • the pan-tilt moving from the reference posture 801 to the limit posture 802 in the yaw direction from the counterclockwise direction is mechanically limited.
  • the current yaw attitude of the gimbal is set to 804 as shown in the figure, it can be seen from the analysis that when the current yaw attitude 804 of the gimbal is in the limit transition posture 803 and the limit posture 802 , that is, when the joint angle of the yaw axis driving motor in the current yaw attitude is within the second yaw joint angle range, and when the expected yaw attitude is in the limit posture 802 and the yaw transition posture 805 During the interval, there is a mechanical limit in the process of the pan/tilt moving to the expected attitude with the minimum path, wherein the yaw transition posture 805 is determined according to the current yaw attitude 804, that is, the photographing device installed on the pan/tilt The shooting direction in the yaw transition posture 805 is opposite to the shooting direction in the current yaw attitude 804.
  • the joint angle of the yaw axis motor of the gimbal is positive, assuming that the yaw limit angle of the gimbal is 340 degrees, and the yaw attitude angle corresponding to the reference attitude yaw attitude is 0.
  • the yaw attitude angle is negative only to the yaw attitude angle of -180 degrees
  • the yaw attitude angle is negative only to the yaw attitude angle of -180 degrees, that is, the yaw attitude
  • the yaw attitude and yaw attitude angle at an angle of 180 degrees is -180
  • the yaw attitude is the same.
  • the yaw attitude angle corresponding to the limit posture is 20 degrees.
  • the joint angle of the yaw axis driving motor of the gimbal in the current yaw attitude is at the first yaw joint angle In the range, that is, between -160 degrees and -340 degrees, it can be determined that when the expected yaw attitude is between the limit posture 802 and the yaw transition posture 805, the expected yaw attitude can be determined to be in the limit posture.
  • a specific implementation manner of determining whether there is a mechanical limit in the process of moving the pan/tilt from the current pitch attitude to the expected pitch attitude in the shortest path is determined.
  • the shortest path may be the shortest pitch path.
  • a feasible way determining an angle at which the gimbal rotates with respect to the reference pitch attitude when moving from the pre-pitch posture to the expected pitch posture with the shortest path; determining the gimbal from the current pitch posture with the shortest path according to the angle of the rotation Whether there is a mechanical limit during the movement to the expected pitch attitude.
  • determining whether there is a mechanical limit in the process of moving the pan/tilt from the current pitch attitude to the expected pitch attitude according to the angle of the rotation comprises: when the angle of the rotation is greater than a pitch limit angle of the pan/tilt At the time, the gimbal has a mechanical limit in the process of moving from the current pitch attitude to the expected pitch attitude with the shortest path.
  • the pitch reference attitude is an articulation angle of the pitch axis driving motor of the pan/tilt head The pitch attitude of the pan/tilt when it is 0.
  • Another feasible way determining an angular difference between the joint angle of the pitching axis driving motor of the gimbal in the current pitch attitude and the pitch attitude angle of the gimbal in the expected pitch attitude; determining the cloud according to the difference Whether there is a mechanical limit in the process of moving from the current elevation attitude to the expected pitch attitude with the shortest path.
  • the joint angle of the pitch axis motor in the current pitch attitude is within the range of the first pitch joint angle
  • the angle difference satisfies the first preset pitch angle requirement determining the pan/tilt to be the shortest Whether there is a mechanical limit during the movement of the path from the current yaw attitude to the expected pitch attitude;
  • the joint angle of the pitch axis motor in the current pitch attitude is within the range of the second pitch joint angle, when the angle
  • the target orientation transmitted by the external device is received, and the target orientation is determined to determine the expected pose of the pan/tilt.
  • the external device may be any device other than the pan/tilt.
  • the external device may be a control terminal of the pan/tilt head, such as a remote controller, etc.
  • the pan/tilt can receive a target orientation sent by an external device, wherein the target orientation is used to indicate a target orientation of the pan/tilt, that is, a target orientation of the payload mounted on the pan/tilt, such as indicating a photographing device Target shooting direction.
  • the target orientation is an orientation in a world coordinate system.
  • the orientation when the external device is a device on an unmanned aerial vehicle, such as a flight controller on an unmanned aerial vehicle, the orientation may be an orientation in the body coordinate system of the unmanned aerial vehicle.
  • the cloud platform may convert the target orientation into an expected attitude of the pan/tilt, for example, when the target orientation is a target yaw orientation, the target yaw orientation may be converted into a cloud.
  • the expected yaw attitude of the station when the target orientation is the target pitch orientation, the target pitch orientation can be converted into the expected pitch attitude of the platform.
  • FIG. 9 is a schematic diagram of a cloud platform according to an embodiment of the present invention Structure diagram.
  • the cloud platform 900 in this embodiment may include: a memory 901 and a processor 902.
  • the memory 901 is configured to store a program code
  • the processor 902 calls the program code, and when the program code is executed, performs the following operations:
  • control gimbal moves from the current posture to the expected posture according to the target moving direction, wherein the target moving direction is deviated from the moving direction of the gimbal moving from the current posture to the expected posture with the shortest path. direction.
  • the processor 902 determines whether there is a mechanical limit in the process of moving the pan/tilt from the current posture to the expected posture in the shortest path, specifically for:
  • the processor 902 when determining that there is a mechanical limit, controls the movement from the current posture to the expected posture according to the target motion direction, specifically for:
  • control moves from the current yaw attitude to the expected yaw attitude according to the target yaw motion direction;
  • the direction of the target movement is a direction away from the movement direction of the gimbal from the current attitude to the expected posture by the shortest path
  • the direction of the target yaw movement is the shortest path from the pan/tilt to the current yaw attitude The direction in which the direction of motion of the yaw attitude motion is expected to deviate.
  • the processor 902 determines whether there is a mechanical limit in the process of moving the pan/tilt from the current posture to the expected posture in the shortest path, specifically for:
  • the control is specifically used when moving from the current posture to the expected posture according to the target moving direction:
  • the control moves from the current pitch attitude to the expected pitch attitude according to the target pitch motion direction;
  • the direction of the target moving direction is a direction away from the moving direction of the gimbal moving from the current posture to the expected posture by the shortest path
  • the direction of the target pitching motion is the shortest path from the pan/tilt to the expected pitching attitude from the panning attitude to the expected pitching
  • the direction of movement of the posture movement is opposite to the direction.
  • the processor 902 determines whether there is a mechanical limit in the process of moving the pan/tilt from the current yaw attitude to the expected yaw attitude in the shortest path, specifically for:
  • the processor 902 determines whether there is a mechanical limit in the process of moving the pan/tilt from the current yaw attitude to the expected yaw attitude according to the angle of the rotation, specifically for:
  • the yaw reference attitude is a yaw attitude of the pan/tilt when the joint angle of the yaw axis motor of the gimbal is zero.
  • the processor 902 determines whether there is a mechanical limit in the process of moving the pan/tilt from the current pitch attitude to the expected yaw attitude in the shortest path, specifically for:
  • the processor 902 determines whether there is a mechanical limit in the process of moving the pan/tilt from the current pitch attitude to the expected pitch attitude according to the angle of the rotation, specifically for:
  • the pitch reference attitude is a pitch attitude of the pan/tilt when the joint angle of the pitch axis motor of the pan/tilt is zero.
  • the processor 902 determines whether there is a mechanical limit in the process of moving the pan/tilt from the current yaw attitude to the expected yaw attitude in the shortest path, specifically for:
  • the processor 902 determines, according to the angle difference, whether there is a mechanical limit in the process of moving the pan/tilt from the current yaw attitude to the expected yaw attitude in the shortest path, specifically for:
  • the processor 902 determines whether there is a mechanical limit in the process of moving the pan/tilt from the current pitch attitude to the expected pitch attitude in the shortest path, specifically for:
  • the processor 902 determines, according to the angle difference, whether there is a mechanical limit in the process of moving the pan/tilt from the current pitch attitude to the expected pitch attitude in the shortest path, specifically for:
  • the pan/tilt is determined to be the shortest path from the current Whether there is a mechanical limit during the movement of the pitch attitude to the expected pitch attitude;
  • the pan/tilt is determined to be the shortest path from the current Whether there is a mechanical limit during the movement of the pitch attitude to the expected pitch attitude.
  • the processor 902 is further configured to:
  • control gimbal moves from the current posture to the expected posture with the shortest path.
  • the processor 902 is further configured to:
  • the target orientation is an orientation in a world coordinate system.
  • An embodiment of the present invention provides an unmanned aerial vehicle, wherein the unmanned aerial vehicle includes the pan/tilt head in the foregoing embodiment.
  • the disclosed apparatus and method may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of the unit is only a logical function division.
  • there may be another division manner for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or may be two or two. More than one unit is integrated in one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional units.
  • the above-described integrated unit implemented in the form of a software functional unit can be stored in a computer readable storage medium.
  • the above software functional unit is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to perform the methods of the various embodiments of the present invention. Part of the steps.
  • the foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes. .

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Studio Devices (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Accessories Of Cameras (AREA)
  • Control Of Position Or Direction (AREA)

Abstract

一种云台（100）的控制方法、云台（100）以及无人飞行器，方法包括：确定云台（100）以最短路径从当前姿态运动到预期姿态的过程中是否存在机械限位（301）；当确定存在机械限位时，控制云台（100）按照目标运动方向从当前姿态运动到预期姿态，其中，目标运动方向为与云台（100）以最短路径从当前姿态运动到预期姿态的运动方向相背离的方向（302）。可以优化云台（100）的控制策略。

Description

云台的控制方法、云台以及无人飞行器 技术领域
本发明实施例涉及控制技术领域，尤其涉及一种云台的控制方法、云台以及无人飞行器。
背景技术
云台是为有效负载增稳的设备，例如，有效负载可以是拍摄设备。云台为拍摄设备增稳，可以使架设在云台上的拍摄设备拍摄出流畅且稳定的画面。
目前，在通常情况下，云台在偏航方向、俯仰方向和横滚方向中的一个或者多个方向设置了相应的机械限位，使得云台在该方向不能实现无限制的转动。按照目前云台的控制策略，云台会以最短路径从当前姿态向预期姿态运动，然而，在这个过程中可能存在机械限位，导致云台会被卡在限位姿态，造成不友好的用户体验。
发明内容
本发明实施例提供一种云台的控制方法、云台以及无人飞行器，以克服云台在运动过程中存在机械限位的问题。
本发明实施例的第一方面是提供一种云台的控制方法，包括：
确定云台以最短路径从当前姿态向预期姿态运动的过程中是否存在机械限位；
当确定存在机械限位时，控制云台按照目标运动方向从当前姿态向预期姿态运动，其中，所述目标运动方向为与云台以最短路径从当 前姿态向预期姿态运动的运动方向相背离的方向。
本发明实施例的第二方面是提供一种云台，包括：存储器和处理器，
所述存储器，用于存储程序代码；
所述处理器，调用所述程序代码，当所述程序代码被执行时，用于：
确定云台以最短路径从当前姿态向预期姿态运动的过程中是否存在机械限位；
当确定存在机械限位时，控制云台按照目标运动方向从当前姿态向预期姿态运动，其中，所述目标运动方向为与云台以最短路径从当前姿态向预期姿态运动的运动方向相背离的方向。
本发明实施例的第三方面是提供一种无人飞行器，包括第二方面所述的云台。
本实施例提供的云台的控制方法、云台以及无人飞行器，通过确定云台以最短路径从当前姿态向预期姿态运动的过程中是否存在机械限位，当确定存在机械限位时，控制云台按照与最小路径相反的运动方向从当前姿态运动向预期姿态运动，保证云台不会被卡在限位姿态，优化了云台的控制策略。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本发明实施例提供的云台的实物结构图；
图2为本发明实施例提供的云台在运动的过程中可能被机械限 位的示意图；
图3为本发明实施例提供的云台的控制方法的流程图；
图4为本发明另一实施例提供的云台的控制方法的流程图；
图5为本发明实施例提供的确定云台以最短路径从当前偏航姿态向预期偏航姿态运动的过程中是否存在机械限位的示意图；
图6为本发明另一实施例提供的确定云台以最短路径从当前偏航姿态向预期偏航姿态运动的过程中是否存在机械限位的示意图；
图7为本发明另一实施例提供的确定云台以最短路径从当前偏航姿态向预期偏航姿态运动的过程中是否存在机械限位的示意图；
图8为本发明另一实施例提供的确定云台以最短路径从当前偏航姿态向预期偏航姿态运动的过程中是否存在机械限位的示意图；
图9为本发明实施例提供的云台的结构图；
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多 个相关的所列项目的任意的和所有的组合。
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
云台是用于对架设在云台上的有效负载增稳的装置，其中，有效负载可以为拍摄设备，同时，云台还可以调节有效负载的作业方向，例如，云台可以拍摄设备的拍摄方向。本发明实施例中的云台可以为手持云台，或者可以为配置在可移动平台上的云台，所述可移动平台可以为无人飞行器、无人车等。另外，本发明实施例中的云台可以为两轴云台或者多轴云台，这里选用三轴云台来进行示意性说明，如图1为本发明实施例提供的云台的结构示意图。该云台具体可以是手持云台。如图1所示，云台100包括俯仰轴电机101、横滚轴电机102、偏航轴电机103、云台基座104、偏航轴轴臂105、拍摄设备固定机构106、俯仰轴轴臂107、横滚轴轴臂108，拍摄设备固定机构106可以设置在俯仰轴轴臂107，用于固定拍摄设备109。其中，俯仰轴电机101用于驱动拍摄设109在俯仰方向上转动，横滚轴电机102用于驱动拍摄设备109在偏航方向上转动，偏航轴电机103用于驱动拍摄设备109在偏航方向上转动，拍摄设备固定机构106内包括惯性测量元件(Inertial Measurement Unit，简称IMU)，IMU用于检测拍摄设备109的姿态，其中，所述拍摄设备109的姿态即为云台的姿态，即拍摄设备29的偏航姿态为云台的偏航姿态，拍摄设备109的俯仰姿态为云台的俯仰姿态，拍摄设备109的横滚姿态为云台的横滚姿态。
目前，在某些情况中，云台在偏航方向、俯仰方向和横滚方向中的一个或者方向设置了相应的机械限位，使得云台在该方向不能实现无限制的转动。这里以偏航方向来进行示意性说明，为了方便说明，这里与拍摄设备在偏航方向的转动表示云台在偏航方向上的转动。如图2中的a图所示，拍摄设备201在初始时刻处于参考偏航姿态202，其中参考偏航姿态202为偏航轴电机的关节角为0时拍摄设备201所处的偏航姿态，即拍摄设备201在偏 航方向上回中时所处的偏航姿态，偏航姿态可以以偏航姿态角来表示。如图2中b图所示，若拍摄设备按照如图所示的顺时针方向在偏航方向上运动时，即云台按照如图b所示的顺时针方向在偏航方向上运动时，当拍摄设备转动到限位姿态203时，云台会存在机械限位，即云台按照顺时针在偏航方向运动时到达限位角度，云台不能继续按照顺时针方向转动。若在当前时刻，拍摄设备201处于姿态204，云台接收到用户的控制姿态控制指令指示云台到达预期姿态205时，按照目前云台的控制策略，云台会选择最短路径从当前姿态204运动到预期姿态205，即云台在偏航方向上会按照如图b所示的顺时针方向运动至预期姿态205，然而，云台在当前姿态204运动到预期姿态205的过程中会存在限位，导致云台会被限制在限位姿态203无法到达预期姿态205。
同理，如图2中c图所示，若拍摄设备按照如图所示的逆时针方向在偏航方向上运动时，即云台按照如图所示的逆时针方向在偏航方向上运动时，当拍摄设备转动到限位姿态206时，即云台按照逆时针在偏航方向运动时到达限位角度，云台存在机械限位，云台不能继续按照逆时针方向转动。若在当前时刻，拍摄设备201处于姿态207，云台接收到用户的姿态控制指令指示云台到达预期姿态208时，按照目前云台的控制策略，云台会选择最短路径从当前姿态207向预期姿态208运动，即云台在偏航方向上会按照如图所示的逆时针方向向预期姿态208运动，然而，云台在当前姿态207向预期姿态208运动的过程中会存在限位，导致云台会被限制在限位姿态207无法到达预期姿态208。综上可知，云台在从当前姿态向预期姿态运动的过程中，可能会存在机械限位，云台无法到达预期姿态，这样会造成用户的困惑，无法达到到达预期的控制效果。
本发明实施例提供一种云台的控制方法。图3为本发明实施例提供的方法的流程图。如图1所示，本实施例中的方法，可以包括：
步骤S301、确定云台以最短路径从当前姿态向预期姿态运动的过程中是否存在机械限位。
具体地，本实施例方法的执行主体可以是云台，进一步地，所述执行主体可以是云台的处理器。如图4所示，当云台401需要从当前姿态402向预期姿态403运动时，云台的处理器可以确定在云台以最小路径404从当前姿态402运动到预期姿态403的过程中是否存在机械限位。在这个过程中，当存在机械限位时，云台会被卡在限位姿态，云台无法以最短路径从当前姿态402向预期姿态403运动。
步骤S102、当确定存在机械限位时，控制云台按照目标运动方向从当前姿态向预期姿态运动，其中，所述目标运动方向为与云台以最短路径从当前姿态向预期姿态运动的运动方向相背离的方向。
当处理器确定云台以最小路径404从当前姿态402向预期姿态403运动的过程中存在机械限位，云台不能按照现有技术中的控制策略来控制云台按照最小路径404指示的运动方向控制云台从当前姿态402向预期姿403态趋近，为了避开机械限位，处理器会控制云台按照目标运动方向405从当前姿态402向预期姿态403运动，其中，所述目标运动方向405为与云台以最短路径404从当前姿态402向预期姿态403运动的运动方向相背离的方向，即所述目标运动方向405为与最短路径404指示的运动方向相背离的运动方向。
在某些实施例中，当确定不存在机械限位时，控制云台按照以最短路径从当前的姿态向预期姿态。具体地，当处理器确定云台以最小路径404从当前姿态402运动到预期姿态403的过程中不存在机械限位，处理器控制云台以最小路径404从当前姿态402运动到预期姿态403。这样，当前姿态402运动到预期姿态403的过程中存在机械限位时，云台可以按照目标运动方向从当前姿态402向预期姿态403运动，可以保证云台不会被卡在限位姿态上，当从前姿态402向预期姿 态403运动的过程中不存在机械限位时，云台可以以最短路径从当前姿态402向预期姿态403运动，可以保证云台的控制效率。通过这种技术方案，丰富了云台的控制策略，保证云台姿态控制的准确性和高效性。
本实施例提供的云台的控制方法，通过确定云台以最短路径从当前姿态运动到预期姿态的过程中是否存在机械限位，当确定存在机械限位时，控制云台按照与最小路径相反的运动方向从当前姿态运动向预期姿态运动，保证云台不会被卡在限位姿态，优化了云台的控制策略。
在某些实施例中，所述确定云台以最短路径从当前姿态向预期姿态运动的过程中是否存在机械限位包括：确定云台以最短路径从当前偏航姿态向预期偏航姿态运动的过程中是否存在机械限位；所述当确定存在机械限位时，控制云台按照目标运动方向从当前姿态向预期姿态运动，其中，所述目标运动方向为与云台以最短路径从当前姿态向预期姿态运动的运动方向相背离的方向包括：当确定存在机械限位时，控制按照目标偏航运动方向从当前偏航姿态向预期偏航姿态运动，其中，所述目标偏航运动方向为与云台以最短路径从当前偏航姿态向预期偏航姿态运动的运动方向相背离的方向。
具体地，针对云台在偏航方向上的运动而言，云台在确定了预期偏航姿态之后，可以判断在以最小路径从当前偏航姿态向预期偏航姿态运动的过程中是否存在机械限位，当确定存在机械限位时，控制云台按照目标偏航运动方向从当前偏航姿态向预期偏航姿态运动，其中，所述目标偏航运动方向为与云台以最短路径从当前偏航姿态向预期偏航姿态运动的运动方向相背离的方向。当确定不存在机械限位时，控制云台以最短路径从当前偏航姿态向预期偏航姿态运动。其中，所述最短路径可以为最短偏航路径。
下面将详细介绍确定云台以最短路径从当前偏航姿态向预期偏航姿态运动的过程中是否存在机械限位的具体实现方式。其中可以通过如下几种可行方式来确定云台以最短路径从当前偏航姿态向预期偏航姿态运动的过程中是否存在机械限位：
一种可行的方式：确定云台以最短路径从当偏航前姿态运动到预期偏航姿态时云台相对于参考偏航姿态转动的角度；根据所述转动的角度确定云台以最短路径从当前偏航姿态向预期偏航姿态运动的过程中是否存在机械限位。
具体地，云台处于当前偏航姿态501时，可以确定云台在偏航方向上相对于偏航参考姿态502转动的角度503。云台在确定了预期偏航姿态之后，可以确定云台以最小路径从当前偏航姿态501运动到预期偏航姿态504时转动的角度505，根据转动的角度503和转动的角度505可以确定云台以最短路径从当前偏航姿态运动到预期偏航姿态时云台相对于参考偏航姿态转动的角度α。进一步地，可以根据转动的角度α和偏航限位角度之间的关系判断云台以最短路径从当前偏航姿态向预期偏航姿态运动的过程中是否存在机械限位。其中，如前所述偏航参考姿态云台的偏航轴电机的关节角为0时对应的偏航姿态，即云台在偏航方向上回中时对应的偏航姿态。所述偏航限位角度可以为云台在偏航方向上相对于参考偏航姿态能够转动的最大角度。在实际应用中，转动的角度503可以由偏航轴电机的关节角来确定，转动的角度505可以根据当前偏航姿态501和预期偏航姿态504之间的偏航姿态差来确定，具体地，可以根据当前偏航姿态对应的偏航姿态角和预期偏航姿态对应的偏航姿态角之间的姿态角差值来确定。
进一步地，所述根据所述转动的角度确定云台以最短路径从当前偏航姿态向预期偏航姿态运动的过程中是否存在机械限位包括：当所述转动的角度α大于云台的偏航限位角度时，云台以最短路径从当前偏航姿态向预期偏航姿态运动的过程中存在机械限位，即云台从当前姿态运动到预期姿态时，云台相对于偏航参考姿态转动的角度大于偏航限位角度，则确定云台以最短路径从当前偏航姿态向预期偏航姿态运动的过程中存在机械限位。当所述转动的角度α小于云台的偏航限位角度时，则确定云台以最短路径从当前偏航姿态向预期偏航姿态运动的过程中不存在机械限位。
另一种可行的方式，确定云台在当前偏航姿态下的偏航轴驱动电 机的关节角与云台在预期偏航姿态下的偏航姿态角之间的角度差值；根据所述差值确定云台以最短路径从当前偏航姿态向预期偏航姿态运动的过程中是否存在机械限位。
具体地，如图6所示，当云台处于当前偏航姿态601时，可以确定云台的偏航轴电机的关节角度602，其中，关节角度602可以反映云台是按照哪个方向从参考偏航姿态603运动到当前偏航姿态601。当云台从参考偏航姿态603运动到当前姿态601时，如果继续转动，就会到达限位姿态604。当预期姿态对应的姿态角位于如图所示的偏航姿态角范围605时，云台以最小路径从当前偏航姿态601向预期姿态运动的过程中会存在机械限位，其中，偏航姿态角范围605为当前偏航姿态601和偏航过渡姿态606之间的偏航姿态角范围，所述偏航过渡姿态606是根据当前偏航姿态601确定的，即安装在云台上的拍摄设备处于偏航过渡姿态606时的拍摄方向与处于当前偏航姿态601时的拍摄方向相反。接下来可以确定云台在当前偏航姿态下的偏航轴驱动电机的关节角与云台预期偏航姿态下的偏航姿态角之间的角度差值，根据所述差值即可以确定预期姿态对应的偏航姿态角是否位于如图所示的偏航姿态角范围605，当根据所述差值即可以确定预期姿态对应的姿态角位于如图所示的偏航姿态角范围605，确定云台以最短路径从当前偏航姿态向预期偏航姿态运动的过程中是否存在机械限位。
进一步地，云台在当前偏航姿态下的偏航轴驱动电机的关节角所述处于第一偏航关节角范围内时，当所述角度差值满足第一预设偏航角度要求时，确定云台以最短路径从当前偏航姿态运动到预期偏航姿态的过程中是否存在机械限位；云台在当前偏航姿态下的偏航轴驱动电机的关节角所述处于第二偏航关节角范围内时，当所述角度差值满足第二预设偏航角度要求时，确定云台以最短路径从当前偏航姿态运动到预期偏航姿态的过程中是否存在机械限位。
具体地，如图7所示，云台在偏航方向从顺时针方向从参考姿态701运动到限位姿态702会被机械限位，经过分析可知，当云台按照顺时针运动的过程中，当云台的当前偏航姿态处于参考偏航姿态701 和限位过渡姿态703之间时，云台可以以最小路径到达任何预期姿态，不会存在机械限位，其中，所述限位过渡姿态703是根据限位姿态702确定的，即安装在云台上的拍摄设备处于限位姿态702时的拍摄方向与处于限位过渡姿态703时的拍摄方向相反。为了进行示意性说明，设定云台当前偏航姿态为如图所示的704时，由分析可知，当云台的当前偏航姿态704处于限位过渡姿态703和限位姿态702之间时，即云台在当前偏航姿态下的偏航轴驱动电机的关节角所述处于第一偏航关节角范围内时，并且当预期偏航姿态处于限位姿态702和偏航过渡姿态705之间时，云台以最小路径运动向预期姿态运动的过程中会存在机械限位，其中，所述偏航过渡姿态705是根据当前偏航姿态704确定的，即安装在云台上的拍摄设备处于偏航过渡姿态705时的拍摄方向与处于当前偏航姿态704时的拍摄方向相反。确定当前偏航姿态704下的偏航轴驱动电机的关节角与云台在预期偏航姿态下的偏航姿态角之间的角度差值，当所述差值可以指示预期偏航姿态位于限位姿态702和偏航过渡姿态705之间时，云台以最小路径运动向预期姿态运动的过程中会存在机械限位，下面来将详细解释判断过程：
为了说明方便，云台按照顺时针运动时，云台偏航轴电机的关节角为正，假设云台的偏航限位角度为340度，参考姿态偏航姿态对应的偏航姿态角为0，按照顺时针方向，偏航姿态角为正只至偏航姿态角为180度，按照逆时针方向，偏航姿态角为为负只至偏航姿态角为-180度，即偏航姿态角为180度时的偏航姿态与偏航姿态角为-180度时的偏航姿态相同。按照顺时针方向，限位姿态对应的偏航姿态角为-20度。当云台的当前偏航姿态处于限位过渡姿态703和限位姿态702之间时，即云台在当前偏航姿态下的偏航轴驱动电机的关节角所述处于第一偏航关节角范围内时，即处于160度和340度之间时，当确定预期偏航姿态处于限位姿态702和偏航过渡姿态705之间时，云台以最小路径运动向预期姿态运动的过程中会存在机械限位。假设云台在当前偏航姿态时偏航轴电机的关节角为210度，则当前偏航轴驱动电机的关节角与云台在预期偏航姿态下的偏航姿态角之间的角度差值位于第一偏航阈值角度和第二偏航阈值角度之间时，即可以确定 预期偏航姿态处于限位姿态702和偏航过渡姿态705之间，此时云台以最小路径运动向预期姿态运动的过程中会存在机械限位。其中，第一偏航阈值角度为云台在限位姿态下的偏航姿态角与云台在当前偏航轴驱动电机的关节角之间的角度差值，即-20-210＝-230度，第二偏航阈值角度为云台在偏航过度姿态下的偏航姿态角与云台在当前偏航轴驱动电机的关节角之间的角度差值，即30-210＝-180度。同理地，如图8所示，云台在偏航方向从逆时针方向从参考姿态801运动到限位姿态802会被机械限位，经过分析可知，当云台按照逆时针运动的过程中，当云台的当前偏航姿态处于参考偏航姿态801和限位过渡姿态803之间时，云台可以以最小路径到达任何预期姿态，不会存在机械限位，其中，所述限位姿态是根据限位姿态802确定的，即安装在云台上的拍摄设备处于限位姿态802时的拍摄方向与处于限位过渡姿态803时的拍摄方向相反。为了进行示意性说明，设定云台当前偏航姿态为如图所示的804时，由分析可知，当云台的当前偏航姿态804处于限位过渡姿态803和限位姿态802之问时，即云台在当前偏航姿态下的偏航轴驱动电机的关节角所述处于第二偏航关节角范围内时，并且当预期偏航姿态处于限位姿态802和偏航过渡姿态805之间时，云台以最小路径运动向预期姿态运动的过程中会存在机械限位，其中，所述偏航过渡姿态805是根据当前偏航姿态804确定的，即安装在云台上的拍摄设备处于偏航过渡姿态805时的拍摄方向与处于当前偏航姿态804时的拍摄方向相反。确定当前偏航姿态804下的偏航轴驱动电机的关节角与云台在预期偏航姿态下的偏航姿态角之间的角度差值，当所述差值可以指示预期姿态位于限位姿态802和偏航过渡姿态805之间，云台以最小路径运动向预期姿态运动的过程中会存在机械限位，下面来将详细解释判断过程：
为了说明方便，云台按照顺时针运动时，云台偏航轴电机的关节角为正，假设云台的偏航限位角度为340度，参考姿态偏航姿态对应的偏航姿态角为0，按照逆时针方向，偏航姿态角为负只至偏航姿态角为-180度，按照逆时针方向，偏航姿态角为为负只至偏航姿态角为-180度，即偏航姿态角为180度时的偏航姿态与偏航姿态角为-180 度时的偏航姿态相同。按照逆时针方向，限位姿态对应的偏航姿态角为20度。当云台的当前偏航姿态处于限位过渡姿态803和限位姿态802之间时，即云台在当前偏航姿态下的偏航轴驱动电机的关节角所述处于第一偏航关节角范围内时，即处于-160度和-340度之间时，可以确定当预期偏航姿态处于限位姿态802和偏航过渡姿态805之间时，即可以确定预期偏航姿态处于限位姿态802和偏航过渡姿态805之间，此时云台以最小路径运动向预期姿态运动的过程中会存在机械限位。假设云台在当前偏航姿态时偏航轴电机的关节角为-210度，则当前偏航轴驱动电机的关节角与云台在预期偏航姿态下的偏航姿态角之间的角度差值位于第三偏航阈值角度和第四偏航阈值角度之间时，云台以最小路径运动向预期姿态运动的过程中会存在机械限位。其中，第三偏航阈值角度为云台在限位姿态下的偏航姿态角与云台在当前偏航轴驱动电机的关节角之间的角度差值，即20-(-210)＝230度，第四偏航阈值角度为云台在限位过度姿态下的偏航姿态角与云台在当前偏航轴驱动电机的关节角之间的角度差值，即-30-(-210)＝180度。
在俯仰方向上，确定云台以最短路径从当前俯仰姿态向预期俯仰姿态运动的过程中是否存在机械限位的具体实现方式。其中可以通过如下几种可行方式来确定云台以最短路径从当前俯仰姿态向预期俯仰姿态运动的过程中是否存在机械限位，其中，所述最短路径可以为最短俯仰路径。
一种可行的方式：确定云台以最短路径从当俯仰前姿态运动到预期俯仰姿态时云台相对于参考俯仰姿态转动的角度；根据所述转动的角度确定云台以最短路径从当前俯仰姿态向预期俯仰姿态运动的过程中是否存在机械限位。
具体地，所述根据所述转动的角度确定云台以最短路径从当前俯仰姿态向预期俯仰姿态运动的过程中是否存在机械限位包括：当所述转动的角度大于云台的俯仰限位角度时，云台以最短路径从当前俯仰姿态向预期俯仰姿态运动的过程中是存在机械限位。
进一步地，所述俯仰参考姿态为云台的俯仰轴驱动电机的关节角 为0时云台的俯仰姿态。
另一种可行的方式：确定云台在当前俯仰姿态下的俯仰航轴驱动电机的关节角与云台在预期俯仰姿态下的俯仰姿态角之间的角度差值；根据所述差值确定云台以最短路径从当前仰姿态向预期俯仰姿态运动的过程中是否存在机械限位。
进一步地，云台在当前俯仰姿态下的俯仰轴电机的关节角所述处于第一俯仰关节角范围内时，当所述角度差值满足第一预设俯仰角度要求时，确定云台以最短路径从当前偏航姿态向预期俯仰姿态运动的过程中是否存在机械限位；云台在当前俯仰姿态下的俯仰轴电机的关节角所述处于第二俯仰关节角范围内时，当所述角度差值满足第二预设俯仰角度要求时，确定云台以最短路径从当前俯仰姿态向预期俯仰姿态运动的过程中是否存在机械限位。
其中确定云台以最短路径从当前俯仰姿态向预期俯仰姿态运动的过程中是否存在机械限位的具体原理和解释可以参见在偏航方向上的确定过程，为了简洁，此处不再赘述。
在某些实施例中，接收外部设备发送的目标方位，将所述目标方位确定云台的预期姿态。具体地，外部设备可以为除云台之外的任何设备，在实际应用中，外部设备可以云台的控制终端，例如遥控器等，当云台被安装在无人飞行器上时，外部设备可以为无人飞行器，云台可以接收外部设备发送的目标方位，其中，在所述目标方位用于指示云台的目标方位，即架设在云台上的有效负载的目标方位，例如指示拍摄设备的目标拍摄方向。其中，在某些情况中，所述目标方位为世界坐标系下的方位。在某些情况中，当外部设备为无人飞行器上的设备时，例如无人飞行器上的飞行控制器，所述方位可以为无人飞行器的机体坐标系下的方位。云台在接收到所述目标方位后，可以将所述目标方位转化成云台的预期姿态，例如，当所述目标方位为目标偏航方位时，可以将所述目标偏航方位转化成云台的预期偏航姿态，当所述目标方位为目标俯仰方位时，可以将所述目标俯仰方位转化成云台的预期俯仰姿态。
本发明实施例提供一种云台。图9为本发明实施例提供的云台的 结构图。如图9所示，本实施例中的云台900，可以包括：存储器901和处理器902，
所述存储器901，用于存储程序代码；
所述处理器902，调用所述程序代码，当所述程序代码被执行时，执行以下操作：
确定云台以最短路径从当前姿态向预期姿态运动的过程中是否存在机械限位；
当确定存在机械限位时，控制云台按照目标运动方向从当前姿态向预期姿态运动，其中，所述目标运动方向为与云台以最短路径从当前姿态向预期姿态运动的运动方向相背离的方向。
在某些实施例中，所述处理器902确定云台以最短路径从当前姿态向预期姿态运动的过程中是否存在机械限位时，具体用于：
确定云台以最短路径从当前偏航姿态向预期偏航姿态运动的过程中是否存在机械限位；
所述处理器902在确定存在机械限位时，控制按照目标运动方向从当前姿态向预期姿态运动时，具体用于：
当确定存在机械限位时，控制按照目标偏航运动方向从当前偏航姿态向预期偏航姿态运动；
其中，所述目标运动方向为与云台以最短路径从当前姿态运动到预期姿态的运动方向相背离的方向包括：所述目标偏航运动方向为与云台以最短路径从当前偏航姿态向预期偏航姿态运动的运动方向相背离的方向。
在某些实施例中，所述处理器902确定云台以最短路径从当前姿态向预期姿态运动的过程中是否存在机械限位时，具体用于：
确定云台以最短路径从当前俯仰姿态向预期俯仰姿态运动的过程中是否存在机械限位；
所述处理器902在确定存在机械限位时，控制按照目标运动方向从当前姿态向预期姿态运动时具体用于：
当确定存在机械限位时，控制按照目标俯仰运动方向从当前俯仰姿态向预期俯仰姿态运动；
其中，所述目标运动方向为与云台以最短路径从当前姿态向预期姿态运动的运动方向相背离的方向包括：所述目标俯仰运动方向为与云台以最短路径从当前俯仰姿态向预期俯仰姿态运动的运动方向相背离的方向。
在某些实施例中，所述处理器902确定云台以最短路径从当前偏航姿态向预期偏航姿态运动的过程中是否存在机械限位时，具体用于：
确定云台以最短路径从当偏航前姿态运动到预期偏航姿态时云台相对于参考偏航姿态转动的角度；
根据所述转动的角度确定云台以最短路径从当前偏航姿态向预期偏航姿态运动的过程中是否存在机械限位。
在某些实施例中，所述处理器902根据所述转动的角度确定云台以最短路径从当前偏航姿态向预期偏航姿态运动的过程中是否存在机械限位时，具体用于：
当所述转动的角度大于云台的偏航限位角度时，确定云台以最短路径从当前偏航姿态向预期偏航姿态运动的过程中是存在机械限位。
在某些实施例中，所述偏航参考姿态为云台的偏航轴电机的关节角为0时云台的偏航姿态。
在某些实施例中，所述处理器902确定云台以最短路径从当前俯仰姿态向预期偏航姿态运动的过程中是否存在机械限位时，具体用于：
确定云台以最短路径从当前俯仰姿态运动到预期俯仰姿态时云台相对于参考俯仰姿态转动的角度；
根据所述转动的角度确定云台以最短路径从当前俯仰姿态向预期偏航姿态运动的过程中是否存在机械限位。
在某些实施例中，所述处理器902根据所述转动的角度确定云台以最短路径从当前俯仰姿态向预期俯仰姿态运动的过程中是否存在机械限位时，具体用于：
当所述转动的角度大于云台的俯仰限位角度时，确定云台以最短路径从当前俯仰姿态向预期俯仰姿态运动的过程中是存在机械限位。
在某些实施例中，所述俯仰参考姿态为云台的俯仰轴电机的关节角为0时云台的俯仰姿态。
在某些实施例中，所述处理器902确定云台以最短路径从当前偏航姿态向预期偏航姿态运动的过程中是否存在机械限位时，具体用于：
确定云台在当前偏航姿态下的偏航轴驱动电机的关节角与云台在预期偏航姿态下的偏航姿态角之间的角度差值；
根据所述差值确定云台以最短路径从当前偏航姿态向预期偏航姿态运动的过程中是否存在机械限位。
在某些实施例中，所述处理器902根据所述角度差值确定云台以最短路径从当前偏航姿态向预期偏航姿态运动的过程中是否存在机械限位时，具体用于：
云台在当前偏航姿态下的偏航轴电机的关节角所述处于第一偏航关节角范围内时，当所述角度差值满足第一预设偏航角度要求时，确定云台以最短路径从当前偏航姿态向预期偏航姿态运动的过程中是否存在机械限位；
云台在当前偏航姿态下的偏航轴电机的关节角所述处于第二偏航关节角范围内时，当所述角度差值满足第二预设偏航角度要求时，确定云台以最短路径从当前偏航姿态向预期偏航姿态运动的过程中是否存在机械限位。
在某些实施例中，所述处理器902确定云台以最短路径从当前俯仰姿态向预期俯仰姿态运动的过程中是否存在机械限位时，具体用于：
确定云台在当前俯仰姿态下的俯仰轴电机的关节角与云台在预期俯仰姿态下的俯仰姿态角之间的角度差值；
根据所述角度差值确定云台以最短路径从当前俯仰姿态向预期俯仰姿态运动的过程中是否存在机械限位。
在某些实施例中，所述处理器902根据所述角度差值确定云台以最短路径从当前俯仰姿态向预期俯仰姿态运动的过程中是否存在机械限位时，具体用于：
云台在当前俯仰姿态下的俯仰轴电机的关节角所述处于第一俯仰关节角范围内时，当所述角度差值满足第一预设俯仰角度要求时，确定云台以最短路径从当前俯仰姿态向预期俯仰姿态运动的过程中是否存在机械限位；
云台在当前俯仰姿态下的俯仰轴电机的关节角所述处于第二俯仰关节角范围内时，当所述角度差值满足第二预设俯仰角度要求时，确定云台以最短路径从当前俯仰姿态向预期俯仰姿态运动的过程中是否存在机械限位。
在某些实施例中，所述处理器902还用于：
当确定不存在机械限位时，控制云台以最短路径从当前姿态运动到预期姿态。
在某些实施例中，所述处理器902还用于：
接收外部设备发送的目标方位；将所述目标方位确定云台的预期姿态。
在某些实施例中，所述目标方位为世界坐标系下的方位。
本发明实施例提供一种无人飞行器，其中，所述无人飞行器包括前述实施例中的云台。
在本发明所提供的几个实施例中，应该理解到，所揭露的装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个***，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两 个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用硬件加软件功能单元的形式实现。
上述以软件功能单元的形式实现的集成的单元，可以存储在一个计算机可读取存储介质中。上述软件功能单元存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)或处理器(processor)执行本发明各个实施例所述方法的部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
本领域技术人员可以清楚地了解到，为描述的方便和简洁，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能模块完成，即将装置的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。上述描述的装置的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (33)

  1. 一种云台的控制方法，其特征在于，包括：
    确定云台以最短路径从当前姿态向预期姿态运动的过程中是否存在机械限位；
    当确定存在机械限位时，控制云台按照目标运动方向从当前姿态向预期姿态运动，其中，所述目标运动方向为与云台以最短路径从当前姿态向预期姿态运动的运动方向相背离的方向。
  2. 根据权利要求1所述的方法，其特征在于，
    所述确定云台以最短路径从当前姿态向预期姿态运动的过程中是否存在机械限位包括：
    确定云台以最短路径从当前偏航姿态向预期偏航姿态运动的过程中是否存在机械限位；
    所述当确定存在机械限位时，控制按照目标运动方向从当前姿态向预期姿态运动，其中，所述目标运动方向为与云台以最短路径从当前姿态运动到预期姿态的运动方向相背离的方向包括：
    当确定存在机械限位时，控制按照目标偏航运动方向从当前偏航姿态向预期偏航姿态运动，其中，所述目标偏航运动方向为与云台以最短路径从当前偏航姿态向预期偏航姿态运动的运动方向相背离的方向。
  3. 根据权利要求1所述的方法，其特征在于，
    所述确定云台以最短路径从当前姿态向预期姿态运动的过程中是否存在机械限位包括：
    确定云台以最短路径从当前俯仰姿态向预期俯仰姿态运动的过程中是否存在机械限位；
    所述当确定存在机械限位时，控制按照目标运动方向从当前姿态向预期姿态运动，其中，所述目标运动方向为与云台以最短路径从当前姿态向预期姿态运动的运动方向相背离的方向包括：
    当确定存在机械限位时，控制按照目标俯仰运动方向从当前俯仰姿态向预期俯仰姿态运动，其中，所述目标俯仰运动方向为与云台以最短路径从当前俯仰姿态向预期俯仰姿态运动的运动方向相背离的方向。
  4. 根据权利要求2所述的方法，其特征在于，所述确定云台以最短路径从当前偏航姿态向预期偏航姿态运动的过程中是否存在机械限位包括：
    确定云台以最短路径从当偏航前姿态运动到预期偏航姿态时云台相对于参考偏航姿态转动的角度；
    根据所述转动的角度确定云台以最短路径从当前偏航姿态向预期偏航姿态运动的过程中是否存在机械限位。
  5. 根据权利要求4所述的方法，其特征在于，所述根据所述转动的角度确定云台以最短路径从当前偏航姿态向预期偏航姿态运动的过程中是否存在机械限位包括：
    当所述转动的角度大于云台的偏航限位角度时，云台以最短路径从当前偏航姿态向预期偏航姿态运动的过程中是存在机械限位。
  6. 根据权利要求4或5所述的方法，其特征在于，所述偏航参考姿态为云台的偏航轴电机的关节角为0时云台的偏航姿态。
  7. 根据权利要求3所述的方法，其特征在于，所述确定云台以最短路径从当前俯仰姿态向预期偏航姿态运动的过程中是否存在机械限位包括：
    确定云台以最短路径从当前俯仰姿态运动到预期俯仰姿态时云台相对于参考俯仰姿态转动的角度；
    根据所述转动的角度确定云台以最短路径从当前俯仰姿态向预期偏航姿态运动的过程中是否存在机械限位。
  8. 根据权利要求7所述的方法，其特征在于，所述根据所述转动的角度确定云台以最短路径从当前俯仰姿态向预期俯仰姿态运动的过程中是否存在机械限位包括：
    当所述转动的角度大于云台的俯仰限位角度时，云台以最短路径从当前俯仰姿态向预期俯仰姿态运动的过程中是存在机械限位。
  9. 根据权利要求7或8所述的方法，其特征在于，所述俯仰参考姿态为云台的俯仰轴电机的关节角为0时云台的俯仰姿态。
  10. 根据权利要求2所述的方法，其特征在于，
    所述确定云台以最短路径从当前偏航姿态向预期偏航姿态运动的过程中是否存在机械限位包括：
    确定云台在当前偏航姿态下的偏航轴驱动电机的关节角与云台在预期偏航姿态下的偏航姿态角之间的角度差值；
    根据所述差值确定云台以最短路径从当前偏航姿态向预期偏航姿态运动的过程中是否存在机械限位。
  11. 根据权利要求10所述的方法，其特征在于，
    所述根据所述角度差值确定云台以最短路径从当前偏航姿态向预期偏航姿态运动的过程中是否存在机械限位包括：
    云台在当前偏航姿态下的偏航轴电机的关节角所述处于第一偏航关节角范围内时，当所述角度差值满足第一预设偏航角度要求时，确定云台以最短路径从当前偏航姿态向预期偏航姿态运动的过程中是否存在机械限位；
    云台在当前偏航姿态下的偏航轴电机的关节角所述处于第二偏航关节角范围内时，当所述角度差值满足第二预设偏航角度要求时，确定云台以最短路径从当前偏航姿态向预期偏航姿态运动的过程中是否存在机械限位。
  12. 根据权利要求3所述的方法，其特征在于，
    所述确定云台以最短路径从当前俯仰姿态向预期俯仰姿态运动的过程中是否存在机械限位包括：
    确定云台在当前俯仰姿态下的俯仰轴电机的关节角与云台在预期俯仰姿态下的俯仰姿态角之间的角度差值；
    根据所述角度差值确定云台以最短路径从当前俯仰姿态向预期俯仰姿态运动的过程中是否存在机械限位。
  13. 根据权利要求12所述的方法，其特征在于，
    所述根据所述角度差值确定云台以最短路径从当前俯仰姿态向预期俯仰姿态运动的过程中是否存在机械限位包括：
    云台在当前俯仰姿态下的俯仰轴电机的关节角所述处于第一俯仰关节角范围内时，当所述角度差值满足第一预设俯仰角度要求时，确定云台以最短路径从当前俯仰姿态向预期俯仰姿态运动的过程中是否存在机械限位；
    云台在当前俯仰姿态下的俯仰轴电机的关节角所述处于第二俯仰关节角范围内时，当所述角度差值满足第二预设俯仰角度要求时，确定云台以最短路径从当前俯仰姿态向预期俯仰姿态运动的过程中是否存在机械限位。
  14. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    当确定不存在机械限位时，控制以最短路径从当前姿态运动到预期姿态。
  15. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    接收外部设备发送的目标方位；
    将所述目标方位确定云台的预期姿态。
  16. 根据权利要求15所述的方法，其特征在于，所述目标方位为世界坐标系下的方位。
  17. 一种云台，其特征在于，包括：存储器和处理器，
    所述存储器，用于存储程序代码；
    所述处理器，调用所述程序代码，当所述程序代码被执行时，执行以下操作：
    确定云台以最短路径从当前姿态向预期姿态运动的过程中是否存在机械限位；
    当确定存在机械限位时，控制云台按照目标运动方向从当前姿态向预期姿态运动，其中，所述目标运动方向为与云台以最短路径从当前姿态向预期姿态运动的运动方向相背离的方向。
  18. 根据权利要求17所述的云台，其特征在于，
    所述处理器确定云台以最短路径从当前姿态向预期姿态运动的过程中是否存在机械限位时，具体用于：
    确定云台以最短路径从当前偏航姿态向预期偏航姿态运动的过程中是否存在机械限位；
    所述处理器在确定存在机械限位时，控制按照目标运动方向从当前姿态向预期姿态运动时，具体用于：
    当确定存在机械限位时，控制按照目标偏航运动方向从当前偏航姿态向预期偏航姿态运动；
    其中，所述目标运动方向为与云台以最短路径从当前姿态运动到预期姿态的运动方向相背离的方向包括：所述目标偏航运动方向为与云台以最短路径从当前偏航姿态向预期偏航姿态运动的运动方向相背离的方向。
  19. 根据权利要求17所述的云台，其特征在于，
    所述处理器确定云台以最短路径从当前姿态向预期姿态运动的过程中是否存在机械限位时，具体用于：
    确定云台以最短路径从当前俯仰姿态向预期俯仰姿态运动的过程中是否存在机械限位；
    所述处理器在确定存在机械限位时，控制按照目标运动方向从当 前姿态向预期姿态运动时具体用于：
    当确定存在机械限位时，控制按照目标俯仰运动方向从当前俯仰姿态向预期俯仰姿态运动；
    其中，所述目标运动方向为与云台以最短路径从当前姿态向预期姿态运动的运动方向相背离的方向包括：所述目标俯仰运动方向为与云台以最短路径从当前俯仰姿态向预期俯仰姿态运动的运动方向相背离的方向。
  20. 根据权利要求18所述的云台，其特征在于，所述处理器确定云台以最短路径从当前偏航姿态向预期偏航姿态运动的过程中是否存在机械限位时，具体用于：
    确定云台以最短路径从当偏航前姿态运动到预期偏航姿态时云台相对于参考偏航姿态转动的角度；
    根据所述转动的角度确定云台以最短路径从当前偏航姿态向预期偏航姿态运动的过程中是否存在机械限位。
  21. 根据权利要求20所述的云台，其特征在于，所述处理器根据所述转动的角度确定云台以最短路径从当前偏航姿态向预期偏航姿态运动的过程中是否存在机械限位时，具体用于：
    当所述转动的角度大于云台的偏航限位角度时，确定云台以最短路径从当前偏航姿态向预期偏航姿态运动的过程中是存在机械限位。
  22. 根据权利要求20或21所述的云台，其特征在于，所述偏航参考姿态为云台的偏航轴电机的关节角为0时云台的偏航姿态。
  23. 根据权利要求19所述的云台，其特征在于，所述处理器确定云台以最短路径从当前俯仰姿态向预期偏航姿态运动的过程中是否存在机械限位时，具体用于：
    确定云台以最短路径从当前俯仰姿态运动到预期俯仰姿态时云台相对于参考俯仰姿态转动的角度；
    根据所述转动的角度确定云台以最短路径从当前俯仰姿态向预期偏航姿态运动的过程中是否存在机械限位。
  24. 根据权利要求23所述的云台，其特征在于，所述处理器根据所述转动的角度确定云台以最短路径从当前俯仰姿态向预期俯仰姿态运动的过程中是否存在机械限位时，具体用于：
    当所述转动的角度大于云台的俯仰限位角度时，确定云台以最短路径从当前俯仰姿态向预期俯仰姿态运动的过程中是存在机械限位。
  25. 根据权利要求23或24所述的云台，其特征在于，所述俯仰参考姿态为云台的俯仰轴电机的关节角为0时云台的俯仰姿态。
  26. 根据权利要求18所述的云台，其特征在于，
    所述处理器确定云台以最短路径从当前偏航姿态向预期偏航姿态运动的过程中是否存在机械限位时，具体用于：
    确定云台在当前偏航姿态下的偏航轴驱动电机的关节角与云台在预期偏航姿态下的偏航姿态角之间的角度差值；
    根据所述差值确定云台以最短路径从当前偏航姿态向预期偏航姿态运动的过程中是否存在机械限位。
  27. 根据权利要求26所述的云台，其特征在于，
    所述处理器根据所述角度差值确定云台以最短路径从当前偏航姿态向预期偏航姿态运动的过程中是否存在机械限位时，具体用于：
    云台在当前偏航姿态下的偏航轴电机的关节角所述处于第一偏航关节角范围内时，当所述角度差值满足第一预设偏航角度要求时，确定云台以最短路径从当前偏航姿态向预期偏航姿态运动的过程中是否存在机械限位；
    云台在当前偏航姿态下的偏航轴电机的关节角所述处于第二偏航关节角范围内时，当所述角度差值满足第二预设偏航角度要求时，确定云台以最短路径从当前偏航姿态向预期偏航姿态运动的过程中 是否存在机械限位。
  28. 根据权利要求19所述的云台，其特征在于，
    所述处理器确定云台以最短路径从当前俯仰姿态向预期俯仰姿态运动的过程中是否存在机械限位时，具体用于：
    确定云台在当前俯仰姿态下的俯仰轴电机的关节角与云台在预期俯仰姿态下的俯仰姿态角之间的角度差值；
    根据所述角度差值确定云台以最短路径从当前俯仰姿态向预期俯仰姿态运动的过程中是否存在机械限位。
  29. 根据权利要求28所述的云台，其特征在于，
    所述处理器根据所述角度差值确定云台以最短路径从当前俯仰姿态向预期俯仰姿态运动的过程中是否存在机械限位时，具体用于：
    云台在当前俯仰姿态下的俯仰轴电机的关节角所述处于第一俯仰关节角范围内时，当所述角度差值满足第一预设俯仰角度要求时，确定云台以最短路径从当前俯仰姿态向预期俯仰姿态运动的过程中是否存在机械限位；
    云台在当前俯仰姿态下的俯仰轴电机的关节角所述处于第二俯仰关节角范围内时，当所述角度差值满足第二预设俯仰角度要求时，确定云台以最短路径从当前俯仰姿态向预期俯仰姿态运动的过程中是否存在机械限位。
  30. 根据权利要求17所述的云台，其特征在于，所述处理器还用于：
    当确定不存在机械限位时，控制云台以最短路径从当前姿态运动到预期姿态。
  31. 根据权利要求17所述的云台，其特征在于，所述处理器还用于：
    接收外部设备发送的目标方位；
    将所述目标方位确定云台的预期姿态。
  32. 根据权利要求31所述的云台，其特征在于，所述目标方位为世界坐标系下的方位。
  33. 一种无人飞行器，其特征在于，包括权利要求17-32任一项所述的云台。
PCT/CN2017/112318 2017-11-22 2017-11-22 云台的控制方法、云台以及无人飞行器 WO2019100249A1 (zh)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN201780007443.5A CN108521777B (zh) 2017-11-22 2017-11-22 云台的控制方法、云台以及无人飞行器
PCT/CN2017/112318 WO2019100249A1 (zh) 2017-11-22 2017-11-22 云台的控制方法、云台以及无人飞行器
US16/871,853 US20200271269A1 (en) 2017-11-22 2020-05-11 Method of controlling gimbal, gimbal, and unmanned aerial vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/112318 WO2019100249A1 (zh) 2017-11-22 2017-11-22 云台的控制方法、云台以及无人飞行器

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US16/871,853 Continuation US20200271269A1 (en) 2017-11-22 2020-05-11 Method of controlling gimbal, gimbal, and unmanned aerial vehicle

Publications (1)

Publication Number Publication Date
WO2019100249A1 true WO2019100249A1 (zh) 2019-05-31

Family

ID=63434488

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/112318 WO2019100249A1 (zh) 2017-11-22 2017-11-22 云台的控制方法、云台以及无人飞行器

Country Status (3)

Country Link
US (1) US20200271269A1 (zh)
CN (1) CN108521777B (zh)
WO (1) WO2019100249A1 (zh)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110291013B (zh) * 2018-11-30 2021-12-17 深圳市大疆创新科技有限公司 云台的控制方法、云台及无人飞行器
CN108536177A (zh) * 2018-04-03 2018-09-14 北京爱科迪通信技术股份有限公司 一种用于提高位置控制***中限位精度的方法
WO2020087354A1 (zh) * 2018-10-31 2020-05-07 深圳市大疆创新科技有限公司 竖向增稳机构及其控制方法以及可移动设备
EP3889729A4 (en) * 2018-11-28 2022-07-13 SZ DJI Technology Co., Ltd. ORDERING METHOD FOR GIMBAL, GIMBAL, MOBILE PLATFORM AND COMPUTER READABLE DATA MEDIA
CN114967737A (zh) * 2019-07-12 2022-08-30 深圳市道通智能航空技术股份有限公司 一种飞行器控制方法及飞行器
WO2021026748A1 (zh) * 2019-08-13 2021-02-18 深圳市大疆创新科技有限公司 拍摄检测方法、装置、云台、***及存储介质
CN113168191A (zh) * 2020-06-01 2021-07-23 深圳市大疆创新科技有限公司 云台控制方法、手持云台及计算机可读存储介质
WO2022109801A1 (zh) * 2020-11-24 2022-06-02 深圳市大疆创新科技有限公司 云台和飞行器的协同控制方法和***
TWI795987B (zh) * 2021-11-08 2023-03-11 致伸科技股份有限公司 雲台裝置

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5448144A (en) * 1991-11-22 1995-09-05 Kabushiki Kaisha Yaskawa Denki Method and apparatus for controlling a robot
CN103268124A (zh) * 2013-04-22 2013-08-28 天津市亚安科技股份有限公司 一种云台运动的控制方法及其云台
CN106029503A (zh) * 2015-07-02 2016-10-12 深圳市大疆创新科技有限公司 限位装置及具有该限位装置的无人飞行器
EP3139239A1 (en) * 2014-04-30 2017-03-08 SZ DJI Technology Co., Ltd. Control apparatus, cradle head using same, and cradle head control method
CN106569512A (zh) * 2016-11-04 2017-04-19 极翼机器人(上海)有限公司 一种云台校准方法
CN107003678A (zh) * 2016-12-15 2017-08-01 深圳市大疆创新科技有限公司 控制方法、装置、设备及可移动平台

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101650570B (zh) * 2009-09-10 2012-05-23 成都六九一四科技有限公司 智能云台对准***
CN101907217B (zh) * 2010-06-29 2013-03-27 浙江天地人科技有限公司 高精度定位云台
CN102566602A (zh) * 2012-02-29 2012-07-11 天津天地伟业数码科技有限公司 提升球型摄像机预置位精度的方法
CN204904097U (zh) * 2015-09-01 2015-12-23 东莞前沿技术研究院 单轴回转装置及具有其的单轴回转云台、浮空设备
CN206496173U (zh) * 2016-12-30 2017-09-15 深圳一电航空技术有限公司 防过转结构和云台
CN107272699A (zh) * 2017-07-25 2017-10-20 中央民族大学 智能机器人路径规划方法以及***

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5448144A (en) * 1991-11-22 1995-09-05 Kabushiki Kaisha Yaskawa Denki Method and apparatus for controlling a robot
CN103268124A (zh) * 2013-04-22 2013-08-28 天津市亚安科技股份有限公司 一种云台运动的控制方法及其云台
EP3139239A1 (en) * 2014-04-30 2017-03-08 SZ DJI Technology Co., Ltd. Control apparatus, cradle head using same, and cradle head control method
CN106029503A (zh) * 2015-07-02 2016-10-12 深圳市大疆创新科技有限公司 限位装置及具有该限位装置的无人飞行器
CN106569512A (zh) * 2016-11-04 2017-04-19 极翼机器人(上海)有限公司 一种云台校准方法
CN107003678A (zh) * 2016-12-15 2017-08-01 深圳市大疆创新科技有限公司 控制方法、装置、设备及可移动平台

Also Published As

Publication number Publication date
US20200271269A1 (en) 2020-08-27
CN108521777B (zh) 2022-06-03
CN108521777A (zh) 2018-09-11

Similar Documents

Publication Publication Date Title
WO2019100249A1 (zh) 云台的控制方法、云台以及无人飞行器
US11592138B2 (en) Gimbal, control method thereof, and UAV
WO2020215215A1 (zh) 一种云台控制方法、设备、云台、***及存储介质
WO2018120132A1 (zh) 控制方法、装置、设备及无人飞行器
EP3734395A1 (en) Method for switching operating mode of gimbal, and controller and image stability augmentation device
US20200213518A1 (en) Method for controlling gimbal, gimbal controller, and gimbal
WO2018107419A1 (zh) 控制方法、装置、设备及可移动平台
WO2019134154A1 (zh) 非正交云台的控制方法及其云台和存储装置
WO2020097890A1 (zh) 手持云台的控制方法和手持云台
WO2020211813A1 (zh) 立面环绕飞行的控制方法、装置、终端及存储介质
WO2019155335A1 (en) Unmanned aerial vehicle including an omnidirectional depth sensing and obstacle avoidance aerial system and method of operating same
WO2020140295A1 (zh) 手持云台控制方法和手持云台
WO2017181513A1 (zh) 无人机的飞行控制方法和装置
WO2019051640A1 (zh) 云台的控制方法、控制器和云台
US20200338731A1 (en) Mobile robotic camera platform
US20210018138A1 (en) Gimbal mode switching method, device, mobile platform and storage medium
WO2020042159A1 (zh) 一种云台的转动控制方法、装置及控制设备、移动平台
WO2018191971A1 (zh) 一种云台的控制方法以及云台
WO2021168821A1 (zh) 可移动平台的控制方法和设备
CN110291013B (zh) 云台的控制方法、云台及无人飞行器
WO2018214015A1 (zh) 一种航向修正方法、设备及飞行器
WO2021051302A1 (zh) 手持云台及其控制方法
WO2021026760A1 (zh) 云台***及其控制方法
CN113942656A (zh) 云台的控制方法、云台及无人飞行器
WO2023238631A1 (ja) 制御方法、ジンバル、飛翔体、ジンバル付き飛翔体及びプログラム

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17932793

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17932793

Country of ref document: EP

Kind code of ref document: A1