WO2019148394A1 - 云台的控制方法及装置、云台、拍摄设备、可读存储介质 - Google Patents

云台的控制方法及装置、云台、拍摄设备、可读存储介质 Download PDF

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Publication number
WO2019148394A1
WO2019148394A1 PCT/CN2018/074825 CN2018074825W WO2019148394A1 WO 2019148394 A1 WO2019148394 A1 WO 2019148394A1 CN 2018074825 W CN2018074825 W CN 2018074825W WO 2019148394 A1 WO2019148394 A1 WO 2019148394A1
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WO
WIPO (PCT)
Prior art keywords
pan
tilt
joint angle
desired position
rotation
Prior art date
Application number
PCT/CN2018/074825
Other languages
English (en)
French (fr)
Inventor
刘帅
王映知
王振动
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 PCT/CN2018/074825 priority Critical patent/WO2019148394A1/zh
Priority to CN201880012693.2A priority patent/CN110325941A/zh
Publication of WO2019148394A1 publication Critical patent/WO2019148394A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction

Definitions

  • the present application relates to the field of pan/tilt control, and in particular, to a method and device for controlling a pan/tilt, a pan/tilt head, a photographing device, and a readable storage medium.
  • the pan/tilt head is generally driven by a plurality of motors.
  • the three-axis pan/tilt head includes a yaw axis motor, a roll axis motor, and a pitch axis. Motor.
  • the yaw axis When the yaw axis is operated, if the user activates the manual adjustment function, the pan/tilt can be stopped at the corresponding position when the user pushes the gimbal by hand. If the user does not activate the manual adjustment function, then the user will release the hand after pushing the gimbal by hand, and the gimbal will turn.
  • the pan/tilt is provided with a rotation limit. Therefore, if the pan/tilt rotation is not controlled, it is easy to cause the gimbal to hit the rotation limit when it rotates and cannot reach the desired position.
  • the application provides a method and device for controlling a pan/tilt, a pan/tilt head, a photographing device, and a readable storage medium.
  • Embodiments of the present application provide a method for controlling a pan/tilt.
  • the control method of the pan/tilt head includes:
  • the pan/tilt is controlled to rotate from the second position to the desired position along the second direction.
  • the second direction of the second position to the desired position is determined according to the rotation rule of the rotation area of the pan/tilt, and the pan/tilt is controlled to rotate from the second position to the desired position along the second direction, Since the second direction conforms to the rotation rule of the rotation area of the pan/tilt head, and the positional uniqueness of the second position and the desired position in the rotation area, the situation that the pan head is prevented from hitting the rotation limit and cannot reach the desired position can be prevented. User experience is good.
  • Embodiments of the present application provide a control device for a pan/tilt.
  • the control device includes: one or more processors operating separately or in common, the processor being electrically coupled to the cloud platform; the processor for:
  • the pan/tilt is controlled to rotate from the second position to the desired position along the second direction.
  • the control device of the pan/tilt head determines the second direction from the second position to the desired position according to the rotation rule of the rotation area of the pan-tilt, and controls the pan-tilt to rotate from the second position to the desired position along the second direction, Since the second direction conforms to the rotation rule of the rotation area of the pan/tilt head, and the positional uniqueness of the second position and the desired position in the rotation area, the situation that the pan head is prevented from hitting the rotation limit and cannot reach the desired position can be prevented. User experience is good.
  • Embodiments of the present application provide a pan/tilt.
  • the pan/tilt includes the control device of the pan/tilt head of the above embodiment.
  • the pan/tilt of the present embodiment determines the second direction of the second position to the desired position according to the rotation rule of the rotation area of the pan/tilt, and controls the pan/tilt to rotate from the second position to the desired position along the second direction,
  • the two directions are in accordance with the rotation rule of the rotation area of the pan/tilt head, and the unique position of the second position and the desired position in the rotation area, thereby preventing the situation that the pan-tilt head hits the rotation limit and cannot reach the desired position when the pan-tilt is rotated, and the user experience Good sex.
  • An embodiment of the present application provides a photographing apparatus.
  • the photographing apparatus includes a pan/tilt head and a control device of the pan/tilt head of the above embodiment.
  • the control device of the pan/tilt is electrically connected to the pan/tilt.
  • the photographing apparatus of the present embodiment determines the second direction of the second position to the desired position according to the rotation rule of the rotation area of the pan-tilt, and controls the pan-tilt to rotate from the second position to the desired position along the second direction,
  • the two directions are in accordance with the rotation rule of the rotation area of the pan/tilt head, and the unique position of the second position and the desired position in the rotation area, thereby preventing the situation that the pan-tilt head hits the rotation limit and cannot reach the desired position when the pan-tilt is rotated, and the user experience Good sex.
  • An embodiment of the present application provides a computer readable storage medium having stored thereon a computer program that, when executed by a processor, implements the control method of the pan/tilt of the above embodiment.
  • FIG. 1 is a flowchart of a method for controlling a pan/tilt in an embodiment of the present application.
  • FIG. 2 is a schematic block diagram of a photographing apparatus according to an embodiment of the present application.
  • FIG. 3 is a schematic diagram of a rotation process of a pan/tilt head according to an embodiment of the present application.
  • FIG. 4 is another flow chart of a method for controlling a pan/tilt in the embodiment of the present application.
  • FIG. 5 is still another flowchart of the method for controlling the pan/tilt in the embodiment of the present application.
  • FIG. 6 is a schematic view showing an angular range of a rotation area of a pan/tilt head according to an embodiment of the present application.
  • FIG. 7 is a schematic diagram showing the division of the rotation area of the pan/tilt head according to the embodiment of the present application.
  • FIG. 8 is still another flowchart of the method for controlling the pan/tilt in the embodiment of the present application.
  • FIG. 9 is a schematic block diagram of a pan/tilt head according to an embodiment of the present application.
  • FIG. 10 is still another flowchart of the method for controlling the pan/tilt in the embodiment of the present application.
  • FIG. 11 is still another flowchart of the method for controlling the pan/tilt in the embodiment of the present application.
  • FIG. 12 is a schematic structural diagram of a pan/tilt head according to an embodiment of the present application.
  • first and second are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.
  • features defining “first” or “second” may include one or more of the described features either explicitly or implicitly.
  • the meaning of "a plurality" is two or more unless specifically and specifically defined otherwise.
  • connection In the description of the present application, it should be noted that the terms “installation”, “connected”, and “connected” are to be understood broadly, and may be fixed or detachable, for example, unless otherwise specifically defined and defined. Connected, or integrally connected; may be mechanically connected, or may be electrically connected or may communicate with each other; may be directly connected or indirectly connected through an intermediate medium, may be internal communication of two elements or interaction of two elements relationship.
  • Connected, or integrally connected may be mechanically connected, or may be electrically connected or may communicate with each other; may be directly connected or indirectly connected through an intermediate medium, may be internal communication of two elements or interaction of two elements relationship.
  • the specific meanings of the above terms in the present application can be understood on a case-by-case basis.
  • control method of the pan/tilt in the embodiment of the present application can be implemented by the control device 10 of the pan/tilt in the embodiment of the present application, and is applied to the photographing apparatus 100 of the embodiment of the present application.
  • the control methods of the gimbal include:
  • Step S10 when the pan/tilt head 20 is passively rotated from the first position to the second position in the first direction, the desired position when the pan/tilt head 20 is rotated is obtained;
  • Step S20 determining a second direction from the second position to the desired position according to a rotation rule of the rotation area of the pan/tilt;
  • step S30 the control platform 20 is rotated from the second position to the desired position along the second direction.
  • the control device 10 of the pan/tilt head of the embodiment of the present application includes one or more processors 12 that operate separately or in combination, and the processor 12 is electrically connected to the pan/tilt head 20.
  • the control device 10 of the pan/tilt may include a memory 14, which may include a volatile memory such as a random-access memory (RAM); the memory 14 may also include a non-volatile memory (non- Volatile memory), such as flash memory, hard disk drive (HDD) or solid-state drive (SSD); used to store program instructions.
  • the processor 12 can call the program instructions to implement the corresponding control method of the pan/tilt.
  • the processor 12 is configured to:
  • the control platform 20 is rotated from the second position to the desired position in the second direction.
  • steps S10, S20, and S30 of the pan/tilt control method of the embodiment of the present application can be implemented by the processor 12.
  • the control method of the pan/tilt head 20 of the embodiment of the present application and the control device 10 of the pan/tilt head determine the second direction from the second position to the desired position according to the rotation rule of the rotation area of the pan-tilt, and control the pan-tilt head 20 along the second direction Rotating from the second position to the desired position, since the second direction conforms to the rotation rule of the rotation area of the gimbal, and the positional uniqueness of the second position and the desired position in the rotation area, thereby preventing the collision of the pan head 20 when it is rotated
  • the user experience is good when the limit is turned to the desired position.
  • the platform 20 may be a supporting device for mounting and fixing a load 110 such as a camera or a sensor.
  • the Yuntai 20 can be a two-axis pan/tilt or a three-axis pan/tilt.
  • the pan-tilt head is taken as an example of a three-axis pan/tilt head. Referring to FIG.
  • the platform 20 may include a yaw axis arm 21, a roll axis arm 23, a pitch axis arm 25, and a yaw axis motor 22 for controlling the rotation of the yaw axis arm 21 for
  • a roll axis motor 24 for controlling the rotation about the roll axis arm 23, and a pitch axis motor 26 for controlling the rotation about the pitch axis arm 25 are provided by the yaw axis motor 22, the roll axis motor 24, and the pitch axis motor 26
  • the rotation of the yaw axis arm 21, the roll axis arm 23, and the pitch axis arm 25 is controlled to realize the control of the attitude of the pan/tilt head 20.
  • the desired position when the pan/tilt head 20 is rotated can be set by the user before the pan/tilt head 20 is passively rotated from the first position to the second position in the first direction or set during the rotation or the pan/tilt head 20 is rotated. Set to the second position.
  • the desired position when the pan/tilt head 20 is rotated may be any position of the first position, the second position, or the rotating position of the pan/tilt head 20, which is not limited herein.
  • the pan/tilt head 20 is passively rotated. It can be understood that the attitude change of the pan/tilt head 20 is not controlled by the yaw axis motor 22, the roll axis motor 24, and the pitch axis motor 26 of the pan/tilt head 20. of.
  • the attitude change of the pan/tilt head 20 can be monitored in real time by an IMU inertial measurement unit mounted on the pan/tilt head 20. After monitoring the change of the attitude of the pan/tilt head 20 by the IMU inertial measurement unit, it can be determined whether the yaw axis motor 22, the roll axis motor 24, and the pitch axis motor 26 receive the processor 12 of the pan/tilt head 20 or the flight controller.
  • the driving signal if neither the yaw axis motor 22, the roll axis motor 24, and the pitch axis motor 26 receives the driving signal sent by the processor 12 of the pan/tilt head 20 or the flight controller, it can be determined that the attitude change of the pan/tilt head 20 is Passively realized.
  • the implementation manner that the pan/tilt head 20 is passively rotated from the first position to the second position in the first direction may be that the user pushes the platform 20 so that the platform 20 rotates from the first position along the first direction to the second position.
  • the position may also be used to push the platform 20 for other external forces such that the platform 20 is rotated from the first position in the first direction to the second position.
  • the rotation area of the pan/tilt in the embodiment of the present application actually reflects the difference in the rotation path of the gimbal 20 in the three-dimensional space, and can be set according to actual needs.
  • the rotation area of the pan/tilt can be divided into a plurality of sub-areas according to the rotation angle of the pan/tilt head 20, and the rotation rule of the rotation area of the pan/tilt head can be understood as being set according to the plurality of sub-areas divided by the rotation angle. Rotate the order.
  • the rotation area of the pan/tilt can be divided into a plurality of sub-areas according to the arc length of the pan-tilt 20, and the rotation rule of the rotation area of the gimbal can be understood as a plurality of sub-areas divided according to the rotation arc length. And set the rotation order.
  • the rotation rule of the rotation area of the gimbal actually reflects the rules that the gimbal 20 obeys when it rotates in the three-dimensional space, and can be set according to actual needs and with different parameters, and is not limited herein. .
  • the second direction of the embodiment of the present application may be a direction opposite to the first direction, or may be the same direction as the first direction, or any other direction that can be returned to the desired position, which is not limited herein.
  • the desired location includes a first location or a preset location. In this way, the gimbal can be returned to different locations according to different needs, and the operation is flexible and the user experience is good.
  • the preset position is the second position and the platform 20 is passively rotated from the first position to the second position in the first direction, the platform 20 will stop at the second position.
  • step S30 when the desired position is the first position, and the rotating area of the platform 20 rotating from the first position to the second position comprises a partially repeated rotating area, step S30 includes:
  • the control platform 20 is rotated from the second position to the desired position in a second direction or in a direction opposite the first direction.
  • the processor 12 is configured to control the pan/tilt to rotate from the second position to the desired position in a second direction or in a direction opposite the first direction.
  • step S30 can be implemented by the processor 12.
  • the platform 20 can be quickly and accurately returned to the desired position.
  • the pan/tilt head 20 moves from the first position A to the position B to the position C and then returns to the position B, that is, the rotation area from the position B to the position C and the slave position C.
  • the rotation area of the return position B is a repeated rotation area, and the user sets the first position A to the desired position that the pan/tilt needs to return.
  • the platform 20 can return directly from position B to position A along the second direction.
  • the platform 20 can be returned from the second position to the desired position in a direction opposite to the first direction, that is, the platform 20 can be returned along the original path, that is, from position B to position C. Return to position B to position A.
  • the specific rotation direction can be determined by the rotation rule of the rotation area of the gimbal, and the rotation rule of the rotation area of the gimbal allows the gimbal 20 to follow the second direction and the direction opposite to the first direction.
  • the shortest rotation path of the pan/tilt head 20 in the opposite direction of the second direction and the first direction can be controlled to be rotated to the desired position.
  • step S20 includes the steps of:
  • processor 12 is configured to:
  • first joint angle is smaller than the second joint angle, determining that the joint angle increasing direction is the second direction from the second position to the desired position;
  • first joint angle is greater than the second joint angle, determining that the joint angle decreases direction is the second direction from the second position to the desired position.
  • step S22, step S24, step S26 can be implemented by the processor 12.
  • the second direction can be obtained quickly and accurately, so that the pan/tilt can be returned to the desired position according to the second direction.
  • the meaning of the first joint angle of the gimbal 20 in the second position is explained as follows: when the rotating area of the gimbal has positive and negative points, the joint angle of the gimbal 20 in the second position may refer to the gimbal 20 from the opposite side. The angle at which the zero position of the platform 20 is rotated when the zero position is rotated in the forward or reverse direction to the second position.
  • the joint angle of the pan/tilt head 20 in the second position may refer to the angle at which the pan/tilt head 20 rotates when the pan/tilt head 20 is rotated from the first limit angle to the second position, or the cloud The angle at which the platform 20 rotates when the table 20 is rotated from the second limit angle to the second position.
  • the rotating area of the gimbal is provided with a mechanical limit to limit the size of the joint angle of the gimbal in the rotating area of the gimbal.
  • the meaning of the second joint angle of the gimbal 20 at the desired position is similar to the interpretation of the meaning of the first joint angle of the gimbal 20 at the second position, but the rules for determining the first joint angle and the second joint angle are the same, here is not Let me repeat.
  • the rotation direction of the rotation zone of the pan-tilt head may be the minimum joint angle of the pan-tilt head 20 to the maximum joint angle of the pan-tilt head 20, Or, it is the minimum joint angle of the maximum joint angle of the pan/tilt head 20 to the pan/tilt head 20.
  • the second direction from the second position to the desired position may be the direction in which the shutdown angle is increased, that is, the maximum joint angle with the platform 20 to the maximum joint of the platform 20
  • the direction of the angle is the same
  • the first joint angle is greater than the second joint angle
  • the second direction from the second position to the desired position may be the direction in which the shutdown angle is reduced, that is, the maximum joint angle with the pan/tilt 20 to the minimum of the pan/tilt head 20
  • the joint angles are in the same direction
  • the pan/tilt head 20 can be rotated forward and reverse.
  • the range of forward and reverse rotation can be greater than 180 degrees and less than 360 degrees.
  • the cloud The angle of rotation of the table 20 can be greater than 360 degrees.
  • the pan/tilt joint angle of the rotating area of the pan/tilt is greater than 360 degrees, and the rotating area is divided into a plurality of sub-areas according to a preset rule, and step S30 includes:
  • Step S32 determining a difference between the first joint angle and the second joint angle
  • Step S34 if the difference satisfies the first condition, the control platform 20 is rotated from the second position to the desired position along the second direction;
  • Step S36 if the difference does not satisfy the first condition, the control platform 20 is rotated from the second position by the first angle in the second direction, and the new position of the pan/tilt head 20 is obtained as the second position after the rotation, and the step is repeated. Until the difference is determined to satisfy the first condition;
  • the first angle is determined according to the attitude of the gimbal 20 at the second position and the attitude of the gimbal at the desired position.
  • processor 12 is configured to:
  • control platform 20 is rotated from the second position by the first angle in the second direction, and the new position of the pan/tilt head 20 is obtained as the second position after the rotation, and the step is repeated until the difference is determined.
  • the value satisfies the first condition
  • the first angle is determined according to the attitude of the platform 20 at the second position and the attitude of the platform 20 at the desired position.
  • step S32, step S34, step S36 can be implemented by the processor.
  • the rotation of the pan/tilt head 20 is controlled, and the situation that the pan head 20 may hit the limit position when the pan head 20 is rotated can be avoided.
  • step S36 when step S36 is repeatedly performed, after acquiring the new position of the pan/tilt head 20 after the rotation is the second position, the step S36 may include determining that the new position of the pan/tilt head 20 after the rotation is the first position of the second position. a joint angle, that is, a first joint angle of the new second position, and determining a difference between the first joint angle and the second joint angle of the new second position, and then determining the difference and the first condition correspondingly, This is repeated until the difference between the first joint angle and the second joint angle of the new second position satisfies the first condition.
  • FIG. 5 is mainly an exemplary illustration of the continuous rotation of the control pan/tilt head 20 according to the first angle. In practice, the corresponding step 36 of the above description may be described.
  • the first angle may be according to the attitude of the gimbal 20 at the new second position and the pan/tilt 20 at the desired position. Gesture determination.
  • the first angle may also be a preset angle, which is not specifically limited herein.
  • the joint angle of the gimbal is greater than 360 degrees, that is, the gimbal can achieve more than 360 in the rotating area. Degree of rotation.
  • the rotation area of the pan/tilt head of the embodiment of the present application includes a forward rotation area and a reverse rotation area, wherein the gimbal joint angle of the forward rotation area is greater than 180 degrees and less than 360 degrees, and the gimbal joint angle of the reverse rotation area is less than minus 180 degrees and It is greater than minus 360 degrees, wherein the positive angle represents the area where the gimbal position is the forward rotation area, and the negative angle represents the area where the gimbal position is located is the reverse rotation area.
  • the joint angle of the forward rotation region ranges from 0 degrees to the angle at which the OD line is located, where O represents the rotation center of the pan/tilt, and the 0 degree position of the forward rotation region is the positive direction of the Y-axis, and the point D represents The maximum joint angular position of the forward rotation area.
  • the maximum joint angular position of the forward rotation region is 340 degrees, that is, in Fig. 6, when the pan/tilt is rotated from the 0 degree position in the forward rotation direction X1 to the position D, the rotation should be stopped, otherwise it will collide. To the limit of the forward rotation area.
  • the joint angle of the inversion region ranges from 0 degrees to the angle at which the OA line is located, wherein the 0 degree position of the inversion region is the positive direction of the Y axis, and the point A represents the minimum joint angular position of the inversion region. .
  • the minimum joint angular position of the inversion region is -340 degrees, that is, in Fig. 6, when the pan/tilt is rotated from the 0 degree position in the reverse direction X2 to the position A, the rotation should be stopped, otherwise it will collide.
  • the forward rotation direction X1 is a clockwise direction
  • the reverse rotation direction X2 is a counterclockwise direction.
  • the gimbal joint angle of the forward rotation region means that, in the forward rotation region, the pan/tilt head 20 is rotated from the 0 degree position along the forward rotation direction X1 to the maximum joint angular position D of the forward rotation region.
  • the gimbal joint angle of the inversion region is an angle at which the pan/tilt head 20 rotates when the pan-tilt head 20 is rotated by the 0-degree position from the 0-degree position to the minimum joint-angle position A of the inversion region in the inversion region.
  • the maximum joint angle position of the forward rotation region and the minimum joint angular position of the reverse rotation region are all provided with mechanical limit positions.
  • the rotation rule of the rotation area of the gimbal can be understood as: on the one hand, the forward rotation area of the gimbal is divided into a plurality of positive rotor areas, and the gimbal 20 can be rotated according to the regular sequence of the positive rotor area, the cloud The table 20 cannot cross the maximum joint angular position when rotating in the forward rotation region.
  • the inverted area of the pan/tilt is divided into a plurality of inverted sub-areas, and the pan/tilt head 20 can be rotated according to the regular order of the inverted sub-areas, and the pan-tilt head 20 cannot cross the minimum joint-angle position when rotating in the reversed area. .
  • pan/tilt head 20 can enter the reversal zone beyond the minimum joint angular position of the forward rotation zone when the forward rotation zone rotates; the gimbal 20 can enter the positive joint angle position of the reversal zone when rotating in the reversal zone. Transfer area.
  • the second joint angle of the desired position is 30 degrees, that is, the current position of the platform 20 is in the reversed area, and the desired position is in the forward direction. region. Since the first joint angle is smaller than the second joint angle, the control pan/tilt head 20 is returned from the second position to the desired position in the forward rotation direction X1 according to the second direction in which the joint angle is increased as the second position to the desired position. In another example, if the first joint angle of the second position is 140 degrees, and the second joint angle of the desired position is 30 degrees, that is, the current position of the pan/tilt head 20 is in the forward rotation area, and the desired position is in the forward direction. The region, since the first joint angle is larger than the second joint angle, according to the second direction in which the joint angle is reduced as the second position to the desired position, the control platform 20 is returned from the second position to the desired direction along the reverse direction X2. position.
  • the second direction can be determined by comparing the first joint angle and the second joint angle. Further, in the embodiment of the present application, whether the difference between the first joint angle and the second joint angle satisfies the first condition is further satisfied.
  • the rotation of the pan/tilt head 20 is controlled to a desired position.
  • the first condition is that the absolute value of the difference between the first joint angle and the second joint angle is less than or equal to 180 degrees. That is, when the difference between the first joint angle and the second joint angle is less than or equal to 180 degrees, the processor 12 controls the pan/tilt head 20 to rotate from the second position to the desired position in the second direction. For example, when the first joint angle is 140 and the second joint angle is 30 degrees.
  • the second direction is the reverse direction X2, and the difference between the first joint angle and the second joint angle is 110 degrees and less than 180 degrees.
  • the device 12 can directly control the pan/tilt to rotate from the second position to the desired position along the second direction X2.
  • the processor 12 controls the pan/tilt head 20 to rotate the first angle from the second position along the second direction, and then acquires the rotation.
  • the new position of the pan/tilt head 20 is the second position. If the difference between the first joint angle and the second joint angle corresponding to the new second position is still greater than 180 degrees, the processor 12 continues to control the pan/tilt head 20 to rotate to a new position. The first angle obtained by the two positions is cycled until the absolute value of the difference between the first joint angle and the second joint angle is less than or equal to 180 degrees, and the processor 12 controls the pan/tilt head 20 to directly return to the desired position.
  • the second direction is the reverse direction according to the comparison of the first joint angle and the second joint angle, due to the first joint.
  • the angle between the angle and the second joint angle is 210 degrees greater than 180 degrees.
  • the processor 12 can control the pan head 20 to rotate the first angle in the reverse direction X2.
  • the processor 12 acquires the cloud after the rotation.
  • the first joint angle of the new position of the table 20 the processor 12 determines whether the difference between the newly obtained first joint angle and the second joint angle is greater than 180 degrees, and if so, the processor 12 continues to control the pan/tilt 20 along the reverse The direction X2 is rotated by the corresponding first angle, and so on, until the difference between the first joint angle and the second joint angle is less than or equal to 180 degrees, the processor 12 directly controls the pan head 20 to rotate to the desired position of 30 degrees. position.
  • the first condition can be set according to actual conditions, and is not limited herein.
  • the first angle may also be determined according to the attitude of the pan/tilt head 20 in the second position and the posture of the gimbal at the desired position in different situations, and is not limited herein.
  • the first angle is greater than 0 degrees and less than 90 degrees and may be preset.
  • the maximum joint angle of the forward rotation region is greater than 180 degrees and less than 360 degrees
  • the minimum joint angle of the reverse region is less than minus 180 degrees and greater than minus 360 degrees.
  • the rotation area is divided into a plurality of sub-areas according to the maximum joint angular position D of the forward rotation region, the minimum joint angular position A of the reverse rotation region, and the rotation center O of the gimbal.
  • the maximum joint angular position D of the forward rotation region, the minimum joint angular position A of the reverse rotation region, and the rotational center O are not collinear, and thus the rotational region can be divided into 10 sub-regions.
  • the maximum joint angle of the forward rotation area can be the same as the absolute joint angle of the reverse rotation area, and such a calculation method is relatively simple.
  • each position of the platform 20 can be set to a specific sub-area, and each position of the platform 20 can also be determined by the joint angle of the platform 20, and thus, according to the desired position The second joint angle and the plurality of sub-areas determine the sub-area where the desired position is located.
  • the rotation area of the yaw axis of the pan/tilt is taken as an example, and the rotation area is divided into 10 areas: 1 area, 2 area, 3 area, ..., 10 area.
  • the forward rotation area is: 1 area, 2 area, 3 area, 9 area, and 10 area, and the reverse area is 4 area, 5 area, 6 area, 7 area, and 8 areas.
  • the rotation rule of the rotation zone when the gimbal rotates from the maximum joint angular position of the forward rotation zone to the minimum joint angular position of the reverse rotation zone is: according to the slave 10 zone -> 9 zone -> 3 zone -> 2 zone -> 1 zone ->4 area -> 5 area -> 6 area -> 7 area -> 8 area rotation.
  • the rotation rule of the rotation area when the pan/tilt head 20 rotates from the minimum joint angular position of the reverse rotation zone to the maximum joint angular position of the forward rotation zone is: according to the slave 8 zone -> 7 zone -> 6 zone -> 5 zone -> 4 Area->1 area->2 area->3 area->9 area and 10 area rotation.
  • the angle range of the 1 area is set to 20 degrees
  • the angle range of the 4 areas is -20 degrees. It can be understood that the specific values are only for the convenience of the description of the present application, and It should be understood that the limitations of the application.
  • those skilled in the art can set and implement the rotation rule for other axes of the gimbal, such as the roll axis and/or the pitch axis, according to the following embodiment in which the rotating region is the rotating region of the yaw axis of the pan/tilt. .
  • Embodiment 1 is a diagrammatic representation of Embodiment 1:
  • the sub-area where the desired position is located includes the maximum joint angle position D of the forward rotation area and the extension line OB of the line 0 of the rotation center and the extension line OC of the line connecting the minimum joint angle position A of the reverse rotation area and the rotation center O.
  • the first condition is that the absolute value of the difference between the first joint angle and the second joint angle is less than or equal to 180 degrees, that is, the difference between the first joint angle and the second joint angle does not satisfy the first condition as the first joint
  • the absolute value of the difference between the angle and the second joint angle is greater than 180 degrees, that is, divided into three cases: 1) the difference between the first joint angle and the second joint angle is greater than 180 degrees; 2) the first joint angle and the second The difference in joint angle is less than -180 degrees; 3) the absolute value of the difference between the first joint angle and the second joint angle is less than or equal to 180 degrees.
  • the desired position is in the 1 region (eg, the second joint angle of the desired position is 10 degrees), and the second position is in the 10 region (eg, the first joint in the second position)
  • the angle is 210 degrees)
  • the difference is 200 degrees greater than 180 degrees
  • the pan/tilt head 20 is rotated from the second position to the desired position in the order from the 10 area -> 9 area -> 3 area -> 2 area -> 1 area.
  • the processor 12 can control the pan/tilt to first rotate the first angle (eg, 10 degrees) along the reverse direction X2, and then process The controller 12 then obtains the first joint angle of the new second position of the pan/tilt head 20, and the processor 12 determines whether the difference between the first joint angle and the second joint angle of the new second position is greater than 180 degrees.
  • the processor 12 continues to control the pan-tilt 20 to rotate the newly obtained first angle in the reverse direction X2, and so on, until the difference between the first joint angle and the second joint angle is less than or equal to 180 degrees, the processor 12 directly controls the pan/tilt head 20 to rotate to the desired position (1 area).
  • the desired position is in the 2 region (eg, the second joint angle of the desired position is 30 degrees)
  • the second position is in the 10 region (eg, the first joint angle in the second position is 230 degrees)
  • the difference is 200 degrees. More than 180 degrees, the pan/tilt head 20 is rotated from the second position to the desired position in the order from the 10 area -> 9 area -> 3 area -> 2 area.
  • the processor 12 can control the pan/tilt head 20 to first rotate the first angle in the reverse direction X2, and then the processor 12 acquires again.
  • the processor 12 After rotating the first joint angle of the new second position of the pan/tilt head 20, the processor 12 determines whether the difference between the first joint angle and the second joint angle of the new second position is greater than 180 degrees, and if so, the processor 12 Continue to control the pan-tilt 20 to rotate the newly obtained first angle along the reverse direction X2, and so on, until the difference between the first joint angle and the second joint angle is less than or equal to 180 degrees, the processor 12 directly controls The pan/tilt head 20 is rotated to a desired position (2 areas).
  • the desired position is in the 4 region (eg, the second joint angle of the desired position is minus 10 degrees), and the second position is in the 10 region (eg, the first joint angle in the second position is 210 degrees), the difference 220 The degree is greater than 180 degrees, and the pan/tilt head 20 is rotated from the second position to the desired position in the order from 10 regions -> 9 regions -> 3 regions -> 2 regions -> 1 region -> 4 regions, at this time, due to the first joint
  • the difference between the angle minus the second joint angle is 220 degrees greater than 180 degrees, and the processor 12 can control the pan head 20 to rotate the first angle in the reverse direction X2, and then the processor 12 acquires the new head of the pan/tilt 20 after the rotation.
  • the processor 12 determines whether the difference between the first joint angle and the second joint angle of the new second position is greater than 180 degrees, and if so, the processor 12 continues to control the pan/tilt 20 along Reverse the direction X2 and then rotate the newly obtained first angle, and so on, until the difference between the first joint angle and the second joint angle is less than or equal to 180 degrees, the processor 12 directly controls the pan/tilt 20 to rotate to the desired position. (4 areas).
  • the desired position is in the 5 region (eg, the second joint angle of the desired position is minus 30 degrees), and the second position is in the 10 region (eg, the first joint angle in the second position is 210 degrees), the pan/tilt 20 Rotate from the second position to the desired position in the order from 10 area -> 9 area -> 3 area -> 2 area -> 1 area -> 4 area -> 5 area.
  • the processor 12 can control the pan/tilt head 20 to first rotate the first angle in the reverse direction X2, and then the processor 12 acquires again.
  • the processor 12 After rotating the first joint angle of the new second position of the pan/tilt head 20, the processor 12 determines whether the difference between the first joint angle and the second joint angle of the new second position is greater than 180 degrees, and if so, the processor 12 Continue to control the pan-tilt 20 to rotate the newly obtained first angle along the reverse direction X2, and so on, until the difference between the first joint angle and the second joint angle is less than or equal to 180 degrees, the processor 12 directly controls The pan/tilt head 20 is rotated to a desired position (5 areas).
  • the second location may be other subregions outside the 10 region, for example, the second location is in the 3 region, the 6 region, 7 zones, 8 zones or 9 zones.
  • the pan/tilt head 20 since the pan/tilt head 20 is rotated from the second position to the desired position along the second direction, there is no possibility of hitting the limit position, and therefore, the pan/tilt head 20 can be controlled along The second direction is rotated directly from the second position to the desired position.
  • the desired position is in the 1 region (eg, the second joint angle of the desired position is 10 degrees)
  • the second position is in the 3 region (eg, the first joint angle in the second position is 170 degrees)
  • the difference is less than 160 degrees.
  • the pan/tilt head 20 is rotated from the second position to the desired position in the order from the 3 area -> 2 area -> 1 area.
  • the desired position is in the 2 region (eg, the second joint angle of the desired position is 30 degrees), and the second position is in the 4 region (eg, the first joint angle in the second position is -10 degrees), the difference - 40 degrees, the absolute value is less than 180 degrees, and the pan/tilt head 20 is rotated from the second position to the desired position in the order from the 4 area -> 1 area -> 2 area.
  • Embodiment 2 is a diagrammatic representation of Embodiment 1:
  • the sub-area where the desired position is located includes the extension line OB of the line connecting the maximum joint angle position D of the forward rotation area and the rotation center O, and the second line surrounded by the line OD of the maximum joint angle position D of the forward rotation area and the rotation center O.
  • Sub-area. That is to say, the sub-areas where the desired position is located are the 3 area, the 9 area, and the 10 area.
  • the first condition is that the difference is greater than or equal to minus 180 degrees, that is, the difference between the first joint angle and the second joint angle does not satisfy the first condition that the difference between the first joint angle and the second joint angle is less than or Equal to minus 180 degrees.
  • the desired position is in the 3 region (eg, the second joint angle of the desired position is 170 degrees)
  • the second position is in the 5 region (eg, the first joint angle in the second position is minus 30 degrees)
  • the difference is -200
  • the degree is less than minus 180 degrees
  • the pan/tilt head 20 is rotated from the second position to the desired position in the order from the 5 area -> 4 area -> 1 area -> 2 area -> 3 area, at this time, since the first joint angle is subtracted
  • the difference between the second joint angle is minus 200 degrees and less than minus 180 degrees
  • the processor 12 can control the pan/tilt head 20 to rotate the first angle in the forward rotation direction X1, and then the processor 12 obtains the new number of the pan/tilt head after the rotation.
  • the processor 12 determines whether the difference between the first joint angle and the second joint angle of the new second position is less than minus 180 degrees, and if so, the processor 12 continues to control the gimbal 20 along the positive
  • the direction X1 rotates the newly obtained first angle, and so on, until the difference between the first joint angle and the second joint angle is greater than or equal to minus 180 degrees, the processor 12 directly controls the pan/tilt 30 to rotate to the desired position. (3 areas).
  • the desired position is in the 9 region (eg, the second joint angle of the desired position is 190 degrees), and the second position is in the 5 region (eg, the first joint angle in the second position is minus 30 degrees), the difference - 220 degrees is less than minus 180 degrees, and the pan/tilt head 20 is rotated from the second position to the desired position in the order from the 5 area -> 4 area -> 1 area -> 2 area -> 3 area -> 9 area, at this time, due to the The difference between the joint angle minus the second joint angle is minus 220 degrees and less than minus 180 degrees, and the processor 12 can control the pan head 20 to rotate the first angle in the forward direction X1, and then the processor 12 obtains the rotated The first joint angle of the new second position of the pan/tilt head 20, the processor 12 determines whether the difference between the first joint angle and the second joint angle of the new second position is less than minus 180 degrees, and if so, the processor 12 continues The control head 20 rotates the newly obtained first angle in the
  • the desired position is in the 10 region (eg, the second joint angle of the desired position is 220 degrees), and the second position is in the 5 region (eg, the first joint angle in the second position is minus 30 degrees), the difference - 250 degrees is less than minus 180 degrees, and the pan/tilt head 20 is rotated from the second position to the desired position in the order from the 5 area -> 4 area -> 1 area -> 2 area -> 3 area -> 9 area -> 10 area.
  • the processor 12 can control the pan head 20 to rotate the first angle in the forward direction X1, and then the processor 12 Obtaining a first joint angle of the new second position of the rotated pan/tilt head 20, the processor 12 further determining whether the difference between the first joint angle and the second joint angle of the new second position is less than minus 180 degrees, and if so, The processor 12 continues to control the pan-tilt 20 to rotate the newly obtained first angle in the forward direction X1, and so on, until the difference between the first joint angle and the second joint angle is greater than or equal to minus 180 degrees, the processor 12 directly controls the pan/tilt head 20 to rotate to the desired position (10 areas).
  • the second location may be in other sub-regions outside the 5 region. To avoid redundancy, the second location is not expanded in detail.
  • Embodiment 3 is a diagrammatic representation of Embodiment 3
  • the sub-area where the desired position is located includes the extension line OC of the line connecting the minimum joint angle position A of the reverse area and the rotation center O, and the third line surrounded by the line OA of the minimum joint angle position A of the reverse area and the rotation center O.
  • Sub-area. That is to say, the sub-areas where the desired position is located are 6 areas, 7 areas, and 8 areas.
  • the first condition is that the difference is less than or equal to 180 degrees, that is, the difference between the first joint angle and the second joint angle does not satisfy the first condition. It can be understood that the difference between the first joint angle and the second joint angle is greater than 180. degree.
  • the desired position is in the 6 region (eg, the second joint angle of the desired position is minus 170 degrees), the second position is in the 2 region (eg, the first joint angle in the second position is 90 degrees), and the difference is 260 degrees. More than 180 degrees, the pan/tilt head 20 rotates from the second position to the desired position in the order from the 2 area -> 1 area -> 4 area -> 5 area -> 6 area, at this time, since the first joint angle is subtracted by the second
  • the difference between the joint angles is 260 degrees greater than 180 degrees
  • the processor 12 can control the pan/tilt head 20 to rotate the first angle in the reverse direction X2, and then the processor 12 acquires the new second position of the rotated pan/tilt head 20
  • the processor 12 determines whether the difference between the first joint angle and the second joint angle of the new second position is greater than 180 degrees, and if so, the processor 12 continues to control the pan/tilt head 20 along the reverse direction X2 Rotating the newly obtained first angle,
  • the desired position is in the 7 region (eg, the second joint angle of the desired position is minus 190 degrees), and the second position is in the 2 region (eg, the first joint angle of the second position is 90 degrees), the difference 280 The degree is greater than 180 degrees, and the pan/tilt head 20 is rotated from the second position to the desired position in the order from the 2 area -> 1 area -> 4 area -> 5 area -> 6 area -> 7 area, at this time, due to the first joint
  • the difference between the angle minus the second joint angle is 280 degrees greater than 180 degrees, and the processor 12 can control the pan head 20 to rotate the first angle in the reverse direction X2, and then the processor 12 acquires the new pan/tilt head 20 after the rotation.
  • the processor 12 determines whether the difference between the first joint angle and the second joint angle of the newly obtained second position is greater than 180 degrees, and if so, the processor 12 continues to control the pan/tilt 20
  • the reverse direction X2 rotates the newly obtained first angle, and so on, until the difference between the first joint angle and the second joint angle is less than or equal to 180 degrees, the processor 12 directly controls the pan/tilt 20 to rotate to the desired Location (7 areas).
  • the desired position is in the 8 region (eg, the second joint angle of the desired position is minus 220 degrees), and the second position is in the 2 region (eg, the first joint angle of the second position is 90 degrees), the difference 310 The degree is greater than 180, and the pan/tilt head 20 is rotated from the second position to the desired position in the order from the 2 area -> 1 area -> 4 area -> 5 area -> 6 area -> 7 area -> 8 area, at this time, The difference between the first joint angle minus the second joint angle is 310 degrees greater than 180 degrees, and the processor 12 can control the pan/tilt head 20 to first rotate the first angle in the reverse direction X2, and then the processor 12 obtains the rotated pan/tilt head.
  • the processor 12 determines whether the difference between the first joint angle and the second joint angle of the new second position is greater than 180 degrees, and if so, the processor 12 continues to control the gimbal 20 rotating the newly obtained first angle along the reverse direction X2, and so on, until the difference between the first joint angle and the second joint angle is less than or equal to 180 degrees, the processor 12 directly controls the rotation of the platform 20 To the desired position (8 areas).
  • the second location may be in other sub-regions outside the two regions. To avoid redundancy, the second location is not expanded in detail.
  • control method of the pan/tilt further includes:
  • Step S40 determining the posture of the platform base 30 and the attitude of the platform 20 at the desired position
  • Step S50 determining the calculated joint angle of the platform 20 at the desired position according to the posture of the platform base 30 and the attitude of the platform 20 at the desired position;
  • Step S60 determining a second joint angle of the rotation position of the desired position in the pan-tilt according to the comparison result of calculating the joint angle and the boundary angle of the region, wherein the boundary angle of the region is determined according to the rotation region of the pan-tilt.
  • the processor 12 is further configured to determine a posture of the pan-tilt base 30 and a posture of the pan-tilt at a desired position; determine the pan-tilt according to the posture of the pan-tilt base 30 and the posture of the gimbal at the desired position Calculating the joint angle at the desired position; and determining a second joint angle of the desired position in the rotating area of the pan-tilt based on the comparison result of the calculated joint angle and the area dividing angle, the area dividing angle being determined according to the rotating area of the gimbal.
  • steps S40, S50, S60 can be implemented by the processor 12.
  • the pan/tilt head 20 is connected to the pan-tilt base 30, assuming that the current measurement attitude qbase of the pan-tilt base 30 and the attitude qtarcam of the pan-tilt head 20 are desired, so that the base 30 to the pan/tilt can be obtained.
  • the conversion relationship of 20 qbase2cam can obtain the calculated joint angle of the gimbal 20 at the desired position, the range of the joint angle is plus or minus 180 degrees, and the representation manner can adopt Euler angle .
  • the number of joint angles is the same as the rotation axis of the pan/tilt head 20.
  • the joint angle qjoint1(roll), the joint angle qjoint1(pitch), and the joint angle qjoint1(yaw) respectively indicate the roll axis.
  • the joint angle of the pitch axis and the yaw axis respectively indicate the roll axis.
  • the joint angle of the pitch axis and the yaw axis respectively indicate the roll axis.
  • the attitude of the pan/tilt head 20 can be monitored in real time by the inertial measurement unit of the pan/tilt head 20.
  • the joint angle of the yaw axis of the pan/tilt head 20 will be described as an example.
  • the gimbal joint angle of the rotating area of the gimbal may be greater than 360 degrees, two or more joint angles may be present in the same posture of the gimbal 20, that is, the calculated joint of the gimbal 20 at the desired position.
  • the pan/tilt head 20 is at the desired position.
  • the second joint angle corresponding to the posture is unique and determinable, and then the second joint angle of the desired position in the rotation area of the pan/tilt can be determined by the combined area boundary angle.
  • the posture may be represented by a quaternion or Euler angle, and the quaternion and the Euler angle may be mutually converted by a corresponding formula.
  • the calculated joint angle of the pan/tilt head 20 at the desired position is related to an instruction input by the user, and the input command is the angular deviation between the generated pan/tilt head 20 and the pan-tilt base 30.
  • the regional boundary angle is determined according to the rotation area of the gimbal, and can be set according to the actual situation of the rotating area of the gimbal. In one example, if the forward rotation region is symmetric with the reverse rotation region, the regional boundary angle may be 20 degrees, that is, the 1 region is 20 degrees.
  • step S60 includes:
  • the joint angle is less than the negative boundary angle, and the angular deviation of the platform 20 and the pan-tilt base 30 satisfies the second condition, it is determined that the sum of the calculated joint angle and the second preset angle is the desired position of the platform 20 Second joint angle;
  • the processor 12 is further configured to:
  • the joint angle is less than the negative boundary angle, and the angular deviation of the pan/tilt head 20 and the pan-tilt base 30 satisfies the second condition, it is determined that the sum of the calculated joint angle and the second preset angle is the pan/tilt at the desired position. Second joint angle.
  • step S60 can be implemented by the processor 12.
  • the negative zone boundary angle is minus 20 degrees
  • the calculated joint angle of the desired position detected by the gimbal 20 is minus 30 degrees. Since the negative 30 degrees is less than minus 20 degrees, if the gimbal 20 and the pan/tilt base are The angular deviation of 30 satisfies the second condition, that is, the instruction integral of the user input is positive, and at this time, the joint angle of the platform 20 at the desired position is the sum of the joint angle and the second preset angle.
  • the second predetermined angle is 2 ⁇ , that is, the second joint angle of the platform 20 at the desired position is 330 degrees (10 regions).
  • step S60 includes:
  • the processor 12 is further configured to:
  • step S60 can be implemented by the processor 12.
  • the regional boundary angle is 20 degrees
  • the calculated joint angle of the desired position detected by the gimbal is 70 degrees. Since the 70 degree is greater than 20 degrees, if the angular deviation of the pan/tilt head 20 and the pan-tilt base 30 does not satisfy the first The second condition, that is, the instruction integral input by the user is negative.
  • the joint angle of the pan/tilt head 20 at the desired position is the difference between the calculated joint angle and the second preset angle.
  • the second predetermined angle is 2 ⁇ , that is, the second joint angle of the platform 20 at the desired position is minus 290 degrees (8 regions).
  • step S60 includes:
  • the joint angle is calculated to be not less than the negative region boundary angle and not greater than the region boundary angle, it is determined that the joint angle is calculated as the second joint angle of the platform 20 at the desired position.
  • the processor 12 is further configured to:
  • the joint angle is calculated to be not less than the negative region boundary angle and not greater than the region boundary angle, it is determined that the joint angle is calculated as the second joint angle of the platform 20 at the desired position.
  • step S60 can be implemented by the processor 12.
  • the negative zone boundary angle is minus 20 degrees
  • the calculated joint angle of the desired position detected by the gimbal is minus 10 degrees. Since the negative 10 degrees is not less than minus 20 degrees and not more than 20 degrees, at this time, the cloud The second joint angle of the table 20 at the desired position is calculated to be a negative joint angle of 10 degrees (4 regions).
  • the regional boundary angle is 20 degrees
  • the calculated joint angle of the desired position detected by the gimbal 20 is 5 degrees. Since the 5 degrees is not less than minus 20 degrees and not more than 20 degrees, at this time, the pan/tilt head 20 is The second joint angle of the desired position is calculated to be 5 degrees (1 area) of the joint angle.
  • the second joint angle of the gimbal at the desired position can be quickly determined by calculating the joint angle and the regional boundary angle, which is convenient and simple.
  • the pan/tilt head 20 is generally provided with a follow mode (follow mode).
  • follow mode the angular deviation of the pan/tilt head 20 and the pan-tilt base 30 is fixed, and the angular deviation of the pan-tilt head 20 and the pan-tilt base 30 is due to
  • the user input command controls the angular deviation generated by the rotation of the pan/tilt head 20.
  • the second condition can be understood as a positive input value of the input of the user (for example, when the rotation area of the pan/tilt includes the forward rotation and the reverse rotation region, the angular deviation of the pan/tilt head 20 and the pan-tilt base 30 is Positive value), then the second condition is not satisfied, the user's input instruction integral is negative.
  • the positive or negative value of the command integral can represent the rotation area where the gimbal position is located. For example, when the joint angle is less than the negative area boundary angle and the instruction integral is positive, then the pan/tilt head 20 is at the desired position.
  • the second joint angle is a positive value, the desired position of the gimbal 20 is in the forward rotation region; when the calculated joint angle is greater than the regional boundary angle and the command integral is a negative value, then the second joint angle of the gimbal 20 at the desired position is a negative value, the cloud The desired position of the stage 20 is in the reversed area.
  • step S50 includes:
  • Step S52 determining a rotational posture of the pan-tilt base 30 to a desired position according to the posture of the pan-tilt base 30 and the attitude of the pan-tilt at the desired position;
  • step S54 based on the rotational posture, the calculated joint angle of the platform 20 at the desired position is determined.
  • the processor 12 is further configured to determine a rotational posture of the pan-tilt base 30 to a desired position according to the posture of the pan-tilt base 30 and the attitude of the pan-tilt at a desired position; and determine the cloud according to the rotational posture.
  • the stage 20 calculates the joint angle at the desired position.
  • steps S52 and S54 can be implemented by the processor 12.
  • the calculated joint angle of the platform 20 at the desired position can be quickly and accurately determined according to the rotational attitude.
  • step S40 includes:
  • Step S42 acquiring a real-time posture of the load 110 carried by the pan/tilt head 20 or the pan/tilt head 20;
  • step S44 the posture of the pan/tilt base 30 is determined according to the real-time posture of the pan/tilt head 20 or the load 110.
  • the attitude of the platform 30 can be the same as the real-time attitude of the load 110 carried by the platform 20 or the platform 20. In some embodiments, there is a fixed transformation relationship between the attitude of the pan-tilt base 30 and the real-time attitude of the load 110 carried by the pan/tilt head 20 or the pan/tilt head 20. Therefore, the processor 12 is configured to acquire the real-time posture of the load 110 mounted on the pan/tilt head 20 or the pan/tilt head 20 and determine the posture of the pan-tilt base 30 based on the real-time posture of the pan/tilt head 20 or the load 110. The real-time posture of the load 110 mounted on the pan/tilt head 20 or the pan/tilt head 20 can be directly monitored by an attitude sensor installed on the pan/tilt head 20 or the load 110.
  • the attitude of the pan-tilt base 30 can be quickly and accurately determined by the real-time attitude of the pan/tilt head 20 or the load 110.
  • the load 110 may be, for example, an imaging device, and the load 110 may provide static sensing data or dynamic sensing data (such as video).
  • the load 110 is mounted on the platform 20 to control the rotation of the load 110 by the pan/tilt.
  • the pan/tilt head 20 can include a pan/tilt control device 10, including a shaft assembly 210 and one or more processors 12.
  • the processor 12 is electrically coupled to the shaft assembly 210, and the one or more processors 12 operate separately or collectively for implementing the control method of the pan/tilt of the above-described embodiments, i.e., implementing control of the shaft assembly 210.
  • the processor 12 can be configured to: when the shaft assembly 210 is passively rotated from the first position to the second position in the first direction, to obtain a desired position when the shaft assembly 210 is rotated; according to the rotational region of the shaft assembly 210 The rotation rule determines a second direction to a second direction of the desired position; the control shaft assembly 210 is rotated from the second position to the desired position along the second direction.
  • Other processes in the method implementation manner may be referred to herein, and details are not described herein again.
  • the platform 20 may include a two-axis or three-axis pan/tilt.
  • the pan/tilt head 20 is a three-axis pan/tilt head as an example.
  • the shaft assembly 210 includes a yaw axis arm 21, a roll axis arm 23, a pitch axis arm 25, and a yaw axis motor for controlling the rotation of the yaw axis arm 21 22.
  • the rotation of the motor 26 can control the attitude of the three-axis pan/tilt.
  • the platform 20 can be loaded with a load 110, and the load 110 can be an image capturing device or an imaging device (such as a camera, a camcorder, an infrared camera device, an ultraviolet camera device, or the like), and audio capture.
  • the device eg, a parabolic reflector microphone), an infrared camera device, etc.
  • the load 110 can provide static sensing data (such as pictures) or dynamic sensing data (such as video).
  • the rotation of the load 110 can be controlled by the pan/tilt head 20.
  • an embodiment of the present application further provides a photographing apparatus 100 .
  • the photographing apparatus 100 includes the pan/tilt head 20 and the control device 10 of the pan/tilt head of any of the above embodiments, that is, includes the pan/tilt head 20 and one or more processors 12.
  • the control device 10 of the pan/tilt is electrically connected to the pan/tilt head 20, that is, the processor 12 is electrically connected to the pan/tilt head 20, and the pan/tilt head 20 is used to support the imaging device for photographing.
  • the one or more processors 12 operate individually or collectively to implement the pan/tilt control method of the above-described embodiments.
  • the processor 12 can be configured to: when the pan/tilt head 20 is passively rotated from the first position to the second position to the second position, obtain a desired position when the pan/tilt head 20 rotates; according to the rotation area of the gimbal The rotation rule determines a second direction to a second direction of the desired position; the control platform 20 is rotated from the second position to the desired position along the second direction.
  • Other processes in the method implementation manner may be referred to herein, and details are not described herein again.
  • the photographing apparatus 100 may further include a supporting device for supporting the pan/tilt.
  • the photographing apparatus 100 can be, for example, a handheld photographing apparatus.
  • control device 10 of the pan/tilt can be connected to the pan/tilt head 20 by wire or wirelessly.
  • the control device 10 of the pan/tilt can be disposed directly on the platform 20.
  • the control device 10 and the pan/tilt head 20 of the pan/tilt head may be of a separate structure.
  • the control device 10 of the pan/tilt head can determine the second direction of the second position to the desired position by following the rotation rule of the rotating area of the pan-tilt, and control the pan-tilt head 20 along The second direction is rotated from the second position to the desired position, and since the second direction conforms to the rotation rule of the rotation area of the pan/tilt, and the positional uniqueness of the second position and the desired position in the rotation area, the pan head 20 can be prevented from rotating The user experience is good when it hits the rotation limit and cannot reach the desired position.
  • An embodiment of the present application provides a readable storage medium having stored thereon a computer program that, when executed by a processor, implements any of the methods of controlling the pan/tilt of the above-described embodiments.
  • Any process or method description in the flowcharts or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for performing the steps of a particular logical function or process. And the scope of the preferred embodiments of the present application includes additional executions, which may be performed in a substantially simultaneous manner or in reverse order depending on the functions involved, in the order shown or discussed, which should It will be understood by those skilled in the art to which the embodiments of the present application pertain.
  • a "computer-readable medium” can be any apparatus that can contain, store, communicate, propagate, or transport a program for use in an instruction execution system, apparatus, or device, or in conjunction with the instruction execution system, apparatus, or device.
  • computer readable media include the following: electrical connections (electronic devices) having one or more wires, portable computer disk cartridges (magnetic devices), random access memory (RAM), Read only memory (ROM), erasable editable read only memory (EPROM or flash memory), fiber optic devices, and portable compact disk read only memory (CDROM).
  • the computer readable medium may even be a paper or other suitable medium on which the program can be printed, as it may be optically scanned, for example by paper or other medium, followed by editing, interpretation or, if appropriate, other suitable The method is processed to obtain the program electronically and then stored in computer memory.
  • portions of the application can be implemented in hardware, software, firmware, or a combination thereof.
  • multiple steps or methods may be performed by software or firmware stored in a memory and executed by a suitable instruction execution system.
  • a suitable instruction execution system For example, if executed in hardware, as in another embodiment, it can be performed by any one of the following techniques or combinations thereof known in the art: having logic gates for performing logic functions on data signals Discrete logic circuits, application specific integrated circuits with suitable combinational logic gates, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.
  • each functional unit in each embodiment of the present application may be integrated into one processing module, or each unit may exist physically separately, or two or more units may be integrated into one module.
  • the above integrated modules can be executed in the form of hardware or in the form of software functional modules.
  • the integrated modules, if executed in the form of software functional modules and sold or used as separate products, may also be stored in a computer readable storage medium.
  • the above mentioned storage medium may be a read only memory, a magnetic disk or an optical disk or the like.

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Abstract

一种云台的控制方法，包括以下步骤：当云台(20)被动地从第一位置沿着第一方向转动至第二位置时，获取云台(20)转动时的期望位置；按照云台(20)的转动区域的转动规则确定第二位置至期望位置的第二方向；控制云台(20)沿着第二方向从第二位置转动至期望位置。还包括一种云台的控制装置(10)、云台(20)、拍摄设备100。

Description

云台的控制方法及装置、云台、拍摄设备、可读存储介质 技术领域
本申请涉及云台控制领域，特别涉及一种云台的控制方法及装置、云台、拍摄设备、可读存储介质。
背景技术
在相关技术中，云台一般由多个电机驱动，例如对于三轴云台来说，三轴云台包括有偏航(yaw)轴电机、横滚(roll)轴电机及俯仰(pitch)轴电机。在操作yaw轴跟随时，如果用户启动手动调节功能，那么用户在用手推动云台时，云台可以停在手推时的相应位置。如果用户没有启动手动调节功能，那么用户在用手推动云台后再松手，云台会回转。通常地，在结构上，云台设置有转动限位，因此，如果不对云台的回转加以控制，这样会容易使云台转动时撞到转动限位而不能达到期望的位置。
发明内容
本申请提供一种云台的控制方法及装置、云台、拍摄设备、可读存储介质。
本申请的实施方式提供一种云台的控制方法。所述云台的控制方法包括：
当所述云台被动地从第一位置沿着第一方向转动至第二位置时，获取所述云台转动时的期望位置；
按照所述云台的转动区域的转动规则确定所述第二位置至所述期望位置的第二方向；
控制所述云台沿着所述第二方向从所述第二位置转动至所述期望位置。
本实施方式的云台的控制方法，通过按照云台的转动区域的转动规则确定第二位置至期望位置的第二方向，并控制云台沿着第二方向从第二位置转动至期望位置，由于该第二方向符合云台的转动区域的转动规则，以及第二位置、期望位置在转动区域的位置唯一性，从而可防止云台转动时出现撞到转动限位而不能达到期望位置的情况，用户体验性好。
本申请的实施方式提供一种云台的控制装置。所述控制装置包括：一个或多个处理器，单独地或共同地工作，所述处理器与所述云台电连接；所述处理器用于：
当所述云台被动地从第一位置沿着第一方向转动至第二位置时，获取所述云台转动时的期望位置；
按照所述云台的转动区域的转动规则确定所述第二位置至所述期望位置的第二方向；
控制所述云台沿着所述第二方向从所述第二位置转动至所述期望位置。
本实施方式的云台的控制装置，通过按照云台的转动区域的转动规则确定第二位置至 期望位置的第二方向，并控制云台沿着第二方向从第二位置转动至期望位置，由于该第二方向符合云台的转动区域的转动规则，以及第二位置、期望位置在转动区域的位置唯一性，从而可防止云台转动时出现撞到转动限位而不能达到期望位置的情况，用户体验性好。
本申请的实施方式提供一种云台。所述云台包括上述实施方式的云台的控制装置。
本实施方式的云台，通过按照云台的转动区域的转动规则确定第二位置至期望位置的第二方向，并控制云台沿着第二方向从第二位置转动至期望位置，由于该第二方向符合云台的转动区域的转动规则，以及第二位置、期望位置在转动区域的位置唯一性，从而可防止云台转动时出现撞到转动限位而不能达到期望位置的情况，用户体验性好。
本申请的实施方式提供一种拍摄设备。所述拍摄设备包括云台和上述实施方式的云台的控制装置。所述云台的控制装置电连接所述云台。
本实施方式的拍摄设备，通过按照云台的转动区域的转动规则确定第二位置至期望位置的第二方向，并控制云台沿着第二方向从第二位置转动至期望位置，由于该第二方向符合云台的转动区域的转动规则，以及第二位置、期望位置在转动区域的位置唯一性，从而可防止云台转动时出现撞到转动限位而不能达到期望位置的情况，用户体验性好。
本申请的实施方式提供一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现上述实施方式的云台的控制方法。
本申请的实施方式的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本申请的实施方式的实践了解到。
附图说明
本申请的上述和/或附加的方面和优点从结合下面附图对实施方式的描述中将变得明显和容易理解，其中：
图1是本申请实施方式的云台的控制方法的流程图。
图2是本申请实施方式的拍摄设备的模块示意图。
图3是本申请实施方式的云台的转动过程的示意图。
图4是本申请实施方式的云台的控制方法的另一流程图。
图5是本申请实施方式的云台的控制方法的又一流程图。
图6是本申请实施方式的云台的转动区域的角度范围示意图。
图7是本申请实施方式的云台的转动区域的划分示意图。
图8是本申请实施方式的云台的控制方法的再一流程图。
图9是本申请实施方式的云台的模块示意图。
图10是本申请实施方式的云台的控制方法的再一流程图。
图11是本申请实施方式的云台的控制方法的再一流程图。
图12是本申请实施方式的云台的结构示意图。
具体实施方式
下面详细描述本申请的实施方式，所述实施方式的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施方式是示例性的，仅用于解释本申请，而不能理解为对本申请的限制。
在本申请的描述中，需要理解的是，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个所述特征。在本申请的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本申请的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接或可以相互通信；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
下文的公开提供了许多不同的实施方式或例子用来实现本申请的不同结构。为了简化本申请的公开，下文中对特定例子的部件和设置进行描述。当然，它们仅仅为示例，并且目的不在于限制本申请。此外，本申请可以在不同例子中重复参考数字和/或参考字母，这种重复是为了简化和清楚的目的，其本身不指示所讨论各种实施方式和/或设置之间的关系。此外，本申请提供了的各种特定的工艺和材料的例子，但是本领域普通技术人员可以意识到其他工艺的应用和/或其他材料的使用。
请参阅图1至图2，本申请实施方式的云台的控制方法可由本申请实施方式的云台的控制装置10实现，并应用于本申请实施方式的拍摄设备100。云台的控制方法包括：
步骤S10，当云台20被动地从第一位置沿着第一方向转动至第二位置时，获取云台20转动时的期望位置；
步骤S20，按照云台的转动区域的转动规则确定第二位置至期望位置的第二方向；
步骤S30，控制云台20沿着第二方向从第二位置转动至期望位置。
请参阅图2，本申请实施方式的云台的控制装置10包括一个或多个处理器12，单独地或共同地工作，处理器12与云台20电连接。云台的控制装置10可以包括存储器14，存储器14可以包括易失性存储器(volatile memory)例如随机存取存储器(random-access memory，RAM)；存储器14也可以包括非易失性存储器(non-volatile memory)，例如快闪 存储器(flash memory)，硬盘(hard disk drive，HDD)或固态硬盘(solid-state drive，SSD)；用于存储程序指令。处理器12可以调用程序指令，实现相应的云台的控制方法。处理器12用于：
当云台20被动地从第一位置沿着第一方向转动至第二位置时，获取云台20转动时的期望位置；
按照云台的转动区域的转动规则确定第二位置至期望位置的第二方向；
控制云台20沿着第二方向从第二位置转动至期望位置。
也即是说，本申请实施方式的云台的控制方法的步骤S10、S20及S30均可由处理器12实现。
本申请实施方式的云台20的控制方法及云台的控制装置10通过按照云台的转动区域的转动规则确定第二位置至期望位置的第二方向，并控制云台20沿着第二方向从第二位置转动至期望位置，由于该第二方向符合云台的转动区域的转动规则，以及第二位置、期望位置在转动区域的位置唯一性，从而可防止云台20转动时出现撞到转动限位而不能达到期望位置的情况，用户体验性好。
具体的，云台20可以是用来安装、固定相机或传感器等负载110的支撑设备。云台20可以为两轴云台，也可以为三轴云台。本实施方式以云台为三轴云台为例进一步说明。请结合图12，云台20可包括偏航轴轴臂21、横滚轴轴臂23、俯仰轴轴臂25和用于控制绕偏航轴轴臂21转动的偏航轴电机22、用于控制绕横滚轴轴臂23转动的横滚轴电机24、用于控制绕俯仰轴轴臂25转动的俯仰轴电机26，通过偏航轴电机22、横滚轴电机24和俯仰轴电机26对应控制绕偏航轴轴臂21、横滚轴轴臂23和俯仰轴轴臂25转动，实现云台20姿态的控制。
可以理解，云台20转动时的期望位置可以由用户在云台20被动地从第一位置沿着第一方向转动至第二位置前设定或者在转动的过程中设定或云台20转动到第二位置时设定。云台20转动时的期望位置可以为第一位置、第二位置、或者云台20转动区域的任一位置，在此不作限制。
在某些实施方式中，云台20被动地转动，可以理解是指云台20的姿态变化不是由云台20的偏航轴电机22、横滚轴电机24和俯仰轴电机26的控制来实现的。云台20的姿态变化可通过装设在云台20上的IMU惯性测量单元实时监测。在通过IMU惯性测量单元监测到云台20姿态产生变化后，可判断偏航轴电机22、横滚轴电机24和俯仰轴电机26是否接收到云台20的处理器12或飞行控制器发送的驱动信号，若偏航轴电机22、横滚轴电机24和俯仰轴电机26均未接收到云台20的处理器12或飞行控制器发送的驱动信号，则可确定云台20的姿态变化是被动实现的。其中，云台20被动地从第一位置沿着第一方向 转动至第二位置的实现方式可为用户手推云台20，使得云台20从第一位置沿着第一方向转动至第二位置，也可为其他外力推动云台20，使得云台20从第一位置沿着第一方向转动至第二位置。
本申请实施方式的云台的转动区域实际上反映的是，云台20在三维空间内的转动路径的不同，可根据实际需求进行设定。在一个实施方式中，云台的转动区域可根据云台20的转动角度划分为多个子区域，而云台的转动区域的转动规则可以理解为根据转动角度所划分的多个子区域而设定的转动顺序。而在另一个实施方式中，云台的转动区域可根据云台20的转动弧长划分为多个子区域，而云台的转动区域的转动规则可以理解为根据转动弧长所划分的多个子区域而设定的转动顺序。需要说明的是，云台的转动区域的转动规则实际上反映的是，云台20在三维空间转动时所遵守的规则，可根据实际的需要并利用不同的参数进行设定，在此不作限制。
本申请实施方式的第二方向可以为与第一方向相反的方向，也可以为与第一方向相同的方向，或者其他可以回到期望位置的任何方向，在此不作限定。
在某些实施方式中，期望位置包括第一位置或预设位置。如此，可以根据不同的需要使云台回到不同的位置，操作灵活，用户体验性好。
需要指出的是，当预设位置为第二位置，云台20被动地从第一位置沿着第一方向转动至第二位置时，云台20会停在第二位置。
在某些实施方式中，当期望位置为第一位置，且云台20从第一位置转动至第二位置的转动区域包括部分重复的转动区域时，步骤S30包括：
控制云台20沿着第二方向或沿着第一方向相反的方向从第二位置转动至期望位置。
在某些实施方式中，处理器12用于控制云台沿着第二方向或沿着第一方向相反的方向从第二位置转动至期望位置。
也就是说，上述步骤S30可由处理器12实现。
如此，可使云台20可快速并准确地回到期望位置。
在一个实施例子中，请参阅图3，云台20从第一位置A移动到位置B再到位置C后返回至位置B，也就是说，从位置B至位置C的转动区域与从位置C再返回位置B的转动区域为重复的转动区域，用户设定第一位置A为云台需要回到的期望位置。在一个实施方式中，云台20可以沿着第二方向从位置B直接返回至位置A。在另外一个实施方式中，云台20可以沿着第一方向相反的方向从第二位置回停至期望位置，也就是说，云台20可以沿原路径返回，即从位置B到位置C再回到位置B至位置A。需要指出的是，具体的转动方向可由云台的转动区域的转动规则确定，当云台的转动区域的转动规则均允许云台20沿着第二方向和沿着第一方向相反的方向从第二位置转动至期望位置时，可控制云台20沿第 二方向和第一方向相反的方向中的最短的转动路径转动至期望位置。
请参阅图2及图4，在某些实施方式中，步骤S20包括步骤：
S22，根据云台的转动区域的转动规则，比较云台20在第二位置的第一关节角和云台20在期望位置的第二关节角；
S24，若第一关节角小于第二关节角，则确定关节角增大方向为第二位置至期望位置的第二方向；
S26，若第一关节角大于第二关节角，则确定关节角减小方向为第二位置至期望位置的第二方向。
在某些实施方式中，处理器12用于：
根据云台的转动区域的转动规则，比较云台20在第二位置的第一关节角和云台20在期望位置的第二关节角；
若第一关节角小于第二关节角，则确定关节角增大方向为第二位置至期望位置的第二方向；
若第一关节角大于第二关节角，则确定关节角减小方向为第二位置至期望位置的第二方向。
也就是说，步骤S22、步骤S24、步骤S26可以由处理器12实现。
如此，可以快速并且准确地得到第二方向，从而云台可根据第二方向回到期望位置。
云台20在第二位置的第一关节角的含义解释如下：当云台的转动区域有正反之分时，云台20在第二位置的关节角可以指云台20从正反之分的零位沿着正转方向或反转方向转动至第二位置时云台20所转动的角度。当云台的转动区域没有正反之分时，云台20在第二位置的关节角可以指云台20从第一限位角转动至第二位置时云台20所转动的角度，或者云台20从第二限位角转动至第二位置时云台20所转动的角度。其中，云台的转动区域设有机械限位，以限制云台的转动区域的云台关节角的大小。云台20在期望位置的第二关节角的含义与云台20在第二位置的第一关节角的含义解释相类似，但确定第一关节角和第二关节角的规则相同，此处不再赘述。
具体的，当云台20的转动规则为根据云台20的关节角的大小设定时，云台的转动区域的转动方向可以为云台20的最小关节角至云台20的最大关节角，或者，为云台20的最大关节角至云台20的最小关节角。由此，当第一关节角小于第二关节角，那么从第二位置至期望位置的第二方向可以为关机角增大方向，即与云台20的最小关节角至云台20的最大关节角的方向相同，第一关节角大于第二关节角，那么从第二位置至期望位置的第二方向可以为关机角减小方向，即与云台20的最大关节角至云台20的最小关节角的方向相同，
对于一个转动轴来说，云台20可正转和反转，正转和反转的角度范围均可大于180度小于360度，那么，从反转至正转或正转至反转，云台20转动的角度范围可大于360度。 据此，请参阅图2及图5，在某些实施方式中，云台的转动区域的云台关节角大于360度，转动区域根据预设规则划分为多个子区域，步骤S30包括：
步骤S32，确定第一关节角与第二关节角的差值；
步骤S34，若差值满足第一条件，则控制云台20沿着第二方向从第二位置转动至期望位置；
步骤S36，若差值不满足第一条件，则控制云台20沿着第二方向从第二位置转动第一角度，获取转动后云台20的新的位置为第二位置，重复执行本步骤直至确定差值满足第一条件；
其中，第一角度为根据云台20在第二位置的姿态以及云台在期望位置的姿态确定。
在某些实施方式中，处理器12用于：
确定第一关节角与第二关节角的差值；
若差值满足第一条件，则控制云台20沿着第二方向从第二位置转动至期望位置；
若差值不满足第一条件，则控制云台20沿着第二方向从第二位置转动第一角度，获取转动后云台20的新的位置为第二位置，重复执行本步骤直至确定差值满足第一条件；
其中，第一角度为根据云台20在第二位置的姿态以及云台20在期望位置的姿态确定。
也就是说，步骤S32、步骤S34、步骤S36可以由处理器实现。
如此，根据第一关节角及第二关节角的差值的不同情况，来控制云台20转动，可避免云台20转动时可可能撞到限位的情况出现。
可以理解，在重复执行步骤S36时，在获取转动后云台20的新的位置为第二位置后，该步骤S36可以包括确定以转动后云台20的新的位置为第二位置的第一关节角，即新的第二位置的第一关节角，并确定新的第二位置的第一关节角与第二关节角的差值，再对该差值与第一条件进行相应的判断，如此重复执行，直至新的第二位置的第一关节角与第二关节角的差值满足第一条件为止。图5主要为对控制云台20按照第一角度转动的连续转动的示例性说明，在实际中，可以对上述说明的步骤36进行相应的展开说明。
需要说明，在获取新的第二位置后，若新计算的差值仍不满足第一条件，则第一角度可以根据云台20在新的第二位置的姿态以及云台20在期望位置的姿态确定。当然，在某些实施例中，第一角度也可以为一预设角度，此处不做具体限定。
具体的，请参阅图6及图7(图7的X、Y轴的划分同图6)，在云台的转动区域，云台关节角大于360度，即云台在转动区域能够实现大于360度的转动。本申请实施方式的云台的转动区域包括正转区域和反转区域，其中，正转区域的云台关节角大于180度并小于360度，反转区域的云台关节角小于负180度且大于负360度，其中，正角度代表云台位置所在的区域是正转区域，负角度代表云台位置所在的区域是反转区域。
在图6的示例中，正转区域的关节角范围为0度至OD线所在的角度，其中，O代表云台的转动中心，正转区域的0度位置为Y轴正方向，点D表示正转区域的最大关节角位置。在一个例子中，正转区域的最大关节角位置为340度，也就是说，在图6中，云台从0度位置沿正转方向X1转动至位置D时，应该停止转动，否则会撞到正转区域的限位。
在图6的示例中，反转区域的关节角范围为0度至OA线所在的角度，其中，反转区域的0度位置为Y轴正方向，点A表示反转区域的最小关节角位置。在一个例子中，反转区域的最小关节角位置为-340度，也就是，在图6中，云台从0度位置沿反转方向X2转动至位置A时，应该停止转动，否则会撞到反转区域的限位。在图6的示例中，正转方向X1为顺时针方向，反转方向X2为逆时针方向。
需要说明的是，本实施方式中，正转区域的云台关节角是指：在正转区域，云台20由0度位置沿着正转方向X1向正转区域的最大关节角位置D转动时，云台20所转动的角度。反转区域的云台关节角是指：在反转区域，云台20由0度位置沿着反转方向X2向反转区域的最小关节角位置A转动时，云台20所转动的角度。其中，正转区域的最大关节角位置和反转区域的最小关节角位置均设有机械限位。
在一个例子中，云台的转动区域的转动规则可以理解为：一方面，将云台的正转区域划分为多个正转子区域，云台20可根据正转子区域的规则顺序进行转动，云台20在正转区域转动时不能越过最大关节角位置。另一方面，将云台的反转区域划分为多个反转子区域，云台20可根据反转子区域的规则顺序进行转动，云台20在反转区域转动时不能越过最小关节角位置。需要指出的是，云台20在正转区域转动时能越过正转区域的最小关节角位置进入反转区域；云台20在反转区域转动时能越过反转区域的最大关节角位置进入正转区域。
在一个例子中，若第二位置的第一关节角为负40度，期望位置的第二关节角为30度，也就是说，云台20的当前位置在反转区域，期望位置在正转区域。由于第一关节角小于第二关节角，根据将关节角增大方向作为第二位置至期望位置的第二方向，即将控制云台20沿着正转方向X1从第二位置回到期望位置。在另一例子中，若第二位置的第一关节角为140度，期望位置的第二关节角为30度，也就是说，云台20的当前位置在正转区域，期望位置在正转区域，由于第一关节角大于第二关节角，根据将关节角减小方向作为第二位置至期望位置的第二方向，即将控制云台20沿着反转方向X2从第二位置回到期望位置。
上述通过第一关节角和第二关节角的比较可确定第二方向，进一步地，在本申请实施方式中，还可根据第一关节角和第二关节角的差值是否满足第一条件来控制云台20以何种转动方式转动至期望位置。在一个例子中，第一条件为第一关节角和第二关节角的差值的绝对值小于或者等于180度。也就是说，在第一关节角与第二关节角的差值小于或者等于 180度时，处理器12控制云台20沿着第二方向从第二位置转动至期望位置。例如，当第一关节角为140，第二关节角为30度。在本实施方式中可根据第一关节角和第二关节角的大小可获知第二方向为反转方向X2，由于第一关节角与第二关节角的差值为110度小于180度，处理器12可直接控制云台沿着第二方向X2从第二位置转动至期望位置。
在另外一个例子中，在第一关节角与第二关节角的差值大于180度时，处理器12控制云台20沿着第二方向从第二位置转动第一角度，然后再获取转动后云台20的新的位置为第二位置，若新的第二位置对应的第一关节角与第二关节角的差值仍然大于180度，处理器12继续控制云台20转动以新的第二位置得到的第一角度，如此循环，直至第一关节角与第二关节角的差值的绝对值小于或者等于180度时，处理器12才控制云台20直接回到期望位置。例如，当第一关节角为240，第二关节角为30度，在本实施方式中可根据第一关节角和第二关节角的比较可获知第二方向为反转方向，由于第一关节角与第二关节角的差值为210度大于180度，此时，处理器12可控制云台20沿着反转方向X2先转动第一角度，此时，处理器12再获取转动后云台20新的位置的第一关节角，处理器12再判断新得到的第一关节角与第二关节角的差值是否大于180度，若是，处理器12继续控制云台20沿着反转方向X2再转动相应的第一角度，以此类推，直到第一关节角与第二关节角的差值小于或者等于180度时，处理器12才直接控制云台20转动至期望位置30度的位置。
需要指出的，第一条件可根据实际情况进行设定，在此不作限定。第一角度也可以根据不同情况下的云台20在第二位置的姿态以及云台在期望位置的姿态确定，在此不作限制。较佳地，第一角度大于0度且小于90度，并可预先设定。
在某些实施方式中，请结合图6，正转区域的最大关节角大于180度且小于360度，反转区域的最小关节角小于负180度且大于负360度。转动区域是根据正转区域的最大关节角位置D、反转区域的最小关节角位置A、云台的转动中心O划分成多个子区域。
在图示的实施方式中，正转区域的最大关节角位置D、反转区域的最小关节角位置A、转动中心O三者不共线，如此，可以将转动区域划分为10个子区域。正转区域的最大关节角可与反转区域的最小关节角的绝对值相同，这样的计算方法相对简单。
划分成多个子区域后，云台20的每个位置可被设定到具体的某个子区域，而云台20的每个位置也可由云台20的关节角确定，因此，可以根据期望位置的第二关节角和多个子区域确定期望位置所在的子区域。
以下请结合图6和图7，以具体实施例说明本申请实施方式的云台的期望位置在不同子区域时的情况。以下实施例是以转动区域为云台的偏航轴的转动区域为例，且转动区域分为10个区域：1区域、2区域、3区域、…、10区域。其中，正转区域为：1区域、2区域、3区域、9区域和10区域，反转区域为4区域、5区域、6区域、7区域和8区域。云 台从正转区域的最大关节角位置至反转区域的最小关节角位转动时的转动区域的转动规则为：按照从10区域->9区域->3区域->2区域->1区域->4区域->5区域->6区域->7区域->8区域的顺序转动。云台20从反转区域的最小关节角位置至正转区域的最大关节角位置转动时的转动区域的转动规则为：按照从8区域->7区域->6区域->5区域->4区域->1区域->2区域->3区域->9区域及10区域的顺序转动。为方便对相关角度进行描述，下面的实施例中，设定1区域的角度范围为20度，4区域的角度范围为-20度，可以理解，具体数值只是为了方便本申请的描述，而不应理解为对本申请的限制。另外，本领域技术人员可根据以下转动区域为云台的偏航轴的转动区域的实施例，对云台的其它轴，例如横滚轴和/或俯仰轴，进行转动规则的设定和实施。
实施例一：
期望位置所在的子区域包括正转区域的最大关节角位置D与转动中心的连线0的延长线OB以及反转区域的最小关节角位置A与转动中心O的连线的延长线OC所包围的第一子区域。也就是说，期望位置所在的子区域为1区域、2区域、4区域或5区域。第一条件为第一关节角和第二关节角的差值的绝对值小于或者等于180度，也就是说，第一关节角和第二关节角的差值不满足第一条件为第一关节角和第二关节角的差值的绝对值大于180度，即分为三种情况：1)第一关节角和第二关节角的差值大于180度；2)第一关节角和第二关节角的差值小于-180度；3)第一关节角和第二关节角的差值的绝对值小于或者等于180度。
对于第一种情况，请参阅图7，在一个例子中，期望位置在1区域(例如期望位置的第二关节角为10度)，第二位置在10区域(例如第二位置的第一关节角为210度)，差值200度大于180度，云台20按照从10区域->9区域->3区域->2区域->1区域的顺序从第二位置转动至期望位置。此时，由于第一关节角减去第二关节角的差值为200度大于180度，处理器12可控制云台沿着反转方向X2先转动第一角度(如10度)，然后处理器12再获取转动后云台20的新的第二位置的第一关节角，处理器12再判断新的第二位置的第一关节角与第二关节角的差值是否大于180度，若是，处理器12继续控制云台20沿着反转方向X2再转动新得到的第一角度，以此类推，直到第一关节角与第二关节角的差值小于或者等于180度时，处理器12才直接控制云台20转动至期望位置(1区域)。
在另一个例子中，期望位置在2区域(例如期望位置的第二关节角为30度)，第二位置在10区域(例如第二位置的第一关节角为230度)，差值200度大于180度，云台20按照从10区域->9区域->3区域->2区域的顺序从第二位置转动至期望位置。此时，由于第一关节角减去第二关节角的差值为200度大于180度，处理器12可控制云台20沿着反转方向X2先转动第一角度，然后处理器12再获取转动后云台20的新的第二位置的第一关节 角，处理器12再判断新的第二位置的第一关节角与第二关节角的差值是否大于180度，若是，处理器12继续控制云台20沿着反转方向X2再转动新得到的第一角度，以此类推，直到第一关节角与第二关节角的差值小于或者等于180度时，处理器12才直接控制云台20转动至期望位置(2区域)。
在再一个例子中，期望位置在4区域(例如期望位置的第二关节角为负10度)，第二位置在10区域(例如第二位置的第一关节角为210度)，差值220度大于180度，云台20按照从10区域->9区域->3区域->2区域->1区域->4区域的顺序从第二位置转动至期望位置，此时，由于第一关节角减去第二关节角的差值为220度大于180度，处理器12可控制云台20沿着反转方向X2先转动第一角度，然后处理器12再获取转动后云台20的新的第二位置的第一关节角，处理器12再判断新的第二位置的第一关节角与第二关节角的差值是否大于180度，若是，处理器12继续控制云台20沿着反转方向X2再转动新得到的第一角度，以此类推，直到第一关节角与第二关节角的差值小于或者等于180度时，处理器12才直接控制云台20转动至期望位置(4区域)。
在又一个例子中，期望位置在5区域(例如期望位置的第二关节角为负30度)，第二位置在10区域(例如第二位置的第一关节角为210度)，云台20按照从10区域->9区域->3区域->2区域->1区域->4区域->5区域的顺序从第二位置转动至期望位置。此时，由于第一关节角减去第二关节角的差值为240度大于180度，处理器12可控制云台20沿着反转方向X2先转动第一角度，然后处理器12再获取转动后云台20的新的第二位置的第一关节角，处理器12再判断新的第二位置的第一关节角与第二关节角的差值是否大于180度，若是，处理器12继续控制云台20沿着反转方向X2再转动新得到的第一角度，以此类推，直到第一关节角与第二关节角的差值小于或者等于180度时，处理器12才直接控制云台20转动至期望位置(5区域)。
需要指出的是，本实施方式还存在其它例子，例如，除在上述例子中的10区域外，第二位置可在10区域外的其它子区域，例如，第二位置在3区域、6区域、7区域、8区域或9区域。
可以理解，对于第二种情况的具体例子，可参第一种情况的具体例子进行说明和实施，为避免冗余，在此不再详细展开。
对于第三种情况，根据上述的转动规则，由于云台20沿着第二方向从第二位置转动至期望位置时，不会出现撞到限位的情况，因此，可控制云台20沿着第二方向直接从第二位置转动至期望位置。
在一个例子中，期望位置在1区域(例如期望位置的第二关节角为10度)，第二位置在3区域(例如第二位置的第一关节角为170度)，差值160度小于180度，云台20按照 从3区域->2区域->1区域的顺序从第二位置转动至期望位置。
在另一个例子中，期望位置在2区域(例如期望位置的第二关节角为30度)，第二位置在4区域(例如第二位置的第一关节角为-10度)，差值-40度，绝对值小于180度，云台20按照从4区域->1区域->2区域的顺序从第二位置转动至期望位置。
其它例子可参上述例子进行说明和实施，为避免冗余，在此不再详细展开。
实施例二：
期望位置所在的子区域包括正转区域的最大关节角位置D与转动中心O的连线的延长线OB以及正转区域的最大关节角位置D与转动中心O的连线OD所包围的第二子区域。也就是说，期望位置所在的子区域为3区域、9区域及10区域。第一条件为差值大于或者等于负180度，也就是说，第一关节角和第二关节角的差值不满足第一条件为第一关节角和第二关节角的差值的小于或者等于负180度。
在一个例子中，期望位置在3区域(例如期望位置的第二关节角为170度)，第二位置在5区域(例如第二位置的第一关节角为负30度)，差值-200度小于负180度，云台20按照从5区域->4区域->1区域->2区域->3区域的顺序从第二位置转动至期望位置，此时，由于第一关节角减去第二关节角的差值为负200度小于负180度，处理器12可控制云台20沿着正转方向X1先转动第一角度，然后处理器12再获取转动后云台的新的第二位置的第一关节角，处理器12再判断新的第二位置的第一关节角与第二关节角的差值是否小于负180度，若是，处理器12继续控制云台20沿着正转方向X1再转动新得到的第一角度，以此类推，直到第一关节角与第二关节角的差值大于或者等于负180度时，处理器12才直接控制云台30转动至期望位置(3区域)。
在另一个例子中，期望位置在9区域(例如期望位置的第二关节角为190度)，第二位置在5区域(例如第二位置的第一关节角为负30度)，差值-220度小于负180度，云台20按照从5区域->4区域->1区域->2区域->3区域->9区域的顺序从第二位置转动至期望位置，此时，由于第一关节角减去第二关节角的差值为负220度小于负180度，处理器12可控制云台20沿着正转方向X1先转动第一角度，然后处理器12再获取转动后的云台20的新的第二位置的第一关节角，处理器12再判断新的第二位置的第一关节角与第二关节角的差值是否小于负180度，若是，处理器12继续控制云台20沿着正转方向X1再转动新得到的第一角度，以此类推，直到第一关节角与第二关节角的差值大于或者等于负180度时，处理器12才直接控制云台20转动至期望位置(9区域)。
在又一个例子中，期望位置在10区域(例如期望位置的第二关节角为220度)，第二位置在5区域(例如第二位置的第一关节角为负30度)，差值-250度小于负180度，云台20按照从5区域->4区域->1区域->2区域->3区域->9区域->10区域的顺序从第二位置转动 至期望位置，此时，由于第一关节角减去第二关节角的差值为负250度小于负180度，处理器12可控制云台20沿着正转方向X1先转动第一角度，然后处理器12再获取转动后的云台20的新的第二位置的第一关节角，处理器12再判断新的第二位置的第一关节角与第二关节角的差值是否小于负180度，若是，处理器12继续控制云台20沿着正转方向X1再转动新得到的第一角度，以此类推，直到第一关节角与第二关节角的差值大于或者等于负180度时，处理器12才直接控制云台20转动至期望位置(10区域)。
需要指出的是，本实施方式还存在其它例子，例如，除在上述例子中的5区域外，第二位置可在5区域外的其它子区域，为避免冗余，在此不再详细展开。
实施例三：
期望位置所在的子区域包括反转区域的最小关节角位置A与转动中心O的连线的延长线OC以及反转区域的最小关节角位置A与转动中心O的连线OA所包围的第三子区域。也就是说，期望位置所在的子区域为6区域、7区域及8区域。第一条件为差值小于或者等于180度，也就是说，第一关节角和第二关节角的差值不满足第一条件可以理解为第一关节角和第二关节角的差值大于180度。
在一个例子中，期望位置在6区域(例如期望位置的第二关节角为负170度)，第二位置在2区域(例如第二位置的第一关节角为90度)，差值260度大于180度，云台20按照从2区域->1区域->4区域->5区域->6区域的顺序从第二位置转动至期望位置，此时，由于第一关节角减去第二关节角的差值为260度大于180度，处理器12可控制云台20沿着反转方向X2先转动第一角度，然后处理器12再获取转动后的云台20的新的第二位置的第一关节角，处理器12再判断新的第二位置的第一关节角与第二关节角的差值是否大于180度，若是，处理器12继续控制云台20沿着反转方向X2再转动新得到的第一角度，以此类推，直到第一关节角与第二关节角的差值小于或者等于180度时，处理器12才直接控制云台20转动至期望位置(6区域)。
在另一个例子中，期望位置在7区域(例如期望位置的第二关节角为负190度)，第二位置在2区域(例如第二位置的第一关节角为90度)，差值280度大于180度，云台20按照从2区域->1区域->4区域->5区域->6区域->7区域的顺序从第二位置转动至期望位置，此时，由于第一关节角减去第二关节角的差值为280度大于180度，处理器12可控制云台20沿着反转方向X2先转动第一角度，然后处理器12再获取转动后云台20的新的第二位置的第一关节角，处理器12再判断新得到的第二位置的第一关节角与第二关节角的差值是否大于180度，若是，处理器12继续控制云台20沿着反转方向X2再转动新得到的第一角度，以此类推，直到第一关节角与第二关节角的差值小于或者等于180度时，处理器12才直接控制云台20转动至期望位置(7区域)。
在又一个例子中，期望位置在8区域(例如期望位置的第二关节角为负220度)，第二位置在2区域(例如第二位置的第一关节角为90度)，差值310度大于180，云台20按照从2区域->1区域->4区域->5区域->6区域->7区域->8区域的顺序从第二位置转动至期望位置，此时，由于第一关节角减去第二关节角的差值为310度大于180度，处理器12可控制云台20沿着反转方向X2先转动第一角度，然后处理器12再获取转动后云台20的新的第二位置的第一关节角，处理器12再判断新的第二位置的第一关节角与第二关节角的差值是否大于180度，若是，处理器12继续控制云台20沿着反转方向X2再转动新得到的第一角度，以此类推，直到第一关节角与第二关节角的差值小于或者等于180度时，处理器12才直接控制云台20转动至期望位置(8区域)。
需要指出的是，本实施方式还存在其它例子，例如，除在上述例子中的2区域外，第二位置可在2区域外的其它子区域，为避免冗余，在此不再详细展开。
请参阅图8，在某些实施方式中，针对第二关节角的确定，云台的控制方法还包括：
步骤S40，确定云台基座30的姿态和云台20在期望位置的姿态；
步骤S50，根据云台基座30的姿态和云台20在期望位置的姿态，确定云台20在期望位置的计算关节角；
步骤S60，根据计算关节角与区域分界角的对比结果确定期望位置在云台的转动区域的第二关节角，区域分界角为根据云台的转动区域确定。
在某些实施方式中，处理器12还用于确定云台基座30的姿态和云台在期望位置的姿态；根据云台基座30的姿态和云台在期望位置的姿态，确定云台在期望位置的计算关节角；及根据计算关节角与区域分界角的对比结果确定期望位置在云台的转动区域的第二关节角，区域分界角为根据云台的转动区域确定。
也就是说，步骤S40、S50、S60可由处理器12实现。
如此，可以快速并且准确地确定期望位置在云台的转动区域的第二关节角，操作简单。
具体地，如图12所示，云台20连接有云台基座30，假设云台基座30当前的测量姿态qbase，云台20期望位置的姿态qtarcam，这样可得到基座30到云台20的转化关系qbase2cam，根据四元数转换到欧拉角的公式，能得到云台20在期望位置的计算关节角，该关节角的范围是正负180度，其表示方式可采用欧拉角。关节角的个数与云台20的转动轴相同，例如对于三轴云台来说，关节角qjoint1(roll)、关节角qjoint1(pitch)、关节角qjoint1(yaw)，分别表示说明横滚轴、俯仰轴和偏航轴的关节角。其中，云台20姿态可由云台20的惯性测量单元实时监测。本实施方式以云台20的偏航轴的关节角为例进行说明。在实际应用中，由于云台的转动区域的云台关节角可以大于360度，则在云台20的同一姿态，可以出现两个或以上的关节角，即云台20在期望位置的计算关节角对应的云台的转动 区域的关节角可能存在多解的情况，但在本实施方式中，由于对云台的转动区域按照关节角的划分以及大小进行了限定，则云台20在期望位置的姿态对应的第二关节角是唯一的且可以确定的，那么通过结合区域分界角可以确定期望位置在云台的转动区域的第二关节角。
需要说明的是，本申请实施例中，姿态可采用四元数或欧拉角表示，并且四元数与欧拉角之间可以通过相应的公式互相转换。
可以理解，云台20在期望位置的计算关节角与用户输入的指令有关，该输入的指令即为产生的云台20与云台基座30之间的角度偏差。区域分界角为根据云台的转动区域确定，可根据云台的转动区域的实际情况进行设置。在一个例子中，若正转区域与反转区域对称，区域分界角可以为20度，也就是说，1区域为20度。
具体地，在某些实施方式中，步骤S60包括：
若计算关节角小于负的区域分界角，且云台20与云台基座30的角度偏差满足第二条件，则确定计算关节角与第二预设角的和值为云台20在期望位置的第二关节角；
在某些实施方式中，处理器12还用于：
若计算关节角小于负的区域分界角，且云台20与云台基座30的角度偏差满足第二条件，则确定计算关节角与第二预设角的和值为云台在期望位置的第二关节角。
也就说是，上述步骤S60的具体步骤可以由处理器12实现。
在一个例子中，负的区域分界角为负20度，云台20检测到的期望位置的计算关节角为负30度，由于负30度小于负20度，若云台20与云台基座30的角度偏差满足第二条件，也就是说，用户输入的指令积分为正，此时，云台20在期望位置的关节角为计算关节角与第二预设角的和值。在一个实施方式中，第二预设角为2π，也就是说云台20在期望位置的第二关节角为330度(10区域)。
在某些实施方式中，步骤S60包括：
若计算关节角大于区域分界角，且角度偏差不满足第二条件，则确定计算关节角与第二预设角的差值为云台20在期望位置的第二关节角；
在某些实施方式中，处理器12还用于：
若计算关节角大于区域分界角，且角度偏差不满足第二条件，则确定计算关节角与第二预设角的差值为云台20在期望位置的第二关节角；
也就说是，上述步骤S60的具体步骤可以由处理器12实现。
在一个例子中，区域分界角为20度，云台检测到的期望位置的计算关节角为70度，由于70度大于20度，若云台20与云台基座30的角度偏差不满足第二条件，也就是说，用户输入的指令积分为负，此时，云台20在期望位置的关节角为计算关节角与第二预设角的差值。在一个实施方式中，第二预设角为2π，也就是说云台20在期望位置的第二关节 角为负290度(8区域)。
在某些实施方式中，步骤S60包括：
若计算关节角不小于负的区域分界角且不大于区域分界角，则确定计算关节角为云台20在期望位置的第二关节角。
在某些实施方式中，处理器12还用于：
若计算关节角不小于负的区域分界角且不大于区域分界角，则确定计算关节角为云台20在期望位置的第二关节角。
也就说是，上述步骤S60的具体步骤可以由处理器12实现。
在一个例子中，负的区域分界角为负20度，云台检测到的期望位置的计算关节角为负10度，由于负10度不小于负20度且不大于20度，此时，云台20在期望位置的第二关节角为计算关节角负10度(4区域)。
在另一个例子中，区域分界角为20度，云台20检测到的期望位置的计算关节角为5度，由于5度不小于负20度且不大于20度，此时，云台20在期望位置的第二关节角为计算关节角5度(1区域)。
上述实施方式中，通过计算关节角与区域分界角可快速确定云台在期望位置的第二关节角，方便简单。
具体的，云台20一般设有跟随模式(follow模式)，在跟随模式下，云台20与云台基座30的角度偏差固定，而云台20与云台基座30的角度偏差是由于用户输入指令控制云台20转动所产生的角度偏差。在本实施方式中，第二条件可以理解为用户的输入的指令积分为正值(如云台的转动区域包括正转、反转区域时，云台20与云台基座30的角度偏差为正值)，那么不满足第二条件为用户的输入指令积分为负值。可以理解，指令积分的正值或负值，可代表云台位置所在的转动区域，例如，计算关节角小于负的区域分界角且指令积分为正值时，那么云台20在期望位置的第二关节角是正值，云台20的期望位置在正转区域；计算关节角大于区域分界角且指令积分为负值时，那么云台20在期望位置的第二关节角是负值，云台20的期望位置在反转区域。
请参阅图10，在某些实施方式中，步骤S50包括：
步骤S52，根据云台基座30的姿态和云台在期望位置的姿态，确定云台基座30至期望位置的旋转姿态；
步骤S54，根据旋转姿态，确定云台20在期望位置的计算关节角。
在某些实施方式中，处理器12还用于根据云台基座30的姿态和云台在期望位置的姿态，确定云台基座30至期望位置的旋转姿态；及根据旋转姿态，确定云台20在期望位置的计算关节角。
也就是说，步骤S52及S54可由处理器12实现。
具体可参照上述说明的内容，此处不再赘述。
如此，根据旋转姿态，可以快速并且准确地确定云台20在期望位置的计算关节角。
请参阅图11，在某些实施方式中，步骤S40包括：
步骤S42，获取云台20或云台20搭载的负载110的实时姿态；
步骤S44，根据云台20或负载110的实时姿态，确定云台基座30的姿态。
在某些实施方式中，云台基座30的姿态可以与云台20或云台20搭载的负载110的实时姿态相同。而在某些实施例中，云台基座30的姿态与云台20或云台20搭载的负载110的实时姿态之间存在一个固定的变换关系。因此，处理器12用于获取云台20或云台20搭载的负载110的实时姿态及根据云台20或负载110的实时姿态，确定云台基座30的姿态。其中，云台20或云台20搭载的负载110的实时姿态可通过装设在云台20或负载110上的姿态传感器直接监测获得。
如此，通过云台20或负载110的实时姿态，可快速并准确地确定云台基座30的姿态。
具体的，负载110可以为诸如摄像设备，负载110可以提供静态感应数据或者动态感应数据(如视频)。负载110搭载在云台20上，从而通过云台控制负载110转动。
请参阅图9和图12，本申请实施例还提供了一种云台。该云台20可以包括云台的控制装置10，即包括轴组件210和一个或多个处理器12。处理器12与轴组件210电连接，一个或多个处理器12单独地或共同地工作用于实现上述实施方式的云台的控制方法，即实现对轴组件210的控制。
示例性的，处理器12可以用于：当轴组件210被动地从第一位置沿着第一方向转动至第二位置时，获取轴组件210转动时的期望位置；按照轴组件210的转动区域的转动规则确定第二位置至期望位置的第二方向；控制轴组件210沿着第二方向从第二位置转动至期望位置。对应于方法实施方式中的其它流程可以参照于此，在此不再赘述。
可选地，云台20可以包括两轴或三轴云台。本实施方式以云台20为三轴云台为例进一步说明。具体地，对于三轴云台来说，轴组件210包括偏航轴轴臂21、横滚轴轴臂23、俯仰轴轴臂25、用于控制偏航轴轴臂21转动的偏航轴电机22、用于控制横滚轴轴臂23转动的横滚轴电机24及用于控制俯仰轴轴臂25转动的俯仰轴电机26，通过控制偏航轴电机22、横滚轴电机24和俯仰轴电机26的转动，可以控制三轴云台的姿态。
进一步地，参见图12，云台20上可以搭载有负载110，负载110可以为影像捕获设备或者摄像设备(如相机、摄录机、红外线摄像设备、紫外线摄像设备或者类似的设备)，音频捕获装置(例如，抛物面反射传声器)，红外线摄像设备等，负载110可以提供静态感应数据(如图片)或者动态感应数据(如视频)。负载110的转动可以通过所述云台20得到控制。
请参阅图2，本申请实施方式还提供一种拍摄设备100。拍摄设备100包括云台20和上述任一实施方式的云台的控制装置10，即包括云台20和一个或多个处理器12。云台的控制装置10电连接云台20，即处理器12与云台20电连接，云台20用于支撑成像装置进行拍摄。一个或多个处理器12单独地或共同地工作用于实现上述实施方式的云台的控制方法。
示例性的，处理器12可以用于：当云台20被动地从第一位置沿着第一方向转动至第二位置时，获取云台20转动时的期望位置；按照云台的转动区域的转动规则确定第二位置至期望位置的第二方向；控制云台20沿着第二方向从第二位置转动至期望位置。对应于方法实施方式中的其它流程可以参照于此，在此不再赘述。
其中，拍摄设备100还可以包括支撑装置，该支撑装置用于支撑云台。该拍摄设备100可以为诸如手持拍摄设备。
具体的，云台的控制装置10可通过有线或者无线的方式连接云台20。在一个实施方式中，云台的控制装置10可直接设置在云台20上。在另外一个实施方式中，云台的控制装置10和云台20可以为独立的结构。
本申请实施方式的云台20或拍摄设备100中，云台的控制装置10可通过按照云台的转动区域的转动规则确定第二位置至期望位置的第二方向，并控制云台20沿着第二方向从第二位置转动至期望位置，由于该第二方向符合云台的转动区域的转动规则，以及第二位置、期望位置在转动区域的位置唯一性，从而可防止云台20转动时出现撞到转动限位而不能达到期望位置的情况，用户体验性好。
本申请的实施方式提供一种可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现上述实施方式的云台的控制方法中的任一流程。
在本说明书的描述中，参考术语“一个实施方式”、“一些实施方式”、“示意性实施方式”、“示例”、“具体示例”、或“一些示例”等的描述意指结合所述实施方式或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施方式或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施方式或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施方式或示例中以合适的方式结合。
流程图中或在此以其他方式描述的任何过程或方法描述可以被理解为，表示包括一个或更多个用于执行特定逻辑功能或过程的步骤的可执行指令的代码的模块、片段或部分，并且本申请的优选实施方式的范围包括另外的执行，其中可以不按所示出或讨论的顺序，包括根据所涉及的功能按基本同时的方式或按相反的顺序，来执行功能，这应被本申请的实施例所属技术领域的技术人员所理解。
在流程图中表示或在此以其他方式描述的逻辑和/或步骤，例如，可以被认为是用于执 行逻辑功能的可执行指令的定序列表，可以具体执行在任何计算机可读介质中，以供指令执行***、装置或设备(如基于计算机的***、包括处理器12的***或其他可以从指令执行***、装置或设备取指令并执行指令的***)使用，或结合这些指令执行***、装置或设备而使用。就本说明书而言，"计算机可读介质"可以是任何可以包含、存储、通信、传播或传输程序以供指令执行***、装置或设备或结合这些指令执行***、装置或设备而使用的装置。计算机可读介质的更具体的示例(非穷尽性列表)包括以下：具有一个或多个布线的电连接部(电子装置)，便携式计算机盘盒(磁装置)，随机存取存储器(RAM)，只读存储器(ROM)，可擦除可编辑只读存储器(EPROM或闪速存储器)，光纤装置，以及便携式光盘只读存储器(CDROM)。另外，计算机可读介质甚至可以是可在其上打印所述程序的纸或其他合适的介质，因为可以例如通过对纸或其他介质进行光学扫描，接着进行编辑、解译或必要时以其他合适方式进行处理来以电子方式获得所述程序，然后将其存储在计算机存储器中。
应当理解，本申请的各部分可以用硬件、软件、固件或它们的组合来执行。在上述实施方式中，多个步骤或方法可以用存储在存储器中且由合适的指令执行***执行的软件或固件来执行。例如，如果用硬件来执行，和在另一实施方式中一样，可用本领域公知的下列技术中的任一项或他们的组合来执行：具有用于对数据信号执行逻辑功能的逻辑门电路的离散逻辑电路，具有合适的组合逻辑门电路的专用集成电路，可编程门阵列(PGA)，现场可编程门阵列(FPGA)等。
本技术领域的普通技术人员可以理解执行上述实施方法携带的全部或部分步骤是可以通过程序来指令相关的硬件完成，所述的程序可以存储于一种计算机可读存储介质中，该程序在执行时，包括方法实施例的步骤之一或其组合。
此外，在本申请各个实施例中的各功能单元可以集成在一个处理模块中，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模块中。上述集成的模块既可以采用硬件的形式执行，也可以采用软件功能模块的形式执行。所述集成的模块如果以软件功能模块的形式执行并作为独立的产品销售或使用时，也可以存储在一个计算机可读取存储介质中。上述提到的存储介质可以是只读存储器，磁盘或光盘等。
尽管上面已经示出和描述了本申请的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本申请的限制，本领域的普通技术人员在本申请的范围内可以对上述实施例进行变化、修改、替换和变型。

Claims (37)

  1. 一种云台的控制方法，其特征在于，包括：
    当所述云台被动地从第一位置沿着第一方向转动至第二位置时，获取所述云台转动时的期望位置；
    按照所述云台的转动区域的转动规则确定所述第二位置至所述期望位置的第二方向；
    控制所述云台沿着所述第二方向从所述第二位置转动至所述期望位置。
  2. 根据权利要求1所述的控制方法，其特征在于，所述期望位置包括所述第一位置或预设位置。
  3. 根据权利要求2所述的控制方法，其特征在于，当所述期望位置为所述第一位置，且所述云台从所述第一位置转动至所述第二位置的转动区域包括部分重复的转动区域时，所述控制所述云台沿着所述第二方向从所述第二位置转动至所述期望位置包括：
    控制所述云台沿着所述第二方向或沿着与所述第一方向相反的方向从所述第二位置转动至所述期望位置。
  4. 根据权利要求1或2所述的控制方法，其特征在于，所述按照所述云台的转动区域的转动规则确定所述第二位置至所述期望位置的第二方向，包括：
    根据所述云台的转动区域的转动规则，比较所述云台在所述第二位置的第一关节角和所述云台在所述期望位置的第二关节角；
    若所述第一关节角小于所述第二关节角，则确定关节角增大方向为所述第二位置至所述期望位置的第二方向；
    若所述第一关节角大于所述第二关节角，则确定关节角减小方向为所述第二位置至所述期望位置的第二方向。
  5. 根据权利要求4所述的控制方法，其特征在于，所述云台的转动区域的云台关节角大于360度，所述转动区域根据预设规则划分为多个子区域；
    所述控制所述云台沿着所述第二方向从所述第二位置转动至所述期望位置，包括：
    确定所述第一关节角与所述第二关节角的差值；
    若所述差值满足第一条件，则控制所述云台沿着所述第二方向从所述第二位置转动至所述期望位置；
    若所述差值不满足所述第一条件，则控制所述云台沿着所述第二方向从所述第二位置转动第一角度，获取转动后所述云台的新的位置为所述第二位置，重复执行本步骤直至确定所述差值满足所述第一条件；
    其中，所述第一角度为根据所述云台在所述第二位置的姿态以及所述云台在所述期望 位置的姿态确定。
  6. 根据权利要求5所述的控制方法，其特征在于，所述第一条件为所述差值的绝对值小于或者等于180度。
  7. 根据权利要求5所述的控制方法，其特征在于，所述云台的转动区域包括正转区域和反转区域，所述正转区域的最大关节角大于180度且小于360度，所述反转区域的最小关节角小于负180度且大于负360度；
    所述转动区域是根据所述正转区域的最大关节角位置、所述反转区域的最小关节角位置、所述云台的转动中心划分成所述多个子区域。
  8. 根据权利要求7所述的控制方法，其特征在于，所述期望位置所在的子区域包括所述正转区域的最大关节角位置与所述转动中心的连线的延长线以及所述反转区域的最小关节角位置与所述转动中心的连线的延长线所包围的第一子区域；
    所述第一条件为所述差值的绝对值小于或者等于180度。
  9. 根据权利要求7所述的控制方法，其特征在于，所述期望位置所在的子区域包括所述正转区域的最大关节角位置与所述转动中心的连线的延长线以及所述正转区域的最大关节角位置与所述转动中心的连线所包围的第二子区域；
    所述第一条件为所述差值大于或者等于负180度。
  10. 根据权利要求7所述的控制方法，其特征在于，所述期望位置所在的子区域包括所述反转区域的最小关节角位置与所述转动中心的连线的延长线以及所述反转区域的最小关节角位置与所述转动中心的连线所包围的第三子区域；
    所述第一条件为所述差值小于或者等于180度。
  11. 根据权利要求7至10中任一项所述的控制方法，其特征在于，所述正转区域的最大关节角位置、所述反转区域的最小关节角位置和所述转动中心三者不共线；
    所述正转区域的最大关节角与所述反转区域的最小关节角的绝对值相同。
  12. 根据权利要求7至10中任一项所述的控制方法，其特征在于，所述控制方法还包括：
    根据所述第二关节角和所述多个子区域确定所述期望位置所在的子区域。
  13. 根据权利要求4至12中任一项所述的控制方法，其特征在于，所述控制方法还包括：
    确定云台基座的姿态和所述云台在所述期望位置的姿态；
    根据所述云台基座的姿态和所述云台在所述期望位置的姿态，确定所述云台在所述期望位置的计算关节角；
    根据所述计算关节角与区域分界角的对比结果确定所述期望位置在所述云台的转动区 域的第二关节角，所述区域分界角为根据所述云台的转动区域确定。
  14. 根据权利要求13所述的控制方法，其特征在于，所述根据所述计算关节角与区域分界角的对比结果确定所述期望位置在所述云台的转动区域的第二关节角，包括：
    若所述计算关节角小于负的所述区域分界角，且所述云台与所述云台基座的角度偏差满足第二条件，则确定所述计算关节角与第二预设角的和值为所述云台在所述期望位置的第二关节角；
    若所述计算关节角大于所述区域分界角，且所述角度偏差不满足所述第二条件，则确定所述计算关节角与所述第二预设角的差值为所述云台在所述期望位置的第二关节角；
    若所述计算关节角不小于所述负的所述区域分界角且不大于所述区域分界角，则确定所述计算关节角为所述云台在所述期望位置的第二关节角。
  15. 根据权利要求13或14所述的控制方法，其特征在于，所述根据所述云台基座的姿态和所述云台在所述期望位置的姿态，确定所述云台在所述期望位置的计算关节角，包括：
    根据所述云台基座的姿态和所述云台在所述期望位置的姿态，确定所述云台基座至所述期望位置的旋转姿态；
    根据所述旋转姿态，确定所述云台在所述期望位置的计算关节角。
  16. 根据权利要求13至15中任一项所述的控制方法，其特征在于，所述确定所述云台基座的姿态，包括：
    获取所述云台或所述云台搭载的负载的实时姿态；
    根据所述云台或所述负载的实时姿态，确定所述云台基座的姿态。
  17. 根据权利要求1至16中任一项所述的控制方法，其特征在于，所述转动区域为所述云台的偏航轴的转动区域。
  18. 一种云台的控制装置，其特征在于，包括：一个或多个处理器，单独地或共同地工作，所述处理器与所述云台电连接；所述处理器用于：
    当所述云台被动地从第一位置沿着第一方向转动至第二位置时，获取所述云台转动时的期望位置；
    按照所述云台的转动区域的转动规则确定所述第二位置至所述期望位置的第二方向；
    控制所述云台沿着所述第二方向从所述第二位置转动至所述期望位置。
  19. 根据权利要求18所述的控制装置，其特征在于，所述期望位置包括所述第一位置或预设位置。
  20. 根据权利要求19所述的控制装置，其特征在于，当所述期望位置为所述第一位置，且所述云台从所述第一位置转动至所述第二位置的转动区域包括部分重复的转动区域时， 所述处理器用于：
    控制所述云台沿着所述第二方向或沿着与所述第一方向相反的方向从所述第二位置转动至所述期望位置。
  21. 根据权利要求18或19所述的控制装置，其特征在于，所述处理器用于：
    根据所述云台的转动区域的转动规则，比较所述云台在所述第二位置的第一关节角和所述云台在所述期望位置的第二关节角；
    若所述第一关节角小于所述第二关节角，则确定关节角增大方向为所述第二位置至所述期望位置的第二方向；
    若所述第一关节角大于所述第二关节角，则确定关节角减小方向为所述第二位置至所述期望位置的第二方向。
  22. 根据权利要求21所述的控制装置，其特征在于，所述云台的转动区域的云台关节角大于360度，所述转动区域根据预设规则划分为多个子区域；所述处理器用于：
    确定所述第一关节角与所述第二关节角的差值；
    若所述差值满足第一条件，则控制所述云台沿着所述第二方向从所述第二位置转动至所述期望位置；
    若所述差值不满足所述第一条件，则控制所述云台沿着所述第二方向从所述第二位置转动第一角度，获取转动后所述云台的新的位置为所述第二位置，重复执行本步骤直至确定所述差值满足所述第一条件；
    其中，所述第一角度为根据所述云台在所述第二位置的姿态以及所述云台在所述期望位置的姿态确定。
  23. 根据权利要求22所述的控制装置，其特征在于，所述第一条件为所述差值的绝对值小于或者等于180度。
  24. 根据权利要求22所述的控制装置，其特征在于，所述云台的转动区域包括正转区域和反转区域，所述正转区域的最大关节角大于180度且小于360度，所述反转区域的最小关节角小于负180度且大于负360度；
    所述转动区域是根据所述正转区域的最大关节角位置、所述反转区域的最小关节角位置、所述云台的转动中心划分成所述多个子区域。
  25. 根据权利要求24所述的控制装置，其特征在于，所述期望位置所在的子区域包括所述正转区域的最大关节角位置与所述转动中心的连线的延长线以及所述反转区域的最小关节角位置与所述转动中心的连线的延长线所包围的第一子区域；
    所述第一条件为所述差值的绝对值小于或者等于180度。
  26. 根据权利要求24所述的控制装置，其特征在于，所述期望位置所在的子区域包括 所述正转区域的最大关节角位置与所述转动中心的连线的延长线以及所述正转区域的最大关节角位置与所述转动中心的连线所包围的第二子区域；
    所述第一条件为所述差值大于或者等于负180度。
  27. 根据权利要求24所述的控制装置，其特征在于，所述期望位置所在的子区域包括所述反转区域的最小关节角位置与所述转动中心的连线的延长线以及所述反转区域的最小关节角位置与所述转动中心的连线所包围的第三子区域；
    所述第一条件为所述差值小于或者等于180度。
  28. 根据权利要求24至27中任一项所述的控制装置，其特征在于，所述正转区域的最大关节角位置、所述反转区域的最小关节角位置和所述转动中心三者不共线；
    所述正转区域的最大关节角与所述反转区域的最小关节角的绝对值相同。
  29. 根据权利要求24至27中任一项所述的控制装置，其特征在于，所述处理器用于：
    根据所述第二关节角和所述多个子区域确定所述期望位置所在的子区域。
  30. 根据权利要求21至29中任一项所述的控制装置，其特征在于，所述处理器用于：
    确定云台基座的姿态和所述云台在所述期望位置的姿态；
    根据所述云台基座的姿态和所述云台在所述期望位置的姿态，确定所述云台在所述期望位置的计算关节角；
    根据所述计算关节角与区域分界角的对比结果确定所述期望位置在所述云台的转动区域的第二关节角，所述区域分界角为根据所述云台的转动区域确定。
  31. 根据权利要求30所述的控制装置，其特征在于，所述处理器用于：
    若所述计算关节角小于负的所述区域分界角，且所述云台与所述云台基座的角度偏差满足第二条件，则确定所述计算关节角与第二预设角的和值为所述云台在所述期望位置的第二关节角；
    若所述计算关节角大于所述区域分界角，且所述角度偏差不满足所述第二条件，则确定所述计算关节角与所述第二预设角的差值为所述云台在所述期望位置的第二关节角；
    若所述计算关节角不小于所述负的所述区域分界角且不大于所述区域分界角，则确定所述计算关节角为所述云台在所述期望位置的第二关节角。
  32. 根据权利要求30或31所述的控制装置，其特征在于，所述处理器用于：
    根据所述云台基座的姿态和所述云台在所述期望位置的姿态，确定所述云台基座至所述期望位置的旋转姿态；
    根据所述旋转姿态，确定所述云台在所述期望位置的计算关节角。
  33. 根据权利要求30至32中任一项所述的控制装置，其特征在于，所述处理器用于：
    获取所述云台或所述云台搭载的负载的实时姿态；
    根据所述云台或所述负载的实时姿态，确定所述云台基座的姿态。
  34. 根据权利要求18至33中任一项所述的控制装置，其特征在于，所述转动区域为所述云台的偏航轴的转动区域。
  35. 一种云台，其特征在于，包括如权利要求18至34中任一项所述的云台的控制装置。
  36. 一种拍摄设备，其特征在于，包括云台和权利要求18至34中任一项所述的云台的控制装置，所述云台的控制装置电连接所述云台，所述云台用于支撑成像装置进行拍摄。
  37. 一种可读存储介质，其上存储有计算机程序，其特征在于，该程序被处理器执行时实现如权利要求1至17任一项所述的云台的控制方法的步骤。
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