WO2022205091A1 - Gimbal control method, gimbal and mobile platform - Google Patents

Gimbal control method, gimbal and mobile platform Download PDF

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Publication number
WO2022205091A1
WO2022205091A1 PCT/CN2021/084461 CN2021084461W WO2022205091A1 WO 2022205091 A1 WO2022205091 A1 WO 2022205091A1 CN 2021084461 W CN2021084461 W CN 2021084461W WO 2022205091 A1 WO2022205091 A1 WO 2022205091A1
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WO
WIPO (PCT)
Prior art keywords
joint angle
rotating shaft
target
controlling
pan
Prior art date
Application number
PCT/CN2021/084461
Other languages
French (fr)
Chinese (zh)
Inventor
林荣华
潘立忠
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 CN202180094299.XA priority Critical patent/CN116897325A/en
Priority to PCT/CN2021/084461 priority patent/WO2022205091A1/en
Publication of WO2022205091A1 publication Critical patent/WO2022205091A1/en

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback

Definitions

  • the present disclosure relates to the technical field of PTZ control, and in particular, to a PTZ control method, a PTZ and a mobile platform.
  • embodiments of the present disclosure provide a pan-tilt control method, a pan-tilt and a mobile platform, which can implement at least one of a one-key storage function, one-key expansion function, or one-key expansion function, so as to improve the ease of use of operating equipment. There are problems of external interference and inconvenient operation.
  • an embodiment of the present disclosure provides a pan-tilt control method, the pan-tilt includes at least one rotating shaft structure, and the method includes: in response to a first trigger event instructing the pan-tilt to enter a storage mode, controlling at least one of the The rotating shaft structure is rotated to a target storage position, so that at least one of the rotating shaft structures is in a storage posture; at least one of the rotating shaft structures is controlled to remain in the target storage position until a second instruction indicating that the pan/tilt exits the storage mode is detected. trigger event.
  • the gimbal can control the rotating shaft structure to rotate to a target storage position in response to a trigger event indicating that the gimbal enters the storage mode, and the target position can make the gimbal and the gimbal enter the storage mode.
  • the operation equipment carried by the gimbal enters a relatively safe posture to improve property safety.
  • it can also effectively improve the accuracy of posture adjustment and improve the user experience.
  • an embodiment of the present disclosure provides a pan-tilt control method, the pan-tilt includes at least one rotating shaft structure, and the method includes: in response to a second trigger event instructing the pan-tilt to enter a deployment mode, controlling at least one of the The rotating shaft structure is rotated to the target deployment position, so that at least one of the rotating shaft structures is in a deployed attitude; wherein, the pan/tilt head is in a power-on state before responding to the second trigger event.
  • the gimbal in response to a trigger event indicating that the gimbal enters the deployment mode, controls the rotating shaft structure to rotate to the target deployment position in the power-on state, so that the gimbal can Quickly switch to the desired deployment posture, so as to quickly use the working equipment carried by the pan/tilt head to perform operations.
  • the gimbal compared to manually adjusting the gimbal to the unfolded posture, on the basis of improving the convenience of operation, it can also effectively improve the accuracy of posture adjustment and improve the user experience.
  • an embodiment of the present disclosure provides a pan-tilt control method, the pan-tilt includes at least one rotating shaft structure, and the method includes: in response to a first trigger event instructing the pan-tilt to enter a storage mode, controlling at least one of the The rotating shaft structure is rotated to the target storage position, so that at least one of the rotating shaft structures is in a storage posture; at least one of the rotating shaft structures is controlled to remain in the target storage position; in response to a second trigger event indicating that the pan/tilt head enters the deployment mode , controlling at least one of the rotating shaft structures to rotate to a target deployment position, so that at least one of the rotating shaft structures is in a deployed attitude.
  • the PTZ can respond to a trigger event that instructs the PTZ to enter the storage mode. , control the rotating shaft structure to rotate to the target storage position, so that the pan-tilt and/or the operation equipment carried by the pan-tilt is in a relatively safe working posture.
  • the at least one rotating shaft structure is controlled to remain in the target storage position, which helps to improve the safety in the process of being carried by the user to the next shooting location.
  • the gimbal controls the rotating shaft structure to rotate to the target deployment position in the power-on state, so that the gimbal can quickly switch to the desired deployment attitude, so that It can quickly use the operation equipment carried by the PTZ to perform operations, which can effectively improve the user experience.
  • embodiments of the present disclosure provide a pan/tilt head, including: at least one rotating shaft structure; one or more processors; and a computer-readable storage medium for storing one or more computer programs, wherein the computer programs are When executed by the processor, a method as described above is implemented.
  • an embodiment of the present disclosure provides a mobile platform, the mobile platform includes: a body and the above-mentioned pan/tilt head, where the pan/tilt head is arranged on the body.
  • embodiments of the present disclosure provide a computer-readable storage medium storing executable instructions, which, when executed by one or more processors, can cause one or more processors to execute the above Methods.
  • 1 is an application scenario of a method for controlling a PTZ, a PTZ, and a mobile platform provided by an embodiment of the present application;
  • FIG. 2 provides a method for controlling a PTZ and an application scenario of the PTZ provided by another embodiment of the present application
  • FIG. 3 is a schematic structural diagram of a PTZ provided by an embodiment of the present application.
  • FIG. 4 is a flowchart of a method for controlling a PTZ provided by an embodiment of the present application.
  • FIG. 5 is a schematic diagram of carrying operation equipment on a pan/tilt according to an embodiment of the present application
  • FIG. 6 is a schematic diagram of an interactive interface displayed on a display screen according to an embodiment of the present application.
  • FIG. 7 is a logic diagram of closed-loop control of the pan/tilt head based on joint angles provided by an embodiment of the present application.
  • FIG. 8 is a logic diagram of performing closed-loop control of a gimbal based on attitude according to an embodiment of the present application
  • FIG. 9 is a schematic diagram of a dynamic acceleration and deceleration model provided by an embodiment of the present application.
  • FIG. 10 is a flowchart of a method for controlling a PTZ provided by another embodiment of the present application.
  • FIG. 11 is a schematic diagram of switching the gimbal to the unfolded posture according to an embodiment of the present application.
  • FIG. 12 is a schematic diagram of an interactive interface displayed on a display screen according to another embodiment of the present application.
  • FIG. 13 is a flowchart of a method for controlling a pan-tilt head provided by another embodiment of the present application.
  • FIG. 14 is a schematic diagram of switching between the working posture, the storage posture and the unfolding posture of the gimbal provided by the embodiment of the application;
  • 15 is a schematic diagram of an interactive interface displayed on a display screen according to another embodiment of the present application.
  • 16 is a block diagram of an apparatus for controlling a PTZ provided by an embodiment of the present application.
  • 17 is a schematic diagram of a mobile platform with a power system provided by an embodiment of the present application.
  • FIG. 18 is a schematic diagram of a PTZ and a terminal device provided by an embodiment of the present application.
  • the bracket of the gimbal can be manually rotated to a specific position by manual adjustment. angle to enhance the safety of the gimbal and/or the operating equipment carried by the gimbal.
  • the related art can lock the rotating shaft structure at the specific angle through a mechanical lock. On the one hand, the accuracy and repeatability of manually adjusted joint angles are poor. On the one hand, the manual adjustment of the joint angle and the use of a mechanical lock to lock the bracket are not very convenient.
  • FIG. 1 is an application scenario of a method for controlling a PTZ, a PTZ, and a mobile platform provided by an embodiment of the present application.
  • the method of controlling the gimbal can be applied to a handheld gimbal, an airborne platform, and the like.
  • the work equipment is a camera device
  • the user shoots a video with the camera device carried on the pan/tilt head as an example.
  • the gimbal of the airborne camera is taken as an example.
  • the lens will face the object to be photographed (such as an actor, etc.), that is, the lens will face the outside. surroundings.
  • the user can first remove the shooting device, then manually adjust the posture of the gimbal to the storage posture, and lock the axis arms of each axis arm tightly.
  • the gimbal and camera set on the mobile platform also have similar problems.
  • the lens of the shooting device is prone to interfere with the body, bracket, external obstacles, etc.
  • the embodiments of the present disclosure can implement functions such as one-key storage, one-key expansion, and one-key expansion.
  • the user when a transitional shooting is required, the user can issue an instruction to the gimbal indicating entering the storage mode or the unfolding mode, so that the gimbal and/or the photographing device can be automatically adjusted to the storage posture or the unfolding posture, so as to enhance the cloud Safety and ease of operation of the stage and/or camera.
  • the user after completing a shooting process, the user can first remove the shooting device, and then use the one-key storage function to adjust the gimbal to the storage posture (the posture of the gimbal has changed in the enlarged view of Figure 1).
  • the gimbal When the user moves the gimbal to the next shooting position for the next shooting, the gimbal can be controlled to remain in the storage posture, which reduces the risk of damage caused by the interference between the gimbal and obstacles in the environment, and reduces energy consumption on the basis of to avoid shaking of the shaft arm.
  • the one-key deployment function can be used to adjust the gimbal to the unfolded posture, so that the next shooting process can be quickly carried out after the shooting device is installed. It should be noted that the embodiment in which the pan/tilt head carries the photographing device and is jointly switched to the designated storage posture is not excluded.
  • a mobile platform (such as an unmanned aerial vehicle) can also adjust the attitude of the gimbal set on the drone and/or the photographing device carried by the gimbal in response to commands from the remote control, etc., so as to elevate the gimbal and/or the camera. Or the safety of the camera and the ease of shooting.
  • FIG. 2 provides a method for controlling a PTZ and an application scenario of the PTZ provided by another embodiment of the present application.
  • a pan/tilt that can carry work equipment is used as an example for description. It should be noted that the working equipment may also be integrated with the pan/tilt, which is not limited here.
  • the pan/tilt head in FIG. 2 may include a bracket 200, a handle 201, and the like.
  • the bracket 200 may include a matching motor and a shaft arm, and the motor is used to drive the shaft arm to rotate, so as to drive the movement of the working equipment.
  • the stand 200 can be a variety of support structures, including but not limited to a single-axis or multi-axis attitude adjustable structure, for setting the work equipment on the handle 201 .
  • the work equipment may be a camera that allows the camera to be displaced relative to the handle 201, or rotated along one or more axes, such as the stand 200 that allows the camera to move along the pitch, pan, and roll axes A combined translational movement of one or more axes.
  • the stand 200 may allow the camera to rotate about one or more of a pitch axis, a pan axis, and a roll axis.
  • There may be a linkage conversion relationship between the bracket 200 and the handle 201 for example, the first movement (such as movement or rotation) generated by the handle 201 can be converted into a second movement generated by the bracket 200 . vice versa.
  • a sensor system may also be included on the gimbal.
  • the sensing system may include one or more sensors to sense spatial orientation, velocity, and/or acceleration (eg, rotation and translation with respect to up to three degrees of freedom).
  • the one or more sensors include, but are not limited to, GPS sensors, motion sensors, inertial sensors, joint angle sensors, or image sensors.
  • the sensing data provided by the sensing system can be used to control the pose, velocity, and/or acceleration of the work equipment.
  • a sensing system may be used to detect data about the environment of the gimbal, such as climatic conditions, the location of man-made structures, and the like.
  • the PTZ may also include a communication system.
  • the communication system can realize the communication between the PTZ and the control terminal with the communication system through wired or wireless signals sent and received.
  • the communication system may include any number of transmitters, receivers, and/or transceivers for wireless communication.
  • Communication can be one-way communication, so that data can be sent from one direction.
  • one-way communication may involve only the pan/tilt transmitting data to the control terminal, or vice versa.
  • One or more transmitters of the communication system may transmit data to one or more receivers of the communication system, and vice versa.
  • the communication can be two-way communication, so that data can be transmitted in both directions between the PTZ and the control terminal. Two-way communication includes that one or more transmitters of the communication system can send data to one or more receivers of the communication system, and vice versa.
  • control terminal may be connected to the pan-tilt or the work equipment, the control terminal may provide control instructions to one or more of the pan-tilt and the work equipment, and receive control instructions from one or more of the pan-tilt and the work equipment Information (eg, position and/or motion information of the stand 200 or the work equipment, data sensed by the work equipment, such as image data captured by the camera) is received in the device.
  • control data of the control terminal may include instructions regarding position, motion, braking, or control of the pan/tilt and/or work equipment. For example, the control data may cause a change in the position and/or orientation of the stent 200.
  • the control data of the control terminal can control the operation equipment, such as controlling the operation of the camera or other image capturing equipment (capturing still or moving images, zooming, turning on or off, switching imaging modes, changing image resolution, changing focus, changing depth of field, changing exposure time, changing viewing angle or field of view).
  • communications to the pan/tilt and/or work equipment may include information from one or more sensors.
  • Communication may include sensory information transmitted from one or more different types of sensors, such as GPS sensors, motion sensors, inertial sensors, proximity sensors, or image sensors. Sensing information is about position (eg, orientation, position), motion, or acceleration to the gimbal and/or work equipment.
  • the sensory information transmitted from the work equipment includes data captured by the work equipment or the status of the work equipment.
  • the control data transmitted and provided by the control terminal can be used to control the state of one or more of the pan/tilt head, the stand 200 or the working equipment.
  • one or more of the stand 200 and the working equipment may include a communication module for communicating with the control terminal, so that the control terminal can communicate individually or control the pan/tilt and the working equipment.
  • the control terminal may be a remote controller of the PTZ, or may be an intelligent electronic device such as a mobile phone, an iPad, a wearable electronic device, etc., which can be used to control the PTZ.
  • control terminal can be far away from the gimbal to realize remote control of the gimbal, and can be fixed or detachable on the gimbal, which can be set as required.
  • the pan-tilt can communicate with other remote devices other than the control terminal, or with remote devices other than the control terminal.
  • the control terminal can also communicate with another remote device and PTZ.
  • the pan-tilt and/or control terminal may communicate with another mobile platform or a carrier or work equipment of another mobile platform.
  • the additional remote device may be a second terminal or other computing device (eg, a computer, desktop, tablet, smartphone, or other mobile device).
  • the remote device may transmit data to the pan/tilt, receive data from the pan/tilt, transmit data to the control terminal, and/or receive data from the control terminal.
  • the remote device may be connected to the Internet or other telecommunication network to allow data received from the pan-tilt and/or control terminal to be uploaded to a website or server.
  • FIG. 3 is a schematic structural diagram of a pan/tilt according to an embodiment of the present application.
  • the pan/tilt 300 may include: at least one rotating shaft structure 31 and at least two motors 32 .
  • the rotating shaft structure 31 may include at least two relatively movable shaft arms 311 and 312 , and the rotating shaft structure 31 is used to support the working equipment 40 .
  • At least two motors 32 are respectively used to drive corresponding shaft arms to move, so as to adjust the posture of the working equipment 40 .
  • a pitch axis motor and a pitch axis arm cooperate to drive work equipment 40 in rotation about the pitch axis.
  • a roll axis motor and roll axis arm cooperate to drive work equipment 40 in rotation about the roll axis.
  • a yaw axis motor and a yaw axis arm cooperate to drive work equipment 40 in rotation about the yaw axis.
  • the pitch axis motor can drive the movement of the pitch axis arm
  • the roll axis motor can drive the movement of the roll axis arm
  • the yaw axis motor can drive the movement of the yaw axis arm.
  • the yaw axis arm may be connected to one end of the roll axis arm, and the other end of the roll axis arm may be connected to the pitch axis arm, but the embodiment of the present application is not limited to this, the yaw axis arm, the roll axis arm and the pitch axis arm
  • the axle arms can also be connected in other sequences.
  • pan/tilt head 300 can also enable the working equipment to rotate around only one, two or four axes, etc., which is not limited herein.
  • the rotating shaft structure can be used to be fixed on a mobile platform with a power system.
  • the mobile platform is an unmanned aerial vehicle as an example to illustrate.
  • the mobile platform may include a power mechanism, a sensing system. Additionally, the mobile platform may also include a communication system.
  • the power mechanism may include one or more rotating bodies, propellers, blades, engines, motors, wheels, bearings, magnets, and nozzles.
  • the rotating body of the powertrain may be a self-tightening rotating body, a rotating body assembly, or other rotating body power unit.
  • the mobile platform may have one or more power mechanisms. All powertrains can be of the same type or of different types.
  • the power mechanism enables the mobile platform to take off vertically from a surface, or to land vertically on a surface, without any horizontal movement of the mobile platform (eg, without taxiing on a runway).
  • the mobile platform may have multiple horizontal rotations to control the lifting and/or pushing of the mobile platform.
  • the sensing system may include one or more sensors to sense surrounding obstacles, spatial orientation, velocity and/or acceleration (eg, rotation and translation with respect to up to three degrees of freedom) of the mobile platform.
  • sensors to sense surrounding obstacles, spatial orientation, velocity and/or acceleration (eg, rotation and translation with respect to up to three degrees of freedom) of the mobile platform.
  • acceleration eg, rotation and translation with respect to up to three degrees of freedom
  • the communication system please refer to the relevant part of the communication system of the PTZ, which will not be repeated here.
  • the pan/tilt according to the embodiment of the present invention may be applied to a mobile platform, that is, the mobile platform may include the pan/tilt according to any one of the above embodiments.
  • the mobile platform may further include a body on which the pan/tilt head is arranged.
  • the body of the mobile platform may be a holding component of the handheld pan/tilt.
  • the mobile platform may include, for example, a car, an aircraft, a robot, etc., and the pan/tilt on its body may be equipped with an imaging device and/or a shooting device and/or other functional modules.
  • the body as the body of the mobile platform, can be used as a cloud The handle assembly of the table.
  • any part of the mobile platform that can be held can be used as a holding component of the pan/tilt.
  • the input unit may also have other components or parts, for example, may have a switch of a handheld pan/tilt and the like.
  • a processor may be provided in the input unit for processing input control commands, or sending and receiving signals.
  • the processor can also be arranged in the handle assembly.
  • the processor may be a central processing unit (Central Processing Unit, referred to as CPU), and the processor may also be other general-purpose processors, digital signal processors (Digital Signal Processor, referred to as DSP), application-specific integrated circuits (application specific integrated circuit, referred to as ASIC), off-the-shelf programmable gate array (Field-Programmable Gate Array, referred to as FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • a general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
  • the above method can also be applied to work equipment other than the imaging device and the like.
  • the operation equipment includes but is not limited to sound wave detection devices, surveying and mapping devices, spraying devices, infrared detection devices, radars, and the like.
  • FIG. 4 is a flowchart of a method for controlling a pan/tilt according to an embodiment of the present application.
  • the method includes operations S402 to S404.
  • At least one of the rotating shaft structures is controlled to rotate to a target storage position, so that at least one of the rotating shaft structures is in a storage posture.
  • the gimbal after the response to a first trigger event indicating that the gimbal enters the storage mode, and before controlling at least one of the rotating shaft structures to rotate to the target storage position, it is determined whether the gimbal is on the gimbal or not. It carries the operation equipment, and prompts the user when the operation equipment is carried on the PTZ.
  • the prompt information includes, but is not limited to, at least one of the following: not suitable for storage, the camera has not been removed, there is a risk of interference, and the like.
  • the way of judging whether the pan/tilt carries the working equipment can be judged by the output torque of the motor. In this way, misoperation during normal use and damage to the camera can be avoided.
  • the first trigger event includes a pressing operation on a mechanical button, a touch operation on a preset storage component on an interactive interface displayed on a display screen, and a motion state of the gimbal reaches a preset motion state at least one of them.
  • the first trigger event may be a physical key being pressed.
  • a physical button corresponding to the one-key storage function is set on the PTZ (it can be shared with the switch button, etc., or it can be a separate physical button).
  • the gimbal can enter the storage mode by pressing (short press or long press) the switch button when it is in the shutdown mode or the storage mode.
  • the first trigger event for entering the storage mode can also be triggered by pressing a button of the remote control.
  • the remote controller may be communicatively connected to the PTZ, or the remote controller may be communicatively connected to the mobile platform, and the mobile platform transmits the first trigger event to the PTZ, which is not specifically limited herein.
  • the first trigger event may be a trigger operation for a display component (eg, a button) of the interactive interface.
  • the PTZ includes a display
  • the interactive interface displayed by the display includes display components such as virtual keys, sliders, and instruction input boxes corresponding to the storage function.
  • the user generates the above-mentioned first trigger event by operating the display components.
  • the virtual button may also be provided on a remote controller that is communicatively connected to the PTZ or the mobile platform.
  • the first trigger event may be an event of passing the identity authentication, such as successful authentication based on a biometric feature. Including but not limited to: face recognition, fingerprint recognition or iris recognition for identity authentication.
  • the identity authentication process can also be implemented through a remote controller that is communicatively connected to the PTZ or the mobile platform.
  • the first trigger event may be an event that the pan/tilt head moves according to a preset trajectory. For example, when the movement track of the gimbal is shaking left and right, a trigger event for entering the storage mode is triggered.
  • the first trigger event may be an event in which the posture of the gimbal is passively changed to the first preset posture. For example, when the user manually rotates the rotating shaft structure to close the rotating shaft structure, a trigger event for entering the storage mode is triggered.
  • a mechanical button or a touch button on a parameter adjustment screen an application (APP) button is preset as a storage trigger button.
  • APP application
  • the target storage position may be preset, for example, it has been set before the gimbal is shipped from the factory.
  • the target storage position can also be set by the user.
  • the gimbal can have multiple different preset storage postures to meet specific needs in multiple scenarios. For example, taking the camera carried by the gimbal as an example, the camera is equipped with a high-magnification lens. Due to space constraints, the target storage position can be set to a position corresponding to a 180° rotation toward the user. For example, in order to reduce the time required for the photographing device to switch to the target storage position, the target storage position may be set to be rotated downward by 90°.
  • the target storage position may be set to the position facing the rotating shaft structure.
  • the target storage position can be set to be rotated downward by 45°.
  • At least one of the rotating shaft structures is controlled to remain in the target storage position until a second trigger event is detected that instructs the pan/tilt head to exit the storage mode.
  • At least one of the rotating shaft structures can be controlled to remain at the target storage position by means of closed-loop control. For example, when the deviation between the current position detected by the sensor and the target storage position is greater than a preset threshold, the attitude of at least one rotating shaft structure may be adjusted based on the deviation.
  • a posture maintaining duration threshold may also be preset, and if at least one of the rotating shaft structures is controlled to remain at the target storage position for a long time, excessive energy may be consumed. Therefore, when the detected holding time is greater than or equal to the attitude holding time threshold, the standby mode, the power-off mode, etc. can be automatically entered.
  • the posture maintaining duration threshold can be customized according to user needs.
  • the attitude maintaining duration threshold may be related to the remaining power of the gimbal. If the remaining power is more, the attitude maintaining duration threshold is dynamically increased, which is not specifically limited here.
  • the pan/tilt head includes a handle assembly, and at least one of the rotating shaft structures is disposed on the handle assembly.
  • controlling at least one of the rotating shaft structures to remain at the target storage position includes: controlling at least one of the rotating shaft structures to rotate to a preset storage posture relative to the holding assembly.
  • At least one of the pivot structures includes a roll pivot structure configured to rotate about a roll axis, a pitch pivot structure configured to rotate about a pitch axis, and a yaw axis configured to rotate about a yaw axis at least one of the swivel structures.
  • FIG. 5 is a schematic diagram of an operation device mounted on a pan/tilt according to an embodiment of the present application.
  • the pan/tilt head may further include: a holding assembly 50 .
  • the handle assembly 50 can provide support for the shaft structure.
  • the handle assembly 50 can support the shaft structure 31 .
  • the holding assembly 50 can also function such as accommodating a battery, a processor, setting input/output components, etc., which are not limited herein.
  • the pan/tilt head may include a pitch axis motor 322, a roll axis motor 323, a yaw axis motor 321, a holding assembly 50, a yaw axis axis arm 311, and a work equipment fixing
  • the mechanism 60 internal inertial measurement elements may be included, the pitch axis arm 312, the roll axis arm 313, the photographing device 40, and the like.
  • the pan/tilt head may further include: a working equipment fixing mechanism 60 .
  • the working equipment fixing mechanism 60 is used for fixing the working equipment 40 , and the working equipment 40 is fixed on the working equipment fixing mechanism 60 in an adjustable posture.
  • the work equipment securing mechanism 60 is rotatable relative to one or more pivot arms.
  • the working equipment fixing mechanism 60 includes a swivel arm that can be rotated relative to the pitch axis and a fixing portion that can cooperate with the photographing device.
  • the fixed portion can move linearly relative to the rotating arm to facilitate the fixing of work equipment of different sizes or configurations.
  • the work equipment fixing mechanism 60 may be a separate component or a part of a certain axis arm.
  • the work equipment fixing mechanism 60 may be a component of the pitch axis arm or the yaw axis arm, which will not be described here. limited.
  • the gimbal can control the fixing mechanism 60 of the operating equipment to rotate 180 degrees toward the user, etc., so that the lens faces the user, reducing the risk of damage to the lens due to interference with the external environment.
  • the gimbal can control the fixing mechanism 60 of the operating equipment to rotate downward by 90°, etc., so that the lens faces the holding assembly 50, thereby reducing the risk of damage to the lens due to interference with the external environment.
  • the second trigger event may be a physical key being pressed.
  • a physical button corresponding to the one-key expansion function or the power-on function is provided on the PTZ (a button can be shared with the one-key storage function button, the switch button, etc., or it can be a separate physical button).
  • the button of the one-button deployment function is the same as the button of the one-button storage function.
  • the triggering manner of the second triggering event may refer to the triggering manner of the first triggering event.
  • the second triggering event may be a triggering operation for the display component of the interactive interface
  • the second triggering event may be an event of passing the identity authentication
  • the second triggering event may be an event that the PTZ moves according to a preset trajectory
  • the second triggering event It may be an event in which the posture of the gimbal is passively changed to the second preset posture.
  • the relevant part of the first trigger event which will not be described in detail here.
  • the controlling at least one of the rotating shaft structures to remain at the target storage position includes: controlling the motor of the gimbal to output a holding torque so that the rotating shaft structure remains at the target storage position.
  • the rotating shaft structure can be maintained at the target storage position by means of a mechanical lock.
  • the method of limiting the position through a mechanical lock is less convenient to use, and in a scene that requires frequent transitions, it cannot meet the user's demand for ease of operation. On the one hand, it can effectively improve the user's operation convenience, and on the other hand, it can improve the safety of the gimbal and the operation equipment carried by the gimbal.
  • the holding torque can enable the working equipment to keep the posture of the working equipment relative to the gripping assembly unchanged when the user shakes the gimbal, so as to reduce damage to the working equipment caused by interference and the like.
  • the holding torque can also enable the working equipment to change its posture relative to the handle assembly under the action of a large external force, that is, the posture of the working equipment relative to the handle assembly is not locked (for example, the user can change the rotating shaft when breaking the rotating shaft structure by hand).
  • a buffer function can be provided under the action of a large external force, and when the external force disappears or becomes smaller, the original posture (such as the target storage position) can be accurately restored.
  • the holding moment is determined based on the load load carried by the head.
  • the load load may include the load of the work equipment, the load of the accessories of the work equipment, and the like.
  • the holding torque determined based on the load load helps to optimize the above-mentioned cushioning function, such as providing a more suitable holding torque.
  • the holding torque is smaller than the stabilization torque
  • the stabilization torque is the process of stabilizing the operation equipment carried by the gimbal when the gimbal is in the stabilization state. Describe the torque output by the motor of the gimbal.
  • the holding torque can be 1 mmN/m, 3 mmN/m, 5 mmN/m, 6 mmN/m, 9 mmN/m, 10 mmN/m, 15 mmN/m, 20 mm N/m, 28 mN/m, 35 mN/m, 50 mN/m, 80 mN/m, 100 mN/m, 150 mN/m, 300 mN/m, 500 mN/m m, 1 N/m, 3 N/m, 5 N/m, 15 N/m, 25 N/m, 50 N/m, 80 N/m, 100 N/m, etc.
  • the value of the proportional (P) in the PID in the stabilization mode can be reduced to reduce the input voltage in the stabilization mode.
  • the current value of the motor thereby realizing that the holding torque is less than the stabilization torque.
  • each joint can also be locked and/or turned off through a mechanical lock, or you can choose to maintain such a state and unfold it with one click after the transition.
  • the pan/tilt head includes an angle sensor, and the angle sensor is used to detect the current joint angle of the rotating shaft structure.
  • controlling at least one of the rotating shaft structures to rotate to the target storage position includes: controlling the at least one of the rotating shaft structures to rotate to the target storage joint angle.
  • the current joint angle may be acquired by an angle sensor, and the target storage joint angle is the joint angle when the rotating shaft structure is in the target storage position, which may be preset in the storage element of the gimbal.
  • the angle sensor includes a magnetic ring and a magnetic encoder.
  • the magnetic ring is set on the rotor of the rotating shaft motor.
  • the magnetic encoder is set in the electronic speed governor. The magnetic encoder can obtain the rotating position of the magnetic ring, thereby determining the position of the rotor to determine the current joint angle.
  • offset angle (offset) between the rotational position of the magnetic ring obtained by the magnetic encoder and the rotational position of the rotor, which can be The offset angle is detected experimentally and stored in the storage element of the pan/tilt head, so that the rotation position of the rotor can be determined through the rotation position of the magnetic ring and the offset angle to determine the current joint angle.
  • the pan/tilt head may further include: an inertial measurement unit (Inertial measurement unit, IMU for short).
  • the inertial measurement unit can be installed anywhere on the pan/tilt head, so as to determine the attitude information of the components supported by the installed inertial measurement unit.
  • the inertial measurement unit may be disposed on the working equipment fixing mechanism 60 for measuring the attitude information of the working equipment fixing mechanism 60 .
  • the inertial measurement unit may be arranged on the shaft arm.
  • the inertial measurement unit may be at least one of an accelerometer or a gyroscope, and may be used to measure the attitude and acceleration of the photographing device.
  • an inertial measurement unit may be provided on the working equipment 40 for measuring the pose of the working equipment information.
  • each inertial measurement unit may be disposed on a different component, so as to measure the pose information of the component.
  • controlling at least one of the rotating shaft structures to rotate to a target storage joint angle includes: controlling at least one of the rotating shaft structures to rotate based on a difference between the current joint angle and the target storage joint angle to the target stowage joint angle.
  • the joint angle deviation between the current joint angle and the target storage joint angle is calculated, and the working current and/or torque of the rotating shaft structure can be determined through the joint angle deviation.
  • the rotation of the rotating shaft structure can be controlled to rotate the rotating shaft structure to the target receiving joint angle. In this way, the structure of the rotating shaft can be adjusted to the target storage position simply, quickly and accurately through the closed-loop control of the joint angle.
  • controlling at least one of the rotating shaft structures to rotate to the target receiving joint angle based on the difference between the current joint angle and the target receiving joint angle may include the following operations.
  • the respective sub-target stowed joint angles of a plurality of control cycles are determined.
  • the number of control cycles may be determined based on the magnitude of the difference. For example, the larger the difference, the greater the number of control cycles required.
  • the rotation of at least one of the rotating shaft structures is controlled based on the difference between the current joint angle and the sub-target receiving joint angle corresponding to the control period.
  • the process parameters for each control period can be as shown in Table 1.
  • first joint angle second joint angle third joint angle initial value 10 10 10 first control cycle 9 11 11 second control period 8 12 12 third control period 6 14 14 ... ... ... ... Nth control cycle 0 20 20
  • each rotating shaft structure includes a corresponding forward rotation direction and a reverse rotation direction.
  • the joint angle of the roll axis structure is a first set joint angle
  • the difference between the preset joint angle corresponding to the roll axis structure and the first set joint angle is the first joint angle
  • the joint angle of the pitch axis structure is the second set joint angle
  • the absolute difference between the preset joint angle corresponding to the pitch axis structure and the second set joint angle is the second joint angle
  • the joint angle of the yaw shaft structure is the third set joint angle
  • the absolute difference between the preset joint angle corresponding to the yaw shaft structure and the third set joint angle is the third joint angle
  • the absolute difference between the target storage joint angle corresponding to the roll axis structure and the first set joint angle is 90 degrees, which may be a positive difference between the target storage joint angle corresponding to the roll axis structure and the first set joint angle.
  • 90 degrees that is, the direction of the target storage joint angle of the roll axis structure relative to the first set joint angle is the positive rotation direction, and the angle is 90 degrees.
  • the absolute difference between the target storage joint angle corresponding to the pitch shaft structure and the second set joint angle is 55 degrees, that is, the second set joint angle is the target storage joint angle corresponding to the pitch shaft structure.
  • the absolute difference between the target storage joint angle corresponding to the yaw axis structure and the third set joint angle is 0 degrees.
  • the roll axis structure, pitch axis structure and yaw axis structure are relatively convergent, so that the volume occupied by the gimbal can be minimized, the space required by the gimbal can be reduced, and the interference with the outside world during the movement of the camera can be reduced. risks of.
  • first set joint angle, the second set joint angle, and the third set joint angle may also be other set values, such as 20 degrees, 90 degrees, 125 degrees, and the like.
  • the absolute difference between the target storage joint angle corresponding to the roll axis structure and the first set joint angle, the absolute difference between the target storage joint angle corresponding to the pitch axis structure and the second set joint angle, and the target corresponding to the yaw axis structure can also be set as required.
  • the final target joint angle in the storage state may be: the pan axis is 0 degrees, the roll axis is 90 degrees, and the pitch axis is 55 degrees.
  • FIG. 6 is a schematic diagram of an interactive interface displayed on a display screen according to an embodiment of the present application.
  • multiple interactive components can be displayed on the interactive interface, such as shutdown, storage, joint angle setting, and the like.
  • some components may correspond to the next-level interactive interface.
  • the user clicks the joint angle setting button the user can jump to an interface for setting the joint angle, so that the user can set the first joint angle, the second joint angle, the third joint angle and so on by himself.
  • target joint angles for each of the pan axis, roll axis, and pitch axis can be set.
  • determining the respective sub-target stowed joint angles of multiple control cycles based on the difference between the current joint angle and the target stowed joint angle includes: based on the current joint angle and the target stowed joint angle The difference between the joint angles is determined by the dynamic acceleration and deceleration model to determine the respective sub-target receiving joint angles of multiple control cycles.
  • FIG. 7 is a logic diagram of the closed-loop control of the gimbal based on the joint angle provided by the embodiment of the present application.
  • the user can preset a preset joint angle, and determine the joint angle deviation by comparing the difference between the preset joint angle and the current joint angle collected by the angle sensor.
  • the processor is used to process the joint angle deviation to determine a control command, and the control command is used to control the shaft motor to output a corresponding torque to drive the pan/tilt to change its attitude.
  • the preset joint angle is mainly used as the target information of the closed-loop control.
  • the preset posture can also be used as the target information of the closed-loop control.
  • Equation (1) the conversion between joint angles and poses can be achieved using the formula of Equation (1).
  • qcam is the target posture of the operation equipment on the gimbal in the geodetic coordinate system
  • qbase is the posture of the gimbal's holding component or gimbal base in the geodetic coordinate
  • qbase ⁇ out is the holding component or gimbal base to the
  • the rotation quaternion of the gimbal outer frame is constructed from the target storage joint angle corresponding to the outer frame
  • qout ⁇ mid is the rotation quaternion from the gimbal outer frame to the gimbal middle frame
  • qmid ⁇ inn is the rotation quaternion from the middle frame of the gimbal to the inner frame of the gimbal, which is constructed from the target storage joint angle corresponding to the inner frame.
  • the target posture of the corresponding rotating shaft structure can be converted to the coordinate system of the gimbal body to obtain the preset posture of the rotating shaft structure relative to the holding assembly 50.
  • the current posture of the rotating shaft structure can be converted to in the coordinate system of the gimbal body.
  • FIG. 8 is a logic diagram of closed-loop control of a gimbal based on an attitude provided by an embodiment of the present application.
  • the attitude deviation between the current attitude and the preset attitude of the rotating shaft structure relative to the holding assembly 50 can be calculated in the gimbal body coordinate system. Based on the attitude closed-loop control method, the operation of the rotating shaft structure can be determined by the attitude deviation.
  • the current and/or torque, according to the working current and/or the torque, the rotation of the rotating shaft structure can be controlled to rotate the rotating shaft structure to a preset posture relative to the holding assembly 50 .
  • the current attitude may be obtained by integral operation using the angular velocity collected by the gyroscope.
  • the joint angles may be inversely calculated from the poses or the poses may be calculated from the joint angles.
  • the rotation axis Vz of the coordinate axis of the joint angle of the yaw axis is [0, 0, 1]
  • the rotation axis Vx of the coordinate axis of the joint angle of the roll axis is [1, 0, 0]
  • the coordinates of the joint angle of the pitch axis The axis of rotation Vy of the shaft is [0, 1, 0]. Convert Vx, Vy, Vz to the gimbal body coordinate system respectively as shown in formula (2) to formula (3):
  • Vz ⁇ b Ry'*Rx'*Rz'*Vz Equation (2)
  • Vx ⁇ b Ry'*Rx'*Vx Equation (3)
  • Vy ⁇ b Ry'*Vy Equation (4)
  • Ry', Rx', Rz' correspond to the transpose of Ry, Rx, Rz respectively
  • Ry, Rx, Rz are the joint angle coordinate system around the Y axis (pitch axis), X axis (roll axis), Z axis respectively (Yaw axis) Rotation matrix to the reference frame.
  • the attitude control can be realized according to the joint angle of the rotating shaft structure. For example, first obtain the current joint angle and target storage joint angle of the rotating shaft structure, determine the expected joint angular velocity of the rotating shaft structure according to the current joint angle and the target storage joint angle, and then convert the expected joint angular velocity of the rotating shaft structure to the value in Euler through the coordinate transformation relationship.
  • the expected Euler angular velocity in the coordinate system so that the corresponding preset attitude can be obtained according to the expected Euler angular velocity, and then the rotating shaft structure is controlled to rotate to the preset attitude relative to the holding component according to the expected Euler angular velocity.
  • the dynamic acceleration and deceleration model may include a velocity-timeline in a preset shape.
  • the shape of the speed-time line includes, but is not limited to, an oblique line, a curved line, a polyline, and the like relative to a certain coordinate axis.
  • the preset-shaped velocity-timeline includes at least two of a velocity-increasing sub-segment, a velocity-constant sub-segment, and a velocity-decreasing sub-segment.
  • the target joint angle for each control cycle is generated through a dynamic T-shaped acceleration/deceleration control plan.
  • T-shaped acceleration and deceleration help make shifting smoother and take less time to reach the target joint angle.
  • the joint angle closed-loop control is performed through the target joint angle of the current control cycle and the detected joint angle angle, until the detected current joint angle reaches the error range of the target joint angle in the storage state.
  • the error range may be a steady-state error, for example, the error range has upper and lower limits.
  • the rotating shaft structure when controlling the rotating shaft structure, can rotate at a preset speed, and the preset speed can be preset in the storage element of the pan/tilt head.
  • the preset speed can be a constant value.
  • the preset speed can also have a trend of increasing first and then decreasing. In this way, the target storage position can be approached at a relatively high speed to reduce the time required to rotate to the target storage position, and the speed can be reduced after approaching the target storage position. In order to prevent hitting the limit of the rotating shaft structure, and can avoid the situation of exceeding the target storage position and then returning.
  • the preset speed may also be determined according to the difference between the current position of the rotating shaft structure and the target storage position, wherein the difference between the current position and the target storage position may refer to the joint angle deviation or the attitude deviation.
  • the preset speed It can be determined in real time according to the actual operation needs. For example, when the difference between the current position and the target storage position is relatively large, the preset speed can be relatively large, and when the difference between the current position and the target storage position is relatively small, the preset speed can be compared. Xiao, etc., no specific limitation is made here.
  • FIG. 9 is a schematic diagram of a dynamic acceleration and deceleration model provided by an embodiment of the present application.
  • the starting moment of the dynamic acceleration and deceleration model can increase the speed in the form of uniform acceleration or variable acceleration, and in the middle stage, it can adopt the form of uniform speed, and of course, it can also adopt the form of variable speed.
  • the speed can be reduced by uniform deceleration or variable deceleration.
  • the rotating shaft structure may further include an electronic speed governor, which is used to adjust the rotational speed of the motor, so as to realize the adjustment of the rotating speed of the rotating shaft structure according to the dynamic acceleration and deceleration model.
  • an electronic speed governor which is used to adjust the rotational speed of the motor, so as to realize the adjustment of the rotating speed of the rotating shaft structure according to the dynamic acceleration and deceleration model.
  • the angle of the current joint angle in each cycle of at least part of the control cycle, can be initialized to the The sub-goal of the control period accommodates the joint angle.
  • the current joint angle is initialized as the current target joint angle (such as the target joint angle of the current control cycle) to effectively avoid the singular problem of the storage state.
  • the above method may further include the following operations.
  • At least one of the following operations is performed: in response to a shutdown instruction, controlling the PTZ to enter a shutdown mode, or, in response to a standby instruction, controlling the PTZ The station enters standby mode.
  • the present disclosure implements the provided method for controlling a pan/tilt, which controls the rotating shaft structure to rotate to a target storage position, where the target storage position can make the pan/tilt and/or the operating equipment carried by the pan/tilt in a relatively safe posture to improve property safety.
  • a pan/tilt which controls the rotating shaft structure to rotate to a target storage position
  • the target storage position can make the pan/tilt and/or the operating equipment carried by the pan/tilt in a relatively safe posture to improve property safety.
  • it can also effectively improve the accuracy of posture adjustment and improve the user experience.
  • FIG. 10 is a flowchart of a method for controlling a PTZ provided by another embodiment of the present application.
  • the method may include operation S1002.
  • At least one of the rotating shaft structures is controlled to rotate to a target deployment position, so that at least one of the rotating shaft structures is in a deployed attitude.
  • the pan/tilt head includes at least one rotating shaft structure.
  • the gimbal is in a powered-on state before responding to the second trigger event.
  • the PTZ can be in a standby state, a storage state, a working state, and so on. This makes it easy for users to quickly switch the pan/tilt from the standby state, the storage state, etc. to the unfolded state, so as to quickly perform operations.
  • the structure of the PTZ can refer to FIG. 1 , FIG. 2 , FIG. 3 or FIG. 5 .
  • the second trigger event reference may be made to the second trigger event in the above embodiment, which will not be described in detail here.
  • FIG. 11 is a schematic diagram of switching the gimbal to a deployed posture according to an embodiment of the present application.
  • the pan/tilt head is in a retracted posture so as to move to a desired shooting position.
  • a second trigger event can be generated by clicking a button, so that the pan/tilt head can control the rotating shaft structure to be in the unfolded posture in response to the second trigger event, as shown in the right figure of FIG. 11 .
  • the working equipment is an example of a photographing device integrated with a pan/tilt head for description.
  • the storage position of the gimbal helps to improve the safety and reliability of the precise components of the camera.
  • the photographing device may be placed in a stowed posture.
  • a second trigger event can be generated by clicking a button or the like, so that the gimbal can control the rotating shaft structure to be in an unfolded posture in response to the second trigger event. This is convenient for the user to quickly perform the shooting operation.
  • the target deployment position includes: a preset deployment position, a deployment position before the gimbal enters the storage mode, a selected deployment position, or a designated deployment position temporarily input by the user.
  • FIG. 12 is a schematic diagram of an interactive interface displayed on a display screen according to another embodiment of the present application.
  • the user can input various operation instructions, such as shutdown, deployment, and attitude setting, based on the interactive interface displayed on the display screen.
  • the user can preset the joint angle corresponding to the deployment attitude, such as yaw angle setting, pitch angle setting or roll angle setting, etc.
  • the user can also temporarily set the unfolding posture, which is not limited here.
  • the method further includes: locking the control right for at least one of the rotating shaft structures to prohibit responding to the at least one rotating shaft structure.
  • the control instruction of the rotating shaft structure is generated based on user operation.
  • control commands input by the user include, but are not limited to: control commands generated by using the joystick, buttons, etc. of the holding component, commands generated by the display components such as the virtual joystick and virtual keys displayed on the application (APP) interactive interface, and the response For the centering instruction generated by the double-click event for the specified object, etc.
  • the method further includes: unlocking the control right of at least one of the rotating shaft structures.
  • the gimbal may respond to the control command generated by using the joystick, buttons, etc. of the holding component, and respond to using the virtual joystick displayed on the application (APP) interactive interface.
  • APP application
  • the pan/tilt head includes an angle sensor, and the angle sensor is used to detect the current joint angle of the rotating shaft structure.
  • the angle sensor may be as shown above, eg including a magnetic ring and a magnetic encoder.
  • the IMU can be used to determine the joint angle, for example, the angle information is obtained by integrating the angular acceleration output by the IMU, etc., which is not limited here.
  • controlling at least one of the rotating shaft structures to rotate to the target deployed position includes: controlling the at least one of the rotating shaft structures to rotate to the target expanded joint angle.
  • controlling the rotation of at least one of the rotating shaft structures to a target deployed joint angle may include the following operations: controlling at least one of the joint angles based on a difference between the current joint angle and the target deployed joint angle The hinge structure rotates to the target deployment joint angle.
  • the controlling at least one of the rotating shaft structures to rotate to the target deployed joint angle based on the difference between the current joint angle and the target deployed joint angle may include the following operations: first, based on the The difference between the current joint angle and the target deployed joint angle determines the respective sub-target deployed joint angles of a plurality of control cycles. Then, for each control period, the rotation of at least one of the rotating shaft structures is controlled based on the difference between the current joint angle and the sub-target deployed joint angle corresponding to the control period.
  • the determining, based on the difference between the current joint angle and the target deployed joint angle, the respective sub-target deployed joint angles of multiple control cycles specifically includes: based on the current joint angle and the target deployed joint angle.
  • the difference between the target deployment joint angles is determined, and the sub-target deployment joint angles of each of the multiple control cycles are determined through the dynamic acceleration and deceleration model.
  • FIG. 9 For the dynamic acceleration and deceleration model, reference may be made to the relevant description of FIG. 9 , which is not limited here.
  • the dynamic acceleration and deceleration model includes a speed-timeline in a preset shape.
  • the preset-shaped speed-timeline includes at least two of a speed-increasing sub-line segment, a speed-constant sub-line segment, and a speed-decreasing sub-line segment.
  • the above method further includes: in the process of joint angle closed-loop control, in each cycle of at least part of the control cycle, initializing the angle of the current joint angle to the sub-target deployed joint angle of the control cycle.
  • the number of control cycles may be fixed, and the number of control cycles may be determined based on the difference between the current joint angle and the target deployed joint angle, which is not limited herein.
  • At least one of the pivot structures includes a roll pivot structure configured to rotate about a roll axis, a pitch pivot structure configured to rotate about a pitch axis, and a yaw axis configured to rotate about a yaw axis at least one of the swivel structures.
  • the joint angle of the roll axis structure is a first set joint angle
  • the difference between the preset joint angle corresponding to the roll axis structure and the first set joint angle is the fourth joint angle, such as 0 degrees.
  • the joint angle of the pitch axis structure is a second set joint angle
  • the absolute difference between the preset joint angle corresponding to the pitch axis structure and the second set joint angle is a fifth Joint angle, e.g. 0 degrees.
  • the joint angle of the yaw shaft structure is a third set joint angle
  • the absolute difference between the preset joint angle corresponding to the yaw shaft structure and the third set joint angle is The sixth joint angle, eg 0 degrees.
  • the pan/tilt head includes a handle assembly, and at least one of the rotating shaft structures is disposed on the handle assembly.
  • the holding assembly 50 can be referred to as shown in FIG. 5 .
  • the holding assembly 50 may be provided with a display screen, buttons, a processor, a circuit board, a battery, a supporting foot, and the like.
  • controlling at least one of the rotating shaft structures to remain at the target deployed position includes: controlling the at least one of the rotating shaft structures to rotate to a preset deployed posture relative to the handle assembly or a posture before entering the storage mode.
  • controlling the at least one of the rotating shaft structures to rotate to a preset deployed posture relative to the handle assembly or a posture before entering the storage mode helps to improve the convenience of user operation.
  • controlling the rotation of at least one of the rotating shaft structures to the posture before entering the storage mode with respect to the handle assembly it is helpful for the user to maintain the continuity of the shooting angle of view after the transition.
  • the second trigger event includes a pressing operation on the unfolding mechanical button, a touch operation on a preset unfolding component on the interactive interface displayed on the display screen, and the motion state of the pan/tilt reaches a preset motion at least one of the states.
  • the method further includes the following operation: in response to a shutdown instruction, controlling the pan/tilt to enter a shutdown mode.
  • a mechanical button, a touch button on the parameter adjustment screen, and an APP button can be set as the deployment trigger button (this operation can be preset by the manufacturer, and the user does not need to define it each time it is used), and the PTZ is in storage.
  • the gimbal enters the expanded state in response to the trigger event and resumes normal work. It should be noted that if the gimbal has just been turned on or the mechanical shaft lock has been unlocked, it will automatically unfold when it is turned on, and it can be unfolded without one key.
  • the gimbal switches to the joint angle closed-loop control, and initializes the current joint angle angle as the current target joint angle to avoid the gimbal lock problem of the storage state.
  • the gimbal calculates the target based on the current target joint angle and the final target joint angle in the unfolded state (according to the target pose—usually Euler angles (such as 0°, 0°, 0°), the current base pose and the inverse kinematics solution.
  • the difference value of the joint angle is used to generate the target joint angle of each control cycle through the dynamic T-type acceleration and deceleration control plan.
  • the operation process of entering the unfolded posture may be at least part of the inverse operation of the relevant operation process of entering the storage posture.
  • the joint angle is closed loop through the target joint angle of the current control cycle and the detected joint angle, until the detected joint angle reaches the target joint angle error range of the deployed state.
  • the gimbal in response to a trigger event for entering the deployment mode, controls the rotating shaft structure to rotate to the target deployment position in the power-on state, so that the gimbal can switch quickly To the desired deployment posture, in order to quickly use the operation equipment carried by the gimbal for operation, and also effectively improve the accuracy of posture adjustment and improve user experience.
  • the gimbal includes at least one rotating shaft structure.
  • FIG. 13 is a flowchart of a method for controlling a pan/tilt according to another embodiment of the present application.
  • the method for controlling a pan/tilt head may include operations S1302 to S1306.
  • the current posture-related information of at least one of the rotating shaft structures may be determined and stored, such as the angle of each joint. Values or attitude information for certain axes (one or more of pitch, yaw, and roll), etc. This is convenient for returning to the original posture when entering the expanded mode later.
  • At least one of the rotating shaft structures is controlled to remain in the target storage position.
  • operation S1306 in response to a second trigger event indicating that the pan/tilt head enters the deployment mode, at least one of the rotating shaft structures is controlled to rotate to a target deployment position, so that at least one of the rotating shaft structures is in a deployed attitude.
  • a second trigger event indicating that the pan/tilt head enters the deployment mode
  • at least one of the rotating shaft structures is controlled to rotate to a target deployment position, so that at least one of the rotating shaft structures is in a deployed attitude.
  • FIG. 14 is a schematic diagram of switching between the working posture, the storage posture and the unfolding posture of the gimbal according to an embodiment of the present application.
  • the user can take off the shooting device, and then control the gimbal from the working posture, such as the posture when using the shooting device for shooting, the preset unfolding posture, etc., to enter the storage posture, the The storage posture helps to improve the safety, reliability and portability of the gimbal.
  • the gimbal can provide a certain holding torque to the rotating shaft structure to keep the gimbal in the storage posture.
  • the pan/tilt head can be controlled to enter the unfolding mode, so that at least one of the rotating shaft structures is in the unfolding posture (the unfolding posture can be the same as the completion of the last shooting process).
  • the last posture may also be a designated posture preset by the user), so that the user can install the photographing device and perform the next photographing process.
  • a photographing device integrated with a pan/tilt head is used as an example for description.
  • the gimbal can enter the storage position from the working position, such as the position when using the shooting device for shooting, the preset unfolding position, etc., which helps to improve the stability of the gimbal and/or shooting device. Safety and reliability. In this way, it is convenient for the user to move during the completion of the shooting process, during which a certain holding torque can be provided to the rotating shaft structure to keep the shooting device in a specific posture.
  • the pan/tilt head can be controlled to enter the unfolding mode, so that at least one of the rotating shaft structures is in the unfolding posture (the unfolding posture can be the same as the completion of the last shooting process).
  • the posture after the camera can also be a designated posture preset by the user), so as to perform the next shooting process.
  • the controlling at least one of the rotating shaft structures to remain at the target storage position includes: controlling the motor of the gimbal to output a holding torque so that the rotating shaft structure remains at the target storage position. Based on the holding torque, the rotating shaft structure is kept at the target storage position, which effectively improves the operational convenience and control accuracy of the gimbal compared to the solution of maintaining the posture through a mechanical lock.
  • the holding torque is determined based on a work equipment load carried by the pan/tilt head.
  • the holding torque is smaller than the stabilization torque
  • the stabilization torque is the process of stabilizing the operation equipment carried by the gimbal when the gimbal is in the stabilization state. Describe the torque output by the motor of the gimbal. Wherein, when the motor output holding torque is controlled by the PID method, the value of the proportion (P) corresponding to the holding torque may be smaller than the value of the proportion (P) corresponding to the stabilization torque.
  • the pan/tilt head includes an angle sensor, and the angle sensor is used to detect the current joint angle of the rotating shaft structure.
  • the angle sensor for the angle sensor, reference may be made to the above related content, which will not be described in detail here.
  • controlling at least one of the rotating shaft structures to rotate to the target storage position includes: controlling at least one of the rotating shaft structures to rotate to the target storage joint angle.
  • the joint angle and the posture information can be converted to each other, so as to control the rotating shaft structure and/or the posture of the photographing device based on the posture information or the joint angle.
  • controlling at least one of the rotating shaft structures to rotate to the target storage joint angle includes: controlling at least one of the rotating shafts based on a difference between the current joint angle and the target storage joint angle The structure rotates to the target stowed joint angle.
  • the controlling at least one of the rotating shaft structures to rotate to the target storage joint angle based on the difference between the current joint angle and the target storage joint angle may include the following operations: first, based on the current joint angle The difference between the target stowed joint angle and the target stowed joint angle determines the respective sub-target stowed joint angles of the plurality of control periods. Then, for each control period, the rotation of at least one of the rotating shaft structures is controlled based on the difference between the current joint angle and the sub-target receiving joint angle corresponding to the control period.
  • the determining, based on the difference between the current joint angle and the target stowed joint angle, the respective sub-target stowed joint angles of a plurality of control periods may include: based on the current joint angle and the all stowed joint angles The difference between the target storage joint angles is determined, and the respective sub-target storage joint angles of the multiple control periods are determined through the dynamic acceleration and deceleration model.
  • the dynamic acceleration and deceleration model includes a speed-timeline in a preset shape.
  • the speed-timeline of the preset shape includes at least two of a speed increasing sub-line segment, a speed constant sub-line segment and a speed decreasing sub-line segment.
  • the above method may further include the following operation: in the process of joint angle closed-loop control, in each cycle in at least part of the control cycle, initializing the angle of the current joint angle to the sub-target storage joint of the control cycle horn.
  • At least one of the pivot structures includes a roll pivot structure configured to rotate about a roll axis, a pitch pivot structure configured to rotate about a pitch axis, and a yaw axis configured to rotate about a yaw axis at least one of the swivel structures.
  • the joint angle of the roll axis structure is the first set joint angle
  • the difference between the preset joint angle corresponding to the roll axis structure and the first set joint angle is first joint angle.
  • the joint angle of the pitch axis structure is the second set joint angle
  • the absolute difference between the preset joint angle corresponding to the pitch axis structure and the second set joint angle is the second joint angle.
  • the joint angle of the yaw shaft structure is the third set joint angle
  • the absolute difference between the preset joint angle corresponding to the yaw shaft structure and the third set joint angle is the third joint angle.
  • the joint angle of the roll axis structure is a first set joint angle
  • the preset joint angle corresponding to the roll axis structure and the first set joint angle are The difference is the fourth joint angle.
  • the joint angle of the pitch axis structure is the second set joint angle
  • the absolute difference between the preset joint angle corresponding to the pitch axis structure and the second set joint angle is the fifth joint angle.
  • the joint angle of the yaw shaft structure is the third set joint angle
  • the absolute difference between the preset joint angle corresponding to the yaw shaft structure and the third set joint angle is the sixth joint angle.
  • the target deployment position includes: a preset deployment position, a deployment position before the pan/tilt head enters a storage mode, or a selected deployment position.
  • FIG. 15 is a schematic diagram of an interactive interface displayed on a display screen according to another embodiment of the present application.
  • the user can input a variety of operation instructions based on the interactive interface displayed on the display screen, such as storage, deployment, and attitude settings.
  • the current interactive interface or other interactive interfaces can further display shutdown, power-on, etc. Display components.
  • the user can preset the joint angles corresponding to the stowed attitude and/or the unfolded attitude, such as yaw angle setting, pitch angle setting or roll angle setting, etc.
  • the user can also temporarily set the unfolding posture, which is not limited here.
  • the method may further include: locking the control right for at least one of the rotating shaft structures to prohibit responding to at least one of the rotating shaft structures A control instruction of the rotating shaft structure, the control instruction is generated based on a user operation.
  • the method further includes: releasing control rights on at least one of the rotating shaft structures.
  • the control right may be to allow control of the rotating shaft structure through remote control joysticks, buttons, and the like.
  • the pan/tilt head includes an angle sensor, and the angle sensor is used to detect the current joint angle of the rotating shaft structure.
  • controlling at least one of the rotating shaft structures to rotate to the target deployed position includes: controlling the at least one of the rotating shaft structures to rotate to the target expanded joint angle.
  • controlling at least one of the rotating shaft structures to rotate to a target deployed joint angle includes: controlling at least one of the rotating shaft structures to rotate based on a difference between the current joint angle and the target deployed joint angle Expand the joint angle to the target.
  • the controlling at least one of the rotating shaft structures to rotate to the target deployed joint angle based on the difference between the current joint angle and the target deployed joint angle may include the following operations: first, based on the The difference between the current joint angle and the target deployed joint angle determines the respective sub-target deployed joint angles of a plurality of control cycles. Then, for each control period, the rotation of at least one of the rotating shaft structures is controlled based on the difference between the current joint angle and the sub-target deployed joint angle corresponding to the control period.
  • the determining, based on the difference between the current joint angle and the target deployed joint angle, the respective sub-target deployed joint angles of multiple control periods may include: based on the current joint angle and the target deployed joint angle. The difference between the target deployment joint angles is determined, and the sub-target deployment joint angles of each of the multiple control cycles are determined through the dynamic acceleration and deceleration model.
  • the pan/tilt head includes a handle assembly, and at least one of the rotating shaft structures is disposed on the handle assembly.
  • controlling at least one of the rotating shaft structures to remain in the target storage position may include: controlling at least one of the rotating shaft structures to rotate to a preset storage posture relative to the holding assembly.
  • controlling at least one of the rotating shaft structures to remain in the target deployed position may include: controlling the at least one of the rotating shaft structures to rotate to a preset deployed posture relative to the handle assembly or a posture before entering the storage mode.
  • the first trigger event includes a pressing operation on a mechanical button for storage, a touch operation on a preset storage component on the interactive interface displayed on the display screen, and the movement state of the pan/tilt reaches at least one of the first preset movement states.
  • the second trigger event includes a pressing operation on the unfolding mechanical button, a touch operation on a preset unfolding component on the interactive interface displayed on the display screen, and the motion state of the pan/tilt reaches at least one of the second preset motion states.
  • the method may further include at least one of the following operations. For example, in response to a shutdown instruction, the PTZ is controlled to enter a shutdown mode. For example, in response to a standby instruction, the PTZ is controlled to enter a standby mode.
  • the execution subject of each of the above operations will be exemplarily described.
  • the execution subject of each of the above operations may be a handheld pan/tilt, and the corresponding functions may be implemented by an input unit of the handheld pan/tilt, a holding part, a processor and a motor provided in the holding part, and the like.
  • the operation of acquiring the first trigger event and the second trigger event may be determined based on a user operation input by the user on the control terminal of the mobile platform or on the mobile platform.
  • Controlling at least one of the rotating shaft structures to rotate to the target storage position may be performed by a pan/tilt (eg, a processor).
  • a pan/tilt eg, a processor
  • the operation of controlling at least one of the rotating shaft structures to remain in the target storage position may be performed by a pan/tilt head.
  • the holding torque can be determined by the head.
  • the values of the preset joint angle, the target storage position, the target deployment position, and the first to sixth joint angles may be determined based on user operations input by the user on the control terminal of the mobile platform or on the mobile platform.
  • a human-computer interaction module (such as a display for displaying a human-computer interaction interface, etc.) can be set on the land robot, and the user can directly obtain the user on the interactive interface displayed by the mobile platform.
  • operations to generate user instructions, determine images of target objects, etc. the independent completion includes actively or passively, directly or indirectly acquiring corresponding data from other devices to perform corresponding operations.
  • Another aspect of the present disclosure provides an apparatus for controlling a pan/tilt.
  • FIG. 16 is a block diagram of an apparatus for controlling a PTZ according to an embodiment of the present application.
  • the apparatus 1600 for controlling a PTZ may include one or more processors 160 and a readable storage 1620 .
  • a computer-readable storage medium is used to store one or more computer programs 1621.
  • the above-mentioned method is executed, so as to realize, for example, "one-key storage", “one-key storage” key expansion” and “one key expansion” and other functions.
  • the device 1600 for controlling the gimbal may be set in a handheld gimbal or an airborne gimbal or the like.
  • One or more processors 1610 may be integrated in one processing unit, or may be separately provided in multiple processing units.
  • a trigger event at least one of the rotating shaft structures is controlled to rotate to a target storage position, so that at least one of the rotating shaft structures is in a storage posture; at least one of the rotating shaft structures is controlled to remain in the target storage position until an indication of the cloud is detected
  • a second trigger event for the station to exit the stowage mode In a trigger event, at least one of the rotating shaft structures is controlled to rotate to a target storage position, so that at least one of the rotating shaft structures is in a storage posture; at least one of the rotating shaft structures is controlled to remain in the target storage position until an indication of the cloud is detected A second trigger event for the station to exit the
  • the apparatus 1600 for controlling the pan/tilt can be set in one execution body or respectively set in multiple execution bodies.
  • the apparatus 1600 for controlling the pan/tilt may be provided in the pan/tilt.
  • part of it is set in the PTZ, and part is set in a control terminal that can be connected to the PTZ, such as a display screen for displaying an interactive interface.
  • the processing unit may comprise a Field-Programmable Gate Array (FPGA) or one or more ARM processors.
  • the processing unit may be connected to non-volatile computer readable storage medium 1620 .
  • the non-volatile computer-readable storage medium 1620 may store logic, code and/or computer instructions executed by the processing unit for performing one or more steps.
  • the non-volatile computer-readable storage medium 1620 may include one or more storage units (removable media or external memory such as SD card or RAM).
  • the data sensed by the sensors may be transferred and stored directly into a storage unit of the non-volatile computer-readable storage medium 1620 .
  • the storage units of the non-volatile computer-readable storage medium 1620 may store logic, code, and/or computer instructions executed by the processing unit to perform various embodiments of the various methods described herein.
  • a processing unit may be configured to execute instructions to cause one or more processors of the processing unit to perform the tracing functions described above.
  • the storage unit may store sensing module sensing data, the data sensing being processed by the processing unit.
  • the storage unit of the non-volatile computer-readable storage medium 1620 may store processing results generated by the processing unit.
  • the processing unit may be connected to the control module for controlling the state of the mobile platform.
  • the control module may be used to control the power mechanism of the mobile platform to adjust the spatial orientation, velocity and/or acceleration of the mobile platform relative to six degrees of freedom.
  • the control module may control one or more of the carrier, work equipment or sensing module.
  • the processing unit may also be connected to the communication module for transmitting and/or receiving data with one or more peripheral devices (eg, terminals, display devices, or other remote control devices).
  • peripheral devices eg, terminals, display devices, or other remote control devices.
  • Any suitable communication method may be utilized here, such as wired communication or wireless communication.
  • the communication module may utilize one or more local area networks, wide area networks, infrared, radio, Wi-Fi, peer-to-peer (P2P) networks, telecommunication networks, cloud networks, and the like.
  • P2P peer-to-peer
  • a relay station such as a signal tower, a satellite, or a mobile base station, can be used.
  • the above-mentioned various components may be compatible with each other.
  • one or more components are located on a mobile platform, carrier, work equipment, terminal, sensing system, or additional external device in communication with each of the foregoing.
  • one or more of the processing unit and/or non-transitory computer-readable medium may be located in different locations, such as on a mobile platform, carrier, work equipment, terminal, sensing system, or Additional external devices that communicate with the foregoing devices and various combinations of the foregoing.
  • control terminal adapted to the mobile platform may include an input module, a processing unit, a memory, a display module, and a communication module, all of which are connected by a bus or similar network.
  • the input module includes one or more input mechanisms to obtain input generated by the user by manipulating the input module.
  • Input mechanisms include one or more joysticks, switches, knobs, slide switches, buttons, dials, touchscreens, keypads, keyboards, mice, voice controls, gesture controls, inertial modules, and the like.
  • the input module may be used to obtain user input for controlling any aspect of the mobile platform, carrier, work equipment, or components thereof. Any aspect includes attitude, position, orientation, flight, tracking, etc.
  • the input mechanism may be that the user manually sets one or more positions, each position corresponding to a preset input, to control the mobile platform.
  • the input mechanism may be operated by a user to input control commands to control movement of the mobile platform.
  • a user can use a knob, switch, or similar input mechanism to input a motion mode of the mobile platform, such as auto-flying, auto-pilot, or moving according to a preset motion path.
  • the user can control the position, attitude, orientation, or other aspects of the mobile platform by tilting the control terminal in a certain way. The tilt of the control terminal can be detected by one or more inertial sensors, and corresponding motion commands can be generated.
  • the user may utilize the input mechanisms described above to adjust operating parameters of the work equipment (eg, zoom), the attitude of the work equipment (via the carrier), or other aspects of moving any object on the platform.
  • the input mechanism may be operated by the user to input the aforementioned descriptive object information.
  • the user may utilize a knob, switch or similar input mechanism to select an appropriate device mode, such as an unfolded mode or a stowed mode.
  • the user may also utilize an input mechanism to select other modes, such as a tracking mode, and based on the input mechanism determine a specific target to track, target type information to perform, or other similar information.
  • the input module may be executed by more than one device.
  • the input module can be implemented by a standard remote controller with a joystick.
  • a standard remote controller with a joystick connects to a mobile device (eg, a smartphone) running a suitable application ("app") to generate control commands for the mobile platform.
  • the app can be used to get input from the user.
  • the processing unit may be connected to the memory.
  • Memory includes volatile or non-volatile storage media for storing data, and/or logic, code, and/or program instructions executable by a processing unit for performing one or more rules or functions.
  • the memory may include one or more storage units (removable media or external memory such as SD card or RAM).
  • the data input to the module may be transferred directly and stored in a storage unit of the memory.
  • the storage units of the memory may store logic, code and/or computer instructions executed by the processing unit to perform various embodiments of the various methods described herein.
  • the processing unit may be configured to execute instructions to cause one or more processors of the processing unit to process and display sensory data (eg, images) acquired from the mobile platform, control instructions generated based on user input, including motion instructions and objects information, and cause the communication module to transmit and/or receive data, etc.
  • the storage unit may store sensed data or other data received from an external device such as a mobile platform.
  • the storage unit of the memory may store the processing result generated by the processing unit.
  • the display module may be used to display information on the position, translation velocity, translation acceleration, orientation, angular velocity, angular acceleration, or a combination thereof, etc., for the pan/tilt head and/or work equipment as described above.
  • the display module can be used to obtain information sent by the mobile platform and/or work equipment, such as sensory data (images recorded by cameras or other image capture devices), described attitude information, control feedback data, and the like.
  • the display module may be executed by the same device as the input module. In other embodiments, the display module and the input module may be executed by different devices.
  • the communication module may be used to transmit and/or receive data from one or more remote devices (eg, mobile platforms, carriers, base stations, etc.).
  • the communication module can transmit control signals (such as motion signals, target information, and tracking control commands) to peripheral systems or devices, such as the above-mentioned PTZ and/or operation equipment.
  • the communication module may include a transmitter and a receiver for receiving data from and transmitting data to the remote device, respectively.
  • the communication module may include a transceiver that combines the functions of a transmitter and a receiver.
  • the transmitter and receiver and the processing unit may communicate with each other. Communication may utilize any suitable means of communication, such as wired or wireless communication.
  • the images captured by the mobile platform during the motion can be transmitted from the mobile platform or the imaging device back to the control terminal or other suitable device for display, playback, storage, editing or other purposes. Such transmission may occur in real-time or near real-time as the imaging device captures the imagery. Optionally, there may be a delay between the capture and transmission of the imagery.
  • the imagery may be stored in the mobile platform's memory without being transferred anywhere else. The user can view these images in real time and, if necessary, adjust object information or other aspects of the mobile platform or its components. Adjusted object information may be provided to the mobile platform, and the iterative process may continue until the desired image is obtained.
  • the imagery may be transmitted to a remote server from the mobile platform, imagery device, and/or control terminal. For example, images can be shared on some social networking platforms, such as WeChat Moments or Weibo.
  • the apparatus 1600 for controlling a PTZ can be used to perform one or more operations as described above. I will not list them one by one here.
  • pan/tilt head may include:
  • At least one hinge structure At least one hinge structure, one or more processors, and a computer-readable storage medium.
  • the computer-readable storage medium is used to store one or more computer programs that, when executed by the processor, perform the operations described above to achieve:
  • At least one of the rotating shaft structures is controlled to rotate to a target storage position, so that at least one of the rotating shaft structures is in a storage posture.
  • At least one of the rotating shaft structures is controlled to remain at the target storage position until a second trigger event is detected that instructs the pan/tilt head to exit the storage mode.
  • pan/tilt head may include:
  • At least one hinge structure At least one hinge structure, one or more processors, and a computer-readable storage medium.
  • the computer-readable storage medium is used to store one or more computer programs that, when executed by the processor, perform the operations described above to achieve:
  • At least one of the rotating shaft structures is controlled to rotate to a target deployment position, so that at least one of the rotating shaft structures is in a deployed attitude.
  • the PTZ is in a powered-on state before responding to the second trigger event.
  • pan/tilt head may include:
  • At least one hinge structure At least one hinge structure, one or more processors, and a computer-readable storage medium.
  • the computer-readable storage medium is used to store one or more computer programs that, when executed by the processor, perform the operations described above to achieve:
  • At least one of the rotating shaft structures is controlled to rotate to a target storage position, so that at least one of the rotating shaft structures is in a storage posture.
  • At least one of the rotating shaft structures is controlled to remain in the target storage position.
  • At least one of the rotating shaft structures is controlled to rotate to a target deployment position, so that at least one of the rotating shaft structures is in a deployed attitude.
  • pan/tilt may be a handheld pan/tilt or an airborne pan/tilt.
  • FIG. 17 is a schematic diagram of a movable platform with a power system according to an embodiment of the present application.
  • the mobile platform may be an unmanned aerial vehicle 170, and the unmanned aerial vehicle 170 may include a plurality of power systems 171 and a tripod.
  • the gimbal can be set on the drone 170.
  • the power systems 171 of the UAV 170 correspond to the arms one-to-one.
  • Each power system 171 may include a motor assembly and a blade coupled to the motor assembly.
  • Each power system 171 may be disposed on its corresponding machine arm, and the power system 171 is supported by the corresponding machine arm.
  • the drone 170 may also include a tripod.
  • the tripod can be located under the gimbal and connected with the gimbal. When the drone 170 lands, it can be used for the drone 170 to land.
  • FIG. 18 schematically shows a schematic diagram of a mobile platform according to another embodiment of the present application.
  • the mobile platform is a hand-held pan-tilt 180
  • the hand-held pan-tilt 180 may include the structure of the pan-tilt as described above.
  • the hand-held pan/tilt 180 may include: a pan/tilt and a handle supporting the pan/tilt.
  • the handle is a part that the user holds and may include control buttons to facilitate the operation of the pan/tilt.
  • the handheld pan/tilt 180 is connected in communication with a functional component (such as a camera) in the stand, so as to obtain image information captured by the camera.
  • the handheld PTZ 180 can also be connected with a terminal device 181 (such as a mobile phone), etc., so as to send information such as images to the mobile phone.
  • a terminal device 181 such as a mobile phone
  • Embodiments of the present application also provide a computer-readable storage medium, where instructions are stored in the computer-readable storage medium, and when the computer or processor is run on a computer or a processor, the computer or the processor is made to execute any one of the above methods. or multiple steps.
  • Each component module of the above signal processing device can be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as an independent product.
  • a computer program product includes one or more computer instructions.
  • the computer may be a general purpose computer, special purpose computer, computer network, or other programmable device.
  • the computer instructions may be stored in or transmitted over a computer-readable storage medium.
  • the computer instructions can be sent from one website site, computer, server, or data center to another website site by wire (eg, coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (eg, infrared, wireless, microwave, etc.) , computer, server or data center.
  • the computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that includes an integration of one or more available media.
  • the usable media may be magnetic media (eg, floppy disks, hard disks, magnetic tapes), optical media (eg, DVDs), or semiconductor media (eg, solid state disks (SSDs)), and the like.
  • the embodiments of the present application also provide a computer program product, which includes a computer program, the computer program includes program codes for executing the methods provided by the embodiments of the present application, when the computer program product runs on an electronic device, the The program code is used to enable the electronic device to implement the image model training method or the image processing method provided by the embodiments of the present application.
  • the computer program may rely on a tangible storage medium such as an optical storage device, a magnetic storage device, or the like.
  • the computer program may also be transmitted, distributed in the form of a signal over a network medium, and downloaded and installed through the communication portion, and/or installed from a removable medium.
  • the program code embodied by the computer program may be transmitted using any suitable network medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.
  • the program code for executing the computer program provided by the embodiments of the present application may be written in any combination of one or more programming languages.
  • Programming languages include, but are not limited to, languages such as Java, C++, python, "C" or similar programming languages.
  • the program code may execute entirely on the user computing device, partly on the user device, partly on a remote computing device, or entirely on the remote computing device or server.
  • the remote computing device may be connected to the user computing device through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (eg, using an Internet service provider business via an Internet connection).
  • LAN local area network
  • WAN wide area network
  • an external computing device eg, using an Internet service provider business via an Internet connection

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Abstract

A gimbal control method, wherein a gimbal comprises at least one rotating shaft structure. The method comprises: in response to a first trigger event instructing a gimbal to enter a folding mode, controlling at least one rotating shaft structure to rotate to a target folding position, such that the at least one rotating shaft structure is in a folding posture; and controlling the at least one rotating shaft structure to remain in the target folding position until a second trigger event instructing the gimbal to exit the folding mode is detected. The present disclosure further provides a gimbal and a mobile platform.

Description

云台控制方法、云台和移动平台PTZ control method, PTZ and mobile platform 技术领域technical field
本公开涉及云台控制技术领域，尤其涉及一种云台控制方法、云台和移动平台。The present disclosure relates to the technical field of PTZ control, and in particular, to a PTZ control method, a PTZ and a mobile platform.
背景技术Background technique
在一些场合下，需要频繁地中断或停止云台及其搭载的作业设备的作业过程。例如，在电影拍摄、旅游随拍等拍摄过程中，经常会出现需要用户中断拍摄或者停止拍摄的场景，如重拍、切换视角、转场等场景。在上述场景中，如果需要移动云台，则可能导致云台所承载的作业设备与外界发生干涉，造成财产损失。In some cases, it is necessary to frequently interrupt or stop the operation process of the pan/tilt head and its mounted operation equipment. For example, in the shooting process of movie shooting, travel shooting, etc., there are often scenes that require the user to interrupt shooting or stop shooting, such as scenes such as reshoots, switching perspectives, and transitions. In the above scenario, if the gimbal needs to be moved, the operation equipment carried by the gimbal may interfere with the outside world, resulting in property damage.
公开内容public content
有鉴于此，本公开实施例提供一种云台控制方法、云台和移动平台，可以实现一键收纳功能、一键展开功能或一键收展功能中至少一种，以改善作业设备易与外界发生干涉和操作不便捷的问题。In view of this, embodiments of the present disclosure provide a pan-tilt control method, a pan-tilt and a mobile platform, which can implement at least one of a one-key storage function, one-key expansion function, or one-key expansion function, so as to improve the ease of use of operating equipment. There are problems of external interference and inconvenient operation.
第一方面，本公开实施例提供了一种云台控制方法，云台包括至少一个转轴结构，该方法包括：响应于指示所述云台进入收纳模式的第一触发事件，控制至少一个所述转轴结构转动至目标收纳位置，以使得至少一个所述转轴结构处于收纳姿态；控制至少一个所述转轴结构保持在所述目标收纳位置直至检测到指示所述云台退出所述收纳模式的第二触发事件。In a first aspect, an embodiment of the present disclosure provides a pan-tilt control method, the pan-tilt includes at least one rotating shaft structure, and the method includes: in response to a first trigger event instructing the pan-tilt to enter a storage mode, controlling at least one of the The rotating shaft structure is rotated to a target storage position, so that at least one of the rotating shaft structures is in a storage posture; at least one of the rotating shaft structures is controlled to remain in the target storage position until a second instruction indicating that the pan/tilt exits the storage mode is detected. trigger event.
本公开实施例提供的控制云台的方法、云台和移动平台，云台可以响应于指示云台进入收纳模式的触发事件，控制转轴结构转动至目标收纳位置，该目标位置可以使得云台和/或云台承载的作业设备进入相对安全的姿态下，提升财产安全度。此外，相对于手动将云台调整至收纳姿态，在提升操作便捷度的基础上，还能有效提升姿态调整的精准度，提升用户体验。According to the method for controlling a gimbal, a gimbal, and a mobile platform provided by the embodiments of the present disclosure, the gimbal can control the rotating shaft structure to rotate to a target storage position in response to a trigger event indicating that the gimbal enters the storage mode, and the target position can make the gimbal and the gimbal enter the storage mode. / or the operation equipment carried by the gimbal enters a relatively safe posture to improve property safety. In addition, compared with manually adjusting the gimbal to the storage posture, on the basis of improving the convenience of operation, it can also effectively improve the accuracy of posture adjustment and improve the user experience.
第二方面，本公开实施例提供了一种云台控制方法，云台包括至少一个转轴结构，该方法包括：响应于指示所述云台进入展开模式的第二触发事件，控制至少一个所述转轴结构转动至目标展开位置，以使得至少一个所述转轴结构处于展开姿态；其中，所述云台在响应所述第二触发事件之前处于上电 状态。In a second aspect, an embodiment of the present disclosure provides a pan-tilt control method, the pan-tilt includes at least one rotating shaft structure, and the method includes: in response to a second trigger event instructing the pan-tilt to enter a deployment mode, controlling at least one of the The rotating shaft structure is rotated to the target deployment position, so that at least one of the rotating shaft structures is in a deployed attitude; wherein, the pan/tilt head is in a power-on state before responding to the second trigger event.
本公开实施例提供的控制云台的方法、云台和移动平台，响应于指示云台进入展开模式的触发事件，云台在上电状态下控制转轴结构转动至目标展开位置，使得云台可以快速地切换至期望的展开姿态，以便实现快捷地利用云台承载的作业设备进行作业。此外，相对于手动将云台调整至展开姿态，在提升操作便捷度的基础上，还能有效提升姿态调整的精准度，提升用户体验。According to the method for controlling a gimbal, the gimbal, and the mobile platform provided by the embodiments of the present disclosure, in response to a trigger event indicating that the gimbal enters the deployment mode, the gimbal controls the rotating shaft structure to rotate to the target deployment position in the power-on state, so that the gimbal can Quickly switch to the desired deployment posture, so as to quickly use the working equipment carried by the pan/tilt head to perform operations. In addition, compared to manually adjusting the gimbal to the unfolded posture, on the basis of improving the convenience of operation, it can also effectively improve the accuracy of posture adjustment and improve the user experience.
第三方面，本公开实施例提供了一种云台控制方法，云台包括至少一个转轴结构，该方法包括：响应于指示所述云台进入收纳模式的第一触发事件，控制至少一个所述转轴结构转动至目标收纳位置，以使得至少一个所述转轴结构处于收纳姿态；控制至少一个所述转轴结构保持在所述目标收纳位置；响应于指示所述云台进入展开模式的第二触发事件，控制至少一个所述转轴结构转动至目标展开位置，以使得至少一个所述转轴结构处于展开姿态。In a third aspect, an embodiment of the present disclosure provides a pan-tilt control method, the pan-tilt includes at least one rotating shaft structure, and the method includes: in response to a first trigger event instructing the pan-tilt to enter a storage mode, controlling at least one of the The rotating shaft structure is rotated to the target storage position, so that at least one of the rotating shaft structures is in a storage posture; at least one of the rotating shaft structures is controlled to remain in the target storage position; in response to a second trigger event indicating that the pan/tilt head enters the deployment mode , controlling at least one of the rotating shaft structures to rotate to a target deployment position, so that at least one of the rotating shaft structures is in a deployed attitude.
本公开实施例提供的控制云台的方法、云台和移动平台，在需要中止作业设备的工作或短时间停止作业设备工作等场景中，云台可以响应于指示云台进入收纳模式的触发事件，控制转轴结构转动至目标收纳位置，使得云台和/或云台承载的作业设备处于相对工作姿态下的安全性。在云台被携带并进行移动的过程中，通过控制至少一个所述转轴结构保持在所述目标收纳位置，有助于提升在被用户携带至下一个拍摄地点过程中的安全性。在到达下一个拍摄地点之后，响应于指示云台进入展开模式的触发事件，云台在上电状态下控制转轴结构转动至目标展开位置，使得云台可以快速地切换至期望的展开姿态，以便实现快捷地利用云台承载的作业设备进行作业，能有效提升用户体验。According to the method for controlling a PTZ, the PTZ, and the mobile platform provided by the embodiments of the present disclosure, in scenarios such as suspending the operation of the operation equipment or stopping the operation of the operation equipment for a short time, the PTZ can respond to a trigger event that instructs the PTZ to enter the storage mode. , control the rotating shaft structure to rotate to the target storage position, so that the pan-tilt and/or the operation equipment carried by the pan-tilt is in a relatively safe working posture. During the process of being carried and moved, the at least one rotating shaft structure is controlled to remain in the target storage position, which helps to improve the safety in the process of being carried by the user to the next shooting location. After reaching the next shooting location, in response to the trigger event indicating that the gimbal enters the deployment mode, the gimbal controls the rotating shaft structure to rotate to the target deployment position in the power-on state, so that the gimbal can quickly switch to the desired deployment attitude, so that It can quickly use the operation equipment carried by the PTZ to perform operations, which can effectively improve the user experience.
第四方面，本公开实施例提供了一种云台，包括：至少一个转轴结构；一个或多个处理器；计算机可读存储介质，用于存储一个或多个计算机程序，所述计算机程序在被所述处理器执行时，实现如上所述的方法。In a fourth aspect, embodiments of the present disclosure provide a pan/tilt head, including: at least one rotating shaft structure; one or more processors; and a computer-readable storage medium for storing one or more computer programs, wherein the computer programs are When executed by the processor, a method as described above is implemented.
第五方面，本公开实施例提供了一种移动平台，该移动平台包括：本体和如上所述的云台，所述云台设置在所述本体上。In a fifth aspect, an embodiment of the present disclosure provides a mobile platform, the mobile platform includes: a body and the above-mentioned pan/tilt head, where the pan/tilt head is arranged on the body.
第六方面，本公开实施例提供了一种计算机可读存储介质，其存储有可执行指令，该可执行指令在由一个或多个处理器执行时，可以使一个或多个 处理器执行如上的方法。In a sixth aspect, embodiments of the present disclosure provide a computer-readable storage medium storing executable instructions, which, when executed by one or more processors, can cause one or more processors to execute the above Methods.
本公开的附加方面的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，或通过本公开的实践了解到。Advantages of additional aspects of the present disclosure will be set forth in part in the description that follows, and in part will become apparent from the description below, or will be learned by practice of the disclosure.
附图说明Description of drawings
通过参照附图的以下详细描述，本公开实施例的上述和其他目的、特征和优点将变得更容易理解。在附图中，将以示例以及非限制性的方式对本公开的多个实施例进行说明，其中：The above and other objects, features and advantages of embodiments of the present disclosure will become more readily understood from the following detailed description with reference to the accompanying drawings. In the accompanying drawings, various embodiments of the present disclosure will be illustrated by way of example and not by way of limitation, wherein:
图1为本申请实施例提供的控制云台的方法、云台和移动平台的应用场景；1 is an application scenario of a method for controlling a PTZ, a PTZ, and a mobile platform provided by an embodiment of the present application;
图2为本申请另一实施例提供的控制云台的方法、云台的应用场景；FIG. 2 provides a method for controlling a PTZ and an application scenario of the PTZ provided by another embodiment of the present application;
图3为本申请实施例提供的云台的结构示意图；3 is a schematic structural diagram of a PTZ provided by an embodiment of the present application;
图4为本申请实施例提供的控制云台的方法的流程图；4 is a flowchart of a method for controlling a PTZ provided by an embodiment of the present application;
图5为本申请实施例提供的云台上搭载作业设备的示意图；FIG. 5 is a schematic diagram of carrying operation equipment on a pan/tilt according to an embodiment of the present application;
图6为本申请实施例提供的显示屏显示的交互界面的示意图；6 is a schematic diagram of an interactive interface displayed on a display screen according to an embodiment of the present application;
图7为本申请实施例提供的基于关节角对云台进行闭环控制的逻辑图；FIG. 7 is a logic diagram of closed-loop control of the pan/tilt head based on joint angles provided by an embodiment of the present application;
图8为本申请实施例提供的基于姿态对云台进行闭环控制的逻辑图；FIG. 8 is a logic diagram of performing closed-loop control of a gimbal based on attitude according to an embodiment of the present application;
图9为本申请实施例提供的动态加减速模型的示意图；9 is a schematic diagram of a dynamic acceleration and deceleration model provided by an embodiment of the present application;
图10为本申请另一实施例提供的控制云台的方法的流程图；10 is a flowchart of a method for controlling a PTZ provided by another embodiment of the present application;
图11为本申请实施例提供的云台切换至展开姿态的示意图；FIG. 11 is a schematic diagram of switching the gimbal to the unfolded posture according to an embodiment of the present application;
图12为本申请另一实施例提供的显示屏显示的交互界面的示意图；12 is a schematic diagram of an interactive interface displayed on a display screen according to another embodiment of the present application;
图13为本申请另一实施例提供的控制云台的方法的流程图；13 is a flowchart of a method for controlling a pan-tilt head provided by another embodiment of the present application;
图14为本申请实施例提供的云台的工作姿态-收纳姿态-展开姿态的切换示意图；14 is a schematic diagram of switching between the working posture, the storage posture and the unfolding posture of the gimbal provided by the embodiment of the application;
图15为本申请另一实施例提供的显示屏显示的交互界面的示意图；15 is a schematic diagram of an interactive interface displayed on a display screen according to another embodiment of the present application;
图16为本申请实施例提供的控制云台的装置的方框图；16 is a block diagram of an apparatus for controlling a PTZ provided by an embodiment of the present application;
图17为本申请实施例提供的具有动力***的移动平台的示意图；17 is a schematic diagram of a mobile platform with a power system provided by an embodiment of the present application;
图18为本申请实施例提供的云台和终端设备的示意图。FIG. 18 is a schematic diagram of a PTZ and a terminal device provided by an embodiment of the present application.
具体实施方式Detailed ways
下面详细描述本公开的实施例，实施例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例是示例性的，旨在用于解释本公开，而不能理解为对本公开的限制。Embodiments of the present disclosure are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, and are intended to explain the present disclosure and should not be construed as a limitation of the present disclosure.
为了减少云台和/或云台所承载的作业设备在非工作状态下发生损伤的概率，相关技术中，在云台使用完后，可以通过手动调节的方式将云台的支架手动旋转至特定的角度，以提升云台和/或云台所承载的作业设备的安全性。此外，为了使得云台的支架保持在该特定的角度，相关技术可以通过机械锁将转轴结构锁定在该特定的角度。一方面，手动调节的关节角的精准度和可重复性较差。一方面，手动调节关节角，以及采用机械锁锁定支架的操作便捷度不高。In order to reduce the probability of damage to the gimbal and/or the operating equipment carried by the gimbal in a non-working state, in the related art, after the gimbal is used, the bracket of the gimbal can be manually rotated to a specific position by manual adjustment. angle to enhance the safety of the gimbal and/or the operating equipment carried by the gimbal. In addition, in order to keep the bracket of the gimbal at the specific angle, the related art can lock the rotating shaft structure at the specific angle through a mechanical lock. On the one hand, the accuracy and repeatability of manually adjusted joint angles are poor. On the one hand, the manual adjustment of the joint angle and the use of a mechanical lock to lock the bracket are not very convenient.
例如，用户在来到新的拍摄地点后，在使用作业设备进行作业前，需要先把机械锁打开。收纳和使用云台的过程需要对机械轴锁进行上锁、解锁的多个步骤，该多个步骤较麻烦且耗时。对于需要频繁地中断云台的作业过程的场景，如重拍、切换视角、转场等场景，会给用户带来诸多不便。相关技术尤其不便于在临时转场的场景中对作业设备进行操作。For example, after a user arrives at a new shooting location, he needs to open the mechanical lock before using the work equipment for work. The process of storing and using the gimbal requires multiple steps of locking and unlocking the mechanical shaft lock, which are cumbersome and time-consuming. For scenarios that need to frequently interrupt the operation process of the gimbal, such as retakes, switching perspectives, transitions, etc., it will bring a lot of inconvenience to users. The related art is particularly inconvenient to operate the operation equipment in the scene of temporary transition.
图1为本申请实施例提供的控制云台的方法、云台和移动平台的应用场景。FIG. 1 is an application scenario of a method for controlling a PTZ, a PTZ, and a mobile platform provided by an embodiment of the present application.
如图1所示，控制云台的方法可以适用于手持云台、机载平台等。As shown in FIG. 1 , the method of controlling the gimbal can be applied to a handheld gimbal, an airborne platform, and the like.
以作业设备是摄像装置，用户利用承载在云台上的拍摄装置拍摄视频的场景为例，进行示例性说明。图1中以机载拍摄装置的云台为例，用户在使用云台和承载在该云台上的拍摄装置进行拍摄时，镜头会朝向被拍摄对象(如演员等)，即镜头会朝向外部环境。当用户需要转场时，相关技术中，用户可以先将拍摄装置取下，然后手动调节云台的姿态至收纳姿态，并将各轴臂的轴臂锁锁紧，在到达新的拍摄位置后，将各轴臂的轴臂锁打开，再手动调节云台的姿态至展开姿态以便安装拍摄装置后进行拍摄，给用户带来了不便。此外，在需要将云台等收纳到保护盒的场景中，相关技术可以通过手动的方式将云台调整至便于进行收纳的姿态。但是，这种手动调节的方式存在如上说明的多种问题。An exemplary description will be given by taking a scenario where the work equipment is a camera device, and the user shoots a video with the camera device carried on the pan/tilt head as an example. In Figure 1, the gimbal of the airborne camera is taken as an example. When the user uses the gimbal and the shooting device carried on the gimbal to shoot, the lens will face the object to be photographed (such as an actor, etc.), that is, the lens will face the outside. surroundings. When the user needs to transition, in the related art, the user can first remove the shooting device, then manually adjust the posture of the gimbal to the storage posture, and lock the axis arms of each axis arm tightly. After reaching the new shooting position , open the axis arm lock of each axis arm, and then manually adjust the posture of the gimbal to the unfolded posture so that the photographing device can be installed and photographed, which brings inconvenience to the user. In addition, in a scenario where the gimbal and the like need to be stored in the protective box, the related art can manually adjust the gimbal to a posture that is convenient for storage. However, this manual adjustment has various problems as explained above.
需要说明的是，在其它场景中，在小范围(如同一拍摄场景中)移动的 过程，如果保持拍摄装置处于拍摄时的姿态而不切换至收纳姿态，则一旦镜头等精密部件与外部环境中障碍物等发生干涉，容易给这些精密部件造成不可逆的损伤。为了降低设备受损事件发生的概率，相关技术中，用户可以手动调节拍摄装置的姿态，使得不易受损的部位暴露在外，易受损的部位利用壳体、支架等保护起来。It should be noted that, in other scenes, in the process of moving in a small range (such as in the same shooting scene), if the shooting device is kept in the shooting posture without switching to the storage posture, once the precise components such as the lens are in contact with the external environment, the Interference of obstacles, etc., can easily cause irreversible damage to these precision components. In order to reduce the probability of equipment damage, in the related art, the user can manually adjust the posture of the photographing device, so that the parts that are not easily damaged are exposed, and the parts that are easily damaged are protected by housings, brackets, etc.
此外，设置在移动平台上的云台和拍摄装置同样存在类似的问题。例如，无人机飞行的过程中，拍摄装置的镜头容易与机体、支架、外部障碍物等发生干涉。In addition, the gimbal and camera set on the mobile platform also have similar problems. For example, during the flight of the drone, the lens of the shooting device is prone to interfere with the body, bracket, external obstacles, etc.
本公开实施例可以实现如一键收纳、一键展开和一键收展功能等。如图1所示，当需要进行转场拍摄时，用户可以给云台发出表征进入收纳模式或展开模式的指令，使得云台和/或拍摄装置自动调节至收纳姿态或展开姿态，以提升云台和/或拍摄装置的安全性和操作便捷度。如图1所示，用户在完成一次拍摄过程后，可以先取下拍摄装置，然后使用一键收纳功能将云台调整至收纳姿态(如图1的放大视图中云台的姿态发生了改变)。在用户携带云台移动至下一个拍摄位置以便进行下一次拍摄的过程中，可以控制云台保持在收纳姿态，降低云台与环境中障碍物干涉造成损伤的风险，并且在降低能耗的基础上避免轴臂打晃。在用户携带云台移动至下一个拍摄位置之后，可以使用一键展开功能调整云台至展开姿态，以便在安装拍摄装置后快捷地开展下一次拍摄过程。需要说明的是，不排除云台承载着拍摄装置，共同切换至指定的收纳姿态的实施方式。The embodiments of the present disclosure can implement functions such as one-key storage, one-key expansion, and one-key expansion. As shown in Figure 1, when a transitional shooting is required, the user can issue an instruction to the gimbal indicating entering the storage mode or the unfolding mode, so that the gimbal and/or the photographing device can be automatically adjusted to the storage posture or the unfolding posture, so as to enhance the cloud Safety and ease of operation of the stage and/or camera. As shown in Figure 1, after completing a shooting process, the user can first remove the shooting device, and then use the one-key storage function to adjust the gimbal to the storage posture (the posture of the gimbal has changed in the enlarged view of Figure 1). When the user moves the gimbal to the next shooting position for the next shooting, the gimbal can be controlled to remain in the storage posture, which reduces the risk of damage caused by the interference between the gimbal and obstacles in the environment, and reduces energy consumption on the basis of to avoid shaking of the shaft arm. After the user carries the gimbal and moves to the next shooting position, the one-key deployment function can be used to adjust the gimbal to the unfolded posture, so that the next shooting process can be quickly carried out after the shooting device is installed. It should be noted that the embodiment in which the pan/tilt head carries the photographing device and is jointly switched to the designated storage posture is not excluded.
类似地，移动平台(如无人机)，同样可以响应于来自遥控器的指令等，调整设置在无人机上的云台和/或云台所承载的拍摄装置的姿态，以提升云台和/或拍摄装置的安全性和拍摄的便捷度。Similarly, a mobile platform (such as an unmanned aerial vehicle) can also adjust the attitude of the gimbal set on the drone and/or the photographing device carried by the gimbal in response to commands from the remote control, etc., so as to elevate the gimbal and/or the camera. Or the safety of the camera and the ease of shooting.
图2为本申请另一实施例提供的控制云台的方法、云台的应用场景。如图2所示，以可以承载作业设备的云台为例进行说明。需要说明的是，作业设备也可以是与云台一体的，在此不做限定。FIG. 2 provides a method for controlling a PTZ and an application scenario of the PTZ provided by another embodiment of the present application. As shown in FIG. 2 , a pan/tilt that can carry work equipment is used as an example for description. It should be noted that the working equipment may also be integrated with the pan/tilt, which is not limited here.
图2中云台可以包括支架200和手柄201等。其中，支架200可以包括配套的电机和轴臂，电机用于驱动轴臂旋转，以驱动作业设备的运动。The pan/tilt head in FIG. 2 may include a bracket 200, a handle 201, and the like. Wherein, the bracket 200 may include a matching motor and a shaft arm, and the motor is used to drive the shaft arm to rotate, so as to drive the movement of the working equipment.
支架200可以是多种支撑结构，包括但不限于针对单轴或多轴的姿态可调结构，用于将作业设备设置在手柄201上。例如，作业设备可以是拍摄装 置，该云台允许拍摄装置相对于手柄201发生位移，或者，沿着一个或多个轴转动，如支架200允许拍摄装置沿着俯仰轴、航向轴和横滚轴中一个轴或多个轴的结合平移运动。又例如，支架200可以允许拍摄装置围绕俯仰轴、航向轴和横滚轴中的一个或多个轴转动。其中支架200和手柄201之间可以具有联动换算关系，如手柄201发生的第一运动(如移动或转动)可以换算成支架200发生的第二运动。反之亦然。The stand 200 can be a variety of support structures, including but not limited to a single-axis or multi-axis attitude adjustable structure, for setting the work equipment on the handle 201 . For example, the work equipment may be a camera that allows the camera to be displaced relative to the handle 201, or rotated along one or more axes, such as the stand 200 that allows the camera to move along the pitch, pan, and roll axes A combined translational movement of one or more axes. As another example, the stand 200 may allow the camera to rotate about one or more of a pitch axis, a pan axis, and a roll axis. There may be a linkage conversion relationship between the bracket 200 and the handle 201 , for example, the first movement (such as movement or rotation) generated by the handle 201 can be converted into a second movement generated by the bracket 200 . vice versa.
此外，云台上还可以包括传感***。传感***可以包括一个或者多个传感器，以感测空间方位、速度和/或加速度(如相对于多达三个自由度的旋转及平移)。一个或者多个传感器包括但不限于GPS传感器、运动传感器、惯性传感器、关节角传感器或者影像传感器等。传感***提供的感测数据可以用于控制作业设备的位姿、速度和/或加速度等。可选地，传感***可以用于检测云台的环境的数据，如气候条件、人造结构的位置等。In addition, a sensor system may also be included on the gimbal. The sensing system may include one or more sensors to sense spatial orientation, velocity, and/or acceleration (eg, rotation and translation with respect to up to three degrees of freedom). The one or more sensors include, but are not limited to, GPS sensors, motion sensors, inertial sensors, joint angle sensors, or image sensors. The sensing data provided by the sensing system can be used to control the pose, velocity, and/or acceleration of the work equipment. Optionally, a sensing system may be used to detect data about the environment of the gimbal, such as climatic conditions, the location of man-made structures, and the like.
此外，云台上还可以包括通讯***。通讯***能够实现云台与具有通讯***的控制终端通过有线或无线收发的信号进行通讯。通讯***可以包括任何数量的用于无线通讯的发送器、接收器、和/或收发器。通讯可以是单向通讯，这样数据可以从一个方向发送。例如，单向通讯可以包括，只有云台传送数据给控制终端，或者反之亦然。通讯***的一个或者多个发送器可以发送数据给通讯***的一个或者多个接收器，反之亦然。可选地，通讯可以是双向通讯，这样，数据可以在云台与控制终端之间在两个方向传输。双向通讯包括通讯***的一个或者多个发送器可以发送数据给通讯***的一个或者多个接收器，及反之亦然。In addition, the PTZ may also include a communication system. The communication system can realize the communication between the PTZ and the control terminal with the communication system through wired or wireless signals sent and received. The communication system may include any number of transmitters, receivers, and/or transceivers for wireless communication. Communication can be one-way communication, so that data can be sent from one direction. For example, one-way communication may involve only the pan/tilt transmitting data to the control terminal, or vice versa. One or more transmitters of the communication system may transmit data to one or more receivers of the communication system, and vice versa. Optionally, the communication can be two-way communication, so that data can be transmitted in both directions between the PTZ and the control terminal. Two-way communication includes that one or more transmitters of the communication system can send data to one or more receivers of the communication system, and vice versa.
在某些实施例中，控制终端可以与云台或作业设备相连，控制终端可以向云台及作业设备中的一个或者多个提供控制指令，并且从云台及作业设备中的一个或者多个中接收信息(如支架200或者作业设备的位置和/或运动信息，作业设备感测的数据，如拍摄装置捕获的影像数据)。在某些实施例中，控制终端的控制数据可以包括关于位置、运动、制动的指令，或者对云台和/或作业设备的控制。例如，控制数据可以导致支架200位置和/或方向的改变。控制终端的控制数据可以对作业设备进行控制，如控制拍摄装置或者其它影像捕获设备的操作(捕获静止或者运动的影像、变焦、开启或关闭、切换成像模式、改变影像分辨率、改变焦距、改变景深、改变曝光时间、改变可视 角度或者视场)。在某些实施例中，对云台和/或作业设备的通讯可以包括一个或者多个传感器发出的信息。通讯可以包括从一个或者多个不同类型的传感器(如GPS传感器、运动传感器、惯性传感器、近程传感器或者影像传感器)传送的感应信息。感应信息是关于对云台和/或作业设备的位置(如方向、位置)、运动、或者加速度。从作业设备传送的感应信息包括作业设备捕获的数据或者作业设备的状态。控制终端传送提供的控制数据可以用于控制云台、支架200或者作业设备中一个或者多个的状态。可选地，支架200及作业设备中一个或多个可以包括通讯模块，用于与控制终端通讯，以便控制终端可以单独地通讯或者控制云台及作业设备。其中，控制终端可以为云台的遥控器，也可以为诸如手机、iPad、可穿戴电子设备等能够用于控制云台的智能电子设备。In some embodiments, the control terminal may be connected to the pan-tilt or the work equipment, the control terminal may provide control instructions to one or more of the pan-tilt and the work equipment, and receive control instructions from one or more of the pan-tilt and the work equipment Information (eg, position and/or motion information of the stand 200 or the work equipment, data sensed by the work equipment, such as image data captured by the camera) is received in the device. In some embodiments, the control data of the control terminal may include instructions regarding position, motion, braking, or control of the pan/tilt and/or work equipment. For example, the control data may cause a change in the position and/or orientation of the stent 200. The control data of the control terminal can control the operation equipment, such as controlling the operation of the camera or other image capturing equipment (capturing still or moving images, zooming, turning on or off, switching imaging modes, changing image resolution, changing focus, changing depth of field, changing exposure time, changing viewing angle or field of view). In some embodiments, communications to the pan/tilt and/or work equipment may include information from one or more sensors. Communication may include sensory information transmitted from one or more different types of sensors, such as GPS sensors, motion sensors, inertial sensors, proximity sensors, or image sensors. Sensing information is about position (eg, orientation, position), motion, or acceleration to the gimbal and/or work equipment. The sensory information transmitted from the work equipment includes data captured by the work equipment or the status of the work equipment. The control data transmitted and provided by the control terminal can be used to control the state of one or more of the pan/tilt head, the stand 200 or the working equipment. Optionally, one or more of the stand 200 and the working equipment may include a communication module for communicating with the control terminal, so that the control terminal can communicate individually or control the pan/tilt and the working equipment. The control terminal may be a remote controller of the PTZ, or may be an intelligent electronic device such as a mobile phone, an iPad, a wearable electronic device, etc., which can be used to control the PTZ.
需要说明的是，控制终端可以远离云台，以实现对云台的远程控制，可以固定或可拆卸地设于云台上，具体可以根据需要设置。It should be noted that the control terminal can be far away from the gimbal to realize remote control of the gimbal, and can be fixed or detachable on the gimbal, which can be set as required.
在某些实施例中，云台可以与除了控制终端之外的其它远程设备，或者非控制终端的远程设备通讯。控制终端也可以与另外一个远程设备及云台进行通讯。例如，云台和/或控制终端可以与另一个移动平台或者另一个移动平台的承载体或作业设备通讯。当有需要的时候，另外的远程设备可以是第二终端或者其它计算设备(如计算机、桌上型电脑、平板电脑、智能手机、或者其它移动设备)。该远程设备可以向云台传送数据，从云台接收数据，传送数据给控制终端，和/或从控制终端接收数据。可选地，该远程设备可以连接到因特网或者其它电信网络，以使从云台和/或控制终端接收的数据上传到网站或者服务器上。In some embodiments, the pan-tilt can communicate with other remote devices other than the control terminal, or with remote devices other than the control terminal. The control terminal can also communicate with another remote device and PTZ. For example, the pan-tilt and/or control terminal may communicate with another mobile platform or a carrier or work equipment of another mobile platform. When desired, the additional remote device may be a second terminal or other computing device (eg, a computer, desktop, tablet, smartphone, or other mobile device). The remote device may transmit data to the pan/tilt, receive data from the pan/tilt, transmit data to the control terminal, and/or receive data from the control terminal. Optionally, the remote device may be connected to the Internet or other telecommunication network to allow data received from the pan-tilt and/or control terminal to be uploaded to a website or server.
图3为本申请实施例提供的云台的结构示意图。FIG. 3 is a schematic structural diagram of a pan/tilt according to an embodiment of the present application.
如图3所示，该云台300可以包括：至少一个转轴结构31和至少两个电机32。其中，转轴结构31可以包括至少两个能够相对活动的轴臂311、312，转轴结构31用于支撑作业设备40。至少两个电机32，分别用于驱动对应的轴臂运动，以调整作业设备40的姿态。As shown in FIG. 3 , the pan/tilt 300 may include: at least one rotating shaft structure 31 and at least two motors 32 . The rotating shaft structure 31 may include at least two relatively movable shaft arms 311 and 312 , and the rotating shaft structure 31 is used to support the working equipment 40 . At least two motors 32 are respectively used to drive corresponding shaft arms to move, so as to adjust the posture of the working equipment 40 .
例如，俯仰(pitch)轴电机和俯仰轴臂相配合以驱动作业设备40绕俯仰轴转动。横滚(roll)轴电机和横滚轴臂相配合以驱动作业设备40绕横滚轴转动。偏航(yaw)轴电机和偏航轴臂相配合以驱动作业设备40绕偏航轴转 动。For example, a pitch axis motor and a pitch axis arm cooperate to drive work equipment 40 in rotation about the pitch axis. A roll axis motor and roll axis arm cooperate to drive work equipment 40 in rotation about the roll axis. A yaw axis motor and a yaw axis arm cooperate to drive work equipment 40 in rotation about the yaw axis.
其中，俯仰轴电机可以带动俯仰轴臂的运动，横滚轴电机可以带动横滚轴臂的运动，偏航轴电机可以带动偏航轴臂的运动。Among them, the pitch axis motor can drive the movement of the pitch axis arm, the roll axis motor can drive the movement of the roll axis arm, and the yaw axis motor can drive the movement of the yaw axis arm.
例如，偏航轴臂可以连接于横滚轴臂的一端，横滚轴臂的另一端连接于俯仰轴臂，但是本申请实施例并不限于此，偏航轴臂、横滚轴臂和俯仰轴臂也可以以其它顺序进行连接。For example, the yaw axis arm may be connected to one end of the roll axis arm, and the other end of the roll axis arm may be connected to the pitch axis arm, but the embodiment of the present application is not limited to this, the yaw axis arm, the roll axis arm and the pitch axis arm The axle arms can also be connected in other sequences.
应当理解的是，云台300也可以使得作业设备仅能围绕一个、两个或四个轴等进行进行转动，在此不做限定。It should be understood that, the pan/tilt head 300 can also enable the working equipment to rotate around only one, two or four axes, etc., which is not limited herein.
此外，转轴结构可以用于固定在具有动力***的移动平台上。以移动平台是无人机为例进行说明。该移动平台可以包括包括动力机构，传感***。此外，该移动平台还可以包括通讯***。In addition, the rotating shaft structure can be used to be fixed on a mobile platform with a power system. The mobile platform is an unmanned aerial vehicle as an example to illustrate. The mobile platform may include a power mechanism, a sensing system. Additionally, the mobile platform may also include a communication system.
其中，动力机构可以包括一个或者多个旋转体、螺旋桨、桨叶、引擎、电机、轮子、轴承、磁铁、喷嘴。例如，动力机构的旋转体可以是自紧固(self-tightening)旋转体、旋转体组件、或者其它的旋转体动力单元。移动平台可以有一个或者多个动力机构。所有的动力机构可以是相同的类型或不同的类型。动力机构能够使移动平台垂直地从表面起飞，或者垂直地降落在表面上，而不需要移动平台任何水平运动(如不需要在跑道上滑行)。例如，移动平台可以有多个水平方向的旋转体，以控制移动平台的提升和/或推动。传感***可以包括一个或者多个传感器，以感测移动平台的周边障碍物、空间方位、速度和/或加速度(如相对于多达三个自由度的旋转及平移)。通讯***可以参考云台的通讯***相关部分内容，在此不再赘述。The power mechanism may include one or more rotating bodies, propellers, blades, engines, motors, wheels, bearings, magnets, and nozzles. For example, the rotating body of the powertrain may be a self-tightening rotating body, a rotating body assembly, or other rotating body power unit. The mobile platform may have one or more power mechanisms. All powertrains can be of the same type or of different types. The power mechanism enables the mobile platform to take off vertically from a surface, or to land vertically on a surface, without any horizontal movement of the mobile platform (eg, without taxiing on a runway). For example, the mobile platform may have multiple horizontal rotations to control the lifting and/or pushing of the mobile platform. The sensing system may include one or more sensors to sense surrounding obstacles, spatial orientation, velocity and/or acceleration (eg, rotation and translation with respect to up to three degrees of freedom) of the mobile platform. For the communication system, please refer to the relevant part of the communication system of the PTZ, which will not be repeated here.
本发明实施方式的云台可以应用于移动平台，也即是说，移动平台可以包括上述任意一种实施方式的云台。另外，移动平台还可以包括本体，云台设置在本体上。The pan/tilt according to the embodiment of the present invention may be applied to a mobile platform, that is, the mobile platform may include the pan/tilt according to any one of the above embodiments. In addition, the mobile platform may further include a body on which the pan/tilt head is arranged.
其中，当移动平台为手持云台时，移动平台的本体可以为手持云台的把持组件。当然，移动平台可以例如包括小车、飞行器、机器人等，其本体上的云台可以搭载有成像装置和/或射击装置和/或其它功能模块，同时，本体作为移动平台的机身，可以作为云台的把持组件。Wherein, when the mobile platform is a handheld pan/tilt, the body of the mobile platform may be a holding component of the handheld pan/tilt. Of course, the mobile platform may include, for example, a car, an aircraft, a robot, etc., and the pan/tilt on its body may be equipped with an imaging device and/or a shooting device and/or other functional modules. Meanwhile, the body, as the body of the mobile platform, can be used as a cloud The handle assembly of the table.
当然，在移动平台的本体上设有云台时，除本体外，移动平台中任一处可手持的部分均可以作为云台的把持组件。Of course, when a pan/tilt is provided on the body of the mobile platform, except for the body, any part of the mobile platform that can be held can be used as a holding component of the pan/tilt.
还应理解，输入部除了可以包括跟踪模式输入部件以及控制摇杆之外，还可以具有其他部件或者部分，例如，可以具有手持云台的开关等。It should also be understood that, in addition to the tracking mode input component and the control joystick, the input unit may also have other components or parts, for example, may have a switch of a handheld pan/tilt and the like.
输入部中可以设置处理器，用于对输入的控制指令进行处理，或者收发信号等。当然，处理器也可以设置于把持组件中。A processor may be provided in the input unit for processing input control commands, or sending and receiving signals. Of course, the processor can also be arranged in the handle assembly.
可选地，该处理器可以是中央处理单元(Central Processing Unit，简称CPU)，该处理器还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，简称DSP)、专用集成电路(application specific integrated circuit，简称ASIC)、现成可编程门阵列(Field-Programmable Gate Array，简称FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。Optionally, the processor may be a central processing unit (Central Processing Unit, referred to as CPU), and the processor may also be other general-purpose processors, digital signal processors (Digital Signal Processor, referred to as DSP), application-specific integrated circuits (application specific integrated circuit, referred to as ASIC), off-the-shelf programmable gate array (Field-Programmable Gate Array, referred to as FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
需要说明的是，在实际应用中，上述方法还可以应用于除拍摄装置等以外的作业设备。其中，作业设备包括但不限于声波检测装置、测绘装置、喷洒装置、红外检测装置、雷达等。It should be noted that, in practical application, the above method can also be applied to work equipment other than the imaging device and the like. Among them, the operation equipment includes but is not limited to sound wave detection devices, surveying and mapping devices, spraying devices, infrared detection devices, radars, and the like.
图4为本申请实施例提供的控制云台的方法的流程图。FIG. 4 is a flowchart of a method for controlling a pan/tilt according to an embodiment of the present application.
如图4所示，该方法包括操作S402～操作S404。As shown in FIG. 4 , the method includes operations S402 to S404.
在操作S402，响应于指示所述云台进入收纳模式的第一触发事件，控制至少一个所述转轴结构转动至目标收纳位置，以使得至少一个所述转轴结构处于收纳姿态。In operation S402, in response to a first trigger event indicating that the pan/tilt head enters the storage mode, at least one of the rotating shaft structures is controlled to rotate to a target storage position, so that at least one of the rotating shaft structures is in a storage posture.
在某些实施例中，在所述响应于指示所述云台进入收纳模式的第一触发事件之后，并在控制至少一个所述转轴结构转动至目标收纳位置之前，判断所述云台上是否承载有作业设备，并在云台上承载有作业设备时对用户进行提示。例如，提示信息包括但不限于以下至少一种：不适合收纳、相机未取下、存在发生干涉风险等。所述判断所述云台上是否承载有作业设备的方式可以通过电机的输出力矩判断。如此，可避免正常使用过程中的误操作，也避免相机损坏。In some embodiments, after the response to a first trigger event indicating that the gimbal enters the storage mode, and before controlling at least one of the rotating shaft structures to rotate to the target storage position, it is determined whether the gimbal is on the gimbal or not. It carries the operation equipment, and prompts the user when the operation equipment is carried on the PTZ. For example, the prompt information includes, but is not limited to, at least one of the following: not suitable for storage, the camera has not been removed, there is a risk of interference, and the like. The way of judging whether the pan/tilt carries the working equipment can be judged by the output torque of the motor. In this way, misoperation during normal use and damage to the camera can be avoided.
在某些实施例中，所述第一触发事件包括针对机械按键的按压操作、针对显示屏显示的交互界面上预设收纳组件的触控操作、所述云台的运动状态达到预设运动状态中至少一种。In some embodiments, the first trigger event includes a pressing operation on a mechanical button, a touch operation on a preset storage component on an interactive interface displayed on a display screen, and a motion state of the gimbal reaches a preset motion state at least one of them.
在某些实施例中，第一触发事件可以是物理按键被按下。例如，云台上设置有与一键收纳功能对应的物理按钮(可以和开关机按钮等共用一个按钮， 也可以是单独设置的一个物理按钮)，云台在接收到表征物理按钮被按下的指令后进入收纳模式。此外，云台可以在处于关机模式或收纳模式时，通过按下(短按或者长按)该开关机按钮进入收纳模式。另外，还可以通过按下遥控器的按钮来触发进入收纳模式的第一触发事件。其中，遥控器可以与云台通信连接，或者遥控器与移动平台通信连接，由移动平台将第一触发事件传输给云台，在此不做具体限定。In some embodiments, the first trigger event may be a physical key being pressed. For example, a physical button corresponding to the one-key storage function is set on the PTZ (it can be shared with the switch button, etc., or it can be a separate physical button). Enter the storage mode after the command. In addition, the gimbal can enter the storage mode by pressing (short press or long press) the switch button when it is in the shutdown mode or the storage mode. In addition, the first trigger event for entering the storage mode can also be triggered by pressing a button of the remote control. The remote controller may be communicatively connected to the PTZ, or the remote controller may be communicatively connected to the mobile platform, and the mobile platform transmits the first trigger event to the PTZ, which is not specifically limited herein.
在某些实施例中，第一触发事件可以是针对交互界面的显示组件(如按钮)的触发操作。例如，云台包括显示器，显示器显示的交互界面上包括与收纳功能对应的虚拟按键、滑条、指令输入框等显示组件，用户通过操作显示组件来生成上述第一触发事件。当然，该虚拟按钮也可以设于与云台或移动平台通信连接的遥控器上。In some embodiments, the first trigger event may be a trigger operation for a display component (eg, a button) of the interactive interface. For example, the PTZ includes a display, and the interactive interface displayed by the display includes display components such as virtual keys, sliders, and instruction input boxes corresponding to the storage function. The user generates the above-mentioned first trigger event by operating the display components. Of course, the virtual button may also be provided on a remote controller that is communicatively connected to the PTZ or the mobile platform.
在某些实施例中，第一触发事件可以是身份认证通过的事件，如基于生物特征进行身份验证成功。包括但不限于：人脸识别、指纹识别或虹膜识别等方式进行身份认证。当然，该身份认证的过程也可以通过与云台或移动平台通信连接的遥控器来实现。In some embodiments, the first trigger event may be an event of passing the identity authentication, such as successful authentication based on a biometric feature. Including but not limited to: face recognition, fingerprint recognition or iris recognition for identity authentication. Of course, the identity authentication process can also be implemented through a remote controller that is communicatively connected to the PTZ or the mobile platform.
在某些实施例中，第一触发事件可以是云台按照预设轨迹移动的事件。例如当云台的移动轨迹为左右晃动时，触发进入收纳模式的触发事件。In some embodiments, the first trigger event may be an event that the pan/tilt head moves according to a preset trajectory. For example, when the movement track of the gimbal is shaking left and right, a trigger event for entering the storage mode is triggered.
在某些实施例中，第一触发事件可以是云台的姿态被动改变至第一预设姿态的事件。例如当用户手动转动转轴结构以使转轴结构合拢时，触发进入收纳模式的触发事件。In some embodiments, the first trigger event may be an event in which the posture of the gimbal is passively changed to the first preset posture. For example, when the user manually rotates the rotating shaft structure to close the rotating shaft structure, a trigger event for entering the storage mode is triggered.
在一个具体实施例中，预先设置一个机械按键或者调参屏触摸按键、应用(APP)按键作为收纳触发按键，云台正常工作时，按下该按键时，云台响应于按键被点按，进入收纳状态。In a specific embodiment, a mechanical button or a touch button on a parameter adjustment screen, an application (APP) button is preset as a storage trigger button. When the gimbal is working normally, when the button is pressed, the gimbal responds to the button being clicked. Enter the storage state.
在某些实施例中，目标收纳位置可以是预先设定的，如在云台出厂前已设置完成。目标收纳位置也可以是由用户自定义设置的。其中，当目标收纳位置是由用户自定义设置的时，可以使得云台有多个不同的预设的收纳姿态，以满足在多场景下的特定需求。例如，以云台承载的拍摄装置为例，拍摄装置加装了高倍率镜头，受空间限制，则可以将目标收纳位置设置为与朝向用户的方向转动180°对应的位置。例如，为了减少拍摄装置切换到目标收纳位置的用时，则可以将目标收纳位置设置为向下旋转90°。例如，以与云台 一体设置的拍摄装置为例，为了减少拍摄装置切换到目标收纳位置的用时，则可以将目标收纳位置设置为朝向转轴结构的位置。例如，为了降低雨雪对镜头的污染并且降低姿态切换用时，可以将目标收纳位置设置为向下旋转45°。In some embodiments, the target storage position may be preset, for example, it has been set before the gimbal is shipped from the factory. The target storage position can also be set by the user. Wherein, when the target storage position is set by the user, the gimbal can have multiple different preset storage postures to meet specific needs in multiple scenarios. For example, taking the camera carried by the gimbal as an example, the camera is equipped with a high-magnification lens. Due to space constraints, the target storage position can be set to a position corresponding to a 180° rotation toward the user. For example, in order to reduce the time required for the photographing device to switch to the target storage position, the target storage position may be set to be rotated downward by 90°. For example, taking a camera integrated with the pan/tilt as an example, in order to reduce the time required for the camera to switch to the target storage position, the target storage position may be set to the position facing the rotating shaft structure. For example, in order to reduce the contamination of the lens by rain and snow and reduce the use of attitude switching, the target storage position can be set to be rotated downward by 45°.
在操作S404，控制至少一个所述转轴结构保持在所述目标收纳位置直至检测到指示所述云台退出所述收纳模式的第二触发事件。In operation S404, at least one of the rotating shaft structures is controlled to remain in the target storage position until a second trigger event is detected that instructs the pan/tilt head to exit the storage mode.
在本实施例中，可以通过闭环控制的方式实现控制至少一个所述转轴结构保持在所述目标收纳位置。例如，当传感器检测到的当前位置相对于目标收纳位置之间的偏差大于预设阈值时，则可以基于该偏差对至少一个转轴结构的姿态进行调整。In this embodiment, at least one of the rotating shaft structures can be controlled to remain at the target storage position by means of closed-loop control. For example, when the deviation between the current position detected by the sensor and the target storage position is greater than a preset threshold, the attitude of at least one rotating shaft structure may be adjusted based on the deviation.
需要说明的是，还可以预先设置姿态保持时长阈值，如果长时间控制至少一个所述转轴结构保持在所述目标收纳位置，可能导致消耗过多能量。因此，可以在检测到的保持时长大于或等于姿态保持时长阈值时，自动进入待机模式、关机模式等。It should be noted that a posture maintaining duration threshold may also be preset, and if at least one of the rotating shaft structures is controlled to remain at the target storage position for a long time, excessive energy may be consumed. Therefore, when the detected holding time is greater than or equal to the attitude holding time threshold, the standby mode, the power-off mode, etc. can be automatically entered.
姿态保持时长阈值可以是根据用户需求进行自定义设置。此外，姿态保持时长阈值可以与云台剩余电量相关，如剩余电量越多，则姿态保持时长阈值动态增加，在此不做具体限定。The posture maintaining duration threshold can be customized according to user needs. In addition, the attitude maintaining duration threshold may be related to the remaining power of the gimbal. If the remaining power is more, the attitude maintaining duration threshold is dynamically increased, which is not specifically limited here.
在某些实施例中，所述云台包括把持组件，至少一个所述转轴结构设在所述把持组件上。In some embodiments, the pan/tilt head includes a handle assembly, and at least one of the rotating shaft structures is disposed on the handle assembly.
相应地，所述控制至少一个所述转轴结构保持在所述目标收纳位置包括：控制至少一个所述转轴结构转动至相对于所述把持组件为预设收纳姿态。Correspondingly, the controlling at least one of the rotating shaft structures to remain at the target storage position includes: controlling at least one of the rotating shaft structures to rotate to a preset storage posture relative to the holding assembly.
在某些实施例中，至少一个所述转轴结构包括被配置为绕横滚轴旋转的横滚转轴结构、被配置为绕俯仰轴旋转的俯仰转轴结构和被配置为绕偏航轴旋转的偏航转轴结构中的至少一个。In certain embodiments, at least one of the pivot structures includes a roll pivot structure configured to rotate about a roll axis, a pitch pivot structure configured to rotate about a pitch axis, and a yaw axis configured to rotate about a yaw axis at least one of the swivel structures.
图5为本申请实施例提供的云台上搭载作业设备的示意图。FIG. 5 is a schematic diagram of an operation device mounted on a pan/tilt according to an embodiment of the present application.
如图5所示，云台还可以包括：把持组件50。把持组件50可以给转轴结构提供支持。把持组件50可以支撑转轴结构31。把持组件50除了可以起到支撑转轴结构31的作用之外，还可以起到诸如容置电池、处理器、设置输入/输出部件等，在此不做限定。As shown in FIG. 5 , the pan/tilt head may further include: a holding assembly 50 . The handle assembly 50 can provide support for the shaft structure. The handle assembly 50 can support the shaft structure 31 . In addition to the function of supporting the rotating shaft structure 31, the holding assembly 50 can also function such as accommodating a battery, a processor, setting input/output components, etc., which are not limited herein.
参考图5所示，该云台可以包括俯仰(pitch)轴电机322、横滚(roll) 轴电机323、偏航(yaw)轴电机321、把持组件50、yaw轴轴臂311、作业设备固定机构60(内部可以包含惯性测量元件)、pitch轴轴臂312、roll轴轴臂313、拍摄装置40等。Referring to FIG. 5 , the pan/tilt head may include a pitch axis motor 322, a roll axis motor 323, a yaw axis motor 321, a holding assembly 50, a yaw axis axis arm 311, and a work equipment fixing The mechanism 60 (internal inertial measurement elements may be included), the pitch axis arm 312, the roll axis arm 313, the photographing device 40, and the like.
以作业设备是拍摄装置为例进行说明，云台还可以包括：作业设备固定机构60。其中，该作业设备固定机构60用于固定作业设备40，作业设备40姿态可调地固定在作业设备固定机构60上。Taking the working equipment as an example of a photographing device for illustration, the pan/tilt head may further include: a working equipment fixing mechanism 60 . The working equipment fixing mechanism 60 is used for fixing the working equipment 40 , and the working equipment 40 is fixed on the working equipment fixing mechanism 60 in an adjustable posture.
在某些实施例中，作业设备固定机构60可相对一个或多个轴臂转动。例如，作业设备固定机构60包括可相对俯仰轴转动的转动臂以及可与拍摄装置配合的固定部。例如，固定部可以相对转动臂发生线性移动，以便于对不同尺寸或不同构造的作业设备进行固定。需要说明的是作业设备固定机构60可以是单独的一个部件，也可以是某个轴臂的一部分，如作业设备固定机构60可以是俯仰轴臂或偏航轴臂的组成部分，在此不做限定。In certain embodiments, the work equipment securing mechanism 60 is rotatable relative to one or more pivot arms. For example, the working equipment fixing mechanism 60 includes a swivel arm that can be rotated relative to the pitch axis and a fixing portion that can cooperate with the photographing device. For example, the fixed portion can move linearly relative to the rotating arm to facilitate the fixing of work equipment of different sizes or configurations. It should be noted that the work equipment fixing mechanism 60 may be a separate component or a part of a certain axis arm. For example, the work equipment fixing mechanism 60 may be a component of the pitch axis arm or the yaw axis arm, which will not be described here. limited.
例如，在需要进行转场时，云台可以控制作业设备固定机构60朝向用户旋转180度等，使得镜头朝向用户，降低镜头因与外界环境发生干涉造成损伤的风险。又例如，在需要进行转场时，云台可以控制作业设备固定机构60向下旋转90°等，使得镜头朝向把持组件50，降低镜头因与外界环境发生干涉造成损伤的风险。For example, when a transition is required, the gimbal can control the fixing mechanism 60 of the operating equipment to rotate 180 degrees toward the user, etc., so that the lens faces the user, reducing the risk of damage to the lens due to interference with the external environment. For another example, when a transition is required, the gimbal can control the fixing mechanism 60 of the operating equipment to rotate downward by 90°, etc., so that the lens faces the holding assembly 50, thereby reducing the risk of damage to the lens due to interference with the external environment.
在某些实施例中，第二触发事件可以是物理按键被按下。例如，云台上设置有与一键展开功能或开机功能对应的物理按钮(可以和一键收纳功能按钮、开关机按钮等共用一个按钮，也可以是单独设置的一个物理按钮)。例如，一键展开功能的按钮和一键收纳功能的按钮相同，按下按钮后，云台会从当前模式姿态切换至另一模式姿态，如从当前姿态或展开姿态切换至收纳姿态。当再次按下按钮后，云台会从收纳姿态切换至展开姿态或存储的上述当前姿态。获取第二触发事件的执行主体包括但不限于：云台，或者与云台或移动平台通信连接的遥控器等。In some embodiments, the second trigger event may be a physical key being pressed. For example, a physical button corresponding to the one-key expansion function or the power-on function is provided on the PTZ (a button can be shared with the one-key storage function button, the switch button, etc., or it can be a separate physical button). For example, the button of the one-button deployment function is the same as the button of the one-button storage function. After pressing the button, the gimbal will switch from the current mode posture to another mode posture, such as switching from the current posture or the unfolding posture to the storage posture. When the button is pressed again, the gimbal will switch from the stowed position to the unfolded position or the above-mentioned current position stored. The execution subject that acquires the second trigger event includes, but is not limited to, a pan-tilt, or a remote controller that is communicatively connected to the pan-tilt or the mobile platform.
此外，第二触发事件的触发方式可以参考第一触发事件的触发方式。例如，第二触发事件可以是针对交互界面的显示组件的触发操作、第二触发事件可以是身份认证通过的事件、第二触发事件可以是云台按照预设轨迹移动的事件、第二触发事件可以是云台的姿态被动改变至第二预设姿态的事件。具体参考第一触发事件相关部分的说明，在此不再详述。In addition, the triggering manner of the second triggering event may refer to the triggering manner of the first triggering event. For example, the second triggering event may be a triggering operation for the display component of the interactive interface, the second triggering event may be an event of passing the identity authentication, the second triggering event may be an event that the PTZ moves according to a preset trajectory, and the second triggering event It may be an event in which the posture of the gimbal is passively changed to the second preset posture. For specific reference, please refer to the description of the relevant part of the first trigger event, which will not be described in detail here.
以下对转轴结构控制过程进行示例性说明。The following is an exemplary description of the rotating shaft structure control process.
在某些实施例中，所述控制至少一个所述转轴结构保持在所述目标收纳位置包括：控制所述云台的电机输出保持力矩以使得所述转轴结构保持在所述目标收纳位置。相关技术中，可以通过机械锁的方式将转轴结构保持在目标收纳位置。但是，通过机械锁进行限位的方式，其使用便捷度较低，对于需要频繁转场的场景中，无法满足用户对操作便捷度的需求。而通过电机输出保持力矩的方式进行限位，一方面有效提升了用户操作便捷度，一方面能提升云台和云台承载的作业设备的安全性。例如，保持力矩可以使得作业设备在用户晃动云台时保持作业设备相对于把持组件的姿态不变，以降低作业设备因干涉等导致的损伤。此外，保持力矩还可以使得作业设备在较大的外力作用下能够改变相对于把持组件的姿态，即作业设备相对于把持组件的姿态没有被锁死(如用户用手掰转轴结构时能改变转轴结构的姿态)，这样可以实现：在较大外力作用下提供缓冲功能，并且在外力作用消失或变小时，可以精准地恢复到原姿态(如目标收纳位置)。In some embodiments, the controlling at least one of the rotating shaft structures to remain at the target storage position includes: controlling the motor of the gimbal to output a holding torque so that the rotating shaft structure remains at the target storage position. In the related art, the rotating shaft structure can be maintained at the target storage position by means of a mechanical lock. However, the method of limiting the position through a mechanical lock is less convenient to use, and in a scene that requires frequent transitions, it cannot meet the user's demand for ease of operation. On the one hand, it can effectively improve the user's operation convenience, and on the other hand, it can improve the safety of the gimbal and the operation equipment carried by the gimbal. For example, the holding torque can enable the working equipment to keep the posture of the working equipment relative to the gripping assembly unchanged when the user shakes the gimbal, so as to reduce damage to the working equipment caused by interference and the like. In addition, the holding torque can also enable the working equipment to change its posture relative to the handle assembly under the action of a large external force, that is, the posture of the working equipment relative to the handle assembly is not locked (for example, the user can change the rotating shaft when breaking the rotating shaft structure by hand). In this way, a buffer function can be provided under the action of a large external force, and when the external force disappears or becomes smaller, the original posture (such as the target storage position) can be accurately restored.
例如，保持力矩是基于所述云台承载的负载载荷来确定的。其中，负载载荷可以包括作业设备的载荷、作业设备的附件的载荷等。基于负载载荷来确定的保持力矩，有助于优化上述缓冲功能，如能提供更加适合的保持力矩。For example, the holding moment is determined based on the load load carried by the head. Wherein, the load load may include the load of the work equipment, the load of the accessories of the work equipment, and the like. The holding torque determined based on the load load helps to optimize the above-mentioned cushioning function, such as providing a more suitable holding torque.
在某些实施例中，所述保持力矩小于增稳力矩，所述增稳力矩是所述云台处于增稳状态下，对所述云台承载的作业设备进行增稳的过程中，由所述云台的电机输出的力矩。例如，保持力矩可以为1毫牛/米、3毫牛/米、5毫牛/米、6毫牛/米、9毫牛/米、10毫牛/米、15毫牛/米、20毫牛/米、28毫牛/米、35毫牛/米、50毫牛/米、80毫牛/米、100毫牛/米、150毫牛/米、300毫牛/米、500毫牛/米、1牛/米、3牛/米、5牛/米、15牛/米、25牛/米、50牛/米、80牛/米、100牛/米等。具体地，针对采用比例、积分和微分(PID)控制方法进行闭环控制时，可以采取减小增稳模式下PID中比例(P)的取值的方式，来实现减小增稳模式下输入给电机的电流值，进而实现保持力矩小于增稳力矩。In some embodiments, the holding torque is smaller than the stabilization torque, and the stabilization torque is the process of stabilizing the operation equipment carried by the gimbal when the gimbal is in the stabilization state. Describe the torque output by the motor of the gimbal. For example, the holding torque can be 1 mmN/m, 3 mmN/m, 5 mmN/m, 6 mmN/m, 9 mmN/m, 10 mmN/m, 15 mmN/m, 20 mm N/m, 28 mN/m, 35 mN/m, 50 mN/m, 80 mN/m, 100 mN/m, 150 mN/m, 300 mN/m, 500 mN/m m, 1 N/m, 3 N/m, 5 N/m, 15 N/m, 25 N/m, 50 N/m, 80 N/m, 100 N/m, etc. Specifically, when the proportional, integral, and derivative (PID) control method is used for closed-loop control, the value of the proportional (P) in the PID in the stabilization mode can be reduced to reduce the input voltage in the stabilization mode. The current value of the motor, thereby realizing that the holding torque is less than the stabilization torque.
具体地，保持小力矩锁定在收纳状态关节角。需要说明的是，此时还可以通过机械锁锁定各个关节和/或关机，也可以选择保持这样的状态，转场后一键展开。Specifically, a small moment is maintained to lock the joint angle in the stowed state. It should be noted that at this time, each joint can also be locked and/or turned off through a mechanical lock, or you can choose to maintain such a state and unfold it with one click after the transition.
在某些实施例中，所述云台包括角度传感器，所述角度传感器用于检测所述转轴结构的当前关节角。In some embodiments, the pan/tilt head includes an angle sensor, and the angle sensor is used to detect the current joint angle of the rotating shaft structure.
相应地，所述控制至少一个所述转轴结构转动至目标收纳位置包括：控制至少一个所述转轴结构转动至目标收纳关节角。Correspondingly, the controlling at least one of the rotating shaft structures to rotate to the target storage position includes: controlling the at least one of the rotating shaft structures to rotate to the target storage joint angle.
在某些实施例中，当前关节角可以通过角度传感器获取，目标收纳关节角为转轴结构处于目标收纳位置时的关节角，可以预先设置在云台的存储元件中。角度传感器包括磁环和磁编码器，磁环设置在转轴电机的转子上，磁编码器设置在电子调速器中，磁编码器可以获取磁环的转动位置，从而确定转子的位置以确定当前关节角。其中，在设置磁环时，由于磁环与转子之间的位置关系的不确定性，磁编码器获取磁环的转动位置和转子的转动位置之间一般存在一个偏置角度(offset)，可以通过实验检测出该偏置角度并将该偏置角度保存在云台的存储元件中，从而可以通过磁环的转动位置和该偏置角度确定转子的转动位置以确定当前关节角。In some embodiments, the current joint angle may be acquired by an angle sensor, and the target storage joint angle is the joint angle when the rotating shaft structure is in the target storage position, which may be preset in the storage element of the gimbal. The angle sensor includes a magnetic ring and a magnetic encoder. The magnetic ring is set on the rotor of the rotating shaft motor. The magnetic encoder is set in the electronic speed governor. The magnetic encoder can obtain the rotating position of the magnetic ring, thereby determining the position of the rotor to determine the current joint angle. Among them, when setting the magnetic ring, due to the uncertainty of the positional relationship between the magnetic ring and the rotor, there is generally an offset angle (offset) between the rotational position of the magnetic ring obtained by the magnetic encoder and the rotational position of the rotor, which can be The offset angle is detected experimentally and stored in the storage element of the pan/tilt head, so that the rotation position of the rotor can be determined through the rotation position of the magnetic ring and the offset angle to determine the current joint angle.
在某些实施例中，该云台还可以包括：惯性测量单元(Inertial measurement unit，简称IMU)。该惯性测量单元可以设置在云台上任意一处，以用于确定设置惯性测量单元支持的部件的姿态信息。例如，为了便于确定作业设备的姿态信息，该惯性测量单元可以设置在作业设备固定机构60上，用于测量作业设备固定机构60的姿态信息。又例如，为了便于确定轴臂的姿态信息，可以将惯性测量单元设置在轴臂上。惯性测量单元可以是加速度计或陀螺仪中的至少一种，可以用于测量拍摄装置的姿态和加速度等。In some embodiments, the pan/tilt head may further include: an inertial measurement unit (Inertial measurement unit, IMU for short). The inertial measurement unit can be installed anywhere on the pan/tilt head, so as to determine the attitude information of the components supported by the installed inertial measurement unit. For example, in order to facilitate the determination of the attitude information of the working equipment, the inertial measurement unit may be disposed on the working equipment fixing mechanism 60 for measuring the attitude information of the working equipment fixing mechanism 60 . For another example, in order to facilitate the determination of the attitude information of the shaft arm, the inertial measurement unit may be arranged on the shaft arm. The inertial measurement unit may be at least one of an accelerometer or a gyroscope, and may be used to measure the attitude and acceleration of the photographing device.
在某些实施例中，如果作业设备40和云台是一体的，则为了便于测量作业设备40的位姿，可以将惯性测量单元可以设置在作业设备40上，用于测量作业设备的位姿信息。In some embodiments, if the working equipment 40 and the pan/tilt are integrated, in order to facilitate the measurement of the pose of the working equipment 40, an inertial measurement unit may be provided on the working equipment 40 for measuring the pose of the working equipment information.
需要说明的是，惯性测量单元可以是一个或多个，各惯性测量单元可以分别设置在不同的部件上，以便于测量该部件的位姿信息。It should be noted that there may be one or more inertial measurement units, and each inertial measurement unit may be disposed on a different component, so as to measure the pose information of the component.
在某些实施例中，所述控制至少一个所述转轴结构转动至目标收纳关节角包括：基于所述当前关节角和所述目标收纳关节角之间的差值控制至少一个所述转轴结构转动至目标收纳关节角。In some embodiments, the controlling at least one of the rotating shaft structures to rotate to a target storage joint angle includes: controlling at least one of the rotating shaft structures to rotate based on a difference between the current joint angle and the target storage joint angle to the target stowage joint angle.
例如，计算当前关节角与目标收纳关节角之间的关节角偏差，通过关节角偏差可以确定转轴结构的工作电流和/或扭矩。根据该工作电流和/或该扭矩 可以控制转轴结构转动以将转轴结构转动至目标收纳关节角。如此，可以通过关节角闭环控制简单、快速且准确地将转轴结构调整到目标收纳位置。For example, the joint angle deviation between the current joint angle and the target storage joint angle is calculated, and the working current and/or torque of the rotating shaft structure can be determined through the joint angle deviation. According to the working current and/or the torque, the rotation of the rotating shaft structure can be controlled to rotate the rotating shaft structure to the target receiving joint angle. In this way, the structure of the rotating shaft can be adjusted to the target storage position simply, quickly and accurately through the closed-loop control of the joint angle.
在某些实施例中，所述基于所述当前关节角和所述目标收纳关节角之间的差值控制至少一个所述转轴结构转动至目标收纳关节角可以包括如下操作。In some embodiments, the controlling at least one of the rotating shaft structures to rotate to the target receiving joint angle based on the difference between the current joint angle and the target receiving joint angle may include the following operations.
首先，基于所述当前关节角和所述目标收纳关节角之间的差值确定多个控制周期各自的子目标收纳关节角。其中，控制周期的个数可以基于差值的大小来确定，如差值越大，则所需的控制周期的个数越多。First, based on the difference between the current joint angle and the target stowed joint angle, the respective sub-target stowed joint angles of a plurality of control cycles are determined. The number of control cycles may be determined based on the magnitude of the difference. For example, the larger the difference, the greater the number of control cycles required.
然后，针对每个控制周期，基于所述当前关节角和与所述控制周期对应的子目标收纳关节角之间的差值控制至少一个所述转轴结构转动。Then, for each control period, the rotation of at least one of the rotating shaft structures is controlled based on the difference between the current joint angle and the sub-target receiving joint angle corresponding to the control period.
其中，针对各控制周期的过程参数可以如表1所示。Among them, the process parameters for each control period can be as shown in Table 1.
表1过程参数Table 1 Process parameters
   第一关节角first joint angle 第二关节角second joint angle 第三关节角third joint angle
初始值initial value 1010 1010 1010
第一控制周期first control cycle 99 1111 1111
第二控制周期second control period 88 1212 1212
第三控制周期third control period 66 1414 1414
……... ……... ……... ……...
第N控制周期Nth control cycle 00 2020 2020
需要说明的是，上述取值仅为示例性示出，不能理解为对本公开的限定。其中，N是大于1的正整数。关节角为矢量，可以通过定义转轴结构的一个旋转方向为正旋转方向，另一个旋转方向为反旋转方向，关节角为正时，说明旋转方向为正旋转方向，关节角为负时，说明旋转方向为反旋转方向。其中，各个转轴结构均包括对应的正旋转方向和反旋转方向。It should be noted that the above-mentioned values are only illustrative and should not be construed as limitations on the present disclosure. where N is a positive integer greater than 1. The joint angle is a vector, and one rotation direction of the shaft structure can be defined as the positive rotation direction and the other rotation direction as the reverse rotation direction. When the joint angle is positive, the rotation direction is positive, and when the joint angle is negative, the rotation The direction is the reverse rotation direction. Wherein, each rotating shaft structure includes a corresponding forward rotation direction and a reverse rotation direction.
在某些实施例中，所述横滚转轴结构的关节角为第一设定关节角，所述横滚转轴结构对应的预设关节角与所述第一设定关节角之间的差值为第一关节角。In some embodiments, the joint angle of the roll axis structure is a first set joint angle, and the difference between the preset joint angle corresponding to the roll axis structure and the first set joint angle is the first joint angle.
所述俯仰转轴结构的关节角为第二设定关节角，所述俯仰转轴结构对应的预设关节角与所述第二设定关节角的绝对差值为第二关节角。The joint angle of the pitch axis structure is the second set joint angle, and the absolute difference between the preset joint angle corresponding to the pitch axis structure and the second set joint angle is the second joint angle.
所述偏航转轴结构的关节角为第三设定关节角，所述偏航转轴结构对应的预设关节角与所述第三设定关节角的绝对差值为第三关节角。The joint angle of the yaw shaft structure is the third set joint angle, and the absolute difference between the preset joint angle corresponding to the yaw shaft structure and the third set joint angle is the third joint angle.
横滚转轴结构对应的目标收纳关节角与第一设定关节角的绝对差值为90度，可以是横滚转轴结构对应的目标收纳关节角相对于第一设定关节角的差值为正90度，即横滚转轴结构的目标收纳关节角相对于第一设定关节角的方向为正旋转方向，角度为90度。俯仰转轴结构对应的目标收纳关节角与第二设定关节角的绝对差值为55度，即第二设定关节角即为俯仰转轴结构对应的目标收纳关节角。偏航转轴结构对应的目标收纳关节角与第三设定关节角的绝对差值为0度。如此，横滚转轴结构、俯仰转轴结构和偏航转轴结构均相对收敛，使得云台所占的体积最小，能够减少云台所需占用的空间，有助于降低相机移动过程中与外界发生干涉的风险。The absolute difference between the target storage joint angle corresponding to the roll axis structure and the first set joint angle is 90 degrees, which may be a positive difference between the target storage joint angle corresponding to the roll axis structure and the first set joint angle. 90 degrees, that is, the direction of the target storage joint angle of the roll axis structure relative to the first set joint angle is the positive rotation direction, and the angle is 90 degrees. The absolute difference between the target storage joint angle corresponding to the pitch shaft structure and the second set joint angle is 55 degrees, that is, the second set joint angle is the target storage joint angle corresponding to the pitch shaft structure. The absolute difference between the target storage joint angle corresponding to the yaw axis structure and the third set joint angle is 0 degrees. In this way, the roll axis structure, pitch axis structure and yaw axis structure are relatively convergent, so that the volume occupied by the gimbal can be minimized, the space required by the gimbal can be reduced, and the interference with the outside world during the movement of the camera can be reduced. risks of.
当然，第一设定关节角、第二设定关节角和第三设定关节角也可以是其他设定值，例如20度、90度、125度等。横滚转轴结构对应的目标收纳关节角与第一设定关节角的绝对差值、俯仰转轴结构对应的目标收纳关节角与第二设定关节角的绝对差值、偏航转轴结构对应的目标收纳关节角与第三设定关节角的绝对差值，也可以根据需要进行设置。Of course, the first set joint angle, the second set joint angle, and the third set joint angle may also be other set values, such as 20 degrees, 90 degrees, 125 degrees, and the like. The absolute difference between the target storage joint angle corresponding to the roll axis structure and the first set joint angle, the absolute difference between the target storage joint angle corresponding to the pitch axis structure and the second set joint angle, and the target corresponding to the yaw axis structure The absolute difference between the received joint angle and the third set joint angle can also be set as required.
例如，收纳状态最终目标关节角可以为：航向轴为0度、横滚轴为90度、俯仰轴为55度。For example, the final target joint angle in the storage state may be: the pan axis is 0 degrees, the roll axis is 90 degrees, and the pitch axis is 55 degrees.
以下对交互界面进行示例性说明。An exemplary description of the interactive interface is given below.
图6为本申请实施例提供的显示屏显示的交互界面的示意图。FIG. 6 is a schematic diagram of an interactive interface displayed on a display screen according to an embodiment of the present application.
如图6所示，在交互界面上可以显示多个交互组件，如关机、收纳、关节角设置等。此外，部分组件可以对应有下一级交互界面。例如，用户点击关节角设置按钮后，可以跳转到用于设置关节角的界面，使得用户可以自行设置第一关节角、第二关节角、第三关节角等。具体地，可以设置针对航向轴、横滚轴、俯仰轴各自的目标关节角。As shown in FIG. 6 , multiple interactive components can be displayed on the interactive interface, such as shutdown, storage, joint angle setting, and the like. In addition, some components may correspond to the next-level interactive interface. For example, after the user clicks the joint angle setting button, the user can jump to an interface for setting the joint angle, so that the user can set the first joint angle, the second joint angle, the third joint angle and so on by himself. Specifically, target joint angles for each of the pan axis, roll axis, and pitch axis can be set.
以下对用于驱动转轴组件进行转动的电机的闭环控制过程进行示例性说明。The following is an exemplary description of the closed-loop control process of the motor for driving the rotating shaft assembly to rotate.
在某些实施例中，基于所述当前关节角和所述目标收纳关节角之间的差值确定多个控制周期各自的子目标收纳关节角包括：基于所述当前关节角和所述目标收纳关节角之间的差值，通过动态加减速模型确定多个控制周期各 自的子目标收纳关节角。In some embodiments, determining the respective sub-target stowed joint angles of multiple control cycles based on the difference between the current joint angle and the target stowed joint angle includes: based on the current joint angle and the target stowed joint angle The difference between the joint angles is determined by the dynamic acceleration and deceleration model to determine the respective sub-target receiving joint angles of multiple control cycles.
图7为本申请实施例提供的基于关节角对云台进行闭环控制的逻辑图。FIG. 7 is a logic diagram of the closed-loop control of the gimbal based on the joint angle provided by the embodiment of the present application.
如图7所示，用户可以预先设定预设关节角，通过比较预设关节角和角度传感器采集的当前关节角之间的差值来确定关节角偏差。利用处理器处理该关节角偏差来确定控制指令，该控制指令用于控制转轴电机输出对应的扭矩，以驱动云台改变姿态。As shown in FIG. 7 , the user can preset a preset joint angle, and determine the joint angle deviation by comparing the difference between the preset joint angle and the current joint angle collected by the angle sensor. The processor is used to process the joint angle deviation to determine a control command, and the control command is used to control the shaft motor to output a corresponding torque to drive the pan/tilt to change its attitude.
需要说明的是，以上主要以预设关节角作为闭环控制的目标信息，此外，还可以采用预设姿态作为闭环控制的目标信息。It should be noted that, in the above, the preset joint angle is mainly used as the target information of the closed-loop control. In addition, the preset posture can also be used as the target information of the closed-loop control.
例如，可以使用式(1)的公式实现关节角和姿态之间的转换。For example, the conversion between joint angles and poses can be achieved using the formula of Equation (1).
qcam＝qbase·qbase→out·qout→mid·qmid→inn   式(1)qcam=qbase·qbase→out·qout→mid·qmid→inn Formula (1)
其中，qcam为云台上的作业设备在大地坐标系下的目标姿态，qbase为云台的把持组件或云台基座在大地坐标下的姿态，qbase→out为把持组件或云台基座到云台外框的旋转四元数，由外框对应的目标收纳关节角构造而成，qout→mid为云台外框到云台中框的旋转四元数，由中框对应的目标收纳关节角构造而成，qmid→inn为云台中框到云台内框的旋转四元数，由内框对应的目标收纳关节角构造而成。Among them, qcam is the target posture of the operation equipment on the gimbal in the geodetic coordinate system, qbase is the posture of the gimbal's holding component or gimbal base in the geodetic coordinate, and qbase→out is the holding component or gimbal base to the The rotation quaternion of the gimbal outer frame is constructed from the target storage joint angle corresponding to the outer frame, qout→mid is the rotation quaternion from the gimbal outer frame to the gimbal middle frame, and the target storage joint angle corresponding to the middle frame It is constructed, qmid→inn is the rotation quaternion from the middle frame of the gimbal to the inner frame of the gimbal, which is constructed from the target storage joint angle corresponding to the inner frame.
得到上述目标姿态后，可以将相应的转轴结构的目标姿态转换到至云台本体坐标系下，得到转轴结构相对于把持组件50的预设姿态，同理，可以将转轴结构的当前姿态转换至云台本体坐标系中。After the above-mentioned target posture is obtained, the target posture of the corresponding rotating shaft structure can be converted to the coordinate system of the gimbal body to obtain the preset posture of the rotating shaft structure relative to the holding assembly 50. Similarly, the current posture of the rotating shaft structure can be converted to in the coordinate system of the gimbal body.
图8为本申请实施例提供的基于姿态对云台进行闭环控制的逻辑图。FIG. 8 is a logic diagram of closed-loop control of a gimbal based on an attitude provided by an embodiment of the present application.
如图8所示，可以在云台本体坐标系下计算转轴结构相对于把持组件50的当前姿态和预设姿态之间的姿态偏差，基于姿态闭环控制方式，通过姿态偏差可以确定转轴结构的工作电流和/或扭矩，根据该工作电流和/或该扭矩可以控制转轴结构转动，以将转轴结构转动至相对于把持组件50为预设姿态。其中，当前姿态可以是利用陀螺仪采集的角速度进行积分运算得到的。As shown in FIG. 8 , the attitude deviation between the current attitude and the preset attitude of the rotating shaft structure relative to the holding assembly 50 can be calculated in the gimbal body coordinate system. Based on the attitude closed-loop control method, the operation of the rotating shaft structure can be determined by the attitude deviation. The current and/or torque, according to the working current and/or the torque, the rotation of the rotating shaft structure can be controlled to rotate the rotating shaft structure to a preset posture relative to the holding assembly 50 . Wherein, the current attitude may be obtained by integral operation using the angular velocity collected by the gyroscope.
在某些实施例中，可以通过姿态反算关节角或者通过关节角计算姿态。In some embodiments, the joint angles may be inversely calculated from the poses or the poses may be calculated from the joint angles.
例如，偏航轴关节角的坐标轴的旋转轴Vz为[0，0，1]，横滚轴关节角的坐标轴的旋转轴Vx为[1，0，0]，俯仰轴关节角的坐标轴的旋转轴Vy为[0，1，0]。将Vx、Vy、Vz分别转换至云台本体坐标系如式(2)～式(3)所示：For example, the rotation axis Vz of the coordinate axis of the joint angle of the yaw axis is [0, 0, 1], the rotation axis Vx of the coordinate axis of the joint angle of the roll axis is [1, 0, 0], and the coordinates of the joint angle of the pitch axis The axis of rotation Vy of the shaft is [0, 1, 0]. Convert Vx, Vy, Vz to the gimbal body coordinate system respectively as shown in formula (2) to formula (3):
Vz→b＝Ry＇*Rx＇*Rz＇*Vz   式(2)Vz→b=Ry'*Rx'*Rz'*Vz Equation (2)
Vx→b＝Ry＇*Rx＇*Vx           式(3)Vx→b=Ry'*Rx'*Vx Equation (3)
Vy→b＝Ry＇*Vy                 式(4)Vy→b=Ry'*Vy Equation (4)
其中，Ry＇、Rx＇、Rz＇分别对应Ry、Rx、Rz的转置，Ry、Rx、Rz分别为关节角坐标系绕Y轴(俯仰轴)、X轴(横滚轴)、Z轴(偏航轴)到参考坐标系的旋转矩阵。Among them, Ry', Rx', Rz' correspond to the transpose of Ry, Rx, Rz respectively, Ry, Rx, Rz are the joint angle coordinate system around the Y axis (pitch axis), X axis (roll axis), Z axis respectively (Yaw axis) Rotation matrix to the reference frame.
姿态的控制可以根据转轴结构的关节角实现。例如，首先获取转轴结构的当前关节角和目标收纳关节角，根据当前关节角和目标收纳关节角确定转轴结构的期望关节角速度，再通过坐标转换关系将转轴结构的期望关节角速度转换为在欧拉坐标系下的期望欧拉角速度，从而可以根据该期望欧拉角速度获得对应的预设姿态，再根据该期望欧拉角速度控制转轴结构转动至相对于把持组件为预设姿态。The attitude control can be realized according to the joint angle of the rotating shaft structure. For example, first obtain the current joint angle and target storage joint angle of the rotating shaft structure, determine the expected joint angular velocity of the rotating shaft structure according to the current joint angle and the target storage joint angle, and then convert the expected joint angular velocity of the rotating shaft structure to the value in Euler through the coordinate transformation relationship. The expected Euler angular velocity in the coordinate system, so that the corresponding preset attitude can be obtained according to the expected Euler angular velocity, and then the rotating shaft structure is controlled to rotate to the preset attitude relative to the holding component according to the expected Euler angular velocity.
在某些实施例中，动态加减速模型可以包括预设形状的速度-时间线。该速度-时间线的形状包括但不限于：相对于某个坐标轴的斜线、曲线、折线等。In some embodiments, the dynamic acceleration and deceleration model may include a velocity-timeline in a preset shape. The shape of the speed-time line includes, but is not limited to, an oblique line, a curved line, a polyline, and the like relative to a certain coordinate axis.
在某些实施例中，所述预设形状的速度-时间线包括速度增大子线段、速度恒定子线段和速度减小子线段中至少两种。In some embodiments, the preset-shaped velocity-timeline includes at least two of a velocity-increasing sub-segment, a velocity-constant sub-segment, and a velocity-decreasing sub-segment.
例如，通过动态T型加减速控制规划生成每一控制周期的目标关节角。T型加减速有助于使得变速更加平滑，并且达到目标关节角的用时较短。通过当前控制周期的目标关节角和检测关节角角度进行关节角闭环控制，直到检测当前关节角达到收纳状态目标关节角的误差范围内。其中，误差范围可以是稳态误差，如误差范围具有上下限。For example, the target joint angle for each control cycle is generated through a dynamic T-shaped acceleration/deceleration control plan. T-shaped acceleration and deceleration help make shifting smoother and take less time to reach the target joint angle. The joint angle closed-loop control is performed through the target joint angle of the current control cycle and the detected joint angle angle, until the detected current joint angle reaches the error range of the target joint angle in the storage state. The error range may be a steady-state error, for example, the error range has upper and lower limits.
例如，控制转轴结构时，转轴结构可以以预设速度进行转动，该预设速度可以预先设置在云台的存储元件中。预设速度可以是恒定值。预设速度还可以具有先增大再减小的变化趋势，如此，可以先以较大的速度接近目标收纳位置以减少转动至目标收纳位置所需的时间，在接近目标收纳位置后减小速度以防止撞到转轴结构的限位，并且可以避免出现超过目标收纳位置后再返回的情况。另外，预设速度还可以根据转轴结构的当前位置与目标收纳位置之间的差异确定，其中，当前位置与目标收纳位置之间的差异可以是指关节角偏差或姿态偏差，如此，预设速度可以根据实际操作需要实时确定，例如在当前位置与目标收纳位置之间的差异比较大时，预设速度可以比较大，在当前位置与目标收纳位置之间的差异比较小时，预设速度可以比较小等， 在此不做具体限定。For example, when controlling the rotating shaft structure, the rotating shaft structure can rotate at a preset speed, and the preset speed can be preset in the storage element of the pan/tilt head. The preset speed can be a constant value. The preset speed can also have a trend of increasing first and then decreasing. In this way, the target storage position can be approached at a relatively high speed to reduce the time required to rotate to the target storage position, and the speed can be reduced after approaching the target storage position. In order to prevent hitting the limit of the rotating shaft structure, and can avoid the situation of exceeding the target storage position and then returning. In addition, the preset speed may also be determined according to the difference between the current position of the rotating shaft structure and the target storage position, wherein the difference between the current position and the target storage position may refer to the joint angle deviation or the attitude deviation. In this way, the preset speed It can be determined in real time according to the actual operation needs. For example, when the difference between the current position and the target storage position is relatively large, the preset speed can be relatively large, and when the difference between the current position and the target storage position is relatively small, the preset speed can be compared. Xiao, etc., no specific limitation is made here.
图9为本申请实施例提供的动态加减速模型的示意图。FIG. 9 is a schematic diagram of a dynamic acceleration and deceleration model provided by an embodiment of the present application.
如图9所示，动态加减速模型的起始时刻可以以匀加速或变加速的形式增加速度，在中间阶段可以采用匀速形式，当然也可以采用变速形式。在当前关节角接近目标收纳关节角时，则可以采用匀减速或变减速形式减小速度。As shown in Figure 9, the starting moment of the dynamic acceleration and deceleration model can increase the speed in the form of uniform acceleration or variable acceleration, and in the middle stage, it can adopt the form of uniform speed, and of course, it can also adopt the form of variable speed. When the current joint angle is close to the target receiving joint angle, the speed can be reduced by uniform deceleration or variable deceleration.
在某些实施例中，转轴结构还可以包括电子调速器，该电子调速器用于调节电机的转速，以实现按照动态加减速模型对转轴结构的转动速度进行调整。In some embodiments, the rotating shaft structure may further include an electronic speed governor, which is used to adjust the rotational speed of the motor, so as to realize the adjustment of the rotating speed of the rotating shaft structure according to the dynamic acceleration and deceleration model.
在某些实施例中，为了改善收纳状态下的奇异问题(如gimbal lock)，可以在关节角闭环控制的过程中，在至少部分控制周期中每一个周期，将当前关节角的角度初始化为所在控制周期的子目标收纳关节角。例如，在云台切换到关节角闭环控制时，初始化当前关节角角度为当前目标关节角(如当前控制周期的目标关节角)，以有效避免收纳状态的奇异问题。In some embodiments, in order to improve the singularity problem (such as gimbal lock) in the retracted state, during the closed-loop control of the joint angle, in each cycle of at least part of the control cycle, the angle of the current joint angle can be initialized to the The sub-goal of the control period accommodates the joint angle. For example, when the gimbal is switched to joint angle closed-loop control, the current joint angle is initialized as the current target joint angle (such as the target joint angle of the current control cycle) to effectively avoid the singular problem of the storage state.
在某些实施例中，为了便于实现用户的多种需求，如用户需要可以随时实现关机功能或待机功能等，上述方法还可以包括如下操作。In some embodiments, in order to facilitate the realization of various requirements of the user, for example, the user can realize the shutdown function or the standby function at any time, etc., the above method may further include the following operations.
在控制至少一个所述转轴结构保持在所述目标收纳位置的过程中，执行以下至少一个操作：响应于关机指令，控制所述云台进入关机模式，或者，响应于待机指令，控制所述云台进入待机模式。During the process of controlling at least one of the rotating shaft structures to remain at the target storage position, at least one of the following operations is performed: in response to a shutdown instruction, controlling the PTZ to enter a shutdown mode, or, in response to a standby instruction, controlling the PTZ The station enters standby mode.
本公开实施提供的控制云台的方法，控制转轴结构转动至目标收纳位置，该目标收纳位置可以使得云台和/或云台承载的作业设备处于相对安全的姿态下，提升财产安全度。此外，相对于手动将云台调整至收纳姿态，在提升操作便捷度的基础上，还能有效提升姿态调整的精准度，提升用户体验。The present disclosure implements the provided method for controlling a pan/tilt, which controls the rotating shaft structure to rotate to a target storage position, where the target storage position can make the pan/tilt and/or the operating equipment carried by the pan/tilt in a relatively safe posture to improve property safety. In addition, compared with manually adjusting the gimbal to the storage posture, on the basis of improving the convenience of operation, it can also effectively improve the accuracy of posture adjustment and improve the user experience.
图10为本申请另一实施例提供的控制云台的方法的流程图。FIG. 10 is a flowchart of a method for controlling a PTZ provided by another embodiment of the present application.
如图10所示，该方法可以包括操作S1002。As shown in FIG. 10 , the method may include operation S1002.
在操作S1002，响应于指示所述云台进入展开模式的第二触发事件，控制至少一个所述转轴结构转动至目标展开位置，以使得至少一个所述转轴结构处于展开姿态。In operation S1002, in response to a second trigger event indicating that the pan/tilt head enters the deployment mode, at least one of the rotating shaft structures is controlled to rotate to a target deployment position, so that at least one of the rotating shaft structures is in a deployed attitude.
在本实施例中，云台包括至少一个转轴结构。所述云台在响应所述第二触发事件之前处于上电状态。例如，云台可以处于待机状态、收纳状态、工 作状态等。这样便于用户将云台从待机状态、收纳状态等快速切换至展开状态，以便快速进行作业。In this embodiment, the pan/tilt head includes at least one rotating shaft structure. The gimbal is in a powered-on state before responding to the second trigger event. For example, the PTZ can be in a standby state, a storage state, a working state, and so on. This makes it easy for users to quickly switch the pan/tilt from the standby state, the storage state, etc. to the unfolded state, so as to quickly perform operations.
云台的结构可以参考图1、图2、图3或图5所示。第二触发事件可以参考以上实施例中第二触发事件，在此不再详述。The structure of the PTZ can refer to FIG. 1 , FIG. 2 , FIG. 3 or FIG. 5 . For the second trigger event, reference may be made to the second trigger event in the above embodiment, which will not be described in detail here.
图11为本申请实施例提供的云台切换至展开姿态的示意图。FIG. 11 is a schematic diagram of switching the gimbal to a deployed posture according to an embodiment of the present application.
如图11所示，图11的左图中，云台处于收纳姿态，以便移动至期望的拍摄位置。当用户到达期望的拍摄位置后，可以通过点击按钮等方式生成第二触发事件，使得云台可以响应于该第二触发事件控制转轴结构处于展开姿态，如图11的右图所示。这样便于用户快捷地安装拍摄装置后，进行拍摄作业。As shown in FIG. 11 , in the left image of FIG. 11 , the pan/tilt head is in a retracted posture so as to move to a desired shooting position. When the user reaches the desired shooting position, a second trigger event can be generated by clicking a button, so that the pan/tilt head can control the rotating shaft structure to be in the unfolded posture in response to the second trigger event, as shown in the right figure of FIG. 11 . In this way, it is convenient for the user to quickly install the photographing device and then perform the photographing operation.
在某些实施例中，以作业设备是与云台一体的拍摄装置为例进行说明。云台处于收纳姿态下有助于提升拍摄装置的精密部件的安全可靠性。例如，用户没有进行拍摄时，可以使得拍摄装置处于收纳姿态。当用户在到达期望进行下一次拍摄的位置后，可以通过点击按钮等方式生成第二触发事件，使得云台可以响应于该第二触发事件控制转轴结构处于展开姿态。这样便于用户快捷地进行拍摄作业。In some embodiments, the working equipment is an example of a photographing device integrated with a pan/tilt head for description. The storage position of the gimbal helps to improve the safety and reliability of the precise components of the camera. For example, when the user is not photographing, the photographing device may be placed in a stowed posture. When the user arrives at the position where the next shooting is expected, a second trigger event can be generated by clicking a button or the like, so that the gimbal can control the rotating shaft structure to be in an unfolded posture in response to the second trigger event. This is convenient for the user to quickly perform the shooting operation.
在某些实施例中，所述目标展开位置包括：预设展开位置、在云台进入收纳模式前的展开位置、被选取的展开位置或者由用户临时输入的指定展开位置。In some embodiments, the target deployment position includes: a preset deployment position, a deployment position before the gimbal enters the storage mode, a selected deployment position, or a designated deployment position temporarily input by the user.
图12为本申请另一实施例提供的显示屏显示的交互界面的示意图。FIG. 12 is a schematic diagram of an interactive interface displayed on a display screen according to another embodiment of the present application.
如图12所示，用户可以基于显示屏显示的交互界面，输入多种操作指令，如关机、展开和姿态设置等。用户可以预先设置好与展开姿态对应的关节角，如偏航角设置、俯仰角设置或翻滚角设置等。此外，用户也可以临时对展开姿态进行设置，在此不做限定。As shown in FIG. 12 , the user can input various operation instructions, such as shutdown, deployment, and attitude setting, based on the interactive interface displayed on the display screen. The user can preset the joint angle corresponding to the deployment attitude, such as yaw angle setting, pitch angle setting or roll angle setting, etc. In addition, the user can also temporarily set the unfolding posture, which is not limited here.
在某些实施例中，在所述控制至少一个所述转轴结构转动至目标展开位置的过程中，所述方法还包括：锁定针对至少一个所述转轴结构的控制权，以禁止响应针对至少一个所述转轴结构的控制指令，所述控制指令是基于用户操作生成的。In some embodiments, in the process of controlling the rotation of at least one of the rotating shaft structures to the target deployment position, the method further includes: locking the control right for at least one of the rotating shaft structures to prohibit responding to the at least one rotating shaft structure. The control instruction of the rotating shaft structure, the control instruction is generated based on user operation.
在本实施例中，通过如上操作可以有效提升设备安全性，如避免由于用户输入的控制指令和云台自动生成的指令之间存在冲突，或者两者叠加的效 果导致云台和/或拍摄装置存在安全隐患。例如，用户输入的控制指令包括但不限于：利用把持组件的摇杆、按键等生成的控制指令，利用应用(APP)交互界面上显示的虚拟摇杆、虚拟按键等显示组件生成的指令，响应于针对指定对象的双击事件生成的回中指令等。In this embodiment, the above operations can effectively improve the security of the device, for example, to avoid the conflict between the control command input by the user and the command automatically generated by the pan/tilt, or the superimposed effect of the two causing the pan/tilt and/or the photographing device There are security risks. For example, the control commands input by the user include, but are not limited to: control commands generated by using the joystick, buttons, etc. of the holding component, commands generated by the display components such as the virtual joystick and virtual keys displayed on the application (APP) interactive interface, and the response For the centering instruction generated by the double-click event for the specified object, etc.
在某些实施例中，在所述控制至少一个所述转轴结构转动至目标展开位置之后，所述方法还包括：解锁针对至少一个所述转轴结构的控制权。例如，在解锁针对至少一个所述转轴结构的控制权之后，云台可以响应于利用把持组件的摇杆、按键等生成的控制指令，响应于利用应用(APP)交互界面上显示的虚拟摇杆、虚拟按键等显示组件生成的指令，响应于针对指定对象的双击事件生成的回中指令等。In some embodiments, after controlling the rotation of at least one of the rotating shaft structures to the target deployment position, the method further includes: unlocking the control right of at least one of the rotating shaft structures. For example, after unlocking the control right for at least one of the rotating shaft structures, the gimbal may respond to the control command generated by using the joystick, buttons, etc. of the holding component, and respond to using the virtual joystick displayed on the application (APP) interactive interface. , virtual keys and other display components generate instructions, and return instructions generated in response to a double-click event on a specified object.
在某些实施例中，所述云台包括角度传感器，所述角度传感器用于检测所述转轴结构的当前关节角。角度传感器可以如上所示，如包括磁环和磁编码器。例如，可以使用IMU来确定关节角，如基于IMU输出的角加速度进行积分得到角度信息等，在此不做限定。In some embodiments, the pan/tilt head includes an angle sensor, and the angle sensor is used to detect the current joint angle of the rotating shaft structure. The angle sensor may be as shown above, eg including a magnetic ring and a magnetic encoder. For example, the IMU can be used to determine the joint angle, for example, the angle information is obtained by integrating the angular acceleration output by the IMU, etc., which is not limited here.
相应地，所述控制至少一个所述转轴结构转动至目标展开位置包括：控制至少一个所述转轴结构转动至目标展开关节角。Correspondingly, the controlling at least one of the rotating shaft structures to rotate to the target deployed position includes: controlling the at least one of the rotating shaft structures to rotate to the target expanded joint angle.
在某些实施例中，所述控制至少一个所述转轴结构转动至目标展开关节角可以包括如下操作：基于所述当前关节角和所述目标展开关节角之间的差值控制至少一个所述转轴结构转动至目标展开关节角。In some embodiments, the controlling the rotation of at least one of the rotating shaft structures to a target deployed joint angle may include the following operations: controlling at least one of the joint angles based on a difference between the current joint angle and the target deployed joint angle The hinge structure rotates to the target deployment joint angle.
在某些实施例中，所述基于所述当前关节角和所述目标展开关节角之间的差值控制至少一个所述转轴结构转动至目标展开关节角可以包括如下操作：首先，基于所述当前关节角和所述目标展开关节角之间的差值确定多个控制周期各自的子目标展开关节角。然后，针对每个控制周期，基于所述当前关节角和与所述控制周期对应的子目标展开关节角之间的差值控制至少一个所述转轴结构转动。In some embodiments, the controlling at least one of the rotating shaft structures to rotate to the target deployed joint angle based on the difference between the current joint angle and the target deployed joint angle may include the following operations: first, based on the The difference between the current joint angle and the target deployed joint angle determines the respective sub-target deployed joint angles of a plurality of control cycles. Then, for each control period, the rotation of at least one of the rotating shaft structures is controlled based on the difference between the current joint angle and the sub-target deployed joint angle corresponding to the control period.
在某些实施例中，所述基于所述当前关节角和所述目标展开关节角之间的差值确定多个控制周期各自的子目标展开关节角具体包括：基于所述当前关节角和所述目标展开关节角之间的差值，通过动态加减速模型确定多个控制周期各自的子目标展开关节角。动态加减速模型可以参考图9相关说明，在此不做限定。In some embodiments, the determining, based on the difference between the current joint angle and the target deployed joint angle, the respective sub-target deployed joint angles of multiple control cycles specifically includes: based on the current joint angle and the target deployed joint angle. The difference between the target deployment joint angles is determined, and the sub-target deployment joint angles of each of the multiple control cycles are determined through the dynamic acceleration and deceleration model. For the dynamic acceleration and deceleration model, reference may be made to the relevant description of FIG. 9 , which is not limited here.
例如，所述动态加减速模型包括预设形状的速度-时间线。For example, the dynamic acceleration and deceleration model includes a speed-timeline in a preset shape.
例如，所述预设形状的速度-时间线包括速度增大子线段、速度恒定子线段和速度减小子线段中至少两种。For example, the preset-shaped speed-timeline includes at least two of a speed-increasing sub-line segment, a speed-constant sub-line segment, and a speed-decreasing sub-line segment.
在某些实施例中，上述方法还包括：在关节角闭环控制的过程中，在至少部分控制周期中每一个周期，将当前关节角的角度初始化为所在控制周期的子目标展开关节角。其中，控制周期的个数可以是固定的，控制周期的个数可以是基于当前关节角和目标展开关节角之间的差值来确定，在此不做限定。In some embodiments, the above method further includes: in the process of joint angle closed-loop control, in each cycle of at least part of the control cycle, initializing the angle of the current joint angle to the sub-target deployed joint angle of the control cycle. The number of control cycles may be fixed, and the number of control cycles may be determined based on the difference between the current joint angle and the target deployed joint angle, which is not limited herein.
在某些实施例中，至少一个所述转轴结构包括被配置为绕横滚轴旋转的横滚转轴结构、被配置为绕俯仰轴旋转的俯仰转轴结构和被配置为绕偏航轴旋转的偏航转轴结构中的至少一个。In certain embodiments, at least one of the pivot structures includes a roll pivot structure configured to rotate about a roll axis, a pitch pivot structure configured to rotate about a pitch axis, and a yaw axis configured to rotate about a yaw axis at least one of the swivel structures.
在某些实施例中，所述横滚转轴结构的关节角为第一设定关节角，所述横滚转轴结构对应的预设关节角与所述第一设定关节角之间的差值为第四关节角，例如0度。In some embodiments, the joint angle of the roll axis structure is a first set joint angle, and the difference between the preset joint angle corresponding to the roll axis structure and the first set joint angle is the fourth joint angle, such as 0 degrees.
在某些实施例中，所述俯仰转轴结构的关节角为第二设定关节角，所述俯仰转轴结构对应的预设关节角与所述第二设定关节角的绝对差值为第五关节角，例如0度。In some embodiments, the joint angle of the pitch axis structure is a second set joint angle, and the absolute difference between the preset joint angle corresponding to the pitch axis structure and the second set joint angle is a fifth Joint angle, e.g. 0 degrees.
在某些实施例中，所述偏航转轴结构的关节角为第三设定关节角，所述偏航转轴结构对应的预设关节角与所述第三设定关节角的绝对差值为第六关节角，例如0度。In some embodiments, the joint angle of the yaw shaft structure is a third set joint angle, and the absolute difference between the preset joint angle corresponding to the yaw shaft structure and the third set joint angle is The sixth joint angle, eg 0 degrees.
在某些实施例中，所述云台包括把持组件，至少一个所述转轴结构设在所述把持组件上。其中，把持组件50可以参考图5所示。把持组件50上可以设置有显示屏、按键、处理器、电路板、电池、支脚等。In some embodiments, the pan/tilt head includes a handle assembly, and at least one of the rotating shaft structures is disposed on the handle assembly. The holding assembly 50 can be referred to as shown in FIG. 5 . The holding assembly 50 may be provided with a display screen, buttons, a processor, a circuit board, a battery, a supporting foot, and the like.
相应地，所述控制至少一个所述转轴结构保持在所述目标展开位置包括：控制至少一个所述转轴结构转动至相对于所述把持组件为预设展开姿态或者进入收纳模式前的姿态。其中，在转场的场景中，有助于提升用户操作便捷度。针对控制至少一个所述转轴结构转动至相对于所述把持组件进入收纳模式前的姿态的场景，有助于用户在转场后保持拍摄视角的前后连贯性。Correspondingly, the controlling at least one of the rotating shaft structures to remain at the target deployed position includes: controlling the at least one of the rotating shaft structures to rotate to a preset deployed posture relative to the handle assembly or a posture before entering the storage mode. Among them, in the scene of transition, it helps to improve the convenience of user operation. For the scene of controlling the rotation of at least one of the rotating shaft structures to the posture before entering the storage mode with respect to the handle assembly, it is helpful for the user to maintain the continuity of the shooting angle of view after the transition.
在某些实施例中，所述第二触发事件包括针对展开机械按键的按压操作、针对显示屏显示的交互界面上预设展开组件的触控操作、所述云台的运动状态达到预设运动状态中至少一种。In some embodiments, the second trigger event includes a pressing operation on the unfolding mechanical button, a touch operation on a preset unfolding component on the interactive interface displayed on the display screen, and the motion state of the pan/tilt reaches a preset motion at least one of the states.
在某些实施例中，在控制至少一个所述转轴结构保持在所述目标展开位置的过程中，所述方法还包括如下操作：响应于关机指令，控制所述云台进入关机模式。In some embodiments, in the process of controlling at least one of the rotating shaft structures to remain in the target deployment position, the method further includes the following operation: in response to a shutdown instruction, controlling the pan/tilt to enter a shutdown mode.
在一个具体实施例中，首先，可以设置机械按键或者调参屏触摸按键、APP按键作为展开触发按键(该操作可以由厂商预先设置，无需用户每次使用都进行相关定义)，云台处于收纳状态时，当用户按下该按键，云台响应于该触发事件进入展开状态，恢复正常工作。需要说明的是，如果云台当前刚开机或解锁了机械轴锁，开机即自动展开，可以无须一键展开。In a specific embodiment, first, a mechanical button, a touch button on the parameter adjustment screen, and an APP button can be set as the deployment trigger button (this operation can be preset by the manufacturer, and the user does not need to define it each time it is used), and the PTZ is in storage. In the state, when the user presses the button, the gimbal enters the expanded state in response to the trigger event and resumes normal work. It should be noted that if the gimbal has just been turned on or the mechanical shaft lock has been unlocked, it will automatically unfold when it is turned on, and it can be unfolded without one key.
然后，云台切换到关节角闭环控制，并初始化当前关节角角度为当前目标关节角，避免收纳状态的奇异(gimbal lock)问题。Then, the gimbal switches to the joint angle closed-loop control, and initializes the current joint angle angle as the current target joint angle to avoid the gimbal lock problem of the storage state.
接着，云台基于当前目标关节角和展开状态最终目标关节角(根据目标姿态——通常为欧拉角(如0°、0°、0°)及当前基座姿态及运动学逆解计算目标关节角)的差值，通过动态T型加减速控制规划生成每一控制周期的目标关节角。具体可以参考上一实施例中控制转轴结构进入收纳姿态的相关运算过程，进入展开姿态的运算过程可以和进入收纳姿态的相关运算过程中至少部分算法互为逆运算。Then, the gimbal calculates the target based on the current target joint angle and the final target joint angle in the unfolded state (according to the target pose—usually Euler angles (such as 0°, 0°, 0°), the current base pose and the inverse kinematics solution. The difference value of the joint angle) is used to generate the target joint angle of each control cycle through the dynamic T-type acceleration and deceleration control plan. For details, refer to the relevant operation process of controlling the rotating shaft structure to enter the storage posture in the previous embodiment. The operation process of entering the unfolded posture may be at least part of the inverse operation of the relevant operation process of entering the storage posture.
然后，通过当前控制周期的目标关节角和检测关节角角度进行关节角闭环，直到检测关节角达到展开状态目标关节角误差范围内。Then, the joint angle is closed loop through the target joint angle of the current control cycle and the detected joint angle, until the detected joint angle reaches the target joint angle error range of the deployed state.
接着，释放云台控制权，并且/或者切换到云台正常工作模式。Next, release the control of the gimbal and/or switch to the normal working mode of the gimbal.
本公开实施例提供的控制云台的方法、云台和移动平台，响应于进入展开模式的触发事件，云台在上电状态下控制转轴结构转动至目标展开位置，使得云台可以快速地切换至期望的展开姿态，以便实现快捷地利用云台承载的作业设备进行作业，并且还能有效提升姿态调整的精准度，提升用户体验。According to the method for controlling a gimbal, the gimbal, and the mobile platform provided by the embodiments of the present disclosure, in response to a trigger event for entering the deployment mode, the gimbal controls the rotating shaft structure to rotate to the target deployment position in the power-on state, so that the gimbal can switch quickly To the desired deployment posture, in order to quickly use the operation equipment carried by the gimbal for operation, and also effectively improve the accuracy of posture adjustment and improve user experience.
本公开的另一方面提供了一种控制云台的方法。云台包括至少一个转轴结构。Another aspect of the present disclosure provides a method of controlling a pan/tilt. The gimbal includes at least one rotating shaft structure.
图13为本申请另一实施例提供的控制云台的方法的流程图。FIG. 13 is a flowchart of a method for controlling a pan/tilt according to another embodiment of the present application.
如图13所示，该控制云台的方法可以包括操作S1302～操作S1306。As shown in FIG. 13 , the method for controlling a pan/tilt head may include operations S1302 to S1306.
在操作S1302，响应于指示所述云台进入收纳模式的第一触发事件，控制至少一个所述转轴结构转动至目标收纳位置，以使得至少一个所述转轴结构处于收纳姿态。In operation S1302, in response to a first trigger event indicating that the gimbal enters the storage mode, at least one of the rotating shaft structures is controlled to rotate to a target storage position, so that at least one of the rotating shaft structures is in a storage posture.
具体地，可以参考操作S402相关内容，在此不再详述。需要说明的是，在本实施例中，可以在接收到指示所述云台进入收纳模式的第一触发事件时，确定并存储至少一个所述转轴结构的当前姿态相关信息，如各关节角的取值或者针对某些轴(俯仰、偏航和横滚中一个或多个)的姿态信息等。这样便于后续进入展开模式时恢复到原姿态。Specifically, reference may be made to the related content of operation S402, which will not be described in detail here. It should be noted that, in this embodiment, when receiving the first trigger event that instructs the pan/tilt head to enter the storage mode, the current posture-related information of at least one of the rotating shaft structures may be determined and stored, such as the angle of each joint. Values or attitude information for certain axes (one or more of pitch, yaw, and roll), etc. This is convenient for returning to the original posture when entering the expanded mode later.
在操作S1304，控制至少一个所述转轴结构保持在所述目标收纳位置。In operation S1304, at least one of the rotating shaft structures is controlled to remain in the target storage position.
具体地，可以参考操作S404相关内容，例如，通过控制与转轴结构固定连接的电机，输出指定大小的力矩来使得转轴结构保持在目标收纳位置，在此不再详述。Specifically, reference may be made to the relevant content of operation S404, for example, by controlling a motor fixedly connected to the rotating shaft structure to output a torque of a specified magnitude to keep the rotating shaft structure in the target storage position, which will not be described in detail here.
在操作S1306，响应于指示所述云台进入展开模式的第二触发事件，控制至少一个所述转轴结构转动至目标展开位置，以使得至少一个所述转轴结构处于展开姿态。具体地，可以参考操作S1002相关内容，在此不再详述。In operation S1306, in response to a second trigger event indicating that the pan/tilt head enters the deployment mode, at least one of the rotating shaft structures is controlled to rotate to a target deployment position, so that at least one of the rotating shaft structures is in a deployed attitude. Specifically, reference may be made to the related content of operation S1002, which will not be described in detail here.
图14为本申请实施例提供的云台的工作姿态-收纳姿态-展开姿态的切换示意图。FIG. 14 is a schematic diagram of switching between the working posture, the storage posture and the unfolding posture of the gimbal according to an embodiment of the present application.
如图14所示，在完成一次拍摄过程后，用户可以取下拍摄装置，然后控制云台从工作姿态，如使用拍摄装置进行拍摄时的姿态、预设的展开姿态等，进入收纳姿态，该收纳姿态有助于提升云台的安全可靠性和携带便捷性。用户在携带云台移动的过程中，期间云台可以给转轴结构提供一定的保持力矩使得云台保持在收纳姿态下。当用户希望进行下一次拍摄或者移动至希望进行下一次拍摄的下一个地点后，可以控制云台进入展开模式，使得至少一个所述转轴结构处于展开姿态(该展开姿态可以同完成上一次拍摄过程后的姿态，也可以是用户预先设定的指定姿态)，以便用户安装拍摄装置，进行下一次拍摄过程。As shown in Figure 14, after completing a shooting process, the user can take off the shooting device, and then control the gimbal from the working posture, such as the posture when using the shooting device for shooting, the preset unfolding posture, etc., to enter the storage posture, the The storage posture helps to improve the safety, reliability and portability of the gimbal. When the user moves with the gimbal, the gimbal can provide a certain holding torque to the rotating shaft structure to keep the gimbal in the storage posture. When the user wishes to perform the next shooting or moves to the next location where the user wishes to perform the next shooting, the pan/tilt head can be controlled to enter the unfolding mode, so that at least one of the rotating shaft structures is in the unfolding posture (the unfolding posture can be the same as the completion of the last shooting process). The last posture may also be a designated posture preset by the user), so that the user can install the photographing device and perform the next photographing process.
在某些实施例中，以与云台一体的拍摄装置为例进行说明。在完成一次拍摄过程后，云台可以从工作姿态，如使用拍摄装置进行拍摄时的姿态、预设的展开姿态等，进入收纳姿态，该收纳姿态有助于提升云台和/或拍摄装置的安全可靠性。这样便于用户在完成该拍摄过程中进行移动，期间可以给转 轴结构提供一定的保持力矩使得拍摄装置保持在特定的姿态下。当用户希望进行下一次拍摄或者移动至希望进行下一次拍摄的下一个地点后，可以控制云台进入展开模式，使得至少一个所述转轴结构处于展开姿态(该展开姿态可以同完成上一次拍摄过程后的姿态，也可以是用户预先设定的指定姿态)，以便进行下一次拍摄过程。In some embodiments, a photographing device integrated with a pan/tilt head is used as an example for description. After completing a shooting process, the gimbal can enter the storage position from the working position, such as the position when using the shooting device for shooting, the preset unfolding position, etc., which helps to improve the stability of the gimbal and/or shooting device. Safety and reliability. In this way, it is convenient for the user to move during the completion of the shooting process, during which a certain holding torque can be provided to the rotating shaft structure to keep the shooting device in a specific posture. When the user wishes to perform the next shooting or moves to the next location where the user wishes to perform the next shooting, the pan/tilt head can be controlled to enter the unfolding mode, so that at least one of the rotating shaft structures is in the unfolding posture (the unfolding posture can be the same as the completion of the last shooting process). The posture after the camera can also be a designated posture preset by the user), so as to perform the next shooting process.
在某些实施例中，所述控制至少一个所述转轴结构保持在所述目标收纳位置包括：控制所述云台的电机输出保持力矩以使得所述转轴结构保持在所述目标收纳位置。基于保持力矩使得所述转轴结构保持在所述目标收纳位置，相对于通过机械锁进行姿态保持的方案而言，有效提升了云台操作便捷度和控制精准度。In some embodiments, the controlling at least one of the rotating shaft structures to remain at the target storage position includes: controlling the motor of the gimbal to output a holding torque so that the rotating shaft structure remains at the target storage position. Based on the holding torque, the rotating shaft structure is kept at the target storage position, which effectively improves the operational convenience and control accuracy of the gimbal compared to the solution of maintaining the posture through a mechanical lock.
例如，所述保持力矩是基于所述云台承载的作业设备载荷来确定的。For example, the holding torque is determined based on a work equipment load carried by the pan/tilt head.
在某些实施例中，所述保持力矩小于增稳力矩，所述增稳力矩是所述云台处于增稳状态下，对所述云台承载的作业设备进行增稳的过程中，由所述云台的电机输出的力矩。其中，通过PID方式控制电机输出保持力矩时，与保持力矩对应的比例(P)的取值可以小于与增稳力矩对应的比例(P)的取值。In some embodiments, the holding torque is smaller than the stabilization torque, and the stabilization torque is the process of stabilizing the operation equipment carried by the gimbal when the gimbal is in the stabilization state. Describe the torque output by the motor of the gimbal. Wherein, when the motor output holding torque is controlled by the PID method, the value of the proportion (P) corresponding to the holding torque may be smaller than the value of the proportion (P) corresponding to the stabilization torque.
在某些实施例中，所述云台包括角度传感器，所述角度传感器用于检测所述转轴结构的当前关节角。角度传感器可以参考如上相关内容，在此不再详述。In some embodiments, the pan/tilt head includes an angle sensor, and the angle sensor is used to detect the current joint angle of the rotating shaft structure. For the angle sensor, reference may be made to the above related content, which will not be described in detail here.
相应地，所述控制至少一个所述转轴结构转动至目标收纳位置包括：控制至少一个所述转轴结构转动至所述目标收纳关节角。其中，关节角和姿态信息之间可以相互转换，以便基于姿态信息或关节角对转轴结构和/或拍摄装置的姿态进行控制。Correspondingly, the controlling at least one of the rotating shaft structures to rotate to the target storage position includes: controlling at least one of the rotating shaft structures to rotate to the target storage joint angle. Wherein, the joint angle and the posture information can be converted to each other, so as to control the rotating shaft structure and/or the posture of the photographing device based on the posture information or the joint angle.
在某些实施例中，所述控制至少一个所述转轴结构转动至所述目标收纳关节角包括：基于所述当前关节角和所述目标收纳关节角之间的差值控制至少一个所述转轴结构转动至所述目标收纳关节角。具体内容参考前面的实施例的相同部分，此处不再做赘述。In some embodiments, the controlling at least one of the rotating shaft structures to rotate to the target storage joint angle includes: controlling at least one of the rotating shafts based on a difference between the current joint angle and the target storage joint angle The structure rotates to the target stowed joint angle. For the specific content, refer to the same part of the previous embodiment, which will not be repeated here.
例如，所述基于所述当前关节角和所述目标收纳关节角之间的差值控制至少一个所述转轴结构转动至所述目标收纳关节角可以包括如下操作：首先，基于所述当前关节角和所述目标收纳关节角之间的差值确定多个控制周期各 自的子目标收纳关节角。然后，针对每个控制周期，基于所述当前关节角和与所述控制周期对应的子目标收纳关节角之间的差值控制至少一个所述转轴结构转动。For example, the controlling at least one of the rotating shaft structures to rotate to the target storage joint angle based on the difference between the current joint angle and the target storage joint angle may include the following operations: first, based on the current joint angle The difference between the target stowed joint angle and the target stowed joint angle determines the respective sub-target stowed joint angles of the plurality of control periods. Then, for each control period, the rotation of at least one of the rotating shaft structures is controlled based on the difference between the current joint angle and the sub-target receiving joint angle corresponding to the control period.
在某些实施例中，所述基于所述当前关节角和所述目标收纳关节角之间的差值确定多个控制周期各自的子目标收纳关节角可以包括：基于所述当前关节角和所述目标收纳关节角之间的差值，通过动态加减速模型确定多个控制周期各自的子目标收纳关节角。In some embodiments, the determining, based on the difference between the current joint angle and the target stowed joint angle, the respective sub-target stowed joint angles of a plurality of control periods may include: based on the current joint angle and the all stowed joint angles The difference between the target storage joint angles is determined, and the respective sub-target storage joint angles of the multiple control periods are determined through the dynamic acceleration and deceleration model.
具体内容参考前面的实施例的相同部分，此处不再做赘述。For the specific content, refer to the same part of the previous embodiment, which will not be repeated here.
例如，所述动态加减速模型包括预设形状的速度-时间线。For example, the dynamic acceleration and deceleration model includes a speed-timeline in a preset shape.
其中，所述预设形状的速度-时间线包括速度增大子线段、速度恒定子线段和速度减小子线段中至少两种。Wherein, the speed-timeline of the preset shape includes at least two of a speed increasing sub-line segment, a speed constant sub-line segment and a speed decreasing sub-line segment.
在某些实施例中，上述方法还可以包括如下操作：在关节角闭环控制的过程中，在至少部分控制周期中每一个周期，将当前关节角的角度初始化为所在控制周期的子目标收纳关节角。具体内容参考前面的实施例的相同部分，此处不再做赘述。In some embodiments, the above method may further include the following operation: in the process of joint angle closed-loop control, in each cycle in at least part of the control cycle, initializing the angle of the current joint angle to the sub-target storage joint of the control cycle horn. For the specific content, refer to the same part of the previous embodiment, which will not be repeated here.
在某些实施例中，至少一个所述转轴结构包括被配置为绕横滚轴旋转的横滚转轴结构、被配置为绕俯仰轴旋转的俯仰转轴结构和被配置为绕偏航轴旋转的偏航转轴结构中的至少一个。In certain embodiments, at least one of the pivot structures includes a roll pivot structure configured to rotate about a roll axis, a pitch pivot structure configured to rotate about a pitch axis, and a yaw axis configured to rotate about a yaw axis at least one of the swivel structures.
例如，对于收纳模式：所述横滚转轴结构的关节角为第一设定关节角，所述横滚转轴结构对应的预设关节角与所述第一设定关节角之间的差值为第一关节角。所述俯仰转轴结构的关节角为第二设定关节角，所述俯仰转轴结构对应的预设关节角与所述第二设定关节角的绝对差值为第二关节角。所述偏航转轴结构的关节角为第三设定关节角，所述偏航转轴结构对应的预设关节角与所述第三设定关节角的绝对差值为第三关节角。For example, for the storage mode: the joint angle of the roll axis structure is the first set joint angle, and the difference between the preset joint angle corresponding to the roll axis structure and the first set joint angle is first joint angle. The joint angle of the pitch axis structure is the second set joint angle, and the absolute difference between the preset joint angle corresponding to the pitch axis structure and the second set joint angle is the second joint angle. The joint angle of the yaw shaft structure is the third set joint angle, and the absolute difference between the preset joint angle corresponding to the yaw shaft structure and the third set joint angle is the third joint angle.
在某些实施例中，对于展开模式：所述横滚转轴结构的关节角为第一设定关节角，所述横滚转轴结构对应的预设关节角与所述第一设定关节角之间的差值为第四关节角。所述俯仰转轴结构的关节角为第二设定关节角，所述俯仰转轴结构对应的预设关节角与所述第二设定关节角的绝对差值为第五关节角。所述偏航转轴结构的关节角为第三设定关节角，所述偏航转轴结构对应的预设关节角与所述第三设定关节角的绝对差值为第六关节角。In some embodiments, for the deployment mode: the joint angle of the roll axis structure is a first set joint angle, and the preset joint angle corresponding to the roll axis structure and the first set joint angle are The difference is the fourth joint angle. The joint angle of the pitch axis structure is the second set joint angle, and the absolute difference between the preset joint angle corresponding to the pitch axis structure and the second set joint angle is the fifth joint angle. The joint angle of the yaw shaft structure is the third set joint angle, and the absolute difference between the preset joint angle corresponding to the yaw shaft structure and the third set joint angle is the sixth joint angle.
其中，所述目标展开位置包括：预设展开位置、在所述云台进入收纳模式前的展开位置或者被选取的展开位置。The target deployment position includes: a preset deployment position, a deployment position before the pan/tilt head enters a storage mode, or a selected deployment position.
图15为本申请另一实施例提供的显示屏显示的交互界面的示意图。FIG. 15 is a schematic diagram of an interactive interface displayed on a display screen according to another embodiment of the present application.
如图15所示，用户可以基于显示屏显示的交互界面，输入多种操作指令，如收纳、展开和姿态设置等，当然，在当前交互界面或其它交互界面中还可以进一步显示关机、开机等显示组件。用户可以预先设置好与收纳姿态和/或展开姿态对应的关节角，如偏航角设置、俯仰角设置或翻滚角设置等。此外，用户也可以临时对展开姿态进行设置，在此不做限定。As shown in Figure 15, the user can input a variety of operation instructions based on the interactive interface displayed on the display screen, such as storage, deployment, and attitude settings. Of course, the current interactive interface or other interactive interfaces can further display shutdown, power-on, etc. Display components. The user can preset the joint angles corresponding to the stowed attitude and/or the unfolded attitude, such as yaw angle setting, pitch angle setting or roll angle setting, etc. In addition, the user can also temporarily set the unfolding posture, which is not limited here.
在某些实施例中，在所述控制至少一个所述转轴结构转动至目标展开位置的过程中，所述方法还可以包括：锁定针对至少一个所述转轴结构的控制权，以禁止响应针对至少一个所述转轴结构的控制指令，所述控制指令是基于用户操作生成的。In some embodiments, in the process of controlling the rotation of at least one of the rotating shaft structures to the target deployment position, the method may further include: locking the control right for at least one of the rotating shaft structures to prohibit responding to at least one of the rotating shaft structures A control instruction of the rotating shaft structure, the control instruction is generated based on a user operation.
在某些实施例中，在所述控制至少一个所述转轴结构转动至目标展开位置之后，所述方法还包括：释放针对至少一个所述转轴结构的控制权。该控制权可以是允许通过遥控的摇杆、按钮等对转轴结构进行控制。In some embodiments, after controlling the rotation of at least one of the rotating shaft structures to the target deployment position, the method further includes: releasing control rights on at least one of the rotating shaft structures. The control right may be to allow control of the rotating shaft structure through remote control joysticks, buttons, and the like.
在某些实施例中，所述云台包括角度传感器，所述角度传感器用于检测所述转轴结构的当前关节角。In some embodiments, the pan/tilt head includes an angle sensor, and the angle sensor is used to detect the current joint angle of the rotating shaft structure.
相应地，所述控制至少一个所述转轴结构转动至目标展开位置包括：控制至少一个所述转轴结构转动至目标展开关节角。Correspondingly, the controlling at least one of the rotating shaft structures to rotate to the target deployed position includes: controlling the at least one of the rotating shaft structures to rotate to the target expanded joint angle.
在某些实施例中，所述控制至少一个所述转轴结构转动至目标展开关节角包括：基于所述当前关节角和所述目标展开关节角之间的差值控制至少一个所述转轴结构转动至目标展开关节角。In some embodiments, the controlling at least one of the rotating shaft structures to rotate to a target deployed joint angle includes: controlling at least one of the rotating shaft structures to rotate based on a difference between the current joint angle and the target deployed joint angle Expand the joint angle to the target.
在某些实施例中，所述基于所述当前关节角和所述目标展开关节角之间的差值控制至少一个所述转轴结构转动至目标展开关节角可以包括如下操作：首先，基于所述当前关节角和所述目标展开关节角之间的差值确定多个控制周期各自的子目标展开关节角。然后，针对每个控制周期，基于所述当前关节角和与所述控制周期对应的子目标展开关节角之间的差值控制至少一个所述转轴结构转动。In some embodiments, the controlling at least one of the rotating shaft structures to rotate to the target deployed joint angle based on the difference between the current joint angle and the target deployed joint angle may include the following operations: first, based on the The difference between the current joint angle and the target deployed joint angle determines the respective sub-target deployed joint angles of a plurality of control cycles. Then, for each control period, the rotation of at least one of the rotating shaft structures is controlled based on the difference between the current joint angle and the sub-target deployed joint angle corresponding to the control period.
在某些实施例中，所述基于所述当前关节角和所述目标展开关节角之间的差值确定多个控制周期各自的子目标展开关节角可以包括：基于所述当前 关节角和所述目标展开关节角之间的差值，通过动态加减速模型确定多个控制周期各自的子目标展开关节角。In some embodiments, the determining, based on the difference between the current joint angle and the target deployed joint angle, the respective sub-target deployed joint angles of multiple control periods may include: based on the current joint angle and the target deployed joint angle. The difference between the target deployment joint angles is determined, and the sub-target deployment joint angles of each of the multiple control cycles are determined through the dynamic acceleration and deceleration model.
具体内容参考前面的实施例的相同部分，此处不再做赘述。For the specific content, refer to the same part of the previous embodiment, which will not be repeated here.
在某些实施例中，所述云台包括把持组件，至少一个所述转轴结构设在所述把持组件上。In some embodiments, the pan/tilt head includes a handle assembly, and at least one of the rotating shaft structures is disposed on the handle assembly.
相应地，所述控制至少一个所述转轴结构保持在所述目标收纳位置可以包括：控制至少一个所述转轴结构转动至相对于所述把持组件为预设收纳姿态。Correspondingly, the controlling at least one of the rotating shaft structures to remain in the target storage position may include: controlling at least one of the rotating shaft structures to rotate to a preset storage posture relative to the holding assembly.
相应地，所述控制至少一个所述转轴结构保持在所述目标展开位置可以包括：控制至少一个所述转轴结构转动至相对于所述把持组件为预设展开姿态或者进入收纳模式前的姿态。Correspondingly, the controlling at least one of the rotating shaft structures to remain in the target deployed position may include: controlling the at least one of the rotating shaft structures to rotate to a preset deployed posture relative to the handle assembly or a posture before entering the storage mode.
例如，所述第一触发事件包括针对收纳机械按键的按压操作、针对显示屏显示的交互界面上预设收纳组件的触控操作、所述云台的运动状态达到第一预设运动状态中至少一种。For example, the first trigger event includes a pressing operation on a mechanical button for storage, a touch operation on a preset storage component on the interactive interface displayed on the display screen, and the movement state of the pan/tilt reaches at least one of the first preset movement states. A sort of.
例如，所述第二触发事件包括针对展开机械按键的按压操作、针对显示屏显示的交互界面上预设展开组件的触控操作、所述云台的运动状态达到第二预设运动状态中至少一种。For example, the second trigger event includes a pressing operation on the unfolding mechanical button, a touch operation on a preset unfolding component on the interactive interface displayed on the display screen, and the motion state of the pan/tilt reaches at least one of the second preset motion states. A sort of.
在某些实施例中，在控制至少一个所述转轴结构保持在所述目标展开位置或所述目标收纳位置的过程中，所述方法还可以包括以下至少一个操作。例如，响应于关机指令，控制所述云台进入关机模式。例如，响应于待机指令，控制所述云台进入待机模式。In some embodiments, in the process of controlling at least one of the hinge structures to remain in the target deployed position or the target stowed position, the method may further include at least one of the following operations. For example, in response to a shutdown instruction, the PTZ is controlled to enter a shutdown mode. For example, in response to a standby instruction, the PTZ is controlled to enter a standby mode.
以手持云台为例，对上述各操作的执行主体进行示例性说明。例如，上述各操作的执行主体都可以是手持云台，具体可以由手持云台的输入部、把持部件、设置在把持部件中的处理器、电机等实现对应的功能。Taking the handheld pan/tilt as an example, the execution subject of each of the above operations will be exemplarily described. For example, the execution subject of each of the above operations may be a handheld pan/tilt, and the corresponding functions may be implemented by an input unit of the handheld pan/tilt, a holding part, a processor and a motor provided in the holding part, and the like.
以移动平台机载的云台为例，对上述各操作的执行主体进行示例性说明。Taking the PTZ mounted on the mobile platform as an example, the execution subject of each of the above operations is exemplarily described.
例如，获取第一触发事件、第二触发事件的操作，可以是基于由用户在移动平台的控制终端或移动平台上输入的用户操作确定的。For example, the operation of acquiring the first trigger event and the second trigger event may be determined based on a user operation input by the user on the control terminal of the mobile platform or on the mobile platform.
控制至少一个所述转轴结构转动至目标收纳位置，可以是由云台(如处理器)执行的。Controlling at least one of the rotating shaft structures to rotate to the target storage position may be performed by a pan/tilt (eg, a processor).
控制至少一个所述转轴结构保持在所述目标收纳位置的操作，可以是由 云台执行的。The operation of controlling at least one of the rotating shaft structures to remain in the target storage position may be performed by a pan/tilt head.
保持力矩是可以是由云台确定的。The holding torque can be determined by the head.
预设关节角、目标收纳位置、目标展开位置、第一关节角～第六关节角的取值可以是基于由用户在移动平台的控制终端或移动平台上输入的用户操作来确定的。The values of the preset joint angle, the target storage position, the target deployment position, and the first to sixth joint angles may be determined based on user operations input by the user on the control terminal of the mobile platform or on the mobile platform.
需要说明的是，上述各操作的执行主体仅为示例性说明，不能理解为对本申请的限定，可以由移动平台、控制终端、拍摄装置、云台其中的一个独立完成，或其中的几个配合完成。例如，对于移动平台是陆地机器人的情形下，可以在陆地机器人上设置人机交互模块(如包括用于显示人机交互界面的显示器等)，用户可以直接在移动平台展示的交互界面上获取用户操作，以生成用户指令，确定目标对象的图像等。其中，独立完成包括主动或被动地、直接或间接地从其它设备获取相应数据以执行相应操作。It should be noted that the execution subjects of the above operations are only exemplary descriptions, and should not be construed as limitations of the present application, and may be performed independently by one of the mobile platform, control terminal, photographing device, and PTZ, or several of them may cooperate with each other. Finish. For example, in the case where the mobile platform is a land robot, a human-computer interaction module (such as a display for displaying a human-computer interaction interface, etc.) can be set on the land robot, and the user can directly obtain the user on the interactive interface displayed by the mobile platform. operations to generate user instructions, determine images of target objects, etc. Wherein, the independent completion includes actively or passively, directly or indirectly acquiring corresponding data from other devices to perform corresponding operations.
本公开的另一方面提供了一种控制云台的装置。Another aspect of the present disclosure provides an apparatus for controlling a pan/tilt.
图16为本申请实施例提供的控制云台的装置的方框图。FIG. 16 is a block diagram of an apparatus for controlling a PTZ according to an embodiment of the present application.
如图16所示，该控制云台的装置1600可以包括一个或多个处理器160和可读存储接着1620。其中，计算机可读存储介质，用于存储一个或多个计算机程序1621，所述计算机程序在被所述处理器执行时，执行如上所述的方法，以实现诸如“一键收纳”、“一键展开”和“一键收展”等功能。其中，该控制云台的装置1600可以设置在手持云台或机载云台中等。As shown in FIG. 16 , the apparatus 1600 for controlling a PTZ may include one or more processors 160 and a readable storage 1620 . Among them, a computer-readable storage medium is used to store one or more computer programs 1621. When the computer program is executed by the processor, the above-mentioned method is executed, so as to realize, for example, "one-key storage", "one-key storage" key expansion" and "one key expansion" and other functions. Wherein, the device 1600 for controlling the gimbal may be set in a handheld gimbal or an airborne gimbal or the like.
一个或多个处理器1610可以集成在一个处理单元中，也可以分别设置在多个处理单元中。计算机可读存储介质1620，用于存储一个或多个计算机程序1621，计算机程序在被处理器执行时，实现如上的控制云台的方法，例如，响应于指示所述云台进入收纳模式的第一触发事件，控制至少一个所述转轴结构转动至目标收纳位置，以使得至少一个所述转轴结构处于收纳姿态；控制至少一个所述转轴结构保持在所述目标收纳位置直至检测到指示所述云台退出所述收纳模式的第二触发事件。One or more processors 1610 may be integrated in one processing unit, or may be separately provided in multiple processing units. A computer-readable storage medium 1620 for storing one or more computer programs 1621, the computer programs, when executed by the processor, implement the above method of controlling the pan/tilt, for example, in response to the first command that instructs the pan/tilt to enter the storage mode. In a trigger event, at least one of the rotating shaft structures is controlled to rotate to a target storage position, so that at least one of the rotating shaft structures is in a storage posture; at least one of the rotating shaft structures is controlled to remain in the target storage position until an indication of the cloud is detected A second trigger event for the station to exit the stowage mode.
其中，该控制云台的装置1600可以被设置在一个执行主体中或分别设置在多个执行主体中。例如，控制云台的装置1600可以设置在云台中。例如，其部分设置在云台中，部分设置在可以与云台连接的控制终端中，如用于显示交互界面的显示屏。Wherein, the apparatus 1600 for controlling the pan/tilt can be set in one execution body or respectively set in multiple execution bodies. For example, the apparatus 1600 for controlling the pan/tilt may be provided in the pan/tilt. For example, part of it is set in the PTZ, and part is set in a control terminal that can be connected to the PTZ, such as a display screen for displaying an interactive interface.
例如，处理单元可以包括现场可编程门阵列(Field－Programmable Gate Array，FPGA)或者一个或者多个ARM处理器。处理单元可以与非易失性计算机可读存储介质1620连接。与非易失性计算机可读存储介质1620可以存储由处理单元所执行的逻辑、代码和/或者计算机指令，用于执行一个或者多个步骤。非易失性计算机可读存储介质1620可以包括一个或者多个存储单元(可去除的介质或者外部存储器，如SD卡或者RAM)。在某些实施例中，传感器感测的数据可以直接传送并存储到非易失性计算机可读存储介质1620的存储单元中。非易失性计算机可读存储介质1620的存储单元可以存储由处理单元所执行的逻辑、代码和/或者计算机指令，以执行本案描述的各种方法的各个实施例。例如，处理单元可以用于执行指令，以导致处理单元的一个或者多个处理器执行上述描述的追踪功能。存储单元可以存储感测模块感测数据，该数据感测由处理单元所处理。在某些实施例中，非易失性计算机可读存储介质1620的存储单元可以存储处理单元产生的处理结果。For example, the processing unit may comprise a Field-Programmable Gate Array (FPGA) or one or more ARM processors. The processing unit may be connected to non-volatile computer readable storage medium 1620 . The non-volatile computer-readable storage medium 1620 may store logic, code and/or computer instructions executed by the processing unit for performing one or more steps. The non-volatile computer-readable storage medium 1620 may include one or more storage units (removable media or external memory such as SD card or RAM). In some embodiments, the data sensed by the sensors may be transferred and stored directly into a storage unit of the non-volatile computer-readable storage medium 1620 . The storage units of the non-volatile computer-readable storage medium 1620 may store logic, code, and/or computer instructions executed by the processing unit to perform various embodiments of the various methods described herein. For example, a processing unit may be configured to execute instructions to cause one or more processors of the processing unit to perform the tracing functions described above. The storage unit may store sensing module sensing data, the data sensing being processed by the processing unit. In some embodiments, the storage unit of the non-volatile computer-readable storage medium 1620 may store processing results generated by the processing unit.
在某些实施例中，处理单元可以与控制模块连接，用以控制移动平台的状态。例如，控制模块可以用于控制移动平台的动力机构，以调整移动平台相对于六个自由度的空间方位、速度和/或加速度。可选地或者相结合的，控制模块可以控制承载体，作业设备或者感测模块中的一个或者多个。In some embodiments, the processing unit may be connected to the control module for controlling the state of the mobile platform. For example, the control module may be used to control the power mechanism of the mobile platform to adjust the spatial orientation, velocity and/or acceleration of the mobile platform relative to six degrees of freedom. Alternatively or in combination, the control module may control one or more of the carrier, work equipment or sensing module.
处理单元还可以与通讯模块连接，用以与一个或者多个***设备(如终端、显示设备、或者其它远程控制设备)传送和/或者接收数据。这里可以利用任何合适的通讯方法，如有线通讯或者无线通讯。例如，通讯模块可以利用到一个或者多个局域网、广域网、红外线、无线电、Wi-Fi、点对点(P2P)网络、电信网络、云网络等。可选地，可以用到中继站，如信号塔、卫星、或者移动基站等。The processing unit may also be connected to the communication module for transmitting and/or receiving data with one or more peripheral devices (eg, terminals, display devices, or other remote control devices). Any suitable communication method may be utilized here, such as wired communication or wireless communication. For example, the communication module may utilize one or more local area networks, wide area networks, infrared, radio, Wi-Fi, peer-to-peer (P2P) networks, telecommunication networks, cloud networks, and the like. Optionally, a relay station, such as a signal tower, a satellite, or a mobile base station, can be used.
上述各个部件之间可以是相互适配的。例如，一个或者多个部件位于移动平台、承载体、作业设备、终端、感测***、或者与前述各设备通讯的额外的外部设备上。在某些实施例中，处理单元和/或非易失性计算机可读介质中的一个或者多个可以位于不同的位置，如在移动平台、承载体、作业设备、终端、感测***、或者与前述各设备通讯的额外的外部设备以及前述的各种结合上。The above-mentioned various components may be compatible with each other. For example, one or more components are located on a mobile platform, carrier, work equipment, terminal, sensing system, or additional external device in communication with each of the foregoing. In some embodiments, one or more of the processing unit and/or non-transitory computer-readable medium may be located in different locations, such as on a mobile platform, carrier, work equipment, terminal, sensing system, or Additional external devices that communicate with the foregoing devices and various combinations of the foregoing.
此外，与移动平台相适配的控制终端可以包括输入模块、处理单元、存 储器、显示模块、以及通讯模块，所有这样的部件都是通过总线或者相似的网络相连接。Furthermore, the control terminal adapted to the mobile platform may include an input module, a processing unit, a memory, a display module, and a communication module, all of which are connected by a bus or similar network.
输入模块包括一个或者多个输入机制，以获取用户通过操作该输入模块产生的输入。输入机制包括一个或者多个操纵杆、开关、旋钮、滑动开关、按钮、拨号盘、触摸屏、小键盘、键盘、鼠标、声音控制、手势控制、惯性模块等。输入模块可以用于获取用户的输入，该输入用于控制移动平台、承载体、作业设备、或者其中部件的任何方面。任何方面包括姿态、位置、方向、飞行、追踪等。例如，输入机制可以是用户手动设置一个或者多个位置，每个位置对应一个预设输入，以控制移动平台。The input module includes one or more input mechanisms to obtain input generated by the user by manipulating the input module. Input mechanisms include one or more joysticks, switches, knobs, slide switches, buttons, dials, touchscreens, keypads, keyboards, mice, voice controls, gesture controls, inertial modules, and the like. The input module may be used to obtain user input for controlling any aspect of the mobile platform, carrier, work equipment, or components thereof. Any aspect includes attitude, position, orientation, flight, tracking, etc. For example, the input mechanism may be that the user manually sets one or more positions, each position corresponding to a preset input, to control the mobile platform.
在某些实施例中，输入机制可以由用户操作，以输入控制指令，控制移动平台的运动。例如，用户可以利用旋钮、开关或者相似的输入机制，输入移动平台的运动模式，如自动飞行、自动驾驶或者根据预设运动路径运动。又如，用户可以通过用某种方法倾斜控制终端，以控制移动平台的位置、姿态、方向、或者其它方面。控制终端的倾斜可以由一个或者多个惯性传感器所侦测，并产生对应的运动指令。再如，用户可以利用上述输入机制调整作业设备的操作参数(如变焦)、作业设备的姿态(通过承载体)，或者移动平台上的任何物体的其它方面。In some embodiments, the input mechanism may be operated by a user to input control commands to control movement of the mobile platform. For example, a user can use a knob, switch, or similar input mechanism to input a motion mode of the mobile platform, such as auto-flying, auto-pilot, or moving according to a preset motion path. For another example, the user can control the position, attitude, orientation, or other aspects of the mobile platform by tilting the control terminal in a certain way. The tilt of the control terminal can be detected by one or more inertial sensors, and corresponding motion commands can be generated. As another example, the user may utilize the input mechanisms described above to adjust operating parameters of the work equipment (eg, zoom), the attitude of the work equipment (via the carrier), or other aspects of moving any object on the platform.
在某些实施例中，输入机制可以由用户操作，以输入前述描述目标物信息。例如，用户可以利用旋钮、开关或者相似的输入机制，选择合适的设备模式，如展开模式或者收纳模式。用户也可以利用输入机制选择其它模式，如追踪模式，并且基于该输入机制确定所要追踪的特定目标物、执行的目标物类型信息、或者其它相似的信息。在各种实施例中，输入模块可以由不止一个设备所执行。例如，输入模块可以由带有操纵杆的标准远程控制器所执行。带有操纵杆的标准远程控制器连接到运行适合应用程序(“app”)的移动设备(如智能手机)中，以产生移动平台的控制指令。app可以用于获取用户的输入。In some embodiments, the input mechanism may be operated by the user to input the aforementioned descriptive object information. For example, the user may utilize a knob, switch or similar input mechanism to select an appropriate device mode, such as an unfolded mode or a stowed mode. The user may also utilize an input mechanism to select other modes, such as a tracking mode, and based on the input mechanism determine a specific target to track, target type information to perform, or other similar information. In various embodiments, the input module may be executed by more than one device. For example, the input module can be implemented by a standard remote controller with a joystick. A standard remote controller with a joystick connects to a mobile device (eg, a smartphone) running a suitable application ("app") to generate control commands for the mobile platform. The app can be used to get input from the user.
处理单元可以与存储器连接。存储器包括易失性或者非易失性存储介质，用于存储数据，和/或处理单元可执行的逻辑、代码、和/或程序指令，用于执行一个或者多个规则或者功能。存储器可以包括一个或者多个存储单元(可去除的介质或者外部存储器，如SD卡或者RAM)。在某些实施例中，输入 模块的数据可以直接传送并存储在存储器的存储单元中。存储器的存储单元可以存储由处理单元所执行的逻辑、代码和/或者计算机指令，以执行本案描述的各种方法的各个实施例。例如，处理单元可以用于执行指令，以导致处理单元的一个或者多个处理器处理及显示从移动平台获取的感应数据(如影像)，基于用户输入产生的控制指令，包括运动指令及目标物信息，并导致通讯模块传送和/或者接收数据等。存储单元可以存储感测数据或者从外部设备(如移动平台)接收的其它数据。在某些实施例中，存储器的存储单元可以存储处理单元生成的处理结果。The processing unit may be connected to the memory. Memory includes volatile or non-volatile storage media for storing data, and/or logic, code, and/or program instructions executable by a processing unit for performing one or more rules or functions. The memory may include one or more storage units (removable media or external memory such as SD card or RAM). In some embodiments, the data input to the module may be transferred directly and stored in a storage unit of the memory. The storage units of the memory may store logic, code and/or computer instructions executed by the processing unit to perform various embodiments of the various methods described herein. For example, the processing unit may be configured to execute instructions to cause one or more processors of the processing unit to process and display sensory data (eg, images) acquired from the mobile platform, control instructions generated based on user input, including motion instructions and objects information, and cause the communication module to transmit and/or receive data, etc. The storage unit may store sensed data or other data received from an external device such as a mobile platform. In some embodiments, the storage unit of the memory may store the processing result generated by the processing unit.
在某些实施例中，显示模块可以用于显示如上对云台和/或作业设备关于位置、平移速度、平移加速度、方向、角速度、角加速度、或者其结合等的信息。显示模块可以用于获取移动平台和/或者作业设备发送的信息，如感测数据(相机或者其它影像捕获设备记录的影像)、所描述的姿态信息、控制反馈数据等。在某些实施例中，显示模块可以与输入模块由相同的设备所执行。在其它实施例中，显示模块与输入模块可以由不相同的设备所执行。In some embodiments, the display module may be used to display information on the position, translation velocity, translation acceleration, orientation, angular velocity, angular acceleration, or a combination thereof, etc., for the pan/tilt head and/or work equipment as described above. The display module can be used to obtain information sent by the mobile platform and/or work equipment, such as sensory data (images recorded by cameras or other image capture devices), described attitude information, control feedback data, and the like. In some embodiments, the display module may be executed by the same device as the input module. In other embodiments, the display module and the input module may be executed by different devices.
通讯模块可以用于从一个或者多个远程设备(如移动平台、承载体、基站等)传送和/或者接收数据。例如，通讯模块可以传送控制信号(如运动信号、目标物信息、追踪控制指令)给******或者设备，如上述中对云台和/或作业设备。通讯模块可以包括传送器及接收器，分别用于从远程设备接收数据以及传送数据给远程设备。在某些实施例中，通讯模块可以包括收发器，其结合了传送器与接收器的功能。在某些实施例中，传送器与接收器之间以及与处理单元之间可以彼此通讯。通讯可以利用任何合适的通讯手段，如有线通讯或者无线通讯。The communication module may be used to transmit and/or receive data from one or more remote devices (eg, mobile platforms, carriers, base stations, etc.). For example, the communication module can transmit control signals (such as motion signals, target information, and tracking control commands) to peripheral systems or devices, such as the above-mentioned PTZ and/or operation equipment. The communication module may include a transmitter and a receiver for receiving data from and transmitting data to the remote device, respectively. In some embodiments, the communication module may include a transceiver that combines the functions of a transmitter and a receiver. In some embodiments, the transmitter and receiver and the processing unit may communicate with each other. Communication may utilize any suitable means of communication, such as wired or wireless communication.
移动平台在运动过程中捕获的影像可以从移动平台或者影像设备传回给控制终端或者其它适合的设备，以显示、播放、存储、编辑或者其它目的。这样的传送可以是当影像设备捕获影像时，实时的或者将近实时的发生。可选地，影像的捕获及传送之间可以有延迟。在某些实施例中，影像可以存储在移动平台的存储器中，而不用传送到任何其它地方。用户可以实时看到这些影像，如果需要，调整目标物信息或者调整移动平台或者其部件的其它方面。调整的目标物信息可以提供给移动平台，重复的过程可能继续直到获得可想要的影像。在某些实施例中，影像可以从移动平台、影像设备和/或控制 终端传送给远程服务器。例如，影像可以在一些社交网络平台，如微信朋友圈或者微博上以进行分享。The images captured by the mobile platform during the motion can be transmitted from the mobile platform or the imaging device back to the control terminal or other suitable device for display, playback, storage, editing or other purposes. Such transmission may occur in real-time or near real-time as the imaging device captures the imagery. Optionally, there may be a delay between the capture and transmission of the imagery. In some embodiments, the imagery may be stored in the mobile platform's memory without being transferred anywhere else. The user can view these images in real time and, if necessary, adjust object information or other aspects of the mobile platform or its components. Adjusted object information may be provided to the mobile platform, and the iterative process may continue until the desired image is obtained. In some embodiments, the imagery may be transmitted to a remote server from the mobile platform, imagery device, and/or control terminal. For example, images can be shared on some social networking platforms, such as WeChat Moments or Weibo.
该控制云台的装置1600可以用于执行如上所述的一个或多个操作。在此不再一一列举。The apparatus 1600 for controlling a PTZ can be used to perform one or more operations as described above. I will not list them one by one here.
本公开的另一方面提供了一种云台，该云台可以包括：Another aspect of the present disclosure provides a pan/tilt head, the pan/tilt head may include:
至少一个转轴结构，一个或多个处理器，计算机可读存储介质。该计算机可读存储介质用于存储一个或多个计算机程序，所述计算机程序在被所述处理器执行时，执行如上所述的操作，以实现：At least one hinge structure, one or more processors, and a computer-readable storage medium. The computer-readable storage medium is used to store one or more computer programs that, when executed by the processor, perform the operations described above to achieve:
首先，响应于指示所述云台进入收纳模式的第一触发事件，控制至少一个所述转轴结构转动至目标收纳位置，以使得至少一个所述转轴结构处于收纳姿态。First, in response to a first trigger event indicating that the pan/tilt head enters the storage mode, at least one of the rotating shaft structures is controlled to rotate to a target storage position, so that at least one of the rotating shaft structures is in a storage posture.
然后，控制至少一个所述转轴结构保持在所述目标收纳位置直至检测到指示所述云台退出所述收纳模式的第二触发事件。Then, at least one of the rotating shaft structures is controlled to remain at the target storage position until a second trigger event is detected that instructs the pan/tilt head to exit the storage mode.
具体内容参考前面的实施例的相同部分，此处不再做赘述。For the specific content, refer to the same part of the previous embodiment, which will not be repeated here.
本公开的另一方面提供了一种云台，该云台可以包括：Another aspect of the present disclosure provides a pan/tilt head, the pan/tilt head may include:
至少一个转轴结构，一个或多个处理器，计算机可读存储介质。该计算机可读存储介质用于存储一个或多个计算机程序，所述计算机程序在被所述处理器执行时，执行如上所述的操作，以实现：At least one hinge structure, one or more processors, and a computer-readable storage medium. The computer-readable storage medium is used to store one or more computer programs that, when executed by the processor, perform the operations described above to achieve:
响应于指示所述云台进入展开模式的第二触发事件，控制至少一个所述转轴结构转动至目标展开位置，以使得至少一个所述转轴结构处于展开姿态。其中，所述云台在响应所述第二触发事件之前处于上电状态。In response to a second trigger event indicating that the pan/tilt head enters the deployment mode, at least one of the rotating shaft structures is controlled to rotate to a target deployment position, so that at least one of the rotating shaft structures is in a deployed attitude. Wherein, the PTZ is in a powered-on state before responding to the second trigger event.
具体内容参考前面的实施例的相同部分，此处不再做赘述。For the specific content, refer to the same part of the previous embodiment, which will not be repeated here.
本公开的另一方面提供了一种云台，该云台可以包括：Another aspect of the present disclosure provides a pan/tilt head, the pan/tilt head may include:
至少一个转轴结构，一个或多个处理器，计算机可读存储介质。该计算机可读存储介质用于存储一个或多个计算机程序，所述计算机程序在被所述处理器执行时，执行如上所述的操作，以实现：At least one hinge structure, one or more processors, and a computer-readable storage medium. The computer-readable storage medium is used to store one or more computer programs that, when executed by the processor, perform the operations described above to achieve:
首先，响应于指示所述云台进入收纳模式的第一触发事件，控制至少一个所述转轴结构转动至目标收纳位置，以使得至少一个所述转轴结构处于收纳姿态。First, in response to a first trigger event indicating that the pan/tilt head enters the storage mode, at least one of the rotating shaft structures is controlled to rotate to a target storage position, so that at least one of the rotating shaft structures is in a storage posture.
然后，控制至少一个所述转轴结构保持在所述目标收纳位置。Then, at least one of the rotating shaft structures is controlled to remain in the target storage position.
接着，响应于指示所述云台进入展开模式的第二触发事件，控制至少一个所述转轴结构转动至目标展开位置，以使得至少一个所述转轴结构处于展开姿态。Next, in response to a second trigger event indicating that the pan/tilt head enters the deployment mode, at least one of the rotating shaft structures is controlled to rotate to a target deployment position, so that at least one of the rotating shaft structures is in a deployed attitude.
具体内容参考前面的实施例的相同部分，此处不再做赘述。For the specific content, refer to the same part of the previous embodiment, which will not be repeated here.
上述云台可以是手持云台或机载云台等。The above-mentioned pan/tilt may be a handheld pan/tilt or an airborne pan/tilt.
以下对移动平台进行示例性说明。An exemplary description of the mobile platform follows.
图17为本申请实施例提供的具有动力***的可移动平台的示意图。FIG. 17 is a schematic diagram of a movable platform with a power system according to an embodiment of the present application.
如图17所示，该移动平台可以是无人机170，该无人机170可以包括多个动力***171以及脚架。云台可以设置在无人机170上。As shown in FIG. 17 , the mobile platform may be an unmanned aerial vehicle 170, and the unmanned aerial vehicle 170 may include a plurality of power systems 171 and a tripod. The gimbal can be set on the drone 170.
在一实施例中，无人机170的多个动力***171与多个机臂一一对应。每个动力***171可以包括电机组件和与电机组件连接的桨叶。每个动力***171可以设置于与其对应的机臂上，由该对应的机臂来支撑该动力***171。In one embodiment, the power systems 171 of the UAV 170 correspond to the arms one-to-one. Each power system 171 may include a motor assembly and a blade coupled to the motor assembly. Each power system 171 may be disposed on its corresponding machine arm, and the power system 171 is supported by the corresponding machine arm.
此外，无人机170还可以包括脚架。该脚架可以位于云台下方，且与云台连接。在无人机170降落时，可以用于无人机170着陆。Additionally, the drone 170 may also include a tripod. The tripod can be located under the gimbal and connected with the gimbal. When the drone 170 lands, it can be used for the drone 170 to land.
图18示意性示出了本申请另一实施例的移动平台的示意图。FIG. 18 schematically shows a schematic diagram of a mobile platform according to another embodiment of the present application.
如图18所示，该移动平台是手持云台180，该手持云台180可以包括如上述的云台的结构。手持云台180可以包括：云台及支撑云台的手柄，该手柄为用户进行握持的部分，可以包括控制按钮，以便于对云台进行操作。手持云台180与支架中的功能部件(如相机)通信连接，以获取相机所拍摄的图像信息。As shown in FIG. 18 , the mobile platform is a hand-held pan-tilt 180 , and the hand-held pan-tilt 180 may include the structure of the pan-tilt as described above. The hand-held pan/tilt 180 may include: a pan/tilt and a handle supporting the pan/tilt. The handle is a part that the user holds and may include control buttons to facilitate the operation of the pan/tilt. The handheld pan/tilt 180 is connected in communication with a functional component (such as a camera) in the stand, so as to obtain image information captured by the camera.
此外，该手持云台180还可以与终端设备181(如手机)等相连，以向手机发送图像等信息。In addition, the handheld PTZ 180 can also be connected with a terminal device 181 (such as a mobile phone), etc., so as to send information such as images to the mobile phone.
以上为本申请的最优实施例，需要说明的，该最优的实施例仅用于理解本申请，并不用于限制本申请的保护范围。并且，最优实施例中的特征，在无特别注明的情况下，均同时适用于方法实施例和装置实施例，在相同或不同实施例中出现的技术特征在不相互冲突的情况下可以组合使用。The above are the best embodiments of the present application, and it should be noted that the best embodiments are only used for understanding the present application, and are not used to limit the protection scope of the present application. In addition, the features in the preferred embodiment, unless otherwise specified, are applicable to both the method embodiment and the device embodiment, and the technical features appearing in the same or different embodiments can be used without conflicting with each other. used in combination.
本申请实施例还提供了一种计算机可读存储介质，该计算机可读存储介质中存储有指令，当其在计算机或处理器上运行时，使得计算机或处理器执行上述任一个方法中的一个或多个步骤。上述信号处理装置的各组成模块如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在 计算机可读取存储介质中。Embodiments of the present application also provide a computer-readable storage medium, where instructions are stored in the computer-readable storage medium, and when the computer or processor is run on a computer or a processor, the computer or the processor is made to execute any one of the above methods. or multiple steps. Each component module of the above signal processing device can be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as an independent product.
在上述实施例中，可以全部或部分地通过软件、硬件、固件或者其任意组合来实现。当使用软件实现时，可以全部或部分地以计算机程序产品的形式实现。计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行所述计算机程序指令时，全部或部分地产生按照本申请实施例所述的流程或功能。所述计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。所述计算机指令可以存储在计算机可读存储介质中，或者通过所述计算机可读存储介质进行传输。所述计算机指令可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴电缆、光纤、数字用户线(DSL))或无线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。所述计算机可读存储介质可以是计算机能够存取的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。所述可用介质可以是磁性介质，(例如，软盘、硬盘、磁带)、光介质(例如，DVD)、或者半导体介质(例如，固态硬盘(solid state disk，SSD))等。In the above-mentioned embodiments, it may be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented in software, it can be implemented in whole or in part in the form of a computer program product. A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present application are generated. The computer may be a general purpose computer, special purpose computer, computer network, or other programmable device. The computer instructions may be stored in or transmitted over a computer-readable storage medium. The computer instructions can be sent from one website site, computer, server, or data center to another website site by wire (eg, coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (eg, infrared, wireless, microwave, etc.) , computer, server or data center. The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that includes an integration of one or more available media. The usable media may be magnetic media (eg, floppy disks, hard disks, magnetic tapes), optical media (eg, DVDs), or semiconductor media (eg, solid state disks (SSDs)), and the like.
本申请的实施例还提供了一种计算机程序产品，其包括计算机程序，该计算机程序包含用于执行本申请实施例所提供的方法的程序代码，当计算机程序产品在电子设备上运行时，该程序代码用于使电子设备实现本申请实施例所提供的图像模型训练方法或图像处理方法。The embodiments of the present application also provide a computer program product, which includes a computer program, the computer program includes program codes for executing the methods provided by the embodiments of the present application, when the computer program product runs on an electronic device, the The program code is used to enable the electronic device to implement the image model training method or the image processing method provided by the embodiments of the present application.
在该计算机程序被处理器执行时，执行本申请实施例的***/装置中限定的上述功能。根据本申请的实施例，上文描述的***、装置、模块、单元等可以通过计算机程序模块来实现。When the computer program is executed by the processor, the above-mentioned functions defined in the system/device of the embodiments of the present application are executed. According to the embodiments of the present application, the systems, apparatuses, modules, units, etc. described above may be implemented by computer program modules.
在一种实施例中，该计算机程序可以依托于光存储器件、磁存储器件等有形存储介质。在另一种实施例中，该计算机程序也可以在网络介质上以信号的形式进行传输、分发，并通过通信部分被下载和安装，和/或从可拆卸介质被安装。该计算机程序包含的程序代码可以用任何适当的网络介质传输，包括但不限于：无线、有线等等，或者上述的任意合适的组合。In one embodiment, the computer program may rely on a tangible storage medium such as an optical storage device, a magnetic storage device, or the like. In another embodiment, the computer program may also be transmitted, distributed in the form of a signal over a network medium, and downloaded and installed through the communication portion, and/or installed from a removable medium. The program code embodied by the computer program may be transmitted using any suitable network medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.
根据本申请的实施例，可以以一种或多种程序设计语言的任意组合来编写用于执行本申请实施例提供的计算机程序的程序代码，具体地，可以利用高级过程和/或面向对象的编程语言、和/或汇编/机器语言来实施这些计算程 序。程序设计语言包括但不限于诸如Java，C++，python，“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算设备上执行、部分地在用户设备上执行、部分在远程计算设备上执行、或者完全在远程计算设备或服务器上执行。在涉及远程计算设备的情形中，远程计算设备可以通过任意种类的网络，包括局域网(LAN)或广域网(WAN)，连接到用户计算设备，或者，可以连接到外部计算设备(例如利用因特网服务提供商来通过因特网连接)。According to the embodiments of the present application, the program code for executing the computer program provided by the embodiments of the present application may be written in any combination of one or more programming languages. programming language, and/or assembly/machine language to implement these computational programs. Programming languages include, but are not limited to, languages such as Java, C++, python, "C" or similar programming languages. The program code may execute entirely on the user computing device, partly on the user device, partly on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (eg, using an Internet service provider business via an Internet connection).
以上为本申请的最优实施例，需要说明的，该最优的实施例仅用于理解本申请，并不用于限制本申请的保护范围。并且，最优实施例中的特征，在无特别注明的情况下，均同时适用于方法实施例和装置实施例，在相同或不同实施例中出现的技术特征在不相互冲突的情况下可以组合使用。The above are the best embodiments of the present application, and it should be noted that the best embodiments are only used for understanding the present application, and are not used to limit the protection scope of the present application. In addition, the features in the preferred embodiment, unless otherwise specified, are applicable to both the method embodiment and the device embodiment, and the technical features appearing in the same or different embodiments can be used without conflicting with each other. used in combination.
最后应说明的是：以上实施方式仅用以说明本申请的技术方案，而非对其进行限制；尽管参照前述实施方式对本申请已经进行了详细的说明，但本领域的普通技术人员应当理解：其依然可以对前述实施方式所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请实施方式技术方案的范围。Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the application, rather than limiting them; although the application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand: It is still possible to modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements to some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application. .

Claims (61)

  1. 一种控制云台的方法，所述云台包括至少一个转轴结构，其特征在于，所述方法包括：A method for controlling a pan-tilt head, the pan-tilt head comprising at least one rotating shaft structure, wherein the method comprises:
    响应于指示所述云台进入收纳模式的第一触发事件，控制至少一个所述转轴结构转动至目标收纳位置，以使得至少一个所述转轴结构处于收纳姿态；In response to a first trigger event indicating that the pan/tilt head enters the storage mode, controlling at least one of the rotating shaft structures to rotate to a target storage position, so that at least one of the rotating shaft structures is in a storage posture;
    控制至少一个所述转轴结构保持在所述目标收纳位置直至检测到指示所述云台退出所述收纳模式的第二触发事件。At least one of the rotating shaft structures is controlled to remain at the target storage position until a second trigger event indicating that the pan/tilt head exits the storage mode is detected.
  2. 根据权利要求1所述的方法，其特征在于，所述控制至少一个所述转轴结构保持在所述目标收纳位置包括：控制所述云台的电机输出保持力矩以使得所述转轴结构保持在所述目标收纳位置。The method according to claim 1, wherein the controlling at least one of the rotating shaft structures to remain at the target storage position comprises: controlling the motor of the pan/tilt head to output a holding torque to keep the rotating shaft structure at the target storage position. Describe the target storage location.
  3. 根据权利要求2所述的方法，其特征在于，所述保持力矩是基于所述云台承载的负载载荷来确定的。3. The method of claim 2, wherein the holding moment is determined based on a load load carried by the pan/tilt head.
  4. 根据权利要求2所述的方法，其特征在于，所述保持力矩小于增稳力矩，所述增稳力矩是所述云台处于增稳状态下，对所述云台承载的负载进行增稳的过程中，由所述云台的电机输出的力矩。The method according to claim 2, wherein the holding torque is less than the stabilization torque, and the stabilization torque is the stabilization of the load carried by the gimbal when the gimbal is in a stabilization state. During the process, the torque output by the motor of the gimbal.
  5. 根据权利要求1所述的方法，其特征在于，所述云台包括角度传感器，所述角度传感器用于检测所述转轴结构的当前关节角；The method according to claim 1, wherein the pan/tilt head comprises an angle sensor, and the angle sensor is used to detect the current joint angle of the rotating shaft structure;
    所述控制至少一个所述转轴结构转动至目标收纳位置包括：控制至少一个所述转轴结构转动至目标收纳关节角。The controlling the rotation of the at least one of the rotating shaft structures to the target storage position includes: controlling the rotation of the at least one of the rotating shaft structures to the target storage joint angle.
  6. 根据权利要求5所述的方法，其特征在于，所述控制至少一个所述转轴结构转动至目标收纳关节角包括：基于所述当前关节角和所述目标收纳关节角之间的差值控制至少一个所述转轴结构转动至目标收纳关节角。The method according to claim 5, wherein the controlling at least one of the rotating shaft structures to rotate to a target storage joint angle comprises: controlling at least one of the hinge angles based on a difference between the current joint angle and the target storage joint angle One of the rotating shaft structures rotates to a target receiving joint angle.
  7. 根据权利要求6所述的方法，其特征在于，所述基于所述当前关节角和所述目标收纳关节角之间的差值控制至少一个所述转轴结构转动至目标收纳关节角包括：The method according to claim 6, wherein the controlling at least one of the rotating shaft structures to rotate to the target storage joint angle based on the difference between the current joint angle and the target storage joint angle comprises:
    基于所述当前关节角和所述目标收纳关节角之间的差值确定多个控制周期各自的子目标收纳关节角；determining respective sub-target stowed joint angles of multiple control cycles based on the difference between the current joint angle and the target stowed joint angle;
    针对每个控制周期，基于所述当前关节角和与所述控制周期对应的子目标收纳关节角之间的差值控制至少一个所述转轴结构转动。For each control period, the rotation of at least one of the rotating shaft structures is controlled based on the difference between the current joint angle and the sub-target receiving joint angle corresponding to the control period.
  8. 根据权利要求7所述的方法，其特征在于，所述基于所述当前关节角和所述目标收纳关节角之间的差值确定多个控制周期各自的子目标收纳关节角包括：The method according to claim 7, wherein the determining the respective sub-target stowed joint angles of a plurality of control cycles based on the difference between the current joint angle and the target stowed joint angle comprises:
    基于所述当前关节角和所述目标收纳关节角之间的差值，通过动态加减速模型确定多个控制周期各自的子目标收纳关节角。Based on the difference between the current joint angle and the target storage joint angle, the respective sub-target storage joint angles of a plurality of control cycles are determined through a dynamic acceleration and deceleration model.
  9. 根据权利要求8所述的方法，其特征在于，所述动态加减速模型包括预设形状的速度-时间线。The method according to claim 8, wherein the dynamic acceleration and deceleration model comprises a speed-timeline of a preset shape.
  10. 根据权利要求9所述的方法，其特征在于，所述预设形状的速度-时间线包括速度增大子线段、速度恒定子线段和速度减小子线段中至少两种。The method according to claim 9, wherein the preset-shaped speed-timeline includes at least two of a speed-increasing sub-line segment, a speed-constant sub-line segment, and a speed-decreasing sub-line segment.
  11. 根据权利要求7所述的方法，其特征在于，还包括：The method of claim 7, further comprising:
    在关节角闭环控制的过程中，在至少部分控制周期中每一个周期，将当前关节角的角度初始化为所在控制周期的子目标收纳关节角。In the joint angle closed-loop control process, in each cycle of at least part of the control cycle, the angle of the current joint angle is initialized as the sub-target receiving joint angle of the control cycle.
  12. 根据权利要求1所述的方法，其特征在于，至少一个所述转轴结构包括被配置为绕横滚轴旋转的横滚转轴结构、被配置为绕俯仰轴旋转的俯仰转轴结构和被配置为绕偏航轴旋转的偏航转轴结构中的至少一个。The method of claim 1, wherein at least one of the pivot structures comprises a roll pivot structure configured to rotate about a roll axis, a pitch pivot structure configured to rotate about a pitch axis, and a pitch pivot structure configured to rotate about a pitch axis At least one of the yaw axis structures in which the yaw axis rotates.
  13. 根据权利要求12所述的方法，其特征在于，所述横滚转轴结构的关节角为第一设定关节角，所述横滚转轴结构对应的预设关节角与所述第一设定关节角之间的差值为第一关节角；和/或The method according to claim 12, wherein the joint angle of the roll axis structure is a first set joint angle, and the preset joint angle corresponding to the roll axis structure is the first set joint angle The difference between the angles is the first joint angle; and/or
    所述俯仰转轴结构的关节角为第二设定关节角，所述俯仰转轴结构对应的预设关节角与所述第二设定关节角的绝对差值为第二关节角；和/或The joint angle of the pitch axis structure is the second set joint angle, and the absolute difference between the preset joint angle corresponding to the pitch axis structure and the second set joint angle is the second joint angle; and/or
    所述偏航转轴结构的关节角为第三设定关节角，所述偏航转轴结构对应的预设关节角与所述第三设定关节角的绝对差值为第三关节角。The joint angle of the yaw shaft structure is the third set joint angle, and the absolute difference between the preset joint angle corresponding to the yaw shaft structure and the third set joint angle is the third joint angle.
  14. 根据权利要求1至13任一项所述的方法，其特征在于，所述云台包括把持组件，至少一个所述转轴结构设在所述把持组件上；The method according to any one of claims 1 to 13, wherein the pan/tilt head comprises a holding assembly, and at least one of the rotating shaft structures is provided on the holding assembly;
    所述控制至少一个所述转轴结构保持在所述目标收纳位置包括：控制至少一个所述转轴结构转动至相对于所述把持组件为预设收纳姿态。The controlling at least one of the rotating shaft structures to remain at the target storage position includes: controlling at least one of the rotating shaft structures to rotate to a preset storage posture relative to the holding assembly.
  15. 根据权利要求1至13任一项所述的方法，其特征在于，所述第一触发事件包括针对机械按键的按压操作、针对显示屏显示的交互界面上预设收纳组件的触控操作、所述云台的运动状态达到预设运动状态中至少一种。The method according to any one of claims 1 to 13, wherein the first trigger event comprises a pressing operation on a mechanical button, a touch operation on a preset storage component on an interactive interface displayed on a display screen, any The motion state of the pan/tilt reaches at least one of the preset motion states.
  16. 根据权利要求1至13任一项所述的方法，其特征在于，在控制至少一个所述转轴结构保持在所述目标收纳位置的过程中，所述方法还包括以下至少一个操作：The method according to any one of claims 1 to 13, wherein in the process of controlling at least one of the rotating shaft structures to remain in the target storage position, the method further comprises at least one of the following operations:
    响应于关机指令，控制所述云台进入关机模式；In response to the shutdown instruction, controlling the PTZ to enter the shutdown mode;
    响应于待机指令，控制所述云台进入待机模式。In response to the standby instruction, the PTZ is controlled to enter the standby mode.
  17. 一种控制云台的方法，所述云台包括至少一个转轴结构，其特征在于，所述方法包括：A method for controlling a pan-tilt head, the pan-tilt head comprising at least one rotating shaft structure, wherein the method comprises:
    响应于指示所述云台进入展开模式的第二触发事件，控制至少一个所述转轴结构转动至目标展开位置，以使得至少一个所述转轴结构处于展开姿态；In response to a second trigger event indicating that the pan/tilt head enters the deployment mode, controlling at least one of the rotating shaft structures to rotate to a target deployment position, so that at least one of the rotating shaft structures is in a deployed attitude;
    其中，所述云台在响应所述第二触发事件之前处于上电状态。Wherein, the PTZ is in a powered-on state before responding to the second trigger event.
  18. 根据权利要求17所述的方法，其特征在于，所述目标展开位置包括：预设展开位置、在云台进入收纳模式前的展开位置、被选取的展开位置或者被输入的指定展开位置。The method according to claim 17, wherein the target deployment position comprises: a preset deployment position, a deployment position before the gimbal enters a storage mode, a selected deployment position or an input specified deployment position.
  19. 根据权利要求17所述的方法，其特征在于，在所述控制至少一个所述转轴结构转动至目标展开位置的过程中，所述方法还包括：The method according to claim 17, wherein in the process of controlling the rotation of at least one of the rotating shaft structures to the target deployment position, the method further comprises:
    锁定针对至少一个所述转轴结构的控制权，以禁止响应针对至少一个所述转轴结构的控制指令，所述控制指令是基于用户操作生成的。Locking the control right for at least one of the rotating shaft structures to prohibit responding to a control instruction for at least one of the rotating shaft structures, the control instructions being generated based on user operations.
  20. 根据权利要求19所述的方法，其特征在于，在所述控制至少一个所述转轴结构转动至目标展开位置之后，所述方法还包括：The method according to claim 19, wherein after the controlling at least one of the rotating shaft structures to rotate to the target deployment position, the method further comprises:
    解锁针对至少一个所述转轴结构的控制权。Unlock control of at least one of the reel structures.
  21. 根据权利要求17所述的方法，其特征在于，所述云台包括角度传感器，所述角度传感器用于检测所述转轴结构的当前关节角；The method according to claim 17, wherein the pan/tilt head comprises an angle sensor, and the angle sensor is used to detect the current joint angle of the rotating shaft structure;
    所述控制至少一个所述转轴结构转动至目标展开位置包括：控制至少一个所述转轴结构转动至目标展开关节角。The controlling the rotation of the at least one of the rotating shaft structures to the target deployment position includes: controlling the rotation of the at least one of the rotation shaft structures to the target deployment joint angle.
  22. 根据权利要求21所述的方法，其特征在于，所述控制至少一个所述转轴结构转动至目标展开关节角包括：基于所述当前关节角和所述目标展开关节角之间的差值控制至少一个所述转轴结构转动至目标展开关节角。The method according to claim 21, wherein the controlling at least one of the rotating shaft structures to rotate to a target deployed joint angle comprises: controlling at least one of the joint angles based on a difference between the current joint angle and the target deployed joint angle One of the pivot structures rotates to a target deployment joint angle.
  23. 根据权利要求22所述的方法，其特征在于，所述基于所述当前关节角和所述目标展开关节角之间的差值控制至少一个所述转轴结构转动至目标展开关节角包括：The method according to claim 22, wherein the controlling at least one of the rotating shaft structures to rotate to the target deployed joint angle based on the difference between the current joint angle and the target deployed joint angle comprises:
    基于所述当前关节角和所述目标展开关节角之间的差值确定多个控制周期各自的子目标展开关节角；determining, based on the difference between the current joint angle and the target deployed joint angle, respective sub-target deployed joint angles of a plurality of control cycles;
    针对每个控制周期，基于所述当前关节角和与所述控制周期对应的子目标展开关节角之间的差值控制至少一个所述转轴结构转动。For each control period, the rotation of at least one of the rotating shaft structures is controlled based on the difference between the current joint angle and the sub-target deployment joint angle corresponding to the control period.
  24. 根据权利要求23所述的方法，其特征在于，所述基于所述当前关节角和所述目标展开关节角之间的差值确定多个控制周期各自的子目标展开关节角包括：The method according to claim 23, wherein the determining, based on the difference between the current joint angle and the target deployed joint angle, the respective sub-target deployed joint angles of a plurality of control cycles comprises:
    基于所述当前关节角和所述目标展开关节角之间的差值，通过动态加减速模型确定多个控制周期各自的子目标展开关节角。Based on the difference between the current joint angle and the target deployed joint angle, the sub-target deployed joint angles of each of the multiple control cycles are determined through a dynamic acceleration and deceleration model.
  25. 根据权利要求24所述的方法，其特征在于，所述动态加减速模型包括预设形状的速度-时间线。The method according to claim 24, wherein the dynamic acceleration and deceleration model comprises a speed-timeline of a preset shape.
  26. 根据权利要求25所述的方法，其特征在于，所述预设形状的速度-时间线包括速度增大子线段、速度恒定子线段和速度减小子线段中至少两种。The method according to claim 25, wherein the speed-timeline of the preset shape comprises at least two of a speed increasing sub-line segment, a speed constant sub-line segment and a speed decreasing sub-line segment.
  27. 根据权利要求23所述的方法，其特征在于，还包括：The method of claim 23, further comprising:
    在关节角闭环控制的过程中，在至少部分控制周期中每一个周期，将当前关节角的角度初始化为所在控制周期的子目标展开关节角。In the joint angle closed-loop control process, in each cycle of at least part of the control cycle, the angle of the current joint angle is initialized as the sub-target expansion joint angle of the control cycle.
  28. 根据权利要求17所述的方法，其特征在于，至少一个所述转轴结构包括被配置为绕横滚轴旋转的横滚转轴结构、被配置为绕俯仰轴旋转的俯仰转轴结构和被配置为绕偏航轴旋转的偏航转轴结构中的至少一个。18. The method of claim 17, wherein at least one of the pivot structures comprises a roll pivot structure configured to rotate about a roll axis, a pitch pivot structure configured to rotate about a pitch axis, and a pitch pivot structure configured to rotate about a pitch axis At least one of the yaw axis structures in which the yaw axis rotates.
  29. 根据权利要求28所述的方法，其特征在于，所述横滚转轴结构的关节角为第一设定关节角，所述横滚转轴结构对应的预设关节角与所述第一设定关节角之间的差值为第四关节角；和/或The method according to claim 28, wherein the joint angle of the roll axis structure is a first set joint angle, and the preset joint angle corresponding to the roll axis structure is the first set joint The difference between the angles is the fourth joint angle; and/or
    所述俯仰转轴结构的关节角为第二设定关节角，所述俯仰转轴结构对应的预设关节角与所述第二设定关节角的绝对差值为第五关节角；和/或The joint angle of the pitch axis structure is the second set joint angle, and the absolute difference between the preset joint angle corresponding to the pitch axis structure and the second set joint angle is the fifth joint angle; and/or
    所述偏航转轴结构的关节角为第三设定关节角，所述偏航转轴结构对应的预设关节角与所述第三设定关节角的绝对差值为第六关节角。The joint angle of the yaw shaft structure is the third set joint angle, and the absolute difference between the preset joint angle corresponding to the yaw shaft structure and the third set joint angle is the sixth joint angle.
  30. 根据权利要求17至29任一项所述的方法，其特征在于，所述云台包括把持组件，至少一个所述转轴结构设在所述把持组件上；The method according to any one of claims 17 to 29, wherein the pan/tilt head comprises a holding component, and at least one of the rotating shaft structures is provided on the holding component;
    所述控制至少一个所述转轴结构保持在所述目标展开位置包括：控制至少一个所述转轴结构转动至相对于所述把持组件为预设展开姿态或者进入收纳模式前的姿态。The controlling at least one of the rotating shaft structures to remain in the target deployed position includes: controlling the at least one of the rotating shaft structures to rotate to a preset deployed posture or a posture before entering a storage mode relative to the holding assembly.
  31. 根据权利要求17至29任一项所述的方法，其特征在于，所述第二触发事件包括针对展开机械按键的按压操作、针对显示屏显示的交互界面上预设展开组件的触控操作、所述云台的运动状态达到预设运动状态中至少一种。The method according to any one of claims 17 to 29, wherein the second trigger event comprises a pressing operation for an unfolding mechanical button, a touch operation for a preset unfolding component on an interactive interface displayed on a display screen, The motion state of the PTZ reaches at least one of the preset motion states.
  32. 根据权利要求17至29任一项所述的方法，其特征在于，在控制至少一个所述转轴结构保持在所述目标展开位置的过程中，所述方法还包括：The method according to any one of claims 17 to 29, wherein in the process of controlling at least one of the rotating shaft structures to remain in the target deployment position, the method further comprises:
    响应于关机指令，控制所述云台进入关机模式。In response to the shutdown instruction, the PTZ is controlled to enter a shutdown mode.
  33. 一种控制云台的方法，所述云台包括至少一个转轴结构，其特征在于，所述方法包括：A method for controlling a pan-tilt head, the pan-tilt head comprising at least one rotating shaft structure, wherein the method comprises:
    响应于指示所述云台进入收纳模式的第一触发事件，控制至少一个所述转轴结构转动至目标收纳位置，以使得至少一个所述转轴结构处于收纳姿态；In response to a first trigger event indicating that the pan/tilt head enters the storage mode, controlling at least one of the rotating shaft structures to rotate to a target storage position, so that at least one of the rotating shaft structures is in a storage posture;
    控制至少一个所述转轴结构保持在所述目标收纳位置；controlling at least one of the rotating shaft structures to remain in the target storage position;
    响应于指示所述云台进入展开模式的第二触发事件，控制至少一个所述转轴结构转动至目标展开位置，以使得至少一个所述转轴结构处于展开姿态。In response to a second trigger event indicating that the pan/tilt head enters the deployment mode, at least one of the rotating shaft structures is controlled to rotate to a target deployment position, so that at least one of the rotating shaft structures is in a deployed attitude.
  34. 根据权利要求33所述的方法，其特征在于，所述控制至少一个所述转轴结构保持在所述目标收纳位置包括：控制所述云台的电机输出保持力矩以使得所述转轴结构保持在所述目标收纳位置。The method according to claim 33, wherein the controlling at least one of the rotating shaft structures to remain in the target storage position comprises: controlling the motor of the pan/tilt head to output a holding torque so that the rotating shaft structure is maintained at the target storage position. Describe the target storage location.
  35. 根据权利要求34所述的方法，其特征在于，所述保持力矩是基于所述云台承载的负载载荷来确定的。35. The method of claim 34, wherein the holding moment is determined based on a load load carried by the head.
  36. 根据权利要求34所述的方法，其特征在于，所述保持力矩小于增稳力矩，所述增稳力矩是所述云台处于增稳状态下，对所述云台承载的负载进行增稳的过程中，由所述云台的电机输出的力矩。The method according to claim 34, wherein the holding torque is less than the stabilization torque, and the stabilization torque is the stabilization of the load carried by the gimbal when the gimbal is in a stabilization state. During the process, the torque output by the motor of the gimbal.
  37. 根据权利要求33所述的方法，其特征在于，所述云台包括角度传感器，所述角度传感器用于检测所述转轴结构的当前关节角；The method according to claim 33, wherein the pan/tilt head comprises an angle sensor, and the angle sensor is used to detect the current joint angle of the rotating shaft structure;
    所述控制至少一个所述转轴结构转动至目标收纳位置包括：控制至少一个所述转轴结构转动至所述目标收纳关节角。The controlling at least one of the rotating shaft structures to rotate to the target storage position includes: controlling at least one of the rotating shaft structures to rotate to the target storage joint angle.
  38. 根据权利要求37所述的方法，其特征在于，所述控制至少一个所述转轴结构转动至所述目标收纳关节角包括：基于所述当前关节角和所述目标收纳关节角之间的差值控制至少一个所述转轴结构转动至所述目标收纳关节角。The method according to claim 37, wherein the controlling the rotation of at least one of the rotating shaft structures to the target storage joint angle comprises: based on a difference between the current joint angle and the target storage joint angle Controlling at least one of the rotating shaft structures to rotate to the target receiving joint angle.
  39. 根据权利要求38所述的方法，其特征在于，所述基于所述当前关节角和所述目标收纳关节角之间的差值控制至少一个所述转轴结构转动至所述目标收纳关节角包括：The method according to claim 38, wherein the controlling at least one of the rotating shaft structures to rotate to the target storage joint angle based on the difference between the current joint angle and the target storage joint angle comprises:
    基于所述当前关节角和所述目标收纳关节角之间的差值确定多个控制周期各自的子目标收纳关节角；determining respective sub-target stowed joint angles of multiple control cycles based on the difference between the current joint angle and the target stowed joint angle;
    针对每个控制周期，基于所述当前关节角和与所述控制周期对应的子目标收纳关节角之间的差值控制至少一个所述转轴结构转动。For each control period, the rotation of at least one of the rotating shaft structures is controlled based on the difference between the current joint angle and the sub-target receiving joint angle corresponding to the control period.
  40. 根据权利要求39所述的方法，其特征在于，所述基于所述当前关节角和所述目标收纳关节角之间的差值确定多个控制周期各自的子目标收纳关节角包括：The method according to claim 39, wherein the determining the respective sub-target stowed joint angles of a plurality of control cycles based on the difference between the current joint angle and the target stowed joint angle comprises:
    基于所述当前关节角和所述目标收纳关节角之间的差值，通过动态加减速模型确定多个控制周期各自的子目标收纳关节角。Based on the difference between the current joint angle and the target storage joint angle, the respective sub-target storage joint angles of a plurality of control cycles are determined through a dynamic acceleration and deceleration model.
  41. 根据权利要求40所述的方法，其特征在于，所述动态加减速模型包括预设形状的速度-时间线。The method according to claim 40, wherein the dynamic acceleration and deceleration model comprises a speed-timeline of a preset shape.
  42. 根据权利要求41所述的方法，其特征在于，所述预设形状的速度-时间线包括速度增大子线段、速度恒定子线段和速度减小子线段中至少两种。The method of claim 41, wherein the preset-shaped velocity-timeline includes at least two of a velocity-increasing sub-segment, a velocity-constant sub-segment, and a velocity-decreasing sub-segment.
  43. 根据权利要求39所述的方法，其特征在于，还包括：The method of claim 39, further comprising:
    在关节角闭环控制的过程中，在至少部分控制周期中每一个周期，将当前关节角的角度初始化为所在控制周期的子目标收纳关节角。In the joint angle closed-loop control process, in each cycle of at least part of the control cycle, the angle of the current joint angle is initialized as the sub-target receiving joint angle of the control cycle.
  44. 根据权利要求33所述的方法，其特征在于，至少一个所述转轴结构包括被配置为绕横滚轴旋转的横滚转轴结构、被配置为绕俯仰轴旋转的俯仰转轴结构和被配置为绕偏航轴旋转的偏航转轴结构中的至少一个。34. The method of claim 33, wherein at least one of the pivot structures comprises a roll pivot structure configured to rotate about a roll axis, a pitch pivot structure configured to rotate about a pitch axis, and a pitch pivot structure configured to rotate about a pitch axis At least one of the yaw axis structures in which the yaw axis rotates.
  45. 根据权利要求44所述的方法，其特征在于，对于收纳模式：The method of claim 44, wherein for the storage mode:
    所述横滚转轴结构的关节角为第一设定关节角，所述横滚转轴结构对应的预设关节角与所述第一设定关节角之间的差值为第一关节角；和/或The joint angle of the roll axis structure is the first set joint angle, and the difference between the preset joint angle corresponding to the roll axis structure and the first set joint angle is the first joint angle; and /or
    所述俯仰转轴结构的关节角为第二设定关节角，所述俯仰转轴结构对应的预设关节角与所述第二设定关节角的绝对差值为第二关节角；和/或The joint angle of the pitch axis structure is the second set joint angle, and the absolute difference between the preset joint angle corresponding to the pitch axis structure and the second set joint angle is the second joint angle; and/or
    所述偏航转轴结构的关节角为第三设定关节角，所述偏航转轴结构对应的预设关节角与所述第三设定关节角的绝对差值为第三关节角。The joint angle of the yaw shaft structure is the third set joint angle, and the absolute difference between the preset joint angle corresponding to the yaw shaft structure and the third set joint angle is the third joint angle.
  46. 根据权利要求44所述的方法，其特征在于，对于展开模式：The method of claim 44, wherein for the expanded mode:
    所述横滚转轴结构的关节角为第一设定关节角，所述横滚转轴结构对应的预设关节角与所述第一设定关节角之间的差值为第四关节角；和/或The joint angle of the roll axis structure is a first set joint angle, and the difference between the preset joint angle corresponding to the roll axis structure and the first set joint angle is a fourth joint angle; and /or
    所述俯仰转轴结构的关节角为第二设定关节角，所述俯仰转轴结构对应的预设关节角与所述第二设定关节角的绝对差值为第五关节角；和/或The joint angle of the pitch axis structure is the second set joint angle, and the absolute difference between the preset joint angle corresponding to the pitch axis structure and the second set joint angle is the fifth joint angle; and/or
    所述偏航转轴结构的关节角为第三设定关节角，所述偏航转轴结构对应的预设关节角与所述第三设定关节角的绝对差值为第六关节角。The joint angle of the yaw shaft structure is the third set joint angle, and the absolute difference between the preset joint angle corresponding to the yaw shaft structure and the third set joint angle is the sixth joint angle.
  47. 根据权利要求33所述的方法，其特征在于，所述目标展开位置包括：预设展开位置、在所述云台进入收纳模式前的展开位置或者被选取的展开位置。The method according to claim 33, wherein the target deployment position comprises: a preset deployment position, a deployment position before the gimbal enters a storage mode, or a selected deployment position.
  48. 根据权利要求33所述的方法，其特征在于，在所述控制至少一个所述转轴结构转动至目标展开位置的过程中，所述方法还包括：The method according to claim 33, wherein in the process of controlling the rotation of at least one of the rotating shaft structures to the target deployment position, the method further comprises:
    锁定针对至少一个所述转轴结构的控制权，以禁止响应针对至少一个所述转轴结构的控制指令，所述控制指令是基于用户操作生成的。Locking the control right for at least one of the rotating shaft structures to prohibit responding to a control instruction for at least one of the rotating shaft structures, the control instructions being generated based on user operations.
  49. 根据权利要求33所述的方法，其特征在于，在所述控制至少一个所述转轴结构转动至目标展开位置之后，所述方法还包括：The method according to claim 33, wherein after the controlling at least one of the rotating shaft structures to rotate to the target deployment position, the method further comprises:
    释放针对至少一个所述转轴结构的控制权。Release control of at least one of the pivot structures.
  50. 根据权利要求33所述的方法，其特征在于，所述云台包括角度传感器，所述角度传感器用于检测所述转轴结构的当前关节角；The method according to claim 33, wherein the pan/tilt head comprises an angle sensor, and the angle sensor is used to detect the current joint angle of the rotating shaft structure;
    所述控制至少一个所述转轴结构转动至目标展开位置包括：控制至少一个所述转轴结构转动至目标展开关节角。The controlling the rotation of the at least one of the rotating shaft structures to the target deployment position includes: controlling the rotation of the at least one of the rotation shaft structures to the target deployment joint angle.
  51. 根据权利要求50所述的方法，其特征在于，所述控制至少一个所述转轴结构转动至目标展开关节角包括：基于所述当前关节角和所述目标展开关节角之间的差值控制至少一个所述转轴结构转动至目标展开关节角。The method according to claim 50, wherein the controlling at least one of the rotating shaft structures to rotate to a target deployed joint angle comprises: controlling at least one of the joint angles based on a difference between the current joint angle and the target deployed joint angle One of the pivot structures rotates to a target deployment joint angle.
  52. 根据权利要求51所述的方法，其特征在于，所述基于所述当前关节角和所述目标展开关节角之间的差值控制至少一个所述转轴结构转动至目标展开关节角包括：The method according to claim 51, wherein the controlling at least one of the rotating shaft structures to rotate to the target deployed joint angle based on the difference between the current joint angle and the target deployed joint angle comprises:
    基于所述当前关节角和所述目标展开关节角之间的差值确定多个控制周期各自的子目标展开关节角；determining, based on the difference between the current joint angle and the target deployed joint angle, respective sub-target deployed joint angles of a plurality of control cycles;
    针对每个控制周期，基于所述当前关节角和与所述控制周期对应的子目标展开关节角之间的差值控制至少一个所述转轴结构转动。For each control period, the rotation of at least one of the rotating shaft structures is controlled based on the difference between the current joint angle and the sub-target deployment joint angle corresponding to the control period.
  53. 根据权利要求52所述的方法，其特征在于，所述基于所述当前关节角和所述目标展开关节角之间的差值确定多个控制周期各自的子目标展开关节角包括：The method according to claim 52, wherein the determining, based on the difference between the current joint angle and the target deployed joint angle, the respective sub-target deployed joint angles of a plurality of control cycles comprises:
    基于所述当前关节角和所述目标展开关节角之间的差值，通过动态加减速模型确定多个控制周期各自的子目标展开关节角。Based on the difference between the current joint angle and the target deployed joint angle, the sub-target deployed joint angles of each of the multiple control cycles are determined through a dynamic acceleration and deceleration model.
  54. 根据权利要求33至53任一项所述的方法，其特征在于，所述云台包括把持组件，至少一个所述转轴结构设在所述把持组件上；The method according to any one of claims 33 to 53, wherein the pan/tilt head comprises a holding assembly, and at least one of the rotating shaft structures is provided on the holding assembly;
    所述控制至少一个所述转轴结构保持在所述目标收纳位置包括：控制至少一个所述转轴结构转动至相对于所述把持组件为预设收纳姿态；The controlling at least one of the rotating shaft structures to remain in the target storage position includes: controlling at least one of the rotating shaft structures to rotate to a preset storage posture relative to the holding assembly;
    所述控制至少一个所述转轴结构保持在所述目标展开位置包括：控制至少一个所述转轴结构转动至相对于所述把持组件为预设展开姿态或者进入收纳模式前的姿态。The controlling at least one of the rotating shaft structures to remain in the target deployed position includes: controlling the at least one of the rotating shaft structures to rotate to a preset deployed posture or a posture before entering a storage mode relative to the holding assembly.
  55. 根据权利要求33至53任一项所述的方法，其特征在于，所述第一触发事件包括针对收纳机械按键的按压操作、针对显示屏显示的交互界面上预设收纳组件的触控操作、所述云台的运动状态达到第一预设运动状态中至少一种；The method according to any one of claims 33 to 53, wherein the first trigger event comprises a pressing operation for a mechanical key for storage, a touch operation for a preset storage component on an interactive interface displayed on a display screen, The motion state of the pan/tilt reaches at least one of the first preset motion states;
    所述第二触发事件包括针对展开机械按键的按压操作、针对显示屏显示的交互界面上预设展开组件的触控操作、所述云台的运动状态达到第二预设运动状态中至少一种。The second trigger event includes at least one of a pressing operation on the unfolding mechanical button, a touch operation on a preset unfolding component on the interactive interface displayed on the display screen, and the motion state of the pan/tilt reaches a second preset motion state. .
  56. 根据权利要求33至53任一项所述的方法，其特征在于，在控制至少一个所述转轴结构保持在所述目标展开位置或所述目标收纳位置的过程中，所述方法还包括以下至少一个操作：The method according to any one of claims 33 to 53, characterized in that, in the process of controlling at least one of the rotating shaft structures to remain in the target deployment position or the target storage position, the method further comprises at least the following: An operation:
    响应于关机指令，控制所述云台进入关机模式；In response to the shutdown instruction, controlling the PTZ to enter the shutdown mode;
    响应于待机指令，控制所述云台进入待机模式。In response to the standby instruction, the PTZ is controlled to enter the standby mode.
  57. 一种云台，其特征在于，所述云台包括：A pan-tilt, characterized in that the pan-tilt comprises:
    至少一个转轴结构；at least one hinge structure;
    一个或多个处理器；one or more processors;
    计算机可读存储介质，用于存储一个或多个计算机程序，所述计算机程序在被所述处理器执行时，实现如权利要求1至16中任一项权利要求所述的方法。A computer-readable storage medium storing one or more computer programs which, when executed by the processor, implement the method as claimed in any one of claims 1 to 16.
  58. 一种云台，其特征在于，所述云台包括：A pan-tilt, characterized in that the pan-tilt comprises:
    至少一个转轴结构；at least one hinge structure;
    一个或多个处理器；one or more processors;
    计算机可读存储介质，用于存储一个或多个计算机程序，所述计算机程序在被所述处理器执行时，实现如权利要求17至32中任一项权利要求所述的方法。A computer-readable storage medium storing one or more computer programs which, when executed by the processor, implement the method of any one of claims 17 to 32.
  59. 一种云台，其特征在于，所述云台包括：A pan-tilt, characterized in that the pan-tilt comprises:
    至少一个转轴结构；at least one hinge structure;
    一个或多个处理器；one or more processors;
    计算机可读存储介质，用于存储一个或多个计算机程序，所述计算机程序在被所述处理器执行时，实现如权利要求33至56中任一项权利要求所述的方法。A computer-readable storage medium storing one or more computer programs which, when executed by the processor, implement the method as claimed in any one of claims 33 to 56.
  60. 一种移动平台，其特征在于，所述移动平台包括：本体和如权利要求57～59任一项所述的云台，所述云台设置在所述本体上。A mobile platform, characterized in that, the mobile platform comprises: a body and the pan/tilt according to any one of claims 57 to 59, wherein the pan/tilt is arranged on the body.
  61. 一种计算机可读存储介质，其特征在于，其存储有可执行指令，所述可执行指令在由一个或多个处理器执行时，可以使所述一个或多个处理器执行如权利要求1至56中任一项权利要求所述的方法。A computer-readable storage medium, characterized in that it stores executable instructions, and when executed by one or more processors, the executable instructions can cause the one or more processors to execute as claimed in claim 1 The method of any one of claims 56 to 56.
PCT/CN2021/084461 2021-03-31 2021-03-31 Gimbal control method, gimbal and mobile platform WO2022205091A1 (en)

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WO2013165045A1 (en) * 2012-05-04 2013-11-07 (주)비즈텍 Pan-tilt device for imaging apparatus
CN110637183A (en) * 2018-06-29 2019-12-31 深圳市大疆创新科技有限公司 Control method and device of vertical stability augmentation device and computer readable storage medium
CN110832423A (en) * 2018-11-28 2020-02-21 深圳市大疆创新科技有限公司 Control method of holder, mobile platform and computer readable storage medium
CN110892188A (en) * 2018-11-30 2020-03-17 深圳市大疆创新科技有限公司 Control method of handheld cloud deck and handheld cloud deck
CN111684196A (en) * 2019-05-27 2020-09-18 深圳市大疆创新科技有限公司 Hand-held cloud platform

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WO2013165045A1 (en) * 2012-05-04 2013-11-07 (주)비즈텍 Pan-tilt device for imaging apparatus
CN110637183A (en) * 2018-06-29 2019-12-31 深圳市大疆创新科技有限公司 Control method and device of vertical stability augmentation device and computer readable storage medium
CN110832423A (en) * 2018-11-28 2020-02-21 深圳市大疆创新科技有限公司 Control method of holder, mobile platform and computer readable storage medium
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