PTZ control method, PTZ and machine-readable storage medium

Abstract

A control method for a pan / tilt, a pan / tilt and a machine-readable storage medium. The method adjusts the following speed of the pan / tilt following a target object by determining whether a following configuration button provided on the pan / tilt is triggered, rather than adjusting the following speed of the pan / tilt following the target object through a mobile phone APP, thereby ensuring that the following speed of the pan / tilt following the target object can be flexibly adjusted.

Description

Technical Field

[0001] The present invention relates to the field of control, and in particular to a control method of a pan / tilt platform, a pan / tilt platform and a machine-readable storage medium. Background Art

[0002] With the development of shooting technology, handheld gimbals are becoming more and more popular among users. When following a target object, a handheld gimbal sometimes needs to respond quickly to the action on the handle so that the handheld gimbal closely follows the movement of the target object, and sometimes needs to respond slowly to the action on the handle so that the handheld gimbal can shoot a smooth picture.

[0003] Currently, users connect to the handheld gimbal via Bluetooth through a mobile phone APP, and then set the speed, acceleration and other following parameters of the handheld gimbal. In this way, the following parameters of the handheld gimbal can be adjusted to follow the target object.

[0004] However, this requires the user to take out the mobile phone to connect to the handheld gimbal, which wastes time. In addition, once the speed, acceleration and other following parameters of the handheld gimbal are set, it means that the speed, acceleration and other following parameters of the handheld gimbal are fixed. If the speed, acceleration and other following parameters of the handheld gimbal need to be changed later, they need to be reset, which has poor flexibility. Summary of the invention

[0005] In view of this, the present invention discloses a control method of a pan / tilt platform, a pan / tilt platform and a machine-readable storage medium.

[0006] One aspect of an embodiment of the present invention provides a gimbal control method, comprising: detecting whether a follow configuration button provided on the gimbal is triggered; when the trigger is detected, adjusting a follow parameter of the gimbal following a target object according to the trigger.

[0007] One aspect of an embodiment of the present invention provides a gimbal, which includes a memory, a processor, and a follow configuration button; the memory is used to store gimbal control instructions, and the processor performs the following operations by calling the gimbal control instructions: detecting whether the follow configuration button is triggered; when the trigger is detected, adjusting the follow parameters of the gimbal to follow the target object according to the trigger.

[0008] One aspect of an embodiment of the present invention provides a machine-readable storage medium, on which a number of computer instructions are stored. When the computer instructions are executed, the method described above is performed.

[0009] It can be seen from the above technical solution that in the embodiment of the present invention, the following speed of the gimbal following the target object is adjusted by whether the following configuration button provided on the gimbal is triggered, rather than adjusting the following speed of the gimbal following the target object through a mobile phone APP. This can ensure that the following speed of the gimbal following the target object in the embodiment of the present invention can be flexibly adjusted. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0011] Figure 1 is a structural diagram of a three-axis gimbal (marked as bracket assembly 100);

[0012] Figure 2 A flowchart of a pan / tilt control method provided in Embodiment 1 of the present invention;

[0013] Figure 3 A structural diagram of a handle provided by an embodiment of the present invention;

[0014] Figure 4 A flowchart of a pan / tilt control method provided in Embodiment 2 of the present invention;

[0015] Figure 5 A flowchart of a pan / tilt control method provided in Embodiment 3 of the present invention;

[0016] Figure 6 A flowchart of a pan / tilt control method provided in Embodiment 4 of the present invention;

[0017] Figure 7 This is a structural diagram of the pan / tilt provided in Example 6 of the present invention. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0019] Before describing the pan / tilt control method provided by the present invention, the pan / tilt according to the present invention is described first:

[0020] The gimbal is used to carry a camera. In the embodiment of the present invention, the gimbal can be a two-axis gimbal or a three-axis gimbal.

[0021] Figure 1 FIG. 1 shows a structural diagram of a support assembly (labeled as support assembly 100) of a three-axis gimbal. Figure 1 As shown, the bracket assembly 100 mainly includes: a pitch axis motor 101, a roll axis motor 102, a yaw axis motor 103, a gimbal base 104, a yaw axis arm 105, a shooting device fixing mechanism 106 (containing an inertial measurement unit IMU), a pitch axis arm 107, and a roll axis arm 108. The shooting device fixing mechanism 106 is used to connect the shooting device 109 to the bracket assembly 100. Among them, the roll axis arm 108 is used to support the pitch axis arm 107 and the pitch axis motor 101, the yaw axis arm 105 is used to support the yaw axis motor 103 and the roll axis motor 102, the pitch axis arm 107 is used to support the shooting device 109, and the pitch axis motor 101, the roll axis motor 102, and the yaw axis motor 103 (these three motors can be collectively referred to as drive motors) can be installed with an angle sensor and a circuit board. The angle sensor can be electrically connected to the circuit board. When the drive motor rotates, the angle of rotation of the drive motor can be measured by the angle sensor installed on the drive motor. The angle sensor can be one or more of a potentiometer, a Hall sensor, and an encoder. The bracket assembly 100 can be connected to the handle or the movable platform through the pan-tilt base 104 ( Figure 1 not shown).

[0022] At present, the gimbal mainly uses the inertial measurement unit as the feedback element and the drive motors of each axis of the gimbal (yaw axis, pitch axis, roll axis) as the output element to form a closed-loop control system to control the posture of the gimbal. In the process of controlling the gimbal posture, the control quantity is the posture of the gimbal. Given a target posture, the current posture of the gimbal is corrected toward the target posture through feedback control, so that the gimbal approaches the target posture from the current posture and finally reaches the target posture.

[0023] Based on the above description, the embodiments of the present invention are described below:

[0024] Embodiment 1:

[0025] See also Figure 2 , Figure 2 This is a flow chart of the pan-tilt control method provided in Embodiment 1 of the present invention. The flow is applied to a handheld pan-tilt, the handheld pan-tilt comprises a handle and a support assembly for adjusting the posture of the pan-tilt, the support assembly comprises at least one rotation axis.

[0026] like Figure 2 As shown, the process may include the following steps:

[0027] Step 201, detecting whether a follow configuration button provided on the pan / tilt head is triggered.

[0028] In the embodiment of the present invention, the following improvement is made compared with the existing gimbal: the following configuration button is set on the gimbal. The following configuration button is a physical button. Or in other embodiments, the following configuration button is also a virtual button displayed on the screen of the gimbal.

[0029] In the embodiment of the present invention, the gimbal is a handheld gimbal, including a handle, and the number of the physical button is at least one and is arranged on the handle. The embodiment of the present invention does not limit the specific position of the handle where the follow configuration button is arranged. In one example, the follow configuration button can be arranged at a position on the handle that is convenient for the user to operate. Figure 3 An example of setting a follow configuration button on a handle is shown.

[0030] Step 202: When the trigger is detected, adjust the following parameters of the gimbal to follow the target object according to the trigger.

[0031] It can be seen from step 202 that, in an embodiment of the present invention, the following parameters of the gimbal following the target object are adjusted by whether the following configuration button provided for the gimbal is triggered, rather than adjusting the following parameters of the gimbal following the target object through a mobile phone APP. This can ensure that the following parameters of the gimbal following the target object in an embodiment of the present invention can be flexibly adjusted.

[0032] Embodiment 1 has been described above.

[0033] Embodiment 2:

[0034] This embodiment 2 provides a pan / tilt control method based on embodiment 1. Figure 4 , Figure 4 This is a flow chart of the pan / tilt control method provided in Example 2 of the present invention. Figure 4 As shown, the process may include the following steps:

[0035] Step 401, detecting whether a follow configuration button provided on the pan / tilt head is triggered.

[0036] This step 401 is similar to step 201 and will not be described in detail.

[0037] Step 402: determine the following coefficient corresponding to the following configuration button after receiving the trigger.

[0038] As an embodiment, in step 402, determining the following coefficient corresponding to the following configuration button after receiving the trigger may include:

[0039] Step a1, identifying the first state of the follow-up configuration button corresponding to before receiving the trigger.

[0040] In an embodiment of the present invention, at least one follow configuration button may be provided on the gimbal.

[0041] When a relatively small number of follow configuration buttons are set on the gimbal, for example, one follow configuration button, if there are many different states, such as high-end state, medium-end state, and low-end state, the same follow configuration button may be reused in multiple different states. In this case, step a2 is executed.

[0042] Step a2: determining, according to a specified state cycle sequence, that the follow-up configuration button switches from the first state to the second state after receiving a trigger.

[0043] If the specified state cycle order is mid-range state -> high-range state -> low-range state, if step a1 recognizes that the first state corresponding to the follow-up configuration button before receiving the trigger is the mid-range state, then when the trigger is received, the specified state cycle order is followed: mid-range state -> high-range state -> low-range state, which means that the follow-up configuration button switches from the currently indicated first state (taking the mid-range state as an example) to the second state (taking the high-range state as an example).

[0044] When the state indicated by the follow configuration button is switched from the first state to the second state in sequence, step a3 is executed.

[0045] Step a3: determine the following coefficient corresponding to the second state as the following coefficient corresponding to the following configuration button after receiving the trigger.

[0046] In one example, the states corresponding to the follow configuration button are different, and the following coefficients corresponding to the different states corresponding to the follow configuration button are different. Thus, in this step a3, the following coefficient corresponding to the second state after switching is determined as the following coefficient corresponding to the follow configuration button after receiving the trigger, and then the following parameter of the gimbal following the target object can be adjusted according to the following coefficient corresponding to the second state after switching, as shown in the following step 403, to realize automatic adjustment of the following parameter of the gimbal following the target object.

[0047] In another example, the states corresponding to the follow configuration button are different, and the following coefficients corresponding to the different states corresponding to the follow configuration button are the same. In this way, when the following coefficient corresponding to the second state after switching is the same as the following coefficient corresponding to the first state before switching, in one embodiment, the follow configuration button can be continuously triggered, and finally the following coefficient corresponding to the state after switching is different from the following coefficient corresponding to the state before switching, and then the following parameters of the gimbal following the target object can be adjusted based on the following coefficient corresponding to the state after switching, specifically see the following step 403, to realize automatic adjustment of the following parameters of the gimbal following the target object; in another example, when the following coefficient corresponding to the second state after switching is the same as the following coefficient corresponding to the first state before switching, the follow configuration button can be continuously triggered, and the gimbal can be directly controlled to follow the target object according to the previous following parameters.

[0048] Step 403: adjusting the following parameters of the gimbal to follow the target object according to the following coefficient.

[0049] Finally, step 402 to step 403 are used to implement how to adjust the following parameters of the gimbal to follow the target object according to the trigger in step 202.

[0050] It can be seen from steps 402 to 403 that, in an embodiment of the present invention, the following parameters of the gimbal following the target object are adjusted by whether the following configuration button provided for the gimbal is triggered, rather than adjusting the following parameters of the gimbal following the target object through a mobile phone APP. This can ensure that the following parameters of the gimbal following the target object in an embodiment of the present invention can be flexibly adjusted.

[0051] Embodiment 2 has been described above.

[0052] Embodiment 3:

[0053] This embodiment 3 provides a pan / tilt control method based on embodiment 2. Figure 5 , Figure 5 This is a flow chart of the pan-tilt control method provided in Example 3 of the present invention. This Example 3 takes the following parameter as the following speed as an example to describe how to implement pan-tilt control:

[0054] like Figure 5 As shown, the process may include the following steps:

[0055] Step 501, detecting whether a follow configuration button provided on the pan / tilt head is triggered.

[0056] This step 501 is similar to step 201 and will not be described in detail.

[0057] Step 502: Determine a follow coefficient corresponding to the follow configuration button after receiving the trigger.

[0058] This step 502 is similar to step 402 and will not be described in detail.

[0059] In the embodiment of the present invention, the following coefficient determined in step 502 includes: a following speed coefficient.

[0060] As an embodiment, the following speed coefficient includes following speed coefficients corresponding to different rotation axes, wherein the following speed coefficients corresponding to different rotation axes are the same or different. It should be noted that in the embodiment of the present invention, the following speed coefficient can be pre-configured through an application (APP), and the pre-configured following speed coefficient is adjusted according to business needs and is not fixed.

[0061] As an embodiment, the following coefficient may further include: a following identifier. In an embodiment of the present invention, the following identifier may be pre-configured through an APP. Among them, the following identifiers corresponding to different rotation axes may be set separately. For example, the following identifier corresponding to the roll axis is a first identifier for indicating following, the following identifier corresponding to the yaw axis is a second identifier for indicating not following, and the following identifier corresponding to the pitch axis is a first identifier for indicating following. In this way, this step 503 may further include: determining the following identifier corresponding to each rotation axis, and when the following identifier corresponding to the rotation axis is the first identifier for indicating following, the following steps 503 to 504 are performed for the rotation axis, that is, the following steps 503 to 504 are performed for the rotation axis whose corresponding following identifier is the first identifier for indicating following.

[0062] It should be noted that, in the embodiment of the present invention, the states corresponding to the follow configuration button are different, and the follow identifiers in the follow coefficients corresponding to different states may also be different. For example, if the follow configuration button is set to three different states, the three different states are low-range state, mid-range state, and high-range state, wherein the follow coefficient corresponding to the low-range state includes: the follow identifier corresponding to the pitch axis is a second identifier for indicating non-following, and the follow identifiers corresponding to the remaining two rotating axes (roll axis and yaw axis) are the first identifier for indicating following, which means that only the roll axis and the yaw axis follow; the follow coefficient corresponding to the mid-range state includes: the follow identifier corresponding to the roll axis is a second identifier for indicating non-following, and the follow identifiers corresponding to the remaining two rotating axes (roll axis and pitch axis) are the first identifier for indicating following, which means that only the roll axis and the pitch axis follow; the follow coefficient corresponding to the high-range state includes: the follow identifiers corresponding to the pitch axis, the roll axis, and the yaw axis are the first identifier for indicating following, which means that the pitch axis, the roll axis, and the yaw axis all follow. In specific implementation, the follow identifiers in the follow coefficients corresponding to different states can be set according to actual needs, and the embodiment of the present invention does not specifically limit it.

[0063] It should also be noted that, in a special case, the following coefficient set for a certain state, such as the low-gear state mentioned above, may include: the following marks corresponding to the pitch axis, roll axis, and yaw axis are used as the second mark to indicate non-following. In this case, it means that no following is required in this state, and the following mode is exited and switched to the free mode.

[0064] As described above, in the embodiment of the present invention, the gimbal includes at least one rotation axis for adjusting the gimbal posture, such as a pitch axis, a roll axis, and a yaw axis. Based on each rotation axis, the following step 503 is performed:

[0065] Step 503: For each rotation axis, calculate the difference between the handle posture information and the gimbal target posture information along the rotation axis to obtain a first difference value.

[0066] In one example, in step 503, the handle posture information along the rotation axis includes: the Euler angle of the handle along the rotation axis.

[0067] As an embodiment, the Euler angle of the handle along the rotation axis includes: utilizing the attitude quaternion of the inertial measurement unit (IMU) itself to rotate around the rotation axis of the gimbal to obtain the attitude quaternion of the handle at the rotation axis; converting the attitude quaternion of the handle at the rotation axis into the Euler angle of the handle along the rotation axis.

[0068] In applications, quaternion is a mathematical representation of posture. Generally, quaternion can be expressed in the form of q=w+xi+yj+zk. Among them, q=w+xi+yj+zk can be divided into scalar w and vector xi+yj+zk, so for the convenience of representation, q is represented as (S,V), where S represents scalar w, V represents vector xi+yj+zk, so quaternion multiplication can be expressed as: q1*q2=(S1+V1)*(S2+V2)=S1*S2-V1*V2+V1XV2+S1*V2+S2*V1. Euler angle is another representation of posture, in which quaternion and Euler angle can be converted to each other through corresponding formulas. The following is the formula for converting from quaternion to Euler angle:

[0069]

[0070] Based on the above formula, the embodiment of the present invention can easily convert the quaternion of the handle's posture on the rotation axis into the Euler angle of the handle along the rotation axis.

[0071] In another example, in step 503, the gimbal target posture information along the rotation axis includes: determining the gimbal target posture information along the rotation axis according to a following speed of the gimbal following the target object along the rotation axis after receiving the trigger.

[0072] As an embodiment, determining the gimbal target posture information along the rotation axis according to the following speed of the gimbal following the target object along the rotation axis when the trigger is received may include: integrating the following speed of the gimbal following the target object along the rotation axis after the trigger is received to obtain the gimbal target posture information along the rotation axis. Here, the obtained gimbal target posture information is also an angle.

[0073] Through step 503 , the following can be achieved in step 503 : for each rotation axis, the difference between the handle posture information and the gimbal target posture information along the rotation axis is calculated to obtain a first difference value.

[0074] Step 504 : Calculate a following speed of the gimbal following the target object along the rotation axis according to the first difference and a following speed coefficient corresponding to the rotation axis.

[0075] As an embodiment, in step 504, the following speed of the gimbal following the target object along the rotation axis according to the first difference and the following speed coefficient corresponding to the rotation axis can be calculated by the following formula:

[0076] Follow_speed=(atti_handler-atti_target)*speed_coef / freq;

[0077] Wherein: follow_speed represents the following speed along the rotation axis, handler_atti represents the handle attitude information along the rotation axis; atti_target represents the gimbal target attitude information along the rotation axis; atti_handler-atti_target is the first difference; speed_coef represents the following speed coefficient corresponding to the rotation axis; in the above formula, freq is the pre-configured frequency, specifically the frequency of IMU sampling.

[0078] Through step 504, the following speed of the pan / tilt platform following the target object along the rotation axis can be calculated. Thus, the pan / tilt platform can be controlled to follow the target object along the rotation axis according to the following speed according to the calculated following speed of the pan / tilt platform following the target object along the rotation axis, as shown in step 505 for details.

[0079] Step 505: Control the pan / tilt platform to follow the target object along the rotation axis at the following speed.

[0080] In one example, the speed at which the gimbal follows the target object along the rotation axis is essentially the speed at which the camera on the gimbal follows the target object. Figure 1 Thus, in step 505, if the absolute value of the following speed calculated in step 504 is greater than 0, it means that the camera device on the gimbal, such as Figure 1 The camera 109 shown responds to the change in the posture of the rotation axis according to the calculated following speed to better follow the target object. When the following speed calculated in step 504 is equal to 0, it means that the posture of the rotation axis is close to the target posture. Figure 1 The speed at which the camera 109 responds to the change in the posture of the rotation axis is close to 0, that is, the camera on the gimbal is controlled, for example Figure 1 The photographing device 109 shown stops following the posture change of the rotation axis.

[0081] Finally, step 502 to step 505 are used to implement how to adjust the following parameters of the gimbal to follow the target object according to the trigger in step 202.

[0082] It can be seen from steps 502 to 505 that, in an embodiment of the present invention, the following speed of the gimbal following the target object is adjusted by whether the following configuration button provided on the gimbal is triggered, rather than adjusting the following speed of the gimbal following the target object through a mobile phone APP. This can ensure that the following speed of the gimbal following the target object in an embodiment of the present invention can be flexibly adjusted.

[0083] Embodiment 3 has been described above.

[0084] Embodiment 4:

[0085] This embodiment 4 provides a pan / tilt control method based on embodiment 3. Figure 6 , Figure 6 This is a flow chart of the pan / tilt control method provided in Example 4 of the present invention. Figure 6 As shown, the process may include the following steps:

[0086] Step 601, detecting whether a follow configuration button provided on the pan / tilt head is triggered.

[0087] This step 601 is similar to step 201 and will not be described in detail.

[0088] Step 602: Determine the following coefficient corresponding to the following configuration button after receiving the trigger.

[0089] This step 502 is similar to step 402 and will not be described in detail.

[0090] In the embodiment of the present invention, the following coefficient determined in step 602 includes: a following speed coefficient and a following dead zone. The following speed coefficient is as described in Example 3. In the embodiment of the present invention, the following dead zone is pre-configured through the APP.

[0091] In an embodiment of the present invention, a plurality of following speed coefficients and following dead zones corresponding to different states may be set in advance for a following configuration button. In one example, a plurality of following speed coefficients and following dead zones corresponding to different states may be set for a following configuration button through an APP. In another example, a software program may also be written in advance into the following configuration button to implement setting of a plurality of following speed coefficients and following dead zones corresponding to different states for the following configuration button.

[0092] If the following configuration button sets the following speed coefficient and following dead zone corresponding to three different states, the three different states are low-gear state, mid-gear state, and high-gear state. Among them, the following speed coefficient corresponding to the low-gear state is speed_coef101, and the following dead zone corresponding to the low-gear state is deadband201; the following speed coefficient corresponding to the mid-gear state is speed_coef102, and the following dead zone corresponding to the low-gear state is deadband202; the following speed coefficient corresponding to the high-gear state is speed_coef103, and the following dead zone corresponding to the low-gear state is deadband203. If initially, the state corresponding to the follow configuration button is the mid-range state, then initially, the follow coefficients determined in step 602 are the follow speed coefficients speed_coef102 and the follow deadband deadband 202 corresponding to the mid-range state; thereafter, when the follow configuration button is triggered, if the specified state cycle sequence is mid-range state -> high-range state -> low-range state, then the state corresponding to the follow configuration button will switch from the original mid-range state to the high-range state. At this time, the follow coefficients determined in step 602 are the follow speed coefficients speed_coef103 and the follow deadband deadband 202 corresponding to the high-range state. 203; and if the follow configuration button is triggered again, the state corresponding to the follow configuration button will switch from the original high-gear state to the low-gear state. At this time, the following coefficient determined in this step 602 is the following speed coefficient speed_coef101 and the following deadband deadband201 corresponding to the low-gear state; then, if the follow configuration button is triggered again, the state corresponding to the follow configuration button will switch from the original low-gear state to the mid-gear state. At this time, the following coefficient determined in this step 602 is the following speed coefficient speed_coef102 and the following deadband deadband202 corresponding to the mid-gear state, and so on.

[0093] As an embodiment, the following coefficient may further include: a following identifier, wherein the following identifiers corresponding to different rotation axes may be set separately. For example, the following identifier corresponding to the roll axis is a first identifier for indicating following, the following identifier corresponding to the yaw axis is a second identifier for indicating not following, and the following identifier corresponding to the pitch axis is a first identifier for indicating following. Thus, this step 602 may further include: determining the following identifier corresponding to each rotation axis, and when the following identifier corresponding to the rotation axis is the first identifier for indicating following, the following steps 603 to 607 are performed for the rotation axis, that is, the following steps 603 to 607 are performed for the rotation axis whose corresponding following identifier is the first identifier for indicating following.

[0094] It should be noted that, in the embodiment of the present invention, the states corresponding to the follow configuration button are different, and the follow identifiers in the follow coefficients corresponding to different states may also be different. For example, if the follow configuration button is set to three different states, the three different states are low-range state, mid-range state, and high-range state, wherein the follow coefficient corresponding to the low-range state includes: the follow identifier corresponding to the pitch axis is a second identifier for indicating non-following, and the follow identifiers corresponding to the remaining two rotating axes (roll axis and yaw axis) are the first identifier for indicating following, which means that only the roll axis and the yaw axis follow; the follow coefficient corresponding to the mid-range state includes: the follow identifier corresponding to the roll axis is a second identifier for indicating non-following, and the follow identifiers corresponding to the remaining two rotating axes (roll axis and pitch axis) are the first identifier for indicating following, which means that only the roll axis and the pitch axis follow; the follow coefficient corresponding to the high-range state includes: the follow identifiers corresponding to the pitch axis, the roll axis, and the yaw axis are the first identifier for indicating following, which means that the pitch axis, the roll axis, and the yaw axis all follow. In specific implementation, the follow identifiers in the follow coefficients corresponding to different states can be set according to actual needs, and the embodiment of the present invention does not specifically limit it.

[0095] As an embodiment, the following speed coefficient includes following speed coefficients corresponding to different rotation axes, wherein the following speed coefficients corresponding to different rotation axes are the same or different. It should be noted that in the embodiment of the present invention, the following speed coefficient can be pre-configured, and the pre-configured following speed coefficient is adjusted according to business needs and is not fixed.

[0096] As an embodiment, the following dead zone includes following dead zones corresponding to different rotation axes, wherein the following dead zones corresponding to different rotation axes are the same or different. It should be noted that in the embodiment of the present invention, the following dead zone can be pre-configured, and the pre-configured following dead zone is adjusted according to business needs and is not fixed.

[0097] Step 603: For each rotation axis, calculate the difference between the handle posture information and the gimbal target posture information along the rotation axis to obtain a first difference value.

[0098] This step 603 is similar to step 402 and will not be described in detail.

[0099] Step 604, compare the absolute value of the first difference with the following dead zone corresponding to the rotation axis; if the absolute value of the first difference is greater than the following dead zone corresponding to the rotation axis, execute step 605; if the absolute value of the first difference is not greater than the following dead zone corresponding to the rotation axis, execute step 606.

[0100] Step 605: Calculate the difference between the absolute value of the first difference and the following dead zone corresponding to the rotation axis to obtain a second difference, and use the second difference and the following speed coefficient corresponding to the rotation axis to calculate the following speed of the gimbal following the target object along the rotation axis. Then, execute step 607.

[0101] This step 605 is performed under the premise that the absolute value of the first difference is greater than the following dead zone corresponding to the rotation axis.

[0102] As an embodiment, this step 605 can be implemented by the following formula:

[0103] atti_err=atti_handler-atti_target, wherein handler_atti represents the handle attitude information along the rotation axis; atti_target represents the gimbal target attitude information along the rotation axis, and atti_err is the first difference.

[0104] atti_use=|atti_err-|deadband||, wherein deadband is the following dead band, and atti_use is the second difference.

[0105] follow_speed = atti_use * speed_coef / freq, where follow_speed represents the following speed along the rotation axis, speed_coef represents the following speed coefficient corresponding to the rotation axis, and freq is a pre-configured frequency, specifically the sampling frequency of the IMU.

[0106] The above formula can be used to calculate the following speed of the gimbal following the target object along the rotation axis by utilizing the second difference and the following speed coefficient corresponding to the rotation axis.

[0107] Step 606 , determining that the following speed of the pan / tilt head following the target object along the rotation axis is zero. Then, executing step 607 .

[0108] This step 606 is performed under the premise that the absolute value of the first difference is not greater than the following dead zone corresponding to the rotation axis. When the absolute value of the first difference is not greater than the following dead zone corresponding to the rotation axis, it means that the absolute value of the first difference is less than the following dead zone corresponding to the rotation axis, or is equal to the following dead zone corresponding to the rotation axis. When the absolute value of the first difference is less than the following dead zone corresponding to the rotation axis, or when the absolute value of the first difference is equal to the following dead zone corresponding to the rotation axis, it means that the posture of the rotation axis is close to reaching the target posture. The shooting equipment on the gimbal, such as Figure 1 The speed at which the camera 109 responds to the change in the posture of the rotation axis is close to 0, and the camera on the gimbal is controlled, for example Figure 1 The camera 109 shown does not need to follow the posture changes of the rotation axis.

[0109] Step 607: Control the pan / tilt platform to follow the target object along the rotation axis at the following speed.

[0110] In the embodiment of the present invention, the following speed of the pan / tilt platform following the target object along the rotation axis is essentially the speed of the shooting device on the pan / tilt platform, such as Figure 1 The speed at which the camera 109 responds to the change in attitude of the rotation axis is shown. Thus, in one example, if step 607 is performed after step 605, then in step 607, the camera on the gimbal, for example Figure 1 The camera 109 shown responds to the change in the posture of the rotation axis according to the calculated following speed to better follow the target object; in another example, if step 607 is performed after step 606, then step 607 means that the posture of the rotation axis is close to the target posture at this time, and the camera on the gimbal, such as Figure 1 The speed at which the camera 109 responds to the change in the posture of the rotation axis is close to 0, that is, the camera on the gimbal is controlled, for example Figure 1 The camera 109 shown does not need to follow the posture changes of the rotation axis.

[0111] Finally, step 602 to step 607 are used to implement how to adjust the following parameters of the gimbal to follow the target object according to the trigger in step 202.

[0112] It can be seen from steps 602 to 607 that, in an embodiment of the present invention, the following speed of the gimbal following the target object is adjusted by whether the following configuration button provided on the gimbal is triggered, rather than adjusting the following speed of the gimbal following the target object through a mobile phone APP. This can ensure that the following speed of the gimbal following the target object in an embodiment of the present invention can be flexibly adjusted.

[0113] Embodiment 4 has been described above.

[0114] Embodiment 5:

[0115] This embodiment 5 provides a pan / tilt platform. Figure 7 , Figure 7 The gimbal structure diagram provided in this application. The gimbal includes a memory, a processor, and a follow configuration button; the memory is used to store gimbal control instructions; the processor performs the following operations by calling the gimbal control instructions: detecting whether the follow configuration button is triggered; when the trigger is detected, adjusting the follow parameters of the gimbal following the target object according to the trigger.

[0116] In one example, the follow configuration button is a physical button; or, the follow configuration button is a virtual button displayed on a screen on the gimbal.

[0117] In one example, the gimbal is a handheld gimbal including a handle, and the number of the physical button is at least one and is disposed on the handle.

[0118] In one example, the processor calls the gimbal control instruction to execute the adjustment of the following parameters of the gimbal following the target object according to the trigger, specifically including: determining the following coefficient corresponding to the following configuration button after receiving the trigger; adjusting the following parameters of the gimbal following the target object according to the following coefficient.

[0119] In one example, the processor calls the gimbal control instruction to execute the determination of the following coefficient corresponding to the follow configuration button after receiving the trigger, specifically including: identifying the first state corresponding to the follow configuration button before receiving the trigger; determining that the follow configuration button switches from the first state to the second state according to a specified state cycle sequence after receiving the trigger; and determining the following coefficient corresponding to the second state as the following coefficient corresponding to the follow configuration button after receiving the trigger.

[0120] In one example, the states corresponding to the follow configuration buttons are different, and the corresponding follow coefficients are different; or, the states corresponding to the follow configuration buttons are different, but the corresponding follow coefficients are the same.

[0121] In one example, the following coefficient includes: a following speed coefficient, wherein the following speed coefficient includes following speed coefficients corresponding to different rotation axes, wherein the following speed coefficients corresponding to different rotation axes are the same or different.

[0122] In one example, the gimbal further includes at least one rotation axis for adjusting the gimbal posture, and the processor calls the gimbal control instruction to execute the following parameters of the gimbal following the target object according to the following coefficient, specifically including: for each rotation axis, calculating the difference between the handle posture information along the rotation axis and the gimbal target posture information to obtain a first difference; calculating the following speed of the gimbal following the target object along the rotation axis according to the first difference and the following speed coefficient corresponding to the rotation axis; and controlling the gimbal to follow the target object along the rotation axis according to the following speed.

[0123] In one example, the following coefficient further includes: a following dead zone, wherein the following dead zone includes following dead zones corresponding to different rotation axes, wherein the following dead zones corresponding to different rotation axes are the same or different.

[0124] In one example, the processor calls the gimbal control instruction to execute the calculation of the following speed of the gimbal following the target object along the rotation axis based on the first difference and the following speed coefficient corresponding to the rotation axis, specifically including: comparing the absolute value of the first difference with the following dead zone corresponding to the rotation axis; if the absolute value of the first difference is greater than the following dead zone corresponding to the rotation axis, then calculating the difference between the absolute value of the first difference and the following dead zone corresponding to the rotation axis to obtain a second difference, and using the second difference and the following speed coefficient corresponding to the rotation axis to calculate the following speed of the gimbal following the target object along the rotation axis.

[0125] In one example, the processor calls the gimbal control instruction to execute the calculation of the following speed of the gimbal following the target object along the rotation axis based on the calculated first difference and the following speed coefficient corresponding to the rotation axis, specifically including: comparing the absolute value of the first difference with the following dead zone corresponding to the rotation axis; if the absolute value of the first difference is not greater than the following dead zone corresponding to the rotation axis, determining that the following speed of the gimbal following the target object along the rotation axis is zero.

[0126] In one example, the processor calling the gimbal control instruction to execute controlling the gimbal to follow the target object along the rotation axis at the following speed specifically includes: controlling the gimbal to stop following the target object along the rotation axis.

[0127] In one example, the handle posture information along the rotation axis includes: the Euler angle of the handle along the rotation axis.

[0128] Among them, the processor calls the gimbal control instruction to determine the Euler angle of the handle along the rotation axis: uses the attitude quaternion of the inertial measurement unit IMU itself to rotate around the rotation axis of the gimbal to obtain the attitude quaternion of the handle on the rotation axis; and converts the attitude quaternion of the handle on the rotation axis into the Euler angle of the handle along the rotation axis.

[0129] In one example, the processor calls the gimbal control instruction to determine the gimbal target posture information along the rotation axis, including: determining the gimbal target posture information along the rotation axis according to the following speed of the gimbal following the target object along the rotation axis when the trigger is received.

[0130] In one example, the processor calls the gimbal control instruction to execute the gimbal target posture information along the rotation axis based on the following speed of the gimbal following the target object along the rotation axis when the trigger is received: integrating the following speed of the gimbal following the target object along the rotation axis after receiving the trigger to obtain the gimbal target posture information along the rotation axis.

[0131] In one example, the following speed coefficient is pre-configured through an application APP, and the pre-configured following speed coefficient is adaptively adjusted according to business needs.

[0132] In one example, the following dead zone is pre-configured through an application program APP, and the pre-configured following dead zone is adaptively adjusted according to business requirements.

[0133] Embodiment 5 has been described above.

[0134] Embodiment 6:

[0135] This embodiment 6 provides a machine-readable storage medium. In the embodiment of the present invention, the machine-readable storage medium includes: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0136] In an embodiment of the present invention, a number of computer instructions are stored on the machine-readable storage medium. When the computer instructions are executed, the processing of the above-mentioned embodiments 1 to 4 is performed, specifically: detecting whether the follow configuration button provided on the gimbal is triggered; when the trigger is detected, adjusting the following parameters of the gimbal following the target object according to the trigger.

[0137] In one example, the follow-up configuration button is a physical button; or, the follow-up configuration button is a virtual button.

[0138] In one example, the number of the follow configuration button is at least one.

[0139] In one example, when the computer instructions are executed, processing is performed to adjust the following parameters of the gimbal following the target object based on the trigger: determining the following coefficient corresponding to the following configuration button after receiving the trigger; and adjusting the following parameters of the gimbal following the target object based on the following coefficient.

[0140] In one example, when the computer instruction is executed, processing to determine the follow coefficient corresponding to the follow configuration button after receiving the trigger includes: identifying the first state corresponding to the follow configuration button before receiving the trigger; determining that the follow configuration button switches from the first state to the second state according to a specified state cycle sequence after receiving the trigger; and determining the follow coefficient corresponding to the second state as the follow coefficient corresponding to the follow configuration button after receiving the trigger.

[0141] In one example, the states corresponding to the follow configuration buttons are different, and the corresponding follow coefficients are different; or, the states corresponding to the follow configuration buttons are different, but the corresponding follow coefficients are the same.

[0142] In one example, the following coefficient includes: a following speed coefficient.

[0143] In one example, the following speed coefficient includes following speed coefficients corresponding to different rotation axes, wherein the following speed coefficients corresponding to different rotation axes are the same or different.

[0144] In one example, when the computer instructions are executed, processing to adjust the following parameters of the gimbal to follow the target object based on the following coefficient includes: for each rotation axis, calculating the difference between the handle posture information and the gimbal target posture information along the rotation axis to obtain a first difference; calculating the following speed of the gimbal to follow the target object along the rotation axis based on the first difference and the following speed coefficient corresponding to the rotation axis; and controlling the gimbal to follow the target object along the rotation axis at the following speed.

[0145] In one example, the following coefficient further includes: a following dead zone, wherein the following dead zone includes following dead zones corresponding to different rotation axes, wherein the following dead zones corresponding to different rotation axes are the same or different.

[0146] In one example, when the computer instructions are executed, the processing of calculating the following speed of the gimbal following the target object along the rotation axis based on the first difference and the following speed coefficient corresponding to the rotation axis includes: comparing the absolute value of the first difference with the following dead zone corresponding to the rotation axis; if the absolute value of the first difference is greater than the following dead zone corresponding to the rotation axis, then calculating the difference between the absolute value of the first difference and the following dead zone corresponding to the rotation axis to obtain a second difference, and using the second difference and the following speed coefficient corresponding to the rotation axis to calculate the following speed of the gimbal following the target object along the rotation axis.

[0147] In one example, when the computer instructions are executed, the following speed of the gimbal following the target object along the rotation axis is calculated based on the calculated first difference and the following speed coefficient corresponding to the rotation axis, including: comparing the absolute value of the first difference with the following dead zone corresponding to the rotation axis; if the absolute value of the first difference is not greater than the following dead zone corresponding to the rotation axis, determining that the following speed of the gimbal following the target object along the rotation axis is zero.

[0148] In one example, when the computer instructions are executed, controlling the pan / tilt platform to follow the target object along the rotation axis at the following speed includes: controlling the pan / tilt platform to stop following the target object along the rotation axis.

[0149] In one example, the handle posture information along the rotation axis includes: the Euler angle of the handle along the rotation axis.

[0150] In one example, the Euler angle of the handle along the rotation axis includes: using the attitude quaternion of the inertial measurement unit IMU itself to rotate around the rotation axis of the gimbal to obtain the attitude quaternion of the handle on the rotation axis; converting the attitude quaternion of the handle on the rotation axis into the Euler angle of the handle along the rotation axis.

[0151] In one example, when the computer instructions are executed, processing and determining the gimbal target posture information along the rotation axis includes: determining the gimbal target posture information along the moving axis based on the following speed of the gimbal following the target object along the rotation axis when the trigger is received.

[0152] In one example, when the computer instructions are executed, processing is performed based on the following speed of the gimbal following the target object along the rotation axis after receiving the trigger to determine the gimbal target posture information along the rotation axis, including: integrating the following speed of the gimbal following the target object along the rotation axis after receiving the trigger to obtain the gimbal target posture information along the rotation axis.

[0153] In one example, the following speed coefficient is preconfigured, and the preconfigured following speed coefficient is adaptively adjusted according to business requirements.

[0154] In one example, the following dead zone is preconfigured, and the preconfigured following dead zone is adaptively adjusted according to business requirements.

[0155] Embodiment 6 has been described above.

[0156] For the device embodiment, since it basically corresponds to the method embodiment, the relevant parts can refer to the partial description of the method embodiment. The device embodiment described above is only schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative work.

[0157] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. The terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprises a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0158] The method and device provided in the embodiments of the present invention are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A pan / tilt control method applied to a pan / tilt, characterized in that: The method comprises: When the follow configuration button is triggered, the first state currently corresponding to the follow configuration button is switched to the second state; According to the following coefficient corresponding to the second state, the gimbal is controlled to follow the target object, wherein the gimbal includes a plurality of rotation axes for adjusting the posture of the gimbal, and the gimbal is provided with a following configuration button corresponding to a plurality of states, each state corresponds to a different following coefficient, and the following coefficient includes a following speed coefficient and a following identifier corresponding to different rotation axes, and the following identifier is used to indicate whether the corresponding rotation axis follows the target object, and the following identifiers corresponding to different rotation axes are the same or different; The method further includes: exiting the following mode when the following mark indicates that all the rotation axes of the gimbal do not follow the target object.

2. The method according to claim 1, characterized in that The step of switching the first state currently corresponding to the follow configuration button to the second state includes: According to the specified state cycle sequence, the first state is sequentially switched to the second state.

3. The method according to claim 1, characterized in that The pan / tilt head also includes a handle, and the following speed coefficients corresponding to different rotation axes are the same or different.

4. The method according to claim 3, characterized in that The step of controlling the pan / tilt head to follow the target object according to the following coefficient corresponding to the second state includes: For each rotation axis, calculating the difference between the handle posture information and the gimbal target posture information along the rotation axis to obtain a first difference value; Calculating a following speed of the gimbal following a target object along the rotation axis according to the first difference and a following speed coefficient corresponding to the rotation axis; The pan / tilt platform is controlled to follow the target object along the rotation axis at the following speed.

5. The PTZ control method according to claim 4, characterized in that: The following coefficient also includes following dead zones corresponding to different rotation axes, wherein the following dead zones corresponding to different rotation axes are the same or different; Calculating the following speed of the gimbal following the target object along the rotation axis according to the first difference and the following speed coefficient corresponding to the rotation axis includes: Determining whether an absolute value of the first difference is greater than a following dead zone corresponding to the rotation axis; If yes, then the difference between the absolute value of the first difference and the following dead zone corresponding to the rotation axis is calculated to obtain a second difference, and the following speed coefficient corresponding to the rotation axis is used to calculate the following speed of the gimbal following the target object along the rotation axis; If not, it is determined that the following speed of the gimbal following the target object along the rotation axis is zero, and the shooting device on the gimbal is controlled to stop following the posture change of the rotation axis.

6. The PTZ control method according to claim 5, characterized in that: The following identifier includes: A first flag for indicating following, and a second flag for indicating not following; The step of calculating the difference between the handle posture information and the gimbal target posture information along each rotation axis includes: For the rotation axis whose following identifier is the first identifier, the difference between the handle posture information and the gimbal target posture information along the rotation axis is calculated.

7. The PTZ control method according to claim 4, characterized in that: The handle posture information includes: the Euler angle of the handle along the rotation axis.

8. The PTZ control method according to claim 7, characterized in that: The step of obtaining the Euler angles comprises: The attitude quaternion of the inertial measurement unit IMU itself is used to rotate around the rotation axis of the gimbal to obtain the attitude quaternion of the handle on the rotation axis; The quaternion of the handle's posture on the rotation axis is converted into the Euler angle of the handle along the rotation axis.

9. The PTZ control method according to claim 4, characterized in that: The gimbal target posture information is determined according to a following speed of the gimbal following the target object along the rotation axis.

10. The PTZ control method according to claim 9, characterized in that: The gimbal target posture information is determined according to a following speed of the gimbal following the target object along the rotation axis, including: The following speed of the gimbal following the target object along the rotation axis is integrated to obtain the gimbal target posture information.

11. The PTZ control method according to claim 6, characterized in that: The following speed coefficient, and / or the following dead zone, and / or the following identifier are pre-configured through an application program APP, and are adaptively adjusted according to business requirements.

12. A pan / tilt head, characterized in that: include: Follow configuration buttons corresponding to multiple states, each state corresponds to a different follow coefficient; processor; A memory, used to store PTZ control instructions executable by the processor; The processor executes the operation of any method described in claims 1-11 by calling the gimbal control instruction.

13. The pan / tilt head according to claim 12, characterized in that: The follow configuration button is a physical button, or a virtual button displayed on the screen of the gimbal.

14. The pan / tilt head according to claim 13, characterized in that: The gimbal is a handheld gimbal, comprising a handle, and the number of the physical button is at least one and is arranged on the handle.

15. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 11 are implemented.

16. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores a plurality of computer instructions, and when the computer instructions are executed, the method according to any one of claims 1 to 11 is performed.

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