Method, device and equipment for determining attitude deviation angle of holder

Abstract

The invention relates to the technical field of pan-tilt stability augmentation, in particular to a method, device and equipment for determining the attitude deviation angle of a pan-tilt. According to the embodiment of the invention, when it is detected that a pan-tilt detection condition is met, the pan-tilt and the electronic equipment configured with the pan-tilt are controlled to keep a fixed relative posture; acquiring first state information and an attitude measurement angle of the holder and second state information of the electronic equipment; and determining the attitude deviation angle of the holder based on the attitude measurement angle and state deviation information between the first state information and the second state information.

Description

Technical Field

[0001] The present application relates to the field of gimbal stabilization technology, and in particular to a method, device, and apparatus for determining the attitude deviation angle of a gimbal. Background Art

[0002] In practical applications, a gimbal (PTZ) uses a multi-axis joint structure to adjust the spatial attitude of a camera device to meet filming or monitoring requirements. This adjustment is achieved by adjusting the angles of each joint axis. Joint angle calibration is a fundamental step in ensuring proper function. Joint angle calibration involves adjusting the angles of each joint axis to a preset initial position or calibration state upon startup to ensure the accuracy and stability of subsequent attitude control.

[0003] Traditionally, gimbals are calibrated using a level before shipment. However, due to factors such as temperature, humidity, and component aging, the encoder angles obtained using these factory-calibrated parameters may differ from the actual angles. Therefore, determining the gimbal's attitude deviation angle after shipment is a pressing issue. Summary of the Invention

[0004] The purpose of this application is to provide a method, device and equipment for determining the attitude deviation angle of a gimbal, so as to provide a solution for quickly determining the attitude deviation angle of the gimbal.

[0005] In a first aspect, the present application provides a method for determining a posture deviation angle of a gimbal, the method comprising: When it is detected that the pan-tilt detection condition is met, controlling the pan-tilt and the electronic device configured with the pan-tilt to maintain a fixed relative posture; Acquire first state information and attitude measurement angle of the gimbal, and second state information of the electronic device; Based on the posture measurement angle and the state deviation information between the first state information and the second state information, the posture deviation angle of the gimbal is determined; wherein the state deviation information represents the difference in motion posture between the gimbal and the electronic device.

[0006] In an optional embodiment, the gimbal includes multiple motors, which are used to adjust the pitch angle, heading angle, and roll angle of the gimbal; and controlling the gimbal to maintain a fixed relative posture with an electronic device configured with the gimbal includes: Controlling the plurality of motors to rotate to respective limit positions; or, By controlling the multiple motors, the gimbal maintains an initial pitch angle, an initial heading angle, and an initial roll angle, wherein the initial pitch angle, the initial heading angle, and the initial roll angle are determined according to the current posture of the gimbal when the gimbal detection condition is met.

[0007] In an optional implementation manner, determining the attitude deviation angle of the gimbal based on the attitude measurement angle and the state deviation information between the first state information and the second state information includes: Based on the state deviation information between the first state information and the second state information, and a preset angle deviation rule, the attitude deviation angle corresponding to the gimbal under the attitude measurement angle is determined; the angle deviation rule refers to: the relationship between the attitude measurement angle of the gimbal, the state deviation information between the first state information and the second state information, and the attitude deviation angle of the gimbal.

[0008] In an optional embodiment, the angle deviation rule includes a preset relative deviation angle, a conversion relationship between the attitude measurement angle and the attitude deviation angle, and a preset conversion relationship between the state deviation information and the relative deviation angle; the relative deviation angle represents the deviation of the attitude angle between the gimbal and the electronic device, and the relative deviation angle includes the pitch deviation angle, heading deviation angle, and roll deviation angle of the gimbal; The determining, based on the state deviation information between the first state information and the second state information and a preset angle deviation rule, the attitude deviation angle corresponding to the gimbal at the attitude measurement angle includes: Determining a relationship between the relative deviation angle and the posture deviation angle based on the posture measurement angle, a preset relative deviation angle, and a conversion relationship between the posture measurement angle and the posture deviation angle; The posture deviation angle is determined based on the relationship between the relative deviation angle and the posture deviation angle, the preset conversion relationship between the state deviation information and the relative deviation angle, and the state deviation information.

[0009] In an optional implementation manner, the first state information is a first angular velocity of the gimbal, and the second state information is a second angular velocity of the electronic device; Determine the state deviation information between the first state information and the second state information by: State deviation information between the first state information and the second state information is determined based on a difference between the first angular velocity and the second angular velocity.

[0010] In an optional implementation manner, determining the state deviation information between the first state information and the second state information based on the difference between the first angular velocity and the second angular velocity includes: determining a conversion matrix between the first angular velocity and the second angular velocity based on the first angular velocity and the second angular velocity; The conversion matrix is determined as state deviation information between the first state information and the second state information.

[0011] In an optional implementation manner, after determining the attitude deviation angle of the gimbal, the method further includes: adjusting the attitude measurement angle based on the attitude deviation angle to obtain an attitude correction value of the gimbal, and controlling the gimbal using the attitude correction value; After determining the attitude deviation angle of the gimbal, and before adjusting the attitude measurement angle according to the attitude deviation angle, the method further includes: Acquiring third status information of the gimbal and fourth status information of the electronic device; Based on the third state information and the fourth state information, controlling a first coordinate system corresponding to the gimbal to coincide with a second coordinate system corresponding to the electronic device; Acquiring a current reference attitude measurement angle of the gimbal, and adjusting the reference attitude measurement angle based on the attitude deviation angle to obtain an attitude verification value between the gimbal and the electronic device; If the posture verification value meets the preset threshold, it is determined that the posture deviation angle detection has passed.

[0012] In an optional implementation manner, the third state information is the acceleration of the gimbal, and the fourth state information is the acceleration of the electronic device; The controlling, based on the third state information and the fourth state information, of the first coordinate system corresponding to the gimbal to coincide with the second coordinate system corresponding to the electronic device includes: Adjusting a first coordinate system corresponding to the gimbal and / or a second coordinate system corresponding to the electronic device based on the acceleration of the gimbal and the acceleration of the electronic device; When the acceleration of the gimbal and the acceleration of the electronic device meet a coincidence condition, it is determined that the first coordinate system corresponding to the gimbal coincides with the second coordinate system corresponding to the electronic device.

[0013] In a second aspect, the present application provides a device for determining a posture deviation angle of a gimbal, the device comprising: A control module, configured to control the pan-tilt platform to maintain a fixed relative posture with an electronic device equipped with the pan-tilt platform when a pan-tilt platform detection condition is detected to be met; an acquisition module, configured to acquire first status information and attitude measurement angle of the gimbal, and second status information of the electronic device; A determination module is used to determine the posture deviation angle of the gimbal based on the posture measurement angle and the state deviation information between the first state information and the second state information; wherein the state deviation information represents the difference in motion posture between the gimbal and the electronic device.

[0014] In a third aspect, an embodiment of the present application provides an electronic device comprising a processor and a memory, wherein the memory stores program code, and when the program code is executed by the processor, the processor executes the steps of any one of the methods described in the first aspect.

[0015] In a fourth aspect, an embodiment of the present application provides a computer storage medium, wherein the computer storage medium stores computer instructions. When the computer instructions are executed on a computer, the computer executes the steps of any of the methods described in the first aspect.

[0016] In a fifth aspect, an embodiment of the present application provides a computer program product, comprising a computer program, which is stored in a computer-readable storage medium; when a processor of an electronic device reads the computer program from the computer-readable storage medium, the processor executes the computer program, so that the electronic device performs the steps of any method described in the first aspect.

[0017] The technical solutions provided by the embodiments of this application bring at least the following beneficial effects: By controlling the gimbal and the electronic device configured with the gimbal to maintain a fixed relative posture, in this state, the gimbal and the electronic device can be regarded as a rigid body. Based on the attitude measurement angle of the gimbal and the state deviation information between the first state information of the gimbal and the second state information of the electronic device, the attitude deviation angle of the gimbal can be determined quickly and efficiently while the electronic device is in operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings: Figure 1 This is a flow chart of a method for determining the attitude deviation angle of a gimbal according to an embodiment of the present application; Figure 2 This is a structural diagram of a device for determining a posture deviation angle of a gimbal according to an embodiment of the present application; Figure 3 This is a structural diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0019] To make the purpose, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Among them, the described embodiments are 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 making creative efforts are within the scope of protection of this application.

[0020] Furthermore, in the description of the embodiments of the present application, unless otherwise specified, "and" means or, for example, A / B can mean A or B; "and / or" in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "plurality" means two or more than two.

[0021] In the following, the terms "first" and "second" are used for descriptive purposes only and should not be understood to imply or suggest relative importance or implicitly indicate the number of the technical features indicated. Therefore, features defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of this application, unless otherwise specified, "plurality" means two or more.

[0022] In order to facilitate understanding of the method and device for determining the posture deviation angle of the gimbal provided in the embodiments of the present application, some terms in the embodiments of the present application are explained below to facilitate understanding by those skilled in the art.

[0023] Gimbal: A multi-axis mechanical structure used to stabilize camera equipment or sensors, usually including pitch, roll and yaw axes.

[0024] Joint Angle: The rotation angle of each joint axis of the gimbal relative to the reference position, used to describe the spatial posture of the gimbal.

[0025] Calibration (Initialization): The process of adjusting the angles of each joint axis of the gimbal to the preset initial position or calibration state.

[0026] Sensor Fusion: Improves the accuracy and reliability of joint angle calibration by combining data from multiple sensors (such as IMU, encoders, and vision sensors).

[0027] Control Algorithm: The calculation logic used to implement gimbal joint angle calibration, including PID control, adaptive control, deep learning, etc.

[0028] Mechanical Limit: Limits the range of motion of the gimbal joint axis through physical structure to prevent excessive rotation.

[0029] Attitude Calibration: Adjusts the gimbal's attitude through sensor data and control algorithms to meet preset requirements.

[0030] Multi-Axis Gimbal: A gimbal structure that contains multiple rotation axes, usually three axes (pitch, roll, yaw) or two axes (pitch, roll).

[0031] Inertial Measurement Unit (IMU): A sensor containing an accelerometer and a gyroscope that measures the gimbal's attitude and motion.

[0032] Visual Assistance: Captures gimbal position information through a camera or visual sensor to assist in joint angle calibration.

[0033] Gimbal base (Base): The device on which the gimbal is placed and fixed, such as an aircraft.

[0034] It should be noted that the gimbal can be connected to an electronic device through a gimbal base, and the embodiment of the present application executes the method of determining the posture deviation angle of the gimbal in the embodiment of the present application through the gimbal or the electronic device.

[0035] For example, the gimbal according to the present application can be connected to the aircraft via a gimbal base. The method for determining the gimbal's attitude deviation angle according to the present application can then be executed by a processor in the gimbal, or by a processor in the aircraft. If the gimbal base includes a processor, the method for determining the gimbal's attitude deviation angle according to the present application can also be executed by the gimbal base. This application is not limited to this.

[0036] Optionally, the electronic device configured with the pan-tilt head in the embodiment of the present application may also be a mobile platform such as a car or a ship.

[0037] like Figure 1 The flowchart of a method for determining the attitude deviation angle of a gimbal provided in an embodiment of the present application is shown. The specific steps are as follows: Step S101: When it is detected that the gimbal detection condition is met, the gimbal is controlled to maintain a fixed relative posture with the electronic device equipped with the gimbal.

[0038] Optionally, the embodiment of the present application determines that the PTZ detection condition is met by at least one of the following methods: Method 1: Detect power-on.

[0039] Method 2: Detecting a gimbal detection operation triggered by a user.

[0040] For example, a user may trigger a pan-tilt detection operation on an electronic device equipped with a pan-tilt system, or trigger a pan-tilt detection operation on an associated electronic device that has a network connection or a wired connection with the electronic device equipped with a pan-tilt system. This application does not impose any restrictions on this.

[0041] For example, the electronic device equipped with a gimbal may be an aircraft, and the associated electronic device may be an aircraft control handle connected to the aircraft through a network.

[0042] Considering that the electronic device equipped with the gimbal is in motion, the embodiments of the present application use control methods to keep the various rotation axes of the gimbal stationary, that is, the gimbal does not rotate, and the relative posture between the gimbal and the electronic device remains fixed. The gimbal and the gimbal base can be regarded as a rigid body.

[0043] In an embodiment of the present application, the gimbal may include multiple motors, which are used to adjust the pitch angle, heading angle and roll angle of the gimbal.

[0044] For example, consider a gimbal that includes three motors: a pitch motor, a yaw motor, and a roll motor. Each motor adjusts the angle of rotation of a particular axis. The pitch, yaw, and roll angles of the gimbal are the angles of rotation of the three axes. Specifically, the pitch motor adjusts the pitch angle, the yaw motor adjusts the yaw angle, and the roll motor adjusts the roll angle.

[0045] The embodiment of the present application controls the gimbal and the electronic device equipped with the gimbal to maintain a fixed relative posture by any of the following methods: In an optional implementation, multiple motors are controlled to rotate to their respective limit positions.

[0046] It should be noted that the limit position of the motor is the position where the motor rotates to the maximum angle.

[0047] In the embodiment of the present application, a first current control instruction is sent to the multiple motors to control the multiple motors to rotate to the limit positions respectively.

[0048] Illustratively, the embodiment of the present application controls the multiple motors to rotate to the limit positions respectively by sending current of a first preset current value to the multiple motors, thereby ensuring that the various rotating axes of the gimbal are fixed.

[0049] The first current control instruction is a current of a first preset current value. In the embodiment of the present application, the value of the first preset current value can be pre-set. For example, the value of the maximum current value that can be transmitted can be used as the first preset current value.

[0050] Another optional implementation manner is to control multiple motors to enable the gimbal to maintain an initial pitch angle, an initial heading angle, and an initial roll angle.

[0051] Among them, the initial pitch angle, initial heading angle, and initial roll angle are determined according to the posture of the gimbal when the gimbal detection conditions are met.

[0052] That is, the initial pitch angle, initial heading angle, and initial roll angle are the pitch angle, heading angle, and roll angle of the gimbal when the gimbal meets the gimbal detection conditions.

[0053] It should be noted that the multiple motors of the gimbal are respectively equipped with encoders, which detect the angle of each motor to obtain the pitch angle, heading angle and roll angle of the gimbal.

[0054] For example, if the gimbal includes three motors, each motor corresponds to an encoder, and an encoder is used to detect the angle of the motor corresponding to the encoder.

[0055] Optionally, the embodiment of the present application can obtain the initial pitch angle, initial heading angle and initial roll angle of the gimbal, and use a PID controller to fix the various rotation axes of the gimbal, that is, to keep the gimbal at the initial pitch angle, initial heading angle and initial roll angle.

[0056] Exemplarily, an embodiment of the present application obtains the current pitch angle, heading angle and roll angle of the gimbal; based on the initial pitch angle and the current pitch angle of the gimbal, controls the gimbal to move to the initial pitch angle; based on the initial heading angle and the current heading angle of the gimbal, controls the gimbal to move to the initial heading angle; based on the initial roll angle and the current roll angle of the gimbal, controls the gimbal to move to the initial roll angle.

[0057] Optionally, before obtaining the initial pitch angle, initial heading angle, and initial roll angle of the gimbal, the embodiment of the present application may also send a second current control instruction to multiple motors to control the multiple motors to respectively maintain the initial pitch angle, initial heading angle, and initial roll angle, and obtain the initial pitch angle, initial heading angle, and initial roll angle of the gimbal.

[0058] The second current control instruction is a current of a second preset current value. In the embodiment of the present application, the value of the second preset current value can be preset. For example, the second preset current value can be set to zero.

[0059] Step S102: Acquire first state information and attitude measurement angle of the gimbal, and second state information of the electronic device.

[0060] Optionally, the first state information in the embodiment of the present application may be a first angular velocity of the gimbal, and the second state information may be a second angular velocity of the electronic device.

[0061] In the embodiment of the present application, the gimbal is connected to the electronic device via a gimbal base.

[0062] It should be noted that the gimbal is fixedly connected to an inertial measurement unit, which can measure the angular velocity of the gimbal relative to the inertial system. . The variable is read as: PTZ coordinate system ( ) is the angular velocity of the inertial system (i) in the gimbal coordinate system ( ) is indicated below.

[0063] Among them, the angular velocity corresponding to each of the three rotation axes is measured by the inertial measurement unit on the gimbal. , , .

[0064] The inertial measurement unit is fixedly connected to the gimbal base, which can measure the angular velocity of the gimbal base relative to the inertial system. . The variable is read as: base coordinate system ( ) is the angular velocity of the inertial system (i) in the base coordinate system ( ) is indicated below.

[0065] Among them, the angular velocity corresponding to each of the three rotation axes is measured by the inertial measurement unit on the gimbal base. ， ， .

[0066] It should be noted that the inertial system is the coordinate system of the inertial measurement unit.

[0067] Since the gimbal base is fixed on the electronic device, the embodiment of the present application can measure the angular velocity obtained by the inertial measurement unit on the gimbal base. , as the second angular velocity of the electronic device.

[0068] Step S103 : determining the attitude deviation angle of the gimbal based on the attitude measurement angle and the state deviation information between the first state information and the second state information.

[0069] The state deviation information indicates the difference in motion posture between the gimbal and the electronic device.

[0070] Optionally, the embodiment of the present application determines the attitude deviation angle corresponding to the gimbal under the attitude measurement angle based on the state deviation information between the first state information and the second state information, and a preset angle deviation rule.

[0071] The angle deviation rule refers to the relationship between the attitude measurement angle of the gimbal, the state deviation information between the first state information and the second state information, and the attitude deviation angle of the gimbal.

[0072] It should be noted that the gimbal's attitude measurement angle is measured by the encoder configured on the computer.

[0073] Exemplarily, the angle deviation law includes a preset relative deviation angle, a conversion relationship between the attitude measurement angle and the attitude deviation angle, and a conversion relationship between the preset state deviation information and the relative deviation angle; the relative deviation angle represents the deviation of the attitude angle between the gimbal and the electronic device, and the relative deviation angle includes the pitch deviation angle, heading deviation angle and roll deviation angle of the gimbal.

[0074] For step S103, the embodiment of the present application determines the relationship between the relative deviation angle and the posture deviation angle based on the posture measurement angle and the preset relative deviation angle, and the conversion relationship between the posture measurement angle and the posture deviation angle; determines the posture deviation angle based on the relationship between the relative deviation angle and the posture deviation angle, the conversion relationship between the preset state deviation information and the relative deviation angle, and the state deviation information.

[0075] For example, the conversion relationship between the preset relative deviation angle, the posture measurement angle and the posture deviation angle in the embodiment of the present application can be seen from Formula 1, Formula 2 and Formula 3: It should be noted that Formula 1, Formula 2, and Formula 3 each correspond to a rotation angle of a different rotation axis.

[0076] ——Formula 1 ——Formula 2 ——Formula 3 in, , and They represent the relative deviation angles corresponding to different rotation axes, namely the pitch deviation angle, heading deviation angle, and roll deviation angle. , and They represent the attitude measurement angles corresponding to different rotation axes, which can be measured by encoders. , and They represent the attitude deviation angles corresponding to different rotation axes.

[0077] It should be noted that x, y, and z represent different rotation axes respectively.

[0078] The relationship between the relative deviation angle and the attitude deviation angle can be determined by formula 1, formula 2 and formula 3.

[0079] For example, the conversion relationship between the preset state deviation information and the relative deviation angle in the embodiment of the present application is shown in Formula 4:

[0080] ——Formula 4

[0081] in, Indicates status deviation information. , and They represent the relative deviation angles corresponding to different rotation axes.

[0082] It should be noted that the state deviation information It can also be understood as the rotation matrix from the gimbal base coordinate system to the gimbal coordinate system. The rotation order is zxy, and the angles are , and .

[0083] Optionally, in an embodiment of the present application, the first state information may be a first angular velocity of the gimbal, and the second state information may be a second angular velocity of the electronic device. The state deviation information between the first state information and the second state information is determined in the following manner: based on the difference between the first angular velocity and the second angular velocity, the state deviation information between the first state information and the second state information is determined.

[0084] In an optional implementation, a conversion matrix between the first angular velocity and the second angular velocity is determined based on the first angular velocity and the second angular velocity; and the conversion matrix is determined as state deviation information between the first state information and the second state information.

[0085] Optionally, the state deviation information in the embodiment of the present application is obtained by formula 5: ——Formula 5 in, Indicates status deviation information. Indicates the first angular velocity of the gimbal, including the angular velocities corresponding to the three rotation axes of the gimbal: , , . Indicates the second angular velocity of the electronic device, including the angular velocities corresponding to the three rotation axes of the gimbal base: ， ， .

[0086] Among them, the embodiment of the present application can substitute Formula 1, Formula 2, Formula 3 and Formula 4 into Formula 5. Formula 5 is simplified into three independent formulas. By collecting a certain number of first angular velocities and second angular velocities, parameter identification tools such as least squares, Kalman filtering and deep learning can be used to determine the attitude deviation angle. , and .

[0087] Optionally, after determining the attitude deviation angle of the gimbal, it also includes: obtaining third state information of the gimbal and fourth state information of the electronic device; based on the third state information and the fourth state information, aligning the first coordinate system corresponding to the gimbal with the second coordinate system corresponding to the electronic device; obtaining the current reference attitude measurement angle of the gimbal, and adjusting the reference attitude measurement angle based on the attitude deviation angle to obtain an attitude verification value between the gimbal and the electronic device; if the attitude verification value meets the preset threshold, it is determined that the attitude deviation angle detection has passed.

[0088] Optionally, in the embodiment of the present application, the difference between the reference posture measurement angle and the posture deviation angle is used as the posture verification value.

[0089] It should be noted that when adjusting the reference posture measurement angle based on the posture deviation angle, the posture deviation angle used and the reference posture measurement angle to be adjusted are angles corresponding to the same rotation axis, and the posture verification value corresponding to the rotation axis is obtained.

[0090] Among them, the preset threshold in the embodiment of the present application can be set to zero. When the posture verification value is zero, it is determined that the posture deviation angle detection has passed.

[0091] It should be noted that, when determining the posture verification value, the posture verification value corresponding to the rotation axis is determined based on the reference posture measurement angle and the posture deviation angle corresponding to the same rotation axis.

[0092] In the embodiment of the present application, the third state information may be the acceleration of the gimbal, and the fourth state information may be the acceleration of the electronic device.

[0093] It should be noted that the embodiments of the present application measure the acceleration of the gimbal, including the acceleration corresponding to each of the three rotation axes, through an inertial measurement unit fixedly connected to the gimbal. The acceleration of the electronic device is measured through an inertial measurement unit fixedly connected to the gimbal base, including the acceleration corresponding to each of the three rotation axes.

[0094] Optionally, in the embodiment of the present application, the first coordinate system corresponding to the gimbal is controlled to coincide with the second coordinate system corresponding to the electronic device in the following manner: Based on the acceleration of the gimbal and the acceleration of the electronic device, adjust the first coordinate system corresponding to the gimbal and / or the second coordinate system corresponding to the electronic device; when the acceleration of the gimbal and the acceleration of the electronic device meet the coincidence condition, determine that the first coordinate system corresponding to the gimbal coincides with the second coordinate system corresponding to the electronic device.

[0095] Among them, the embodiment of the present application can adjust the first coordinate system corresponding to the gimbal and / or the second coordinate system corresponding to the electronic device by analyzing the acceleration of the gimbal and the acceleration of the electronic device.

[0096] It should be noted that, for each rotation axis, when the acceleration corresponding to the rotation axis of the gimbal and the acceleration corresponding to the rotation axis of the electronic device are the same, it is determined that the acceleration of the gimbal and the acceleration of the electronic device meet the coincidence condition.

[0097] The embodiment of the application further includes, after determining the attitude deviation angle of the gimbal and the attitude deviation angle detection passes, adjusting the attitude measurement angle based on the attitude deviation angle, obtaining the attitude correction value of the gimbal, and using the attitude correction value to control the gimbal.

[0098] It should be noted that if the attitude deviation angle used and the attitude measurement angle to be adjusted are angles corresponding to the same rotation axis, then the attitude correction value corresponding to the rotation axis is obtained.

[0099] It should be noted that when the attitude correction value is used, the relative attitude between the gimbal and the electronic device is the relative attitude between the gimbal and the electronic device after the gimbal detection conditions are detected to be met.

[0100] After the posture correction value of the gimbal is determined, the gimbal calibration process of the embodiment of the present application is completed.

[0101] The gimbal calibration solution in this application can be widely used in the following scenarios: Drone aerial photography: When starting a drone, quickly and accurately calibrate the gimbal joint angle to ensure the camera is in the optimal shooting position and improve the quality of aerial photography.

[0102] Aerial monitoring: In aerial monitoring equipment (such as meteorological monitoring and topographic mapping), joint angle calibration is used to ensure sensor stability and data acquisition accuracy.

[0103] Aircraft attitude control: In aircraft (such as fixed-wing aircraft and helicopters), gimbal joint angle calibration assists in aircraft attitude adjustment and improves flight stability.

[0104] Intelligent inspection: In scenarios such as power inspection and pipeline inspection, the stable operation of the inspection equipment and data collection efficiency are ensured by quickly calibrating the pan / tilt joint angle.

[0105] In scenarios such as target tracking, high-precision joint angle calibration is used to improve the response speed and stability of the gimbal to meet complex mission requirements.

[0106] The following is an introduction to the equipment or device provided in the embodiments of the present application, in which the explanations or examples of technical features that are the same as or corresponding to those described in the above method are not repeated hereafter.

[0107] See Figure 2 , an embodiment of the present application provides a schematic structural diagram of a device for determining a posture deviation angle of a gimbal, the device comprising: The control module 201 is configured to control the gimbal to maintain a fixed relative posture with the electronic device equipped with the gimbal when a gimbal detection condition is detected. An acquisition module 202 is configured to acquire first state information and an attitude measurement angle of the gimbal, and second state information of the electronic device; The determination module 203 is used to determine the posture deviation angle of the gimbal based on the posture measurement angle and the state deviation information between the first state information and the second state information; wherein the state deviation information represents the difference in motion posture between the gimbal and the electronic device.

[0108] like Figure 3 As shown, the electronic device 300 provided in an embodiment of the present application includes a processor 301 and a memory 302; the memory 302 is used to store a computer program; the processor 301 is used to read the computer program in the memory 302 and perform the following operations: When it is detected that the pan-tilt detection condition is met, controlling the pan-tilt and the electronic device configured with the pan-tilt to maintain a fixed relative posture; Acquire first state information and attitude measurement angle of the gimbal, and second state information of the electronic device; Based on the posture measurement angle and the state deviation information between the first state information and the second state information, the posture deviation angle of the gimbal is determined; wherein the state deviation information represents the difference in motion posture between the gimbal and the electronic device.

[0109] Embodiments of the present application also provide a computer program product or computer program, comprising computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform any of the methods described in the above embodiments. The program product may utilize any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, a portable compact disk-read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0110] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0111] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0112] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1The function specified in one or more boxes.

[0113] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0114] Obviously, those skilled in the art may make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application is intended to include these modifications and variations.

Claims

1. A method for determining the attitude deviation angle of a gimbal, characterized in that: The method comprises: When it is detected that the pan-tilt detection condition is met, controlling the pan-tilt and the electronic device configured with the pan-tilt to maintain a fixed relative posture; Acquire first state information and attitude measurement angle of the gimbal, and second state information of the electronic device; Based on the posture measurement angle and the state deviation information between the first state information and the second state information, the posture deviation angle of the gimbal is determined; wherein the state deviation information represents the difference in motion posture between the gimbal and the electronic device.

2. The method according to claim 1, wherein The gimbal includes a plurality of motors for adjusting the pitch angle, heading angle, and roll angle of the gimbal; and the gimbal is controlled to maintain a fixed relative posture with an electronic device configured with the gimbal, including: Controlling the plurality of motors to rotate to respective limit positions; or, By controlling the multiple motors, the gimbal maintains an initial pitch angle, an initial heading angle, and an initial roll angle, wherein the initial pitch angle, the initial heading angle, and the initial roll angle are determined according to the posture of the gimbal when the gimbal detection condition is met.

3. The method according to claim 1, wherein The determining the attitude deviation angle of the gimbal based on the attitude measurement angle and the state deviation information between the first state information and the second state information includes: Based on the state deviation information between the first state information and the second state information, and a preset angle deviation rule, the attitude deviation angle corresponding to the gimbal under the attitude measurement angle is determined; the angle deviation rule refers to: the relationship between the attitude measurement angle of the gimbal, the state deviation information between the first state information and the second state information, and the attitude deviation angle of the gimbal.

4. The method according to claim 3, wherein The angle deviation rule includes a preset relative deviation angle, a conversion relationship between the attitude measurement angle and the attitude deviation angle, and a preset conversion relationship between the state deviation information and the relative deviation angle; the relative deviation angle represents the deviation of the attitude angle between the gimbal and the electronic device, and the relative deviation angle includes the pitch deviation angle, heading deviation angle, and roll deviation angle of the gimbal; The determining, based on the state deviation information between the first state information and the second state information and a preset angle deviation rule, the attitude deviation angle corresponding to the gimbal at the attitude measurement angle includes: Determining a relationship between the relative deviation angle and the posture deviation angle based on the posture measurement angle, a preset relative deviation angle, and a conversion relationship between the posture measurement angle and the posture deviation angle; The posture deviation angle is determined based on the relationship between the relative deviation angle and the posture deviation angle, the preset conversion relationship between the state deviation information and the relative deviation angle, and the state deviation information.

5. The method according to claim 1 or 3, wherein: The first state information is a first angular velocity of the gimbal, and the second state information is a second angular velocity of the electronic device; Determine the state deviation information between the first state information and the second state information by: State deviation information between the first state information and the second state information is determined based on a difference between the first angular velocity and the second angular velocity.

6. The method according to claim 5, wherein The determining, based on the difference between the first angular velocity and the second angular velocity, state deviation information between the first state information and the second state information includes: determining a conversion matrix between the first angular velocity and the second angular velocity based on the first angular velocity and the second angular velocity; The conversion matrix is determined as state deviation information between the first state information and the second state information.

7. The method according to claim 1, wherein After determining the attitude deviation angle of the gimbal, the method further includes: adjusting the attitude measurement angle based on the attitude deviation angle to obtain an attitude correction value of the gimbal, and controlling the gimbal using the attitude correction value; After determining the attitude deviation angle of the gimbal, and before adjusting the attitude measurement angle according to the attitude deviation angle, the method further includes: Acquiring third status information of the gimbal and fourth status information of the electronic device; Based on the third state information and the fourth state information, aligning a first coordinate system corresponding to the gimbal with a second coordinate system corresponding to the electronic device; Acquiring a current reference attitude measurement angle of the gimbal, and adjusting the reference attitude measurement angle based on the attitude deviation angle to obtain an attitude verification value between the gimbal and the electronic device; If the posture verification value meets the preset threshold, it is determined that the posture deviation angle detection has passed.

8. The method according to claim 7, wherein The third state information is the acceleration of the gimbal, and the fourth state information is the acceleration of the electronic device; The step of aligning the first coordinate system corresponding to the gimbal with the second coordinate system corresponding to the electronic device based on the third state information and the fourth state information includes: Adjusting a first coordinate system corresponding to the gimbal and / or a second coordinate system corresponding to the electronic device based on the acceleration of the gimbal and the acceleration of the electronic device; When the acceleration of the gimbal and the acceleration of the electronic device meet a coincidence condition, it is determined that the first coordinate system corresponding to the gimbal coincides with the second coordinate system corresponding to the electronic device.

9. A device for determining the attitude deviation angle of a gimbal, characterized in that: The device comprises: A control module, configured to control the pan-tilt platform to maintain a fixed relative posture with an electronic device equipped with the pan-tilt platform when a pan-tilt platform detection condition is detected to be met; an acquisition module, configured to acquire first status information and attitude measurement angle of the gimbal, and second status information of the electronic device; A determination module is used to determine the posture deviation angle of the gimbal based on the posture measurement angle and the state deviation information between the first state information and the second state information; wherein the state deviation information represents the difference in motion posture between the gimbal and the electronic device.

10. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores program codes, and when the program codes are executed by the processor, the processor is enabled to perform the steps of any one of the methods of claims 1-8.

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