CN110431507A - A kind of cloud platform control method and holder - Google Patents
A kind of cloud platform control method and holder Download PDFInfo
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- CN110431507A CN110431507A CN201880016955.2A CN201880016955A CN110431507A CN 110431507 A CN110431507 A CN 110431507A CN 201880016955 A CN201880016955 A CN 201880016955A CN 110431507 A CN110431507 A CN 110431507A
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- 238000003384 imaging method Methods 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
- G05D3/20—Control of position or direction using feedback using a digital comparing device
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- Automation & Control Theory (AREA)
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- Remote Sensing (AREA)
- Accessories Of Cameras (AREA)
- Studio Devices (AREA)
Abstract
A kind of cloud platform control method, the holder includes pedestal, at least one shaft being sequentially connected on pedestal and the load device for being connected to the shaft end, driver is provided at the shaft, which comprises obtains the initial attitude of the holder and the current pose of the holder；Posture according to the current pose of the holder and the initial attitude of the holder is poor, calculates the drive volume of the driver at least one described shaft；It controls the driver and drives at least one described pivot according to the drive volume.
Description
Technical field
This disclosure relates to holder field more particularly to a kind of cloud platform control method and holder.
Background technique
In daily use, when people are directly shot using capture apparatus such as mobile phone, cameras, it is easy because of hand-held shakiness
And there is the case where float, lead to that ideal picture or video cannot be shot, therefore, is carried by stabilizers such as holders
Capture apparatus is shot to be stablized with the composition for guaranteeing capture apparatus, has become now common style of shooting.But it is existing
Holder in, often the mode of only several fixations is selected for user, for example, shake-hands grip, it is perpendicular clap or torch mode, reach a certain
Increasing in kind angle is steady.User in use, is merely able to control mobile phone, camera etc. towards a specific direction or only exists
It realizes and follows in some shaft, it is impossible to meet the demands that the demand of any composition of user or first person are shot.
Disclosure
In view of this, the increasing that can be realized in any angle is steady present disclose provides a kind of cloud platform control method and holder
With follow, to meet the demand of the needs of user's any composition and first person shooting.
The embodiment of the present disclosure provides a kind of cloud platform control method, and the holder includes pedestal, is sequentially connected on pedestal
At least one shaft and be connected to the load device of the shaft end, be provided with driver, the method at the shaft
It include: the current pose of the initial attitude and the holder that obtain the holder；According to the current pose of the holder and described
The posture of the initial attitude of holder is poor, calculates the drive volume of the driver at least one described shaft；Control the drive
Dynamic device drives at least one described pivot according to the drive volume.
The embodiment of the present disclosure additionally provides a kind of holder, and the holder includes pedestal, is sequentially connected on pedestal at least
One shaft and the load device for being connected to the shaft end are provided with driver, the holder at the shaft further include:
Memory, for storing executable instruction；Processor, for executing the executable instruction stored in the memory, with
It performs the following operations: obtaining the initial attitude of the holder and the current pose of the holder；According to the current appearance of the holder
The posture of the initial attitude of state and the holder is poor, calculates the drive volume of the driver at least one described shaft；Control
It makes the driver and drives at least one described pivot according to the drive volume.
The embodiment of the present disclosure additionally provides a kind of computer readable storage medium, is stored with executable instruction, it is described can
It executes instruction when executed by one or more processors, one or more of processors can be made to execute any description above
Cloud platform control method.
It can be seen from the above technical proposal that the embodiment of the present disclosure at least has the advantages that working as according to holder
The posture of the initial attitude of preceding posture and holder is poor, determines drive volume, and controls driver and move according to drive volume drive shaft,
So that the posture of load device follows the posture of pedestal, arbitrary composition or arbitrary the first can be realized with this load device
Claim the shooting at visual angle.
Detailed description of the invention
Attached drawing is and to constitute part of specification for providing further understanding of the disclosure, with following tool
Body embodiment is used to explain the disclosure together, but does not constitute the limitation to the disclosure.In the accompanying drawings:
Fig. 1 is the structure chart of three axis holders of the embodiment of the present disclosure.
Fig. 2 is the flow chart of the cloud platform control method of the embodiment of the present disclosure.
Fig. 3 is the flow chart of the sub-step of step S202.
Fig. 4 is the flow diagram that the holder of the first scheme follows.
Fig. 5 is the determination schematic diagram of the targeted attitude quaternary number of camera in Fig. 4.
Fig. 6 is the flow diagram that the holder of second scheme follows.
Fig. 7 is the determination schematic diagram at target joint angle in Fig. 6.
Fig. 8 is the schematic diagram of the holder of the embodiment of the present disclosure.
Fig. 9 is the schematic diagram of the holder of another embodiment of the disclosure.
[symbol description]
101, roll axis driver 102, yaw axis driver
103, pitch axis driver 104, handle
105, pedestal 106, camera
Specific embodiment
Hereinafter, will be described with reference to the accompanying drawings embodiment of the disclosure.However, it should be understood that these descriptions are only exemplary
, and it is not intended to limit the scope of the present disclosure.In addition, in the following description, descriptions of well-known structures and technologies are omitted, with
Avoid unnecessarily obscuring the concept of the disclosure.
Term as used herein is not intended to limit the disclosure just for the sake of description specific embodiment.It uses herein
The terms "include", "comprise" etc. show the presence of the feature, step, operation and/or component, but it is not excluded that in the presence of
Or add other one or more features, step, operation or component.
There are all terms (including technical and scientific term) as used herein those skilled in the art to be generally understood
Meaning, unless otherwise defined.It should be noted that term used herein should be interpreted that with consistent with the context of this specification
Meaning, without that should be explained with idealization or excessively mechanical mode.
It, in general should be according to this using statement as " at least one in A, B and C etc. " is similar to
Field technical staff is generally understood the meaning of the statement to make an explanation (for example, " system at least one in A, B and C "
Should include but is not limited to individually with A, individually with B, individually with C, with A and B, with A and C, have B and C, and/or
System etc. with A, B, C).Using statement as " at least one in A, B or C etc. " is similar to, generally come
Saying be generally understood the meaning of the statement according to those skilled in the art to make an explanation (for example, " having in A, B or C at least
One system " should include but is not limited to individually with A, individually with B, individually with C, with A and B, have A and C, have
B and C, and/or the system with A, B, C etc.).It should also be understood by those skilled in the art that substantially arbitrarily indicating two or more
The adversative conjunction and/or phrase of optional project shall be construed as either in specification, claims or attached drawing
A possibility that giving including one of these projects, either one or two projects of these projects.For example, phrase " A or B " should
A possibility that being understood to include " A " or " B " or " A and B ".
One embodiment of the disclosure provides a kind of cloud platform control method, which includes pedestal, is sequentially connected on pedestal
At least one shaft and be connected to the load device of the shaft end, be provided with driver, this method packet at the shaft
It includes: obtaining the initial attitude of the holder and the current pose of the holder；According to the current pose of the holder and the cloud
The posture of the initial attitude of platform is poor, calculates the drive volume of the driver at least one described shaft；Control the driving
Device drives at least one described pivot according to the drive volume.
It should be noted that the number of shaft can be two or three, the disclosure is retouched by taking three axis holders as an example
It states.Load device is generally camera, video camera or other capture apparatus, the disclosure and is illustrated by taking camera as an example.It is detailed in figure
1, three axis holders of the embodiment of the present disclosure include three shafts, i.e. roll axis, yaw axis and pitch axis, Three-axis drive device, that is, roll
Axis driver 101, yaw axis driver 102 and pitch axis driver 103 are located on roll axis, yaw axis and pitch axis；
The pedestal 105 being connected with each shaft, the camera 106 and the affixed handle 104 of pedestal that are connected to shaft end.
Fig. 2 is the flow chart of the cloud platform control method of the embodiment of the present disclosure, as shown in Fig. 2, the method comprising the steps of S201
~S203.
In step s 201, the initial attitude of the holder and the current pose of the holder are obtained.
The initial attitude and current pose of general holder can be obtained by sensor, and the sensor has two classes.First
Class be set on pedestal and camera on sensor, obtain initial attitude of the posture as holder of pedestal, the posture of camera
Current pose as holder；Second class is the sensor being set at least one shaft, for obtain shaft it is initial when
Carve the initial attitude and current pose with the joint angle at current time as holder.Two class sensors correspond to two kinds of control programs,
The first is whole posture closed-loop control, and second is joint angle closed-loop control.
Here, when the initial attitude of holder refers to that a control period starts, the posture or shaft of pedestal when beginning
Joint angle, the current pose of holder refer to this control the period in a certain moment pedestal posture or shaft pass
Save angle.It is understood that the current pose for controlling holder in the period at one can be different with the initial attitude of holder.Specifically
One control the period in cloud platform control method will be mentioned in the explanation below to Fig. 4 and Fig. 6.
In step S202, the posture according to the current pose of the holder and the initial attitude of the holder is poor, calculates
The drive volume of the driver (can be motor) at least one described shaft, the rotation of drive volume finger actuator drive shaft
Angle.By taking three axis holders as an example, the rotating shaft electric motor at three axis roll axis, yaw axis and pitch axis of holder is respectively according to meter
After obtained drive volume drives each shaft to rotate certain angle, holder will be turned to by current pose current pose and just
Middle attitude between beginning posture.Here middle attitude can be any of current pose and initial attitude variation range
Posture.Holder can smoothly follow initial attitude as a result, and the rigidity of such as self-timer rod-type is avoided to follow phase caused by movement
Machine shooting shake, be imaged it is unclear, damage driver the problem of.
For the first scheme, the posture difference is the posture difference value of the posture of pedestal and the posture of camera.For
Two kinds of schemes, posture difference are the joint angle difference value of initial joint angle and current joint angle.
In step S203, the driver is controlled according to the drive volume and drives at least one described pivot.
In some embodiments of the present disclosure, this method can also include step S200 before step S201, determine institute
It states holder and enters follow the mode.
Follow the mode refers to that, when adjusting with the affixed handle of pedestal, when the posture of pedestal changes, camera can be with current
The posture of pedestal is infinitely variable the posture of itself, with control and pedestal posture posture difference be maintained at preset threshold range it
Interior, such camera can be achieved with the shooting of arbitrary composition or arbitrary first person, while the picture obtained also can
It is controlled by user, reaches better imaging effect.Control driver drives at least one pivot according to drive volume as a result,
After step S203, the current pose of holder is enabled to follow the initial attitude of holder.
Referring to figure 3., in some embodiments, step S202 further includes following sub-step:
S2021: the posture according to the current pose of the holder and the initial attitude of the holder is poor, determines the mesh of holder
Mark posture.
Since user's control and the affixed handle of pedestal rotate, drive cloud platform rotation, therefore, the current pose of holder and its
There are posture difference value, i.e. posture are poor for initial attitude.The targeted attitude of holder is determined according to the posture difference.The holder of two schemes
Targeted attitude determination method it is different, it is specific to determine that method be in subsequent explanation.
S2022: the drive volume of the driver at least one described shaft is calculated according to the targeted attitude.
Holder, which moves to targeted attitude from current pose, will have an attitudes vibration, this attitudes vibration is decomposed to and is bowed
The direction for facing upward axis, roll axis and yaw axis these three shafts, if there is the component of attitudes vibration in three axial directions, these three turn
Three drivers of axis have it is corresponding be 0 drive volume；If targeted attitude is in the upper no component of some axial direction, the shaft
The corresponding drive volume of driver be 0.
Embodiment 1
In embodiment 1, the specific embodiment of the first scheme will be discussed in detail in conjunction with Fig. 4.Fig. 4 is the first scheme
The flow diagram that follows of holder, as shown in figure 4, the program specifically includes the following steps:
Step S401 determines that the holder enters follow the mode.
Follow the mode refers to that, when adjusting with the affixed handle of pedestal, when the posture of pedestal changes, camera can be with current
The posture of pedestal is infinitely variable the posture of itself, is maintained at preset posture difference threshold value with the posture difference of control and pedestal posture
Within the scope of, such camera can be achieved with the shooting of arbitrary composition or arbitrary first person, while the picture obtained
Also it can be controlled by user, reach better imaging effect.In some embodiments, user can be by corresponding on holder
Control module control holder enters follow the mode, can also control by the way that the remote control device of connection holder or cell phone application etc. are external
Module control holder enters follow the mode.
Step S402 determines the posture of pedestal and the posture of camera.
The initial attitude of the holder includes the posture of the pedestal, and the current pose of the holder includes the camera
Posture.Sensor is separately positioned in the center of gravity of pedestal and camera, which can be Inertial Measurement Unit (IMU), IMU
Multiaxis Magnetic Sensor is generally used, is substantially the high small compass of precision, direction and speed is indicated, base is obtained with this
The posture of seat and the posture of holder, obtain the posture of pedestal and the posture of holder.It should be noted that the sensor may be
Magnetic compass transmitter, GNSS module, accelerometer and gyroscope, details are not described herein.
Step S403, the posture for calculating the posture of pedestal and the posture of camera are poor.
The posture difference is the posture difference value of the posture of pedestal and the posture of camera.For example, the current appearance of holder
Component of the state on roll axis is counterclockwise 90 °, and component of the initial attitude of holder on roll axis is 0 °, and posture difference is
It is 90 °.
Whether step S404 judges posture difference in posture difference threshold range.
The problem of excessively rigidly following initial attitude in order to prevent, cloud platform control method further include posture difference threshold value model
It encloses, specifically includes: the posture difference is determined whether in posture difference threshold range, if the posture difference is more than the posture difference threshold
It is worth range, then the drive volume of the driver at least one described shaft, i.e. progress step S405~S408 is calculated, with this
Realize that camera follows pedestal；If the posture difference is no more than the posture difference threshold range, the pedestal is reacquired
Posture and the camera posture, that is, be back to step S402.
Posture difference threshold range can be adjusted according to the actual demand of user, generally related with application scenarios.If
In certain application scenarios, such as in extreme sport, user shoots it is hoped that there will be better first person while guaranteeing centainly
Increasing steady effect avoids picture from excessively shaking, then the posture difference threshold range will select relatively small range；In another example in day
In normal hand-held holder shooting process, it is hoped that there will be better stable pictures to guarantee certain first person effect simultaneously by user, then
The posture difference threshold range will select relatively large range.In some scenes, it is believed that posture difference threshold range is got over
Small, holder is followed more to level off to and rigidly be followed, and more can be realized the effect of the first person；Posture difference threshold range is bigger, holder
It follows and more levels off to increasing surely, more can be realized steady picture.
In step S405, pedestal attitude quaternion and camera attitude quaternion are determined.
It is that holder posture is shown using Eulerian angles in the practical application of present most of holder.Use Europe
Angle is drawn to show that holder posture is advantageous in that very intuitive, user can come intuitive from the numerical value of yaw angle, pitch angle, roll angle
Learn the posture of holder in ground.However, using Eulerian angles posture, there is some problems in the embodiments of the present disclosure.If using Europe
Angle is drawn to carry out Attitude Calculation, during determining drive volume by targeted attitude, it may appear that the problem of unusual and more solutions, to lead
Cause cannot determine the drive volume of each axis well, influence user experience.To overcome the above disadvantages, the embodiment of the present disclosure is introduced
Quaternary number determines pedestal attitude quaternion and camera attitude quaternion, realizes the posture operation of entire arbitrary direction in space.
More specifically, being calculated at least one described shaft when the posture difference is more than the posture difference threshold range
It, can be according to the pedestal attitude quaternion and camera attitude quaternion, by smoothly inserting before the drive volume of the driver
Value-based algorithm calculates the targeted attitude quaternary number of the camera, that is, carries out the operation of step S406.
Referring to figure 5., it is assumed that pedestal attitude quaternion is expressed as q0, camera attitude quaternion is expressed as q1, in current pose
q0With targeted attitude q1Between, using quaternary number smooth interpolation algorithm slerp, such as following calculation formula calculates middle attitude, that is, phase
The target quaternary number q of machine posturet:
Wherein t is the time parameter changed between 0 to 1, and ω is direction q0、q1Between differential seat angle.
After determining the targeted attitude quaternary number of camera, unique corresponding phase is determined according to the targeted attitude quaternary number
The targeted attitude of machine, the determination of the targeted attitude is more accurate and efficient at this time, and the rotation of driver is more smooth slow, can
It realizes follow the mode, prevents the rigid motion bring various problems of shaft.So far, the operation of step S406 is completed.
In step S 407, according to targeted attitude, the driving of the driver at least one described shaft is calculated
Amount.
Specifically, holder, which moves to targeted attitude from current pose, will have an attitudes vibration, by this attitudes vibration
The direction for decomposing to pitch axis, roll axis and yaw axis these three shafts, if there is the component of attitudes vibration in three axial directions,
Three drivers of these three shafts have it is corresponding be 0 drive volume；If targeted attitude no component some is axial,
Then the corresponding drive volume of the driver of the shaft is 0.
In step S408, according to the drive volume of the obtained each driver of step S407, Three-axis drive device is controlled according to institute
It states drive volume and drives at least one described pivot, so that the camera motion is completed to the targeted attitude to pedestal
It follows.
Flow chart as shown in Figure 4 is the specific introduction for controlling one process of the first scheme in the period, is also needed
Illustrate, may include multiple control periods in the first scheme, to realize camera following in real time to pedestal.Specifically
, the step of proceeding to below from step S402 and return step S402 may be considered a control period.About other controls
The specific implementation in period processed, details are not described herein for the disclosure.
Embodiment 2
In example 2, the specific implementation that will combine Fig. 6 that second scheme is described in detail.Fig. 6 is the cloud of second scheme
The flow diagram that platform follows, as shown in fig. 6, the program specifically includes the following steps:
Step S601 determines that the holder enters follow the mode.Follow the mode refers to, adjusts when with the affixed handle of pedestal
When, when the posture of pedestal changes, the current joint angle of shaft can be adjusted according to initial joint angle, with current joint angle and
The joint angle difference of initial joint angle is maintained within the scope of a preset joint angle deviation threshold, and such camera can be achieved with appointing
The shooting of the composition of meaning or arbitrary first person, while the picture obtained can be also controlled by user, and reach better
Imaging effect.
Step S602 determines initial joint angle and current joint angle according to sensing data.
The initial attitude of the holder includes the initial joint angle at least one described shaft, the current appearance of the holder
State includes the current joint angle at least one described shaft.By the way that sensor is respectively set in three shafts, the sensor
It can be at least one of Hall sensor, photoelectric sensor or magnetic coding meter, it is to be understood that these three sensors are set
It sets in shaft, in the driver rotation in three shafts, by the variation in magnetic field, the variation of optical signal, can measure
The joint angle of three axis.
Step S603 calculates the joint angle difference at initial joint angle and current joint angle.
Posture difference is the joint angle difference at least one described shaft, for example, current joint angle is square counterclockwise
To 90 °, initial joint angle is 0 °, and joint angle difference is 90 °, and the control driver drives institute according to the drive volume
At least one pivot is stated, for so that the posture of the camera follows the posture of the pedestal.
Whether step S604 judges joint angle difference within the scope of joint angle deviation threshold.
In some embodiments of the present disclosure, a joint angle deviation threshold range can also be set, to prevent posture
The too large or too small bring error problem of difference, and judge joint angle difference whether within the scope of the joint angle deviation threshold, if
The joint angle difference is more than the joint angle deviation threshold range, then calculates the driver at least one described shaft
Drive volume；If the joint angle difference is no more than the joint angle deviation threshold range, at least one shaft is reacquired
The initial joint angle at place and the current joint angle, realize that camera follows pedestal with this.
It is understood that joint angle deviation threshold range can be adjusted according to the actual demand of user, generally with
Application scenarios are related.If it is hoped that there will be better first persons to clap by user in certain application scenarios, such as in extreme sport
It takes the photograph while guaranteeing that the steady effect of certain increasing avoids picture from excessively shaking, then the joint angle deviation threshold range will select relatively
Small range；In another example it is hoped that there will be better pictures of stablizing to guarantee one simultaneously by user in daily hand-held holder shooting process
Fixed first person effect, then the joint angle deviation threshold range will select relatively large range.It, can in some scenes
To think that joint angle deviation threshold range is smaller, holder is followed more to level off to and rigidly be followed, and more can be realized the effect of the first person
Fruit；Joint angle deviation threshold range is bigger, and holder, which follows, more levels off to increasing surely, more can be realized steady picture.
Step S605 calculates the target joint angle at least one shaft by interpolation algorithm.
Unlike the first scheme, since second scheme directly obtains joint angle, there is no need to introduce quaternary number,
Interpolation algorithm only need to be introduced, computational efficiency can be improved, simultaneously, moreover it is possible to more smooth target joint angle is determined, after being convenient for
Driver drive shaft is smoother, slowly moves, and can be realized follow the mode, prevents the rigid motion bring of shaft a variety of
Problem.
Please refer to Fig. 7, it is assumed that the initial joint angle of one of shaft of holder is expressed as θ0, current joint angle is expressed as
θ1, in initial joint angle θ0With current joint angle θ1Between, using interpolation algorithm, target joint angle θ can be calculatedtIt (walks
Targeted attitude in rapid S2022).Specifically, the interpolation algorithm at target joint angle can be adopted since joint angle itself belongs to scalar
With any of interpolation algorithm, such as smooth interpolation algorithm.For multiaxis holder, the joint angle at each shaft is followed
To use the present embodiment, details are not described herein again.
Step S606 calculates the drive volume of the driver at least one shaft.
After the target joint angle for determining each shaft in step s 605, according to current joint angle and target joint angle
Differential seat angle (i.e. attitudes vibration in step S2022), that is, can determine the drive volume of the driver at each shaft.
Step S607 controls driver according to drive volume and drives at least one pivot.
According to the drive volume of the Three-axis drive device determined in step S606, controls the driver and driven according to the drive volume
At least one dynamic described pivot realizes camera following for pedestal so that the shaft turns to target joint angle.Tool
Body, the step of proceeding to below from step S602 and return step S602 may be considered a control period.About other
The specific implementation in period is controlled, details are not described herein for the disclosure.
Flow chart as shown in FIG. 6 is the specific introduction for controlling one process of second scheme in the period, is also needed
Illustrate, may include multiple control periods in second scheme, to realize that camera follows pedestal, about other controls
The specific implementation in period processed, details are not described herein for the disclosure.So far, the introduction of the second scheme of the embodiment of the present disclosure finishes.
Another embodiment of the disclosure provides a kind of holder, and the holder includes pedestal, is sequentially connected on pedestal extremely
Lack a shaft and be connected to the load device (by taking camera as an example) of the shaft end, is provided with driver at the shaft
(by taking Three-axis drive device as an example), the holder further include: memory, for storing executable instruction；Processor, for executing
The executable instruction stored in memory is stated, to perform the following operations: obtaining the initial attitude and the cloud of the holder
The current pose of platform；Posture according to the current pose of the holder and the initial attitude of the holder is poor, and calculating is described at least
The drive volume of the driver at one shaft；The driver is controlled according at least one described turn of drive volume driving
Axis movement.
The initial attitude and current pose of general holder can be obtained by sensor, and the sensor has two classes.First
Class be set on pedestal and camera on sensor, obtain initial attitude of the posture as holder of pedestal, the posture of camera
Current pose as holder；Second class is the sensor being set at least one shaft, for obtain shaft it is initial when
Carve the initial attitude and current pose with the joint angle at current time as holder.Two class sensors correspond to two kinds of control programs,
The first is whole posture closed-loop control, and second is joint angle closed-loop control.
Here, when the initial attitude of holder refers to that a control period starts, the posture or shaft of pedestal when beginning
Joint angle, the current pose of holder refer to this control the period in a certain moment pedestal posture or shaft pass
Save angle.It is understood that the current pose for controlling holder in the period at one can be different with the initial attitude of holder.Specifically
One control the period in cloud platform control method detailed in Example 1 and embodiment 2.
The posture that the processor is also used to the initial attitude of the current pose and holder according to the holder is poor, meter
The drive volume of the driver (can be motor) at least one described shaft is calculated, drive volume finger actuator drive shaft turns
Dynamic angle.
By taking three axis holders as an example, rotating shaft electric motor at three axis roll axis, yaw axis and pitch axis of holder respectively according to
After the drive volume being calculated drives each shaft to rotate certain angle, holder will be turned to by current pose current pose and
Middle attitude between initial attitude.Here middle attitude can be any in current pose and initial attitude variation range
A posture.Holder can smoothly follow initial attitude as a result, caused by avoiding the rigidity of such as self-timer rod-type from following movement
Camera shooting shake, be imaged it is unclear, damage driver the problem of.
For the first scheme, the posture difference is the posture difference value of the posture of pedestal and the posture of camera.Citing comes
It says, component of the current pose of holder on roll axis is counterclockwise 90 °, point of the initial attitude of holder on roll axis
Amount is 0 °, and posture difference is 90 °.
For second scheme, posture difference is the joint angle difference value of initial joint angle and current joint angle.For example,
For a certain shaft, current joint angle is counterclockwise 90 °, and initial joint angle is 0 °, and joint angle difference is 90 °.
After determining the corresponding drive volume of three drivers of three axis, control driver determines that shaft is transported according to drive volume
It is dynamic.It should be noted that holder, which moves to targeted attitude from current pose, will have an attitudes vibration, by this attitudes vibration
The direction for decomposing to pitch axis, roll axis and yaw axis these three shafts, if there is the component of attitudes vibration in three axial directions,
Three drivers of these three shafts have it is corresponding be 0 drive volume；If targeted attitude no component some is axial,
Then the corresponding drive volume of the driver of the shaft is 0.
The processor is also used to determine that the holder enters follow the mode.Follow the mode refers to, when the hand affixed with pedestal
When handle adjusts, when the posture of pedestal changes, camera can be infinitely variable the posture of itself with the posture of current pedestal, with control
The posture difference of system and pedestal posture is maintained within preset threshold range, and such camera can be achieved with arbitrary composition or any
First person shooting, while obtain picture can also be controlled by user, reach better imaging effect.As a result,
After control driver drives at least one pivot according to drive volume, the current pose of holder is enabled to follow holder
Initial attitude.
The posture that the processor is also used to the initial attitude of the current pose and holder according to the holder is poor, really
Determine the targeted attitude of holder；The drive volume of the driver at least one described shaft is calculated according to the targeted attitude.
Since user's control and the affixed handle of pedestal rotate, drive cloud platform rotation, therefore, the current pose of holder and its
There are posture difference value, i.e. posture are poor for initial attitude.The targeted attitude of holder is determined according to the posture difference.Two schemes it is specific
Process please refers to the description in previous embodiment 1 and embodiment 2 to Fig. 4 and Fig. 6.
Fig. 8 is the schematic diagram of embodiment of the present disclosure holder, as shown in figure 8, hardware configuration includes processor 802.Processor
802 can be single cpu (central processing unit), but also may include two or more processing units.For example, processor
802 may include general purpose microprocessor, instruction set processor and/or related chip group and/or special microprocessor (for example, specially
With integrated circuit (ASIC)).
Memory 801 can be non-volatile or volatibility readable storage medium storing program for executing, and e.g. electrically erasable is read-only
Memory (EEPROM), flash memory, and/or hard disk drive.Readable storage medium storing program for executing includes computer program, the computer program packet
Code/computer-readable instruction is included, makes hardware configuration and/or including hardware configuration when being executed by processor 802
Equipment can execute for example above in conjunction with process described in Fig. 2 and its any deformation.
The embodiment of the present disclosure is poor according to the posture of the current pose of holder and the initial attitude of holder, determines drive volume, and
It controls driver to move according to drive volume drive shaft, so that the posture of load device follows the posture of pedestal, dress is loaded with this
Set the shooting that can be realized arbitrary composition or arbitrary first person.
Another embodiment of the disclosure provides a kind of computer readable storage medium, as shown in figure 9, being stored thereon with can hold
Row instruction, described instruction when executed by one or more processors, can make one or more of processors execute such as Fig. 2
Shown step:
Obtain the initial attitude of the holder and the current pose of the holder；
Posture according to the current pose of the holder and the initial attitude of the holder is poor, calculates at least one described turn
The drive volume of the driver at axis；
It controls the driver and drives at least one described pivot according to the drive volume.
In some embodiments of the present disclosure, the cloud platform control method further include: determine that the holder enters and follow mould
Formula；The control driver drives at least one described pivot according to the drive volume, for so that the holder
Current pose follow the initial attitude of the holder.
In some embodiments of the present disclosure, the cloud platform control method further include: according to the current pose of the holder
It is poor with the posture of the initial attitude of the holder, determine the targeted attitude of holder；It is described at least according to targeted attitude calculating
The drive volume of the driver at one shaft.
In some embodiments of the present disclosure, the initial attitude of the holder includes the posture of the pedestal, the holder
Current pose include the load device posture.
In some embodiments of the present disclosure, by the sensor being set on the pedestal and the load device, obtain
Take the posture of the pedestal and the posture of the load device.
In some embodiments of the present disclosure, the sensor includes Inertial Measurement Unit.
In some embodiments of the present disclosure, the cloud platform control method further include: determine the posture difference whether in appearance
In state difference threshold range, if the posture difference is more than the posture difference threshold range, calculate at least one described shaft
The drive volume of the driver；If the posture difference is no more than the posture difference threshold range, the pedestal is reacquired
The posture of posture and the load device.
In some embodiments of the present disclosure, the cloud platform control method further include: determine pedestal attitude quaternion and bear
It carries and sets attitude quaternion；According to the pedestal attitude quaternion and load device attitude quaternion, pass through smooth interpolation algorithm
Calculate the targeted attitude quaternary number of the load device.
In some embodiments of the present disclosure, the cloud platform control method further include: according to the targeted attitude quaternary number
It determines the targeted attitude of the load device, and calculates the drive volume of the driver at least one described shaft；Control
The driver drives at least one described pivot according to the drive volume, so that the load device moves to the mesh
Mark posture.
In some embodiments of the present disclosure, the initial attitude of the holder includes initial at least one described shaft
Joint angle, the current pose of the holder include the current joint angle at least one described shaft；The posture difference includes institute
State the joint angle difference at least one shaft；The control driver according to drive volume driving it is described at least one
Pivot, for so that the posture of the load device follows the posture of the pedestal.
In some embodiments of the present disclosure, by the sensor being set at least one described shaft, described in acquisition
The initial joint angle of shaft and current joint angle.
In some embodiments of the present disclosure, the sensor includes Hall sensor, photoelectric sensor or magnetic coding meter
At least one of.
In some embodiments of the present disclosure, the cloud platform control method further include: whether determine the joint angle difference
Within the scope of joint angle deviation threshold, if the joint angle difference be more than the joint angle deviation threshold range, calculate described in
The drive volume of the driver at least one shaft；If the posture difference is no more than the posture difference threshold range, weigh
Newly obtain the initial joint angle at least one shaft and the current joint angle.
In some embodiments of the present disclosure, the cloud platform control method further include: according to the initial joint angle and institute
Current joint angle is stated, the target joint angle at least one described shaft is calculated by interpolation algorithm.
In some embodiments of the present disclosure, the cloud platform control method, further includes: determined according to the target joint angle
The drive volume of the driver at least one described shaft；It is described extremely according to drive volume driving to control the driver
A few pivot, so that the shaft turns to target joint angle.
The flow chart of cloud platform control method is shown in Fig. 2.It should be understood that some boxes or combinations thereof in flow chart can be with
It is realized by executable instruction.These executable program instructions can be supplied to general purpose computer, special purpose computer or other can
The processor of programming data processing unit.
Therefore, the cloud platform control method of the embodiment of the present disclosure can be with hardware and/or software (including firmware, microcode etc.)
Form is realized.In addition, the embodiment of the present disclosure can take the shape for being stored with the computer readable storage medium of executable instruction
Formula, which, which uses or combine for instruction execution system (for example, one or more processors), refers to
Execution system is enabled to use.In the context of the embodiment of the present disclosure, computer readable storage medium, which can be, can include, deposit
Storage, transmission, the arbitrary medium for propagating or transmitting instruction.For example, computer readable storage medium can include but is not limited to electricity,
Magnetic, optical, electromagnetic, infrared or semiconductor system, device, device or propagation medium.The specific example of computer readable storage medium
It include: magnetic memory apparatus, such as tape or hard disk (HDD)；Light storage device, such as CD (CD-ROM)；Memory, such as arbitrary access
Memory (RAM) or flash memory；And/or wire/wireless communication link.
The embodiment of the present disclosure is poor according to the posture of the current pose of holder and the initial attitude of holder, determines drive volume, and
It controls driver to move according to drive volume drive shaft, so that the posture of load device follows the posture of pedestal, dress is loaded with this
Set the shooting that can be realized arbitrary composition or arbitrary first person.
Those skilled in the art can be understood that, for convenience and simplicity of description, only with above-mentioned each functional module
Division progress for example, in practical application, can according to need and above-mentioned function distribution is complete by different functional modules
At the internal structure of device being divided into different functional modules, to complete all or part of the functions described above.On
The specific work process for stating the device of description, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
Finally, it should be noted that the above various embodiments is only to illustrate the technical solution of the disclosure, rather than its limitations；To the greatest extent
Pipe is described in detail the disclosure referring to foregoing embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；In the absence of conflict, the feature in the embodiment of the present disclosure can be in any combination；And these are modified or replace
It changes, the range of each embodiment technical solution of the disclosure that it does not separate the essence of the corresponding technical solution.
Claims (31)
1. a kind of cloud platform control method, the holder includes pedestal, at least one shaft being sequentially connected on pedestal and connection
Driver is provided at the load device of the shaft end, the shaft, which is characterized in that the described method includes:
Obtain the initial attitude of the holder and the current pose of the holder；
Posture according to the current pose of the holder and the initial attitude of the holder is poor, calculates at least one described shaft
The driver drive volume；
It controls the driver and drives at least one described pivot according to the drive volume.
2. cloud platform control method according to claim 1, which is characterized in that the cloud platform control method further include:
Determine that the holder enters follow the mode；
The control driver drives at least one described pivot according to the drive volume, for so that the holder
Current pose follow the initial attitude of the holder.
3. cloud platform control method according to claim 1, which is characterized in that the cloud platform control method further include:
Posture according to the current pose of the holder and the initial attitude of the holder is poor, determines the targeted attitude of holder；
The drive volume of the driver at least one described shaft is calculated according to the targeted attitude.
4. cloud platform control method according to claim 1, which is characterized in that the initial attitude of the holder includes the base
The posture of seat, the current pose of the holder includes the posture of the load device.
5. cloud platform control method according to claim 4, which is characterized in that by being set to the pedestal and the load
Sensor on device obtains the posture of the pedestal and the posture of the load device.
6. cloud platform control method according to claim 5, which is characterized in that the sensor includes Inertial Measurement Unit.
7. cloud platform control method according to claim 4, which is characterized in that the cloud platform control method further include:
Determine the posture difference whether in posture difference threshold range,
If the posture difference is more than the posture difference threshold range, the driver at least one described shaft is calculated
Drive volume；
If the posture difference is no more than the posture difference threshold range, the posture and load dress of the pedestal are reacquired
The posture set.
8. cloud platform control method according to claim 4, which is characterized in that the cloud platform control method further include:
Determine pedestal attitude quaternion and load device attitude quaternion；
According to the pedestal attitude quaternion and load device attitude quaternion, the load is calculated by smooth interpolation algorithm and is filled
The targeted attitude quaternary number set.
9. cloud platform control method according to claim 8, which is characterized in that the cloud platform control method, further includes:
The targeted attitude of the load device is determined according to the targeted attitude quaternary number, and is calculated at least one described shaft
The driver drive volume；
It controls the driver and drives at least one described pivot according to the drive volume, so that the load device moves
To the targeted attitude.
10. cloud platform control method according to claim 1, which is characterized in that the initial attitude of the holder includes described
Initial joint angle at least one shaft, the current pose of the holder include the current joint at least one described shaft
Angle；
The posture difference includes the joint angle difference at least one described shaft；
The control driver drives at least one described pivot according to the drive volume, for so that the load
The posture of device follows the posture of the pedestal.
11. cloud platform control method according to claim 10, which is characterized in that by being set at least one described shaft
The sensor at place obtains initial joint angle and the current joint angle of the shaft.
12. cloud platform control method according to claim 11, which is characterized in that the sensor include Hall sensor,
At least one of photoelectric sensor or magnetic coding meter.
13. cloud platform control method according to claim 10, which is characterized in that the cloud platform control method further include:
Determine the joint angle difference whether within the scope of joint angle deviation threshold,
If the joint angle difference is more than the joint angle deviation threshold range, calculate described at least one described shaft
The drive volume of driver；
If the posture difference is no more than the posture difference threshold range, the initial pass at least one shaft is reacquired
Save angle and the current joint angle.
14. cloud platform control method according to claim 10, which is characterized in that the cloud platform control method further include:
According to the initial joint angle and the current joint angle, the target joint angle at least one described shaft is calculated.
15. cloud platform control method according to claim 14, which is characterized in that the cloud platform control method, further includes:
The drive volume of the driver at least one described shaft is determined according to the target joint angle；
It controls the driver and drives at least one described pivot according to the drive volume, so that the shaft turns to mesh
Mark joint angle.
16. a kind of holder, the holder includes pedestal, at least one shaft being sequentially connected on pedestal and is connected to described turn
The load device of shaft end is provided with driver at the shaft, which is characterized in that the holder further include:
Memory, for storing executable instruction；
Processor, for executing the executable instruction stored in the memory, to perform the following operations:
Obtain the initial attitude of the holder and the current pose of the holder；
Posture according to the current pose of the holder and the initial attitude of the holder is poor, calculates at least one described shaft
The driver drive volume；
It controls the driver and drives at least one described pivot according to the drive volume.
17. holder according to claim 16, which is characterized in that the processor is also used to:
Determine that the holder enters follow the mode；
The control driver drives at least one described pivot according to the drive volume, for so that the load
The posture of device follows the posture of the pedestal.
18. holder according to claim 16, which is characterized in that the processor is also used to:
Posture according to the current pose of the holder and the initial attitude of the holder is poor, determines the targeted attitude of holder；
The drive volume of the driver at least one described shaft is calculated according to the targeted attitude.
19. holder according to claim 16, which is characterized in that the initial attitude of the holder includes the appearance of the pedestal
State, the current pose of the holder include the posture of the load device.
20. holder according to claim 19, which is characterized in that be provided with sensing on the pedestal and the load device
Device, for obtaining the posture of the pedestal and the posture of the load device.
21. holder according to claim 20, which is characterized in that the sensor includes Inertial Measurement Unit.
22. holder according to claim 19, which is characterized in that the processor is also used to:
Determine the posture difference whether in posture difference threshold range,
If the posture difference is more than the posture difference threshold range, the driver at least one described shaft is calculated
Drive volume；
If the posture difference is no more than the posture difference threshold range, the posture and load dress of the pedestal are reacquired
The posture set.
23. holder according to claim 19, which is characterized in that the processor is also used to:
Determine pedestal attitude quaternion and load device attitude quaternion；
According to the pedestal attitude quaternion and load device attitude quaternion, the load is calculated by smooth interpolation algorithm and is filled
The targeted attitude quaternary number set.
24. holder according to claim 23, which is characterized in that the processor is also used to:
The targeted attitude of the load device is determined according to the targeted attitude quaternary number, and is calculated at least one described shaft
The driver drive volume；
It controls the driver and drives at least one described pivot according to the drive volume, so that the load device moves
To the targeted attitude.
25. holder according to claim 16, which is characterized in that the initial attitude of the holder include it is described at least one
Initial joint angle at shaft, the current pose of the holder include the current joint angle at least one described shaft；
The posture difference includes the joint angle difference at least one described shaft；
The control driver drives at least one described pivot according to the drive volume, for so that the load
The posture of device follows the posture of the pedestal.
26. holder according to claim 25, which is characterized in that be provided with sensor at least one described shaft, use
In the initial joint angle and current joint angle that obtain the shaft.
27. holder according to claim 26, which is characterized in that the sensor includes Hall sensor, photoelectric sensing
At least one of device or magnetic coding meter.
28. holder according to claim 25, which is characterized in that the processor is also used to:
Determine the joint angle difference whether within the scope of joint angle deviation threshold,
If the joint angle difference is more than the joint angle deviation threshold range, calculate described at least one described shaft
The drive volume of driver；
If the posture difference is no more than the posture difference threshold range, the initial pass at least one shaft is reacquired
Save angle and the current joint angle.
29. holder according to claim 25, which is characterized in that the processor is also used to:
According to the initial joint angle and the current joint angle, the target joint angle at least one described shaft is calculated.
30. holder according to claim 29, which is characterized in that the processor is also used to:
The drive volume of the driver at least one described shaft is determined according to the target joint angle；
It controls the driver and drives at least one described pivot according to the drive volume, so that the shaft turns to mesh
Mark joint angle.
31. a kind of computer readable storage medium, which is characterized in that it is stored with executable instruction, and the executable instruction exists
When being performed by one or more processors, one or more of processors can be made to execute as any in claim 1 to 15
The cloud platform control method.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2018/089232 WO2019227384A1 (en) | 2018-05-31 | 2018-05-31 | Pan-tilt control method and pan-tilt |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110431507A true CN110431507A (en) | 2019-11-08 |
Family
ID=68408088
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201880016955.2A Pending CN110431507A (en) | 2018-05-31 | 2018-05-31 | A kind of cloud platform control method and holder |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110431507A (en) |
| WO (1) | WO2019227384A1 (en) |
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| CN112544065A (en) * | 2019-12-31 | 2021-03-23 | 深圳市大疆创新科技有限公司 | Cloud deck control method and cloud deck |
| CN112734653A (en) * | 2020-12-23 | 2021-04-30 | 影石创新科技股份有限公司 | Motion smoothing processing method, device and equipment for video image and storage medium |
| CN113170051A (en) * | 2020-06-08 | 2021-07-23 | 深圳市大疆创新科技有限公司 | Holder control method, handheld holder and computer readable storage medium |
| CN113168193A (en) * | 2020-06-08 | 2021-07-23 | 深圳市大疆创新科技有限公司 | Holder control method, handheld holder and computer readable storage medium |
| CN113316748A (en) * | 2020-08-25 | 2021-08-27 | 深圳市大疆创新科技有限公司 | Control method of holder, holder and storage medium |
| WO2022040881A1 (en) * | 2020-08-24 | 2022-03-03 | 深圳市大疆创新科技有限公司 | Gimbal shake monitoring and processing method, and gimbal and storage medium |
| WO2022110034A1 (en) * | 2020-11-27 | 2022-06-02 | 深圳市大疆创新科技有限公司 | Gimbal control method and device, gimbal, and mobile platform |
| CN114585986A (en) * | 2020-12-22 | 2022-06-03 | 深圳市大疆创新科技有限公司 | PTZ detection method, device, removable platform and storage medium |
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| CN113168193A (en) * | 2020-06-08 | 2021-07-23 | 深圳市大疆创新科技有限公司 | Holder control method, handheld holder and computer readable storage medium |
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| Publication number | Publication date |
|---|---|
| WO2019227384A1 (en) | 2019-12-05 |
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Application publication date: 20191108 |