WO2021134645A1

WO2021134645A1 - Gimbal control method and gimbal

Info

Publication number: WO2021134645A1
Application number: PCT/CN2019/130862
Authority: WO
Inventors: 林荣华
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-12-31
Filing date: 2019-12-31
Publication date: 2021-07-08
Also published as: CN113423643A

Abstract

A gimbal control method and a gimbal. A camera device (2) is mounted on a gimbal, and the gimbal is configured to rotate around at least two axes. The method comprises: when the camera device (2) is in a portrait orientation photographing mode, obtaining a current attitude of the camera device (2) and a target attitude of the camera device (2) (S301); determining a target joint angle of the gimbal according to the current attitude, the target attitude, and an Euler angle rotation sequence of the camera device (2) corresponding to a preset control instruction (S302), wherein the preset control instruction can make the gimbal always maintain a rotational degree of freedom in a fixed dimension during rotation when the camera device (2) is in the portrait orientation photographing mode; and controlling rotation of the gimbal according to the target joint angle (S303). According to the present method, when the camera device (2) is in the portrait orientation photographing mode, a preset control instruction is adopted to avoid the problem of lock of a universal joint during gimbal control, thereby achieving portrait orientation photographing in the whole space and meeting requirements for portrait orientation photographing at any angle.

Description

PTZ control method and PTZ

Technical field

This application relates to the field of pan-tilt, and in particular to a method for controlling a pan-tilt and a pan-tilt.

Background technique

In the prior art, when the camera is in the vertical orientation shooting mode, when the pan-tilt rotates to a certain angle, the rotation axes of the two motors will overlap, for example, the axes of the pitch axis motor and the yaw axis motor overlap. As a result, the gimbal is locked and the gimbal cannot be switched to any angle for shooting; when the gimbal is locked, the three-axis gimbal can only be stabilized in two directions, which leads to a decrease in stabilization performance and even jitter , Not smooth, etc.

Summary of the invention

This application provides a method for controlling a pan-tilt and a pan-tilt.

According to a first aspect of the present application, there is provided a method for controlling a pan/tilt, the pan/tilt is equipped with a photographing device, and the pan/tilt is configured to rotate around at least two axes, and the method includes:

When the shooting device is in the vertical orientation shooting mode, acquiring the current posture of the shooting device and the target posture of the shooting device;

Determining the target joint angle of the pan/tilt head according to the current posture, the target posture, and the Euler angle rotation sequence of the camera corresponding to the preset control instruction;

Controlling the rotation of the pan/tilt according to the target joint angle;

Wherein, the preset control instruction can ensure that when the camera is in the vertical orientation shooting mode, the pan/tilt head always maintains a fixed degree of rotational freedom during the rotation process.

According to a second aspect of the present application, there is provided a pan-tilt, the pan-tilt including:

Base

A shaft assembly provided on the base, the shaft assembly is used to mount a photographing device, and the shaft assembly is configured to rotate about at least two shafts; and

A controller, the controller is electrically connected to the pan-tilt, and the controller is used for:

Controlling the rotation of the pan/tilt according to the target joint angle;

According to the technical solution provided by the embodiments of the present application, when the camera is in the vertical orientation shooting mode, preset control instructions are used to avoid the gimbal lock problem during pan/tilt control, thereby realizing full-space vertical shooting, satisfying arbitrary The angle of the vertical shooting needs.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings that need to be used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained from these drawings without creative labor.

Figure 1 is a perspective view of a pan-tilt in an embodiment of the present invention;

2A is a schematic diagram of the shooting device in an embodiment of the present application when shooting in a vertical orientation;

2B is a schematic diagram of the photographing device in an embodiment of the present application when photographing in a horizontal orientation;

FIG. 3 is a schematic flowchart of a method for controlling a pan-tilt in an embodiment of the present application;

Figure 4 is a perspective view of the handheld PTZ shown in Figure 1 when it is placed upright;

FIG. 5 is a schematic diagram of a preset interpolation strategy in an embodiment of the present application;

Fig. 6 is a structural block diagram of a pan-tilt in an embodiment of the present application.

Detailed ways

In this regard, this application uses preset control commands to avoid gimbal locking problems when the camera is controlled by the camera when the camera is in the vertical orientation shooting mode, thereby realizing full-space vertical shooting and meeting the requirements for vertical shooting at any angle .

The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

It should be noted that, in the case of no conflict, the following embodiments and features in the implementation can be combined with each other.

The camera in the embodiment of the application is equipped with a camera. In the embodiment of the application, the camera is mounted on the base when the base is tilted, the camera can rotate around the world coordinate system under the control of the camera. The shooting device can be a camera, a SLR, a mirrorless single, a sports camera, a smart phone, and other shooting devices.

Wherein, the pan/tilt is configured to rotate around at least two axes. The pan/tilt head of this embodiment may be configured to rotate around two axes, or it may be configured to rotate around three axes or more than three axes. For example, in some embodiments, the pan/tilt is configured to rotate about two axes, the two axes including a yaw axis and a pitch axis. In other embodiments, the pan/tilt is configured to rotate around three axes, the three axes including the yaw axis, the pitch axis, and the roll axis.

The pan/tilt in the embodiments of the present application may be a handheld pan/tilt or an airborne pan/tilt. The airborne pan/tilt may be mounted on a movable platform, which may be an unmanned aerial vehicle, an unmanned vehicle, a mobile robot, etc. .

Exemplarily, please refer to Fig. 1. The pan/tilt is a handheld pan/tilt, and the pan/tilt is a three-axis pan/tilt. The pan/tilt in this embodiment is configured to rotate around the yaw axis, pitch axis, and roll axis. The handheld gimbal may include an outer frame 11, a middle frame 12, and an inner frame. The outer frame 11 is configured to rotate about a yaw axis, the middle frame 12 is configured to rotate about a roll axis, and the inner frame is configured to rotate about a pitch axis, And the inner frame is used to mount the camera 2. Wherein, the outer frame 11 includes a yaw axis arm and is driven by a yaw axis motor, the middle frame 12 includes a roll axis arm and is driven by a roll axis motor, and the inner frame includes a pitch axis arm and is driven by a pitch axis motor driven.

It should be noted that the vertical orientation shooting can also be called vertical shooting. The shooting device in the vertical orientation means that the shooting device is installed vertically on the pan/tilt support, so as to capture a vertical image relative to the horizontal plane. Yes, the camera is a mobile phone. Please refer to Figure 2A. Rotate the long side 20 of the screen to the vertical direction (that is, the long side 20 of the screen is perpendicular to the horizontal plane) for shooting. That is, the camera takes the vertical orientation to take the shot. Horizontal orientation shooting can also be called horizontal shooting. The horizontal orientation shooting of the shooting device means that the shooting device is installed horizontally on the pan/tilt support, so that it can take a horizontal picture relative to the horizontal plane. For a given picture aspect ratio, take the picture The device is a mobile phone as an example. Please refer to Figure 2B. 10 is the horizontal plane, 20 is the long side of the screen, and 30 is the short side of the screen. Rotate the long side 20 of the screen to the horizontal direction (that is, the long side 20 of the screen is parallel to the horizontal plane 10). ) To shoot, that is, the camera is shooting in a horizontal orientation. Of course, the exemplary definitions of horizontal shooting and vertical shooting can also be completely opposite to the above description.

The specific implementation process of the pan-tilt control method in the embodiment of the present application will be described below.

FIG. 3 is a schematic flow chart of a method for controlling a pan-tilt in an embodiment of the present application; please refer to FIG. 3, the method for controlling a pan-tilt according to an embodiment of the present application may include the following steps:

S301: Acquire the current posture of the shooting device and the target posture of the shooting device when the shooting device is in the vertical orientation shooting mode;

In this embodiment, the current posture and the target posture can be characterized by Euler angles, or can be characterized by quaternion.

An inertial measurement unit (IMU, Inertial Measurement Unit) can be set on the camera, and the current posture of the camera can be obtained according to the inertial measurement unit on the camera. Of course, the IMU can also be set on the inner frame of the pan/tilt.

The target posture can be acquired using different strategies. For example, in some embodiments, the target posture is determined according to the posture control amount sent by the control device of the pan/tilt head, that is, the posture of the camera is controlled by the control device. The control device can be a mobile terminal such as a mobile phone, a tablet computer, or a fixed terminal, or a remote control or other device capable of controlling the rotating structure, and can also be integrated on the handle of the pan-tilt. Exemplarily, the control device is a remote control, and the amount of posture control is determined according to the amount of stick generated by the user operating the joystick of the remote control.

In other embodiments, the target posture is determined based on the real-time detected posture of the base of the pan/tilt, that is, the posture of the camera changes with the posture of the base.

In other embodiments, the target attitude is determined based on the attitude control amount sent by the control device of the pan/tilt and the real-time detection attitude of the base of the pan/tilt, that is, the attitude control amount of the camera is generated by the control device and the position of the base. The posture is decided together.

Exemplarily, in one embodiment, the priority of controlling the posture of the camera by the control device is higher than the priority of the posture of the camera changing with the posture of the base, that is, when the posture sent by the control device is acquired When controlling the amount, the target attitude is determined according to the attitude control amount sent by the control device of the PTZ. At this time, even if the attitude of the base changes, it will not affect the size of the target attitude; when the control device does not input the attitude control amount, and the shooting When the device is not under the control of the control device, the posture of the camera device changes with the posture of the base.

In some embodiments, if the pan/tilt is in the control device control mode (ie non-following mode), the camera can only be controlled by the control device at this time. The target attitude is determined according to the attitude control amount sent by the control device, and the target attitude is not Will be affected by changes in the posture of the base.

In some embodiments, if the pan/tilt is in the follow mode, the posture of the camera will follow the change of the base's posture. The target posture is determined based on the real-time detection posture of the base of the pan/tilt, and the target posture will not be sent by the control device. The influence of the amount of attitude control.

Exemplarily, taking the gimbal configured to rotate around the yaw axis, roll axis, and pitch axis as an example, when the camera is in the non-following mode, the yaw axis, roll axis, and pitch axis are all free modes. When the camera is in follow mode, the roll axis is in free mode, the roll axis is used for stabilization, and the pitch axis and/or yaw axis are in follow mode. Among them, in the free mode, the base of the pan/tilt moves, but the corresponding arm of the pan/tilt does not rotate. In the follow mode, the corresponding axis moves with the movement of the base of the pan/tilt.

In addition, when the pan/tilt is in the follow mode, if the deviation between the current attitude of the camera and the real-time detection attitude of the base of the camera is less than or equal to the preset deviation threshold, there is no need to control the attitude of the camera; if the current attitude of the camera is If the deviation of the real-time detection attitude from the base of the pan/tilt head is greater than the preset deviation threshold, the attitude of the camera is controlled to follow the attitude of the base.

S302: Determine the target joint angle of the pan/tilt according to the current posture, the target posture, and the Euler angle rotation sequence of the camera corresponding to the preset control command, where the preset control command can make the camera in the vertical orientation shooting mode , The gimbal always maintains a fixed degree of freedom of rotation during the rotation process;

Exemplarily, for example, the gimbal is configured to rotate around two axes, the two axes include the yaw axis and the pitch axis, and the degree of freedom of rotation that the gimbal always maintains a fixed dimension during the rotation means: the gimbal is rotating During the process, it can always rotate around the yaw axis and pitch axis; another example, the gimbal is configured to rotate around three axes, the three axes include the yaw axis, the pitch axis and the roll axis. The gimbal is in the process of rotating The degree of freedom of rotation that always maintains a fixed dimension means that the gimbal can always rotate around the yaw axis, pitch axis, and roll axis during the rotation.

Hereinafter, the preset control command will be explained.

Taking the PTZ configured to rotate around three axes as an example, for example, the Euler angle of the camera corresponds to the rotation of the first axis, the second axis, and the third axis, where the first axis is parallel to the light of the camera. The axis direction, the first axis, the second axis, and the third axis are orthogonal to each other. The direction of the first axis, the direction of the second axis, and the direction of the third axis are determined according to the placement direction of the camera and the direction of the optical axis. Illustratively, the camera is placed in a horizontal orientation and the optical axis of the camera is parallel to In the horizontal plane, the third axis is the vertical direction, and both the first axis and the second axis are parallel to the horizontal plane.

In this article, the first axis corresponds to the roll axis, the second axis corresponds to the pitch axis, and the third axis corresponds to the yaw axis. For ease of description, the first axis, the second axis, and the third axis are denoted by X, Y, and Z, respectively.

In some embodiments, the Euler angle rotation sequence of the camera corresponding to the preset control instruction is: the second axis, the first axis, the second axis, or the third axis, the first axis, and the third axis. Further, the Euler angle rotation sequence of the camera corresponding to the preset control instruction is determined according to the configuration of the pan/tilt head. Optionally, when the pan/tilt head is in the ZXY configuration, The Euler angle rotation sequence of the camera corresponding to the preset control command is: the third axis, the first axis, and the third axis. Optionally, when the pan/tilt is in the YXZ configuration, the Euler angle rotation sequence of the camera corresponding to the preset control instruction is: second axis, first axis, and second axis.

Take a three-axis gimbal and the gimbal is configured to rotate around the yaw axis, pitch axis, and roll axis as an example to illustrate the gimbal of the ZXY configuration and the gimbal of the YXZ configuration. For the ZXY configuration gimbal, when the gimbal is placed upright and the joint angles of the outer frame, middle frame and inner frame are all 0 degrees, the outer frame rotates around the yaw axis, the middle frame rotates around the roll axis, and the inner frame Rotate around the pitch axis. For a gimbal of YXZ configuration, when the gimbal is placed upright and the joint angles of the outer frame, middle frame and inner frame are all 0 degrees, the outer frame rotates around the pitch axis, the middle frame around the roll axis, and the inner frame around the The yaw axis rotates.

Exemplarily, following the embodiment of the aforementioned handheld pan/tilt, please refer to FIG. 4. The handheld pan/tilt also includes a handle 3 and a screen 4 and buttons (not shown) provided on the front of the handle 3. When the handheld PTZ is placed upright, the screen 4 faces the user, and the lens of the shooting device is facing away from the user. As shown in FIG. 4, it is a state diagram of the handheld PTZ placed upright. The handheld PTZ shown in Figure 4 is a ZXY configuration PTZ.

Among them, a realization process of determining the target joint angle of the pan/tilt head according to the current posture, the target posture, and the Euler angle rotation sequence of the camera corresponding to the preset control instruction may include but is not limited to the following steps:

(1) Determine the target Euler angle according to the target posture and the Euler angle rotation sequence of the camera corresponding to the preset control instruction;

In some embodiments, the target posture is determined according to the posture control amount sent by the control device of the pan-tilt. The implementation process of step (1) may include: acquiring the last target posture of the camera; determining the first Euler angle corresponding to the last target posture according to the Euler angle rotation sequence of the camera corresponding to the preset control instruction; According to the first Euler angle and the second Euler angle, the target Euler angle is determined. The second Euler angle is obtained by converting the attitude control amount based on the Euler angle rotation sequence of the camera corresponding to the preset control instruction. Generally, the gimbal is controlled in a closed loop mode, that is, the camera is controlled by the camera to move from the current posture to the target posture. However, due to control errors and other factors, the final position of the camera may deviate from the target posture. Accumulation of control deviations will result in larger deviations and poor control accuracy. That is, in the last control, the camera may not be able to reach the last target posture of the camera. Therefore, in the current control, the second Euler angle corresponding to the posture control amount corresponds to the last target posture. The first Euler angle is superimposed to determine the target Euler angle, which reduces the superimposition of the deviation and makes the control more accurate. Among them, the last target attitude can be determined based on the attitude control amount sent by the control device of the pan/tilt, or determined based on the real-time detection attitude of the base of the pan/tilt, or based on the attitude control sent by the control device of the pan/tilt. The amount and the real-time detection attitude of the base of the PTZ are determined together. In this embodiment, the target Euler angle is determined according to the sum of the first Euler angle and the second Euler angle. Optionally, the target Euler angle is the sum of the first Euler angle and the second Euler angle.

In this embodiment, according to the Euler angle rotation sequence of the camera corresponding to the preset control instruction, the last target posture is converted to obtain the first Euler angle of the camera, and the first Euler angle of the camera is obtained according to the preset control instruction. Euler angle rotation sequence, the attitude control amount is converted to obtain the second Euler angle. The last target attitude and attitude control amount used to control the rotation of the gimbal around an axis corresponds to a change in the Euler angle of the gimbal. A change in the Euler angle of the gimbal may need to control one or more joints of the gimbal. The first Euler angle of the camera is obtained by converting the last target posture according to the Euler angle rotation sequence of the camera corresponding to the preset control instruction, and the first Euler angle of the camera is obtained according to the preset control instruction. The Euler angle rotation sequence and the conversion of the attitude control amount to obtain the second Euler angle is a way to make the rotation direction of the camera more in line with the user's requirements, thus making the images captured by the camera more satisfy the user's expectations. For example, when the gimbal is a three-axis handheld gimbal, assuming that the handle of the handheld gimbal is tilted at this time, if it is necessary to control the corresponding axis arm on the handheld gimbal to rotate around the yaw axis through the control device, control in the corresponding attitude If the amount is only converted to a joint angle, at this time, the pitch motor can be driven to rotate, but the roll motor and yaw motor will not rotate. Because the camera rotates around the body coordinate system, the changes in the shooting screen will be more rigid and abrupt. , And when the corresponding attitude control value is converted to a corresponding Euler angle, not only can the pitch motor be driven to rotate, but the roll motor and the yaw motor may also rotate. As the camera rotates around the world coordinate system, the The yaw change expected by the user will be achieved, and the changes in the shooting picture will be smoother and more cohesive.

Wherein, if the Euler angle rotation sequence of the camera corresponding to the preset control instruction is: second axis, first axis, second axis, then the component used to control the gimbal's rotation around the yaw axis in the last target attitude, And the component used to control the rotation of the pan/tilt around the pitch axis is obtained by conversion based on the second axis in the Euler angle rotation sequence. Specifically, the component used to control the rotation of the gimbal around the yaw axis in the last target attitude is converted to obtain the first Y1 component in the first Euler angles (Y1, X1, Y1). The component used to control the rotation of the gimbal around the pitch axis is converted to obtain the second Y1 component in the first Euler angle (Y1, X1, Y1).

If the Euler angle rotation sequence of the camera corresponding to the preset control command is: third axis, first axis, third axis, the component used to control the gimbal's rotation around the yaw axis in the last target attitude, and The component that controls the rotation of the gimbal around the pitch axis is obtained by conversion based on the third axis in the Euler angle rotation sequence. Specifically, the component used to control the rotation of the gimbal around the yaw axis in the last target attitude is converted to obtain the first Z1 component in the first Euler angles (Z1, X1, Z1). The component used to control the rotation of the gimbal around the pitch axis is converted to obtain the second Z1 component in the first Euler angle (Z1, X1, Z1).

Whether the Euler angle rotation sequence of the camera corresponding to the preset control command is: second axis, first axis, second axis, or: third axis, first axis, third axis, used in the last target attitude The components used to control the rotation of the gimbal around the roll axis are all converted based on the first axis in the Euler angle rotation sequence, that is, the component used to control the rotation of the gimbal around the roll axis in the last target attitude is converted , Get the X1 component in the first Euler angle.

If the Euler angle rotation sequence of the camera corresponding to the preset control command is: second axis, first axis, second axis, then the component of the attitude control quantity used to control the rotation of the pan/tilt around the yaw axis, and used to control The rotation component of the gimbal around the pitch axis is obtained by conversion based on the second axis in the Euler angle rotation sequence. Specifically, the component used to control the rotation of the gimbal around the yaw axis in the attitude control variable is converted to obtain the first Y2 component in the second Euler angle (Y2, X2, Y2), and the attitude control variable is used to control the cloud The components of the stage rotation around the pitch axis are converted to obtain the second Y2 component in the second Euler angle (Y2, X2, Y2).

If the Euler angle rotation sequence of the camera corresponding to the preset control command is: the third axis, the first axis, and the third axis, the component of the attitude control quantity used to control the rotation of the gimbal around the yaw axis, and used to control the cloud The component of the rotation of the stage around the pitch axis is obtained by conversion based on the third axis in the Euler angle rotation sequence. Specifically, the component used to control the rotation of the gimbal around the yaw axis in the attitude control is converted to obtain the first Z2 component in the second Euler angle (Z2, X2, Z2), and the attitude control is used to control the cloud The components of the rotation of the station around the pitch axis are converted to obtain the second Z2 component in the second Euler angle (Z2, X2, Z2).

In addition, whether the Euler angle rotation sequence of the camera corresponding to the preset control command is: the second axis, the first axis, the second axis, or: the third axis, the first axis, and the third axis. The components used to control the rotation of the gimbal around the roll axis are all converted based on the first axis in the Euler angle rotation sequence, that is, the component used to control the rotation of the gimbal around the roll axis in the attitude control value is converted to obtain The X2 component in the second Euler angle.

It should be noted that, in this embodiment, the conversion is not a simple correspondence.

In this embodiment, the conversion includes the conversion of the Euler angular velocity of the pan/tilt rotation, or the conversion of the Euler angle size of the pan/tilt rotation. For example, in some embodiments, the conversion is the conversion of the Euler angular velocity of the pan/tilt rotation. For example, if the Euler angle rotation sequence of the camera corresponding to the preset control command is: second axis, first axis, second axis, then the components in the second Euler angle (Y2, X2, Y2) are all For the corresponding Euler angular velocity, the components in the first Euler angle (Y1, X1, Y1) are also the corresponding Euler angular velocity. If the Euler angle rotation sequence of the camera corresponding to the preset control command is: the third axis, the first axis, and the third axis, the components in the second Euler angle (Z2, X2, Z2) are all corresponding to the Euler angles. Pull angular velocity, the components in the first Euler angle (Z1, X1, Z1) are also corresponding Euler angular velocity.

In some other embodiments, the conversion is the conversion of the Euler angle size of the pan/tilt rotation. Exemplarily, if the Euler angle rotation sequence of the camera corresponding to the preset control command is: the second axis, the first axis, and the first axis. For the second axis, the components in the second Euler angles (Y2, X2, Y2) are all corresponding Euler angles, and the components in the first Euler angles (Y1, X1, Y1) are also corresponding Euler angles. Angle size. If the Euler angle rotation sequence of the camera corresponding to the preset control command is: the third axis, the first axis, and the third axis, the components in the second Euler angle (Z2, X2, Z2) are all corresponding to the Euler angles. The size of the pull angle, the components in the first Euler angle (Z1, X1, Z1) are also the corresponding Euler angle size.

In this embodiment, the range of the angle value corresponding to the roll direction in the target Euler angle is 90 degrees ± the first preset angle or -90 degrees ± the second preset angle, that is, when the camera is controlled by the control device , The angle value corresponding to the roll direction in the target Euler angle is within the above-mentioned angle range (90 degrees ± the first preset angle or -90 degrees ± the second preset angle) to ensure that the camera is in the vertical orientation for shooting Mode. When the camera is controlled by the control device, if the angle value corresponding to the roll direction in the target Euler angle of the camera exceeds the above-mentioned angle range, in some embodiments, the camera is controlled by the pan/tilt to exit the vertical orientation shooting mode; In some other embodiments, the value of the angle corresponding to the roll direction in the target Euler angle of the camera controlled by the pan/tilt is the limit angle of the current rotation direction corresponding to the vertical orientation shooting mode. Among them, the first preset angle and the second preset angle can be set as required, for example, the first preset angle and the second preset angle are both 45 degrees.

In other embodiments, the target posture is determined according to the real-time detection posture of the base of the pan/tilt. The implementation process of step (1) may include: based on the Euler angle rotation sequence of the camera corresponding to the preset control instruction, converting the roll posture component in the target posture into 90 degrees or -90 degrees to obtain the target Euler angle. In this embodiment, the Euler angle rotation sequence of the camera corresponding to the preset control command is no matter: the second axis, the first axis, the second axis, or the third axis, the first axis, and the third axis. The posture component corresponding to one axis is maintained at 90 degrees or -90 degrees. Through such control, it is ensured that the camera is always in the vertical orientation shooting mode.

(2) Determine the first attitude quaternion according to the target Euler angle;

Specifically, according to the conversion relationship between the Euler angle and the quaternion, the target Euler angle is converted into the first attitude quaternion. The conversion relationship between the Euler angle and the quaternion is in the prior art. No detailed introduction.

(3) Determine the target joint angle of the pan/tilt head according to the first posture quaternion and the second posture quaternion corresponding to the current posture.

Among them, if the current attitude is represented by Euler angles, the current attitude needs to be converted into the second attitude quaternion according to the conversion relationship between Euler angles and quaternions; if the current attitude is represented by quaternions, it is omitted The conversion process of Euler angles to quaternion above.

The realization process of step (3) may include: determining the quaternion attitude deviation according to the first attitude quaternion and the second attitude quaternion; determining the target joint angle of the pan/tilt according to the quaternion attitude deviation. Among them, the quaternion attitude deviation is determined according to the difference obtained by subtracting the second attitude quaternion from the first attitude quaternion. Optionally, the quaternion attitude deviation = (first attitude quaternion-second attitude Quaternion). In addition, when determining the target joint angle of the pan/tilt head based on the quaternion attitude deviation, specifically, the target joint angle of the pan/tilt head is determined based on the quaternion attitude deviation and the Jacobian inverse matrix. Taking the gimbal configured to rotate around the yaw axis, roll axis, and pitch axis as an example, the target joint angle includes the joint angle corresponding to the yaw motor, the joint angle corresponding to the roll motor, and the joint angle corresponding to the pitch motor. Among them, the yaw motor It is used to control the gimbal to rotate around the yaw axis, the roll motor is used to control the gimbal to rotate around the roll axis, and the pitch motor is used to control the gimbal to rotate around the pitch axis.

When the current posture is different from the target posture, according to the current posture, the target posture, and the Euler angle rotation sequence of the camera corresponding to the preset control instruction, the realization process of determining the target joint angle of the pan/tilt may include:

(1) Determine at least one intermediate posture between the current posture and the target posture according to the current posture, the target posture and the preset interpolation strategy;

The preset interpolation strategy can be selected as required. In some embodiments, according to the current pose, the target pose, and the preset interpolation strategy, the process of determining at least one intermediate pose between the current pose and the target pose may include: according to the current pose , The target posture and at least one time change parameter to determine at least one intermediate posture between the current posture and the target posture. Among them, at least one time change parameter corresponds to at least one intermediate posture in a one-to-one correspondence. Optionally, the time change parameter includes multiple, and the direction of the posture switching from the current posture to the target posture, and the time change parameters corresponding to the multiple intermediate postures show an increasing trend.

Assuming that the current posture, target posture, and intermediate posture are all represented by quaternions, and the current posture quaternion is represented by q ₀ , the target posture quaternion is represented by q ₁ , and the current posture quaternion q ₀ and the target posture quaternion Between the number q ₁ , the quaternion smooth interpolation algorithm slerp is used, and the intermediate posture quaternion q _t is calculated as the following formula:

In formula (1), t is a time parameter that varies from 0 to 1, and ω is _{the angle difference between directions q 0} to q ₁ , as shown in Figure 5. It can be understood that t can also be a time parameter other than 0 to 1, which represents the time when the current posture quaternion q ₀ changes to the target posture quaternion q ₁ , and can be converted to 0 to 1 through a normalized expression. Parameter between time changes.

Optionally, the Euler angle deviations of the postures adjacent to the position are equal; optionally, the Euler angle deviations of the postures adjacent to the position may also be unequal.

(2) Determine the target joint angle of the pan/tilt head according to the current posture, at least one intermediate posture, the target posture, and the Euler angle rotation sequence of the camera corresponding to the preset control instruction.

Specifically, the corresponding joint angle is determined according to the Euler angle rotation sequence of the camera corresponding to each adjacent posture and the preset control instruction; and then the direction of switching from the current posture to the target posture according to the joint angle corresponding to each adjacent posture , Control the rotation of the pan/tilt in turn to control the smooth rotation of the camera. That is, there are multiple target joint angles, which include joint angles corresponding to adjacent poses.

By interpolation, at least one intermediate pose is inserted between the current pose and the target pose. According to the quaternion corresponding to the adjacent pose, the quaternion pose deviation corresponding to the adjacent pose is determined, and then the quaternion corresponding to the adjacent pose is determined. For posture deviation, determine the joint angles corresponding to the adjacent postures, and then according to the joint angles corresponding to each adjacent posture, the direction of switching from the current posture to the target posture is sequentially controlled to rotate the pan/tilt so that the camera rotates smoothly.

S303: Control the rotation of the pan/tilt according to the target joint angle.

Wherein, when the target joint angle includes the joint angle corresponding to the heading motor, the joint angle corresponding to the roll motor, and the joint angle corresponding to the pitch motor, the realization process of S303 may include: controlling the heading motor to rotate the joint angle corresponding to the heading motor, and controlling The roll motor rotates the joint angle corresponding to the roll motor, and controls the pitch motor to rotate the joint angle corresponding to the pitch motor.

Further, in some embodiments, before performing step S301, it is necessary to control the camera to be in the vertical orientation shooting mode. Specifically, the method for controlling the pan/tilt further includes: when the camera is in the vertical orientation shooting mode, acquiring the shooting Before the current posture of the device and the target posture of the shooting device, if the first trigger instruction indicating that the shooting device enters the vertical orientation shooting mode is acquired, the shooting device is controlled to be in the vertical orientation shooting mode.

The first trigger instruction can be generated in a variety of ways. For example, in some of the embodiments, the pan/tilt includes a base and a control unit provided on the base, and the first trigger instruction is generated by the user triggering the control unit. The control part may include keys, buttons, knobs or a combination of the above. The control unit in this embodiment may include one or more. When the pan/tilt is a handheld pan/tilt, the handheld pan/tilt may include a handle, and the control part may be provided on the handle. In some other embodiments, the first trigger instruction is generated by the user operating the external device and sent by the external device. The external device can communicate with the pan/tilt. The external device may include a mobile terminal such as a mobile phone and a tablet computer, a fixed terminal, or a remote control or other control device of the pan/tilt.

In this embodiment, the realization process of controlling the shooting device to be in the vertical orientation shooting mode may include: acquiring the current shooting mode of the shooting device; and controlling the shooting device to be in the vertical shooting mode according to the current shooting mode.

In the following, the specific implementation process of controlling the shooting device to be in the vertical orientation shooting mode according to the current shooting mode will be described in the two cases where the current shooting mode is the vertical orientation shooting mode and the current shooting mode is the non-vertical shooting mode.

The current shooting mode is a vertical orientation shooting mode. According to the current shooting mode, controlling the shooting device to be in the vertical orientation shooting mode may include: maintaining the shooting device in the vertical orientation shooting mode. That is, when the current shooting mode is the vertical orientation shooting mode, there is no need to switch the mode.

The current shooting mode is a non-vertical shooting mode. According to the current shooting mode, controlling the shooting device to be in the vertical shooting mode may include: controlling the shooting device to switch the shooting device from the current shooting mode to the vertical shooting mode. That is, when the current shooting mode is a non-vertical-oriented shooting mode, it is necessary to switch the mode to switch the shooting device from the non-vertical-oriented shooting mode to the vertical-oriented shooting mode.

Wherein, controlling the shooting device to switch from the current shooting mode of the shooting device to the vertical orientation shooting mode may include but is not limited to the following steps:

(1) Switch the control instruction of the pan/tilt head to the preset control instruction, so that the pan/tilt maintains the rotational freedom of the original dimension after the mode is switched, and the number of original dimensions is equal to the number of fixed dimensions;

Exemplarily, for example, the gimbal is configured to rotate around two axes, the two axes include the yaw axis and the pitch axis. After the mode is switched, the degree of freedom of the gimbal to maintain the original dimension of rotation means: before the mode is switched, the gimbal is Rotate around the yaw axis and pitch axis; after the mode is switched, the gimbal also rotates around the yaw axis and pitch axis. In another example, the gimbal is configured to rotate around three axes, including the yaw axis, pitch axis, and roll axis. After the mode is switched, the rotation freedom of the gimbal to maintain the original dimension means: before the mode is switched, the cloud The platform rotates around the yaw axis, pitch axis and roll axis; after the mode is switched, the gimbal also rotates around the yaw axis, pitch axis and roll axis.

In the embodiment of the present application, the control command for switching the pan/tilt, that is, the switching sequence of the Euler angle of the camera, the sequence of Euler angle rotation of the camera corresponding to the preset control command after switching needs to correspond to the vertical orientation shooting mode For determining the shooting orientation of the shooting device, refer to the description of the Euler angle rotation sequence of the shooting device corresponding to the preset control instruction in the embodiment of the above-mentioned target posture acquisition process.

When the camera is currently in the horizontal orientation shooting mode, and the real-time roll posture component of the camera is one of 0 degrees, 180 degrees, and -180 degrees, if the control instruction of the pan/tilt is switched directly according to the first trigger instruction, it will be based on the preset Setting a control command to control the shooting device to switch from horizontal orientation shooting to vertical orientation shooting will cause the rotation axes of the two motors to overlap, which will cause the universal joint to lock up. To avoid the universal joint from locking up during mode switching, in this embodiment, the process of switching the control command of the pan/tilt head to the preset control command may include: acquiring the real-time roll posture component of the camera; if the real-time roll posture component When the preset condition is met, the control command of the pan/tilt is switched to the preset control command.

Among them, the real-time roll posture component of the camera can be obtained according to the detection of the inertial measurement unit on the camera.

The current shooting mode includes the horizontal orientation shooting mode, and the preset conditions include: the real-time roll attitude component is not 0 degrees, 180 or -180 degrees, that is, when the current shooting mode is the horizontal orientation shooting mode, if the real-time roll attitude component is If it is not 0 degree, 180 or -180 degree, directly switch the control command of the pan/tilt to the preset control command. At this time, according to the preset control command, control the camera to switch from the horizontal orientation shooting mode to the vertical orientation shooting mode There is no problem of gimbal locking.

Further, the control method of the pan/tilt head of this embodiment may further include: if the real-time roll posture component does not meet the preset condition, controlling the rotation of the pan/tilt so that the real-time roll posture component of the camera is offset by a preset angle, And make the real-time roll posture component of the shifted camera meet the preset condition. When the real-time roll posture component does not meet the preset conditions, if the control command of the pan/tilt head is directly switched to the preset control command, the camera will be controlled to switch from the non-vertical orientation shooting mode to the vertical orientation according to the preset control command The shooting mode will cause the problem of gimbal locking; in this embodiment, when the real-time roll posture component does not meet the preset conditions, the pan-tilt is first controlled to rotate, so that the real-time roll posture component of the shooting device is shifted by the preset angle. And make the real-time roll posture component of the shifted camera meet the preset condition; then switch the control command of the pan-tilt to the preset control command. At this time, according to the preset control command, the camera is controlled from the non-vertical orientation Switching the shooting mode to the vertical orientation shooting mode will not cause the problem of gimbal locking.

Wherein, controlling the rotation of the pan/tilt so that the real-time roll posture component of the camera is shifted by a preset angle and the real-time roll posture component of the shifted camera meets the preset condition may include: according to the current shooting The control instruction corresponding to the mode controls the rotation of the pan-tilt so that the real-time roll posture component of the camera is shifted by a preset angle, and the real-time roll posture component of the shifted camera meets the preset condition.

If the current shooting mode is the horizontal orientation shooting mode, the Euler angle rotation sequence of the shooting device corresponding to the control command corresponding to the current shooting mode is: second axis, first axis, third axis, or third axis, first axis, The second axis. Further, according to the configuration of the pan-tilt, it is determined which of the above-mentioned Euler angle rotation sequence is the Euler angle rotation sequence of the camera corresponding to the control instruction corresponding to the current shooting mode. Optionally, when the pan-tilt is in the ZXY configuration, the Euler angle rotation sequence of the camera corresponding to the control command corresponding to the current shooting mode is: the third axis, the first axis, and the second axis. Optionally, when the pan/tilt is in the YXZ configuration, the Euler angle rotation sequence of the camera corresponding to the control command corresponding to the current shooting mode is: the second axis, the first axis, and the third axis.

When the current shooting mode is the horizontal orientation shooting mode, take the ZXY configuration of the gimbal as an example, according to the control instructions corresponding to the current shooting mode, control the rotation of the gimbal to make the real-time roll posture component of the camera deviate from the preset angle , And making the real-time roll posture component of the offset camera device meet the preset conditions may include: controlling the rotation of the pan/tilt according to the Euler angle rotation sequence of the third axis, the first axis, and the second axis to The real-time roll posture component of the photographing device is shifted by a preset angle, and the real-time roll posture component of the shifted photographing device meets the preset condition.

The size of the preset angle can be set as required, for example, the preset angle can be 5 degrees or other degrees.

(2) According to a preset control instruction, control the pan/tilt to rotate so that the target roll posture component of the camera is 90 degrees or -90 degrees, so that the camera can switch from the current shooting mode to the vertical orientation shooting mode.

In some embodiments, according to a preset control instruction, the pan/tilt is controlled to rotate so that the target roll posture component of the camera is 90 degrees or -90 degrees, so that the camera can switch from the current shooting mode to the vertical orientation shooting mode. The method further includes: acquiring the attitude of the base of the pan/tilt; according to the attitude of the base, controlling the optical axis direction of the photographing device through the pan/tilt to be substantially parallel to the middle plane of the base.

In this embodiment, the posture of the base can be directly obtained. For example, an inertial measurement unit (IMU) is placed on the base, and the posture of the base is obtained through the detection of the inertial measurement unit on the base; the posture of the base It can also be obtained indirectly. Optionally, the posture of the base is determined according to the posture of the camera.

Take a handheld PTZ as an example to illustrate how to determine the posture of the base according to the posture of the camera. The base is the handle of the handheld pan/tilt. The handheld pan/tilt in this embodiment also includes an accelerometer, which is used to detect the posture qmesa of the camera. The posture of the handle is determined according to the posture of the camera and the joint angle of the gimbal. Take a three-axis gimbal with a ZXY configuration as an example. The joint angles of the gimbal include yaw joint angle joint_yaw, roll joint angle joint_roll and Pitch joint angle joint_pitch, each joint angle is the joint angle of the corresponding axis motor. According to the shaft angle conversion formula, q_yaw, q_roll and q_pitch are obtained. The conjugate or inverse of q_yaw, q_roll and q_pitch are q_yaw_inv, q_roll_inv and q_pitch_inv respectively. The calculation formula of the handle posture qhandle is as follows:

qhandle=qmesa*q_pitch_inv*q_roll_inv*q_yaw_inv (2);

Among them, joint represents the joint angle, and q represents the quaternion.

Following the embodiment of the handheld pan/tilt shown in Figure 1, when the camera is switched from the current shooting mode to the vertical orientation shooting mode, by controlling the direction of the optical axis of the camera to be approximately parallel to the middle plane of the base, it is possible to avoid The small angle between the outer frame and the middle frame causes the gimbal lock problem; at the same time, this setting allows the gimbal to have a larger rotation range in the yaw direction, and the shooting range of the camera is wider. When the pan/tilt is a handheld pan/tilt, the base is a handle, and the middle plane of the base is the middle plane in the length direction of the handle.

According to a preset control instruction, controlling the pan/tilt to rotate so that the target roll posture component of the camera is 90 degrees or -90 degrees, so that the camera can switch from the current shooting mode to the vertical orientation shooting mode. The implementation process may include:

(1) Obtain the real-time posture of the camera;

(2) Determine the initial posture of the camera when the mode is switched according to the real-time posture and preset control instructions;

In this embodiment, according to the real-time posture and the preset control instruction, the realization process of determining the initial posture of the camera during mode switching may include: determining the posture cosine matrix according to the real-time posture; shooting corresponding to the posture cosine matrix and the preset control instruction The rotation sequence of the Euler angles of the device determines the initial posture of the camera when the mode is switched.

Optionally, the attitude cosine matrix is represented by a quaternion, in this article, q represents a quaternion.

Take the pan-tilt in the ZXY configuration and control the shooting device to switch from the horizontal orientation shooting mode to the vertical orientation shooting mode as an example.

Among them, when the camera is in the horizontal orientation shooting mode, the Euler angle rotation sequence of the camera is: Z, X, Y, referred to as ZXY rotation sequence; when the camera is in the vertical orientation shooting mode, the Euler angle of the camera The angular rotation sequence is: Z, X, Z, referred to as ZXZ rotation sequence.

In this embodiment, the conversion formula of Euler angle to quaternion in ZXY rotation sequence is as follows:

E _ZXY =q _ZXY (3);

The real-time posture of the camera is the Euler angle of the ZXY rotation sequence, assuming that the Euler angle of the ZXY rotation sequence is (Out_Z, Mid_X, Inn_Y), where Out_Z, Mid_X, Inn_Y correspond to Euler rotating around Z, X, Y Angle size, formula (4) is transformed into:

At the moment of mode switching:

q _ZXY = q _ZXZ (5);

In addition, q=[q ₀ ,q ₁ ,q ₂ ,q ₃ ] (6);

q ₀ , q ₁ , q ₂ , and q ₃ are the four elements of a quaternion, respectively. Combining formulas (4) and (6), it can be determined:

The formula for a solution of the conversion of Euler angles from q to ZXZ rotation order is as follows:

Combining formulas (4) to (7), the initial posture of the camera can be determined when the mode is switched. The initial posture is the Euler angle (Out_Z, Mid_X, Inn_Z) of the ZXZ rotation sequence, where Out_Z, Mid_X, Inn_Z correspond to The Euler angle of Z, X, Z rotation. Out_Z, Mid_X, Inn_Z are respectively one solution of the Euler angle of the corresponding ZXZ rotation sequence, and the other solution is (-pi+Inn_Z,-Mid_X,-pi+Out_Z). The specific solution is based on the current base orientation and other information determine. When Mid_X is 0 degrees or ±180 degrees, the Euler angles of the ZXZ rotation sequence are singular (that is, the gimbal is locked), and the camera is not supported to switch from horizontal to vertical shooting. At this time, first When shooting in a horizontal orientation, control the Mid_X to rotate a certain angle (just leave the 0 degree or ±180 degree area), which can support the camera to switch from shooting in the horizontal orientation to shooting in the vertical orientation. When Mid_X is not 0 degrees or ±180 degrees, there is no singular Euler angle problem of the ZXZ rotation sequence. It should be noted that in the embodiment of the present application, pi=180 degrees.

(3) According to the initial posture, control the rotation of the pan/tilt so that the target roll posture component of the camera is 90 degrees or -90 degrees, so that the camera can switch from the current shooting mode to the vertical orientation shooting mode.

In this step, the camera can be controlled by the pan-tilt to reach the initial posture, and then the camera can be controlled by the pan-tilt to reach the target posture from the initial posture to a posture of 90 degrees or -90 degrees; The rolling posture component is 90 degrees or -90 degree posture superposition, and the camera is controlled by the pan-tilt to reach the posture obtained by superposition.

It should be understood that when the camera is switched from the current shooting mode to the vertical orientation shooting mode, other attitude components of the camera, such as the yaw attitude component and/or the pitch attitude component, may not be controlled, or as required The other posture components of the control camera are preset sizes.

In addition, in some embodiments, the method for controlling the pan/tilt head further includes: when the shooting device is in the vertical orientation shooting mode, if a second trigger instruction instructing the shooting device to exit the vertical orientation shooting mode is obtained, controlling the shooting device to exit Vertical orientation shooting mode.

The second trigger instruction can be generated in multiple ways. For example, in some embodiments, the pan/tilt includes a base and a control part provided on the base, and the second trigger instruction is generated by the user triggering the control part. The control part may include keys, buttons, knobs or a combination of the above. The control unit in this embodiment may include one or more. When the pan/tilt is a handheld pan/tilt, the handheld pan/tilt may include a handle, and the control part may be provided on the handle. In other embodiments, the second trigger instruction is generated by the user operating the external device and sent by the external device. The external device can communicate with the pan/tilt. The external device may include a mobile terminal such as a mobile phone and a tablet computer, a fixed terminal, or a remote control or other control device of the pan/tilt.

Corresponding to the control method of the pan/tilt head in the above embodiment, the embodiment of the present application also provides a pan/tilt head. With reference to FIGS. 1 and 6, the pan/tilt head includes a base, a shaft assembly, and a controller. Wherein, the shaft assembly is arranged on the base, and the shaft assembly is used to mount the imaging device. The shaft assembly of this embodiment is configured to rotate around at least two axes. Optionally, the shaft assembly is configured to rotate around a yaw axis, a pitch axis, and a roll axis; optionally, the shaft assembly is configured to rotate around a yaw axis. The axis and the pitch axis rotate. The controller is electrically connected with the pan/tilt, and optionally, the controller is arranged on the base.

Specifically, the controller is used to: when the shooting device is in the vertical orientation shooting mode, obtain the current posture of the shooting device and the target posture of the shooting device; according to the current posture, the target posture, and the Euler angle of the shooting device corresponding to the preset control instruction Rotation sequence, determine the target joint angle of the gimbal; control the rotation of the gimbal according to the target joint angle; among them, the preset control command can make the gimbal always remain fixed during the rotation of the camera when the camera is in the vertical orientation shooting mode Dimensional degrees of freedom of rotation.

For the implementation process and working principle of the controller, please refer to the description of the pan-tilt control method in the foregoing embodiment, which will not be repeated here.

The controller in this embodiment may be a central processing unit (CPU). The controller may further include a hardware chip. The above-mentioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof. The above-mentioned PLD may be a complex programmable logic device (complex programmable logic device, CPLD), a field-programmable gate array (FPGA), a general array logic (generic array logic, GAL) or any combination thereof.

In addition, when the pan/tilt is a handheld pan/tilt, the base can be the handle of the handheld pan/tilt or be set on the handle of the handheld pan/tilt.

In addition, an embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of the method for controlling the pan/tilt head of the above-mentioned embodiment are realized.

The computer-readable storage medium may be the internal storage unit of the pan/tilt head described in any of the foregoing embodiments, such as a hard disk or a memory. The computer-readable storage medium may also be an external storage device of the pan-tilt, such as a plug-in hard disk, a smart media card (SMC), an SD card, a flash memory card (Flash Card), etc. equipped on the device . Further, the computer-readable storage medium may also include both an internal storage unit of the pan-tilt and an external storage device. The computer-readable storage medium is used to store the computer program and other programs and data required by the pan/tilt, and can also be used to temporarily store data that has been output or will be output.

A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing relevant hardware through a computer program. The program can be stored in a computer readable storage medium, and the program can be stored in a computer readable storage medium. During execution, it may include the procedures of the above-mentioned method embodiments. Wherein, the storage medium may be a magnetic disk, an optical disc, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM), etc.

The above-disclosed are only some of the embodiments of this application, which of course cannot be used to limit the scope of rights of this application. Therefore, equivalent changes made in accordance with the claims of this application still fall within the scope of this application.

Claims

A method for controlling a pan-tilt, the pan-tilt is equipped with a photographing device, and the pan-tilt is configured to rotate around at least two axes, characterized in that the method includes:

When the shooting device is in the vertical orientation shooting mode, acquiring the current posture of the shooting device and the target posture of the shooting device;

Determining the target joint angle of the pan/tilt head according to the current posture, the target posture, and the Euler angle rotation sequence of the camera corresponding to the preset control instruction;

Controlling the rotation of the pan/tilt according to the target joint angle;

Wherein, the preset control instruction can ensure that when the camera is in the vertical orientation shooting mode, the pan/tilt head always maintains a fixed degree of rotational freedom during the rotation process.
The method according to claim 1, wherein the Euler angle of the imaging device corresponds to the rotation of the first axis, the second axis, and the third axis, and the first axis is parallel to the optical axis of the imaging device Directions, the first axis, the second axis, and the third axis are respectively orthogonal;

The Euler angle rotation sequence of the camera corresponding to the preset control instruction is: the second axis, the first axis, the second axis, or the third axis, the first axis, and the third axis.
The method according to claim 2, wherein when the photographing device is placed in a horizontal orientation and the optical axis of the photographing device is parallel to a horizontal plane, the third axis is a vertical direction;

When the pan-tilt is in the ZXY configuration, the Euler angle rotation sequence of the camera corresponding to the preset control instruction is: the third axis, the first axis, and the third axis.
The method according to claim 2, wherein when the photographing device is placed in a horizontal orientation and the optical axis of the photographing device is parallel to a horizontal plane, the third axis is a vertical direction;

When the pan-tilt is in the YXZ configuration, the Euler angle rotation sequence of the camera corresponding to the preset control instruction is: second axis, first axis, and second axis.
The method according to claim 1, wherein the target position of the pan/tilt head is determined according to the current posture, the target posture, and the Euler angle rotation sequence of the camera corresponding to the preset control instruction Joint angle, including:

Determining the target Euler angle according to the target posture and the Euler angle rotation sequence of the photographing device corresponding to the preset control instruction;

Determine the first attitude quaternion according to the target Euler angle;

The target joint angle of the pan/tilt head is determined according to the first posture quaternion and the second posture quaternion corresponding to the current posture.
The method according to claim 5, wherein the target posture is determined according to a posture control amount sent by a control device of the pan/tilt head.
The method according to claim 6, wherein the determining the target Euler angle according to the target posture and the Euler angle rotation sequence of the camera corresponding to the preset control instruction comprises:

Acquiring the last target posture of the photographing device;

Determining the first Euler angle corresponding to the last target posture according to the Euler angle rotation sequence of the photographing device corresponding to the preset control instruction;

Determine the target Euler angle according to the first Euler angle and the second Euler angle, where the second Euler angle is the Euler angle of the camera corresponding to the attitude control amount based on the preset control instruction The angular rotation sequence is converted.
The method according to claim 7, wherein the range of the angle value corresponding to the roll direction in the target Euler angle is 90 degrees±the first preset angle or -90 degrees±the second preset angle.
8. The method of claim 7, wherein the Euler angle of the camera corresponds to the rotation of the first axis, the second axis, and the third axis, and the first axis is parallel to the optical axis of the camera. Directions, the first axis, the second axis, and the third axis are respectively orthogonal;

If the Euler angle rotation sequence of the camera corresponding to the preset control instruction is: second axis, first axis, second axis, the attitude control variable is used to control the pan/tilt around the heading axis The rotation component and the component used to control the rotation of the pan/tilt head around the pitch axis are obtained by conversion based on the second axis in the Euler angle rotation sequence;

If the Euler angle rotation sequence of the camera corresponding to the preset control instruction is: the third axis, the first axis, and the third axis, the attitude control variable is used to control the rotation of the pan/tilt around the yaw axis The component of and the component used to control the rotation of the pan/tilt around the pitch axis are obtained by conversion based on the third axis in the Euler angle rotation sequence.
The method according to claim 9, wherein the conversion comprises conversion of the Euler angular velocity of the rotation of the pan/tilt, or conversion of the size of the Euler angle of the rotation of the pan/tilt.
The method according to claim 5, wherein the target posture is determined according to the real-time detection posture of the base of the pan-tilt.
The method according to claim 11, wherein the determining the target Euler angle according to the target posture and the Euler angle rotation sequence of the camera corresponding to the preset control instruction comprises:

Based on the Euler angle rotation sequence of the camera corresponding to the preset control instruction, the roll posture component in the target posture is converted into 90 degrees or -90 degrees to obtain the target Euler angle.
The method according to claim 1, wherein the current posture is different from the target posture, and the Euler of the camera corresponding to the current posture, the target posture, and a preset control instruction The angular rotation sequence to determine the target joint angle of the pan/tilt includes:

Determining at least one intermediate posture between the current posture and the target posture according to the current posture, the target posture, and a preset interpolation strategy;

The target joint angle of the pan/tilt head is determined according to the current posture, at least one of the intermediate postures, the target posture, and the Euler angle rotation sequence of the camera corresponding to the preset control instruction.
The method according to claim 13, wherein the determining at least one intermediate posture between the current posture and the target posture according to the current posture, the target posture, and a preset interpolation strategy, include:

Determining at least one intermediate posture between the current posture and the target posture according to the current posture, the target posture, and at least one time change parameter;

Wherein, at least one of the time change parameters corresponds to at least one intermediate posture in a one-to-one correspondence.
The method according to claim 14, wherein the time change parameter comprises multiple, and the direction of the posture switching from the current posture to the target posture, and the time change parameters corresponding to the multiple intermediate postures are increasing trend.
The method according to claim 13, 14 or 15, characterized in that the Euler angle deviations of the postures adjacent to each other are equal in magnitude.
The method according to claim 1, characterized in that, before acquiring the current posture of the shooting device and the target posture of the shooting device when the shooting device is in a vertical orientation shooting mode, the method further comprises:

When a trigger instruction instructing the shooting device to enter the vertical orientation shooting mode is acquired, the shooting device is controlled to be in the vertical orientation shooting mode.
The method according to claim 16, wherein the controlling the photographing device to be in the vertical orientation photographing mode comprises:

Acquiring the current shooting mode of the shooting device;

According to the current shooting mode, controlling the shooting device to be in the vertical orientation shooting mode.
The method according to claim 18, wherein the current shooting mode is a vertical orientation shooting mode, and the controlling the shooting device to be in the vertical orientation shooting mode according to the current shooting mode comprises:

Keep the camera in the vertical orientation shooting mode.
The method according to claim 18, wherein the current shooting mode is a non-vertical shooting mode, and the shooting device is controlled to be in the vertical shooting mode according to the current shooting mode, include:

Controlling the photographing device to switch from the current photographing mode to the vertical orientation photographing mode by the photographing device.
The method according to claim 20, wherein said controlling said camera to switch from said camera from said current shooting mode to said vertical orientation shooting mode comprises:

Switching the control instruction of the pan/tilt head to a preset control instruction, so that the pan/tilt head maintains the rotation freedom of the original dimension after the mode is switched, and the number of the original dimension is equal to the number of the fixed dimension;

According to the preset control instruction, the pan/tilt is controlled to rotate so that the target roll posture component of the camera is 90 degrees or -90 degrees, so that the camera can switch from the current shooting mode to the Vertical orientation shooting mode.
The method according to claim 21, wherein said switching the control instruction of the pan/tilt head to the preset control instruction comprises:

Acquiring the real-time roll posture component of the photographing device;

If the real-time roll posture component satisfies a preset condition, the control instruction of the pan/tilt head is switched to a preset control instruction.
The method according to claim 22, wherein the method further comprises:

If the real-time roll posture component does not meet the preset condition, the pan/tilt is controlled to rotate so that the real-time roll posture component of the camera is shifted by a preset angle, and the shifted posture The real-time roll posture component of the camera satisfies the preset condition.
The method according to claim 22 or 23, wherein the current shooting mode comprises a horizontal orientation shooting mode, and the preset condition comprises: the real-time roll posture component is not 0 degree, 180 or -180 degree .
24. The method according to claim 24, wherein the control of the pan/tilt head rotates so that the real-time roll posture component of the photographing device is shifted by a preset angle, and the shifted photographing device The real-time roll attitude component of satisfies the preset conditions, including:

According to the control instruction corresponding to the current shooting mode, the pan/tilt is controlled to rotate so that the real-time roll posture component of the shooting device is shifted by a preset angle, and the shifted real-time roll of the shooting device The posture component satisfies the preset condition.
The method according to claim 17, wherein the pan/tilt head comprises: a base and a control unit provided on the base, and the trigger instruction is generated by a user triggering the control unit; or

The trigger instruction is generated by a user operating an external device and sent by the external device.
The method according to claim 1, wherein the pan/tilt is configured to rotate around two axes, the two axes including a yaw axis and a pitch axis.
The method according to claim 1, wherein the pan-tilt is configured to rotate around three axes, and the three axes include a yaw axis, a pitch axis, and a roll axis.
A pan-tilt, characterized in that the pan-tilt includes:

Base

A shaft assembly provided on the base, the shaft assembly is used to mount a photographing device, and the shaft assembly is configured to rotate about at least two shafts; and

A controller, the controller is electrically connected to the pan-tilt, and the controller is used for:

When the shooting device is in the vertical orientation shooting mode, acquiring the current posture of the shooting device and the target posture of the shooting device;

Determining the target joint angle of the pan/tilt head according to the current posture, the target posture, and the Euler angle rotation sequence of the camera corresponding to the preset control instruction;

Controlling the rotation of the pan/tilt according to the target joint angle;

Wherein, the preset control instruction can ensure that when the camera is in the vertical orientation shooting mode, the pan/tilt head always maintains a fixed degree of rotational freedom during the rotation process.
The pan/tilt head of claim 29, wherein the Euler angle of the imaging device corresponds to the rotation of the first axis, the second axis, and the third axis, and the first axis is parallel to the light of the imaging device. Axis direction, the first axis, the second axis, and the third axis are orthogonal to each other;

The Euler angle rotation sequence of the camera corresponding to the preset control instruction is: the second axis, the first axis, the second axis, or the third axis, the first axis, and the third axis.
The pan/tilt head according to claim 30, wherein when the photographing device is placed in a horizontal orientation and the optical axis of the photographing device is parallel to a horizontal plane, the third axis is a vertical direction;

When the pan-tilt is in the ZXY configuration, the Euler angle rotation sequence of the camera corresponding to the preset control instruction is: the third axis, the first axis, and the third axis.
The pan/tilt head according to claim 30, wherein when the photographing device is placed in a horizontal orientation and the optical axis of the photographing device is parallel to a horizontal plane, the third axis is a vertical direction;

When the pan-tilt is in the YXZ configuration, the Euler angle rotation sequence of the camera corresponding to the preset control instruction is: second axis, first axis, and second axis.
The pan/tilt head according to claim 29, wherein the controller determines the Euler angle rotation sequence of the camera corresponding to the current posture, the target posture, and a preset control instruction. The target joint angle of the gimbal is specifically used for:

Determining the target Euler angle according to the target posture and the Euler angle rotation sequence of the photographing device corresponding to the preset control instruction;

Determine the first attitude quaternion according to the target Euler angle;

The target joint angle of the pan/tilt head is determined according to the first posture quaternion and the second posture quaternion corresponding to the current posture.
The pan/tilt head according to claim 33, wherein the target attitude is determined according to the attitude control amount sent by the control device of the pan/tilt head.
The pan/tilt head according to claim 34, wherein the controller determines the target Euler angle according to the target attitude and the Euler angle rotation sequence of the camera corresponding to the preset control instruction. Used for:

Acquiring the last target posture of the photographing device;

Determining the first Euler angle corresponding to the last target posture according to the Euler angle rotation sequence of the photographing device corresponding to the preset control instruction;

Determine the target Euler angle according to the first Euler angle and the second Euler angle, where the second Euler angle is the Euler angle of the camera corresponding to the attitude control amount based on the preset control instruction The angular rotation sequence is converted.
The pan/tilt head according to claim 35, wherein the range of the angle value corresponding to the roll direction in the target Euler angle is 90°±the first preset angle or -90°±the second preset angle.
The pan/tilt head according to claim 35, wherein the Euler angle of the photographing device corresponds to the rotation of the first axis, the second axis, and the third axis, and the first axis is parallel to the light of the photographing device. Axis direction, the first axis, the second axis, and the third axis are orthogonal to each other;

If the Euler angle rotation sequence of the camera corresponding to the preset control instruction is: second axis, first axis, second axis, the attitude control variable is used to control the pan/tilt around the heading axis The rotation component and the component used to control the rotation of the pan/tilt head around the pitch axis are obtained by conversion based on the second axis in the Euler angle rotation sequence;

If the Euler angle rotation sequence of the camera corresponding to the preset control instruction is: the third axis, the first axis, and the third axis, the attitude control variable is used to control the rotation of the pan/tilt around the yaw axis The component of and the component used to control the rotation of the pan/tilt around the pitch axis are obtained by conversion based on the third axis in the Euler angle rotation sequence.
The pan/tilt head according to claim 37, wherein the conversion includes conversion of Euler angular velocity of the rotation of the pan/tilt head, or conversion of the size of the Euler angle of the rotation of the pan/tilt head.
The pan/tilt head according to claim 33, wherein the target posture is determined according to the real-time detection attitude of the base of the pan/tilt head.
The pan/tilt head according to claim 39, wherein the controller determines the target Euler angle according to the target attitude and the Euler angle rotation sequence of the camera corresponding to the preset control instruction. Used for:

Based on the Euler angle rotation sequence of the camera corresponding to the preset control instruction, the roll posture component in the target posture is converted into 90 degrees or -90 degrees to obtain the target Euler angle.
The pan/tilt head according to claim 29, wherein the current posture is different from the target posture, and the controller performs the shooting according to the current posture, the target posture, and the preset control instruction. The Euler angle rotation sequence of the device, when determining the target joint angle of the pan/tilt, is specifically used for:

Determining at least one intermediate posture between the current posture and the target posture according to the current posture, the target posture, and a preset interpolation strategy;

The target joint angle of the pan/tilt head is determined according to the current posture, at least one of the intermediate postures, the target posture, and the Euler angle rotation sequence of the camera corresponding to the preset control instruction.
The pan/tilt head according to claim 41, wherein the controller determines at least one of the positions between the current posture and the target posture according to the current posture, the target posture, and a preset interpolation strategy. In an intermediate posture, it is specifically used for:

Determining at least one intermediate posture between the current posture and the target posture according to the current posture, the target posture, and at least one time change parameter;

Wherein, at least one of the time change parameters corresponds to at least one intermediate posture in a one-to-one correspondence.
The pan/tilt head according to claim 42, wherein the time change parameter comprises multiple, the direction of the posture switching from the current posture to the target posture, and the time change parameters corresponding to the multiple intermediate postures are Increasing trend.
The pan/tilt head according to claim 41, 42 or 43, wherein the Euler angle deviations of the postures adjacent to each other are equal in magnitude.
The pan/tilt head according to claim 29, characterized in that, before the controller obtains the current posture of the shooting device and the target posture of the shooting device when the shooting device is in the vertical orientation shooting mode, it also Used for:

When a trigger instruction instructing the shooting device to enter the vertical orientation shooting mode is acquired, the shooting device is controlled to be in the vertical orientation shooting mode.
The pan/tilt head according to claim 44, wherein the controller is specifically configured to:

Acquiring the current shooting mode of the shooting device;

According to the current shooting mode, controlling the shooting device to be in the vertical orientation shooting mode.
The pan/tilt head according to claim 46, wherein the current shooting mode is a vertical orientation shooting mode, and the controller is controlling the shooting device to be in the vertical orientation shooting according to the current shooting mode. In the mode, it is specifically used for:

Keep the camera in the vertical orientation shooting mode.
The pan/tilt head according to claim 46, wherein the current shooting mode is a non-vertical orientation shooting mode, and the controller controls the shooting device to be in the vertical orientation according to the current shooting mode. When in orientation shooting mode, it is specifically used for:

Controlling the photographing device to switch from the current photographing mode to the vertical orientation photographing mode by the photographing device.
The pan/tilt head according to claim 48, wherein the controller is specifically configured to: when controlling the shooting device to switch from the shooting device from the current shooting mode to the vertical orientation shooting mode:

Switching the control instruction of the pan/tilt head to a preset control instruction, so that the pan/tilt head maintains the original dimensional rotational freedom after the mode is switched, and the number of the original dimension is equal to the number of the fixed dimension;

According to the preset control instruction, the pan/tilt is controlled to rotate so that the target roll posture component of the camera is 90 degrees or -90 degrees, so that the camera can switch from the current shooting mode to the Vertical orientation shooting mode.
The pan/tilt head according to claim 49, wherein the controller is specifically configured to: when switching the control instruction of the pan/tilt head to the preset control instruction:

Acquiring the real-time roll posture component of the photographing device;

If the real-time roll posture component satisfies a preset condition, the control instruction of the pan/tilt head is switched to a preset control instruction.
The pan/tilt head according to claim 50, wherein the controller is further configured to:

If the real-time roll posture component does not meet the preset condition, the pan/tilt is controlled to rotate so that the real-time roll posture component of the camera is shifted by a preset angle, and the shifted posture The real-time roll posture component of the camera satisfies the preset condition.
The pan/tilt head according to claim 50 or 51, wherein the current shooting mode comprises a horizontal orientation shooting mode, and the preset condition comprises: the real-time roll posture component is not 0 degree, 180 or -180 degree.
The pan/tilt head according to claim 52, wherein the controller is controlling the rotation of the pan/tilt head, so that the real-time roll posture component of the photographing device is shifted by a preset angle, and the shifted When the real-time roll posture component of the photographing device satisfies the preset condition, it is specifically used for:

According to the control instruction corresponding to the current shooting mode, the pan/tilt head is controlled to rotate so that the real-time roll posture component of the shooting device is shifted by a preset angle, and the shifted real-time roll of the shooting device The posture component satisfies the preset condition.
The pan/tilt head according to claim 45, wherein the pan/tilt head comprises: a base and a control part provided on the base, and the trigger instruction is generated by a user triggering the control part; or

The trigger instruction is generated by a user operating an external device and sent by the external device.
The pan/tilt head of claim 29, wherein the pan/tilt head is configured to rotate about two axes, the two axes including a yaw axis and a pitch axis.
The pan/tilt head according to claim 29, wherein the pan/tilt head is configured to rotate around three axes, and the three axes include a yaw axis, a pitch axis, and a roll axis.