WO2018191963A1

WO2018191963A1 - Remote control, camera mount, and camera mount control method, device, and system

Info

Publication number: WO2018191963A1
Application number: PCT/CN2017/081470
Authority: WO
Inventors: 苏铁; 潘立忠
Original assignee: 深圳市大疆灵眸科技有限公司
Priority date: 2017-04-21
Filing date: 2017-04-21
Publication date: 2018-10-25
Also published as: CN108496137B; CN108496137A

Abstract

Provided in the present invention are a remote control, camera mount, and camera mount control method, device, and system. A control system of a camera mount comprises a remote control (100) for controlling a camera mount (200). The method comprises: with the camera mount being in a first state, the remote control sending to the camera mount a first switching instruction to instruct the camera mount to switch to a manual calibration mode; upon detection of the first switching instruction, the camera mount switching to the manual calibration mode; in the manual calibration mode, the remote control receiving correction information inputted by a user; and the camera mount receiving the correction information sent by the remote control, and correcting, according to the correction information, a parameter of the camera mount. By providing the manual calibration mode, the present invention enables parameter correction of the camera mount by means of correction information inputted by a user at any given time, namely, parameter adjustment of the camera mount by means of manual intervention at any given time. In this way, the present invention enables an accurate estimate of an actual attitude of the camera mount, and reduces position drifting of the camera mount by eliminating the influence of a state, such as a linear acceleration, on a camera mount parameter adjustment in the manual calibration mode.

Description

Remote control, pan/tilt and pan/tilt control method, device and system

Technical field

The present invention relates to the field of control, and in particular, to a remote control, pan/tilt and pan/tilt control method, device and system.

Background technique

The gimbal is a system that stabilizes the load. With the PTZ fixed shooting device, you can stabilize the shooting device, and you can take a stable and smooth picture even under sports conditions. However, when using a PTZ fixed shooting device, when using a fixed position or a moving position for a long time to shoot a fixed scene, each axis of the PTZ (such as the yaw axis, the pitch axis, and the roll axis respectively correspond to the yaw axis, the pitch axis, The roll axis will drift, causing the captured picture to drift, reducing the quality of the shot.

At present, the PTZ mainly controls the attitude of the gimbal by using the inertial measurement unit as the feedback component and the drive motor of each axis of the gimbal as the output component. In the control process of the attitude of the gimbal, the control volume is the cloud. The attitude of the station, by giving a target attitude, corrects the current attitude of the gimbal to the target attitude through feedback control, so that the gimbal approaches from the current attitude to the target attitude to prevent the gimbal from drifting.

In some cases, it is necessary to mount the gimbal on the sports equipment, for example, to mount the gimbal on the vehicle for vehicle shooting, and the attitude of the gimbal is affected by the linear acceleration when the vehicle is accelerating or decelerating. The estimation error caused the lens of the shooting device mounted on the pan/tilt to shift, which caused the desired picture to be captured.

Summary of the invention

The invention provides a remote control, cloud platform and pan/tilt control method, device and system.

According to a first aspect of the present invention, a method for controlling a pan/tilt head is provided, the method comprising: If the first switching instruction for instructing the pan-tilt to switch to the manual calibration mode is detected, switching to the manual calibration mode; in the manual calibration mode, receiving the correction information returned by the user side; and determining the parameters of the gimbal according to the correction information Make corrections.

According to a second aspect of the present invention, there is provided a control device for a pan/tilt, the device comprising: a first processor; wherein the first processor is configured to: if it is detected to indicate that the pan-tilt is switched to manual The first switching command of the calibration mode switches to the manual calibration mode; in the manual calibration mode, the correction information returned by the user side is received; and the parameters of the pan/tilt are corrected according to the correction information.

According to a third aspect of the present invention, there is provided a computer readable storage medium having stored thereon a computer program, the program being executed by a first processor, the step of: if detecting a pan/tilt switch to a manual calibration mode The first switching instruction switches to the manual calibration mode; in the manual calibration mode, the correction information returned by the user side is received; and the parameters of the pan/tilt are corrected according to the correction information.

According to a fourth aspect of the present invention, there is provided a cloud platform comprising: a gyroscope, an accelerometer and a pan/tilt control device, the control device of the pan/tilt head comprising a first processor; wherein the first processor is configured If the first switching instruction for instructing the gimbal to switch to the manual calibration mode is detected, switching to the manual calibration mode; in the manual calibration mode, receiving the correction information returned by the user side; and the pan/tilt according to the correction information The parameters are corrected.

According to a fifth aspect of the present invention, a method for controlling a pan/tilt head is provided, the method comprising: transmitting, when the pan/tilt head is in a first state, a first switching instruction for instructing the pan-tilt to switch to a manual calibration mode to the gimbal Receiving correction information input by the user; transmitting the correction information and transmitting the correction information to the pan/tilt, and instructing the pan/tilt to correct the parameters of the gimbal according to the correction information.

According to a sixth aspect of the present invention, a control device for a cloud platform is provided, the device comprising: a second processor; wherein the second processor is configured to: when the pan/tilt is in a first state, for transmitting The first switching instruction for instructing the gimbal to switch to the manual calibration mode to the pan/tilt; receiving the user The correction information is input; the correction information is sent and sent to the pan/tilt, and is used to instruct the pan/tilt to correct the parameters of the gimbal according to the correction information.

According to a seventh aspect of the present invention, there is provided a computer readable storage medium having stored thereon a computer program, the program being executed by a second processor, the step of: transmitting, when the pan/tilt is in a first state, transmitting The pan/tilt switches to the first switching instruction of the manual calibration mode to the pan/tilt; receives the correction information input by the user; sends the correction information and sends the correction information to the pan/tilt, and is used to instruct the pan/tilt to perform the parameter of the gimbal according to the correction information. Corrected.

According to an eighth aspect of the present invention, a remote controller is provided for controlling a pan/tilt, the remote controller includes a second processor, and the second processor is configured to: after the pan/tilt is in a first state, send a first switching instruction for instructing the gimbal to switch to the manual calibration mode to the pan/tilt; receiving correction information input by the user; transmitting the correction information and transmitting the correction information to the pan/tilt, indicating that the pan/tilt heads the pan/tilt according to the correction information The parameters are corrected.

According to a ninth aspect of the present invention, a control system for a pan/tilt head is provided, comprising: a remote controller for controlling a pan/tilt head, wherein the remote controller transmits a pan-tilt to switch to a manual calibration mode when the pan-tilt is in a first state a first switching instruction to the pan/tilt; the pan/tilt switches to a manual calibration mode after detecting the first switching instruction; in the manual calibration mode, the remote controller receives correction information input by a user; The pan/tilt receives the correction information sent by the remote controller, and corrects the parameters of the gimbal according to the correction information.

It can be seen from the technical solutions provided by the embodiments of the present invention that the setting of the manual calibration mode can correct the parameters of the gimbal at any time by using the correction information input by the user side, that is, adjusting the parameters of the gimbal through manual intervention at any time. The actual attitude estimation of the gimbal is accurate, and the parameters of the pan/tilt in the manual calibration mode are not affected by the state of line acceleration, so that the pan/tilt drift is small.

DRAWINGS

In order to more clearly illustrate the technical solution in the embodiment of the present invention, the following describes the embodiment. BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are incorporated in the drawings, Other drawings can also be obtained from these figures.

1 is a schematic view showing the installation state of a pan/tilt head according to an embodiment of the present invention;

2 is a schematic flow chart of a method for controlling a cloud platform on a cloud platform side according to an embodiment of the present invention;

3 is a schematic flow chart of a method for controlling a cloud platform on a cloud platform side according to another embodiment of the present invention;

4 is a schematic flow chart showing a general control method of a cloud platform according to an embodiment of the present invention;

FIG. 5 is a schematic flowchart of a method for controlling a PTZ in a user side device according to an embodiment of the present invention; FIG.

6 is a schematic structural view of a cloud platform according to an embodiment of the present invention;

FIG. 7 is a schematic structural diagram of a remote controller according to another embodiment of the present invention;

FIG. 8 is a schematic structural diagram of a display interface of a remote controller according to an embodiment of the present invention; FIG.

9 is a schematic structural diagram of a PTZ control system according to an embodiment of the present invention;

FIG. 10 is a schematic structural diagram of a PTZ control system according to another embodiment of the present invention.

detailed description

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

The remote control, pan/tilt and pan/tilt control method, device and system of the present invention will be described in detail below with reference to the accompanying drawings. In the case of no conflict, the following embodiments and embodiments The signs can be combined with each other.

The inertial measurement unit (IMU) in the gimbal mainly includes a gyroscope and an accelerometer. The gyroscope can measure the angular velocity of rotation of each axis of the gimbal. By integrating the measured angular velocity, the current attitude of the gimbal can be determined (pitch, roll, Yaw), but the angular velocity output of each axis of the gyroscope has a zero offset, and if the zero offset problem cannot be improved, the current attitude of the pan/tilt obtained by the angular velocity output integral measured by the gyroscope is inaccurate. At present, the accelerometer is mainly used to give a gimbal attitude reference, and the current attitude of the gimbal obtained by the angular velocity integral measured by the gyroscope is corrected, and finally the gimbal obtains a relatively stable posture. However, the accelerometer itself has drift, and the data of the acceleration is used to correct the current posture, and the drift is also generated. The attitude of the gimbal is not very stable for a long time, and the shooting device mounted on the gimbal cannot take a long time to photograph the fixed machine. In addition, when using the accelerometer to correct the current attitude of the gimbal, it can only be corrected for the pitch and roll axes of the gimbal, and cannot be corrected for the yaw axis of the gimbal. Therefore, the yaw axis posture of the gyroscope is integrated. It is possible that drift will occur soon, and eventually the yaw axis of the entire pan/tilt will continuously move in one direction when shooting the scene with a fixed position using the gimbal. This will also cause the shooting device mounted on the gimbal to fail. Shoot scenes with a fixed position for a long time.

The pan/tilt head in the embodiment of the present invention may be a two-axis pan/tilt head or a three-axis pan/tilt head. For convenience of explanation, as shown in FIG. 1 , a schematic description of the three-axis pan/tilt head 200 is performed in the embodiment of the present invention. Wherein, the photographing device 9 is fixedly mounted on the photographing device fixing mechanism 6 on the pan/tilt head 200, wherein the fixing mechanism 6 can be fixedly or movably connected to the shaft arm 7 of the pitch shaft of the pan/tilt head, wherein the inertial measurement unit can be installed On the fixing mechanism 6 of the photographing apparatus, on the member fixedly connected to the fixing mechanism 6, or any other component fixedly connected to the shaft arm 7 of the pitch shaft, the pan/tilt is stabilized for the photographing device during the photographing process, The inertial measurement unit can measure the posture of the photographing device 9 during the shooting of the photographing device. Among them, posture has a variety of expressions, quaternion is a representation of attitude information, and commonly used expressions of commonly used gestures are Euler angles, matrices, and so on. The first posture information may be the attitude angle of the first posture (the Euler angle) or the quaternion corresponding to the first posture, which is not specifically limited herein. The latter part of this paper deals with attitude information. The attitude angle corresponding to the gesture may also be the quaternion corresponding to the gesture, and will not be explained again thereafter. In addition, for convenience of description, the roll axis, the yaw axis, and the pitch axis of the pan/tilt are replaced with the X axis, the Y axis, and the Z axis hereinafter.

With reference to FIG. 2 to FIG. 5, an embodiment of the present invention provides a pan/tilt control method. The first embodiment and the second embodiment respectively describe the control method of the cloud platform from the cloud platform side and the user side device controlling the cloud platform. The user side device may be a dedicated remote controller (ie, a control device for controlling the movement of the gimbal) or a smart device (such as a mobile device, a mobile device such as a PAD) installed with an APP.

Embodiment 1

Referring to FIG. 2, the control method of the pan/tilt on the gimbal side may include the following steps:

S101: If a first switching instruction for instructing the PTZ to switch to the manual calibration mode is detected, switching to the manual calibration mode;

In some embodiments, the first switching instruction is sent by the user side. Optionally, the first switching instruction may be input by the user directly on the pan/tilt. For example, the pan/tilt is provided with a first switch that generates a first switching command, and the user presses the first switch to input the first switching command to the pan/tilt, thereby instructing the pan/tilt to switch to the manual calibration mode. In this embodiment, the first switch can be a physical switch or a virtual switch. In other examples, the pan/tilt includes an operation interface, and the operation interface is provided with an input box for inputting a first switching instruction, and the user can directly input a first switching instruction to the input box, thereby indicating the gimbal Switch to manual calibration mode. Optionally, the first switching instruction is sent by the user side device. In an embodiment, the user-side device is a dedicated remote controller, and the dedicated remote controller is provided with a first switch for inputting a first switching instruction, and after the user presses the first switch, the dedicated remote controller transmits The first switching instruction is to the pan/tilt. In another embodiment, the user side device is a smart device installed with an APP (application software), and the interface of the APP is provided with a first switch to send a first switching instruction to the pan/tilt or for inputting the first Switch the input box of the instruction.

In this embodiment, the user-side device sends the first switching instruction to the pan-tilt, and after the user side receives the information that the pan-tilt is in the first state, the first state includes the accelerated motion state and the deceleration motion state. One. Among them, the gimbal is in the first state, indicating that the pan/tilt may drift, and the drift is corrected by the inertial measurement unit, and the inertial measurement unit is subject to the inaccuracy of the correction caused by the linear acceleration, and in the manual calibration mode. The drift of the gyroscope is directly adjusted so that the attitude of the gimbal is accurate without being affected by the line acceleration, and the drift actually generated by the gimbal can be adjusted in real time, so that the attitude accuracy of the gimbal is high.

In some embodiments, the detecting before the first switching instruction for indicating that the PTZ switches to the manual calibration mode comprises: receiving information that the PTZ is in the first state. The first state indicates that the pan/tilt may drift, and the drift is corrected by the inertial measurement unit. The inertial measurement unit is subject to the inaccuracy of the correction caused by the linear acceleration, and the gyroscope is directly applied to the gyroscope in the manual calibration mode. The drift is adjusted so that the attitude of the pan/tilt is not affected by the line acceleration, and the drift actually generated by the pan/tilt can be adjusted in real time, so that the attitude of the pan/tilt is highly accurate. Optionally, the first switching instruction is generated by the gimbal after receiving the information that the PTZ is in the first state. That is, the first switching instruction is generated by the PTZ, and the automatic switching mode is automatically switched, and the timeliness of the switching is high, thereby ensuring the timeliness of the subsequent adjustment of the parameters of the PTZ.

Alternatively, the first state may be obtained by detecting a motion state of a device (for example, a vehicle) on which the pan/tilt is mounted, that is, when the motion state of the device carrying the pan/tilt is one of acceleration and deceleration, the pan/tilt is in the first state. status. The angle of the gimbal and the direction of travel does not affect the motion state of the gimbal. For example, the acceleration and deceleration movement of the gimbal and the driving direction at 90° also indicates that the gimbal is in the first state.

Optionally, a detecting device (for example, a speed sensor) for detecting a motion state of the pan/tilt is disposed on the cloud platform or the device supporting the pan/tilt, and the detecting device sends the detected motion state of the pan/tilt to the user. The side device, so that the first switching instruction for instructing the pan-tilt to switch to the manual calibration mode is automatically generated by the user-side device or the first switching instruction is directly input by the user on the user-side device.

S102: Receive the correction information returned by the user side in the manual calibration mode;

In some embodiments, after detecting the first switching instruction for indicating that the PTZ switches to the manual calibration mode, the method further includes: transmitting the image monitored by the PTZ to the user side device. Optionally, the user side device compares the received image with the reference image to determine whether the pan/tilt is drifting. In this embodiment, when the user side device determines that the received image does not match the reference image, it determines that the pan/tilt is drifting, and the user side device returns the correction information to the cloud according to the comparison result between the image and the reference image. Taiwan; otherwise, the cloud platform has no drift. Optionally, the image received by the user side device is directly displayed to the user, and the user determines whether the pan/tilt is drifted according to the image, and inputs the correction information to the user side device according to the image, and then the user side device adds the correction information. Send to the PTZ.

In some embodiments, after detecting the first switching instruction for indicating that the PTZ switches to the manual calibration mode, the method further includes: sending the PTZ current posture to the user side device. Optionally, the user side device compares the received current attitude of the pan/tilt head with the pan/tilt reference posture to determine whether the cloud platform generates drift. In this embodiment, when the user side device determines that the current attitude of the pan/tilt is inconsistent with the pan/tilt reference posture, it determines that the pan/tilt is drifting, and the user side device returns according to the comparison result between the current attitude of the gimbal and the reference posture of the gimbal. Correct the information to the PTZ; otherwise, the PTZ has no drift. Optionally, the current posture of the PTZ received by the user equipment is directly presented to the user, and the user determines whether the PTZ generates drift according to the current posture of the PTZ, and inputs the correction information to the user side device according to the image, and then The user side device sends the correction information to the pan/tilt.

It should be noted that, after the user side device determines that the pan/tilt has drifted, if the drift of the pan/tilt is not corrected, the drift of the pan/tilt will become larger as time passes.

In some embodiments, the user side device communicates with the cloud platform based on a wireless communication manner, which can implement remote control of pan/tilt parameter correction, and also avoid cable entanglement problems caused by cable connection. Optionally, the wireless communication mode is a radio frequency communication mode or another wireless communication mode. Of course, the user side device and the cloud platform can also be directly connected by way of a cable.

S103: Correct the parameters of the pan/tilt according to the correction information.

In the embodiment of the present invention, by setting the manual calibration mode, the correction information input by the user side can be used to correct the parameters of the gimbal at any time, that is, the parameters of the gimbal are adjusted by manual intervention at any time, so that the actual attitude estimation of the gimbal is accurate. And the parameters of the pan/tilt adjustment in the manual calibration mode are not affected by the state of line acceleration, etc., so that the pan/tilt drift is small.

The parameter of the gimbal includes a drift value of one or more axes of the gyroscope (for example, a roll axis, a pitch axis, and a yaw axis) (which is obtained by linear integration of the gyroscope's zero offset with time).

In some embodiments, the correcting the posture of the gimbal according to the correction information comprises: adjusting a drift value of one or more axes of the gyroscope according to the correction information, so that the pan/tilt is on each axis The posture is more accurate. Specifically, the correction information includes an adjustment value size and an adjustment direction corresponding to the adjustment value. In addition, the correction information further includes a gyro axis of the desired adjustment corresponding to the adjustment value, so as to adjust the gyro axis according to the adjustment value and the adjustment direction corresponding to the adjustment value, and the gyro axis to be adjusted. The drift value corresponding to the gyroscope axis is corrected to achieve the accuracy of the pan-tilt drift adjustment. In this embodiment, the adjustment direction may include a positive direction or a negative direction. For example, for a yaw axis of the pan/tilt head, a reference position is set, where the right side of the reference position is a positive direction and the left side is a negative direction; The pitch axis of the gimbal also sets a reference position, the lower side of the reference position is a positive direction, and the upper side is a negative direction; for the roll axis of the gimbal, a reference position is also set, and the right tilt of the reference position is positive Direction, left tilt is negative. Of course, the positive direction and the negative direction can be set to other forms as needed. Optionally, the adjusting, according to the correction information, a drift value of one or more axes of the gyroscope, comprising: performing positive or negative drift values of one or more axes of the gyroscope according to the magnitude of the adjustment value. The adjustment of the direction, thereby correcting the drift value of the axis of the drifting gyroscope, so that the drift of the gyroscope on the axis is reduced, thereby reducing the drift of the gimbal.

It should be noted that regardless of the motion state of the gimbal, the drift of the gyroscope occurs linearly with time. Therefore, the manual calibration method can adjust the drift at any time.

Referring to Figures 3 and 4, the method may further comprise the steps of:

S1: if a second switching instruction for instructing the PTZ to switch to the automatic calibration mode is detected, switching to the automatic calibration mode;

The acquiring manner of the first switching instruction corresponds to the acquiring manner of the first switching instruction in step S101.

In some embodiments, the second switching instruction is sent by the user side. Optionally, the second switching instruction may be input by the user directly on the pan/tilt. For example, the pan/tilt is provided with a second switch that generates a second switching command, and the user presses the second switch to input a second switching command to the pan/tilt, thereby instructing the pan/tilt to switch to the manual calibration mode. In this embodiment, the second switch can be a physical switch or a virtual switch. In other examples, the pan/tilt includes an operation interface, and the operation interface is provided with an input box for inputting a second switching instruction, etc., and the user can directly input a second switching instruction to the input box, thereby indicating the gimbal Switch to manual calibration mode. Optionally, the second switching instruction is sent by the user side device. In an embodiment, the user-side device is a dedicated remote controller, and the dedicated remote controller is provided with a second switch for inputting a second switching command. After the user presses the second switch, the dedicated remote controller is Sending a second switching instruction to the pan/tilt. In this embodiment, the second switch can be a physical switch or a virtual switch. In another embodiment, the user side device is a smart device with an APP installed, and the interface of the APP is provided with a second switch that sends a second switch instruction to the pan/tilt or an input for inputting a second switch instruction. frame.

In some embodiments, the transmitting, by the user side device, the second switching instruction to the pan/tilt may be performed after the user side receives the information that the pan/tilt is in the second state, where the second state includes the uniform motion state and the stationary state. One kind. In the second state, the pan/tilt automatically adjusts its drift accuracy to be high, and does not require manual intervention, which is simple and convenient.

In some embodiments, the second switching instruction is generated by the gimbal after the pan/tilt detects that it is in the second state, that is, the pan/tilt immediately generates the second slice after detecting that it is in the second state. The command is changed, the pan/tilt is switched to the automatic calibration mode, and the second switching command is generated for a fast time, so that the pan/tilt is automatically adjusted at a faster speed.

Alternatively, the second state can also be obtained by detecting the motion state of the device (for example, a vehicle) on which the pan/tilt is mounted, that is, when the motion state of the device carrying the pan/tilt is one of uniform speed and stationary, the pan/tilt is in the second state. status. The second state is also a detecting device mounted on a pan/tilt or a device equipped with a pan/tilt.

S2: acquiring the first attitude information of the pan/tilt head by using a gyroscope in the automatic calibration mode;

S3: acquiring the second attitude information of the pan/tilt by using an accelerometer;

It should be noted that the sequence of step S1 and step S3 in the embodiment of the present invention may be sequentially performed in sequence, wherein the specific sequence is not specifically limited, and step S2 and step S3 may also be performed simultaneously.

S4: Correct the posture and/or parameters of the gimbal according to the first posture information and the second posture information.

Specifically, since the gyroscope in the inertial measurement unit performs data measurement, the measured attitude information is not accurate due to the drift of the gyroscope, and therefore, the second attitude information acquired according to the accelerometer in the inertial measurement unit, Correcting the posture and/or parameters of the gimbal (for example, the drift value of one or more axes of the gyroscope) is implemented according to the first posture information and the second posture information. In the embodiment of the present invention, the attitude and parameters of the pan/tilt are corrected by the first attitude information and the second attitude information, thereby reducing the drift of the pan/tilt. In addition, the automatic calibration method is simpler, more convenient and time-sensitive. high.

In some embodiments, the correcting the posture of the pan/tilt according to the first posture information and the second posture information comprises: determining, according to the first posture information and the second posture information, The error posture information of the pan/tilt, and correcting the first attitude information according to the error posture information to obtain a current posture and/or parameter information of the pan/tilt, using a closed-loop control strategy, and measuring the gyroscope according to the error posture information The obtained first posture information is corrected to obtain The current attitude information of the gimbal, so as to accurately adjust the drift of the gimbal. Optionally, the error posture information is posture difference information between the first posture information and the second posture information. When the first posture information and the second posture information of the pan/tilt are both expressed in the form of a quaternion, the quaternion of the second posture information and the quaternion of the first posture information may be determined. Specifically, the error posture information may be obtained by multiplying the quaternion of the second posture information by the quaternion of the first posture information, and determining the error posture information according to the quaternion obtained by multiplication. The multiplied quaternion may represent error pose information between the second pose information and the first pose information, and the quaternion obtained after multiplication is the quaternion of the error pose information. According to the quaternion of the error posture information, the Euler angle corresponding to the error posture information can be converted, and the first posture of the inertial measurement unit or the gyroscope can be determined according to the quaternion or the Euler angle of the determined error posture information. The information is corrected. In addition, when determining the quaternion of the second posture information, the quaternion of the second posture information may be replaced with a corresponding Euler angle, and the Euler angle corresponding to the first posture information is determined according to the inertial observation unit or the gyroscope. The error posture information between the second posture information and the first posture information can be obtained by comparing the quaternion of the second posture information with the corresponding Euler angle and the Euler angle corresponding to the first posture information, and the error posture information is obtained. The drift of the gyro can be expressed, and the difference between the Euler angles corresponding to the first attitude information of the second attitude information can be converted into a quaternion corresponding to the error posture information by conversion. Optionally, the error posture information includes at least one of attitude difference information of a roll axis and attitude difference information of a pitch axis.

The correcting the first posture information according to the error posture information to obtain the current attitude information of the gimbal comprises: correcting according to the error posture information by using one or more of extended Kalman filtering, complementary filtering, and smoothing filtering. The first posture information is used to obtain current posture information of the pan/tilt. Specifically, the first posture information may be corrected according to the error posture information by using one or more of extended Kalman filtering, complementary filtering, and smoothing filtering in several feasible manners:

A feasible way is: filtering the corrected posture information, and using the filtered posture information as the current attitude information of the pan/tilt;

Another feasible way is to filter the error posture correction amount per unit time, and correct the first attitude information determined by the inertial measurement unit or the gyroscope according to the filtered error posture correction amount to obtain the current attitude information of the gimbal. .

Embodiment 2

Referring to FIG. 5, in controlling a user side device of a PTZ, the method may include the steps of:

S201: Send a first switching instruction for instructing the PTZ to switch to the manual calibration mode to the pan/tilt when the pan/tilt is in the first state;

Wherein the first state comprises one of an accelerated motion state and a deceleration motion state. When the pan/tilt is in the first state, it indicates that the pan/tilt may drift, and the drift is corrected by the inertial measurement unit. The inertial measurement unit is affected by the linear acceleration and the correction inaccuracy is caused, and in the manual calibration mode, it is directly The drift of the gyroscope is adjusted so that the attitude of the gimbal is accurate without being affected by the line acceleration, and the drift actually generated by the gimbal can be adjusted in real time, so that the attitude accuracy of the gimbal is high.

The first state can be obtained by detecting the motion state of the device (for example, a vehicle) on which the pan/tilt is mounted. That is, when the motion state of the device equipped with the pan/tilt is one of acceleration and deceleration, the pan/tilt is in the first state. The angle of the gimbal and the direction of travel does not affect the motion state of the gimbal. For example, the acceleration and deceleration movement of the gimbal and the driving direction at 90° also indicates that the gimbal is in the first state.

In some embodiments, the user-side device is a dedicated remote controller, and the dedicated remote controller is provided with a first switch that the user inputs a first switching instruction, and after the user presses the first switch, the dedicated remote controller That is, the first switching instruction is sent to the pan/tilt. In this embodiment, the first The switch can be a physical switch or a virtual switch.

In some embodiments, the user side device is a smart device with an APP installed, and the interface of the APP is provided with a first switching switch that the user sends a first switching instruction to the pan/tilt or a first switching instruction. Input box.

S202: Receive correction information input by a user;

Specifically, the correction information includes a size of the adjustment value and an adjustment direction corresponding to the adjustment value. In addition, the correction information further includes a gyro axis of the desired adjustment corresponding to the adjustment value, so that the pan/tilt can be based on the adjustment value and the adjustment direction corresponding to the adjustment value, and the gyro axis to be adjusted. The drift value corresponding to the gyro axis to be adjusted is corrected to achieve the accuracy of the pan-tilt drift adjustment. In this embodiment, the adjustment direction may include a positive direction or a negative direction. For example, for a yaw axis of the pan/tilt head, a reference position is set, where the right side of the reference position is a positive direction and the left side is a negative direction; The pitch axis of the gimbal also sets a reference position, the lower side of the reference position is a positive direction, and the upper side is a negative direction; for the roll axis of the gimbal, a reference position is also set, and the right tilt of the reference position is positive Direction, the left tilt is the negative direction (this article takes the above-mentioned adjustment directions of the roll axis, pitch axis and yaw axis as an example). Of course, the positive direction and the negative direction can be set to other forms as needed.

In some examples, the correction information returned by the receiving user is to display the image monitored by the pan/tilt or the current posture information of the pan/tilt to the user, and receive the correction returned by the user according to the image monitored by the pan/tilt or the current posture information of the gimbal. The information, that is, the correction information is set by the user according to the image monitored by the cloud platform or the current attitude information of the pan/tilt, thereby reducing the drift of the gimbal.

Optionally, the receiving information returned by the receiving user according to the image monitored by the cloud platform or the current posture information of the pan/tilt includes: receiving a size of the adjustment value that the user returns multiple times according to the image monitored by the cloud platform, and the The adjustment direction corresponds to the adjustment direction. Optionally, the user side device compares the received image with the reference image to determine whether the pan/tilt is drifting. In this embodiment, when the user side device determines that the received image is inconsistent with the reference image, Then, it is determined that the pan/tilt is drifting, and the user inputs the correction information to the user side device according to the comparison result of the image and the reference image; otherwise, the pan/tilt has no drift. Optionally, the image received by the user side device is directly displayed to the user, and the user determines whether the pan/tilt is drifted according to the image, and inputs the correction information to the user side device according to the image, and then the user side device adds the correction information. Send to the PTZ.

Optionally, the receiving information returned by the receiving user according to the image monitored by the cloud platform or the current posture information of the pan/tilt includes: receiving a size of the adjustment value that the user returns multiple times according to the current posture information of the cloud platform, and the The adjustment direction corresponds to the adjustment direction. Optionally, the user side device compares the received current attitude of the pan/tilt head with the pan/tilt reference posture to determine whether the cloud platform generates drift. In this embodiment, when the user-side device determines that the current attitude of the pan-tilt is inconsistent with the pan-tilt reference posture, it determines that the pan-tilt is drifting, and the user inputs the correction information according to the comparison result between the current attitude of the gimbal and the pan-tilt reference posture. The user side device; otherwise, the pan/tilt has no drift. Optionally, the current posture of the PTZ received by the user equipment is directly presented to the user, and the user determines whether the PTZ generates drift according to the current posture of the PTZ, and inputs the correction information to the user side device according to the image, and then The user side device sends the correction information to the pan/tilt.

Optionally, referring to FIG. 8, the user side device further includes a plurality of adjustment knobs, namely a roll axis 2, a pitch axis knob 3, and a yaw axis knob 4, corresponding to the modified gyro roll axis, the pitch axis, and The drift value of the yaw axis. Each adjustment knob can be adjusted in an increasing and decreasing direction, and the adjustment knob is adjusted in a direction toward increasing or decreasing to reduce a drift value of the gyroscope in a corresponding axial direction, thereby reducing a corresponding axis of the gimbal Drift until there is no drift on each axis of the gimbal, stopping the control of the adjustment knob. For example, when the displaying to the user that the image monitored by the pan/tilt is at least one of a left offset, an upper offset, and a left tilt state, or the pan-tilt current pose information indicates that the pan-tilt pose is a left offset, an upper offset, and In at least one of the left tilt states, the corresponding adjustment knob is adjusted toward the increasing direction, thereby reducing the drift of the corresponding axis of the pan/tilt. The left offset, the upper offset, and the left tilt state respectively correspond to a yaw axis, a pitch axis, and a roll axis. When the displaying to the user that the image monitored by the pan/tilt is at least one of a right offset, a lower offset, and a right tilt state, Or when the current attitude information of the gimbal indicates that the pan/tilt attitude is at least one of a right offset, a lower offset, and a right tilt state, the corresponding adjustment knob is adjusted toward the decreasing direction, thereby reducing the drift of the corresponding axis of the pan/tilt . The right offset, the lower offset, and the right tilt state respectively correspond to a yaw axis, a pitch axis, and a roll axis.

S203: Send the correction information and send the information to the pan/tilt, and instruct the pan/tilt to correct the parameters of the pan/tilt according to the correction information.

In the embodiment of the present invention, by setting the manual calibration mode, the user and the user-side device interact to realize the automatic and flexible control of the correction information, thereby triggering the pan/tilt to use the correction information input by the user side to perform the parameters of the gimbal at any time. The correction means that the parameters of the gimbal are adjusted by manual intervention at any time, so that the actual attitude estimation of the gimbal is accurate, and the parameters of the pan/tilt in the manual calibration mode are not affected by the state of line acceleration, and the pan-tilt drift is small.

In some embodiments, when the corresponding adjustment is pressed, the correction information generated by the adjustment knob is sent to the pan/tilt to correct the parameters of the gimbal in real time to reduce the drift of the gimbal. For each adjustment knob, the user presses each time in an increasing direction or a decreasing direction, the adjustment value being a fixed value, for example, the fixed value is 0.1 ° / S (unit: deg / sec).

In some embodiments, transmitting the correction information to the pan/tilt is performed after receiving a correction confirmation command input by the user to ensure the correctness of the correction information. Optionally, the display interface is provided with a correction confirmation button, and after the user presses the corresponding adjustment knob multiple times, pressing the correction confirmation button, the user side device can send the final correction information to the pan/tilt, The program does not exist The parameters of the gimbal can be corrected in real time. In this embodiment, for each adjustment knob, the user presses once in an increasing direction or a decreasing direction, and the adjustment value is increased or decreased by a fixed value, for example, the fixed value is 0.1°/S (unit: degree/second).

In addition, the method may further include: after determining that the pan/tilt is in the second state, sending a second switching instruction for instructing the gimbal to switch to the automatic calibration mode to the pan/tilt to instruct the pan/tilt to perform parameters thereof Automatic adjustment.

In some embodiments, the user-side device is a dedicated remote controller, and the dedicated remote controller is provided with a second switch for inputting a second switching instruction. After the user presses the second switch, the dedicated remote controller That is, a second switching instruction is sent to the pan/tilt. In this embodiment, the second switch can be a physical switch or a virtual switch.

In some embodiments, the user side device is a smart device with an APP installed, and the interface of the APP is provided with a second switching switch that the user sends a second switching instruction to the PTZ or a second switching instruction. Input box.

In the embodiment of the invention, the first switching switch and the second switching switch are arranged to form a switching switch, so that the manual switching mode of the pan/tilt and the automatic calibration mode can be freely switched, which is convenient and quick.

In addition, the modification of the parameters of the gimbal according to the modification information can be referred to in the first embodiment, and will not be described here.

The third embodiment and the fourth embodiment are respectively described from the pan-tilt side and the user equipment side corresponding to the control device of the pan-tilt according to the embodiment of the present invention.

Embodiment 3

Referring to FIG. 6, an embodiment of the present invention provides a control device for a cloud platform. The control device for the cloud platform may include a first processor 201. The first processor and the gyroscope 202 and the accelerometer 203 of the cloud platform respectively Connected. The first processor 201 is configured to execute the foregoing Embodiment 1 The steps of the pan/tilt control method.

It should be noted that, in the automatic calibration mode, the gyro 202 and the accelerometer 203 need to send the first posture information and the second posture information to the first processor 201, respectively, and are executed by the first processor 201. Automatic calibration.

Embodiment 4

Referring to FIG. 7 , an embodiment of the present invention provides a control device for a cloud platform, where the control device of the cloud platform may include a second processor 101, where the second processor 101 is configured to perform the foregoing embodiment 2. The steps of the PTZ control method.

Embodiment 5

An embodiment of the present invention provides a computer storage medium storing program instructions, where the computer storage medium stores program instructions, and the program executes the control of the pan/tilt of the first embodiment or the second embodiment. method.

Embodiment 6

Referring to FIG. 6 again, an embodiment of the present invention provides a cloud platform, which may include a gyroscope 202, an accelerometer 203, and a control device of the pan/tilt. The control device of the pan/tilt is the control device of the pan/tilt head according to the third embodiment. The gyroscope 202 and the accelerometer 203 are respectively connected to the first processor 201 in the control device of the pan/tilt.

Example 7

Referring to FIG. 7, an embodiment of the present invention provides a remote controller, and the remote controller 100 is a control device for a pan/tilt head according to the fourth embodiment.

In some embodiments, the remote control 100 includes the operator interface 102 with the second processor 101.

In some embodiments, the switch 1 is provided on the operation interface 102. The switch includes a first switch and a second switch, and the switch 1 includes a first switch Change switch and second switch. The first switch is used to input a first switching instruction, and the second switch is used to input a second switching instruction. The user generates a first switching instruction or a second switching instruction by pressing the first switching switch or the second switching switch, and sends the generated first switching instruction or second switching instruction to the pan/tilt. In this embodiment, the second switch can be a physical switch or a virtual switch.

In some embodiments, referring to FIG. 8, the user side device further includes a plurality of adjustment knobs, namely a roll axis 2, a pitch axis knob 3, and a yaw axis knob 4, corresponding to the modified gyro roll axis, The drift value of the pitch axis and the yaw axis. Each adjustment knob can be adjusted in an increasing and decreasing direction, and the adjustment knob is adjusted in a direction toward increasing or decreasing to reduce a drift value of the gyroscope in a corresponding axial direction, thereby reducing a corresponding axis of the gimbal Drift until there is no drift on each axis of the gimbal, stopping the control of the adjustment knob. For example, when the displaying to the user that the image monitored by the pan/tilt is at least one of a left offset, an upper offset, and a left tilt state, or the pan-tilt current pose information indicates that the pan-tilt pose is a left offset, an upper offset, and In at least one of the left tilt states, the corresponding adjustment knob is adjusted toward the increasing direction, thereby reducing the drift of the corresponding axis of the pan/tilt. The left offset, the upper offset, and the left tilt state respectively correspond to a yaw axis, a pitch axis, and a roll axis. When the image displayed by the pan/tilt is displayed to the user as at least one of a right offset, a lower offset, and a right tilt state, or the pan/tilt current pose information indicates that the pan/tilt pose is a right offset, a lower offset, and a right tilt In at least one of the states, the corresponding adjustment knob is adjusted toward a decreasing direction, thereby reducing drift of the corresponding axis of the gimbal. The right offset, the lower offset, and the right tilt state respectively correspond to a yaw axis, a pitch axis, and a roll axis.

In some embodiments, the remote controller 100 communicates with the pan/tilt based on a wireless communication manner, which can implement remote control of pan/tilt parameter correction and also avoid cable entanglement problems caused by cable connections. Optionally, the wireless communication mode is a radio frequency communication mode or another wireless communication mode. Of course, the user side device and the cloud platform can also be directly connected by way of a cable.

Optionally, the display interface is provided with a correction confirmation button, and after the user presses the corresponding adjustment knob multiple times, pressing the correction confirmation button, the user side device can perform the final correction information. Sending to the PTZ, the solution cannot correct the parameters of the PTZ in real time.

Example eight

9 and FIG. 10, an embodiment of the present invention provides a control system for a pan/tilt, and the control system of the pan/tilt includes a remote controller 100 that controls the pan/tilt head 200. The cloud platform is the cloud platform described in the above sixth embodiment. Specifically, the pan/tilt head 200 includes a gyroscope 202, an accelerometer 203, and a control device of the pan/tilt. The gyroscope 202 and the accelerometer 203 are respectively connected to the second processor 201 in the control device of the pan/tilt. The remote controller is the remote controller described in the above seventh embodiment.

The remote controller 100 transmits a first switching instruction for instructing the pan-tilt 200 to switch to the manual calibration mode to the pan/tilt 200 when the pan-tilt 200 is in the first state; the pan-tilt 200 detects the location After the first switching instruction, switch to the manual calibration mode; in the manual calibration mode, the remote controller 100 receives the correction information input by the user; the pan/tilt 200 receives the correction information sent by the remote controller 100, and according to the The correction information corrects the parameters of the pan/tilt 200.

Optionally, the first state includes one of an accelerated motion state and a deceleration motion state.

Optionally, the cloud station 200 generates the first switching instruction after receiving the information that the cloud platform 200 is in the first state.

Optionally, the parameter of the pan/tilt 200 includes a drift value of one or more axes of the gyroscope, and the remote controller 100 includes a plurality of adjustment knobs for respectively generating correction information to Corresponding to the drift value of multiple axes of the modified gyro.

Optionally, the plurality of axles comprise a roll axis, a pitch axis, and a yaw axis.

Optionally, the correction information includes an adjustment value size and an adjustment direction corresponding to the adjustment value.

Optionally, the remote controller 100 receives the correction information input by the user, and the remote controller 100 displays the image monitored by the pan/tilt 200 or the current posture information of the pan-tilt 200 to the user, and receives an image monitored by the user according to the pan-tilt 200. Or the correction letter returned by the current attitude information of the PTZ 200 interest.

Optionally, the adjustment knob comprises a roll axis knob, a pitch axis knob and a yaw axis knob, each of the adjustment knobs can be adjusted toward increasing and decreasing directions, and the adjusting knob is adjusted by increasing or decreasing direction To reduce the drift value of the gyroscope in the corresponding axis direction.

Optionally, the displaying to the user that the image monitored by the pan-tilt 200 is at least one of a left offset, an upper offset, and a left tilt state, or the current attitude information of the pan-tilt 200 indicates that the pan-tilt 200 gesture is a left offset And at least one of an upper offset and a left tilt state, wherein the corresponding adjustment knob is adjusted toward an increasing direction, wherein the left offset, the upper offset, and the left tilt state respectively correspond to a yaw axis, a pitch axis, and Roller axis.

Optionally, the displaying to the user that the image monitored by the pan/tilt head 200 is at least one of a right offset, a lower offset, and a right tilt state, or the current attitude information of the pan/tilt 200 indicates that the pan-tilt 200 gesture is a right offset When at least one of the lower offset and the right tilted state, the corresponding knob is adjusted toward the decreasing direction,

The right offset, the lower offset, and the right tilt state respectively correspond to a yaw axis, a pitch axis, and a roll axis.

Optionally, the remote controller 100 receives an adjustment value and a corresponding adjustment direction that the user returns multiple times according to the image monitored by the pan/tilt 200 or the current posture information of the pan/tilt 200, and the pan/tilt 200 according to the multiple times The returned adjustment value and the corresponding adjustment direction sequentially adjust the drift value of the corresponding axis of the gyroscope.

Optionally, the pan/tilt head 200 adjusts a drift value of one or more axes of the gyroscope in a positive direction or a negative direction according to the adjusted value.

Optionally, the remote controller 100 communicates with the cloud platform 200 based on a wireless communication manner.

Optionally, the wireless communication mode is a radio frequency communication mode.

Optionally, when the pan/tilt head 200 is in the second state, the remote controller 100 sends a second switching instruction for instructing the pan-tilt 200 to switch to the auto-calibration mode to the pan/tilt head 200; the cloud When detecting the second switching instruction, the station 200 switches to the automatic calibration mode; in the automatic calibration mode, the pan/tilt head 200 acquires the first attitude information of the pan/tilt head 200 by using the gyroscope, and acquires the gimbal by using the accelerometer. The second posture information of 200 corrects the posture and/or parameters of the platform 200 according to the first posture information and the second posture information.

Optionally, the pan/tilt head 200 determines error posture information of the pan/tilt head 200 according to the first posture information and the second posture information; and corrects the first posture information according to the error posture information to obtain Current attitude and/or parameter information of the pan/tilt 200.

Optionally, the pan/tilt 200 corrects the first posture information according to the error posture information to obtain the current posture information of the pan-tilt 200 by using one or more of extended Kalman filtering, complementary filtering, and smoothing filtering.

Optionally, the error posture information is posture difference information between the first posture information and the second posture information.

Optionally, the error posture information includes at least one of attitude difference information of a roll axis and attitude difference information of a pitch axis.

It should be noted that, in this embodiment, the remote controller may be replaced by a smart device (such as a mobile phone, a PAD, etc.) having an APP.

For the device embodiment, since it basically corresponds to the method embodiment, reference may be made to the partial description of the method embodiment. The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, ie may be located A place, or it can be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment. Those of ordinary skill in the art can understand and implement without any creative effort.

The description of the "specific examples", or "some examples" and the like means that the specific features, structures, materials, or characteristics described in connection with the embodiments or examples are included in at least one embodiment of the present invention. Or in the example. In the present specification, the schematic representation of the above terms does not necessarily mean the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples.

Any process or method description in the flowcharts or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a particular logical function or process. And the scope of the preferred embodiments of the present invention includes additional implementations in which the functions may be performed in a substantially simultaneous manner or in the reverse order, depending on the order in which they are illustrated. It will be understood by those skilled in the art to which the embodiments of the present invention pertain.

The logic and/or steps represented in the flowchart or otherwise described herein, for example, may be considered as an ordered list of executable instructions for implementing logical functions, and may be embodied in any computer readable medium, Used in conjunction with, or in conjunction with, an instruction execution system, apparatus, or device (eg, a computer-based system, a system including a processor, or other system that can fetch instructions and execute instructions from an instruction execution system, apparatus, or device) Or use with equipment. For the purposes of this specification, a "computer-readable medium" can be any apparatus that can contain, store, communicate, propagate, or transport a program for use in an instruction execution system, apparatus, or device, or in conjunction with the instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer readable media include the following: electrical connections (electronic devices) having one or more wires, portable computer disk cartridges (magnetic devices), random access memory (RAM), Read only memory (ROM), erasable editable read only memory (EPROM or flash memory), fiber optic devices, and portable compact disk read only memory (CDROM). In addition, the computer readable medium may even be a paper or other suitable medium on which the program can be printed, as it may be optically scanned, for example by paper or other medium, followed by editing, interpretation or, if appropriate, other suitable The method is processed to obtain the program electronically and then stored in computer memory.

It should be understood that portions of the invention may be implemented in hardware, software, firmware or a combination thereof. In the above embodiments, multiple steps or methods may be stored in the memory and combined The appropriate instructions are executed by the software or firmware executed by the system. For example, if implemented in hardware, as in another embodiment, it can be implemented with any one or combination of the following techniques well known in the art: having logic gates for implementing logic functions on data signals. Discrete logic circuits, application specific integrated circuits with suitable combinational logic gates, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

A person skilled in the art can understand that all or part of the steps carried in implementing the above implementation method can be completed by a program to instruct related hardware, and the program can be stored in a computer readable storage medium, and the program is executed. Including one or a combination of the steps of the method embodiments.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. The integrated modules, if implemented in the form of software functional modules and sold or used as stand-alone products, may also be stored in a computer readable storage medium.

The above mentioned storage medium may be a read only memory, a magnetic disk or an optical disk or the like. Although the embodiments of the present invention have been shown and described, it is understood that the above-described embodiments are illustrative and are not to be construed as limiting the scope of the invention. The embodiments are subject to variations, modifications, substitutions and variations.

Claims

A method for controlling a pan/tilt, characterized in that the method comprises:

If a first switching instruction for instructing the pan-tilt to switch to the manual calibration mode is detected, switching to the manual calibration mode;

Receiving correction information returned by the user side in the manual calibration mode;

The parameters of the pan/tilt are corrected according to the correction information.
The method according to claim 1, wherein before detecting the first switching instruction for indicating that the pan-tilt switches to the manual calibration mode, the method comprises:

Receiving information that the pan/tilt is in the first state, the first state includes one of an accelerated motion state and a deceleration motion state.
The method according to claim 2, wherein the first switching instruction is generated by the gimbal after receiving the information that the PTZ is in the first state.
The method according to claim 1, wherein after detecting the first switching instruction for indicating that the PTZ switches to the manual calibration mode, the method further includes:

Send the image monitored by the PTZ to the user side device.
The method according to claim 1, wherein after detecting the first switching instruction for indicating that the PTZ switches to the manual calibration mode, the method further includes:

Send the current attitude of the PTZ to the user side device.
The method according to claim 1, wherein the correction information comprises an adjustment value size and an adjustment direction corresponding to the adjustment value.
The method according to claim 1 or claim 6, wherein the correcting the posture of the gimbal according to the correction information comprises:

Adjusting the drift value of one or more axes of the gyroscope according to the correction information.
The method according to claim 7, wherein the adjusting the drift value of one or more axes of the gyroscope according to the correction information comprises:

Performing a square of the drift value of one or more axes of the gyroscope according to the magnitude of the adjustment value Adjustment to the or negative direction.
The method according to claim 1, wherein the user side device is a dedicated remote controller or a smart device mounted with an APP.
The method according to claim 9, wherein the user side device and the device receiving the correction information communicate based on a wireless communication method.
The method according to claim 10, wherein the wireless communication mode is a radio frequency communication mode.
The method of claim 1 further comprising:

If a second switching instruction for instructing the pan-tilt to switch to the automatic calibration mode is detected, switching to the automatic calibration mode;

In the automatic calibration mode, the first attitude information of the pan/tilt is obtained by using a gyroscope;

Acquiring the second attitude information of the gimbal by using an accelerometer;

Correcting the posture and/or parameters of the gimbal according to the first posture information and the second posture information.
The method according to claim 12, wherein the second switching instruction is generated by the gimbal after detecting that the pan/tilt is in the second state.
The method according to claim 12, wherein the correcting the posture of the gimbal according to the first posture information and the second posture information comprises:

Determining error posture information of the pan/tilt according to the first posture information and the second posture information;

The first posture information is corrected according to the error posture information to obtain a current attitude and/or parameter information of the pan/tilt.
The method according to claim 14, wherein the correcting the first posture information according to the error posture information to obtain the current attitude information of the pan/tilt comprises:

The first posture information is corrected according to the error posture information by one or more of extended Kalman filtering, complementary filtering, and smoothing filtering to obtain current attitude information of the pan/tilt.
The method of claim 14 wherein said error pose information is Position difference information between the first posture information and the second posture information.
The method according to claim 16, wherein the error posture information includes at least one of attitude difference information of a roll axis and attitude difference information of a pitch axis.
A control device for a gimbal, characterized in that the device comprises:

First processor;

Wherein the first processor is configured to:

If a first switching instruction for instructing the pan-tilt to switch to the manual calibration mode is detected, switching to the manual calibration mode;

Receiving correction information returned by the user side in the manual calibration mode;

The parameters of the pan/tilt are corrected according to the correction information.
The apparatus of claim 18, wherein the first processor is further configured to:

Before the detecting the first switching instruction for indicating that the pan-tilt switches to the manual calibration mode, the method further includes:

Receiving information that the pan/tilt is in the first state, the first state includes one of an accelerated motion state and a deceleration motion state.
The apparatus of claim 19, wherein the first processor is further configured to:

The first switching instruction is generated after receiving the information that the pan/tilt is in the first state.
The apparatus of claim 18, wherein the first processor is further configured to:

After detecting the first switching instruction for instructing the PTZ to switch to the manual calibration mode, the image monitored by the PTZ is sent to the user side device.
The apparatus of claim 18, wherein the first processor is further configured to:

After detecting the first switching instruction for instructing the PTZ to switch to the manual calibration mode, the PTZ current gesture is sent to the user side device.
The apparatus according to claim 18, wherein said correction information includes an adjustment value size and an adjustment direction corresponding to said adjustment value.
The apparatus according to claim 18 or 23, wherein the first processor is further configured to:

The correcting the posture of the pan/tilt according to the correction information includes:

Adjusting the drift value of one or more axes of the gyroscope according to the correction information.
The apparatus of claim 24 wherein said first processor is further configured to:

Adjusting the drift value of one or more axes of the gyroscope according to the correction information includes:

Adjusting the drift value of one or more axes of the gyroscope in a positive or negative direction according to the magnitude of the adjustment value.
The device according to claim 18, wherein the user side device is a dedicated remote controller or a smart device mounted with an APP.
The apparatus according to claim 26, wherein said user side device and said device that receives correction information communicate based on a wireless communication method.
The apparatus according to claim 27, wherein said wireless communication mode is a radio frequency communication mode.
The apparatus of claim 18, wherein the first processor is further configured to:

If a second switching instruction for instructing the pan-tilt to switch to the automatic calibration mode is detected, switching to the automatic calibration mode;

In the automatic calibration mode, the first attitude information of the pan/tilt is obtained by using a gyroscope;

Acquiring the second attitude information of the gimbal by using an accelerometer;

Correcting the posture and/or parameters of the gimbal according to the first posture information and the second posture information.
The apparatus of claim 29, wherein the first processor is further configured to:

The second switching instruction is generated after detecting that the pan/tilt is in the second state.
The apparatus of claim 29, wherein the first processor is further configured to:

The correcting the posture of the gimbal according to the first posture information and the second posture information includes:

Determining error posture information of the pan/tilt according to the first posture information and the second posture information;

The first posture information is corrected according to the error posture information to obtain a current attitude and/or parameter information of the pan/tilt.
The apparatus of claim 31, wherein the first processor is further configured to:

The correcting the first posture information according to the error posture information to obtain the current attitude information of the pan/tilt includes:

The first posture information is corrected according to the error posture information by one or more of extended Kalman filtering, complementary filtering, and smoothing filtering to obtain current attitude information of the pan/tilt.
The apparatus according to claim 31, wherein said error posture information is posture difference information between said first posture information and said second posture information.
The apparatus according to claim 33, wherein said error posture information comprises at least one of attitude difference information of a roll axis and attitude difference information of a pitch axis.
A gimbal comprising a gyroscope and an accelerometer, characterized by further comprising the control device of the pan/tilt head according to any one of claims 18 to 34, wherein the gyroscope and the accelerometer respectively and the gimbal The control unit is connected.
A computer readable storage medium having stored thereon a computer program, wherein the program is executed by a first processor to implement the steps of the method of controlling the pan/tilt head according to any one of claims 1 to 17.
A method for controlling a pan/tilt, characterized in that the method comprises:

When the pan/tilt is in the first state, sending a flag indicating that the pan/tilt switches to the manual calibration mode Switching instructions to the PTZ;

Receiving correction information input by the user;

The correction information is sent and sent to the pan/tilt, and is used to instruct the pan/tilt to correct the parameters of the gimbal according to the correction information.
The method of claim 37 wherein said first state comprises one of an accelerated motion state and a decel motion state.
The method according to claim 37, wherein said correction information comprises a magnitude of the adjustment value and an adjustment direction corresponding to said adjustment value.
The method according to claim 37, wherein the receiving the correction information returned by the user is to display the image monitored by the pan/tilt or the current posture information of the pan/tilt to the user, and receive an image or cloud that the user monitors according to the cloud platform. Correction information returned by the current posture information of the station.
The method according to claim 40, wherein the receiving the correction information returned by the user according to the image monitored by the pan/tilt or the current posture information of the gimbal comprises:

Receiving, by the user, the size of the adjustment value returned multiple times according to the image monitored by the cloud platform or the current attitude information of the pan/tilt and the adjustment direction corresponding to the adjustment value.
The method according to claim 37, wherein said means for transmitting correction information communicates with said cloud station based on a wireless communication mode.
The method according to claim 42, wherein said wireless communication mode is a radio frequency communication mode.
The method of claim 37, wherein transmitting the correction information to the pan/tilt is performed after receiving a correction confirmation command input by the user.
The method of claim 37, wherein the method further comprises:

When the pan/tilt is in the second state, a second switching instruction for instructing the pan-tilt to switch to the automatic calibration mode is sent to the pan/tilt to instruct the pan/tilt to automatically adjust its posture.
A control device for a gimbal, characterized in that the device comprises:

Second processor;

The second processor is configured to:

When the pan/tilt is in the first state, sending a first switching instruction for instructing the pan-tilt to switch to the manual calibration mode to the pan/tilt;

Receiving correction information input by the user;

The correction information is sent and sent to the pan/tilt, and is used to instruct the pan/tilt to correct the parameters of the gimbal according to the correction information.
The apparatus according to claim 46, wherein said first state comprises one of an accelerated motion state and a decelerated motion state.
The apparatus according to claim 46, wherein said correction information includes a magnitude of the adjustment value and an adjustment direction corresponding to said adjustment value.
The device according to claim 46, wherein the receiving the correction information returned by the user is to display the image monitored by the pan/tilt or the current posture information of the pan/tilt to the user, and receive an image or cloud monitored by the user according to the cloud platform. Correction information returned by the current posture information of the station.
The apparatus of claim 49, wherein the second processor is further configured to:

The correction information returned by the receiving user according to the image monitored by the cloud platform or the current posture information of the pan/tilt includes:

Receiving, by the user, the size of the adjustment value returned multiple times according to the image monitored by the cloud platform or the current attitude information of the pan/tilt and the adjustment direction corresponding to the adjustment value.
The apparatus according to claim 46, wherein said means for transmitting correction information communicates with said cloud station based on a wireless communication method.
The apparatus according to claim 51, wherein said wireless communication mode is a radio frequency communication mode.
The apparatus according to claim 46, wherein transmitting the correction information to said pan/tilt is performed after receiving a correction confirmation command input by the user.
The apparatus of claim 46, wherein the second processor is further configured to:

Sending to indicate that the gimbal switches to the automatic calibration mode when the pan/tilt is in the second state The second switching instruction is to the pan/tilt to instruct the pan/tilt to automatically adjust its parameters.
A computer readable storage medium having stored thereon a computer program, wherein the program is executed by a second processor to implement the steps of the pan/tilt control method according to any one of claims 35 to 46.
A remote controller for controlling a pan/tilt, the remote controller comprising a second processor, wherein the second processor is configured to:

When the pan/tilt is in the first state, sending a first switching instruction for instructing the pan-tilt to switch to the manual calibration mode to the pan/tilt;

Receiving correction information input by the user;

The correction information is sent and sent to the pan/tilt, and is used to instruct the pan/tilt to correct the parameters of the gimbal according to the correction information.
The remote controller according to claim 56, wherein said first state comprises one of an accelerated motion state and a decelerated motion state.
The remote controller according to claim 56, wherein the parameter of the pan/tilt includes a drift value of one or more axes of the gyroscope,

The remote controller further includes a plurality of adjustment knobs connected to the second processor, the plurality of adjustment knobs for respectively generating correction information corresponding to correcting drift values of the plurality of axes of the gyro.
The remote controller according to claim 58, wherein said plurality of axes comprise a roll axis, a pitch axis, and a yaw axis.
The remote controller according to claim 59, wherein said correction information includes a magnitude of the adjustment value and an adjustment direction corresponding to said adjustment value.
The remote controller according to claim 60, wherein the adjustment knob comprises a roll knob, a pitch axis knob and a yaw axis knob, each of the adjustment knobs being adjustable toward the increasing and decreasing directions, increasing by the orientation Or adjusting the adjustment knob to reduce the drift value of the gyroscope in the corresponding axis direction.
The remote controller according to claim 61, wherein the receiving the correction information input by the user is to display the image monitored by the pan/tilt or the current posture information of the gimbal, and connect Receiving correction information returned by the user according to the image monitored by the pan/tilt or the current posture information of the gimbal.
The remote controller according to claim 62, wherein the displaying to the user that the image monitored by the pan/tilt is at least one of a left offset, an upper offset, and a left tilt state,

Or the pan-tilt current posture information indicates that the pan-tilt attitude is at least one of a left offset, an upper offset, and a left tilt state, and the corresponding adjustment knob is adjusted toward an increasing direction;

The left offset, the upper offset, and the left tilt state respectively correspond to a yaw axis, a pitch axis, and a roll axis.
The remote controller according to claim 62, wherein the displaying to the user that the image monitored by the pan/tilt is at least one of a right offset, a lower offset, and a right tilt state,

Or the pan/tilt current posture information indicates that the pan/tilt posture is at least one of a right offset, a lower offset, and a right tilt state, and the corresponding adjustment knob is adjusted toward the decreasing direction,

The right offset, the lower offset, and the right tilt state respectively correspond to a yaw axis, a pitch axis, and a roll axis.
The remote controller according to claim 60, wherein the second processor is further configured to:

The correction information returned by the receiving user according to the image monitored by the cloud platform or the current posture information of the pan/tilt includes:

Receiving, by the user, the size of the adjustment value returned multiple times according to the image monitored by the cloud platform or the current attitude information of the pan/tilt and the adjustment direction corresponding to the adjustment value.
The remote controller according to claim 56, wherein said remote controller communicates with said pan/tilt head based on a wireless communication method.
The remote controller according to claim 66, wherein said wireless communication mode is a radio frequency communication mode.
The remote controller according to claim 56, wherein the transmitting of the correction information to the pan/tilt is performed after receiving a correction confirmation command input by the user.
The remote controller according to claim 56, wherein said second processor further Is configured to:

When the pan/tilt is in the second state, a second switching instruction for instructing the pan-tilt to switch to the automatic calibration mode is sent to the pan/tilt to instruct the pan/tilt to automatically adjust its parameters.
A control system for a pan/tilt head, comprising a remote controller for controlling a pan/tilt head, characterized in that

When the pan/tilt is in the first state, the remote controller sends a first switching instruction for instructing the pan-tilt to switch to the manual calibration mode to the pan/tilt;

After detecting the first switching instruction, the pan/tilt switches to a manual calibration mode;

In the manual calibration mode, the remote controller receives correction information input by the user;

The pan/tilt receives the correction information sent by the remote controller, and corrects the parameters of the gimbal according to the correction information.
The system of claim 70 wherein said first state comprises one of an accelerated motion state and a reduced motion state.
The system according to claim 71, wherein the pan/tilt generates the first switching instruction after receiving the information that the pan/tilt is in the first state.
The system of claim 70 wherein said parameters of said gimbal include drift values of one or more axes of the gyroscope,

The remote controller includes a plurality of adjustment knobs for respectively generating correction information corresponding to correcting drift values of the plurality of axes of the gyro.
The system of claim 70 wherein said plurality of axes comprises a roll axis, a pitch axis, and a yaw axis.
The system according to claim 74, wherein said correction information comprises an adjustment value size and an adjustment direction corresponding to said adjustment value.
The system according to claim 75, wherein the remote controller receives the correction information input by the user, and the remote controller displays the image monitored by the pan/tilt or the current posture information of the pan/tilt to the user, and receives the user's monitoring according to the pan/tilt. The image or the correction information returned by the current attitude information of the gimbal.
The system of claim 76 wherein said adjustment knob comprises a cross Roller knob, pitch axis knob and yaw axis knob, each of which can be adjusted in the direction of increasing and decreasing direction, adjusting the adjusting knob in a direction toward increasing or decreasing to reduce the gyroscope in the corresponding axis direction Drift value.
The system according to claim 77, wherein the displaying to the user that the image monitored by the pan/tilt is at least one of a left offset, an upper offset, and a left tilt state,

Or when the current attitude information of the gimbal indicates that the pan/tilt attitude is at least one of a left offset, an upper offset, and a left tilt state, the corresponding adjustment knob is adjusted toward an increasing direction,

The left offset, the upper offset, and the left tilt state respectively correspond to a yaw axis, a pitch axis, and a roll axis.
The system according to claim 77, wherein the displaying to the user that the image monitored by the pan/tilt is at least one of a right offset, a lower offset, and a right tilt state,

Or the pan-tilt current attitude information indicates that the pan-tilt attitude is at least one of a right offset, a lower offset, and a right tilt state, and the corresponding knob is adjusted toward a decreasing direction,

The right offset, the lower offset, and the right tilt state respectively correspond to a yaw axis, a pitch axis, and a roll axis.
The system according to claim 76, wherein the remote controller receives the adjustment value and the corresponding adjustment direction that the user returns multiple times according to the image monitored by the pan/tilt or the current posture information of the pan/tilt.

The pan/tilt sequentially adjusts the drift value of the corresponding axis of the gyroscope according to the adjusted value of the multiple returns and the corresponding adjustment direction.
The system according to claim 80, wherein said pan/tilt adjusts a drift value of one or more axes of said gyroscope in a positive or negative direction according to said adjusted value.
The system according to claim 70, wherein said remote controller communicates with said pan/tilt head based on a wireless communication method.
The system according to claim 82, wherein said wireless communication mode is a radio frequency communication mode.
The system of claim 70, wherein said pan/tilt gyroscope and accelerometer;

When the pan/tilt is in the second state, the remote controller sends a second switching instruction for instructing the pan-tilt to switch to the automatic calibration mode to the pan/tilt;

The pan/tilt switches to an automatic calibration mode after detecting the second switching instruction;

In the automatic calibration mode, the pan/tilt obtains the first attitude information of the pan/tilt head by using the gyroscope, and acquires the second posture information of the pan/tilt head by using the accelerometer, according to the first posture information and the second posture information pair. The attitude and/or parameters of the gimbal are corrected.
The system according to claim 84, wherein the pan/tilt determines error posture information of the pan/tilt according to the first posture information and the second posture information;

And correcting the first attitude information according to the error posture information to obtain a current attitude and/or parameter information of the pan/tilt.
The system according to claim 85, wherein the pan/tilt uses one or more of extended Kalman filtering, complementary filtering, smoothing filtering to correct the first attitude information according to the error posture information to obtain The current posture information of Yuntai.
The system according to claim 85, wherein said error posture information is posture difference information between said first posture information and said second posture information.
The system according to claim 87, wherein said error posture information comprises at least one of attitude difference information of a roll axis and attitude difference information of a pitch axis.