CN-121979290-A - Two-axis cradle head somatosensory control method and device, cradle head controller, medium and program

CN121979290ACN 121979290 ACN121979290 ACN 121979290ACN-121979290-A

Abstract

The invention discloses a two-axis cradle head somatosensory control method, a device, a cradle head controller, a medium and a program. The method comprises the steps of obtaining a body sensing Euler angle of a target holder at the current moment, determining a body sensing Euler angle change quantity and a body sensing angle change quantity inertia at the current moment by combining the body sensing Euler angle and the body sensing angle change quantity inertia at the last moment, determining a position loop ratio coefficient, a position loop amplitude limit and a body target angle according to the body sensing Euler angle change quantity and the body sensing angle change quantity inertia at the current moment and an initial angle of a body joint angle, and adjusting the posture of the target holder according to the three. The response speed and the highest response speed of the posture adjustment of the cradle head are improved, so that smooth motion control of the cradle head is realized, stable operation of the cradle head can be ensured even under severe motion or complex environments, high-precision shooting control is realized, shaking of pictures is effectively avoided, stable and clear shooting pictures are provided for users, and high-quality requirements of professional shooting, daily recording and the like are met.

Inventors

WANG CHONG
CAI JIANYANG
Xiong Fuzheng
HUANG HONGFA
HUANG HUI

Assignees

睿魔智能科技（深圳）有限公司

Dates

Publication Date: 20260505
Application Date: 20260130

Claims (12)

1. The control method for the body feeling of the two-axis cradle head is characterized by comprising the following steps of: acquiring a somatosensory Euler angle at the current moment of the target holder; Determining the body sensing Euler angle variation quantity and the body sensing angle variation quantity inertia at the current moment according to the body sensing Euler angle at the current moment, the body sensing Euler angle at the last moment and the body sensing angle variation quantity inertia at the last moment; Determining a position loop proportion coefficient, position loop amplitude limiting and a body target angle according to the body sensing Euler angle change quantity and the body sensing angle change quantity inertia at the current moment and the initial angle of the body joint angle; And adjusting the posture of the target holder according to the position ring proportionality coefficient, the position ring amplitude limit and the organism target angle.
2. The method for controlling the motion sensing of the two-axis cradle head according to claim 1, wherein the determining the motion sensing euler angle variation and the motion sensing angle variation inertia at the current time according to the motion sensing euler angle at the current time, the motion sensing euler angle at the last time, and the motion sensing angle variation inertia at the last time comprises: Determining the change quantity of the body sensing Euler angle at the current moment according to the historical body sensing Euler angle at the previous moment and the body sensing Euler angle at the current moment; And determining the inertia of the body sensing angle variation at the current moment according to the change of the body sensing Euler angle at the current moment, the inertia of the historical body sensing angle variation at the last moment and a preset attenuation coefficient.
3. The method for controlling the motion sensing of the two-axis cradle head according to claim 2, wherein the determining the motion sensing angle variation inertia at the current moment according to the motion sensing euler angle variation at the current moment, the historical motion sensing angle variation inertia at the last moment and the preset attenuation coefficient comprises the following steps: P i new =P i old ×D i + ; Wherein P i new represents the inertia of the body sensing angle change amount at the current moment, P i old represents the inertia of the body sensing angle change amount at the last moment, D i represents the preset attenuation coefficient, The change amount of the body sense Euler angle at the current moment is shown.
4. The method for controlling the motion sensing of the two-axis cradle head according to claim 1, wherein the determining the position loop ratio coefficient, the position loop limiter and the body target angle according to the motion sensing euler angle variation and the motion sensing angle variation inertia at the current moment and the initial angle of the body joint angle comprises: calculating nonlinear parameters according to the body sensing Euler angle variation at the current moment, wherein the nonlinear parameters comprise a position loop proportion coefficient variation coefficient, a position loop amplitude limiting variation coefficient and a target angle variation coefficient; Determining a target amplification factor according to the inertia of the motion sensing angle variation quantity at the current moment and a preset scaling threshold; Determining a position loop ratio coefficient and a position loop amplitude limit according to the target amplification factor, the position loop ratio coefficient change coefficient and the position loop amplitude limit change coefficient; And determining the organism target angle according to the target angle change coefficient, the deviation of the somatosensory Euler angle at the current moment relative to the initial angle and the initial angle of the organism joint angle.
5. The method for controlling the motion sensing of the two-axis pan-tilt head according to claim 4, wherein the determining the target amplification factor according to the inertia of the motion sensing angle variation at the current moment and the preset scaling threshold comprises: S i =P i new /T i ; Wherein S i represents the target amplification factor, T i represents the preset scaling threshold, and P i new represents the inertia of the motion sensing angle variation at the current moment; The determining the position loop scaling factor and the position loop clipping according to the target amplification factor, the position loop scaling factor change coefficient and the position loop clipping change coefficient comprises: kp i =kp_coe i ×S i ; plimit i =plimit_coe i ×S i ; Wherein kp i represents the position loop ratio coefficient, kp_ coe i represents the position loop ratio coefficient of variation, plimit i represents the position loop clipping, and plimit _ coe i represents the position loop clipping coefficient of variation.
6. The method for controlling the motion sensing of the two-axis pan-tilt head according to claim 4, wherein determining the body target angle according to the target angle change coefficient, the deviation of the motion sensing euler angle at the current moment from the initial angle, and the initial angle of the body joint angle comprises: angle_aim i =angle_aim_coe i × +angle_init i ; wherein angle_ aim i represents the body target angle, angle_ aim _ coe i represents the target angle change coefficient, And the deviation of the body sense Euler angle relative to the initial angle at the current moment is shown, and angle_init i shows the initial angle of the joint angle of the machine body.
7. The method for controlling the motion of a two-axis pan-tilt head according to claim 1, further comprising: Acquiring the joint angle of the body at the current moment of the target holder; Respectively determining a first angle difference between the body sensing Euler angle and the body sensing Euler angle initial angle at the current moment and a second angle difference between the body joint angle and the body joint angle initial angle at the current moment; and if the absolute value of the difference between the first angle difference and the second angle difference is smaller than a preset first threshold value or the variation of the body sensing Euler angle is smaller than a preset second threshold value, not controlling the gesture of the target holder.
8. The method for controlling the motion of a two-axis pan-tilt head according to claim 1, further comprising, before said adjusting the attitude of the target pan-tilt head according to the position loop scaling factor, the position loop clipping, and the body target angle: performing first-order low-pass filtering on the organism target angle, wherein a filtering formula is as follows: θ fi new =θ fi old -α i ×(θ fi old -θ raw_i ); Where θ fi new represents the filtered body target angle, θ fi old represents the filtered historical body target angle at the previous time, α i represents the filter coefficient, and θ raw_i represents the body target angle before filtering.
9. A diaxon cloud platform somatosensory controlling means, characterized by, include: The body feeling Euler angle acquisition module is used for acquiring the body feeling Euler angle of the target holder at the current moment; The motion sensing change amount determining module is used for determining motion sensing Euler angle change amount and motion sensing angle change amount inertia at the current moment according to the motion sensing Euler angle at the current moment, the motion sensing Euler angle at the last moment and the motion sensing angle change amount inertia at the last moment; The adjusting parameter determining module is used for determining a position loop proportion coefficient, a position loop amplitude limit and a body target angle according to the body sense Euler angle change quantity and the body sense angle change quantity inertia at the current moment and the initial angle of the body joint angle; and the gesture adjusting module is used for adjusting the gesture of the target holder according to the position ring proportionality coefficient, the position ring amplitude limit and the organism target angle.
10. A pan-tilt controller, comprising: One or more processors; A memory for storing one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors implement the two-axis pan-tilt-body-feel control method according to any one of claims 1 to 8.
11. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when executed by a processor, implements the two-axis pan-tilt-feel control method according to any one of claims 1 to 8.
12. A computer program product comprising a computer program, characterized in that the computer program, when executed by a processor, implements the two-axis pan-tilt-feel control method according to any one of claims 1-8.

Description

Two-axis cradle head somatosensory control method and device, cradle head controller, medium and program Technical Field The embodiment of the invention relates to the technical field of somatosensory control, in particular to a two-axis cradle head somatosensory control method, a device, a cradle head controller, a medium and a program. Background Along with the development of science and technology, the demand of people for controlling portability of the cradle head device is continuously increasing, but in the scenes of image shooting, device control and the like, the traditional cradle head control mode has a plurality of limitations. Early cradle head rotation is dependent on the operation rocker, the mode lacks intuitiveness and convenience, a controller needs to accurately operate the rocker to adjust the cradle head angle, the skill requirement on operators is high, and natural somatosensory control and man-machine interaction cannot be achieved. If used for monitoring, when security personnel operate the rocker to control the camera holder, specific targets are difficult to quickly and flexibly capture, and monitoring time is delayed. For example, when the camera is used for shooting video, a photographer needs an assistant to assist in operating the cradle head to realize complex operation of the glasses, so that the labor cost and the communication cost are increased, instantaneous wonderful pictures are difficult to capture, and the shooting flexibility and the creative play are limited. Disclosure of Invention The embodiment of the invention provides a method and a device for controlling the somatosensory of a two-axis cradle head, a cradle head controller, a medium and a program, so as to realize smooth control of the somatosensory of the cradle head. In a first aspect, an embodiment of the present invention provides a method for controlling a motion sensing of a two-axis pan-tilt, where the method includes: acquiring a somatosensory Euler angle at the current moment of the target holder; Determining the body sensing Euler angle variation quantity and the body sensing angle variation quantity inertia at the current moment according to the body sensing Euler angle at the current moment, the body sensing Euler angle at the last moment and the body sensing angle variation quantity inertia at the last moment; Determining a position loop proportion coefficient, position loop amplitude limiting and a body target angle according to the body sensing Euler angle change quantity and the body sensing angle change quantity inertia at the current moment and the initial angle of the body joint angle; And adjusting the posture of the target holder according to the position ring proportionality coefficient, the position ring amplitude limit and the organism target angle. Optionally, the determining the body sensing euler angle variable quantity and the body sensing angle variable quantity inertia at the current moment according to the body sensing euler angle at the current moment, the body sensing euler angle at the last moment and the body sensing angle variable quantity inertia at the last moment includes: Determining the change quantity of the body sensing Euler angle at the current moment according to the historical body sensing Euler angle at the previous moment and the body sensing Euler angle at the current moment; And determining the inertia of the body sensing angle variation at the current moment according to the change of the body sensing Euler angle at the current moment, the inertia of the historical body sensing angle variation at the last moment and a preset attenuation coefficient. Optionally, the determining the inertia of the body sensing angle variation at the current moment according to the body sensing euler angle variation at the current moment, the inertia of the historical body sensing angle variation at the previous moment and the preset attenuation coefficient includes: Pinew=Piold×Di+; Wherein P inew represents the inertia of the body sensing angle change amount at the current moment, P iold represents the inertia of the body sensing angle change amount at the last moment, D i represents the preset attenuation coefficient, The change amount of the body sense Euler angle at the current moment is shown. Optionally, the determining the position loop proportion coefficient, the position loop amplitude limit and the organism target angle according to the body sensing euler angle variable quantity and the body sensing angle variable quantity inertia at the current moment and the organism joint angle initial angle includes: calculating nonlinear parameters according to the body sensing Euler angle variation at the current moment, wherein the nonlinear parameters comprise a position loop proportion coefficient variation coefficient, a position loop amplitude limiting variation coefficient and a target angle variation coefficient; Determining a target amplification factor according to the i