Gimbal control method and apparatus, control terminal and aircraft system

Patent metadata

Field	Value
Publication number	US-12069372-B2
Application number	US-202117455748-A
Country	US
Kind code	B2
Filing date	Nov 19, 2021
Priority date	May 22, 2019
Publication date	Aug 20, 2024
Grant date	Aug 20, 2024

Abstract

Embodiments of the disclosure relate to the technical field of gimbal control, and disclose a gimbal control method and apparatus, a control terminal and an aircraft system. The gimbal control method is applicable to a control terminal. A gimbal carries a photographing device. The method includes: acquiring photographing parameter information of the photographing device, where the photographing parameter information includes a field of view of the photographing device and a resolution of a captured image of the photographing device; acquiring image coordinates of a target object in the captured image that is selected by a user; and controlling an attitude of the gimbal according to the photographing parameter information and the image coordinates of the target object, so that the target object is at a preset position in the captured image.

First claim

What is claimed is:

1. A gimbal control method, applicable to a control terminal, wherein
the gimbal carries a photographing device, the method comprising:
acquiring photographing parameter information of the photographing device, wherein the photographing parameter information comprises a field of view of the photographing device and a resolution of a captured image of the photographing device;
acquiring image coordinates of a target object in the captured image that is selected by a user; and
controlling an attitude of the gimbal according to the photographing parameter information and the image coordinates of the target object, so that the target object is at a preset position in the captured image;
wherein the resolution of the captured image comprises an image pixel width and an image pixel height, and the field of view comprises a horizontal field of view and a vertical field of view; and
the controlling an attitude of the gimbal according to the photographing parameter information and the image coordinates of the target object, so that the target object is at a preset position in the captured image comprises:
calculating a pitch angle of the gimbal according to the image coordinates of the target object, the image pixel height and the vertical field of view;
calculating a yaw angle of the gimbal according to the image coordinates of the target object, the image pixel width and the horizontal field of view; and
controlling the attitude of the gimbal according to the pitch angle and the yaw angle, so that the target object is at the present position in the captured image;
wherein the calculating a pitch angle of the gimbal according to the image coordinates of the target object, the image pixel height, and the vertical field of view comprises:
calculating the pitch angle according to the following formula:

θ
y

=

tan

-
1

⁢

(

❘
"\[LeftBracketingBar]"

y
-

H
2

❘
"\[RightBracketingBar]"

H
2

tan
⁡
(

θ
h

2

)

)

,

wherein
θ y is the pitch angle of the gimbal, y is a y-axis coordinate, in the image coordinates, of the target object, H is the image pixel height, and θ h is the vertical field of view.

2. The gimbal control method according to claim 1 , wherein the acquiring image coordinates of a target object in the captured image that is selected by a user comprises:
acquiring the image coordinates of the target object by means of a click/tap operation of the user on the control terminal.

3. The gimbal control method according to claim 1 , wherein the calculating a yaw angle of the gimbal according to the image coordinates of the target object, the image pixel width, and the horizontal field of view comprises:
calculating the yaw angle of the gimbal according to the following formula:

θ
x

=

tan

-
1

(

❘
"\[LeftBracketingBar]"

x
-

W
2

❘
"\[RightBracketingBar]"

W
2

tan
⁡
(

θ
w

2

)

)

,

wherein
θ x is the yaw angle of the gimbal, x is an x-axis coordinate, in the image coordinates of the target object, W is the image pixel width, and θ w is the horizontal field of view.

4. The gimbal control method according to claim 1 , wherein the preset position is a center of the captured image.

5. A gimbal control apparatus, applicable to a control terminal, wherein a gimbal carries a photographing device, the apparatus comprising:
at least one processor; and a memory communicatively connected to the at least one processor, wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to cause the at least one processor to:
acquire photographing parameter information of the photographing device, wherein the photographing parameter information comprises a field of view of the photographing device and a resolution of a captured image of the photographing device;
acquire image coordinates of a target object in the captured image that is selected by a user; and
control an attitude of the gimbal according to the photographing parameter information and the image coordinates of the target object, so that the target object is at a preset position in the captured image;
wherein the resolution of the captured image comprises an image pixel width and an image pixel height, and the field of view comprises a horizontal field of view and a vertical field of view;
the processor is further configured to:
calculate a pitch angle of the gimbal according to the image coordinates of the target object, the image pixel height and the vertical field of view;
calculate a yaw angle of the gimbal according to the image coordinates of the target object the image pixel width and the horizontal field of view; and
control the attitude of the gimbal according to the pitch angle and the yaw angle, so that the target object is at the preset position in the captured image;
wherein the

Assignees

• Autel Robotics Co Ltd

Inventors

• Feng Yinhua

Classifications

• G03B15/006

  Apparatus mounted on flying objects · CPC title

• G03B17/561

  Support related camera accessories · CPC title

• H04N23/66

  Remote control of cameras or camera parts, e.g. by remote control devices · CPC title

• H04N7/183

  for receiving images from a single remote source · CPC title

• G06T2207/20101

  Interactive definition of point of interest, landmark or seed · CPC title