WO2018032436A1 - 云台控制方法、装置、存储介质以及无人机 - Google Patents

云台控制方法、装置、存储介质以及无人机 Download PDF

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Publication number
WO2018032436A1
WO2018032436A1 PCT/CN2016/095775 CN2016095775W WO2018032436A1 WO 2018032436 A1 WO2018032436 A1 WO 2018032436A1 CN 2016095775 W CN2016095775 W CN 2016095775W WO 2018032436 A1 WO2018032436 A1 WO 2018032436A1
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WO
WIPO (PCT)
Prior art keywords
view
pan
tilt
camera device
camera
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PCT/CN2016/095775
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English (en)
French (fr)
Inventor
曹子晟
杨秉臻
俞利富
王岩
Original Assignee
深圳市大疆灵眸科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 深圳市大疆灵眸科技有限公司 filed Critical 深圳市大疆灵眸科技有限公司
Priority to CN201680003115.3A priority Critical patent/CN107077154B/zh
Priority to PCT/CN2016/095775 priority patent/WO2018032436A1/zh
Publication of WO2018032436A1 publication Critical patent/WO2018032436A1/zh
Priority to US16/274,551 priority patent/US10656503B2/en
Priority to US16/874,068 priority patent/US11175569B2/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera accessories
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F16M11/123—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints the axis of rotation intersecting in a single point, e.g. by using gimbals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/62—Control of parameters via user interfaces
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/67—Focus control based on electronic image sensor signals
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
    • H04N23/682—Vibration or motion blur correction
    • H04N23/683—Vibration or motion blur correction performed by a processor, e.g. controlling the readout of an image memory
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
    • H04N23/682—Vibration or motion blur correction
    • H04N23/685—Vibration or motion blur correction performed by mechanical compensation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/69—Control of means for changing angle of the field of view, e.g. optical zoom objectives or electronic zooming

Definitions

  • the invention relates to the technical field of cloud platform control, in particular to a cloud platform control method, device, storage medium and a drone.
  • the cloud platform is a supporting device for installing and fixing the camera.
  • the cloud platform is generally divided into two types: fixed and electric cloud platform.
  • the fixed cloud platform is suitable for the monitoring range
  • the electric cloud platform is suitable for scanning and monitoring a large range.
  • the electric pan/tilt can receive signals from the controller for precise movement to ensure that the camera can output a clear image stably.
  • the PTZ control system and the camera control system are two independent control systems, so that the PTZ and the camera need to be separately controlled.
  • the focal length information of the camera changes, if the PTZ still uses a fixed set of controls. In this way, it is easy for the control of the pan-tilt movement to change too fast or too slow with respect to the focal length of the camera, thereby affecting the stable output of the camera image, which is not conducive to the collection and monitoring of data information.
  • the present invention provides a pan/tilt control method, apparatus, storage medium, and drone, which are used to solve the stable output of the camera image existing in the prior art, which is not conducive to the collection of data information. Problems with monitoring.
  • a first aspect of the present invention is to provide a pan/tilt control method, including:
  • the pan/tilt is adjusted according to the adjustment policy to cause the camera device to output a stable image.
  • a second aspect of the present invention is to provide a pan/tilt control apparatus, including: a data collector and a data processor communicatively coupled to the data collector;
  • the data collector is configured to acquire a current field of view of the camera device disposed on the pan/tilt;
  • the data processor is configured to determine an adjustment policy for adjusting the pan/tilt according to the current view angle, and adjust the pan/tilt according to the adjustment policy, so that the camera device outputs a stable image. .
  • a third aspect of the present invention is to provide a storage medium, in which a program code is stored in a storage medium, and when the program code is executed, a pan/tilt control method is executed, and the method specifically includes:
  • the pan/tilt is adjusted according to the adjustment policy to cause the camera device to output a stable image.
  • a fourth aspect of the present invention is to provide a drone including the above-described pan/tilt control device.
  • the pan/tilt control method, device, storage medium and drone provided by the invention can determine the adjustment strategy for adjusting the pan/tilt according to the current field of view angle by acquiring the current field of view of the camera device, and then can adjust according to the specific adjustment
  • the strategy adjusts the pan/tilt to effectively ensure that the camera device can output a stable image, effectively overcoming the stable output of the camera image in the prior art, which is not conducive to the problem of data information collection and monitoring, and also ensures the camera.
  • the accuracy of the image acquisition by the device improves the practicability of the PTZ control method and is beneficial to the promotion and application of the market.
  • FIG. 1 is a schematic flowchart of a PTZ control method according to Embodiment 1 of the present invention.
  • FIG. 2 is a schematic flowchart of a PTZ control method according to Embodiment 2 of the present invention.
  • FIG. 3 is a schematic flowchart of a PTZ control method according to Embodiment 3 of the present invention.
  • FIG. 4 is a schematic flowchart of a PTZ control method according to Embodiment 4 of the present invention.
  • FIG. 5 is a schematic flowchart of a PTZ control method according to Embodiment 5 of the present invention.
  • FIG. 6 is a schematic flowchart of a PTZ control method according to Embodiment 6 of the present invention.
  • FIG. 7 is a schematic flowchart of a PTZ control method according to Embodiment 7 of the present invention.
  • FIG. 8 is a schematic flowchart of a PTZ control method according to Embodiment 8 of the present invention.
  • FIG. 9 is a schematic structural diagram of a PTZ control apparatus according to Embodiment 1 of the present invention.
  • FIG. 1 is a schematic flowchart of a PTZ control method according to Embodiment 1 of the present invention.
  • the present embodiment provides a PTZ control method, which is used for a PTZ and a PTZ.
  • the camera device controls, specifically, the pan/tilt control method includes:
  • the camera device is carried on the pan/tilt; the current field of view is the range of angles that the lens of the camera device can cover at the current time, and the specific method for acquiring the current field of view of the camera device is not limited. Personnel can be set according to specific design requirements, as long as the current field of view of the camera device can be obtained, and will not be described here.
  • S102 Determine an adjustment strategy for adjusting the pan/tilt according to the current field of view angle
  • the method for determining the adjustment strategy according to the current field of view may be that the current field of view angle is compared with a preset standard field of view angle, and the corresponding adjustment strategy is determined according to the comparison result; or, the preset standard view may also be set.
  • the field angle list searches for a standard field of view that matches the current field of view.
  • the standard field of view angle table stores the correspondence between the standard field of view and the adjustment strategy. If you look in the standard field of view list, To the standard field of view angle matching the current field of view, the adjustment strategy corresponding to the standard field of view can be determined as the adjustment strategy of the current field of view; of course, those skilled in the art can also adopt other The angle of view determines the adjustment strategy. As long as the adjustment strategy for adjusting the pan/tilt can be determined accurately and effectively, it will not be described here.
  • the adjustment strategy may include adjusting parameters and/or adjusting instructions, wherein the adjustment reference may include a target speed, a target rotation speed, a target rotation angle, a target sensitivity, and the like for adjusting the pan/tilt, and the adjustment instruction may be according to specific design requirements.
  • the camera set on the pan/tilt can output a stable image, and details are not described herein.
  • the pan/tilt control method provided in this embodiment can determine the adjustment strategy for adjusting the pan/tilt according to the current field of view angle by acquiring the current field of view of the camera device, and then adjusting the pan/tilt according to the specific adjustment strategy.
  • the camera device can effectively ensure that the stable image can be output, effectively overcoming the stable output of the camera image existing in the prior art, which is not conducive to the problem of data information collection and monitoring, and also ensures the accuracy of the image capturing device. Furthermore, the practicability of the PTZ control method is improved, which is beneficial to the promotion and application of the market.
  • FIG. 2 is a schematic flowchart of a PTZ control method according to Embodiment 2 of the present invention.
  • the specific method for acquiring the current view angle of the camera device is not The limitation can be set by a person skilled in the art according to specific design requirements.
  • the current viewing angle can be obtained by setting the current viewing angle of the camera set on the pan/tilt.
  • the pan/tilt control method further includes:
  • S001 acquiring a diagonal length of the photosensitive element disposed in the imaging device and an equivalent focal length of the imaging device;
  • the photosensitive element may be a charge coupled CCD element or a complementary metal oxide conductor CMOS device.
  • the photosensitive elements are rectangular structures, and the diagonal length is greater than the length information and width information of the photosensitive element, in order to avoid the imaging device.
  • the length information and the width information of the structure are determined according to the length information and the width information, and of course, the diagonal length information may be obtained by other methods in the art, and details are not described herein;
  • the equivalent focal length can be obtained by the user, or according to the corresponding factory standard file or by obtaining the lens height of the camera and the zoom factor of the camera, and determining the equivalent focal length of the camera by the product of the lens height and the zoom factor; Those skilled in the art can also adopt other methods. To obtain the equivalent focal length, as long as the diagonal length of the photosensitive element and the equivalent focal length of the imaging device can be accurately obtained, no further details are provided herein.
  • S002 Determine a current field of view of the camera according to the diagonal length and the equivalent focal length.
  • the specific manner for determining the current field of view according to the diagonal length and the equivalent focal length is not limited in this embodiment, and those skilled in the art may set according to specific design requirements, wherein, preferably, according to the diagonal
  • the length and the equivalent focal length determine the current field of view of the camera, and the settings are specifically as follows:
  • the current field of view angle information can be accurately and efficiently obtained, which effectively ensures the accurate and reliable acquisition of the current field of view angle information, thereby improving the control method through the pan/tilt.
  • the accuracy and reliability of the control of the gimbal is conducive to the promotion and application of the market.
  • FIG. 3 is a schematic flowchart of a PTZ control method according to Embodiment 3 of the present invention; on the basis of the foregoing embodiment, referring to FIG. 1 and FIG. 3, the current view angle acquisition manner does not include only the foregoing Embodiment 2
  • the current viewing angle of the camera device is determined according to the diagonal length and the equivalent focal length.
  • the current field of view of the camera device can also be obtained by the following methods in the following manner. Specifically, the acquisition can also be performed on the PTZ.
  • the current field of view of the camera device is set to specifically include:
  • S301 Acquire a maximum angle of view of the camera device and a zoom factor of the camera device
  • the above-mentioned maximum angle of view refers to an angle of view in which the numerical value range of the plurality of field of view of the image pickup device is the largest, and the field of view angle corresponds to the focal length of the image pickup device during zooming;
  • the acquisition method of the maximum angle of view the acquisition manner of obtaining the current angle of view may be the same as that of the above, or may be directly obtained by the factory design file of the camera, and for the zoom factor of the camera, According to the factory design file of the camera device, the zoom factor of the camera device can be obtained by other methods, as long as the zoom factor information of the camera device can be accurately obtained, and details are not described herein.
  • S302 acquiring, in a case where the resolution of the photosensitive element of the imaging device is determined, acquiring pixel ratio information of the number of effective pixels and the maximum number of pixels in the image of the imaging device;
  • the resolution of the photosensitive element in this embodiment is used to measure the amount of data in the bitmap image. If the resolution of the photosensitive element is determined, the amount of data in the image in the imaging device is determined. In this case, the pixel ratio information of the effective pixel number and the maximum number of pixels in the image is obtained; wherein, the effective pixel number refers to the pixel value actually participating in the photosensitive imaging; the maximum pixel number is the pixel value of the photosensitive element itself, that is, It can directly refer to the pixels of the CCD or CMOS sensor.
  • the effective number of pixels can be obtained by scanning and analyzing the image. The maximum number of pixels can be obtained through the standard design file of the photosensitive element. Therefore, the effective number of pixels can be quickly and efficiently obtained. Pixel ratio information with the maximum number of pixels.
  • S303 Determine a current angle of view of the camera according to the maximum angle of view, the zoom factor, and the pixel ratio information.
  • the specific implementation process for determining the current field of view of the camera according to the maximum angle of view, the zoom factor, and the pixel ratio information is not limited, and preferably, according to the maximum angle of view, the zoom factor, and the pixel ratio.
  • ⁇ FOVr is the current angle of view of the imaging device
  • n is the zoom magnification of the imaging device
  • k pixel-d is the number of effective pixels in the image of the acquiring imaging device when the resolution of the photosensitive element of the imaging device is determined.
  • ⁇ FOV is the maximum angle of view of the imaging device.
  • the current field of view angle information can be accurately and efficiently obtained, which effectively ensures the accuracy and reliability of the current field of view angle information acquisition, and also improves the The applicability and operational diversity of the PTZ control method further improves the practicability of the PTZ control method.
  • FIG. 4 is a schematic flowchart of a PTZ control method according to Embodiment 4 of the present invention.
  • the specific adjustment of the PTZ according to the adjustment policy is performed.
  • the process is not limited, and can be set by a person skilled in the art according to specific design requirements.
  • the pan/tilt is adjusted according to the adjustment strategy, and the specific settings include:
  • the adjustment strategy is explained Including the target rotation speed of the gimbal that needs to be adjusted, and then the pan/tilt can be controlled to rotate according to the target rotation speed.
  • the rotation operation of the gimbal has a great influence on the stability of the camera device installed on the gimbal. Therefore, the cloud is required.
  • the rotation speed of the table is accurately measured and the rotation operation of the gimbal is effectively controlled.
  • the rotation speed of the pan/tilt can be adjusted according to the angle of view of the camera, for example, if the angle of view of the camera is large, Then, the rotation speed of the gimbal can be made large.
  • the camera device can ensure a stable image; if the angle of view of the camera device is small, the rotation speed of the gimbal needs to be small. At this time, in a small angle of view, it is ensured that the camera device outputs a stable image, and the specific strategy for adjusting the rotation speed of the pan/tilt is not limited, and those skilled in the art can set according to specific design requirements, as long as The technical effects described above can be achieved, and will not be described herein.
  • the adjustment strategy includes the target acceleration that the pan/tilt needs to be adjusted, and then the pan/tilt can be controlled to perform the rotation operation according to the target acceleration, for example, according to the angle of view of the camera device.
  • the size adjusts the acceleration of the gimbal. If the angle of view of the camera is large, the acceleration of the gimbal can be controlled to be large. At this time, the camera can output a stable image. If the angle of view of the camera is small, The acceleration of the pan/tilt can be controlled to be small. In this case, the camera device can output a stable image in a small field of view.
  • the strategy for adjusting the acceleration of the pan/tilt is not limited, and those skilled in the art can The specific design requirements are set as long as the above technical effects can be achieved, and will not be described herein.
  • the sensitivity of the gimbal is the sensitivity of the gimbal.
  • the adjustment strategy includes the target sensitivity of the gimbal to be adjusted, and then the gimbal can be controlled to rotate according to the target sensitivity. Operation, under normal circumstances, if the sensitivity of the pan/tilt is set to be small, the control accuracy of the pan/tilt and the camera set on the pan/tilt will be reduced, and it is difficult to achieve accurate and effective control of the pan/tilt in real time.
  • the sensitivity of the pan/tilt is set to be large, it is easy to cause the pan/tilt to oscillate during the rotating operation, which is not conducive to the output of the stable image by the camera device; therefore, the specific sensitivity information of the gimbal needs to be performed according to the specific actual design requirements. To achieve effective control of the gimbal, it is necessary to ensure that the camera on the gimbal outputs a stable image.
  • the rotation speed of the gimbal, the acceleration of the gimbal and the sensitivity of the gimbal are effectively adjusted and controlled, which effectively ensures the rotation state of the gimbal and further ensures the setting on the gimbal.
  • the camera device can output a stable image, improve the control precision of the pan/tilt, and thus ensure the stable reliability of the pan/tilt control method, which is beneficial to the promotion and application of the market.
  • FIG. 5 is a schematic flowchart of a PTZ control method according to Embodiment 5 of the present invention.
  • the specific embodiment of the present embodiment is to adjust the rotation speed of the PTZ according to the adjustment policy.
  • the implementation process is not limited, and those skilled in the art can set according to specific design requirements. Among them, after long-term experiments by the inventors, it is found that when the rotation speed is inversely proportional to the current field of view of the camera, it is set on the gimbal. The camera device can output a stable image. Therefore, the rotation speed of the pan/tilt can be adjusted according to the adjustment strategy to specifically include:
  • the inverse relationship between the specific rotation speed and the current field of view of the camera device is not limited, and those skilled in the art can set according to specific design requirements and effects, for example, the rotation speed and the current field of view of the camera device can be
  • the inverse proportional relationship of the angle is set to an inverse proportional relationship of 1:1, an inverse proportional relationship of 1:2, or an inverse proportional relationship of 2:1, etc.;
  • the rotation speed can be determined by the above inverse proportional relationship and the current angle of view, which is the control
  • the target rotation speed at which the pan/tilt rotates, if the control pan/tilt is rotated according to the above-described rotation speed, can effectively ensure that the camera device outputs a stable image.
  • the specific implementation manner of controlling the pan/tilt to perform the rotational motion according to the above-mentioned rotational speed is not limited, and those skilled in the art may set according to specific design requirements, for example, the rotational speed may be input into the pan-tilt control system, so that The control system controls the rotation speed of the motor of the gimbal by the rotation speed, thereby controlling the rotation of the gimbal according to the rotation speed.
  • the rotation of the pan/tilt is controlled according to the above rotation speed, thereby effectively ensuring the setting on the gimbal.
  • the camera device can output a stable image, which further improves the stability and reliability of the pan/tilt control method.
  • FIG. 6 is a schematic flowchart of a PTZ control method according to Embodiment 6 of the present invention.
  • the method for determining the inverse relationship between the rotational speed and the current field of view of the imaging device is not limited in this embodiment, and those skilled in the art can set according to specific design requirements, wherein Preferably, setting the pan/tilt control method to further includes:
  • the image rotation speed information is motion information of the image captured by the camera device, and the specific acquisition manner of the image rotation speed information is not limited, and those skilled in the art may set according to specific design requirements, for example, collected by the camera device.
  • the marker point ie, the feature point
  • the initial position information of the marker point is obtained.
  • the current position information after the marker point is rotated is obtained, according to the initial position information, the current position information, and the preset.
  • the time can obtain the rotational speed information of the image; of course, those skilled in the art can also use other methods to obtain the image rotational speed information of the imaging device, as long as the image rotational speed information can be accurately and efficiently obtained, no longer Narration.
  • S202 Determine an inverse relationship between the rotation speed and the current field of view of the camera according to the image rotation speed information.
  • the specific implementation process for determining the inverse relationship between the rotation speed and the current field of view is not limited, and those skilled in the art may set according to specific design requirements. Among them, it is preferable to determine the rotation speed according to the image rotation speed information.
  • the inverse proportional relationship of the current field of view of the camera device is set to specifically include:
  • an inverse proportional relationship between the rotation speed and the current angle of view can be determined, that is, in the case where the image rotation speed information is determined, if the current angle of view of the camera device is smaller, the rotation speed of the pan/tilt head can be If the current field of view of the camera device is large, the rotation speed of the pan/tilt can be adjusted small; the pan/tilt is controlled by the above formula, which effectively increases the rate of inverse proportional relationship confirmation and improves the inverse ratio.
  • the accuracy and reliability of the relationship control of the gimbal further enhances the practicability of the PTZ control method and is conducive to the promotion and application of the market.
  • FIG. 7 is a schematic flowchart of a pan/tilt control method according to Embodiment 7 of the present invention.
  • the specific strategy for adjusting the acceleration of the gimbal according to the adjustment strategy is not limited, and those skilled in the art can set according to specific design requirements.
  • the long-term experimental study of humans found that when the acceleration is inversely proportional to the current field of view of the camera, the camera set on the pan/tilt can output a stable image. Therefore, the acceleration of the pan-tilt will be adjusted according to the adjustment strategy. Specifically include:
  • the inverse relationship between the specific acceleration and the current field of view of the camera device is not limited, and those skilled in the art can set according to specific design requirements and effects, for example, the acceleration and the current field of view of the camera.
  • the inverse proportional relationship is set to an inverse proportional relationship of 1:1, an inverse proportional relationship of 1:2, or an inverse proportional relationship of 2:1, etc.;
  • the acceleration can be determined by the inverse proportional relationship and the current angle of view, and the acceleration is controlled by the pan/tilt head.
  • the target acceleration if the control pan/tilt moves according to the above acceleration, can effectively ensure that the camera device outputs a stable image.
  • the specific implementation manner of controlling the movement of the gimbal according to the above acceleration is not limited, and those skilled in the art can set according to specific design requirements, for example, the acceleration can be input into the PTZ control system, so that the control system By controlling the running state of the motor of the gimbal by the acceleration, the control pan/tilt is moved according to the acceleration.
  • the camera device disposed on the pan/tilt can be effectively ensured. Outputting a stable image improves the accuracy of the pan/tilt control and also improves the stability and reliability of the pan/tilt control method.
  • FIG. 8 is a schematic flowchart of a PTZ control method according to Embodiment 8 of the present invention.
  • the specific strategy for adjusting the sensitivity of the PTZ according to the adjustment policy is described.
  • those skilled in the art can set according to specific design requirements. Among them, after long-term experimental research by the inventor, it is found that the camera is set on the gimbal when the sensitivity is inversely proportional to the current field of view of the camera. The device can output a stable image. Therefore, the sensitivity of the pan/tilt will be adjusted according to the adjustment strategy, including:
  • S10331 determining sensitivity according to an inverse proportional relationship and a current angle of view of the camera
  • the inverse relationship between the specific sensitivity and the current field of view of the camera device is not limited, and those skilled in the art can set according to specific design requirements and effects, for example, the sensitivity and the current field of view of the camera device can be
  • the inverse proportional relationship is set to an inverse proportional relationship of 1:1, an inverse proportional relationship of 1:2, or an inverse proportional relationship of 2:1, etc.
  • the acceleration can be determined by the inverse proportional relationship and the current angle of view, and the acceleration is controlled by the pan/tilt head.
  • the target sensitivity if the control pan/tilt moves according to the above sensitivity, can effectively ensure that the camera device outputs a stable image.
  • the specific implementation manner of controlling the movement of the gimbal according to the above sensitivity is not limited, and those skilled in the art may set according to specific design requirements, for example, the sensitivity may be input into the PTZ control system, so that the control system The acceleration state of the motor of the pan/tilt is controlled by the acceleration, thereby controlling the pan/tilt to move according to the sensitivity.
  • the camera device set on the pan/tilt can be effectively ensured. Outputting a stable image improves the accuracy of the pan/tilt control and also improves the stability and reliability of the pan/tilt control method.
  • the rotation speed, acceleration or sensitivity of the gimbal can be separately controlled, or the combination of the above parameters can be used to comprehensively control the pan/tilt. It can be understood by those skilled in the art that when the control parameters of the pan/tilt are more, the accuracy of controlling the pan/tilt is higher, and the camera device on the pan/tilt is more stable.
  • the execution body of the PTZ control method may be a PTZ control device
  • the PTZ control device may include an imaging control module for controlling the imaging device and a PTZ control module for controlling the PTZ, and the imaging control
  • the module is communicatively connected with the PTZ control module, and the camera control module can read the current field of view of the camera device and send the read current field of view angle to the PTZ control module, and the PTZ control module determines and adjusts according to the current field of view.
  • the wide-angle parallel light pipe method can generally be used for measurement, that is, by gradually adjusting the zoom motor in the lens of the camera device to obtain each state.
  • a magnifying glass with appropriate focal length can be added as an auxiliary device for the measurement personnel to easily observe.
  • the acquired angle of view will include the field of view angle in the X direction and the field of view angle in the Y direction, wherein the X direction is set to the length direction of the photosensitive element, Setting the Y direction to the width direction of the photosensitive element, after acquiring the corresponding X-direction field angle and Y-direction field angle, according to the actual working range of the photosensitive element at the corresponding resolution, the X-direction angle of view and the Y-direction Multiply the field of view by the corresponding multiple information. For example, if the resolution of the photosensitive element is 4:3, the X-direction angle of view of the 16:9 resolution is the same as the photosensitive element.
  • Y direction of view angle needs to be multiplied by 0.75; if the resolution of the photosensitive element is 21:9, then the Y-direction field of view angle needs to be multiplied by 12:21; usually, the resolution of the photosensitive element of the camera device The ratio is 4:3, but at this resolution, depending on the design, the image scale may be set to 16:9 or 1:1, and the image will be cropped a part, so in general, the calculated view The field angle is smaller than the angle of view that the entire sensor can achieve.
  • the pan/tilt system After acquiring the angle of view data, the field of view data is stored in the camera, and the number of steps of the camera in the zoom motor is sent to the pan/tilt angle and the Y field of view.
  • variable information When obtaining the angle of view and adjusting the pan/tilt, define the following variable information:
  • the angle of view of the camera device when the image is not cropped and scaled consisting of the field of view angles in the X and Y directions;
  • the angle of view of the image after clipping and scaling consisting of the field of view in the X and Y directions;
  • l focal is the focal length of the camera;
  • n is the digital zoom factor of the camera;
  • S is the distance of the subject from the focus of the camera;
  • the image rotation speed is defined as the number of FOV angles that can be rotated through the entire image per unit time, including the components in both X and Y directions;
  • pan/tilt speed it contains the components in both X and Y directions;
  • f FOV (l focal ) is a mapping function of the lens focal length to the angle of view of the camera device that is pre-calibrated
  • the inverse proportional relationship between the rotation speed and the current angle of view can be determined. That is, in the case where the image rotation speed information is determined, if the current angle of view of the camera device is smaller, the rotation speed of the pan/tilt can be adjusted. If the current field of view of the camera is large, the rotation speed of the pan/tilt can be adjusted small; through the above formula, the rate of the inverse proportional relationship is effectively improved, and the pan/tilt is controlled by the inverse proportional relationship. Accuracy and reliability further improve the practicability of the PTZ control method and facilitate the promotion and application of the market.
  • FIG. 9 is a schematic structural diagram of a PTZ control apparatus according to Embodiment 1 of the present invention.
  • the embodiment provides a PTZ control apparatus, and the PTZ control apparatus is used to execute a PTZ control method. Effectively control the pan/tilt and the camera set on the pan/tilt.
  • the pan/tilt control device comprises: a data collector 1 and a data processor 2 communicatively coupled to the data collector 1;
  • a data collector 1 for acquiring a current angle of view of the camera device disposed on the pan/tilt;
  • the data processor 2 is configured to determine an adjustment strategy for adjusting the pan/tilt according to the current field of view, and adjust the pan/tilt according to the adjustment strategy, so that the camera device outputs a stable image.
  • the specific structure of the data collector 1 and the data processor 2 is not limited, and those skilled in the art can set according to specific design requirements, as long as the above operation process can be implemented, and details are not described herein;
  • the collector 1 and the data processor 2 can be wirelessly connected through Bluetooth or WiFi, or can be wired through the data line, as long as the data collector 1 and the data processor 2 can realize the effect of data communication, and no longer
  • the specific location of the data collector 1 and the data processor 2 is not limited.
  • the data collector 1 may be disposed inside the camera, and the data processor 2 may be disposed inside the pan/tilt control system, or
  • the data collector 1 and the data processor 2 are both disposed inside the pan/tilt control system or inside the camera device, etc., and those skilled in the art can set the data collector 1 and the data processor 2 according to the functional effects achieved above. No longer.
  • the pan/tilt control device acquires the current field of view of the camera device through the data collector 1, and the data processor 2 can determine an adjustment strategy for adjusting the pan/tilt according to the current field of view angle, and then can be determined according to specific
  • the adjustment strategy adjusts the gimbal, which can effectively ensure that the camera device can output a stable image, effectively overcoming the stable output of the camera image existing in the prior art, which is not conducive to the problem of data information collection and monitoring, and also ensures The accuracy of the image acquisition by the camera device improves the practicability of the PTZ control device and is beneficial to the promotion and application of the market.
  • data collector 1 and the data processor 2 can also be processors or controllers integrated together, and are not limited to the embodiment.
  • the present embodiment is for data collection.
  • the specific method for obtaining the current field of view of the camera device is not limited, and those skilled in the art can set according to specific design requirements.
  • the data collector 1 is further configured to:
  • the current field of view of the camera is determined based on the diagonal length and the equivalent focal length.
  • the specific manner for determining the current field of view angle according to the diagonal length and the equivalent focal length of the data collector 1 is not limited, and those skilled in the art may set according to specific design requirements, wherein, preferably, the data is Collector 1, set to specifically use:
  • the current field of view of the camera is determined, where y' is the diagonal length of the photosensitive element inside the camera, f' is the equivalent focal length of the camera, and w is the current field of view of the camera.
  • the data collector 1 processes the diagonal length and the equivalent focal length according to the above formula, and can accurately and effectively obtain the current field of view angle information, thereby effectively ensuring the accuracy and reliability of the current field of view angle information acquisition, thereby improving the passage.
  • the accuracy and reliability of the control of the gimbal by the PTZ control device is conducive to the promotion and application of the market.
  • the current viewing angle acquisition method does not include only the data collector 1 provided in the above tenth embodiment, and the imaging device is determined according to the diagonal length and the equivalent focal length.
  • the person skilled in the art can also obtain the current field of view of the camera device in the following manner.
  • the data collector 1 can also be configured to also be used for:
  • the current angle of view of the camera is determined based on the maximum field of view, zoom factor, and pixel scale information.
  • the data collector 1 is further configured to:
  • ⁇ FOVr is the current angle of view of the imaging device
  • n is the zoom magnification of the imaging device
  • k pixel-d is the number of effective pixels in the image of the acquiring imaging device when the resolution of the photosensitive element of the imaging device is determined.
  • ⁇ FOV is the maximum angle of view of the imaging device.
  • the data collector 1 processes the maximum field of view angle, the zoom magnification and the pixel ratio information by the above formula, and can accurately and effectively acquire the current field of view angle information, thereby effectively ensuring the accuracy and reliability of the current field of view angle information acquisition, and simultaneously
  • the applicability and operational diversity of the pan/tilt control device are also improved, thereby improving the practicability of the pan/tilt control device.
  • the specific adjustment process of the PTZ to adjust the PTZ according to the adjustment policy is not limited in this embodiment, and those skilled in the art may perform according to specific design requirements.
  • the data processor 2 is set to be specifically used for:
  • the data processor 2 effectively adjusts and controls the rotation speed of the gimbal, the acceleration of the gimbal, and the sensitivity of the gimbal through the above adjustment strategy, thereby effectively ensuring the rotation state of the gimbal and further ensuring the camera set on the gimbal.
  • the device can output a stable image, improve the control precision of the pan/tilt, thereby ensuring the stable reliability of the use of the pan/tilt control device, and is beneficial to the promotion and application of the market.
  • the specific implementation process of the data processor 2 for adjusting the rotation speed of the gimbal according to the adjustment strategy is not limited, and those skilled in the art may The design requirements are set.
  • the data processor 2 can control the camera mounted on the pan/tilt to output a stable image.
  • Data processor 2 can be set to specifically use:
  • the gimbal is controlled to rotate in accordance with the rotational speed.
  • the data processor 2 effectively determines the setting by inversely proportionaling the rotational speed to the current field of view of the imaging device, and determining the rotational speed through the inverse proportional relationship and the current angle of view, and by controlling the pan/tilt to perform the rotational operation according to the above-described rotational speed.
  • the camera device on the Yuntai can output a stable image, which further improves the stability and reliability of the PTZ control device.
  • the determination manner of the inverse relationship between the rotational speed and the current field of view of the imaging device is not limited in this embodiment, and those skilled in the art can perform according to specific design requirements.
  • the data processor 2 is further configured to determine an inverse relationship between the rotation speed and the current angle of view of the camera according to the image rotation speed information.
  • the specific implementation process for the data processor 2 to determine the inverse relationship between the rotation speed and the current field of view is not limited, and those skilled in the art can set according to specific design requirements. Among them, the data processor 2 is more preferably Also used for:
  • the data processor 2 controls the pan/tilt by the above formula, effectively improves the rate of confirming the inverse proportional relationship, and improves the accuracy and reliability of controlling the pan/tilt by the inverse proportional relationship, further improving the control device of the pan/tilt head. Practicality is conducive to the promotion and application of the market.
  • the specific strategy for the data processor 2 to adjust the acceleration of the gimbal according to the adjustment strategy is not limited, and those skilled in the art can according to specific design requirements.
  • the setting is performed, wherein, after long-term experimental research by the inventor, it is found that when the acceleration is inversely proportional to the current angle of view of the camera, the camera set on the pan/tilt can output a stable image, and therefore, the data processor 2 is set. Specifically for:
  • the data processor 2 inversely proportionals the acceleration to the current field of view of the camera, and determines the acceleration through the inverse proportional relationship and the current field of view.
  • the camera device can output a stable image, improve the accuracy of the pan/tilt control, and also improve the stability and reliability of the pan/tilt control device.
  • the specific strategy for adjusting the sensitivity of the gimbal according to the adjustment policy is not limited, and those skilled in the art can set according to specific design requirements, where According to the inventor's long-term experimental research, when the sensitivity is inversely proportional to the current field of view of the camera, the camera set on the pan/tilt can output a stable image. Therefore, the data processor 2 is set to be specifically used for :
  • Sensing is determined according to an inverse proportional relationship and a current angle of view of the camera
  • the data processor 2 determines the sensitivity by inversely proportionaling the sensitivity to the current field of view of the camera, and determines the sensitivity through the inverse proportional relationship and the current field of view. By controlling the pan/tilt to move according to the above sensitivity, the data processor is effectively set on the pan/tilt.
  • the camera device can output a stable image, improve the accuracy of the pan/tilt control, and also improve the stability and reliability of the pan/tilt control device.
  • the embodiment provides a storage medium, which may be a hard disk, a USB flash drive, an optical disk, or other device having a storage space, etc., in which a program code is stored, and when the program code is running, the cloud is executed.
  • the station control method the method specifically includes:
  • the pan/tilt is adjusted according to the adjustment strategy to cause the camera to output a stable image.
  • the storage medium provided in this embodiment realizes obtaining the current field of view of the camera by running the stored program code, and can determine an adjustment strategy for adjusting the pan/til according to the current field of view, and then according to the specific
  • the adjustment strategy adjusts the gimbal, which can effectively ensure that the camera device can output a stable image, effectively overcoming the stable output of the camera image existing in the prior art, which is not conducive to the problem of data information collection and monitoring, and also ensures The accuracy of the image acquisition by the camera device improves the practicality of the storage medium and is beneficial to the promotion and application of the market.
  • the current field of view of the camera device is acquired.
  • the specific method of the angle is not limited, and those skilled in the art can set according to specific design requirements. Among them, it is preferable that the current viewing angle can be obtained by acquiring the current state of the camera set on the pan/tilt. Before the field of view, the pan/tilt control method further includes:
  • the current field of view of the camera is determined based on the diagonal length and the equivalent focal length.
  • the specific manner for determining the current field of view according to the diagonal length and the equivalent focal length is not limited in this embodiment, and those skilled in the art may set according to specific design requirements, wherein, preferably, according to the diagonal
  • the length and the equivalent focal length determine the current field of view of the camera, and the settings are specifically as follows:
  • the current field of view of the camera is determined, where y' is the diagonal length of the photosensitive element inside the camera, f' is the equivalent focal length of the camera, and w is the current field of view of the camera.
  • the diagonal length and the equivalent focal length are processed, and the current field of view angle information can be accurately and effectively obtained, thereby effectively ensuring the accuracy and reliability of the current field of view angle information acquisition, thereby improving the operation of the storage medium.
  • the program code controls the accuracy and reliability of the gimbal, which is conducive to the promotion and application of the market.
  • the current viewing angle of the imaging device is determined according to the diagonal length and the equivalent focal length provided in the above-mentioned Embodiment 18.
  • the person skilled in the art can also acquire the imaging device in the following manner.
  • the current field of view angle specifically, the current field of view of the camera device that is set on the pan/tilt can be set to specifically include:
  • the current angle of view of the camera is determined based on the maximum field of view, zoom factor, and pixel scale information.
  • the camera installation is determined according to the maximum angle of view, the zoom magnification and the pixel ratio information.
  • the specific implementation process of the current field of view is not limited.
  • the current field of view of the camera is determined according to the maximum field of view, the zoom factor, and the pixel ratio information.
  • ⁇ FOVr is the current angle of view of the imaging device
  • n is the zoom magnification of the imaging device
  • k pixel-d is the number of effective pixels in the image of the acquiring imaging device when the resolution of the photosensitive element of the imaging device is determined.
  • ⁇ FOV is the maximum angle of view of the imaging device.
  • the current field of view angle information can be accurately and efficiently obtained, which effectively ensures the accuracy and reliability of the current field of view angle information acquisition, and also improves the The scope of application of the storage medium and the diversity of operations, thereby improving the usability of the storage medium.
  • the specific adjustment process for adjusting the pan/tilt according to the adjustment policy is not limited, and those skilled in the art may set according to specific design requirements.
  • the pan/tilt is adjusted according to the adjustment policy. Specifically include:
  • the rotation speed of the gimbal, the acceleration of the gimbal and the sensitivity of the gimbal are effectively adjusted and controlled, which effectively ensures the rotation state of the gimbal, and further ensures that the camera device installed on the gimbal can output stable.
  • the image improves the control precision of the pan/tilt, thereby ensuring the stable reliability of the storage medium and facilitating the promotion and application of the market.
  • the specific implementation process for adjusting the rotation speed of the pan/tilt according to the adjustment strategy is not limited, and those skilled in the art may set according to specific design requirements, wherein the inventor's long-term test finds the rotation speed and the camera.
  • the rotation speed of the pan/tilt can be adjusted according to the adjustment strategy to specifically include:
  • the gimbal is controlled to rotate in accordance with the rotational speed.
  • the rotation of the pan/tilt is controlled according to the above rotation speed, thereby effectively ensuring the setting on the gimbal.
  • the camera device can output a stable image, which further improves the stability and reliability of the use of the storage medium.
  • the manner of determining the inverse relationship between the rotational speed and the current field of view of the imaging device is not limited, and those skilled in the art may set according to specific design requirements. Among them, the pan/tilt control method is preferably set. To also include:
  • An inverse proportional relationship between the rotational speed and the current field of view of the imaging device is determined based on the image rotational speed information.
  • the specific implementation process for determining the inverse relationship between the rotation speed and the current field of view is not limited, and those skilled in the art may set according to specific design requirements. Among them, it is preferable to determine the rotation speed according to the image rotation speed information.
  • the inverse proportional relationship of the current field of view of the camera device is set to specifically include:
  • Controlling the pan/tilt by the above formula effectively improves the rate of confirming the inverse proportional relationship, and improves the accuracy and reliability of controlling the pan/tilt by inverse proportional relationship, further improving the practicability of the storage medium and facilitating the market. Promotion and application.
  • the specific strategy for adjusting the acceleration of the gimbal according to the adjustment strategy is not limited, and those skilled in the art may set according to specific design requirements, wherein the inventor's long-term experimental research finds that the acceleration and the imaging device are When the current angle of view is inversely proportional, the camera set on the pan/tilt can output a stable image. Therefore, the acceleration of the pan/tilt will be adjusted according to the adjustment strategy, and the specific settings include:
  • the camera device disposed on the pan/tilt can be effectively ensured.
  • the output of the stable image improves the accuracy of the control of the pan/tilt, and also improves the stability and reliability of the storage medium.
  • the specific strategy for adjusting the sensitivity of the gimbal according to the adjustment strategy is not limited in this embodiment, and those skilled in the art may set according to specific design requirements, wherein the long-term experimental research by the inventor finds that the sensitivity and the camera device are When the current angle of view is inversely proportional, the camera set on the pan/tilt can output a stable image. Therefore, the sensitivity of the pan/tilt will be adjusted according to the adjustment strategy, including:
  • Sensing is determined according to an inverse proportional relationship and a current angle of view of the camera
  • the camera device set on the pan/tilt can be effectively ensured.
  • the output of the stable image improves the accuracy of the control of the pan/tilt, and also improves the stability and reliability of the storage medium.
  • the embodiment provides a drone, and the drone can include a pan/tilt head and an image capturing device disposed on the pan/tilt head.
  • the drone includes the above-mentioned embodiment nine-embodiment The pan/tilt control device mentioned in any one of the sixteenth embodiments.
  • the specific types of the drone are not limited, and those skilled in the art can set according to specific design requirements, for example, setting the drone as an unmanned aerial vehicle, an unmanned vehicle or an unmanned vehicle. Any of them.
  • the PTZ control device can adjust the PTZ according to a specific adjustment strategy, which can effectively ensure that the camera device can output a stable image, effectively overcoming the influence of the prior art.
  • the stable output of the camera image is not conducive to the problem of data information acquisition and monitoring, and also ensures the accuracy of the image acquisition by the camera device, thereby improving the utility of the drone and improving the market of the drone.
  • Competitiveness is conducive to the promotion and application of the market.
  • the related apparatus and method disclosed may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of modules or units is only a logical function division.
  • there may be another division manner for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
  • the units described as separate components may or may not be physically separate, as a single
  • the components displayed by the meta may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.
  • An integrated unit if implemented in the form of a software functional unit and sold or used as a standalone product, can be stored in a computer readable storage medium.
  • the technical solution of the present invention which is essential or contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium.
  • a number of instructions are included to cause a computer processor to perform all or part of the steps of the various embodiments of the present invention.
  • the foregoing storage medium includes: a U disk, a removable hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes.

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Abstract

一种云台控制方法、装置、存储介质以及无人机，其中的云台控制方法包括：获取设置于云台上的摄像装置的当前视场角（S101）；根据当前视场角确定对云台进行调整的调整策略(S102)；根据调整策略对云台进行调整，以使得摄像装置输出稳定图像(S103)。云台控制方法、装置以及存储介质有效克服了现有技术中存在的影响摄像机图像的稳定输出，不利于数据信息的采集与监测的问题，同时也保证了摄像装置采集图像的精确程度，进而提高了云台控制方法的实用性，有利于市场的推广与应用。

Description

云台控制方法、装置、存储介质以及无人机 技术领域
本发明涉及云台控制技术领域，尤其涉及云台控制方法、装置、存储介质以及无人机。
背景技术
云台是安装、固定摄像机的支撑设备，云台一般分为固定和电动云台两种，其中，固定云台适用于监视范围不大的情况，电动云台适用于对大范围进行扫描监视，当摄像机进行运动时，为了保证摄像机输出稳定图像，电动云台可以接受来自控制器的信号进行精确地运动，以保证摄像机可以稳定输出清晰的图像。
现有技术中，云台控制系统和摄像控制系统为两套独立的控制系统，使得云台和摄像机需要单独进行控制，当摄像机的焦距信息发生变化时，若云台仍然采用固定的一套控制方法，则会容易出现对云台运动的控制相对于摄像机焦距的变化太快或者太慢，进而影响摄像机图像的稳定输出，不利于数据信息的采集与监测。
发明内容
针对现有技术中的上述缺陷，本发明提供一种云台控制方法、装置、存储介质以及无人机，用于解决现有技术中存在的影响摄像机图像的稳定输出，不利于数据信息的采集与监测的问题。
本发明的第一个方面是为了提供一种云台控制方法，包括：
获取设置于云台上的摄像装置的当前视场角；
根据所述当前视场角确定对所述云台进行调整的调整策略；
根据所述调整策略对所述云台进行调整，以使得所述摄像装置输出稳定图像。
本发明的第二个方面是为了提供一种云台控制装置，包括：数据采集器和与所述数据采集器通讯连接的数据处理器；
所述数据采集器，用于获取设置于云台上的摄像装置的当前视场角；
所述数据处理器，用于根据所述当前视场角确定对所述云台进行调整的调整策略，并根据所述调整策略对所述云台进行调整，以使得所述摄像装置输出稳定图像。
本发明的第三个方面是为了提供一种存储介质，存储介质内存储有程序代码，当程序代码运行时，会执行云台控制方法，该方法具体包括：
获取设置于云台上的摄像装置的当前视场角；
根据所述当前视场角确定对所述云台进行调整的调整策略；
根据所述调整策略对所述云台进行调整，以使得所述摄像装置输出稳定图像。
本发明的第四个方面是为了提供一种无人机，包括上述的云台控制装置。
本发明提供的云台控制方法、装置、存储介质以及无人机，通过获取摄像装置的当前视场角，根据当前视场角可以确定对云台进行调整的调整策略，进而可以根据具体的调整策略对云台进行调整，可以有效地保证摄像装置可以输出稳定图像，有效克服了现有技术中存在的影响摄像机图像的稳定输出，不利于数据信息的采集与监测的问题，同时也保证了摄像装置采集图像的精确程度，进而提高了该云台控制方法的实用性，有利于市场的推广与应用。
附图说明
图1为本发明实施例一提供的云台控制方法的流程示意图；
图2为本发明实施例二提供的云台控制方法的流程示意图；
图3为本发明实施例三提供的云台控制方法的流程示意图；
图4为本发明实施例四提供的云台控制方法的流程示意图；
图5为本发明实施例五提供的云台控制方法的流程示意图；
图6为本发明实施例六提供的云台控制方法的流程示意图；
图7为本发明实施例七提供的云台控制方法的流程示意图；
图8为本发明实施例八提供的云台控制方法的流程示意图；
图9为本发明实施例一提供的云台控制装置的结构示意图。
具体实施方式
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
实施例一
图1为本发明实施例一提供的云台控制方法的流程示意图；参考附图1可知，本实施例提供了一种云台控制方法，该控制方法用于对云台以及设置于云台上的摄像装置进行控制，具体的，该云台控制方法包括：
S101：获取设置于云台上的摄像装置的当前视场角；
其中，摄像装置承载于云台上；当前视场角为摄像装置的镜头在当前时刻所能覆盖的角度范围，而对于具体获取摄像装置的当前视场角的具体方法不做限定，本领域技术人员可以根据具体的设计需求进行设置，只要能够获取到摄像装置的当前视场角即可，在此不再赘述。
S102：根据当前视场角确定对云台进行调整的调整策略；
其中，根据当前视场角确定调整策略的方式可以为将当前视场角与预先设置的标准视场角进行分析对比，根据对比结果确定相应的调整策略；或者，也可以在预先设置的标准视场角列表中查找是否存在与当前视场角相匹配的标准视场角，其中，标准视场角列表中存储有标准视场角与调整策略的对应关系，若在标准视场角列表中查找到与当前视场角相匹配的标准视场角，则可以将该标准视场角所对应的调整策略确定为当前视场角的调整策略；当然的，本领域技术人员还可以采用其他根据当前视场角确定调整策略的方式，只要能够准确、有效地确定对云台进行调整的调整策略即可，在此不再赘述。
S103：根据调整策略对云台进行调整，以使得摄像装置输出稳定图像。
其中，调整策略可以包括调整参数和/或调整指令，其中，调整参考可以包括对云台进行调整的目标速度、目标旋转速度、目标旋转角度、目标感度等等，调整指令可以根据具体的设计需求进设置，只要能够实现通过调整策 略对云台进行调整之后，可以使得设置于云台上的摄像装置输出稳定图像即可，在此不再赘述。
本实施例所提供的云台控制方法，通过获取摄像装置的当前视场角，根据当前视场角可以确定对云台进行调整的调整策略，进而可以根据具体的调整策略对云台进行调整，可以有效地保证摄像装置可以输出稳定图像，有效克服了现有技术中存在的影响摄像机图像的稳定输出，不利于数据信息的采集与监测的问题，同时也保证了摄像装置采集图像的精确程度，进而提高了该云台控制方法的实用性，有利于市场的推广与应用。
实施例二
图2为本发明实施例二提供的云台控制方法的流程示意图；在上述实施例的基础上，参考附图1-2可知，本实施例对于获取摄像装置的当前视场角的具体方法不做限定，本领域技术人员可以根据具体的设计需求进行设置，其中，较为优选的，可以当前视场角的获取方式设置为：在获取设置于云台上的摄像装置的当前视场角之前，该云台控制方法还包括：
S001：获取设置于摄像装置内的感光元件的对角线长度和摄像装置的等效焦距；
其中，上述感光元件可以为电荷耦合CCD元件或互补金属氧化物导体CMOS器件，一般情况下，感光元件均为矩形结构，对角线长度会大于感光元件的长度信息和宽度信息，为了避免摄像装置中的成像出现暗角，摄像装置中的实际视场角要小于计算出来的当前视场角；并且，对于感光元件而言，对角线长度的获取方式可以为直接测量获得或者是通过获取矩形结构的长度信息和宽度信息，根据上述长度信息和宽度信息确定对角线长度，当然的，本领域技术人员也可以采用其他方式获取对角线长度信息，在此不再赘述；另外，摄像装置的等效焦距可以为用户输入、或根据相应的出厂标准文件获取或者通过获取摄像装置的镜头高度和摄像装置的变焦系数，通过镜头高度与变焦系数的乘积，确定摄像装置的等效焦距；当然的，本领域技术人员还可以采用其他方式来获取等效焦距，只要能够准确获取到感光元件的对角线长度和摄像装置的等效焦距即可，在此不再赘述。
S002：根据所述对角线长度和所述等效焦距确定摄像装置的当前视场角。
本实施例对于根据对角线长度和等效焦距确定当前视场角的具体方式不做限定，本领域技术人员可以根据具体的设计需求进行设置，其中，较为优选的，可以将根据对角线长度和等效焦距确定摄像装置的当前视场角，设置为具体包括：
S0021：根据
Figure PCTCN2016095775-appb-000001
确定摄像装置的当前视场角，其中，y′为摄像装置内部的感光元件的对角线长度，f′为摄像装置的等效焦距，w为摄像装置的当前视场角。
通过上述公式对对角线长度和等效焦距进行处理，可以准确、有效地获取当前视场角信息，有效地保证了当前视场角信息获取的准确可靠性，进而提高了通过云台控制方法对云台进行控制的精确度和可靠性，有利于市场的推广与应用。
实施例三
图3为本发明实施例三提供的云台控制方法的流程示意图；在上述实施例的基础上，参考附图1、3可知，对于当前视场角的获取方式并不只包括上述实施例二中所提供的根据对角线长度和等效焦距确定摄像装置的当前视场角，本领域技术人员还可以采用以下方式获取摄像装置的当前视场角，具体的，还可以将获取设置于云台上的摄像装置的当前视场角设置为具体包括：
S301：获取摄像装置的最大视场角和摄像装置的变焦倍数；
其中，上述最大视场角是指对于变焦的摄像装置而言，在变焦过程中，摄像装置的多个视场角中数值范围最大的视场角，视场角与摄像装置的焦距相对应；而对于最大视场角的获取方式而言，可以与上述获取当前视场角的获取方式相同，或者也可以通过摄像装置的出厂设计文件中直接获得，而对于摄像装置的变焦倍数而言，可以根据摄像装置的出厂设计文件中直接获得，或者，本领域技术人员也可以采用其他方式获取摄像装置的变焦倍数，只要能够准确获取到摄像装置的变焦倍数信息即可，在此不再赘述。
S302：在摄像装置的感光元件的分辨率确定的情况下，获取摄像装置的图像中的有效像素数与最大像素数的像素比例信息；
本实施例中的感光元件的分辨率用于度量位图图像内数据量多少，若感光元件的分辨率确定，则说明该摄像装置中的图像内的数据量是确定的，在 此种情况下，获取到图像中的有效像素数和最大像素数的像素比例信息；其中，有效像素数是指真正参与感光成像的像素值；最大像素数为感光元件自身所有的像素值，即可以直接指CCD或者CMOS感光器件的像素，其中，有效像素数可以通过对图像进行扫描分析获得，最大像素数可以通过感光元件的标准设计文件中获得，因此，可以快速有效地获取到有效像素数与最大像素数的像素比例信息。
S303：根据最大视场角、变焦倍数和像素比例信息确定摄像装置的当前视场角。
其中，对于上述根据最大视场角、变焦倍数和像素比例信息确定摄像装置的当前视场角的具体实现过程不做限定，其中，较为优选的，将根据最大视场角、变焦倍数和像素比例信息确定摄像装置的当前视场角，设置为具体包括：
S3031：根据以下公式确定摄像装置的当前视场角：
Figure PCTCN2016095775-appb-000002
其中，αFOVr为摄像装置的当前视场角，n为摄像装置的变焦倍数，kpixel-d为在摄像装置的感光元件的分辨率确定的情况下，获取摄像装置的图像中的有效像素数与最大像素数的像素比例信息，αFOV为摄像装置的最大视场角。
通过上述公式对最大视场角、变焦倍数和像素比例信息进行处理，可以准确、有效地获取当前视场角信息，有效地保证了当前视场角信息获取的准确可靠性，同时也提高了该云台控制方法的适用范围和操作多样性，进而提高了通过云台控制方法的实用性。
实施例四
图4为本发明实施例四提供的云台控制方法的流程示意图；在上述实施例的基础上，继续参考附图1、4可知，本实施例对于根据调整策略对云台进行调整的具体调整过程不做限定，本领域技术人员可以根据具体的设计需求进行设置，其中，较为优选的，将根据调整策略对云台进行调整，设置为具体包括：
S1031：根据调整策略对云台的旋转速度进行调整；和/或，
其中，当根据调整策略对云台的旋转速度进行调整时，则说明调整策略 中包括云台需要调整的目标旋转速度，进而可以控制云台按照目标旋转速度进行旋转操作，云台的旋转操作对于设置于云台上的摄像装置的稳定性影响较大，因此，需要对云台的旋转速度进行精确测量并对云台的旋转操作进行有效控制，例如，可以根据摄像装置视场角的大小对云台的旋转速度进行调节，例如：若摄像装置的视场角较大，那么则可以使得云台的旋转速度较大，此时在大视场角范围内，可以保证摄像装置输出稳定图像；若摄像装置的视场角较小，则需要使得云台的旋转速度较小，此时，在小视场角范围内，可以保证摄像装置输出稳定图像，对于具体的对云台的旋转速度进行调整的策略不做限定，本领域技术人员可以根据具体的设计需求进行设置，只要能够实现上述技术效果即可，在此不再赘述。
S1032：根据调整策略对云台的加速度进行调整；和/或，
其中，当根据调整策略对云台的加速度进行调整时，则说明调整策略中包括云台需要调整的目标加速度，进而可以控制云台按照目标加速度进行转动操作，例如，可以根据摄像装置视场角的大小对云台的加速度进行调节，若摄像装置视场角较大，则可以控制云台的加速度较大，此时可以保证摄像装置输出稳定图像，若摄像装置的视场角较小，则可以控制云台的加速度较小，此时，在小视场角范围内，可以保证摄像装置输出稳定图像；而对于具体的对云台的加速度进行调整的策略不做限定，本领域技术人员可以根据具体的设计需求进行设置，只要能够实现上述技术效果即可，在此不再赘述。
S1033：根据调整策略对云台的感度进行调整。
其中，云台的感度为云台的敏感程度，当根据调整策略对云台的感度进行调整时，则说明调整策略中包括云台需要调整的目标感度，进而可以控制云台按照目标感度进行转动操作，一般情况下，若将云台的感度设置为较小，那么则会出现对云台以及设置于云台上的摄像装置的控制精确度下降，难以实现实时对云台进行精确、有效控制；若将云台的感度设置为较大，那么很容易使得云台在转动操作过程中产生震荡，不利于摄像装置输出稳定图像；因此，云台的具体感度信息需要根据具体的实际设计需求进行设置，要实现既能够对云台进行有效控制，又要保证云台上的摄像装置输出稳定图像。
通过上述调整策略对云台的旋转速度、云台的加速度和云台的感度进行有效调整和控制，有效地保证了云台的转动状态，进一步保证了设置于云台 上的摄像装置能够输出稳定图像，提高了对云台的控制精度，进而保证了该云台控制方法使用的稳定可靠性，有利于市场的推广与应用。
实施例五
图5为本发明实施例五提供的云台控制方法的流程示意图；在上述实施例的基础上，继续参考附图5可知，本实施例对于根据调整策略对云台的旋转速度进行调整的具体实现过程不做限定，本领域技术人员可以根据具体的设计需求进行设置，其中，经过发明人的长期试验发现在旋转速度与摄像装置的当前视场角呈反比例关系时，设置于云台上的摄像装置可以输出稳定图像，因此，可以将根据调整策略对云台的旋转速度进行调整设置为具体包括：
S10311：根据反比例关系和摄像装置的当前视场角确定旋转速度；
其中，对于具体的旋转速度与摄像装置的当前视场角的反比例关系不做限定，本领域技术人员可以根据具体的设计需求以及效果进行设置，例如：可以将旋转速度和摄像装置的当前视场角的反比例关系设置为1:1的反比例关系、1:2的反比例关系或者2:1的反比例关系等等；通过上述反比例关系和当前视场角即可确定旋转速度，该旋转速度即为控制云台进行转动的目标旋转速度，若控制云台按照上述旋转速度进行转动操作，可以有效地保证摄像装置输出稳定图像。
S10312：控制云台按照旋转速度进行旋转运动。
其中，对于控制云台按照上述旋转速度进行旋转运动的具体实现方式不做限定，本领域技术人员可以根据具体的设计需求进行设置，例如：可以将该旋转速度输入到云台控制系统中，使得该控制系统通过该旋转速度控制云台的电机的转速，进而实现控制云台按照旋转速度进行旋转运动。
通过将旋转速度与摄像装置的当前视场角呈反比例关系，并通过反比例关系和当前视场角确定旋转速度，通过控制云台按照上述旋转速度进行旋转操作，有效地保证了设置于云台上的摄像装置可以输出稳定图像，进一步提高了该云台控制方法使用的稳定可靠性。
实施例六
图6为本发明实施例六提供的云台控制方法的流程示意图；在上述实施 例的基础上，继续参考附图6可知，本实施例对于旋转速度与摄像装置的当前视场角的反比例关系的确定方式不做限定，本领域技术人员可以根据具体的设计需求进行设置，其中，较为优选的，将该云台控制方法设置为还包括：
S201：获取摄像装置的图像转速信息；
其中，图像转速信息为摄像装置所采集的图像的运动信息，对于该图像转速信息的具体获取方式不做限定，本领域技术人员可以根据具体的设计需求进行设置，例如：在摄像装置所采集的图像中设定标记点(也即特征点)，获取上述标记点的初始位置信息，经过预设时间后，获取该标记点转动后的当前位置信息，根据初始位置信息、当前位置信息以及预设时间可以获取到图像的转速信息；当然的，本领域技术人员还可以采用其他的方式来获取摄像装置的图像转速信息，只要能够准确、有效地获取到上述图像转速信息即可，在此不再赘述。
S202：根据图像转速信息确定旋转速度与摄像装置的当前视场角的反比例关系。
其中，对于确定旋转速度与当前视场角的反比例关系的具体实现过程不做限定，本领域技术人员可以根据具体的设计需求进行设置，其中，较为优选的，将根据图像转速信息确定旋转速度与摄像装置的当前视场角的反比例关系，设置为具体包括：
S2021：根据公式wg＝wi·αFOVr确定旋转速度与摄像装置的当前视场角的反比例关系，其中，wi为云台的旋转速度，wg为摄像装置的图像转速信息，αFOVr为摄像装置的当前视场角。
其中，根据上述公式可以确定旋转速度与当前视场角为1:1的反比例关系，即在图像转速信息确定的情况下，若摄像装置的当前视场角越小，则云台的旋转速度可以调整较大；若摄像装置的当前视场角较大，则云台的旋转速度可以调整较小；通过上述公式对云台进行控制，有效地提高了反比例关系确认的速率，并且提高了通过反比例关系对云台进行控制的精确度和可靠性，进一步提高了该云台控制方法的实用性，有利于市场的推广与应用。
实施例七
图7为本发明实施例七提供的云台控制方法的流程示意图；在上述实施 例的基础上，继续参考附图7可知，本实施例对于根据调整策略对云台的加速度进行调整的具体策略不做限定，本领域技术人员可以根据具体的设计需求进行设置，其中，经过发明人的长期试验研究发现，在加速度与摄像装置的当前视场角呈反比例关系时，设置于云台上的摄像装置可以输出稳定图像，因此，将根据调整策略对云台的加速度进行调整，设置为具体包括：
S10321：根据反比例关系和摄像装置的当前视场角确定加速度；
其中，对于具体的加速度与摄像装置的当前视场角的反比例关系不做限定，本领域技术人员可以根据具体的设计需求以及效果进行设置，例如：可以将加速度和摄像装置的当前视场角的反比例关系设置为1:1的反比例关系、1:2的反比例关系或者2:1的反比例关系等等；通过上述反比例关系和当前视场角即可确定加速度，该加速度即为控制云台进行转动的目标加速度，若控制云台按照上述加速度进行运动，可以有效地保证摄像装置输出稳定图像。
S10322：控制云台按照加速度进行运动。
其中，对于控制云台按照上述加速度进行运动的具体实现方式不做限定，本领域技术人员可以根据具体的设计需求进行设置，例如：可以将该加速度输入到云台控制系统中，使得该控制系统通过该加速度控制云台的电机的运行状态，进而实现控制云台按照加速度进行运动。
通过将加速度与摄像装置的当前视场角呈反比例关系，并通过反比例关系和当前视场角确定加速度，通过控制云台按照上述加速度进行运动，有效地保证了设置于云台上的摄像装置可以输出稳定图像，提高了对云台控制的精确度，同时也提高了该云台控制方法使用的稳定可靠性。
实施例八
图8为本发明实施例八提供的云台控制方法的流程示意图；在上述实施例的基础上，继续参考附图8可知，本实施例对于根据调整策略对云台的感度进行调整的具体策略不做限定，本领域技术人员可以根据具体的设计需求进行设置，其中，经过发明人的长期试验研究发现，在感度与摄像装置的当前视场角呈反比例关系时，设置于云台上的摄像装置可以输出稳定图像，因此，将根据调整策略对云台的感度进行调整，具体包括：
S10331：根据反比例关系和摄像装置的当前视场角确定感度；
其中，对于具体的感度与摄像装置的当前视场角的反比例关系不做限定，本领域技术人员可以根据具体的设计需求以及效果进行设置，例如：可以将感度和摄像装置的当前视场角的反比例关系设置为1:1的反比例关系、1:2的反比例关系或者2:1的反比例关系等等；通过上述反比例关系和当前视场角即可确定加速度，该加速度即为控制云台进行转动的目标感度，若控制云台按照上述感度进行运动，可以有效地保证摄像装置输出稳定图像。
S10332：控制云台按照感度进行运动。
其中，对于控制云台按照上述感度进行运动的具体实现方式不做限定，本领域技术人员可以根据具体的设计需求进行设置，例如：可以将该感度输入到云台控制系统中，使得该控制系统通过该加速度控制云台的电机的运行状态，进而实现控制云台按照感度进行运动。
通过将感度与摄像装置的当前视场角呈反比例关系，并通过反比例关系和当前视场角确定感度，通过控制云台按照上述感度进行运动，有效地保证了设置于云台上的摄像装置可以输出稳定图像，提高了对云台控制的精确度，同时也提高了该云台控制方法使用的稳定可靠性。
需要注意的是，通过该云台控制方法对云台进行调整控制时，可以对云台的旋转速度、加速度或者感度进行单独控制，也可以将通过上述参数进行组合对云台实现综合控制，当然，本领域技术人员可以理解的是，当对云台的控制参数越多时，对云台进行控制的精确度就越高，更能保证云台上的摄像装置输出稳定图像。
具体应用时，该云台控制方法的执行主体可以为云台控制装置，而云台控制装置中可以包括用于控制摄像装置的摄像控制模块和用于控制云台的云台控制模块，摄像控制模块与云台控制模块通讯连接，摄像控制模块可以读取摄像装置的当前视场角，并将读取的当前视场角发送给云台控制模块，云台控制模块根据当前视场角确定调整策略(包括云台加速度、云台旋转速度和云台感度的调整信息)，并根据调整策略对云台的加速度、云台旋转速度和云台感度进行控制调整，使得摄像装置的当前视场角的旋转速度在各个焦距一致即可，此时的摄像装置可以输出稳定图像，通过将摄像装置的当前视场角的旋转速度在各个焦距调节一致，可以保证用户在小视场角时，容易获得稳定图像，并且，此时摄像装置可以快速调整，通过摄像装置一致的视场 角方便用户在拍摄时各个焦距的效果一致，减少了用户需要进行设置、调整和计算的操作过程，有效地提高了该云台控制方法的实用性。
需要注意的是，在实际过程中对当前视场角进行测量时，一般可以采用广角平行光管方法进行测量，即通过把摄像装置的镜头内的变焦电机进行逐步调节，获得每一状态下的准确视场角；在测量过程中，被测镜头可能因焦距不同导致肉眼无法观测到设置于平行光管镜头上的克服，此时可以加入一片焦距适当的放大镜作为辅助装置，以便测量人员容易观测到测量结果；另外，由于感光元件一般为矩形结构，因此，获取的视场角会包括X方向的视场角和Y方向的视场角，其中，将X方向设置为感光元件的长度方向，将Y方向设置为感光元件的宽度方向，在获取到相应的X向视场角和Y向视场角之后，根据感光元件在对应分辨率的实际工作范围，将X向视场角和Y向视场角乘以对应的倍数信息，例如：感光元件的分辨率是4:3，则16:9分辨率的X向视场角与感光元件相同，Y向视场角则需要乘以0.75；若感光元件的分辨率为21:9,，则Y向视场角则对应需要乘以12:21；通常情况下，摄像装置的感光元件的分辨率为4:3，但是在此分辨率下，根据设计需要可能会把图像比例设置呈16:9或者1:1，此时会把图像裁剪一部分，因此，一般情况下，所计算出来的视场角要小于整个传感器所能够达到的视场角。
在获取到视场角数据后，把视场角数据存储到摄像装置内，摄像装置在变焦电机对应的步数是，将所获取的X向视场角和Y向视场角发送至云台系统；如果在摄像装置内变焦电机的任意步数情况下，将摄像装置所采集的图像进行放大，那么云台系统可以根据方法的倍数将对应的视场角进行相应缩小，假设视场角为a，物体高度为b，物体和镜头距离为s，b＝s*tan(a/2),若物体与摄像装置镜头的距离s放大2倍，则tan(a/2)则相应的缩小2倍，此时，根据公式tan(a/2)＝2tan(a1/2)确定新的视场角a1，进而可以通过获取的新视场角对云台进行调整控制。
在获取到视场角，对云台进行调整控制时，定义以下变量信息：
Figure PCTCN2016095775-appb-000003
为未对图像进行剪裁和缩放时摄像装置的视场角，由X和Y方向的视场角组成；
Figure PCTCN2016095775-appb-000004
为经过剪裁和缩放后图像的视场角，由X和Y方向的视场角组成；
lfocal为相机的焦距；n为相机数码变焦倍数；
Figure PCTCN2016095775-appb-000005
为被拍摄物体X和Y方向的尺寸；S为被拍摄物体距离相机焦点的距离；
Figure PCTCN2016095775-appb-000006
为在未进行数码变焦时不同长宽比例的视频格式和给定分辨率下，图像中的X和Y方向的有效像素数占相机传感器上的在该分辨率下可达到的最大像素数的比例；
所以经过数码变焦后，kpixel-d＝nkpixel-d；
Figure PCTCN2016095775-appb-000007
为图像转速，定义为单位时间内可转过整个图像FOV角度的个数，包含X和Y两个方向的分量；
Figure PCTCN2016095775-appb-000008
为云台转速，包含X和Y两个方向的分量；
由于每个焦距对应一个确定的视场角，因此，根据预先标定测量的映射函数，确定镜头焦距与视场角存在以下关系：
Figure PCTCN2016095775-appb-000009
其中，fFOV(lfocal)为预先标定测量的摄像装置的镜头焦距到视场角的映射函数；
根据上述公式获得
Figure PCTCN2016095775-appb-000010
再次根据公式
Figure PCTCN2016095775-appb-000011
，获得以下函数关系：
Figure PCTCN2016095775-appb-000012
进而在给定图像转速ωg时,可以确定当前视场角与图像转速的反比例函数关系式为：
Figure PCTCN2016095775-appb-000013
根据上述公式可以确定旋转速度与当前视场角为1:1的反比例关系，即在图像转速信息确定的情况下，若摄像装置的当前视场角越小，则云台的旋转速度可以调整较大；若摄像装置的当前视场角较大，则云台的旋转速度可以调整较小；通过上述公式，有效地提高了反比例关系确认的速率，并且提高了通过反比例关系对云台进行控制的精确度和可靠性，进一步提高了该云台控制方法的实用性，有利于市场的推广与应用。
实施例九
图9为本发明实施例一提供的云台控制装置的结构示意图，参考附图9可知，本实施例提供了一种云台控制装置，该云台控制装置用于执行云台控制方法，以实现对云台以及设置于云台上的摄像装置进行有效控制，具体的， 该云台控制装置包括：数据采集器1和与数据采集器1通讯连接的数据处理器2；
数据采集器1，用于获取设置于云台上的摄像装置的当前视场角；
数据处理器2，用于根据当前视场角确定对云台进行调整的调整策略，并根据调整策略对云台进行调整，以使得摄像装置输出稳定图像。
其中，对于数据采集器1和数据处理器2的具体结构不做限定，本领域技术人员可以根据具体的设计需求进行设置，只要能够实现上述操作过程即可，在此不再赘述；另外，数据采集器1和数据处理器2可以通过蓝牙、WiFi进行无线连接，也可以通过数据线进行有线连接，只要能够使得数据采集器1和数据处理器2实现数据通讯的效果即可，在此不再赘述；此外，对于数据采集器1和数据处理器2设置的具体位置不做限定，例如：可以将数据采集器1设置于摄像装置内部，数据处理器2设置于云台控制系统内部，或者将数据采集器1和数据处理器2均设置于云台控制系统内部或者摄像装置内部等等，本领域技术人员可以根据上述实现的功能效果对数据采集器1和数据处理器2进行设置，在此不再赘述。
本实施例中数据采集器1和数据处理器2所实现操作步骤的具体实现过程以及实现效果与上述实施例中的步骤S101-S103的实现过程以及实现效果相同，具体可参考上述陈述内容，在此不再赘述。
本实施例所提供的云台控制装置，通过数据采集器1获取摄像装置的当前视场角，数据处理器2根据当前视场角可以确定对云台进行调整的调整策略，进而可以根据具体的调整策略对云台进行调整，可以有效地保证摄像装置可以输出稳定图像，有效克服了现有技术中存在的影响摄像机图像的稳定输出，不利于数据信息的采集与监测的问题，同时也保证了摄像装置采集图像的精确程度，进而提高了该云台控制装置的实用性，有利于市场的推广与应用。
可以理解的是，数据采集器1和数据处理器2也可以为集成在一起的处理器或控制器，并不限于本实施例。
实施例十
在上述实施例的基础上，继续参考附图9可知，本实施例对于数据采集 器1获取摄像装置的当前视场角的具体方法不做限定，本领域技术人员可以根据具体的设计需求进行设置，其中，较为优选的，将数据采集器1设置为还用于：
在获取设置于云台上的摄像装置的当前视场角之前，获取设置于摄像装置内的感光元件的对角线长度和摄像装置的等效焦距；
根据对角线长度和等效焦距确定摄像装置的当前视场角。
本实施例对于数据采集器1根据对角线长度和等效焦距确定当前视场角的具体方式不做限定，本领域技术人员可以根据具体的设计需求进行设置，其中，较为优选的，将数据采集器1，设置为具体用于：
根据
Figure PCTCN2016095775-appb-000014
确定摄像装置的当前视场角，其中，y′为摄像装置内部的感光元件的对角线长度，f′为摄像装置的等效焦距，w为摄像装置的当前视场角。
本实施例中数据采集器1所实现操作步骤的具体实现过程以及实现效果与上述实施例中的步骤S001-S002、S0021的具体实现过程以及实现效果相同，具体可参考上述陈述内容，在此不再赘述。
数据采集器1根据上述公式对对角线长度和等效焦距进行处理，可以准确、有效地获取当前视场角信息，有效地保证了当前视场角信息获取的准确可靠性，进而提高了通过云台控制装置对云台进行控制的精确度和可靠性，有利于市场的推广与应用。
实施例十一
在上述实施例的基础上，继续参考附图9可知，对于当前视场角的获取方式并不只包括上述实施例十中所提供的数据采集器1根据对角线长度和等效焦距确定摄像装置的当前视场角，本领域技术人员还可以采用以下方式获取摄像装置的当前视场角，具体的，还可以将数据采集器1设置为还用于：
获取摄像装置的最大视场角和摄像装置的变焦倍数；在摄像装置的感光元件的分辨率确定的情况下，获取摄像装置的图像中的有效像素数与最大像素数的像素比例信息；
根据最大视场角、变焦倍数和像素比例信息确定摄像装置的当前视场角。
其中，对于上述数据采集器1根据最大视场角、变焦倍数和像素比例信 息确定摄像装置的当前视场角的具体实现过程不做限定，其中，较为优选的，将数据采集器1设置为还用于：
根据以下公式确定摄像装置的当前视场角：
Figure PCTCN2016095775-appb-000015
其中，αFOVr为摄像装置的当前视场角，n为摄像装置的变焦倍数，kpixel-d为在摄像装置的感光元件的分辨率确定的情况下，获取摄像装置的图像中的有效像素数与最大像素数的像素比例信息，αFOV为摄像装置的最大视场角。
本实施例中数据采集器1所实现操作步骤的具体实现过程以及实现效果与上述实施例中的步骤S301-S303、S3031的具体实现过程以及实现效果相同，具体可参考上述陈述内容，在此不再赘述。
数据采集器1通过上述公式对最大视场角、变焦倍数和像素比例信息进行处理，可以准确、有效地获取当前视场角信息，有效地保证了当前视场角信息获取的准确可靠性，同时也提高了该云台控制装置的适用范围和操作多样性，进而提高了云台控制装置的实用性。
实施例十二
在上述实施例的基础上，继续参考附图9可知，本实施例对于数据处理器2根据调整策略对云台进行调整的具体调整过程不做限定，本领域技术人员可以根据具体的设计需求进行设置，其中，较为优选的，将数据处理器2，设置为具体用于：
根据调整策略对云台的旋转速度进行调整；和/或，
根据调整策略对云台的加速度进行调整；和/或，
根据调整策略对云台的感度进行调整。
本实施例中数据处理器2所实现操作步骤的具体实现过程以及实现效果与上述实施例中的步骤S1031-S1033的具体实现过程以及实现效果相同，具体可参考上述陈述内容，在此不再赘述。
数据处理器2通过上述调整策略对云台的旋转速度、云台的加速度和云台的感度进行有效调整和控制，有效地保证了云台的转动状态，进一步保证了设置于云台上的摄像装置能够输出稳定图像，提高了对云台的控制精度，进而保证了该云台控制装置使用的稳定可靠性，有利于市场的推广与应用。
实施例十三
在上述实施例的基础上，继续参考附图9可知，本实施例对于数据处理器2根据调整策略对云台的旋转速度进行调整的具体实现过程不做限定，本领域技术人员可以根据具体的设计需求进行设置，其中，经过发明人的长期试验发现在旋转速度与摄像装置的当前视场角呈反比例关系时，数据处理器2可以控制设置于云台上的摄像装置输出稳定图像，因此，可以将数据处理器2设置为具体用于：
根据反比例关系和摄像装置的当前视场角确定旋转速度；
控制云台按照旋转速度进行旋转运动。
本实施例中数据处理器2所实现操作步骤的具体实现过程以及实现效果与上述实施例中的步骤S10311-S10312的具体实现过程以及实现效果相同，具体可参考上述陈述内容，在此不再赘述。
数据处理器2通过将旋转速度与摄像装置的当前视场角呈反比例关系，并通过反比例关系和当前视场角确定旋转速度，通过控制云台按照上述旋转速度进行旋转操作，有效地保证了设置于云台上的摄像装置可以输出稳定图像，进一步提高了该云台控制装置使用的稳定可靠性。
实施例十四
在上述实施例的基础上，继续参考附图9可知，本实施例对于旋转速度与摄像装置的当前视场角的反比例关系的确定方式不做限定，本领域技术人员可以根据具体的设计需求进行设置，其中，较为优选的，将数据采集器1，设置为还用于获取摄像装置的图像转速信息；
数据处理器2，还用于根据图像转速信息确定旋转速度与摄像装置的当前视场角的反比例关系。
其中，对于数据处理器2确定旋转速度与当前视场角的反比例关系的具体实现过程不做限定，本领域技术人员可以根据具体的设计需求进行设置，其中，较为优选的，将数据处理器2还用于：
根据公式wg＝wi·αFOVr确定旋转速度与摄像装置的当前视场角的反比例关系，其中，wi为云台的旋转速度，wg为摄像装置的图像转速信息，αFOVr为摄 像装置的当前视场角。
本实施例中数据采集器1和数据处理器2所实现操作步骤的具体实现过程以及实现效果与上述实施例中的步骤S201-S202、S2021的具体实现过程以及实现效果相同，具体可参考上述陈述内容，在此不再赘述。
数据处理器2通过上述公式对云台进行控制，有效地提高了反比例关系确认的速率，并且提高了通过反比例关系对云台进行控制的精确度和可靠性，进一步提高了该云台控制装置的实用性，有利于市场的推广与应用。
实施例十五
在上述实施例的基础上，继续参考附图9可知，本实施例对于数据处理器2根据调整策略对云台的加速度进行调整的具体策略不做限定，本领域技术人员可以根据具体的设计需求进行设置，其中，经过发明人的长期试验研究发现，在加速度与摄像装置的当前视场角呈反比例关系时，设置于云台上的摄像装置可以输出稳定图像，因此，将数据处理器2设置为具体用于：
根据反比例关系和摄像装置的当前视场角确定加速度；
控制云台按照加速度进行运动。
本实施例中数据处理器2所实现操作步骤的具体实现过程以及实现效果与上述实施例中的步骤S10321-S10322的具体实现过程以及实现效果相同，具体可参考上述陈述内容，在此不再赘述。
数据处理器2通过将加速度与摄像装置的当前视场角呈反比例关系，并通过反比例关系和当前视场角确定加速度，通过控制云台按照上述加速度进行运动，有效地保证了设置于云台上的摄像装置可以输出稳定图像，提高了对云台控制的精确度，同时也提高了该云台控制装置使用的稳定可靠性。
实施例十六
在上述实施例的基础上，继续参考附图9可知，本实施例对于根据调整策略对云台的感度进行调整的具体策略不做限定，本领域技术人员可以根据具体的设计需求进行设置，其中，经过发明人的长期试验研究发现，在感度与摄像装置的当前视场角呈反比例关系时，设置于云台上的摄像装置可以输出稳定图像，因此，将数据处理器2设置为具体用于：
根据反比例关系和摄像装置的当前视场角确定感度；
控制云台按照感度进行运动。
本实施例中数据处理器2所实现操作步骤的具体实现过程以及实现效果与上述实施例中的步骤S10331-S10332的具体实现过程以及实现效果相同，具体可参考上述陈述内容，在此不再赘述。
数据处理器2通过将感度与摄像装置的当前视场角呈反比例关系，并通过反比例关系和当前视场角确定感度，通过控制云台按照上述感度进行运动，有效地保证了设置于云台上的摄像装置可以输出稳定图像，提高了对云台控制的精确度，同时也提高了该云台控制装置使用的稳定可靠性。
实施例十七
本实施例提供了一种存储介质，该存储介质可以为硬盘、U盘、光盘或者其他具有存储空间的装置等等，在该存储介质内存储有程序代码，当程序代码运行时，会执行云台控制方法，该方法具体包括：
获取设置于云台上的摄像装置的当前视场角；
根据当前视场角确定对云台进行调整的调整策略；
根据调整策略对云台进行调整，以使得摄像装置输出稳定图像。
本实施例中存储介质所实现操作步骤的具体实现过程以及实现效果与上述实施例中的步骤S101-S103的实现过程以及实现效果相同，具体可参考上述陈述内容，在此不再赘述。
本实施例所提供的存储介质，通过运行所存储的程序代码，实现了获取摄像装置的当前视场角，并根据当前视场角可以确定对云台进行调整的调整策略，进而可以根据具体的调整策略对云台进行调整，可以有效地保证摄像装置可以输出稳定图像，有效克服了现有技术中存在的影响摄像机图像的稳定输出，不利于数据信息的采集与监测的问题，同时也保证了摄像装置采集图像的精确程度，进而提高了该存储介质的实用性，有利于市场的推广与应用。
实施例十八
本实施例对于在运行存储介质中程序代码时，获取摄像装置的当前视场 角的具体方法不做限定，本领域技术人员可以根据具体的设计需求进行设置，其中，较为优选的，可以当前视场角的获取方式设置为：在获取设置于云台上的摄像装置的当前视场角之前，该云台控制方法还包括：
获取设置于摄像装置内的感光元件的对角线长度和摄像装置的等效焦距；
根据对角线长度和等效焦距确定摄像装置的当前视场角。
本实施例对于根据对角线长度和等效焦距确定当前视场角的具体方式不做限定，本领域技术人员可以根据具体的设计需求进行设置，其中，较为优选的，可以将根据对角线长度和等效焦距确定摄像装置的当前视场角，设置为具体包括：
根据
Figure PCTCN2016095775-appb-000016
确定摄像装置的当前视场角，其中，y′为摄像装置内部的感光元件的对角线长度，f′为摄像装置的等效焦距，w为摄像装置的当前视场角。
本实施例中所实现操作步骤的具体实现过程以及实现效果与上述实施例中的步骤S001-S002、S0021的具体实现过程以及实现效果相同，具体可参考上述陈述内容，在此不再赘述。
根据上述公式对对角线长度和等效焦距进行处理，可以准确、有效地获取当前视场角信息，有效地保证了当前视场角信息获取的准确可靠性，进而提高了通过运行存储介质中的程序代码对云台进行控制的精确度和可靠性，有利于市场的推广与应用。
实施例十九
对于当前视场角的获取方式并不只包括上述实施例十八中所提供的根据对角线长度和等效焦距确定摄像装置的当前视场角，本领域技术人员还可以采用以下方式获取摄像装置的当前视场角，具体的，还可以将获取设置于云台上的摄像装置的当前视场角设置为具体包括：
获取摄像装置的最大视场角和摄像装置的变焦倍数；
在摄像装置的感光元件的分辨率确定的情况下，获取摄像装置的图像中的有效像素数与最大像素数的像素比例信息；
根据最大视场角、变焦倍数和像素比例信息确定摄像装置的当前视场角。
其中，对于上述根据最大视场角、变焦倍数和像素比例信息确定摄像装 置的当前视场角的具体实现过程不做限定，其中，较为优选的，将根据最大视场角、变焦倍数和像素比例信息确定摄像装置的当前视场角，设置为具体包括：
根据以下公式确定摄像装置的当前视场角：
Figure PCTCN2016095775-appb-000017
其中，αFOVr为摄像装置的当前视场角，n为摄像装置的变焦倍数，kpixel-d为在摄像装置的感光元件的分辨率确定的情况下，获取摄像装置的图像中的有效像素数与最大像素数的像素比例信息，αFOV为摄像装置的最大视场角。
本实施例中所实现操作步骤的具体实现过程以及实现效果与上述实施例中的步骤S301-S303、S3031的具体实现过程以及实现效果相同，具体可参考上述陈述内容，在此不再赘述。
通过上述公式对最大视场角、变焦倍数和像素比例信息进行处理，可以准确、有效地获取当前视场角信息，有效地保证了当前视场角信息获取的准确可靠性，同时也提高了该存储介质的适用范围和操作多样性，进而提高了存储介质的实用性。
实施例二十
本实施例对于根据调整策略对云台进行调整的具体调整过程不做限定，本领域技术人员可以根据具体的设计需求进行设置，其中，较为优选的，将根据调整策略对云台进行调整，设置为具体包括：
根据调整策略对云台的旋转速度进行调整；和/或，
根据调整策略对云台的加速度进行调整；和/或，
根据调整策略对云台的感度进行调整。
本实施例中所实现操作步骤的具体实现过程以及实现效果与上述实施例中的步骤S1031-S1033的具体实现过程以及实现效果相同，具体可参考上述陈述内容，在此不再赘述。
通过上述调整策略对云台的旋转速度、云台的加速度和云台的感度进行有效调整和控制，有效地保证了云台的转动状态，进一步保证了设置于云台上的摄像装置能够输出稳定图像，提高了对云台的控制精度，进而保证了该存储介质使用的稳定可靠性，有利于市场的推广与应用。
实施例二十一
本实施例对于根据调整策略对云台的旋转速度进行调整的具体实现过程不做限定，本领域技术人员可以根据具体的设计需求进行设置，其中，经过发明人的长期试验发现在旋转速度与摄像装置的当前视场角呈反比例关系时，设置于云台上的摄像装置可以输出稳定图像，因此，可以将根据调整策略对云台的旋转速度进行调整设置为具体包括：
根据反比例关系和摄像装置的当前视场角确定旋转速度；
控制云台按照旋转速度进行旋转运动。
本实施例中所实现操作步骤的具体实现过程以及实现效果与上述实施例中的步骤S10311-S10312的具体实现过程以及实现效果相同，具体可参考上述陈述内容，在此不再赘述。
通过将旋转速度与摄像装置的当前视场角呈反比例关系，并通过反比例关系和当前视场角确定旋转速度，通过控制云台按照上述旋转速度进行旋转操作，有效地保证了设置于云台上的摄像装置可以输出稳定图像，进一步提高了该存储介质使用的稳定可靠性。
实施例二十二
本实施例对于旋转速度与摄像装置的当前视场角的反比例关系的确定方式不做限定，本领域技术人员可以根据具体的设计需求进行设置，其中，较为优选的，将该云台控制方法设置为还包括：
获取摄像装置的图像转速信息；
根据图像转速信息确定旋转速度与摄像装置的当前视场角的反比例关系。
其中，对于确定旋转速度与当前视场角的反比例关系的具体实现过程不做限定，本领域技术人员可以根据具体的设计需求进行设置，其中，较为优选的，将根据图像转速信息确定旋转速度与摄像装置的当前视场角的反比例关系，设置为具体包括：
根据公式wg＝wi·αFOVr确定旋转速度与摄像装置的当前视场角的反比例关系，其中，wi为云台的旋转速度，wg为摄像装置的图像转速信息，αFOVr为摄像装置的当前视场角。
本实施例中所实现操作步骤的具体实现过程以及实现效果与上述实施例中的步骤S201-S202、S2021的具体实现过程以及实现效果相同，具体可参考上述陈述内容，在此不再赘述。
通过上述公式对云台进行控制，有效地提高了反比例关系确认的速率，并且提高了通过反比例关系对云台进行控制的精确度和可靠性，进一步提高了该存储介质的实用性，有利于市场的推广与应用。
实施例二十三
本实施例对于根据调整策略对云台的加速度进行调整的具体策略不做限定，本领域技术人员可以根据具体的设计需求进行设置，其中，经过发明人的长期试验研究发现，在加速度与摄像装置的当前视场角呈反比例关系时，设置于云台上的摄像装置可以输出稳定图像，因此，将根据调整策略对云台的加速度进行调整，设置为具体包括：
根据反比例关系和摄像装置的当前视场角确定加速度；
控制云台按照加速度进行运动。
本实施例中所实现操作步骤的具体实现过程以及实现效果与上述实施例中的步骤S10321-S10322的具体实现过程以及实现效果相同，具体可参考上述陈述内容，在此不再赘述。
通过将加速度与摄像装置的当前视场角呈反比例关系，并通过反比例关系和当前视场角确定加速度，通过控制云台按照上述加速度进行运动，有效地保证了设置于云台上的摄像装置可以输出稳定图像，提高了对云台控制的精确度，同时也提高了该存储介质使用的稳定可靠性。
实施例二十四
本实施例对于根据调整策略对云台的感度进行调整的具体策略不做限定，本领域技术人员可以根据具体的设计需求进行设置，其中，经过发明人的长期试验研究发现，在感度与摄像装置的当前视场角呈反比例关系时，设置于云台上的摄像装置可以输出稳定图像，因此，将根据调整策略对云台的感度进行调整，具体包括：
根据反比例关系和摄像装置的当前视场角确定感度；
控制云台按照感度进行运动。
本实施例中所实现操作步骤的具体实现过程以及实现效果与上述实施例中的步骤S10331-S10332的具体实现过程以及实现效果相同，具体可参考上述陈述内容，在此不再赘述。
通过将感度与摄像装置的当前视场角呈反比例关系，并通过反比例关系和当前视场角确定感度，通过控制云台按照上述感度进行运动，有效地保证了设置于云台上的摄像装置可以输出稳定图像，提高了对云台控制的精确度，同时也提高了该存储介质使用的稳定可靠性。
实施例二十五
本实施例提供了一种无人机，该无人机可以包括云台和设置于云台上的摄像装置，另外，需要注意的是，该无人机中还包括上述实施例九-实施例十六中任意一个实施例中所提到的云台控制装置。
其中，需要注意的是，对于无人机的具体种类不做限定，本领域技术人员可以根据具体的设计需求进行设置，例如：将无人机设置为无人飞行器、无人车或无人船中的任意一种。
通过在无人机上设置有云台控制装置，可以使得云台控制装置根据具体的调整策略对云台进行调整，可以有效地保证摄像装置可以输出稳定图像，有效克服了现有技术中存在的影响摄像机图像的稳定输出，不利于数据信息的采集与监测的问题，同时也保证了摄像装置采集图像的精确程度，进而提高了该无人机的实用性，同时也提高了该无人机的市场竞争力，有利于市场的推广与应用。
在本发明所提供的几个实施例中，应该理解到，所揭露的相关装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，模块或单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单 元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得计算机处理器(processor)执行本发明各个实施例方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁盘或者光盘等各种可以存储程序代码的介质。
以上仅为本发明的实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (35)

  1. 一种云台控制方法，其特征在于，包括：
    获取设置于云台上的摄像装置的当前视场角；
    根据所述当前视场角确定对所述云台进行调整的调整策略；
    根据所述调整策略对所述云台进行调整，以使得所述摄像装置输出稳定图像。
  2. 根据权利要求1所述的云台控制方法，其特征在于，在所述获取设置于云台上的摄像装置的当前视场角之前，还包括：
    获取设置于所述摄像装置内的感光元件的对角线长度和所述摄像装置的等效焦距；
    根据所述对角线长度和所述等效焦距确定所述摄像装置的当前视场角。
  3. 根据权利要求2所述的云台控制方法，其特征在于，所述根据所述对角线长度和所述等效焦距确定所述摄像装置的当前视场角，具体包括：
    根据
    Figure PCTCN2016095775-appb-100001
    确定所述摄像装置的当前视场角，其中，y′为摄像装置内部的感光元件的对角线长度，f′为摄像装置的等效焦距，w为摄像装置的当前视场角。
  4. 根据权利要求1所述的云台控制方法，其特征在于，所述根据所述调整策略对所述云台进行调整，具体包括：
    根据所述调整策略对所述云台的旋转速度进行调整；和/或，
    根据所述调整策略对所述云台的加速度进行调整；和/或，
    根据所述调整策略对所述云台的感度进行调整。
  5. 根据权利要求4所述的云台控制方法，其特征在于，所述旋转速度与所述摄像装置的当前视场角呈反比例关系；
    所述根据所述调整策略对所述云台的旋转速度进行调整，具体包括：
    根据所述反比例关系和所述摄像装置的当前视场角确定所述旋转速度；
    控制所述云台按照所述旋转速度进行旋转运动。
  6. 根据权利要求5所述的云台控制方法，其特征在于，所述方法还包括：
    获取所述摄像装置的图像转速信息；
    根据所述图像转速信息确定所述旋转速度与所述摄像装置的当前视场角 的反比例关系。
  7. 根据权利要求6所述的云台控制方法，其特征在于，根据所述图像转速信息确定所述旋转速度与所述摄像装置的当前视场角的反比例关系，具体包括：
    根据公式wg＝wi·αFOVr确定所述旋转速度与所述摄像装置的当前视场角的反比例关系，其中，wi为云台的旋转速度，wg为所述摄像装置的图像转速信息，αFOVr为所述摄像装置的当前视场角。
  8. 根据权利要求4所述的云台控制方法，其特征在于，所述加速度与所述摄像装置的当前视场角呈反比例关系；
    所述根据所述调整策略对所述云台的加速度进行调整，具体包括：
    根据所述反比例关系和所述摄像装置的当前视场角确定所述加速度；
    控制所述云台按照所述加速度进行运动。
  9. 根据权利要求4所述的云台控制方法，其特征在于，所述感度与所述摄像装置的当前视场角呈反比例关系；
    所述根据所述调整策略对所述云台的感度进行调整，具体包括：
    根据所述反比例关系和所述摄像装置的当前视场角确定所述感度；
    控制所述云台按照所述感度进行运动。
  10. 根据权利要求1所述的云台控制方法，其特征在于，所述获取设置于云台上的摄像装置的当前视场角，具体包括：
    获取所述摄像装置的最大视场角和所述摄像装置的变焦倍数；
    在所述摄像装置的感光元件的分辨率确定的情况下，获取所述摄像装置的图像中的有效像素数与最大像素数的像素比例信息；
    根据所述最大视场角、变焦倍数和所述像素比例信息确定所述摄像装置的当前视场角。
  11. 根据权利要求10所述的云台控制方法，其特征在于，所述根据所述最大视场角、变焦倍数和所述像素比例信息确定所述摄像装置的当前视场角，具体包括：根据以下公式确定所述摄像装置的当前视场角：
    Figure PCTCN2016095775-appb-100002
    其中，αFOVr为所述摄像装置的当前视场角，n为所述摄像装置的变焦倍数，kpixel-d为在所述摄像装置的感光元件的分辨率确定的情况下，获取所述摄 像装置的图像中的有效像素数与最大像素数的像素比例信息，αFOV为所述摄像装置的最大视场角。
  12. 一种云台控制装置，其特征在于，包括：数据采集器和与所述数据采集器通讯连接的数据处理器；
    所述数据采集器，用于获取设置于云台上的摄像装置的当前视场角；
    所述数据处理器，用于根据所述当前视场角确定对所述云台进行调整的调整策略，并根据所述调整策略对所述云台进行调整，以使得所述摄像装置输出稳定图像。
  13. 根据权利要求12所述的云台控制装置，其特征在于，所述数据采集器，还用于：
    在获取设置于云台上的摄像装置的当前视场角之前，获取设置于所述摄像装置内的感光元件的对角线长度和所述摄像装置的等效焦距；
    根据所述对角线长度和所述等效焦距确定所述摄像装置的当前视场角。
  14. 根据权利要求13所述的云台控制装置，其特征在于，所述数据采集器，具体用于：
    根据
    Figure PCTCN2016095775-appb-100003
    确定所述摄像装置的当前视场角，其中，y′为摄像装置内部的感光元件的对角线长度，f′为摄像装置的等效焦距，w为摄像装置的当前视场角。
  15. 根据权利要求12所述的云台控制装置，其特征在于，所述数据处理器，具体用于：
    根据所述调整策略对所述云台的旋转速度进行调整；和/或，
    根据所述调整策略对所述云台的加速度进行调整；和/或，
    根据所述调整策略对所述云台的感度进行调整。
  16. 根据权利要求15所述的云台控制装置，其特征在于，所述旋转速度与所述摄像装置的当前视场角呈反比例关系；
    所述数据处理器，具体用于：
    根据所述反比例关系和所述摄像装置的当前视场角确定所述旋转速度；
    控制所述云台按照所述旋转速度进行旋转运动。
  17. 根据权利要求16所述的云台控制装置，其特征在于，
    所述数据采集器，还用于获取所述摄像装置的图像转速信息；
    所述数据处理器，还用于根据所述图像转速信息确定所述旋转速度与所述摄像装置的当前视场角的反比例关系。
  18. 根据权利要求17所述的云台控制装置，其特征在于，所述数据处理器还用于：
    根据公式wg＝wi·αFOVr确定所述旋转速度与所述摄像装置的当前视场角的反比例关系，其中，wi为云台的旋转速度，wg为所述摄像装置的图像转速信息，αFOVr为所述摄像装置的当前视场角。
  19. 根据权利要求15所述的云台控制装置，其特征在于，所述加速度与所述摄像装置的当前视场角呈反比例关系；
    所述数据处理器，具体用于：
    根据所述反比例关系和所述摄像装置的当前视场角确定所述加速度；
    控制所述云台按照所述加速度进行运动。
  20. 根据权利要求15所述的云台控制装置，其特征在于，所述感度与所述摄像装置的当前视场角呈反比例关系；
    所述数据处理器，具体用于：
    根据所述反比例关系和所述摄像装置的当前视场角确定所述感度；
    控制所述云台按照所述感度进行运动。
  21. 根据权利要求12所述的云台控制装置，其特征在于，所述数据采集器还用于：
    获取所述摄像装置的最大视场角和所述摄像装置的变焦倍数；在所述摄像装置的感光元件的分辨率确定的情况下，获取所述摄像装置的图像中的有效像素数与最大像素数的像素比例信息；
    根据所述最大视场角、变焦倍数和所述像素比例信息确定所述摄像装置的当前视场角。
  22. 根据权利要求21所述的云台控制装置，其特征在于，所述数据采集器还用于：根据以下公式确定所述摄像装置的当前视场角：
    Figure PCTCN2016095775-appb-100004
    其中，αFOVr为所述摄像装置的当前视场角，n为所述摄像装置的变焦倍数，kpixel-d为在所述摄像装置的感光元件的分辨率确定的情况下，获取所述摄 像装置的图像中的有效像素数与最大像素数的像素比例信息，αFOV为所述摄像装置的最大视场角。
  23. 一种存储介质，其特征在于，存储介质内存储有程序代码，当程序代码运行时，会执行云台控制方法，该方法具体包括：
    获取设置于云台上的摄像装置的当前视场角；
    根据所述当前视场角确定对所述云台进行调整的调整策略；
    根据所述调整策略对所述云台进行调整，以使得所述摄像装置输出稳定图像。
  24. 根据权利要求23所述的存储介质，其特征在于，在所述获取设置于云台上的摄像装置的当前视场角之前，还包括：
    获取设置于所述摄像装置内的感光元件的对角线长度和所述摄像装置的等效焦距；
    根据所述对角线长度和所述等效焦距确定所述摄像装置的当前视场角。
  25. 根据权利要求24所述的存储介质，其特征在于，所述根据所述对角线长度和所述等效焦距确定所述摄像装置的当前视场角，具体包括：
    根据
    Figure PCTCN2016095775-appb-100005
    确定所述摄像装置的当前视场角，其中，y′为摄像装置内部的感光元件的对角线长度，f′为摄像装置的等效焦距，w为摄像装置的当前视场角。
  26. 根据权利要求24所述的存储介质，其特征在于，所述根据所述调整策略对所述云台进行调整，具体包括：
    根据所述调整策略对所述云台的旋转速度进行调整；和/或，
    根据所述调整策略对所述云台的加速度进行调整；和/或，
    根据所述调整策略对所述云台的感度进行调整。
  27. 根据权利要求26所述的存储介质，其特征在于，所述旋转速度与所述摄像装置的当前视场角呈反比例关系；
    所述根据所述调整策略对所述云台的旋转速度进行调整，具体包括：
    根据所述反比例关系和所述摄像装置的当前视场角确定所述旋转速度；
    控制所述云台按照所述旋转速度进行旋转运动。
  28. 根据权利要求27所述的存储介质，其特征在于，所述方法还包括：
    获取所述摄像装置的图像转速信息；
    根据所述图像转速信息确定所述旋转速度与所述摄像装置的当前视场角的反比例关系。
  29. 根据权利要求28所述的存储介质，其特征在于，所述旋转速度与所述摄像装置的当前视场角的反比例关系，具体包括：
    根据公式wg＝wi·αFOVr确定所述旋转速度与所述摄像装置的当前视场角的反比例关系，其中，wi为云台的旋转速度，wg为所述摄像装置的图像转速信息，αFOVr为所述摄像装置的当前视场角。
  30. 根据权利要求26所述的存储介质，其特征在于，所述加速度与所述摄像装置的当前视场角呈反比例关系；
    所述根据所述调整策略对所述云台的加速度进行调整，具体包括：
    根据所述反比例关系和所述摄像装置的当前视场角确定所述加速度；
    控制所述云台按照所述加速度进行运动。
  31. 根据权利要求26所述的存储介质，其特征在于，所述感度与所述摄像装置的当前视场角呈反比例关系；
    所述根据所述调整策略对所述云台的感度进行调整，具体包括：
    根据所述反比例关系和所述摄像装置的当前视场角确定所述感度；
    控制所述云台按照所述感度进行运动。
  32. 根据权利要求23所述的存储介质，其特征在于，所述获取设置于云台上的摄像装置的当前视场角，具体包括：
    获取所述摄像装置的最大视场角和所述摄像装置的变焦倍数；
    在所述摄像装置的感光元件的分辨率确定的情况下，获取所述摄像装置的图像中的有效像素数与最大像素数的像素比例信息；
    根据所述最大视场角、变焦倍数和所述像素比例信息确定所述摄像装置的当前视场角。
  33. 根据权利要求32所述的存储介质，其特征在于，所述根据所述最大视场角、变焦倍数和所述像素比例信息确定所述摄像装置的当前视场角，具体包括：根据以下公式确定所述摄像装置的当前视场角：
    Figure PCTCN2016095775-appb-100006
    其中，αFOVr为所述摄像装置的当前视场角，n为所述摄像装置的变焦倍数，kpixel-d为在所述摄像装置的感光元件的分辨率确定的情况下，获取所述摄像装置的图像中的有效像素数与最大像素数的像素比例信息，αFOV为所述摄像装置的最大视场角。
  34. 一种无人机，其特征在于，包括权利要求12-22中任意一项所述的云台控制装置。
  35. 根据权利34所述的无人机，其特征在于，所述无人机为无人飞行器、无人车或无人船中的一种。
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