WO2018191969A1 - 云台的控制方法及装置 - Google Patents

云台的控制方法及装置 Download PDF

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Publication number
WO2018191969A1
WO2018191969A1 PCT/CN2017/081483 CN2017081483W WO2018191969A1 WO 2018191969 A1 WO2018191969 A1 WO 2018191969A1 CN 2017081483 W CN2017081483 W CN 2017081483W WO 2018191969 A1 WO2018191969 A1 WO 2018191969A1
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WO
WIPO (PCT)
Prior art keywords
posture
pan
tilt
information
sequence
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PCT/CN2017/081483
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English (en)
French (fr)
Inventor
苏铁
潘立忠
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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Publication date
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 PCT/CN2017/081483 priority Critical patent/WO2018191969A1/zh
Priority to CN201780004531.XA priority patent/CN108513652B/zh
Publication of WO2018191969A1 publication Critical patent/WO2018191969A1/zh

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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
    • 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
    • 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

Definitions

  • the present invention relates to the field of control, and in particular, to a method and an apparatus for controlling a pan/tilt.
  • the handheld PTZ requires the user to manually operate the movement of the PTZ in real time, so that the camera mounted on the PTZ is aimed at the target to be photographed. If the user makes a mistake, it may cause the camera mounted on the gimbal to shoot a useless picture.
  • repeated shooting is required. For example, repeatedly shooting a set of scenes of a transformed scene, and the manner in which the user manually operates the pan/tilt cannot achieve the repeatability of the PTZ switching scene, and cannot meet the actual needs of the user.
  • the invention provides a method and a device for controlling a pan/tilt.
  • a method for controlling a pan/tilt head comprising:
  • the sequence of gestures includes pan/tilt attitude information corresponding to at least three gestures, and a handover condition corresponding to each gesture, where the handover condition is used to indicate that the pan-tilt is switched to a current posture corresponding to the handover condition to a next posture corresponding to the current posture in the sequence of gestures;
  • the attitude switching of the pan/tilt is controlled according to the posture sequence.
  • a control device for a pan/tilt comprising a first processor, wherein the first processor is configured to:
  • the sequence of gestures includes pan/tilt attitude information corresponding to at least three gestures, and a handover condition corresponding to each gesture, where the handover condition is used to indicate that the pan-tilt is switched to a current posture corresponding to the handover condition to a next posture corresponding to the current posture in the sequence of gestures;
  • the attitude switching of the pan/tilt is controlled according to the posture sequence.
  • a method for controlling a pan/tilt head comprising:
  • the start command After receiving the start command, sending a start command to the pan/tilt, the start command is used to instruct the pan/tilt to acquire a gesture sequence, and perform gesture switching according to the gesture sequence, where the gesture sequence includes at least three PTZ posture information corresponding to each posture and a switching condition corresponding to each posture, the switching condition is used to indicate that the PTZ is switched by the current posture corresponding to the switching condition to the current posture corresponding to the posture sequence Next gesture.
  • a control device for a pan/tilt comprising a second processor, wherein the second processor is configured to:
  • the start command After receiving the start command, sending a start command to the pan/tilt, the start command is used to instruct the pan/tilt to acquire a gesture sequence, and perform gesture switching according to the gesture sequence, where the gesture sequence includes at least three PTZ posture information corresponding to each posture and a switching condition corresponding to each posture, the switching condition is used to indicate that the PTZ is switched by the current posture corresponding to the switching condition to the current posture corresponding to the posture sequence Next gesture.
  • the present invention can set the gesture sequence so that the handheld pan/tilt can switch its posture according to the posture sequence, and the attitude switching of the pan-tilt is more intelligent, which can reduce the possibility of the user manually operating the pan/tilt. Operational errors lead to useless shooting
  • the screen enables the user to shoot a multi-scene switching lens with high efficiency and high reproducibility of the captured image.
  • FIG. 1 is a schematic view showing the installation state of a pan/tilt head according to an embodiment of the present invention
  • FIG. 2 is a schematic flow chart of a method for controlling a cloud platform on a cloud platform side according to an embodiment of the present invention
  • FIG. 3 is a schematic flow chart of a method for controlling a cloud platform on a cloud platform side according to another embodiment of the present invention.
  • FIG. 4 is a schematic flow chart of a method for controlling a cloud platform on a cloud platform side according to still another embodiment of the present invention.
  • FIG. 5 is a schematic diagram of a posture modification of a gimbal according to an embodiment of the present invention.
  • FIG. 6 is a schematic flowchart of a method for controlling a PTZ in a user side device according to an embodiment of the present invention
  • FIG. 7 is a schematic diagram of a display interface of a user side device according to an embodiment of the present invention.
  • FIG. 8 is a schematic structural diagram of a control device of a pan/tilt head according to an embodiment of the present invention.
  • FIG. 9 is a schematic structural diagram of another control device of a cloud platform according to an embodiment of the present invention.
  • FIG. 10 is a schematic diagram of functional blocks of a control device for a pan/tilt head according to an embodiment of the present invention.
  • FIG. 11 is a schematic diagram of functional blocks of another control device of a pan/tilt in an embodiment of the present invention.
  • FIG. 12 is a schematic structural diagram of a PTZ control system according to an embodiment of the present invention.
  • Figure 13 is a block diagram showing the structure of a PTZ control system in another embodiment of the present invention.
  • the pan/tilt head may be a two-axis pan/tilt head or a three-axis pan/tilt head.
  • the three-axis pan/tilt head 200 is schematically illustrated.
  • the photographing device 9 is fixedly mounted on the photographing device fixing mechanism 6 on the pan/tilt head 200, wherein the fixing mechanism 6 can be fixedly or movably connected to the shaft arm 7 of the pitch shaft of the pan/tilt head, wherein the posture sensor can Mounted on the fixing mechanism 6 of the photographing apparatus, on a member fixedly connected to the fixing mechanism 6, or any other component fixedly connected to the shaft arm 7 of the pitch shaft, the pan/tilt is stabilized for the photographing apparatus during shooting, During the shooting process of the photographing device, the posture sensor can measure the posture of the photographing device 9, that is, the first posture information of the pan/tilt, wherein the posture sensor can include an inertial measurement unit or a gyroscope.
  • the measuring unit or the gyroscope is schematically illustrated as an attitude sensor.
  • posture has a variety of expressions
  • quaternion is a representation of attitude information
  • commonly used expressions of commonly used gestures are Euler angles, matrices, and so on.
  • the embodiment of the present invention provides a pan/tilt control method.
  • the first embodiment and the second embodiment respectively describe the control method of the pan/tilt from the gimbal side and the user side device controlling the pan/tilt.
  • the user side device may be a dedicated remote controller (ie, a control device for controlling the movement of the gimbal) or a smart device (such as a mobile device, a mobile device such as a PAD) installed with an APP.
  • the method may include the following steps:
  • S101 Acquire a sequence of gestures, where the sequence of poses includes pan/tilt attitude information corresponding to at least three gestures, and a handover condition corresponding to each gesture, where the handover condition is used to indicate a current posture of the pan-tilt corresponding to the handover condition Switching to a next posture corresponding to the current posture in the sequence of gestures;
  • the sequence of gestures may be a sequence of gestures saved in advance by the PTZ or a sequence of gestures saved by the user-side device.
  • the sequence of gestures is pre-saved by the PTZ, and the PTZ can directly call the locally saved sequence of gestures after receiving the start command.
  • the gesture sequence is a sequence of gestures saved by the user side device, and after receiving the start command, the pan/tilt sends a request for acquiring the gesture sequence to the user side device, thereby acquiring the gesture sequence from the user side device; or, the user side
  • the device directly sends the gesture sequence to the pan/tilt before or after sending the start command to the pan/tilt; or the user-side device simultaneously sends the start command and the gesture sequence to the pan/tilt.
  • the PTZ needs to save the received sequence of gestures to the local cache.
  • the cloud station further includes: receiving new posture information and its corresponding switching condition, and adding the new posture information and its corresponding switching condition to the posture sequence, Therefore, the pose sequence can be dynamically set according to actual needs.
  • a display interface is further disposed on the pan/tilt, and the new gesture sequence is input by the user directly on the display interface of the pan/tilt.
  • the new sequence of gestures may be sent by the user side device in real time.
  • the pan/tilt attitude information may include: angle information of the pan/tilt.
  • the angle information is at least one of a pitch angle, a yaw angle, and a roll angle.
  • the pan/tilt attitude information may further include a telescopic length of one or more axes of the gimbal, and the like.
  • the switching condition is set according to shooting requirements.
  • the switching condition includes: the pan/tilt is switched from a current posture to a lower The time information of a gesture, so that the pan/tilt can automatically switch the posture according to the posture sequence, and the repeatability of the pan-tilt attitude switching is high.
  • the time information that the pan/tilt switches from the current posture to the next posture includes: a duration of stay of the pan/tilt in each gesture.
  • the dwell time is used to indicate the dwell time of the gimbal after switching from the previous posture to the current posture, thereby satisfying the shooting requirement.
  • the time information of the gimbal switching from the current posture to the next posture may not include the duration of the gimbal staying at each posture, and the stay duration may be selected as the default stay duration of the gimbal, thereby simplifying the calculation. Process and reduce the reading of data to speed up the operation of the system.
  • the time information that the pan/tilt switches from the current posture to the next posture includes: a time interval in which the pan/tilt is switched from the current posture to the next posture.
  • the time interval for setting the pan/tilt from the current posture to the next posture is 10 s (unit: second).
  • the time interval between each two gestures can be set according to actual needs.
  • the time interval between each two gestures can be set to be equal, or according to actual needs (for example, the time between some gestures)
  • the interval is required to be long enough for the camera of the pan/tilt to monitor the slowly changing image.
  • the time interval between each two gestures is set to be different.
  • the time information of the pan/tilt switching from the current posture to the next posture may not include the time interval in which the pan/tilt switches from the current posture to the next posture, and the time interval may be selected as the default switching time of the gimbal.
  • the time information includes: a switching moment of the pan/tilt at each gesture.
  • the at least three postures included in the gesture sequence are a starting posture (ie, a first posture), a second posture, a..., an N-1th posture, and an Nth posture (ie, a last posture), wherein N is a natural number and N ⁇ 3. It is necessary to capture a set of repeated sunset shots, and the switching condition of the initial posture in the sequence of gestures is: 6:01 to switch to the second posture, and the switching condition of the second posture is: 6:03 to switch to the third posture and many more.
  • the time information for switching from the current posture to the next posture at the gimbal includes a time interval in which the pan-tilt is switched from the current posture to the next posture or an embodiment including the switching timing of the gimbal at each posture.
  • the switching condition may further include: change information of the switching rate of the pan-tilt from the current posture to the next posture.
  • the change information is used to indicate a change in the rate at which the gimbal moves from the current pose to the next pose. Since the time information of the pan-tilt switching from the current posture to the next posture is determined, the current posture and the next posture are also determined, and according to the change information of the switching rate, it may be determined that the pan-tilt is switched between the current posture and the next posture.
  • the rate of time is determined, the current posture and the next posture are also determined, and according to the change information of the switching rate, it may be determined that the pan-tilt is switched between the current posture and the next posture. The rate of time.
  • the pan/tilt calculates a switching displacement between the two postures according to the posture information corresponding to the current posture and the next posture information corresponding to the current posture, and switches to the next posture according to the switching displacement and the current attitude of the pan-tilt.
  • the time information and the change information of the switching rate can calculate the switching rate of the gimbal from the current posture to the next posture.
  • the change information of the switching rate specifically indicates that the switching rate is a constant speed.
  • the change information of the switching rate may indicate that the switching rate is non-uniform, and indicates a relationship between the speeds of the pan-tilt at each time point in the process of switching from the current posture to the next posture.
  • the switching condition may not include the change information of the switching rate of the PTZ from the current posture to the next posture, and the rate at which the PTZ switches from the current posture to the next posture may be selected as the default uniform speed of the PTZ. This simplifies the calculation process and reduces the reading of data and speeds up the operation of the system.
  • the number of postures included in the posture sequence may also be set according to actual needs.
  • step S101 and step S102 in the embodiment of the present invention may be sequentially performed in sequence, wherein the specific sequence is not specifically limited, and step 101 and step S102 may also be performed simultaneously.
  • the start instruction is sent by the user side to the pan/tilt.
  • the start command is directly input by the user on the pan/tilt.
  • the pan/tilt is provided with an operation button for generating a start command, and the user presses the operation button to input a start command to the pan/tilt.
  • the operation button may be a physical button or a virtual button.
  • the pan/tilt head includes an operation interface, and the operation interface is provided with an input box for inputting a start command, etc., and the user can directly input a start command to the input box.
  • the start instruction is sent by the user side device.
  • the user-side device is a dedicated remote controller, and the dedicated remote controller is provided with an operation button for starting a command. After the user presses the operation button, the dedicated remote controller sends a start command to the pan/tilt.
  • the operation button may be a physical button or a virtual button.
  • the user side device is a smart device mounted with an APP, and the interface of the APP is provided with an operation button for transmitting a start command to the pan/tilt or an input box for inputting a start instruction.
  • S104 After receiving the start command, controlling an attitude switch of the pan/tilt according to the posture sequence, where the posture sequence includes pan/tilt attitude information corresponding to at least three postures, and a switching condition corresponding to each posture, the switching The condition is used to indicate that the pan/tilt is switched by the current posture corresponding to the switching condition to the next posture corresponding to the current posture in the gesture sequence.
  • the controlling the attitude switching of the pan/tilt according to the preset posture sequence includes: calculating the pan/tilt according to the posture information corresponding to the current posture of the pan-tilt and the posture information of the next posture corresponding to the current posture. a posture difference of each of the rotating shafts, and controlling the pan/tilt to switch from the current posture to the next posture according to a posture difference of each of the rotating shafts of the pan-tilt.
  • the attitude information is a pan-tilt elevation axis angle and a roll axis angle
  • the attitude information corresponding to the current attitude of the gimbal is (0°, 10°)
  • the attitude information of the next posture corresponding to the current attitude of the gimbal is (10) °, 20°)
  • the attitude difference between the pan/tilt axis and the roll axis is calculated to be (10°, 10°)
  • the pan/tilt is switched from the current attitude to the calculated attitude difference (10°, 10°).
  • the handheld pan/tilt by setting the posture sequence, the handheld pan/tilt can switch its posture according to the posture sequence, and the attitude switching of the pan/tilt head is more intelligent, which can reduce the possible operational errors when the user manually operates the pan/tilt, and the shooting is useless.
  • the picture allows the user to shoot multiple scene switching lenses with high efficiency and high reproducibility of the shooting picture.
  • the pan/tilt further includes: resetting the pan/tilt to The initial posture of the sequence of postures, so that the pan/tilt is located in the same posture after each startup, thereby improving the repeatability of shooting.
  • the resetting the pan-tilt to the initial posture of the gesture sequence is performed after determining that the current posture of the pan-tilt is the final posture in the sequence of gestures.
  • the pan-tilt resetting the pan-tilt to the initial posture of the gesture sequence is performed between step S102 and step S103.
  • the PTZ mainly controls the attitude of the gimbal by using the inertial measurement unit as the feedback component and the drive motor of each axis of the gimbal (yaw axis, pitch axis, and roll axis) as the output component.
  • the control quantity is the attitude of the gimbal.
  • the inertial measurement unit mainly includes a gyroscope and an accelerometer.
  • the gyroscope can measure the angular velocity of rotation of each axis of the gimbal.
  • the current attitude (pitch, roll, yaw) of the gimbal can be determined by integrating the measured angular velocity.
  • the angular velocity output of each axis of the gyroscope has a zero offset, and the zero offset cannot be completely eliminated. Therefore, the current attitude of the pan/tilt obtained by the angular velocity output integration measured by the gyroscope is inaccurate.
  • the accelerometer is mainly used to give a gimbal attitude reference, and the current attitude of the gimbal obtained by the angular velocity integral measured by the gyroscope is corrected, and finally the gimbal obtains a relatively stable posture.
  • the accelerometer itself has drift, and the data of the acceleration is used to correct the current posture, and the drift is also generated.
  • the attitude of the gimbal is not very stable for a long time, and the shooting device mounted on the gimbal cannot take a long time to photograph the fixed machine.
  • the accelerometer when using the accelerometer to correct the current attitude of the gimbal, it can only be corrected for the pitch and roll axes of the gimbal, and cannot be corrected for the yaw axis of the gimbal. Therefore, the yaw axis posture of the gyro integration has It may soon drift, which eventually causes the yaw axis of the entire pan/tilt to move in one direction when shooting the scene with a fixed position. This will also cause the shooting device mounted on the gimbal to not be long. Time to shoot a scene of a fixed position.
  • the pan/tilt includes, after each switching the posture of the pan/tilt, the following:
  • the first posture information may be the attitude angle of the first posture (the Euler angle), or may be the quaternion corresponding to the first posture, which is not specifically limited herein.
  • the latter part of this paper deals with the attitude information that can be the attitude angle corresponding to the attitude, or the quaternion corresponding to the attitude, which will not be explained separately.
  • the axle arm 8 of the roll axis of the pan/tilt head 200 is used to support the axle arm 7 of the pitch shaft and the drive motor 1 of the pitch shaft, and the axle arm 5 of the yaw shaft of the pan/tilt 200 is used to support the yaw.
  • the drive motor 3 of the shaft and the drive motor 2 of the roll shaft, the shaft arm 7 of the pitch shaft of the pan/tilt is used to support the photographing device 9, and the drive motor of each axis of the pan/tilt head 200 (driver motor of the pitch shaft 1, drive of the roll shaft)
  • An angle sensor can be installed in the driving motor 3) of the motor 2 and the yaw shaft, wherein a circuit board is disposed in the driving motor, and the angle sensor can be electrically connected to the circuit board, and the angle sensor is used when the driving motor of the pan/tilt head rotates.
  • the angle at which the motor is rotated can be measured, wherein the angle sensor can be one or more of a potentiometer, a Hall sensor, and an encoder.
  • the pan/tilt head may be connected to the hand-held stick (not shown) or connected to the movable platform through the base 4.
  • step S1 and step S2 may be sequentially performed in sequence, wherein the specific sequence is not specifically limited, and step S1 and step S2 may also be performed simultaneously.
  • the error posture information of the gyroscope may represent the drift of the inertial measurement unit or the gyroscope.
  • the inertial measurement unit or the gyroscope since the inertial measurement unit or the gyroscope performs data measurement, the measured attitude information is not accurate due to the drift of the inertial measurement unit or the gyroscope, and therefore, the error indicating the inertial measurement unit or the gyroscope drift is determined.
  • the closed-loop control strategy can be used, and the first attitude information measured by the inertial measurement unit or the gyroscope is corrected according to the error posture information to obtain the current attitude information of the gimbal.
  • the first posture information may be corrected according to the error posture information by using at least one of extended Kalman filtering, complementary filtering, or smoothing filtering to obtain current attitude information of the pan/tilt.
  • the error posture information of the inertial measurement unit or the gyroscope is determined by the angle of the driving motor rotation of one or more axes of the pan/tilt and the first attitude information measured by the inertial measurement unit or the gyroscope.
  • the error posture information corrects the first attitude information, and can effectively avoid the drift problem existing in the prior art when the accelerometer corrects the attitude information obtained by the inertial unit or the gyroscope, and can obtain the pan/tilt attitude obtained after the correction. It can be kept stable for a long time, so that the shooting device mounted on the pan/tilt can capture the scene of the fixed position for a long time without causing the shooting angle drift problem of the shooting device. With this technical solution, the pan/tilt can capture motion. The scene of the aircraft can capture the scene of the fixed position for a long time, and expand the application range of the gimbal.
  • the reference attitude information of the pan/tilt is determined according to the rotation angle
  • the error posture information of the inertial measurement unit or the gyroscope is determined according to the reference attitude information and the first posture information.
  • the first posture information pair measured by the inertial measurement unit or the gyroscope drifts, and therefore, measured by the inertial measurement unit or the gyroscope of the pan/tilt
  • a reference standard for the correction of the posture information that is, the reference posture information, in which the reference attitude information is determined by the rotation angle of the driving motor of one or more axes of the pan/tilt, must be given.
  • the reference posture information is compared with the first posture information measured by the gyroscope or the inertial measurement unit, and the error between the reference posture information and the first posture information is determined by comparison. Gesture information.
  • the specific process of determining the reference attitude information by the rotational angle of the drive motor of one or more axes of the pan/tilt will be explained in detail below.
  • each of the rotation angles is converted to a corresponding quaternion, and the reference attitude information of the gimbal is determined according to the quaternion of the rotation angle.
  • the rotation angles of the driving motors of the three axes can be respectively converted into corresponding quaternions, according to the conversion After obtaining three quaternions, the reference pose information is determined.
  • the attitude information of the base of the pan/tilt is set, and the reference attitude information of the pan/tilt is determined according to the posture information of the base and the rotation angle.
  • the posture information of the base of the pan/tilt may be solidified in the processor or the memory of the pan/tilt, or may be set by a control terminal connected to the pan/tilt or an interaction device disposed on the pan/tilt.
  • the attitude information of the pedestal of the gimbal can be related to the installation of the pedestal. When the photographic apparatus is used to set up a fixed position for a long time, it is generally considered that the pedestal of the gimbal is approximately stationary.
  • the posture information of the base of the pan/tilt can be set as a fixed posture information.
  • the rotation of the driving motor of each axis of the pan/tilt is determined.
  • the reference attitude information of the gimbal can be calculated. The specific process of determining the reference posture information based on the rotation angle and the posture information of the base of the pan/tilt will be described in detail below.
  • setting a quaternion of the posture of the pedestal of the gimbal determining a reference of the gimbal according to the quaternion of the quaternion of the pedestal and the quaternion converted from each of the rotation angles Gesture information.
  • an angle sensor mounted on a driving motor of each axis of the pan/tilt can be used to determine an angle of rotation of each driving motor, and each angle is converted into a corresponding quaternary number, for example, the pan/tilt is a three-axis pan/tilt, according to
  • the angle sensors mounted on the three drive motors respectively measure the angle of rotation of the drive motor of the yaw axis, the pitch axis and the roll axis of the gimbal, and the angles of the rotation of the drive motor of the yaw axis, the pitch axis and the roll axis can be obtained by conversion.
  • the quaternion set the quaternion of the base of the gimbal, for example, the quaternion of the attitude of the pedestal can be set to (1, 0, 0, 0). Further, converting the quaternion of the posture of the pedestal to each of the rotation angles The quaternion numbers are respectively multiplied, and the reference posture information is determined according to the quaternion obtained by multiplication, that is, the quaternion of the posture of the pedestal corresponds to the angle of rotation of the driving motor of the yaw axis, the pitch axis, and the roll axis, respectively. The quaternion is multiplied.
  • the multiplication of the quaternions is a rotation
  • the quaternion obtained after multiplication can represent the quaternion of the reference attitude of the gimbal, that is, the reference attitude information of the gimbal is determined according to the quaternion obtained after multiplication.
  • the determining the error posture information of the inertial measurement unit or the gyroscope according to the reference posture information and the first posture information may be set to: according to the quaternion of the reference posture and the first An attitude quaternion determines the error pose information.
  • the error posture information is posture difference information between the first attitude information and the reference attitude information, and when the reference attitude information of the pan/tilt is represented by a quaternion, the first posture is performed in the form of a quaternion When the representation is performed, the error posture information may be determined according to the quaternion of the reference posture and the first posture quaternion.
  • the quaternion of the reference posture and the first posture may be The quaternion of the information is multiplied, and the error pose information is determined according to the quaternion obtained by multiplication.
  • the multiplied quaternion can represent the error pose between the reference pose and the first pose, and the quaternion obtained after multiplication
  • the number is the quaternion of the error pose.
  • the Euler angle corresponding to the error pose can be converted, and the inertia measurement can be performed according to the quaternion or Euler angle of the determined error pose information.
  • the first attitude information of the unit or the gyroscope is corrected.
  • the quaternion of the reference pose when determining the quaternion of the reference pose, can be replaced by the corresponding Euler angle, and the Euler angle corresponding to the first pose information is determined according to the inertial observation unit or the gyroscope, and the reference pose is compared.
  • the quaternion is replaced by the corresponding Euler angle and the Euler angle corresponding to the first attitude information, so that an error posture between the reference posture and the first posture can be obtained, and the error posture can represent the drift of the inertial measurement unit or the gyroscope.
  • the difference between the Euler angles of the reference posture and the Euler angle corresponding to the first attitude information can be converted into a quaternion corresponding to the error posture information by conversion.
  • the quaternion is a mathematical representation of the gesture.
  • the Euler angle is another representation of the attitude, in which the quaternion and the Euler angle can be converted to each other by the corresponding formula.
  • the specific formula for converting from Euler angle to quaternion is in addition, the specific formula for converting Euler angles into corresponding quaternions is
  • the following describes an embodiment in which the first attitude information is corrected according to the error posture information to obtain the current attitude information of the pan/tilt.
  • the technical personnel in the art may also use the technical means other than the embodiment to correct the error posture information according to the error posture information.
  • the first posture information is used to obtain the current posture information of the gimbal. Specifically, as shown in FIG.
  • the first attitude information att1 determined by the inertial measurement unit or the gyroscope may be as shown, wherein the curve of the first attitude information att1 is only for illustrative explanation. Therefore, it is necessary to correct the first attitude information measured by the inertial measurement unit or the gyroscope.
  • the reference attitude information att1-mot1 is calculated by the method as described above, and the first attitude information att1-gyr1 measured by the inertial measurement unit or the gyro is compared, and the attitude information att1-mot1 and the first are compared by comparison.
  • the error posture information att1-d1 between the attitude information att1-gyr corrects the first attitude information output by the inertial measurement unit and the gyro according to the error posture information att1-d1 in the time t1 to t2 to obtain the corrected pan/tilt
  • the current attitude information att1-r1 if the first attitude information is not corrected within the time t1 to t2, the data output by the inertial measurement unit or the gyroscope will continue to drift, and the obtained first posture information is att1-f.
  • the reference attitude information att1-mot2 may be calculated by the method as described above, and the first attitude information att1-gyr2 measured by the inertial measurement unit or the gyroscope may be compared by referring to the attitude information att1-mot1 and the first The error posture information att1-d2 between the attitude information att1-gyr, in the time t2 to t3 (not shown), the first attitude information can be corrected according to the error posture information att1-d2 to obtain the current attitude information att1 of the gimbal. -r2, in this way, the above correction process is repeated, that is, the corrected first posture information can be obtained.
  • the posture information obtained after the correction may be filtered, and the filtered posture information is used as the current posture information of the pan/tilt. This can make the current attitude information of the gimbal smoother and reduce the errors that may occur during the correction process.
  • the correcting the first attitude information according to the error posture information to obtain the current attitude information of the pan/tilt may be set as: determining an error posture correction amount per unit time according to the error posture information, according to the The error posture information correction amount corrects the first posture information.
  • the error posture information is att1-d1
  • the drift amount of the first posture information is att1-d1 with respect to the reference posture information, and then at 0 to In t1 time, the error correction amount per unit time is att1-d1/t1.
  • the error posture correction amount per unit time can be used for the inertial measurement unit or The first posture information determined by the gyroscope is corrected. Specifically, the first attitude information determined by the inertial measurement unit or the gyroscope may be subtracted or added to the error posture correction amount to obtain the current attitude information of the pan/tilt.
  • the PTZ can select different shooting parameters, such as focal length, whether to turn on the flash, etc., in different postures.
  • the method may include the following steps:
  • S201 Acquire a sequence of gestures input by the user, the sequence of gestures includes pan-tilt attitude information corresponding to at least three gestures, and a handover condition corresponding to each gesture, where the handover condition is used to indicate that the pan-tilt is corresponding to the handover condition Switching to the current posture as described in the sequence of gestures The next posture corresponding to the front posture;
  • the gesture sequence is directly input by the user on the user side device.
  • the user-side device after receiving the sequence of gestures input by the user, directly transmits the sequence of gestures to the pan/tilt.
  • the user side device after receiving the sequence of gestures input by the user, the user side device needs to save the received gesture sequence to the local cache of the user side device.
  • the user side device directly sends the gesture sequence to the pan/tilt before or after sending the start command to the pan/tilt; or the user side device simultaneously sends the start command and the gesture sequence to the pan/tilt.
  • the user-side device sends the locally saved gesture sequence to the PTZ after receiving the gesture sequence transmission trigger command.
  • the gesture sequence sending triggering instruction is an acquiring gesture sequence request sent by the cloud station to the user side device.
  • the pan/tilt transmits a request for acquiring a sequence of gestures to the user side device, thereby acquiring a sequence of gestures from the user side device.
  • the gesture sending triggering instruction is input by the user directly on the user side device.
  • the sequence of gestures can be updated in real time.
  • the user directly inputs a new gesture on the display interface of the pan/tilt and updates to the gesture sequence.
  • the user-side device sends the gesture sequence to the pan/tilt
  • the user-side device sends the gesture to the pan-tilt immediately after receiving the new gesture input by the user.
  • the station updates the new posture to the pose sequence saved locally by the PTZ.
  • the pan/tilt attitude information may include: angle information of the pan/tilt.
  • the angle information is at least one of a pitch angle, a yaw angle, and a roll angle.
  • the pan/tilt attitude information may further include a telescopic length of one or more axes of the gimbal, and the like.
  • the switching condition is set according to shooting requirements.
  • the switching condition includes: time information that the pan/tilt switches from the current posture to the next posture, so that the pan/tilt can automatically switch the posture according to the posture sequence, and the repeatability of the pan-tilt attitude switching is high.
  • the time information includes: a time interval in which the pan/tilt switches from a current posture to a next posture.
  • the time interval between each two gestures can be set to be equal, or according to actual needs (for example, between some gestures), The time interval for switching between every two gestures is set to be different.
  • the time information includes: a switching moment of the pan/tilt at each gesture.
  • the at least three postures included in the gesture sequence are a starting posture (ie, a first posture), a second posture, a..., an N-1th posture, and an Nth posture (ie, a last posture), wherein N is a natural number and N ⁇ 3. It is necessary to capture a set of repeated sunset shots, and the switching condition of the initial posture in the sequence of gestures is: 6:01 to switch to the second posture, and the switching condition of the second posture is: 6:03 to switch to the third posture and many more.
  • the switching condition may include: change information of the switching rate of the pan-tilt from the current posture to the next posture.
  • the change information is used to indicate a change in the rate at which the gimbal moves from the current pose to the next pose. Since the time information of the pan-tilt current attitude switching to the next posture is determined, the current posture and the next posture are also determined, and according to the change information of the switching rate, the time when the pan-tilt is switched from the current posture to the next posture may be determined. s speed.
  • the pan/tilt calculates a switching displacement between the two postures according to the posture information corresponding to the current posture and the next posture information corresponding to the current posture, and switches to the next posture according to the switching displacement and the current attitude of the pan-tilt.
  • the time information and the change information of the switching rate can calculate the switching rate of the gimbal from the current posture to the next posture.
  • the change information of the switching rate specifically indicates that the switching rate is a constant speed.
  • the change information of the switching rate may indicate that the switching rate is non-uniform.
  • the switching condition includes: a duration of stay of the pan/tilt at each pose.
  • the dwell time is used to indicate the dwell time of the gimbal after switching from the previous posture to the current posture, thereby satisfying the shooting requirement.
  • the duration of the stay may be selected as the default time of the gimbal, thereby reducing data reading and speeding up the operation of the system.
  • each gesture of the gesture sequence further includes a duration of the gimbal staying at the gesture, so that the gesture can be flexibly set on the user side. The stop time of the PTZ in each pose meets different shooting needs.
  • the number of postures included in the posture sequence may also be set according to actual needs.
  • S202 Send the gesture sequence and the start command to the pan/tilt, the start command is used to instruct the pan/tilt to perform the gesture switching according to the gesture sequence.
  • step S202 the gesture sequence and the start command may be sent to the PTZ in sequence, and the specific sequence is not specifically limited, and the gesture sequence and the start command may also be sent to the PTZ simultaneously.
  • the posture sequence can be flexibly set by the interaction between the user and the user side device, and the gesture is switched according to the posture sequence by setting the handheld cloud platform, so that the posture switching of the pan/tilt is more intelligent, and the user can be reduced.
  • a possible operation error when manually operating the pan/tilt causes a useless picture to be taken, thereby making the user more efficient in shooting a multi-scene switching lens and having high reproducibility of the captured picture.
  • the user side device further includes a display interface.
  • the display interface can also be a liquid crystal panel or other panel that can be used for display and input.
  • the sending a start command to the pan/tilt and further comprising: displaying a progress state of the pan/tilt for performing gesture switching.
  • the progress status is at least one of a progress value and a progress bar.
  • the progress value is a ratio of the first displacement to the second displacement
  • the progress bar corresponds to the progress value, for example, the ratio is converted into a percentage
  • the percentage bar is displayed on the progress bar. position.
  • the first displacement is a displacement of the gimbal from a starting posture of the posture sequence to a displacement of the current posture
  • the second displacement is a start of the gimbal by the posture sequence
  • the attitude switches to the displacement of the final pose of the sequence of gestures.
  • the pan/tilt is switched from a first posture to a second posture
  • the first displacement is a displacement of the pan-tilt from a first attitude switching motion to a current posture
  • the second displacement is a displacement of the pan/tilt from the first attitude to the second attitude.
  • the obtaining the sequence of gestures input by the user comprises: displaying a graphic for displaying the posture information in the sequence of gestures; receiving the posture change information generated by the user dragging the graphic, and receiving the After the information is added, the gesture in the graphic corresponding to the added information is updated to the posture sequence as a new posture. That is, each pose in the pose sequence can be added in real time by dragging the graph, thereby making the addition of the gimbal gesture more convenient and intuitive.
  • the rotation angle of the pan/tilt axis and the rotation angle of the roll axis need to be adjusted, and the graphic may be displayed in a two-dimensional coordinate system, one of the coordinates of the two-dimensional coordinate system.
  • the axis is used to indicate the angle of rotation of the pan/tilt axis
  • the other axis of the two-dimensional coordinate system is used to indicate the angle of rotation of the pan/tilt roll.
  • the graph showing the posture information in the posture sequence is determined according to the number of posture parameters of the pan/tilt that needs to be adjusted, and is not limited to the two-dimensional coordinate system, for example, when the pitch axis of the gimbal needs to be adjusted.
  • the figure indicating the posture information in the posture sequence can be expressed by the three-dimensional coordinate system.
  • the display interface is provided with an add button for instructing the user side device to generate an add instruction, and after the user presses the add button, the user side device will perform the gesture in the graphic corresponding to the add instruction.
  • the user directly clicks on the display interface to generate an add command, thereby updating the gesture in the graph corresponding to the click operation as a new pose to the gesture sequence.
  • the sending a start command to the pan/tilt and further comprising: displaying the posture information of the set pan-tilt current posture, thereby visually presenting the added pan-tilt current posture information to the user.
  • the value of the posture information is displayed on the display interface.
  • the posture of each posture of the gimbal set by the graphic display is displayed on the display interface. information.
  • the graphics are dynamically changed, and the user can add new gestures by clicking on the gestures to be added on the user interface or by dragging the graphics directly.
  • the graphic is directly displayed in the display interface, and is used to display each gesture in the preset gesture sequence.
  • the method further includes: displaying a real-time switching time of the pan-tilt from the current posture to the next posture, and further visually presenting information of the pan-tilt attitude switching to the user.
  • the sending a start command to the pan/tilt further comprising: controlling the pan-tilt to switch to the specified posture, and recording the posture information corresponding to the specified posture, and recording according to the real-time posture of the gimbal, Make the setting of the pose sequence more precise.
  • the control pan/tilt is switched to a specified posture by using a dedicated remote controller, and the posture information corresponding to the specified posture is recorded by the smart device with the APP.
  • the controlling the pan-tilt to switch to the specified posture and recording the posture information corresponding to the specified posture are all performed by a dedicated remote controller.
  • the method further includes: transmitting the posture information corresponding to the specified posture and the switching condition corresponding to the specified posture to the pan/tilt, and the pan-tilt receives the specified posture
  • the locally saved posture sequence is updated in real time, thereby realizing the addition of the posture and satisfying the diverse needs of the user.
  • the switching condition is used by the user side device to input the switching condition of the corresponding gesture on the user side device, and the user side device saves the posture and the corresponding posture information correspondingly. And switching conditions to facilitate subsequent data reading and identification.
  • the recording the posture information corresponding to the specified posture is performed after the pan/tilt switches to the specified posture and maintains the preset time, and ensures that the pan/tilt performs corresponding after the specified posture is in a stable state.
  • the record of the posture information ensures the accuracy of the posture information.
  • the method further includes: displaying a duration of the stay after the pan/tilt is switched to the specified posture, thereby visually presenting the time of the pan/tilt in the specified posture to the user, according to the specified posture of the visual display by the user.
  • the duration of the stay is used to determine the time at which the user side device records the specified gesture.
  • the gesture information corresponding to the record designation gesture is performed after receiving the add instruction, further ensuring the accuracy of the recorded specified gesture.
  • the display interface is provided with an add button for instructing the user side device to generate an add instruction. After the user presses the add button, the user side device adds the current pose of the pan/tilt to the gesture sequence. For example, the user may press the add button after the displayed staying time of the pan/tilt to switch to the current posture is a preset time value (for example, 10s), and the pan/tilt records the current posture to the In the sequence of gestures.
  • the sending start instruction to the pan/tilt further includes: receiving a delete instruction, deleting a specified gesture corresponding to the delete instruction in the gesture sequence, thereby flexibly setting the gesture sequence.
  • the display interface is provided with a delete button for instructing the user side device to generate a delete instruction, and after the user presses the delete button, the user side device selects the specified gesture corresponding to the delete instruction from the gesture sequence. Delete to achieve flexible setting of the pose sequence.
  • the display interface is provided with a two-dimensional coordinate system XY, a start button 1021, a roll axis posture information display column 1023, a pitch axis posture information display column 1024, a progress status column 1025, and an addition.
  • the two-dimensional coordinate system XY displays posture information for displaying each posture in the posture sequence (for example, the X axis represents the roll axis posture, the pitch axis A graph 1022 indicating a pitch axis attitude in which a black dot represents each gesture in the gesture sequence, and a white dot represents posture information of the current attitude of the gimbal.
  • the black point in the graphic 1022 is from left to right. The right is named as point 1, point 2, point 3, and point 4.
  • the user can drag the graphic 1022 to add a new posture.
  • the position of the drag point 4 the roll axis posture information display column 1023, and the pitch axis posture information display field 1024 display the horizontal position of the current posture of the pan/tilt to be set in real time.
  • the roller attitude information and the pitch axis posture information are added, and after the drag is stopped, the user presses the add button 1026 to complete the addition of the new gesture.
  • the user clicks on the point to be deleted on the graphic 1022, and presses the delete button 1027 to complete the deletion of the gesture.
  • the movement duration column 1028 on the display interface can be used to set time information for switching between the two postures, and the stay duration column 1029 can set the duration of the gimbal stay in a certain posture, and the user can
  • the time length column 1028 and the stay time column 1029 respectively input the time information of the pan/tilt switching from the current posture to the next posture and the staying time of the gimbal staying at the current posture.
  • the pan/tilt is in accordance with the set posture sequence, and the movement duration column 1028 on the display interface can be used to display the real-time duration of the switching between the two gestures, and the stay duration column 1029 can display the cloud.
  • the real-time posture position of the pan/tilt (the point of white in the graphic 1022) is also displayed on the graphic 1022.
  • the progress status column 1025 is used to display the percentage of the handover progress of the pan/tilt (the ratio of the initial posture of the attitude sequence to the displacement of the current posture of the gimbal and the total displacement of the pan-tilt installation attitude sequence switching), thereby facilitating the user to know the current progress.
  • the embodiment of the present invention further provides a control device for the pan/tilt
  • the third embodiment and the fourth embodiment respectively describe the specific structure of the pan-tilt control device from the pan-tilt side and the user-side device.
  • an embodiment of the present invention provides a control device for a cloud platform, including a first processor 201.
  • the first processor is connected to a gyroscope 202 and an accelerometer 203 of the pan-tilt.
  • the first processor 201 is configured to perform the steps of the PTZ control method according to the first embodiment.
  • an embodiment of the present invention provides a control device for a cloud station, including a second processor 101, where the second processor 101 is configured to perform the cloud control according to the second embodiment. The steps of the method.
  • the embodiment of the present invention further provides a control device for the pan/tilt
  • the fifth embodiment and the sixth embodiment respectively describe the specific structure of the pan-tilt control device from the pan-tilt side and the user-side device.
  • an embodiment of the present invention provides a control device for a cloud platform, including:
  • An input module configured to acquire a sequence of poses, where the sequence of poses includes pan-tilt attitude information corresponding to at least three gestures, and a handover condition corresponding to each gesture, where the handover condition is used to indicate that the pan-tilt is corresponding to the handover condition Switching the current posture to the next posture corresponding to the current posture in the sequence of gestures;
  • a first receiving module configured to receive a start instruction
  • the first control module controls the attitude switching of the pan/tilt according to the posture sequence after receiving the start instruction.
  • the switching condition includes: time information that the pan/tilt switches from a current posture to a next posture.
  • the time information includes: a time interval in which the pan/tilt is switched from a current posture to a next posture or a switching moment of the gimbal at each posture.
  • the switching condition further includes: switching the rate change information of the pan/tilt from the current posture to the next posture.
  • the switching condition includes: a duration of stay of the pan/tilt in each gesture.
  • the pan/tilt attitude information includes: angle information of the pan/tilt, and the angle information is at least one of a pitch angle, a yaw angle, and a roll angle.
  • the first control module is further configured to: calculate, according to the posture information corresponding to the current posture of the PTZ and the posture information of the next posture corresponding to the current posture, calculate the rotation axes of the PTZ a posture difference; controlling the pan/tilt to switch from the current posture to the next posture according to a posture difference of each rotation axis of the gimbal.
  • the first receiving module is further configured to: receive the sequence of the gesture and save.
  • the first receiving module is further configured to:
  • the method further includes:
  • New gesture information and its corresponding switching conditions are received, and the new attitude information and its corresponding switching conditions are added to the sequence of gestures.
  • the sequence of gestures is sent by a user side device.
  • the user side device is a dedicated remote controller or a smart device with an APP installed
  • the device further includes: a reset module, configured to reset the PTZ to a starting posture of the sequence of gestures after the first receiving module receives the start instruction.
  • a reset module configured to reset the PTZ to a starting posture of the sequence of gestures after the first receiving module receives the start instruction.
  • the device further includes: a determining module, configured to determine whether the current posture of the PTZ is the final posture in the sequence of gestures.
  • the resetting module resets the pan-tilt to the initial posture of the gesture sequence after the determining module determines that the current posture of the pan-tilt is the final posture in the gesture sequence.
  • the first control module is further configured to:
  • the first posture information is corrected according to the error posture information to obtain current attitude information of the pan/tilt.
  • the determining the error posture information of the posture sensor according to the first posture information and the rotation angle comprises: determining reference posture information of the pan/tilt according to the rotation angle, according to the reference posture information and the A posture information determines error posture information of the attitude sensor.
  • the determining the reference attitude information of the pan/tilt according to the rotation angle comprises: converting each of the rotation angles into a corresponding quaternion, and determining a reference of the gimbal according to the quaternion of the rotation angle Gesture information.
  • the determining the reference attitude information of the pan/tilt according to the rotation angle comprises: setting posture information of the base of the pan/tilt; determining the reference attitude information of the pan/tilt according to the posture information of the base and the rotation angle .
  • the error posture information is posture difference information between the first posture information and the reference posture information.
  • the correcting the first posture information according to the error posture information to obtain current posture information of the pan/tilt includes: determining an error posture correction amount per unit time according to the error posture information, according to the error posture information The correction amount corrects the first posture information to obtain the current posture information of the gimbal.
  • an embodiment of the present invention provides a control device for a cloud platform, including:
  • An acquisition module configured to acquire a sequence of gestures input by the user, the sequence of gestures includes pan-tilt attitude information corresponding to at least three gestures, and a handover condition corresponding to each gesture, where the handover condition is used to indicate that the pan-tilt is The current posture corresponding to the switching condition is switched to the next posture corresponding to the current posture in the sequence of gestures;
  • a sending module configured to send the sequence of gestures and a start command to the pan/tilt, the start finger
  • the instruction is used to instruct the pan/tilt to perform a gesture of switching according to the sequence of gestures.
  • the switching condition includes: time information that the pan/tilt switches from a current posture to a next posture.
  • the time information includes: a time interval in which the pan/tilt is switched from a current posture to a next posture or a switching moment of the gimbal at each posture.
  • the switching condition further includes: switching the rate change information of the pan/tilt from the current posture to the next posture.
  • the switching condition includes: a duration of stay of the pan/tilt in each gesture.
  • the device further includes: a display module, configured to display, after the sending module sends a start command to the pan/tilt, a progress state of the pan-tilt performing gesture switching.
  • a display module configured to display, after the sending module sends a start command to the pan/tilt, a progress state of the pan-tilt performing gesture switching.
  • the progress status is at least one of a progress value and a progress bar.
  • the progress value is a ratio of a first displacement to a second displacement
  • the first displacement is a displacement of the pan-tilt from a starting posture of the posture sequence to a displacement of the current posture
  • the The second displacement is a displacement of the pan-tilt from a starting attitude of the sequence of poses to a final pose of the sequence of poses
  • the progress bar corresponds to the progress value
  • the device further includes an adding module, where the display module displays a graphic for displaying the posture information in the sequence of the gesture; the receiving module is configured to receive the posture change information generated by the user dragging the graphic, The adding module is configured to update a posture in the graphic corresponding to the adding instruction to the posture sequence as a new posture after the receiving module receives the adding instruction.
  • an adding module where the display module displays a graphic for displaying the posture information in the sequence of the gesture; the receiving module is configured to receive the posture change information generated by the user dragging the graphic, The adding module is configured to update a posture in the graphic corresponding to the adding instruction to the posture sequence as a new posture after the receiving module receives the adding instruction.
  • the graphic is displayed in a two-dimensional coordinate system, one coordinate axis of the two-dimensional coordinate system is used to show the rotation angle of the pan-tilt axis, and the other coordinate axis is used to show the rotation of the pan-tilt roll axis. angle.
  • the display module is further configured to: after the sending start command to the pan/tilt, The posture information of the current attitude of the set pan/tilt is displayed.
  • the display module is further configured to: after the sending start command to the pan/tilt, graphically display posture information of each posture of the set pan/tilt.
  • the display module is further configured to: display a real-time switching time that the pan/tilt switches from a current posture to a next posture.
  • the pan/tilt attitude information includes: angle information of the pan/tilt, and the angle information is at least one of a pitch angle, a yaw angle, and a roll angle.
  • the device further includes a second control module and a recording module, where the second control module is configured to control the PTZ to switch to a specified posture after the sending module sends a start command to the PTZ;
  • the module is configured to record the posture information corresponding to the specified posture.
  • the sending module is further configured to: after the recording module records the posture information corresponding to the specified posture, send the posture information corresponding to the specified posture and the switching condition corresponding to the specified posture to the pan/tilt.
  • the recording module records the posture information corresponding to the specified posture after the pan/tilt switches to the specified posture and maintains the preset time.
  • the display module is further configured to: display a duration of stay after the pan/tilt is switched to the specified posture.
  • the device further includes a second receiving module, and the recording module records the posture information corresponding to the specified posture after the second receiving module receives the adding instruction.
  • the device further includes a deletion module, after the sending module sends a start instruction to the PTZ, the second receiving module receives the deletion instruction, and the deleting module deletes the corresponding instruction in the gesture sequence. Specify the pose.
  • An embodiment of the present invention provides a computer storage medium storing program instructions, where the computer storage medium stores program instructions, and the program executes the control of the pan/tilt of the first embodiment or the second embodiment. method.
  • an embodiment of the present invention provides a cloud platform, which may include a gyroscope 202, an accelerometer 203, and a control device of the pan/tilt.
  • the control device of the pan/tilt is the control device of the pan/tilt head according to the third embodiment.
  • the gyroscope 202 and the accelerometer 203 are respectively connected to the first processor 201 in the control device of the pan/tilt.
  • the pan/tilt head may be a two-axis pan/tilt head or a three-axis pan/tilt head.
  • the embodiment of the present invention provides a user side device, where the user side device 100 includes the control device of the pan/tilt described in the fourth embodiment.
  • the user side device 100 includes at least one of a remote controller and a smart device installed with an APP.
  • an embodiment of the present invention provides a control system for a cloud platform, where the control system of the cloud platform includes a user side device 100 that controls the cloud platform 200.
  • the cloud platform is the cloud platform described in the above sixth embodiment.
  • the pan/tilt head 200 includes a gyroscope 202, an accelerometer 203, and a control device of the pan/tilt.
  • the gyroscope 202 and the accelerometer 203 are respectively connected to the second processor 201 in the control device of the pan/tilt.
  • the user side device is the user side device described in Embodiment 7 above.
  • the user side device includes a remote controller and a smart device (for example, a mobile phone) installed with an APP.
  • the pan/tilt head 200 is first controlled to run by the remote controller. Add a gesture, and then click the Add OK button on the APP interface to record the posture information of the gesture to be added by the APP, and at the same time, the user can set on the APP.
  • the switching information of the to-be-added gesture is switched to the next posture, for example, the duration of the setting switching is 10s.
  • the user can also set the duration of the gimbal staying in the to-be-added gesture on the APP, for example, 20s. , thus completing the input of the pose sequence.
  • a "computer-readable medium” can be any apparatus that can contain, store, communicate, propagate, or transport a program for use in an instruction execution system, apparatus, or device, or in conjunction with the instruction execution system, apparatus, or device.
  • computer readable media include the following: electrical connections (electronic devices) having one or more wires, portable computer disk cartridges (magnetic devices), random access memory (RAM), Read only memory (ROM), erasable and editable only Read memory (EPROM or flash memory), fiber optic devices, and portable compact disk read only memory (CDROM).
  • the computer readable medium may even be a paper or other suitable medium on which the program can be printed, as it may be optically scanned, for example by paper or other medium, followed by editing, interpretation or, if appropriate, other suitable The method is processed to obtain the program electronically and then stored in computer memory.
  • portions of the invention may be implemented in hardware, software, firmware or a combination thereof.
  • multiple steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system.
  • a suitable instruction execution system For example, if implemented in hardware, as in another embodiment, it can be implemented with any one or combination of the following techniques well known in the art: having logic gates for implementing logic functions on data signals. Discrete logic circuits, application specific integrated circuits with suitable combinational logic gates, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.
  • each functional unit in each embodiment of the present invention may be integrated into one processing module, or each unit may exist physically separately, or two or more units may be integrated into one module.
  • the above integrated modules can be implemented in the form of hardware or in the form of software functional modules.
  • the integrated modules, if implemented in the form of software functional modules and sold or used as stand-alone products, may also be stored in a computer readable storage medium.
  • the above mentioned storage medium may be a read only memory, a magnetic disk or an optical disk or the like.

Abstract

一种云台的控制方法及装置，其中，该方法包括：获取姿态序列，该姿态序列包括至少三个姿态对应的云台姿态信息以及每个姿态对应的切换条件，该切换条件用于指示云台由切换条件对应的当前姿态切换至姿态序列中当前姿态对应的下一姿态（S101）；接收开始指令（S102）；在接收到开始指令之后，按照姿态序列控制云台的姿态切换（S103）。通过设置姿态序列，使得手持云台可以按照姿态序列来切换其姿态，云台的姿态切换更加智能化，可减少用户手动操作云台时可能的操作失误而导致拍摄到无用的画面，使得用户拍摄多场景切换镜头的效率高、拍摄画面的可重复性高。

Description

云台的控制方法及装置 技术领域
本发明涉及控制领域，尤其涉及一种云台的控制方法及装置。
背景技术
随着拍摄技术的发展，手持云台也越来越受到用户的喜爱。目前，手持云台在拍摄的过程中，需要用户手动实时操作云台的运动，使得云台上搭载的摄像机对准需要拍摄的目标。而一旦用户操作失误，可能会导致云台上搭载的摄像机拍摄到无用的画面。另外，还存在一些需要重复拍摄的情况，例如，重复拍摄一组变换场景的镜头，利用用户手动操作云台的方式不能达到云台切换场景可重复性，无法满足用户的实际需求。
发明内容
本发明提供一种云台的控制方法及装置。
根据本发明的第一方面，提供一种云台的控制方法，所述方法包括：
接收开始指令；
获取姿态序列，所述姿态序列包括至少三个姿态对应的云台姿态信息以及每个姿态对应的切换条件，所述切换条件用于指示所述云台由所述切换条件对应的当前姿态切换至所述姿态序列中所述当前姿态对应的下一姿态；
在接收到所述开始指令之后，按照所述姿态序列控制云台的姿态切换。
根据本发明的第二方面，提供一种云台的控制装置，所述装置包括第一处理器，其中所述第一处理器被配置为：
获取姿态序列，所述姿态序列包括至少三个姿态对应的云台姿态信息以及每个姿态对应的切换条件，所述切换条件用于指示所述云台由所述切换条件对应的当前姿态切换至所述姿态序列中所述当前姿态对应的下一姿态；
接收开始指令；
在接收到所述开始指令之后，按照所述姿态序列控制云台的姿态切换。
根据本发明的第三方面，提供一种云台的控制方法，所述方法包括：
接收用户输入的启动命令；
在接收到所述启动命令后，发送开始指令至云台，所述开始指令用于指示所述云台获取姿态序列，并按照所述姿态序列来进行姿态的切换，所述姿态序列包括至少三个姿态对应的云台姿态信息以及每个姿态对应的切换条件，所述切换条件用于指示所述云台由所述切换条件对应的当前姿态切换至所述姿态序列中所述当前姿态对应的下一姿态。
根据本发明的第四方面，提供一种云台的控制装置，所述装置包括第二处理器，其中所述第二处理器被配置为：
接收用户输入的启动命令；
在接收到所述启动命令后，发送开始指令至云台，所述开始指令用于指示所述云台获取姿态序列，并按照所述姿态序列来进行姿态的切换，所述姿态序列包括至少三个姿态对应的云台姿态信息以及每个姿态对应的切换条件，所述切换条件用于指示所述云台由所述切换条件对应的当前姿态切换至所述姿态序列中所述当前姿态对应的下一姿态。
由以上本发明实施例提供的技术方案可见，本发明通过设置姿态序列，使得手持云台可以按照姿态序列来切换其姿态，云台的姿态切换更加智能化，可减少用户手动操作云台时可能的操作失误而导致拍摄到无用的 画面，使得用户拍摄多场景切换镜头的效率高、拍摄画面的可重复性高。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本发明一实施例的云台的安装状态示意图；
图2是本发明一实施例中云台的控制方法在云台侧的流程示意图；
图3是本发明另一实施例中云台的控制方法在云台侧的流程示意图；
图4是本发明又一实施例中云台的控制方法在云台侧的流程示意图；
图5是本发明一实施例中云台姿态修正的示意图；
图6是本发明一实施例中云台的控制方法在用户侧设备的流程示意图；
图7是本发明一实施例中用户侧设备显示界面示意图；
图8是本发明一实施例中云台的控制装置的结构示意图；
图9是本发明一实施例中另一云台的控制装置的结构示意图；
图10是本发明一实施例中云台的控制装置的功能模块示意图；
图11是本发明一实施例中另一云台的控制装置的功能模块示意图；
图12是本发明一实施例中云台控制系统的结构示意图；
图13是本发明另一实施例中云台控制系统的结构示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
下面结合附图，对本发明的云台的控制方法及装置进行详细说明。在不冲突的情况下，下述的实施例及实施方式中的特征可以相互组合。
云台用于搭载摄像机，本发明实施例中，所述云台可为两轴云台，也可以为三轴云台，在本发明实施例中以三轴云台200来进行示意性说明。
参见图1，拍摄设备9被固定安装在云台200上的拍摄设备固定机构6上，其中所述固定机构6可以与云台的pitch轴的轴臂7固定或活动连接，其中，姿态传感器可以安装在拍摄设备的固定机构6上、与所述固定机构6固定连接的部件上、或与pitch轴的轴臂7固定连接的任何其他部件，在拍摄过程中，云台为拍摄设备增稳，在拍摄设备进行拍摄的过程中，姿态传感器即可测量拍摄设备9的姿态，即云台的第一姿态信息，其中姿态传感器可以包括惯性测量单元或者陀螺仪，为了说明方便，本文以下将以惯性测量单元或者陀螺仪作为姿态传感器来进行示意性说明。其中，姿态有多种表达形式，四元数是姿态信息的一种表示方法，另外常用姿态的常用表达形式还有欧拉角、矩阵等。
结合图2至图4以及图6，本发明实施例提供一种云台控制方法。
实施例一和实施例二分别从云台侧和控制云台的用户侧设备来云台的控制方法进行阐述。其中，所述用户侧设备可为专用遥控器(即用于控制云台运动的控制设备)或者安装有APP的智能设备(例如手机、PAD等移动设备)。
实施例一
参见图2，在云台侧，所述方法可包括如下步骤：
S101：获取姿态序列，所述姿态序列包括至少三个姿态对应的云台姿态信息以及每个姿态对应的切换条件，所述切换条件用于指示所述云台由所述切换条件对应的当前姿态切换至所述姿态序列中所述当前姿态对应的下一姿态；
具体地，所述姿态序列可为云台预先本地保存的姿态序列或者用户侧设备保存的姿态序列。可选地，所述姿态序列为云台预先保存的，云台在接收到开始指令后，直接调用本地保存的姿态序列即可。可选地，所述姿态序列为用户侧设备保存的姿态序列，云台在接收到开始指令后，发送获取姿态序列的请求至用户侧设备，从而从用户侧设备获取姿态序列；或者，用户侧设备在发送开始指令至云台之前或者之后，直接发送姿态序列至云台；或者，用户侧设备同时将开始指令和姿态序列发送至云台。在一些实施例中，云台在接收到姿态序列后，需要将接收到的姿态序列保存到本地缓存中。另外，云台在接收所述姿态序列并保存之后还包括：接收新的姿态信息以及其对应的切换条件，并将所述新的姿态信息以及其对应的切换条件添加至所述姿态序列中，从而可根据实际需要动态设置姿态序列。在一些实施例中，云台上还设置有显示界面，所述新的姿态序列由用户直接在云台的显示界面输入。在一些实施例中，所述新的姿态序列可由用户侧设备实时发送。
在一些例子中，所述云台姿态信息可包括：云台的角度信息。所述角度信息是俯仰角、偏航角和横滚角中的至少一种。在一些实施例中，所述云台姿态信息还可包括云台一个或多个轴的伸缩长度等。
所述切换条件是根据拍摄需求设定的。
在一些例子中，所述切换条件包括：所述云台由当前姿态切换至下 一姿态的时间信息，以使得云台能够按照姿态序列自动切换姿态，云台姿态切换的可重复性高。
可选地，云台由当前姿态切换至下一姿态的时间信息包括：所述云台在每一个姿态上的停留时长。该停留时长用于指示云台由上一姿态切换至当前姿态后，在当前姿态的停留时间，从而满足拍摄需求。在一些例子中，云台由当前姿态切换至下一姿态的时间信息中也可以不包括云台在每一个姿态上的停留时长，该停留时长可选择为云台默认的停留时长，从而简化计算过程，并减少数据的读取，加快系统的运行。
可选地，云台由当前姿态切换至下一姿态的时间信息包括：所述云台由当前姿态切换至下一姿态的时间间隔。例如，设定云台由当前姿态切换至下一姿态的时间间隔为10s(单位：秒)。其中，每两个姿态间切换的时间间隔可根据实际需要设定，例如，可将每两个姿态间切换的时间间隔设置成相等的，或者，根据实际需要(例如，有些姿态间切换的时间间隔要求较长，以利于云台的摄像机监控到缓慢变化的图像)将每两个姿态间切换的时间间隔设置成不同的。在一些例子中，云台由当前姿态切换至下一姿态的时间信息中也可以不包括云台由当前姿态切换至下一姿态的时间间隔，该时间间隔可选择为云台默认的切换时间，从而简化所述切换速率的计算过程，并减少数据的读取，加快系统的运行。
可选地，所述时间信息包括：所述云台在每个姿态的切换时刻。例如，所述姿态序列所述包括的至少三个姿态分别为起始姿态(即第一姿态)、第二姿态、……、第N-1姿态及第N姿态(即最后一姿态)，其中N为自然数且N≥3。需要拍摄一组重复的日落镜头，姿态序列中的起始姿态的切换条件为：6点01分切换至第二姿态，所述第二姿态的切换条件为：6点03分切换至第三姿态等等。
在云台由当前姿态切换至下一姿态的时间信息包括云台由当前姿态切换至下一姿态的时间间隔或者包括云台在每个姿态的切换时刻的实施例 中，所述切换条件还可包括：所述云台由当前姿态切换至下一姿态的切换速率的变化信息。该变化信息用于指示云台由当前姿态运动至下一姿态的速率的变化。由于云台由当前姿态切换至下一姿态的时间信息是确定的，当前姿态和下一姿态也是确定的，根据切换速率的变化信息可以确定云台在由当前姿态切换到下一姿态之间各个时刻的速率。具体地，云台根据所述当前姿态对应的姿态信息及所述当前姿态对应的下一姿态信息计算出两个姿态间的切换位移，根据所述切换位移、云台当前姿态切换至下一姿态的时间信息以及切换速率的变化信息即可计算出云台由当前姿态切换至下一姿态的切换速率。可选地，所述切换速率的变化信息具体指示切换速率为匀速。可选地，切换速率的变化信息可以指示切换速率为非匀速的，且指示云台由当前姿态切换到下一姿态的过程中在各时间点上的速度之间的关系。在一些例子中，切换条件也可以不包括云台由当前姿态切换至下一姿态的切换速率的变化信息，那么云台由当前姿态切换至下一姿态的速率可选择为云台默认的匀速，从而简化计算过程，并减少数据的读取，加快系统的运行。
另外需要说明的是，本实施例中，姿态序列所包括姿态的数量也可根据实际需求设定。
S102：接收开始指令；
本发明实施例中对步骤S101和步骤S102的顺序可以按顺序先后执行，其中具体的先后顺序不作具体的限定，另外步骤101和步骤S102也可以同时执行。
具体地，所述开始指令由用户侧发送至云台。
可选地，开始指令直接由用户在所述云台上输入。在一些例子中，所述云台上设有产生开始指令的操作按钮，用户按下该操作按钮即输入开始指令至云台。本实施例中，所述操作按钮可为实体按钮或者虚拟按钮。 在另外一些例子中，所述云台包括操作界面，所述操作界面上设有用于输入开始指令的输入框等，用户可直接将开始指令输入至该输入框。
可选地，所述开始指令由用户侧设备发送的。在一实施例中，所述用户侧设备为专用遥控器，所述专用遥控器上设有开始指令的操作按钮，用户按下该操作按钮后，专用遥控器即发送开始指令至所述云台。本实施例中，所述操作按钮可为实体按钮或者虚拟按钮。在另一实施例中，所述用户侧设备为安装有APP的智能设备，所述APP的界面设有发送开始指令至云台的操作按钮或者用于输入开始指令的输入框。
S104：在接收到所述开始指令之后，按照所述姿态序列控制云台的姿态切换，所述姿态序列包括至少三个姿态对应的云台姿态信息以及每个姿态对应的切换条件，所述切换条件用于指示所述云台由所述切换条件对应的当前姿态切换至所述姿态序列中所述当前姿态对应的下一姿态。
具体地，参见图3，所述按照预设的姿态序列控制云台的姿态切换，包括：根据所述云台当前姿态对应的姿态信息和当前姿态对应的下一姿态的姿态信息，计算云台各个转动轴的姿态差，并根据所述云台各个转动轴的姿态差，控制所述云台由所述当前姿态切换至所述下一姿态。例如，姿态信息为云台俯仰轴角度和横滚轴角度，所述云台当前姿态对应的姿态信息为(0°，10°)，云台当前姿态对应的下一姿态的姿态信息为(10°，20°)，则计算出云台俯仰轴和横滚轴的姿态差为(10°，10°)，云台则根据计算出姿态差(10°，10°)，从当前姿态切换至下一姿态。
本发明实施例中，通过设置姿态序列，使得手持云台可以按照姿态序列来切换其姿态，云台的姿态切换更加智能化，可减少用户手动操作云台时可能的操作失误而导致拍摄到无用的画面，使得用户拍摄多场景切换镜头的效率高、拍摄画面的可重复性高。
本实施例中，在步骤S102之后，所述云台还包括：复位所述云台至 所述姿态序列的起始姿态，从而使得所述云台在每次启动后均位于相同的姿态，提高拍摄的重复性。可选地，所述复位所述云台至所述姿态序列的起始姿态是在判断出所述云台的当前姿态为所述姿态序列中的最终姿态后执行的。可选地，云台复位所述云台至所述姿态序列的起始姿态是在步骤S102与步骤S103之间执行的。
目前，云台主要是以惯性测量单元为反馈元件、以云台各个轴(yaw轴、pitch轴、roll轴)的驱动电机为输出元件来对云台的姿态进行控制，其中，在对云台姿态的控制过程中，控制量是云台的姿态，通过给定一个目标姿态，通过反馈控制将云台当前姿态向所述目标姿态修正，以使云台从当前姿态向目标姿态趋近。
惯性测量元件(IMU)主要包含陀螺仪和加速度计，陀螺仪可以测量云台各个轴的转动的角速度，通过对测量得到的角速度进行积分可以确定云台的当前姿态(pitch、roll、yaw)，但是陀螺仪的各个轴的角速度输出都有零偏，而且，零偏不能完全消除，因此用陀螺仪测量的角速度输出积分获得的云台的当前姿态是不准确的。目前，主要使用加速度计给定云台姿态参考，对陀螺仪测量的角速度积分获得的云台的当前姿态进行修正，最终云台获得较为稳定的姿态。然而，加速度计本身存在漂移，使用加速度的数据修正当前姿态，也会产生漂移，云台的姿态长时间来看并不是很稳定，导致架设在云台上的拍摄设备不能长时间地拍摄固定机位的场景；另外，利用加速度计修正云台的当前姿态时，只能针对云台的pitch轴和roll轴来修正，不能针对云台的yaw轴来修正，因此陀螺积分出来的yaw轴姿态有可能很快就会产生漂移，最终导致在使用云台对固定机位的场景进行拍摄时整个云台的yaw轴不断的朝一个方向运动，这样也会导致架设在云台上的拍摄设备不能长时间地拍摄固定机位的场景。
针对云台各个轴的姿态可能会产生漂移的情况，本实施例中，参见图4，云台在每次切换所述云台的姿态之后还包括：
S1：确定云台的第一姿态信息；
其中，第一姿态信息可以是第一姿态的姿态角(欧拉角)，也可以是第一姿态对应的四元数，此处不作具体的限定。本文后述部分涉及姿态信息可以为姿态对应的姿态角，也可以是姿态对应的四元数，此后就不再另外解释。
S2：确定云台的一个或多个轴的驱动电机转动的角度；
具体的，如图1所示，云台200的roll轴的轴臂8用于支撑pitch轴的轴臂7和pitch轴的驱动电机1，云台200的yaw轴的轴臂5用于支撑yaw轴的驱动电机3和roll轴的驱动电机2，云台的pitch轴的轴臂7用于支撑拍摄设备9，云台200的各轴的驱动电机(pitch轴的驱动电机1、roll轴的驱动电机2、yaw轴的驱动电机3)内可以安装角度传感器，其中驱动电机内设置电路板，所述角度传感器可以与所述电路板电性连接，在云台的驱动电机转动时，通过角度传感器可以测量驱动电机转动的角度，其中角度传感器可以为电位计、霍尔传感器、编码器中的一种或多种。其中，云台可以通过基座4与手持棍(未示出)连接或可移动平台连接。
需要说明的是，本发明实施例中对步骤S1和步骤S2的顺序可以按顺序先后执行，其中具体的先后顺序不作具体的限定，另外步骤S1和步骤S2也可以同时执行。
S3：根据所述第一姿态信息和所述转动角度确定姿态传感器的误差姿态信息；
具体地，在测量得到云台的一个或多个轴的驱动电机的转动角度后，根据所述转动角度和所述利用惯性测量单元或陀螺仪确定云台的第一姿态信息确定惯性测量单元或陀螺仪的误差姿态信息，即该误差姿态信息可以表示惯性测量单元或陀螺仪的漂移。
S4：根据所述误差姿态信息修正所述第一姿态信息以得到云台的当 前姿态信息。
具体地，由于惯性测量单元或陀螺仪在进行数据测量时，由于惯性测量单元或陀螺仪存在漂移，导致测量出的姿态信息并不准确，因此，在确定表示惯性测量单元或陀螺仪漂移的误差姿态信息后，即可使用闭环控制策略，根据所述误差姿态信息对通过惯性测量单元或陀螺仪测量得到的第一姿态信息进行修正以得到云台当前的姿态信息。其中，具体地，可利用扩展卡尔曼滤波、互补滤波或平滑滤波中的至少一种根据所述误差姿态信息对第一姿态信息进行修正以得到云台的当前姿态信息。
本发明的实施例中，通过云台的一个或多个轴的驱动电机转动的角度和惯性测量单元或陀螺仪测量的第一姿态信息，确定惯性测量单元或陀螺仪的误差姿态信息，根据所述误差姿态信息对第一姿态信息进行修正，可以有效地避免现有技术中使用加速度计对惯性单元或陀螺仪获得的姿态信息进行修正时存在的漂移问题，能够使修正后得到的云台姿态能够长时间地保持稳定，这样可以使架设在云台上的拍摄设备可以长时间地拍摄固定机位的场景而不产生拍摄设备的拍摄角度漂移问题，通过该技术方案，云台既可以拍摄运动机位的场景又可以长时间地拍摄固定机位的场景，扩大了云台的应用范围。
在某些实施例中，根据所述转动角度确定云台的参考姿态信息，根据所述参考姿态信息和所述第一姿态信息确定惯性测量单元或陀螺仪的误差姿态信息。具体地，当使用云台架设拍摄设备对固定场景进行拍摄时，惯性测量单元或陀螺仪测量出的第一姿态信息对出现漂移，因此，在对云台的惯性测量单元或陀螺仪测量得到的第一姿态信息进行修正时，必须给定一个姿态信息修正的参考标准，即参考姿态信息，本实施例中通过云台的一个或多个轴的驱动电机的转动角度来确定参考姿态信息，在确定参考姿态信息后，将参考姿态信息和陀螺仪或惯性测量单元测量得到的第一姿态信息进行比较，通过比较确定参考姿态信息与第一姿态信息之间的误差 姿态信息。下面将详细解释通过云台的一个或多个轴的驱动电机的转动角度确定参考姿态信息的具体过程。
在某些实施例中，将所述转动角度中的每一个换算相应的四元数，根据所述转动角度的四元数确定云台的参考姿态信息。其中，在确定云台的三个轴(pitch轴、yaw轴、roll轴)的驱动电机的转动角度后，可以将三个轴的驱动电机的转动角度分别换算成对应的四元数，根据换算后得到三个四元数确定参考姿态信息。
在某些实施例中，设置云台的基座的姿态信息，根据所述基座的姿态信息和所述转动角度确定云台的参考姿态信息。其中，此处的云台的基座的姿态信息可以固化在云台的处理器或存储器中，也可以是通过与云台连接的控制终端、云台上配置的交互装置进行设置的。具体的，云台的基座的姿态信息可以与基座的安装情况相关，在使用云台架设拍摄设备长时间拍摄固定机位的场景时，通常认为云台的基座是近似固定不动的，因此可以将云台的基座的姿态信息设置为一个固定的姿态信息，此时，当云台的基座的姿态信息已知且固定时，在确定云台的各个轴的驱动电机的转动角度时，即可以计算得到云台的参考姿态信息。下面将详细介绍根据所述转动角度和云台的基座的姿态信息确定参考姿态信息的具体过程。
在某些实施例中，设置云台的基座的姿态的四元数，根据所述基座的姿态的四元数和所述转动角度中每一个换算得到的四元数确定云台的参考姿态信息。具体的，可以利用安装在云台的各轴的驱动电机上的角度传感器确定每一个驱动电机转动的角度，将每一个角度换算成相应的四元数，例如云台为三轴云台，根据安装在三个驱动电机上的角度传感器分别测量云台的yaw轴、pitch轴和roll轴的驱动电机转动的角度，通过换算即可以得到yaw轴、pitch轴和roll轴的驱动电机转动的角度对应的四元数，设置云台的基座的四元数，例如基座的姿态的四元数可以设置为(1,0,0,0)。进一步地，将所述基座的姿态的四元数与所述转动角度中每一个换算得到的 四元数分别相乘，根据相乘后得到的四元数确定所述参考姿态信息，即将基座的姿态的四元数分别与yaw轴、pitch轴和roll轴的驱动电机转动的角度对应的四元数相乘，由于四元数的相乘是表示旋转，通过四元数相乘，即可以知道有效负载在基座的基础上分别以yaw轴、pitch轴和roll轴为旋转轴线进行旋转后的姿态信息，因而，相乘以后得到的四元数即可以表示云台的参考姿态的四元数，即根据相乘后得到的四元数确定云台的参考姿态信息。
在某些实施例中，所述根据所述参考姿态信息和所述第一姿态信息确定惯性测量单元或陀螺仪的误差姿态信息可以设置为：根据所述参考姿态的四元数和所述第一姿态四元数确定所述误差姿态信息。其中，所述误差姿态信息为第一姿态信息与参考姿态信息之间的姿态差信息，当云台的参考姿态信息以四元数的形式表示，所述第一姿态以四元数的形式进行表示时，则在可以根据所述参考姿态的四元数和所述第一姿态四元数确定所述误差姿态信息，具体地，可以将所述参考姿态的四元数与所述第一姿态信息的四元数相乘，根据相乘得到的四元数来确定误差姿态信息，相乘后的四元数可以表示参考姿态与第一姿态之间的误差姿态，相乘后得到的四元数即为误差姿态的四元数，根据所述误差姿态的四元数即可以换算出误差姿态对应的欧拉角，根据确定的误差姿态信息的四元数或欧拉角即可以对惯性测量单元或陀螺仪的第一姿态信息进行修正。另外，在确定参考姿态的四元数时，可以将参考姿态的四元数换成对应的欧拉角，根据惯性观测单元或陀螺仪确定第一姿态信息对应的欧拉角，通过比较参考姿态的四元数换成对应的欧拉角和第一姿态信息对应的欧拉角即可以得到参考姿态与第一姿态之间的误差姿态，该误差姿态能够表示惯性测量单元或陀螺仪的漂移，通过换算可以将参考姿态的欧拉角与第一姿态信息对应的欧拉角之差转换成误差姿态信息对应的四元数。
需要说明的是，四元数是姿态的一种数学表示方式，一般地，四元 数可以q＝w+xi+yj+zk的形式表示。其中q＝w+xi+yj+zk可以分为纯量w与向量xi+yj+zk，所以为了方便表示，将q表示为(S,V)，其中S表示纯量w，V表示向量xi+yj+zk，所以四元数乘法又可以表示为：q1*q2＝(S1+V1)*(S2+V2)＝S1*S2-V1*V2+V1XV2+S1*V2+S2*V1。欧拉角是姿态的另一种表示方式，其中四元数与欧拉角之间可以通过相应的公式互相转换。另外，从欧拉角转换成四元数的具体公式为
Figure PCTCN2017081483-appb-000001
另外将欧拉角转换成对应的四元数的具体公式为
Figure PCTCN2017081483-appb-000002
下面将介绍根据所述误差姿态信息修正第一姿态信息以得到云台的当前姿态信息的其中一种实施例，本领域技术人员还可以采用本实施例以外的技术手段根据所述误差姿态信息修正第一姿态信息以得到云台的当前姿态信息。具体的，如图5所示，在0到t1时间内，由于陀螺仪在测量时，输出数据存在漂移，如果不对惯性测量单元或陀螺仪的测量的第一姿态信息进行修正，则在0到t1时间内，通过惯性测量单元或陀螺仪确定的第一姿态信息att1可能如图所示，其中第一姿态信息att1的曲线只是为了进行示意性说明。因此必须要对惯性测量单元或陀螺仪测量得到的第一姿态信息进行修正。当在t1时刻，通过如前所述的方法计算得到参考姿态信息att1-mot1，通过惯性测量单元或陀螺仪测量得到的第一姿态信息att1-gyr1，通过比较参见姿态信息att1-mot1和第一姿态信息att1-gyr之间的误差姿态信息att1-d1，在t1到t2时间内，根据误差姿态信息att1-d1对惯性测量单元和陀螺仪输出的第一姿态信息进行修正得到修正后的云台的当前姿态信息att1-r1，若在t1到t2时间内不对第一姿态信息进行修正时，惯性测量单元或陀螺仪输出的数据将继续漂移，其得到的第一姿态信息则为att1-f。当 在t2时刻时，可以通过如前所述的方法计算参考姿态信息att1-mot2，通过惯性测量单元或陀螺仪测量得到的第一姿态信息att1-gyr2，通过比较参见姿态信息att1-mot1和第一姿态信息att1-gyr之间的误差姿态信息att1-d2，则在t2到t3时间(未示出)内可以根据误差姿态信息att1-d2对第一姿态信息进行修正得到云台的当前姿态信息att1-r2，如此，重复上述修正过程，即可以得到修正后的第一姿态信息。另外，还可以对修正后得到的姿态信息进行滤波，将滤波后的姿态信息作为云台的当前姿态信息。这样能够使云台的当前的姿态信息更加平滑，减小修正过程中可能产生的误差。
在某些实施例中，根据所述误差姿态信息修正所述第一姿态信息以得到云台的当前姿态信息可以设置为：根据所述误差姿态信息确定单位时间的误差姿态修正量，根据所述误差姿态信息修正量对第一姿态信息进行修正。其中，继续参考图5，在t1时刻，误差姿态信息为att1-d1，则在0到t1时间内，相对于参考姿态信息，第一姿态信息的漂移量为att1-d1，则在在0到t1时间内，单位时间的误差修正量为att1-d1/t1，在确定单位时间的误差姿态修正量后，在t1到t2时间内，即可以根据单位时间的误差姿态修正量对惯性测量单元或陀螺仪确定的第一姿态信息进行修正，具体地，可以将每一时刻惯性测量单元或陀螺仪确定的第一姿态信息减去或加上误差姿态修正量以得到云台当前姿态信息。
另外需要说明的是，云台在不同的姿态下，可以选择不同的拍摄参数，例如焦距、是否开启闪光灯等。
实施例二
参见图6，在控制云台的用户侧设备，所述方法可包括如下步骤：
S201：获取用户输入的姿态序列，所述姿态序列包括至少三个姿态对应的云台姿态信息以及每个姿态对应的切换条件，所述切换条件用于指示所述云台由所述切换条件对应的当前姿态切换至所述姿态序列中所述当 前姿态对应的下一姿态；
本实施例中，所述姿态序列由用户直接在所述用户侧设备上输入。在一些例子中，用户侧设备在接收到用户输入的姿态序列后，直接将姿态序列发送至云台。
在一些例子中，用户侧设备在接收到用户输入的姿态序列后，需要将接收到的姿态序列保存到用户侧设备的本地缓存中。在一实施例中，用户侧设备在发送开始指令至云台之前或者之后，直接发送姿态序列至云台；或者，用户侧设备同时将开始指令和姿态序列发送至云台。在一实施例中，用户侧设备是接收到姿态序列发送触发指令后，才会将本地保存的姿态序列发送至云台的。可选地，所述姿态序列发送触发指令为云台向用户侧设备发送的获取姿态序列请求。例如，云台在接收到开始指令后，发送获取姿态序列的请求至用户侧设备，从而从用户侧设备获取姿态序列。可选地，所姿态发送触发指令为用户直接在所述用户侧设备上输入的。
在一些实时例中，所述姿态序列可实时更新。可选地，用户直接在云台的显示界面输入新的姿态，并更新至姿态序列中。在一些实施例中，用户侧设备将姿态序列发送至云台后，若接收到用户输入的新的姿态，用户侧设备则在接收到用户输入的新的姿态后立即发送至云台，由云台将新的姿态更新至云台本地保存的姿态序列中。
具体地，所述云台姿态信息可包括：云台的角度信息。所述角度信息是俯仰角、偏航角和横滚角中的至少一种。在一些实施例中，所述云台姿态信息还可包括云台一个或多个轴的伸缩长度等。
所述切换条件是根据拍摄需求设定的。在一些例子中，所述切换条件包括：所述云台由当前姿态切换至下一姿态的时间信息，以使得云台能够按照姿态序列自动切换姿态，云台姿态切换的可重复性高。可选地，所述时间信息包括：所述云台由当前姿态切换至下一姿态的时间间隔。例如， 设定云台由当前姿态切换至下一姿态的时间间隔为10s(单位：秒)。其中，每两个姿态间切换的时间间隔可根据实际需要设定，例如，可将每两个姿态间切换的时间间隔设置成相等的，或者，根据实际需要(例如，有些姿态间)，将每两个姿态间切换的时间间隔设置成不同的。可选地，所述时间信息包括：所述云台在每个姿态的切换时刻。例如，所述姿态序列所述包括的至少三个姿态分别为起始姿态(即第一姿态)、第二姿态、……、第N-1姿态及第N姿态(即最后一姿态)，其中N为自然数且N≥3。需要拍摄一组重复的日落镜头，姿态序列中的起始姿态的切换条件为：6点01分切换至第二姿态，所述第二姿态的切换条件为：6点03分切换至第三姿态等等。
在一些例子中，所述切换条件可包括：所述云台由当前姿态切换至下一姿态的切换速率的变化信息。该变化信息用于指示云台由当前姿态运动至下一姿态的速率的变化。由于云台当前姿态切换至下一姿态的时间信息是确定的，当前姿态和下一姿态也是确定的，根据切换速率的变化信息可以确定云台在由当前姿态切换到下一姿态之间各个时刻的速率。具体地，云台根据所述当前姿态对应的姿态信息及所述当前姿态对应的下一姿态信息计算出两个姿态间的切换位移，根据所述切换位移、云台当前姿态切换至下一姿态的时间信息以及切换速率的变化信息即可计算出云台由当前姿态切换至下一姿态的切换速率。在一些实施例中，所述切换速率的变化信息具体指示切换速率为匀速。在一些实施例中，切换速率的变化信息可指示切换速率为非匀速的。
在一些例子中，所述切换条件包括：所述云台在每一个姿态上的停留时长。该停留时长用于指示云台由上一姿态切换至当前姿态后，在当前姿态的停留时间，从而满足拍摄需求。可选地，所述停留时长可选择为云台默认的时间，从而减少数据的读取，加快系统的运行。可选地，所述姿态序列每一姿态还包括云台在该姿态的停留时长，从而可在用户侧灵活设 置云台在每一姿态的停留时间，满足不同的拍摄需求。
另外需要说明的是，本实施例中，姿态序列所包括姿态的数量也可根据实际需求设定。
S202：发送所述姿态序列和开始指令至云台，所述开始指令用于指示所述云台按照所述姿态序列来进行姿态的切换。
步骤S202中，姿态序列和开始指令可以按照先后顺序发送至云台，其具体的先后顺序不作具体限定，另外姿态序列和开始指令也可以同时发送至云台。
本发明实施例中，通过用户与用户侧设备之间的交互，可灵活设置姿态序列，通过设定手持云台按照姿态序列来切换其姿态，使得云台的姿态切换更加智能化，可减少用户手动操作云台时可能的操作失误而导致拍摄到无用的画面，从而使得用户拍摄多场景切换镜头的效率高、拍摄画面的可重复性高。
本实施例中，所述用户侧设备还包括显示界面。其中，所述显示界面可也液晶板或者其他能够用于显示和输入的面板。
在某些实施例中，所述发送开始指令至云台，之后还包括：显示所述云台进行姿态切换的进度状态。通过在显示界面上显示云台进行姿态切换的进度状态，从而直观地显示云台当前的切换进度给用户。可选地，所述进度状态为进度值和进度条中的至少一种。其中，所述进度值为第一位移与第二位移的比值，所述进度条与所述进度值相对应，例如，将所述比值换算成百分比，所述进度条上则显示所述百分比的位置。可选地，所述第一位移为所述云台由所述姿态序列的起始姿态切换至所述当前姿态的位移，所述第二位移为所述云台由所述姿态序列的起始姿态切换至所述姿态序列的最终姿态的位移。可选地，所述云台由第一姿态切换至第二姿态，所述第一位移为所述云台由第一姿态切换运动到当前姿态的位移，所述第 二位移为所述云台由第一姿态切换至第二姿态的位移。
在某些实施例中，所述获取用户输入的姿态序列，包括：显示用于展现所述姿态序列中的姿态信息的图形；接收用户拖动所述图形产生的姿态变化信息，并在接收到添加信息后将所述添加信息所对应的图形中的姿态作为新的姿态更新至所述姿态序列。即姿态序列中的各姿态可通过拖动图形的方式进行实时添加，从而使得云台姿态的添加更加方便与直观。
在某些实施例中，需要对云台俯仰轴的转动角度和横滚轴的转动角度进行调整，则可将所述图形显示在二维坐标系中，所述二维坐标系的其中一个坐标轴用于表示云台俯仰轴的转动角度，所述二维坐标系的另一个坐标轴用于表示云台横滚轴的转动角度。用户在二维坐标系统中拖动图形，即可将其所需的云台姿态添加至用户侧设备。需要说明的是，展现姿态序列中的姿态信息的图形是根据所需调节的云台的姿态参数的数量来决定的，并不局限于二维坐标系，例如，当需要调节云台的俯仰轴、横滚轴和偏航轴这三个轴的转动角度时，可通过三维坐标系来展现表示姿态序列中姿态信息的图形。
在一些实施例中，所述显示界面上设有用于指示用户侧设备产生添加指令的添加按钮，用户按下所述添加按钮后，用户侧设备就会将所述添加指令对应的图形中的姿态作为新的姿态更新至所述姿态序列。在一些实施例中，用户直接点击所述显示界面即产生添加指令，从而将该点击操作所对应的图形中的姿态作为新的姿态更新至所述姿态序列。
在某些实施例中，所述发送开始指令至云台，之后还包括：显示设定的云台当前姿态的姿态信息，从而将添加的云台当前姿态信息直观地呈现给用户。可选地，显示界面上显示由姿态信息的数值，例如，云台姿态信息包括俯仰轴角度和横滚轴角度，设定云台当前姿态的俯仰轴角度和横滚轴角度为(10°，20°)，则可直接显示“俯仰轴角度＝10°、横滚轴角度＝20°”。可选地，在显示界面上利用图形显示设定的云台各姿态的姿态 信息。在设定姿态序列的过程中，所述图形是动态变化的，用户可通过在用户界面上的点击所需添加的姿态或者直接拖动所述图形以添加新的姿态。在设定好姿态序列后，下一次启动用户侧设备后，所述图形是直接显示在显示界面中的，其用于展现预先设定好的姿态序列中的各姿态。
在某些实施例中，所述方法还包括：显示所述云台由当前姿态切换至下一姿态的实时切换时间，进一步将云台姿态切换的信息直观呈现给用户。
在某些实施例中，所述发送开始指令至云台，之后还包括：控制所述云台切换至指定姿态，并记录所述指定姿态对应的姿态信息，根据云台是实时姿态来记录，使得姿态序列的设置更加精确。可选地，通过专用遥控器来所述控制云台切换至指定姿态，并通过所述具有APP的智能设备来记录所述指定姿态对应的姿态信息。可选地，所述控制所述云台切换至指定姿态以及记录所述指定姿态对应的姿态信息均由专用遥控器来执行。
在某些实施例中，所述记录指定姿态对应的姿态信息之后还包括：发送所述指定姿态对应的姿态信息以及所述指定姿态对应的切换条件至云台，云台在接收到该指定姿态对应的姿态信息和切换条件后，会实时更新本地保存的姿态序列，从而实现姿态的添加，满足用户多样化的需求。其中，所述切换条件由用于在所述用户侧设备上输入的，用户在所述用户侧设备上输入对应姿态的切换条件后，用户侧设备则对应保存所述姿态及其对应的姿态信息和切换条件，方便后续的数据读取与识别。可选地，所述记录所述指定姿态对应的姿态信息是在所述云台切换至指定姿态并保持预设时间后执行的，保证云台在所述指定姿态处于稳定的状态后才进行对应姿态信息的记录，确保姿态信息的准确性。可选地，所述方法还包括：显示所述云台切换至所述指定姿态后的停留时长，从而将云台位于指定姿态的时间直观展现给用户，由用户根据该直观显示的指定姿态的停留时长来判断用户侧设备记录所述指定姿态的时刻。
在某些实施例中，所述记录指定姿态对应的姿态信息是在接收到添加指令后执行的，进一步保证所记录的指定姿态的准确性。可选地，所述显示界面上设有用于指示用户侧设备产生添加指令的添加按钮，用户按下所述添加按钮后，用户侧设备就会将云台的当前姿态添加到姿态序列中。例如，用户可在显示的所述云台切换至所述当前姿态后的停留时长为预设时间值(例如：10s)后，按下所述添加按钮，云台即记录所述当前姿态至所述姿态序列中。
在某些实施例中，所述发送开始指令至云台，之后还包括：接收删除指令，删除所述姿态序列中所述删除指令对应的指定姿态，从而对姿态序列进行灵活设置。可选地，所述显示界面上设有用于指示用户侧设备产生删除指令的删除按钮，用户按下所述删除按钮后，用户侧设备就会将所述删除指令对应的指定姿态从姿态序列中删除，从而实现姿态序列的灵活设置。
在一可行的实施例中，参见图7，显示界面上设有二维坐标系XY、启动按钮1021、横滚轴姿态信息显示栏1023、俯仰轴姿态信息显示栏1024、进度状态栏1025、添加按钮1026、删除按钮1027、云台移动时长栏1028以及云台在当前姿态的停留时长栏1029。用户按下启动按钮1021(本实施例的启动按钮1021为两个)后，二维坐标系XY显示用于展现姿态序列中各姿态的姿态信息(例如，X轴表示横滚轴姿态，俯仰轴表示俯仰轴姿态)的图形1022，其中图形1022中，黑色的点代表姿态序列中各姿态，白色的点代表云台当前姿态的姿态信息，为方便描述，将图形1022中黑色的点从左至右依次命名为点1、点2、点3和点4。
用户拖动图形1022即可实现新的姿态的添加，例如，拖动点4的位置，横滚轴姿态信息显示栏1023、俯仰轴姿态信息显示栏1024实时显示待设的云台当前姿态的横滚轴姿态信息、俯仰轴姿态信息，拖动停止后，用户按下添加按钮1026，即完成了对新的姿态的添加。相应地，需要将姿 态序列中某一姿态删除时，用户点击图形1022上待删除的点，并按下删除按钮1027即可完成对姿态的删除操作。
在姿态序列设定过程中，显示界面上的移动时长栏1028可用于设定两个姿态间切换的时间信息，停留时长栏1029可用户设定云台在某一姿态的停留时长，用户可在移动时长栏1028、停留时长栏1029中分别输入云台由当前姿态切换至下一姿态的时间信息和云台停留在当前姿态的停留时长。
设定好姿态序列后，云台按照设定好的姿态序列进行姿态切换过程中，显示界面上的移动时长栏1028可用于显示两个姿态间切换的实时时长，停留时长栏1029可用户显示云台在某一姿态的实时停留时长。另外，图形1022上还显示有云台的实时姿态位置(图形1022中白色的点)。进度状态栏1025用于显示云台的切换进度百分比(姿态序列的起始姿态切换至云台当前姿态的位移与云台安装姿态序列切换的总位移的比值)，从而方便用户获知当前的进度。
结合图8和图9，本发明实施例还提供了一种云台的控制装置，实施例三和实施例四分别从云台侧和用户侧设备来阐述所述云台控制装置的具体结构。
实施例三
参见图8，本发明实施例提供一种云台的控制装置，包括第一处理器201，所述第一处理器与云台的陀螺仪202、加速度计203分别相连。其中，所述第一处理器201用于执行上述实施例一所述的云台控制方法的步骤。
实施例四
参见图9，本发明实施例提供一种云台的控制装置，包括第二处理器101，其中，所述第二处理器101用于执行上述实施例二所述的云台控 制方法的步骤。
结合图10和图11，本发明实施例还提供了一种云台的控制装置，实施例五和实施例六分别从云台侧和用户侧设备来阐述所述云台控制装置的具体结构。
实施例五
参见图10，本发明实施例提供一种云台的控制装置，包括：
输入模块，用于获取姿态序列，所述姿态序列包括至少三个姿态对应的云台姿态信息以及每个姿态对应的切换条件，所述切换条件用于指示所述云台由所述切换条件对应的当前姿态切换至所述姿态序列中所述当前姿态对应的下一姿态；
第一接收模块，用于接收开始指令；
第一控制模块，在接收到所述开始指令之后，按照所述姿态序列控制云台的姿态切换。
可选地，所述切换条件包括：所述云台由当前姿态切换至下一姿态的时间信息。
可选地，所述时间信息包括：所述云台由当前姿态切换至下一姿态的时间间隔或者所述云台在每个姿态的切换时刻。
可选地，所述切换条件还包括：所述云台由当前姿态切换至下一姿态的切换速率变化信息。
可选地，所述切换条件包括：所述云台在每一个姿态上的停留时长。
可选地，所述云台姿态信息包括：云台的角度信息，所述角度信息是俯仰角、偏航角和横滚角中的至少一种。
可选地，所述第一控制模块还用于：根据所述云台当前姿态对应的姿态信息和当前姿态对应的下一姿态的姿态信息，计算云台各个转动轴的 姿态差；根据所述云台各个转动轴的姿态差，控制所述云台由所述当前姿态切换至所述下一姿态。
可选地，所述第一接收模块还用于：接收所述姿态序列并保存。
可选地，所述第一接收模块还用于：
所述接收所述姿态序列并保存之后还包括：
接收新的姿态信息以及其对应的切换条件，并将所述新的姿态信息以及其对应的切换条件添加至所述姿态序列中。
可选地，所述姿态序列由用户侧设备发送。
可选地，所述用户侧设备为专用遥控器或者安装有APP的智能设备
可选地，所述装置还包括：复位模块，用于在所述第一接收模块接收到开始指令之后，复位所述云台至所述姿态序列的起始姿态。
可选地，所述装置还包括：判断模块，用于判断所述云台的当前姿态是否为所述姿态序列中的最终姿态。所述复位模块复位所述云台至所述姿态序列的起始姿态是在判断模块判断出所述云台的当前姿态为所述姿态序列中的最终姿态后执行的。
可选地，所述第一控制模块还用于：
每次切换所述云台的姿态之后还包括：
确定云台的第一姿态信息；
确定云台的一个或多个轴的驱动电机的转动角度；
根据所述第一姿态信息和所述转动角度确定姿态传感器的误差姿态信息；
根据所述误差姿态信息修正所述第一姿态信息以得到云台的当前姿态信息。
可选地，所述根据所述第一姿态信息和所述转动角度确定姿态传感器的误差姿态信息包括：根据所述转动角度确定云台的参考姿态信息，根据所述参考姿态信息和所述第一姿态信息确定姿态传感器的误差姿态信息。
可选地，所述根据所述转动角度确定云台的参考姿态信息包括：将所述转动角度中的每一个换算相应的四元数，根据所述转动角度的四元数确定云台的参考姿态信息。
可选地，所述根据所述转动角度确定云台的参考姿态信息包括：设置云台的基座的姿态信息；根据所述基座的姿态信息和所述转动角度确定云台的参考姿态信息。
可选地，所述误差姿态信息为第一姿态信息与参考姿态信息之间的姿态差信息。
可选地，所述根据所述误差姿态信息修正所述第一姿态信息以得到云台的当前姿态信息包括：根据所述误差姿态信息确定单位时间的误差姿态修正量，根据所述误差姿态信息修正量对第一姿态信息进行修正以得到云台的当前姿态信息。
其未展开的部分请参考以上实施例一中控制方法相同或类似的部分，此处不再赘述。
实施例六
参见图11，本发明实施例提供一种云台的控制装置，包括：
获取模块，用于获取用户输入的姿态序列，所述姿态序列包括至少三个姿态对应的云台姿态信息以及每个姿态对应的切换条件，所述切换条件用于指示所述云台由所述切换条件对应的当前姿态切换至所述姿态序列中所述当前姿态对应的下一姿态；
发送模块，用于发送所述姿态序列和开始指令至云台，所述开始指 令用于指示所述云台按照所述姿态序列来进行姿态的切换。
可选地，所述切换条件包括：所述云台由当前姿态切换至下一姿态的时间信息。
可选地，所述时间信息包括：所述云台由当前姿态切换至下一姿态的时间间隔或者所述云台在每个姿态的切换时刻。
可选地，所述切换条件还包括：所述云台由当前姿态切换至下一姿态的切换速率变化信息。
可选地，所述切换条件包括：所述云台在每一个姿态上的停留时长。
可选地，所述装置还包括：显示模块，用于在所述发送模块发送开始指令至云台之后，显示所述云台进行姿态切换的进度状态。
可选地，所述进度状态为进度值和进度条中的至少一种。
可选地，所述进度值为第一位移与第二位移的比值，所述第一位移为所述云台由所述姿态序列的起始姿态切换至所述当前姿态的位移，所述第二位移为所述云台由所述姿态序列的起始姿态切换至所述姿态序列的最终姿态的位移；所述进度条与所述进度值相对应。
可选地，所述装置还包括添加模块，所述显示模块显示用于展现所述姿态序列中的姿态信息的图形；所述接收模块用于接收用户拖动所述图形产生的姿态变化信息，所述添加模块用于在所述接收模块接收到添加指令后将所述添加指令所对应的图形中的姿态作为新的姿态更新至所述姿态序列。
可选地，所述图形显示在二维坐标系中，所述二维坐标系的一个坐标轴用于展现云台俯仰轴的转动角度，另一个坐标轴用于展现云台横滚轴的转动角度。
可选地，所述显示模块还用于：在所述发送开始指令至云台之后， 显示设定的云台当前姿态的姿态信息。
可选地，所述显示模块还用于：所述发送开始指令至云台之后，利用图形显示设定的云台各姿态的姿态信息。
可选地，所述显示模块还用于：显示所述云台由当前姿态切换至下一姿态的实时切换时间。
可选地，所述云台姿态信息包括：云台的角度信息，所述角度信息是俯仰角、偏航角和横滚角中的至少一种。
可选地，所述装置还包括第二控制模块和记录模块，所述第二控制模块用于在所述发送模块发送开始指令至云台之后控制所述云台切换至指定姿态；所述记录模块用于记录所述指定姿态对应的姿态信息。
可选地，所述发送模块还用于：在所述记录模块记录指定姿态对应的姿态信息之后，发送所述指定姿态对应的姿态信息以及所述指定姿态对应的切换条件至云台。
可选地，所述记录模块记录所述指定姿态对应的姿态信息是在所述云台切换至指定姿态并保持预设时间后执行的。
可选地，所述显示模块还用于：显示所述云台切换至所述指定姿态后的停留时长。
可选地，所述装置还包第二接收模块，所述记录模块记录指定姿态对应的姿态信息是在所述第二接收模块接收到添加指令后执行的。
可选地，所述装置还包删除模块，所述发送模块发送开始指令至云台之后，所述第二接收模块接收删除指令，所述删除模块删除所述姿态序列中所述删除指令对应的指定姿态。
其未展开的部分请参考以上实施例二中控制方法相同或类似的部分，此处不再赘述。
实施例七
本发明的实施例提供了一种计算机存储介质，该计算机存储介质中存储有程序指令，该计算机存储介质中存储有程序指令，所述程序执行上述实施例一或实施例二的云台的控制方法。
实施例八
又参见图8，本发明实施例提供一种云台，所述云台200可包括陀螺仪202、加速度计203以及云台的控制装置。其中，所述云台的控制装置为上述实施例三所述的云台的控制装置。所述陀螺仪202、加速度计203分别与所述云台的控制装置中的第一处理器201相连。其中所述云台可以为两轴云台，也可以为三轴云台。
实施例九
又参见图9，本发明实施例提供一种用户侧设备，所述用户侧设备100包括上述实施例四所述的云台的控制装置。其中，所述用户侧设备100包括遥控器和安装有APP的智能设备中的至少一种。
实施例十
参见图12，本发明实施例提供一种云台的控制系统，所述云台的控制系统包括控制云台200的用户侧设备100。所述云台为上述实施例六所述的云台。具体地，所述云台200包括陀螺仪202、加速度计203和云台的控制装置。所述陀螺仪202、加速度计203分别与所述云台的控制装置中的第二处理器201相连。所述用户侧设备为上述实施例七所述的用户侧设备。
在一可行的实施例中，参见图13，用户侧设备同时包括遥控器和安装有APP的智能设备(例如手机)，在进行姿态序列的添加时，首先通过遥控器控制云台200运行到待添加姿态，然后在APP界面上点击添加确定按钮后由APP记录该待添加姿态的姿态信息，同时，用户可在APP上设 定所述待添加姿态切换至下一姿态的切换信息，例如，设定切换的时长为10s，另外，用户还可在APP上设定云台在所述待添加姿态停留的时长，例如，20s，从而完成姿态序列的输入。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示意性实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合所述实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
流程图中或在此以其他方式描述的任何过程或方法描述可以被理解为，表示包括一个或更多个用于实现特定逻辑功能或过程的步骤的可执行指令的代码的模块、片段或部分，并且本发明的优选实施例的范围包括另外的实现，其中可以不按所示出或讨论的顺序，包括根据所涉及的功能按基本同时的方式或按相反的顺序，来执行功能，这应被本发明的实施例所属技术领域的技术人员所理解。
在流程图中表示或在此以其他方式描述的逻辑和/或步骤，例如，可以被认为是用于实现逻辑功能的可执行指令的定序列表，可以具体实现在任何计算机可读介质中，以供指令执行系统、装置或设备(如基于计算机的系统、包括处理器的系统或其他可以从指令执行系统、装置或设备取指令并执行指令的系统)使用，或结合这些指令执行系统、装置或设备而使用。就本说明书而言，"计算机可读介质"可以是任何可以包含、存储、通信、传播或传输程序以供指令执行系统、装置或设备或结合这些指令执行系统、装置或设备而使用的装置。计算机可读介质的更具体的示例(非穷尽性列表)包括以下：具有一个或多个布线的电连接部(电子装置)，便携式计算机盘盒(磁装置)，随机存取存储器(RAM)，只读存储器(ROM)，可擦除可编辑只 读存储器(EPROM或闪速存储器)，光纤装置，以及便携式光盘只读存储器(CDROM)。另外，计算机可读介质甚至可以是可在其上打印所述程序的纸或其他合适的介质，因为可以例如通过对纸或其他介质进行光学扫描，接着进行编辑、解译或必要时以其他合适方式进行处理来以电子方式获得所述程序，然后将其存储在计算机存储器中。
应当理解，本发明的各部分可以用硬件、软件、固件或它们的组合来实现。在上述实施例中，多个步骤或方法可以用存储在存储器中且由合适的指令执行系统执行的软件或固件来实现。例如，如果用硬件来实现，和在另一实施例中一样，可用本领域公知的下列技术中的任一项或他们的组合来实现：具有用于对数据信号实现逻辑功能的逻辑门电路的离散逻辑电路，具有合适的组合逻辑门电路的专用集成电路，可编程门阵列(PGA)，现场可编程门阵列(FPGA)等。
本技术领域的普通技术人员可以理解实现上述实施方法携带的全部或部分步骤是可以通过程序来指令相关的硬件完成，所述的程序可以存储于一种计算机可读存储介质中，该程序在执行时，包括方法实施例的步骤之一或其组合。
此外，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模块中，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模块中。上述集成的模块既可以采用硬件的形式实现，也可以采用软件功能模块的形式实现。所述集成的模块如果以软件功能模块的形式实现并作为独立的产品销售或使用时，也可以存储在一个计算机可读取存储介质中。
上述提到的存储介质可以是只读存储器，磁盘或光盘等。尽管上面已经示出和描述了本发明的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型。

Claims (78)

  1. 一种云台的控制方法，其特征在于，所述方法包括：
    获取姿态序列，所述姿态序列包括至少三个姿态对应的云台姿态信息以及每个姿态对应的切换条件，所述切换条件用于指示所述云台由所述切换条件对应的当前姿态切换至所述姿态序列中所述当前姿态对应的下一姿态；
    接收开始指令；
    在接收到所述开始指令之后，按照所述姿态序列控制云台的姿态切换。
  2. 根据权利要求1所述的方法，其特征在于，所述切换条件包括：所述云台由当前姿态切换至下一姿态的时间信息。
  3. 根据权利要求2所述的方法，其特征在于，所述时间信息包括：所述云台由当前姿态切换至下一姿态的时间间隔或者所述云台在每个姿态的切换时刻。
  4. 根据权利要求3所述的方法，其特征在于，所述切换条件还包括：所述云台由当前姿态切换至下一姿态的切换速率变化信息。
  5. 根据权利要求1所述的方法，其特征在于，所述切换条件包括：所述云台在每一个姿态上的停留时长。
  6. 根据权利要求1所述的方法，其特征在于，所述云台姿态信息包括：云台的角度信息，所述角度信息是俯仰角、偏航角和横滚角中的至少一种。
  7. 根据权利要求1所述的方法，其特征在于，所述按照预设的姿态序列控制云台的姿态切换，包括：
    根据所述云台当前姿态对应的姿态信息和当前姿态对应的下一姿态的姿态信息，计算云台各个转动轴的姿态差；
    根据所述云台各个转动轴的姿态差，控制所述云台由所述当前姿态切换至所述下一姿态。
  8. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    接收所述姿态序列并保存。
  9. 根据权利要求8所述的方法，其特征在于，所述接收所述姿态序列并保存，之后还包括：
    接收新的姿态信息以及其对应的切换条件，并将所述新的姿态信息以及其对应的切换条件添加至所述姿态序列中。
  10. 根据权利要求8所述的方法，其特征在于，所述姿态序列由用户侧设备发送。
  11. 根据权利要求10所述的方法，其特征在于，所述用户侧设备为专用遥控器或者安装有APP的智能设备。
  12. 根据权利要求1所述的方法，其特征在于，所述接收到开始指令，之后还包括：
    复位所述云台至所述姿态序列的起始姿态。
  13. 根据权利要求1所述的方法，其特征在于，所述复位所述云台至所述姿态序列的起始姿态是在判断出所述云台的当前姿态为所述姿态序列中的最终姿态后执行的。
  14. 根据权利要求1所述的方法，其特征在于，每次切换所述云台的姿态，之后还包括：
    确定云台的第一姿态信息；
    确定云台的一个或多个轴的驱动电机的转动角度；
    根据所述第一姿态信息和所述转动角度确定姿态传感器的误差姿态信息；
    根据所述误差姿态信息修正所述第一姿态信息以得到云台的当前姿态信息。
  15. 根据权利要求14所述的方法，其特征在于，所述根据所述第一姿态信息和所述转动角度确定姿态传感器的误差姿态信息包括：
    根据所述转动角度确定云台的参考姿态信息，根据所述参考姿态信息和所述第一姿态信息确定姿态传感器的误差姿态信息。
  16. 根据权利要求15所述的方法，其特征在于，所述根据所述转动角度确定云台的参考姿态信息包括：
    将所述转动角度中的每一个换算相应的四元数，根据所述转动角度的四元数确定云台的参考姿态信息。
  17. 根据权利要求15或16所述的方法，其特征在于，所述根据所述转动角度确定云台的参考姿态信息包括：
    设置云台的基座的姿态信息；
    根据所述基座的姿态信息和所述转动角度确定云台的参考姿态信息。
  18. 根据权利要求15或16所述的方法，其特征在于，
    所述误差姿态信息为第一姿态信息与参考姿态信息之间的姿态差信息。
  19. 根据权利要求14所述的方法，其特征在于，所述根据所述误差姿态信息修正所述第一姿态信息以得到云台的当前姿态信息包括：
    根据所述误差姿态信息确定单位时间的误差姿态修正量，根据所述误差姿态信息修正量对第一姿态信息进行修正以得到云台的当前姿态信息。
  20. 一种云台的控制装置，其特征在于，所述装置包括第一处理器，其中所述第一处理器被配置为：
    获取姿态序列，所述姿态序列包括至少三个姿态对应的云台姿态信息以及每个姿态对应的切换条件，所述切换条件用于指示所述云台由所述切换条件对应的当前姿态切换至所述姿态序列中所述当前姿态对应的下一姿态；
    接收开始指令；
    在接收到所述开始指令之后，按照所述姿态序列控制云台的姿态切换。
  21. 根据权利要求20所述的装置，其特征在于，所述切换条件包括：所述云台由当前姿态切换至下一姿态的时间信息。
  22. 根据权利要求21所述的装置，其特征在于，所述时间信息包括：所述云台由当前姿态切换至下一姿态的时间间隔或者所述云台在每个姿态 的切换时刻。
  23. 根据权利要求22所述的装置，其特征在于，所述切换条件还包括：所述云台由当前姿态切换至下一姿态的切换速率变化信息。
  24. 根据权利要求20所述的装置，其特征在于，所述切换条件包括：所述云台在每一个姿态上的停留时长。
  25. 根据权利要求20所述的装置，其特征在于，所述云台姿态信息包括：云台的角度信息，所述角度信息是俯仰角、偏航角和横滚角中的至少一种。
  26. 根据权利要求20所述的装置，其特征在于，所述第一处理器还被配置为：
    所述按照预设的姿态序列控制云台的姿态切换，包括：
    根据所述云台当前姿态对应的姿态信息和当前姿态对应的下一姿态的姿态信息，计算云台各个转动轴的姿态差；
    根据所述云台各个转动轴的姿态差，控制所述云台由所述当前姿态切换至所述下一姿态。
  27. 根据权利要求20所述的装置，其特征在于，所述第一处理器还被配置为：
    接收所述姿态序列并保存。
  28. 根据权利要求27所述的装置，其特征在于，所述第一处理器还被配置为：
    所述接收所述姿态序列并保存，之后还包括：
    接收新的姿态信息以及其对应的切换条件，并将所述新的姿态信息以及其对应的切换条件添加至所述姿态序列中。
  29. 根据权利要求27所述的装置，其特征在于，所述姿态序列由用户侧设备发送。
  30. 根据权利要求29所述的装置，其特征在于，所述用户侧设备为专用遥控器或者安装有APP的智能设备。
  31. 根据权利要求20所述的装置，其特征在于，所述第一处理器还被配置为：
    所述接收到开始指令，之后还包括：
    复位所述云台至所述姿态序列的起始姿态。
  32. 根据权利要求20所述的装置，其特征在于，所述第一处理器还被配置为：
    所述复位所述云台至所述姿态序列的起始姿态是在判断出所述云台的当前姿态为所述姿态序列中的最终姿态后执行的。
  33. 根据权利要求20所述的装置，其特征在于，所述第一处理器还被配置为：
    每次切换所述云台的姿态，之后还包括：
    确定云台的第一姿态信息；
    确定云台的一个或多个轴的驱动电机的转动角度；
    根据所述第一姿态信息和所述转动角度确定姿态传感器的误差姿态信息；
    根据所述误差姿态信息修正所述第一姿态信息以得到云台的当前姿态信息。
  34. 根据权利要求33所述的装置，其特征在于，所述第一处理器还被配置为：
    所述根据所述第一姿态信息和所述转动角度确定姿态传感器的误差姿态信息包括：
    根据所述转动角度确定云台的参考姿态信息，根据所述参考姿态信息和所述第一姿态信息确定姿态传感器的误差姿态信息。
  35. 根据权利要求34所述的装置，其特征在于，所述第一处理器还被配置为：
    所述根据所述转动角度确定云台的参考姿态信息包括：
    将所述转动角度中的每一个换算相应的四元数，根据所述转动角度的 四元数确定云台的参考姿态信息。
  36. 根据权利要求34或35所述的装置，其特征在于，所述第一处理器还被配置为：
    所述根据所述转动角度确定云台的参考姿态信息包括：
    设置云台的基座的姿态信息；
    根据所述基座的姿态信息和所述转动角度确定云台的参考姿态信息。
  37. 根据权利要求34或35所述的装置，其特征在于，所述第一处理器还被配置为：
    所述误差姿态信息为第一姿态信息与参考姿态信息之间的姿态差信息。
  38. 根据权利要求33所述的装置，其特征在于，所述第一处理器还被配置为：
    所述根据所述误差姿态信息修正所述第一姿态信息以得到云台的当前姿态信息包括：
    根据所述误差姿态信息确定单位时间的误差姿态修正量，根据所述误差姿态信息修正量对第一姿态信息进行修正以得到云台的当前姿态信息。
  39. 一种云台的控制方法，其特征在于，所述方法包括：
    获取用户输入的姿态序列，所述姿态序列包括至少三个姿态对应的云台姿态信息以及每个姿态对应的切换条件，所述切换条件用于指示所述云台由所述切换条件对应的当前姿态切换至所述姿态序列中所述当前姿态对应的下一姿态；
    发送所述姿态序列和开始指令至云台，所述开始指令用于指示所述云台按照所述姿态序列来进行姿态的切换。
  40. 根据权利要求39所述的方法，其特征在于，所述切换条件包括：所述云台由当前姿态切换至下一姿态的时间信息。
  41. 根据权利要求40所述的方法，其特征在于，所述时间信息包括：所述云台由当前姿态切换至下一姿态的时间间隔或者所述云台在每个姿态 的切换时刻。
  42. 根据权利要求41所述的方法，其特征在于，所述切换条件还包括：所述云台由当前姿态切换至下一姿态的切换速率变化信息。
  43. 根据权利要求39所述的方法，其特征在于，所述切换条件包括：所述云台在每一个姿态上的停留时长。
  44. 根据权利要求39所述的方法，其特征在于，所述发送开始指令至云台，之后还包括：
    显示所述云台进行姿态切换的进度状态。
  45. 根据权利要求44所述的方法，其特征在于，所述进度状态为进度值和进度条中的至少一种。
  46. 根据权利要求45所述的方法，其特征在于，所述进度值为第一位移与第二位移的比值，所述第一位移为所述云台由所述姿态序列的起始姿态切换至所述当前姿态的位移，所述第二位移为所述云台由所述姿态序列的起始姿态切换至所述姿态序列的最终姿态的位移；
    所述进度条与所述进度值相对应。
  47. 根据权利要求39所述的方法，其特征在于，所述获取用户输入的姿态序列，包括：
    显示用于展现所述姿态序列中的姿态信息的图形；
    接收用户拖动所述图形产生的姿态变化信息，并在接收到添加指令后将所述添加指令所对应的图形中的姿态作为新的姿态更新至所述姿态序列。
  48. 根据权利要求47所述的方法，其特征在于，所述图形显示在二维坐标系中，所述二维坐标系的一个坐标轴用于展现云台俯仰轴的转动角度，另一个坐标轴用于展现云台横滚轴的转动角度。
  49. 根据权利要求39所述的方法，其特征在于，所述发送开始指令至云台，之后还包括：
    显示设定的云台当前姿态的姿态信息。
  50. 根据权利要求49所述的方法，其特征在于，所述发送开始指令至云台，之后还包括：
    利用图形显示设定的云台各姿态的姿态信息。
  51. 根据权利要求39所述的方法，其特征在于，所述方法还包括：
    显示所述云台由当前姿态切换至下一姿态的实时切换时间。
  52. 根据权利要求39所述的方法，其特征在于，所述云台姿态信息包括：云台的角度信息，所述角度信息是俯仰角、偏航角和横滚角中的至少一种。
  53. 根据权利要求39所述的方法，其特征在于，所述发送开始指令至云台，之后还包括：
    控制所述云台切换至指定姿态；
    记录所述指定姿态对应的姿态信息。
  54. 根据权利要求53所述的方法，其特征在于，所述记录指定姿态对应的姿态信息，之后还包括：
    发送所述指定姿态对应的姿态信息以及所述指定姿态对应的切换条件至云台。
  55. 根据权利要求54所述的方法，其特征在于，所述记录所述指定姿态对应的姿态信息是在所述云台切换至指定姿态并保持预设时间后执行的。
  56. 根据权利要求55所述的方法，其特征在于，所述方法还包括：
    显示所述云台切换至所述指定姿态后的停留时长。
  57. 根据权利要求53所述的方法，其特征在于，所述记录指定姿态对应的姿态信息是在接收到添加指令后执行的。
  58. 根据权利要求53所述的方法，其特征在于，所述发送开始指令至云台，之后还包括：
    接收删除指令，删除所述姿态序列中所述删除指令对应的指定姿态。
  59. 一种云台的控制装置，其特征在于，所述装置包括第二处理器； 其中所述第二处理器被配置为：
    获取用户输入的姿态序列，所述姿态序列包括至少三个姿态对应的云台姿态信息以及每个姿态对应的切换条件，所述切换条件用于指示所述云台由所述切换条件对应的当前姿态切换至所述姿态序列中所述当前姿态对应的下一姿态；
    发送所述姿态序列和开始指令至云台，所述开始指令用于指示所述云台按照所述姿态序列来进行姿态的切换。
  60. 根据权利要求59所述的装置，其特征在于，所述切换条件包括：所述云台由当前姿态切换至下一姿态的时间信息。
  61. 根据权利要求60所述的装置，其特征在于，所述时间信息包括：所述云台由当前姿态切换至下一姿态的时间间隔或者所述云台在每个姿态的切换时刻。
  62. 根据权利要求61所述的装置，其特征在于，所述切换条件还包括：所述云台由当前姿态切换至下一姿态的切换速率变化信息。
  63. 根据权利要求59所述的装置，其特征在于，所述切换条件包括：所述云台在每一个姿态上的停留时长。
  64. 根据权利要求59所述的装置，其特征在于，所述第二处理器还被配置为：
    所述发送开始指令至云台，之后还包括：
    显示所述云台进行姿态切换的进度状态。
  65. 根据权利要求64所述的装置，其特征在于，所述进度状态为进度值和进度条中的至少一种。
  66. 根据权利要求65所述的装置，其特征在于，所述进度值为第一位移与第二位移的比值，所述第一位移为所述云台由所述姿态序列的起始姿态切换至所述当前姿态的位移，所述第二位移为所述云台由所述姿态序列的起始姿态切换至所述姿态序列的最终姿态的位移；
    所述进度条与所述进度值相对应。
  67. 根据权利要求59所述的装置，其特征在于，所述第二处理器还被配置为：
    所述获取用户输入的姿态序列，包括：
    显示用于展现所述姿态序列中的姿态信息的图形；
    接收用户拖动所述图形产生的姿态变化信息，并在接收到添加指令后将所述添加指令所对应的图形中的姿态作为新的姿态更新至所述姿态序列。
  68. 根据权利要求67所述的装置，其特征在于，所述图形显示在二维坐标系中，所述二维坐标系的一个坐标轴用于展现云台俯仰轴的转动角度，另一个坐标轴用于展现云台横滚轴的转动角度。
  69. 根据权利要求59所述的装置，其特征在于，所述第二处理器还被配置为：
    所述发送开始指令至云台，之后还包括：
    显示设定的云台当前姿态的姿态信息。
  70. 根据权利要求69所述的装置，其特征在于，所述第二处理器还被配置为：
    所述发送开始指令至云台，之后还包括：
    利用图形显示设定的云台各姿态的姿态信息。
  71. 根据权利要求59所述的装置，其特征在于，所述第二处理器还被配置为：
    显示所述云台由当前姿态切换至下一姿态的实时切换时间。
  72. 根据权利要求59所述的装置，其特征在于，所述云台姿态信息包括：云台的角度信息，所述角度信息是俯仰角、偏航角和横滚角中的至少一种。
  73. 根据权利要求59所述的装置，其特征在于，所述第二处理器还被配置为：
    所述发送开始指令至云台，之后还包括：
    控制所述云台切换至指定姿态；
    记录所述指定姿态对应的姿态信息。
  74. 根据权利要求73所述的装置，其特征在于，所述第二处理器还被配置为：
    所述记录指定姿态对应的姿态信息，之后还包括：
    发送所述指定姿态对应的姿态信息以及所述指定姿态对应的切换条件至云台。
  75. 根据权利要求74所述的装置，其特征在于，所述第二处理器还被配置为：
    所述记录所述指定姿态对应的姿态信息是在所述云台切换至指定姿态并保持预设时间后执行的。
  76. 根据权利要求75所述的装置，其特征在于，所述第二处理器还被配置为：
    显示所述云台切换至所述指定姿态后的停留时长。
  77. 根据权利要求73所述的装置，其特征在于，所述第二处理器还被配置为：
    所述记录指定姿态对应的姿态信息是在接收到添加指令后执行的。
  78. 根据权利要求73所述的装置，其特征在于，所述第二处理器还被配置为：
    所述发送开始指令至云台，之后还包括：
    接收删除指令，删除所述姿态序列中所述删除指令对应的指定姿态。
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