WO2019242553A1 - 控制拍摄装置的拍摄角度的方法、控制装置及可穿戴设备 - Google Patents

控制拍摄装置的拍摄角度的方法、控制装置及可穿戴设备 Download PDF

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Publication number
WO2019242553A1
WO2019242553A1 PCT/CN2019/090953 CN2019090953W WO2019242553A1 WO 2019242553 A1 WO2019242553 A1 WO 2019242553A1 CN 2019090953 W CN2019090953 W CN 2019090953W WO 2019242553 A1 WO2019242553 A1 WO 2019242553A1
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Prior art keywords
wearable device
shooting
angle
quaternion
adjustment instruction
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PCT/CN2019/090953
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English (en)
French (fr)
Inventor
冯银华
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深圳市道通智能航空技术有限公司
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Publication of WO2019242553A1 publication Critical patent/WO2019242553A1/zh

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
    • 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

Definitions

  • Embodiments of the present invention relate to the technical field of image shooting, and in particular, to a method for controlling a shooting angle of a shooting device, a control device for a shooting angle of a shooting device, and a wearable device.
  • UAV Unmanned Aerial Vehicles
  • UAV Unmanned Aerial Vehicles
  • UAV is a new concept equipment in rapid development. It has the advantages of small size, low cost, convenient use, low requirements for the combat environment, and strong battlefield survivability.
  • UAVs are equipped with multiple types of image acquisition devices, such as cameras and video cameras, through the gimbal, so that users can see the videos, images, or pictures taken by the UAV in real time. Among them, in order to obtain images, videos, videos, or pictures with different perspectives, it is necessary to control or adjust the shooting angle of a shooting device such as an aircraft.
  • the following two methods are generally used to control or adjust the shooting angle of the shooting device: 1. By turning the wheel on the remote control (the left indicates that the degree is getting smaller and smaller, and the right is getting larger and larger, the pitch axis range is -90 degrees to 0 Degrees) to control or adjust the shooting angle of the shooting device; 2. Control or adjust the shooting angle of the shooting device by manually adjusting the terminal interface progress bar of the terminal device or manually entering a specific angle value.
  • the manual shooting needs to be adjusted by manually turning the pulley on the remote control, or manually adjusting the terminal interface progress bar of the terminal device or manually inputting a specific angle.
  • the shooting angle of the device to obtain images, videos, images or pictures from different perspectives, somatosensory control cannot be achieved, and the user experience is poor.
  • Embodiments of the present invention provide a method for controlling a shooting angle of a shooting device, a controlling device for a shooting angle of a shooting device, and a wearable device, which can realize somatosensory control and improve user experience.
  • an embodiment of the present invention provides a method for controlling a shooting angle of a shooting device.
  • a remote controller is connected to the shooting device and a wearable device, and the wearable device displays the shooting device.
  • the captured image, the method includes:
  • the posture parameter of the wearable device includes a posture angle of the wearable device
  • the obtaining the posture parameter of the wearable device according to the acceleration of the wearable device includes:
  • the preset second quaternion is used to represent Rotate a quaternion of a first preset angle around the z-axis of the wearable device coordinate system
  • the preset third quaternion is used to indicate that a second pre-rotation is rotated about the x-axis of the wearable device coordinate system.
  • obtaining the attitude angle of the wearable device according to the first quaternion, a preset second quaternion, and a preset third quaternion includes:
  • a calculation formula for obtaining a posture parameter of the wearable device according to the acceleration of the wearable device is:
  • ( ⁇ , ⁇ , ⁇ ) is the attitude angle of the wearable device
  • ⁇ is the pitch angle in the attitude angle of the wearable device
  • ⁇ is the roll in the attitude angle of the wearable device.
  • Angle, ⁇ is the yaw angle in the attitude angle of the wearable device
  • (X, Y, Z) is the acceleration of the wearable device
  • (Q, X, Y, Z) is the first four Quaternion, satisfy: PI is expressed as a pi.
  • the photographing device is mounted on a gimbal
  • the generating a shooting angle adjustment instruction according to a posture parameter of the wearable device and shooting angle information of the shooting device includes:
  • the controlling the shooting angle of the shooting device according to the shooting angle adjustment instruction includes:
  • the angle of the pan / tilt head is adjusted to adjust the shooting angle of the shooting device.
  • the posture parameter of the wearable device further includes an angular velocity of the wearable device, and the method further includes;
  • the method further includes:
  • the orientation information of the photographing device is displayed on the wearable device in real time.
  • the wearable device is provided with an accelerometer, and the acceleration of the wearable device is acquired by the accelerometer.
  • an embodiment of the present invention provides a control device for a shooting angle of a shooting device.
  • the control device is respectively connected to the shooting device and a wearable device, and the wearable device displays a photo taken by the shooting device.
  • Image the device includes:
  • An acceleration acquisition module configured to acquire the acceleration of the wearable device during the movement of the wearable device
  • a posture parameter determining module configured to obtain a posture parameter of the wearable device according to the acceleration of the wearable device
  • a shooting angle information acquisition module configured to obtain shooting angle information of the shooting device
  • a shooting angle adjustment instruction generating module is configured to generate a shooting angle adjustment instruction according to the posture parameter of the wearable device and the shooting angle information of the shooting device, and the shooting angle adjustment instruction is used to adjust the shooting angle of the shooting device ;
  • a shooting angle adjustment module is configured to control a shooting angle of the shooting device according to the shooting angle adjustment instruction.
  • the posture parameter of the wearable device includes a posture angle of the wearable device
  • the attitude parameter determination module is specifically configured to:
  • the preset second quaternion is used to represent Rotate a quaternion of a first preset angle around the z-axis of the wearable device coordinate system
  • the preset third quaternion is used to indicate that a second pre-rotation is rotated about the x-axis of the wearable device coordinate system.
  • the attitude parameter determination module obtains the attitude angle of the wearable device according to the first quaternion, a preset second quaternion, and a preset third quaternion, including: :
  • the calculation formula for the posture parameter of the wearable device based on the acceleration of the wearable device is:
  • ( ⁇ , ⁇ , ⁇ ) is the attitude angle of the wearable device
  • ⁇ is the pitch angle in the attitude angle of the wearable device
  • ⁇ is the roll in the attitude angle of the wearable device.
  • Angle, ⁇ is the yaw angle in the attitude angle of the wearable device
  • (X, Y, Z) is the acceleration of the wearable device
  • (Q, X, Y, Z) is the first four Quaternion, satisfy: PI is expressed as a pi.
  • the photographing device is mounted on a gimbal
  • the shooting angle adjustment instruction generating module is specifically configured to:
  • the shooting angle adjustment module is specifically configured to:
  • the posture parameter of the wearable device further includes an angular velocity of the wearable device, and the device further includes;
  • An angular velocity adjustment instruction generating module configured to generate an angular velocity adjustment instruction according to the angular velocity of the wearable device, and the angular velocity adjustment instruction is used to adjust the angular velocity of the shooting of the photographing device;
  • the angular velocity adjustment module is configured to adjust the angular velocity of the pan / tilt according to the angular velocity adjustment instruction, so as to adjust the angular velocity of the photographing by the photographing device.
  • the apparatus further includes:
  • An orientation information display module is configured to display the orientation information of the photographing device on the wearable device in real time.
  • the wearable device is provided with an accelerometer, and the acceleration of the wearable device is acquired by the accelerometer.
  • an embodiment of the present invention provides a remote controller for controlling a shooting angle of a shooting device, including:
  • At least one processor At least one processor
  • a memory connected in communication with the at least one processor; wherein,
  • the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor, so that the at least one processor can execute the above-mentioned control of the shooting angle of the shooting device. method.
  • an embodiment of the present invention provides a photographing system, including: a photographing device, the remote controller described above, and a wearable device.
  • the remote controller is respectively connected to the photographing device and the wearable device.
  • the remote controller is used to control a shooting angle of the shooting device.
  • the photographing device includes a camera, an unmanned aerial vehicle having a photographing function, or a fixed device having a photographing function.
  • an embodiment of the present invention provides a computer program product.
  • the computer program product includes a computer program stored on a non-volatile computer-readable storage medium.
  • the computer program includes program instructions. When the instructions are executed by a computer, the computer is caused to execute the method for controlling the shooting angle of the shooting device as described above.
  • an embodiment of the present invention further provides a non-volatile computer-readable storage medium, where the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to cause a computer to execute as described above.
  • the shooting angle of the shooting device is adjusted by using the attitude parameter of the wearable device and the shooting angle information of the shooting device, so as to realize somatosensory control, avoiding the need to manually dial the pulley on the remote control, or manually adjusting
  • the progress angle of the terminal interface of the terminal device or manually inputting a specific angle to adjust the shooting angle of the shooting device effectively improves the user experience.
  • FIG. 1 is a schematic diagram of an application environment of a method for controlling a shooting angle of a shooting device according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a VR device according to an embodiment of the present invention.
  • FIG. 3 is a schematic flowchart of a method for controlling a shooting angle of a shooting device according to an embodiment of the present invention
  • FIG. 4 is a schematic flowchart of another method for controlling a shooting angle of a shooting device according to an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of a shooting angle control device of a shooting device according to an embodiment of the present invention.
  • FIG. 6 is a schematic diagram of a hardware structure of a remote controller according to an embodiment of the present invention.
  • FIG. 7 is a schematic diagram of a shooting system according to an embodiment of the present invention.
  • FIG. 1 is a schematic diagram of an application environment of a method for controlling a shooting angle of a shooting device provided by the present invention.
  • the application environment includes: a shooting device 10, a wearable device 20, a remote control 30, and a user (not shown).
  • the photographing device 10 is used for photographing an image (or a video, an image, or a screen), and transmitting the photographed image to the wearable device 20 so that the wearable device 20 displays the image photographed by the photographing device 10.
  • the remote controller 30 is connected to the photographing device 10 and the wearable device, respectively. The remote controller 30 is used to control a shooting angle of the shooting device 10.
  • the wearable device 20 when the user wears the wearable device 20, the movement of the wearable device 20 is driven by the user's movement, and the acceleration of the wearable device is obtained through the acceleration collection of the wearable device 20; then, the wearable device 20 will be able to The acceleration of the wearable device is transmitted to the remote control 30 so that the remote control 30 obtains the posture parameters of the wearable device according to the acceleration of the wearable device, and the shooting device 10 transmits the shooting angle information of the shooting device to the remote control 30 so that the remote control 30
  • the shooting angle adjustment instruction is generated according to the attitude parameter of the wearable device and the shooting angle information of the shooting device, so that the remote control 30 controls the shooting angle of the shooting device 10 according to the shooting angle adjustment instruction, thereby realizing the body-sensing control of the shooting angle of the shooting device 10 .
  • the photographing device 10 may be any device with a suitable photographing function.
  • the photographing device 10 may include a camera, an unmanned aerial vehicle having a photographing function, or a fixed device having a photographing function.
  • UAV unmanned aerial vehicle
  • UAVs are unmanned aircraft with mission loads, operated by remote control equipment or self-contained program control devices.
  • the UAV may be a rotorcraft, for example, a multi-rotor aircraft propelled by multiple propulsion devices through air. Embodiments of the present invention are not limited to this.
  • the UAV may also be other Type of UAV or removable device.
  • UAV includes but is not limited to: airframe, flight control system, gimbal, image acquisition device, image transmission module, etc.
  • the flight control system is installed in the fuselage, the gimbal is installed on the fuselage, and the image acquisition device is mounted on the gimbal.
  • the flight control system can be coupled with the gimbal, image acquisition device, and image transmission module to achieve communication.
  • the fuselage may include a center frame and one or more arms connected to the center frame. One or more arms extend radially from the center frame.
  • the flight control system has the ability to monitor and control UAV flights and missions, and includes a set of equipment for drone launch and recovery control.
  • the flight control system is used to control UAV flight, for example, UAV flight can be controlled according to attitude parameters. It can be understood that the flight control system can receive attitude parameters and its own shooting angle information sent from other devices, and generate shooting angle adjustment instructions to control the UAV according to the attitude parameters and its own shooting angle information; or can receive other devices A shooting angle adjustment instruction generated according to the attitude parameter and shooting angle information is sent to control the UAV.
  • the gimbal is used to carry an image acquisition device.
  • a gimbal motor is set on the gimbal, and the flight control system can control the gimbal, and specifically control the motion (such as the rotation speed) of the gimbal motor to adjust the UAV shooting angle.
  • the PTZ motor can be a brushless motor or a brush motor. It can also be understood that the gimbal can be located at the top of the fuselage or at the bottom of the fuselage.
  • the image acquisition device may be a device for acquiring images, such as a camera, a camera phone, or a video camera.
  • the image acquisition device may communicate with the flight control system and perform shooting under the control of the flight control system.
  • the flight control system controls the shooting frequency of the images captured by the image acquisition device, that is, how many times the images are captured per unit time.
  • the flight control system controls the shooting angle of the image acquisition device through the pan / tilt.
  • the image transmission module is used to transmit the pictures captured by the UAV in the sky in a real-time and stable manner to the ground wireless image transmission remote control receiving device, such as the remote controller 30.
  • the shooting device can be an independent camera or a camera mounted on an unmanned aerial vehicle, that is, the shooting device can be an integral part of the unmanned aerial vehicle.
  • the wearable device 20 may be any suitable wearable device.
  • the wearable device 20 is a virtual reality (VR) device 20a and smart glasses, and the VR device 20a is a device that can provide users with an immersive feeling.
  • VR virtual reality
  • the following description of the present invention uses the VR device 20a as an example of the wearable device 20.
  • the VR device 20a can pull the real-time image (or video, video, or screen) transmitted by the shooting device 10 through the optical system to enlarge it from a distance, which is almost full of the field of view of the person, thereby creating an immersive feeling, allowing the user to feel like being in it .
  • the VR device 20 a includes a display device 201 and a smart terminal 202.
  • the smart terminal 202 is connected to a display device 201.
  • the display device 201 may be various suitable VR headsets, such as VR glasses, VR goggles, VR helmets, or other head-mounted display devices.
  • the display device 201 is configured to display an image captured by the photographing device 10 and provide a user with an immersive feeling.
  • the display principle of the display device 201 is as follows: the left and right eye screens respectively display the left and right eye images, and the human eye acquires such a difference of information and generates a three-dimensional feeling in the mind, thereby providing the user with an immersive feeling.
  • An interface is provided on the display device 201 so that the smart terminal 202 is connected to the display device 201.
  • the display device 201 is provided with a USB interface, and the image captured by the shooting device 10 received by the smart terminal 202 is displayed on the display device 201.
  • the display device 201 can be worn on any suitable position of the user's head, as long as the image captured by the shooting device 10 is within the user's visible range, that is, the display device according to the embodiment of the present invention
  • the position where 201 is worn is not specifically limited.
  • the smart terminal 202 may be any suitable terminal device, such as a mobile phone, a small tablet, and the like.
  • a mobile phone as an example of the smart terminal 202.
  • Various mobile phone sensors can be set in the mobile phone.
  • Mobile phone sensors are components that are sensed by the chip on the mobile phone, such as distance value, temperature value, brightness value and pressure value.
  • the mobile phone sensor includes, but is not limited to, an accelerometer, a gyroscope, a magnetic force sensor, a mode sensor, a pressure sensor, a compass, and the like.
  • the VR device 20 a can transmit data collected by the mobile phone sensor to the remote controller 30, so that the remote controller 30 can obtain the posture parameters of the VR device 20 a according to the data, and then adjust the shooting angle of the shooting device 10. For example, the acceleration of the VR device 20a during the movement of the VR device 20a is obtained through an accelerometer, and the acceleration of the VR device 20a is transmitted to the remote controller 30.
  • the VR device 20a may be an integrated VR device or a separate VR device, that is, a mobile terminal display device.
  • the integrated VR device refers to a VR headset device with an independent processor, which has functions of independent calculation, input and output, that is, the functions implemented by the above-mentioned intelligent terminal 202 can be integrated on the processor of the VR device.
  • the mobile terminal head display device refers to that the above-mentioned smart terminal 202 and the above-mentioned display device 201 can be separated and independently implement their own functions.
  • the remote control 30 may be any suitable remote control device.
  • the remote controller 30 is an aircraft that is controlled by a remote control unit on the ground (ship) surface or an aerial platform through an on-board flight control system.
  • the remote controller 30 is communicatively connected with the photographing device 10 and the wearable device 20 respectively.
  • the remote controller 30 is the main body that executes the method for controlling the shooting angle of the photographing device, that is, the remote controller 30 is used to control the shooting angle of the photographing device 10.
  • the remote control 30 controls the shooting angle of the shooting device 10 according to the shooting angle adjustment instruction. Specifically, the image transmission module of the remote control 30 and the picture transmission module on the shooting device 10 are used to implement communication with the shooting device 10.
  • the shooting angle adjustment instruction for controlling the shooting angle is transmitted from the remote control 30 to the shooting device 10.
  • the shooting device 10 uses the above-mentioned UAV as an example.
  • the remote control 30 transmits a shooting angle adjustment instruction for controlling the shooting angle to the UAV.
  • the transmission module and the image transmission module are connected to the UAV's flight control system, the flight control system is connected to the ESC, and then the ESC is connected to the gimbal's gimbal motor lead-out wire. The speed of the motor is controlled by the ESC to adjust the UAV shooting angle.
  • the shooting device 10 and the wearable device 20 have a certain distance, especially for some high-altitude shooting, the shooting device 10 and the wearable device 20 are usually far away. In order to achieve long-distance control shooting The shooting angle of the device 10 needs to be controlled by the remote controller 30.
  • FIG. 3 is a schematic flowchart of a method for controlling a shooting angle of a shooting device according to an embodiment of the present invention.
  • This method is suitable for adjusting the shooting angle of various shooting devices, such as unmanned aerial vehicles and cameras.
  • This method can be performed by various remote control devices, such as a remote control.
  • the remote controller is respectively connected to a photographing device and a wearable device, and the wearable device can be worn on a user's head, and the wearable device displays an image taken by the photographing device.
  • the wearable device may be various wearable devices, such as a VR device and the like.
  • the method for controlling a shooting angle of a shooting device includes:
  • a smart terminal such as a mobile phone is provided in the wearable device.
  • mobile phones carry various mobile phone sensors, such as accelerometers, gyroscopes, magnetic sensors, compasses, etc. Therefore, when the user wears the wearable device and the movement of the wearable device is caused by the movement of his head, the movement data of the wearable device can be collected through the mobile phone sensor. Specifically, the acceleration of the wearable device is acquired by the accelerometer.
  • acquiring the acceleration of the wearable device by the remote controller specifically includes receiving the acceleration of the wearable device acquired through the accelerometer.
  • the acceleration of the wearable device may be a three-axis acceleration, that is, accelerations (X, Y, Z) in the directions of the three coordinate axes of the wearable device coordinate system .
  • the posture parameter of the wearable device includes a posture angle of the wearable device.
  • the acceleration (X, Y, Z) obtained is converted into a quaternion.
  • the root cause of the universal joint lock phenomenon is that the rotation matrix is sequentially performed. It is assumed that the rotation is about the x-axis, then the y-axis, and finally the z-axis. This causes the object to actually rotate around its own coordinate system.
  • the x-axis rotation is not the x-axis rotation of the inertial frame.
  • the performance is that under an Euler angle (x1, y1, z1), changing the value of x1, the object will rotate around the x-axis of the object's own coordinate system, instead of the x-axis of the world's inertial system. Finally, when the x-axis of the object is rotated to coincide with the z-axis of the inertial system, the x1 and z1 rotation results of the Euler angle are the same, and one dimension is lost. This is the universal joint lock phenomenon.
  • the system that uses three quantities to represent the orientation of the three-dimensional space will have the problem of the gimbal lock phenomenon, and the description by the quaternion can effectively avoid the gimbal lock phenomenon.
  • the remote controller based on the acceleration of the wearable device, to obtain the posture parameters of the wearable device includes: converting the acceleration of the wearable device into a first quaternion; and according to the first quaternion , A preset second quaternion and a preset third quaternion to obtain the attitude angle of the wearable device, and the preset second quaternion is used to represent a coordinate system around the wearable device
  • the z-axis rotates the quaternion of the first preset angle
  • the preset third quaternion is used to indicate that the quaternion of the second preset angle is rotated around the x-axis of the wearable device coordinate system.
  • the remote control obtaining the attitude angle of the wearable device according to the first quaternion, the preset second quaternion, and the preset third quaternion includes: After the second quaternion is cross-multiplied with the preset third quaternion, a fourth quaternion is obtained; according to the fourth quaternion and the first quaternion, the available The attitude angle of the wearable device.
  • the preset second quaternion ROT 1 is used to represent a quaternion rotated by a first preset angle around the z-axis of the wearable device coordinate system.
  • the preset second quaternion ROT 1 is used to Representing a quaternion rotated 90 around the z-axis of the wearable device coordinate system
  • PI is expressed as a pi.
  • PI 3.14159265358979323846.
  • the preset third quaternion ROT 2 is used to represent a quaternion that rotates a second preset angle around the x-axis of the wearable device coordinate system.
  • the quaternion obtained by cross-multiplying Q and the fourth quaternion ROT is normalized to obtain a quaternion used to represent the attitude angle of the wearable device, and then based on the quaternion used to represent the wearable device.
  • the quaternion of the attitude angle and the attitude angle conversion equation are used to obtain the attitude angle ( ⁇ , ⁇ , ⁇ ) of the wearable device.
  • normalization refers to a dimensionless processing method, which makes the absolute value of the numerical value of the physical system into some relative value relationship in order to simplify the calculation and reduce the magnitude. The normalization process does not affect the final calculated attitude angle value, only to simplify the calculation and reduce the magnitude.
  • a calculation formula for obtaining the posture parameter of the wearable device according to the acceleration of the wearable device is:
  • ( ⁇ , ⁇ , ⁇ ) is the attitude angle of the wearable device
  • ⁇ is the elevation angle in the attitude angle of the wearable device
  • ⁇ is the angle in the attitude angle of the wearable device.
  • Rolling angle ⁇ is the yaw angle in the attitude angle of the wearable device
  • (X, Y, Z) is the acceleration of the wearable device
  • (Q, X, Y, Z) is the first Quaternions that satisfy: PI is expressed as a pi.
  • the remote controller can obtain the attitude parameter of the wearable device according to the acceleration of the wearable device, wherein the attitude parameter is an attitude angle.
  • the above method can avoid gimbal lock on the one hand and ensure the stability of the data; on the other hand, the space occupied by the data in the calculation process is smaller than that of the orthogonal matrix, where the matrix needs to store 9 numbers, and this calculation method only 4 numbers are required, which can effectively reduce the space occupied by the data and improve the operation speed.
  • the shooting angle of the shooting device is mainly the adjustment of the pitch angle and the roll angle, that is, in some embodiments, if the control of the shooting angle is not high, the above can be used between
  • the preset second quaternion ROT 1 replaces the above-mentioned fourth quaternion for the attitude angle body, that is, the quaternion obtained by cross-multiplying Q with the preset second quaternion ROT 1 is directly returned.
  • a quaternion representing the attitude angle of the wearable device is obtained, and then based on the quaternion and attitude angle conversion equation representing the attitude angle of the wearable device, the attitude angle of the wearable device ( ⁇ , ⁇ , ⁇ ).
  • the attitude parameter of the wearable device further includes an angular velocity of the wearable device.
  • the remote control obtaining the angular velocity of the wearable device according to the acceleration of the wearable device may include: obtaining the attitude angle of the wearable device according to the acceleration of the wearable device; and according to the wearable device To obtain the angular velocity of the wearable device.
  • the attitude angle of the wearable device can be obtained based on the above-mentioned calculation method, and then the differential angle of the wearable device is combined with the differential equation to obtain the angular velocity of the wearable device.
  • the shooting angle information of the shooting device is current shooting angle information of the shooting device, such as the current angle of the shooting device.
  • the shooting angle adjustment instruction is used to adjust a shooting angle of the shooting device.
  • the remote controller Because the attitude parameter of the wearable device includes the attitude angle of the wearable device, the remote controller generates a shooting angle adjustment instruction according to the attitude parameter of the wearable device and the shooting angle information of the shooting device, and specifically includes: The attitude angle of the wearable device and the shooting angle information of the shooting device are used to generate a shooting angle adjustment instruction.
  • the remote controller needs to obtain the shooting angle information of the shooting device and the attitude parameter of the wearable device in advance, so as to determine the shooting angle of the shooting device that needs to be adjusted finally.
  • the shooting angle information of the shooting device that is, the current angle of the shooting device is ( ⁇ 1 , ⁇ 1 , ⁇ 1 );
  • the attitude parameter of the wearable device is also the attitude angle of the wearable device is ( ⁇ 2 , ⁇ 2 , ⁇ 2 ); according to ( ⁇ 1 , ⁇ 1 , ⁇ 1 ) and ( ⁇ 2 , ⁇ 2 , ⁇ 2 ), it can be obtained that the angle that the shooting device needs to be adjusted, so that according to the angle that needs to be adjusted, a shooting angle adjustment is generated An instruction to adjust a shooting angle of the shooting device.
  • the photographing device is mounted on a gimbal.
  • the remote control according to the shooting angle adjustment instruction to control the shooting angle of the shooting device specifically includes: adjusting the angle of the pan / tilt according to the shooting angle adjustment instruction to adjust the shooting angle of the shooting device.
  • a shooting angle adjustment instruction generated according to the attitude parameter of the wearable device and the shooting angle information of the shooting device to a flight control system of the shooting device through a remote controller, so as to adjust the angle of the gimbal for the shooting device,
  • the wearable device displays the shooting device for the user.
  • the captured image can be a VR device, so that the user can obtain a 3D perspective and improve the user's immersive experience.
  • step 303 is performed first, and then step 301 is performed, or step 303 and step 301 are performed simultaneously.
  • the shooting angle of the shooting device is adjusted by using the posture parameters of the wearable device and the shooting angle information of the shooting device, so as to achieve somatosensory control, avoiding the need to manually dial the pulley on the remote control, or Manually adjust the terminal interface progress bar of the terminal device or manually enter a specific angle to adjust the shooting angle of the shooting device to effectively improve the user experience; at the same time, the wearable device can be a VR device, allowing the user to obtain a 3D perspective and improve user immersion Experience.
  • FIG. 4 is a schematic flowchart of another method for controlling a shooting angle of a shooting device according to an embodiment of the present invention.
  • This method is suitable for adjusting the shooting angle of various shooting devices, such as unmanned aerial vehicles and cameras.
  • This method can be performed by various remote control devices, such as a remote control.
  • the remote controller is respectively connected to a photographing device and a wearable device, and the wearable device can be worn on a user's head, and the wearable device displays an image taken by the photographing device.
  • the wearable device may be various wearable devices, such as a VR device and the like.
  • the method for controlling a shooting angle of a shooting device includes:
  • steps 401 to 405 have the same technical features as steps 301 to 305 in the method for controlling the shooting angle of the shooting device shown in FIG. 3 respectively, and therefore, specific implementation thereof may refer to The corresponding descriptions in steps 301-305 will not be repeated in this embodiment.
  • the attitude parameter based on the wearable device further includes: the angular velocity of the wearable device. Therefore, the remote control can also adjust the angular velocity of the pan / tilt equipped with the shooting device according to the angular velocity adjustment instruction generated by the angular speed of the wearable device, so as to adjust the shooting angular speed of the shooting device, so as to realize the somatosensory control of the shooting angular speed of the shooting device to avoid
  • the operation is manually triggered manually, and the angular velocity of the shooting of the shooting device is automatically controlled according to the user's head movement, further improving the user's immersive experience.
  • the method for controlling a shooting angle of the photographing device further includes: generating a movement speed adjustment instruction according to the movement speed of the wearable device, and the movement speed adjustment instruction is used to adjust the movement speed of the shooting device Adjusting the motion speed of the shooting device according to the motion speed adjustment instruction, so as to further improve the user's immersive experience.
  • 408 Display the orientation information of the photographing device on the wearable device in real time.
  • the remote control can also be on the display interface of the wearable device in the process of adjusting the shooting angle of the shooting device.
  • Real-time display of the orientation information of the shooting device such as the current orientation and the current degree of deflection.
  • step 408 is performed first, and then step 406 is performed.
  • the shooting angle of the shooting device is adjusted by using the posture parameters of the wearable device and the shooting angle information of the shooting device, so as to achieve somatosensory control, avoiding the need to manually dial the pulley on the remote control, or Manually adjust the terminal interface progress bar of the terminal device or manually enter a specific angle to adjust the shooting angle of the shooting device to effectively improve the user experience; at the same time, the wearable device can be a VR device, allowing the user to obtain a 3D perspective and improve user immersion Experience.
  • the position information of the shooting device can also be displayed in real time to better understand the location information of the shooting device.
  • FIG. 5 is a schematic diagram of a control device for a shooting angle of a shooting device according to an embodiment of the present invention.
  • the control device 50 (referred to as control device for short) of the shooting angle of the shooting device can be configured in various remote control devices, such as a remote controller.
  • the control device 50 is respectively connected to a photographing device and a wearable device.
  • the wearable device can be worn on a user's head, and the wearable device displays an image captured by the photographing device.
  • the wearable device may be various wearable devices, such as a VR device and the like.
  • the control device 50 includes: an acceleration acquisition module 501, an attitude parameter determination module 502, a shooting angle information acquisition module 503, a shooting angle adjustment instruction generation module 504, a shooting angle adjustment module 505, an angular velocity adjustment instruction generation module 506, The angular velocity adjustment module 507 and the azimuth information display module 508.
  • the acceleration acquisition module 501 is configured to acquire the acceleration of the wearable device during the movement of the wearable device.
  • a smart terminal such as a mobile phone is provided in the wearable device.
  • mobile phones carry various mobile phone sensors, such as accelerometers, gyroscopes, magnetic sensors, compasses, etc. Therefore, when the user wears the wearable device and the movement of the wearable device is driven by the movement of the head, the movement data of the wearable device can be collected through the mobile phone sensor. Specifically, the acceleration of the wearable device is acquired by the accelerometer.
  • the acceleration acquisition module 501 is specifically configured to receive the wearable device acceleration acquired by the accelerometer.
  • the acceleration can be a three-axis acceleration, that is, the acceleration (X, Y, Z) in the three coordinate axis directions of the coordinate system of the wearable device.
  • the posture parameter determining module 502 is configured to obtain the posture parameters of the wearable device according to the acceleration of the wearable device.
  • the posture parameter of the wearable device includes a posture angle of the wearable device.
  • the attitude parameter determination module 502 is specifically configured to convert the acceleration of the wearable device into a first quaternion; according to the first quaternion, a preset second quaternion, and a preset third quaternion To obtain the attitude angle of the wearable device, the preset second quaternion is used to represent a quaternion that rotates a first preset angle around the z-axis of the wearable device coordinate system, and the preset The third quaternion set is used to represent a quaternion that rotates a second preset angle around the x-axis of the wearable device coordinate system.
  • the attitude parameter determination module 502 obtains the attitude angle of the wearable device according to the first quaternion, a preset second quaternion, and a preset third quaternion, and includes: A fourth quaternion is obtained by performing a cross-multiplication operation between the preset second quaternion and the preset third quaternion; according to the fourth quaternion and the first quaternion, obtain The attitude angle of the wearable device.
  • the posture parameter determination module 502 calculates the posture parameter of the wearable device based on the acceleration of the wearable device as:
  • ( ⁇ , ⁇ , ⁇ ) is the attitude angle of the wearable device
  • ⁇ is the elevation angle in the attitude angle of the wearable device
  • ⁇ is the angle in the attitude angle of the wearable device.
  • Rolling angle ⁇ is the yaw angle in the attitude angle of the wearable device
  • (X, Y, Z) is the acceleration of the wearable device
  • (Q, X, Y, Z) is the first Quaternions that satisfy: PI is expressed as a pi.
  • the attitude parameter determination module 502 can obtain the attitude parameter of the wearable device according to the acceleration of the wearable device, where the attitude parameter is an attitude angle.
  • the above method can avoid gimbal lock on the one hand and ensure the stability of the data; on the other hand, the space occupied by the data in the calculation process is smaller than that of the orthogonal matrix, where the matrix needs to store 9 numbers, and this calculation method only 4 numbers are required, which can effectively reduce the space occupied by the data and improve the operation speed.
  • the shooting angle of the shooting device is mainly the adjustment of the pitch angle and the roll angle, that is, in some embodiments, if the control of the shooting angle is not high, the above can be used between
  • the preset second quaternion replaces the above-mentioned fourth quaternion for the attitude angle of the body, that is, the quaternion obtained by cross-multiplying Q with the preset second quaternion ROT 1 is normalized directly.
  • the quaternion representing the attitude angle of the wearable device is obtained, and then based on the quaternion and attitude angle conversion equation representing the attitude angle of the wearable device, the attitude angle of the wearable device ( ⁇ , ⁇ , ⁇ ).
  • the attitude parameter of the wearable device further includes an angular velocity of the wearable device.
  • the attitude parameter determination module 502 obtains the angular velocity of the wearable device according to the acceleration of the wearable device, which may include: obtaining the attitude angle of the wearable device according to the acceleration of the wearable device; The attitude angle of the wearable device is used to obtain the angular velocity of the wearable device. Specifically, the attitude parameter determination module 502 can obtain the attitude angle of the wearable device based on the above calculation method, and then combine the differential equation to differentiate the attitude angle of the wearable device to obtain the angular velocity of the wearable device.
  • the shooting angle information acquisition module 503 is configured to obtain shooting angle information of the shooting device.
  • the shooting angle information of the shooting device is current shooting angle information of the shooting device, such as the current angle of the shooting device.
  • the shooting angle adjustment instruction generating module 504 generates a shooting angle adjustment instruction according to the posture parameter of the wearable device and the shooting angle information of the shooting device.
  • the shooting angle adjustment instruction is used to adjust a shooting angle of the shooting device.
  • the shooting angle adjustment instruction generating module 504 is specifically configured to generate a shooting according to the attitude angle of the wearable device and the shooting angle information of the shooting device. Angle adjustment instruction.
  • the shooting angle adjustment instruction generating module 504 needs to obtain the shooting angle information of the shooting device and the attitude parameter of the wearable device in advance, so as to determine the shooting angle of the shooting device that needs to be adjusted finally.
  • the shooting angle adjustment module 505 is configured to control a shooting angle of the shooting device according to the shooting angle adjustment instruction.
  • the photographing device is mounted on a gimbal.
  • the shooting angle adjustment module 505 is specifically configured to adjust the angle of the pan / tilt according to the shooting angle adjustment instruction to adjust the shooting angle of the shooting device.
  • the shooting angle adjustment instruction generated by the shooting angle adjustment instruction generation module 504 is transmitted to the flight control system of the shooting device through the shooting angle adjustment module 505, so as to adjust the angle of the PTZ equipped with the shooting device to obtain shooting images of different viewing angles
  • the wearable device displays the image taken by the shooting device for the user.
  • the device can be a VR device, which enables users to obtain a 3D perspective and improves the user's immersive experience.
  • the angular velocity adjustment instruction generating module 506 is configured to generate an angular velocity adjustment instruction according to the angular velocity of the wearable device, and the angular velocity adjustment instruction is used to adjust the angular velocity of the photographing by the photographing device.
  • the angular velocity adjustment module 507 is configured to adjust the angular velocity of the pan / tilt according to the angular velocity adjustment instruction, so as to adjust the angular velocity taken by the photographing device.
  • the attitude parameter based on the wearable device further includes: the angular velocity of the wearable device. Therefore, the angular velocity adjustment module 507 can also adjust the angular velocity of the pan / tilt equipped with the photographing device according to the angular velocity adjustment instruction generated by the angular velocity adjustment instruction generation module 506, so as to adjust the angular velocity of the photographing of the photographing device, thereby realizing the shooting of the somatosensory controlling photographing device
  • the angular velocity of the camera can avoid manual trigger operation, and automatically control the shooting angular velocity of the camera according to the user's head movement, further improving the user's immersive experience.
  • control device 50 further includes: a movement speed adjustment instruction generating module, configured to generate a movement speed adjustment instruction according to the movement speed of the wearable device, and the movement speed adjustment instruction is used to adjust the shooting The movement speed of the device; the movement speed adjustment module is configured to adjust the movement speed of the photographing device according to the movement speed adjustment instruction, so as to further improve the user's immersive experience.
  • a movement speed adjustment instruction generating module configured to generate a movement speed adjustment instruction according to the movement speed of the wearable device, and the movement speed adjustment instruction is used to adjust the shooting The movement speed of the device
  • the movement speed adjustment module is configured to adjust the movement speed of the photographing device according to the movement speed adjustment instruction, so as to further improve the user's immersive experience.
  • the orientation information display module 508 is configured to display the orientation information of the photographing device on the wearable device in real time.
  • the orientation information display module may also be used. 508 displays the orientation information of the shooting device in real time on the display interface of the wearable device, such as the current orientation and the current deflection degree.
  • control device 50 can execute the method for controlling the shooting angle of the shooting device provided by any method embodiment, and has the corresponding functional modules and beneficial effects of the execution method.
  • control device 50 can execute the method for controlling the shooting angle of the shooting device provided in the method embodiment.
  • FIG. 6 is a schematic diagram of a hardware structure of a remote controller according to an embodiment of the present invention. As shown in FIG. 6, the remote controller 60 includes:
  • One processor 601 is taken as an example in FIG. 6.
  • the processor 601 and the memory 602 may be connected through a bus or in other manners. In FIG. 6, the connection through the bus is taken as an example.
  • the memory 602 is a non-volatile computer-readable storage medium, and can be used to store non-volatile software programs, non-volatile computer executable programs, and modules, such as those used to control the shooting angle of the shooting device in the embodiment of the present invention.
  • Program instructions / modules corresponding to the method for example, acceleration acquisition module 501, attitude parameter determination module 502, shooting angle information acquisition module 503, shooting angle adjustment instruction generation module 504, shooting angle adjustment module 505, and angular velocity adjustment shown in FIG. 5 (Command generation module 506, angular velocity adjustment module 507, and azimuth information display module 508).
  • the processor 601 executes various functional applications and data processing of the remote controller 60 by running the non-volatile software programs, instructions, and modules stored in the memory 602, that is, implementing the method of controlling the shooting angle of the shooting device embodiment of the method Methods.
  • the memory 602 may include a storage program area and a storage data area, where the storage program area may store an operating system and application programs required for at least one function; the storage data area may store data created according to the use of the remote controller 60 and the like.
  • the memory 602 may include a high-speed random access memory, and may further include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage device.
  • the memory 602 may optionally include a memory remotely set relative to the processor 601, and these remote memories may be connected to the remote controller 60 through a network. Examples of the network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.
  • the one or more modules are stored in the memory 602, and when executed by the one or more processors 601, execute the method for controlling a shooting angle of a shooting device in the arbitrary method embodiment, for example, executing
  • the method steps 401 to 408 in FIG. 4 described above implement the functions of the modules 501-508 in FIG. 5.
  • the remote controller 60 can execute the method for controlling the shooting angle of the shooting device provided by any method embodiment, and has the corresponding function modules and beneficial effects of executing the method. For technical details that are not described in detail in the embodiment of the remote controller, reference may be made to the method for controlling the shooting angle of the shooting device provided in any method embodiment.
  • An embodiment of the present invention provides a computer program product.
  • the computer program product includes a computer program stored on a non-volatile computer-readable storage medium.
  • the computer program includes program instructions. When the program instructions are executed by a computer, When causing the computer to execute the method for controlling the shooting angle of the shooting device in the arbitrary method embodiment, for example, executing the method steps 401 to 408 in FIG. 4 described above to implement the 501-508 module in FIG. 5 Functions.
  • An embodiment of the present invention provides a non-volatile computer-readable storage medium, where the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to cause a computer to execute the arbitrary method embodiment.
  • the method for controlling the shooting angle of the shooting device for example, executes the method steps 401 to 408 in FIG. 4 described above to implement the functions of the modules 501-508 in FIG. 5.
  • FIG. 7 is a schematic diagram of a photographing system provided by an embodiment of the present invention.
  • the photographing system 70 includes: a photographing device 701, the remote controller 60 described above, and a wearable device 702.
  • the shooting device 701 is connected to the wearable device 702, and the remote controller 60 is used to control a shooting angle of the shooting device 701.
  • the wearable device 702 is configured to display an image captured by the shooting device 701.
  • the photographing device 701 includes a camera, an unmanned aerial vehicle having a photographing function, or a fixed device having a photographing function.
  • the wearable device 702 may be a VR device or the like.
  • the device embodiments described above are only schematic, and the modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical Modules can be located in one place or distributed to multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the objective of the solution of this embodiment.
  • the embodiments can be implemented by means of software plus a general hardware platform, and of course, also by hardware.
  • the program can be stored in a computer-readable storage medium, and the program is being executed. In this case, the process of the embodiment of each method may be included.
  • the storage medium may be a magnetic disk, an optical disc, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random, Access Memory, RAM).

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Abstract

本发明实施例涉及图像拍摄技术领域，公开了一种控制拍摄装置的拍摄角度的方法、控制装置及可穿戴设备。其中，该方法应用于遥控器，遥控器分别与拍摄装置和可穿戴设备相连，可穿戴设备显示所述拍摄装置所拍摄的图像，该方法包括：在可穿戴设备运动的过程中，获取可穿戴设备的加速度；根据可穿戴设备的加速度，得到可穿戴设备的姿态参数；获取拍摄装置的拍摄角度信息；根据可穿戴设备的姿态参数以及拍摄装置的拍摄角度信息，生成拍摄角度调节指令，拍摄角度调节指令用于调节拍摄装置的拍摄角度；根据拍摄角度调节指令，控制拍摄装置的拍摄角度。通过该控制拍摄装置的拍摄角度的方法，可以实现体感式控制，提高用户体验。

Description

控制拍摄装置的拍摄角度的方法、控制装置及可穿戴设备
相关申请交叉引用
申请要求于2018年6月21日申请的、申请号为201810643646.X、申请名称为“控制拍摄装置的拍摄角度的方法、控制装置及可穿戴设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明实施例涉及图像拍摄技术领域，尤其涉及一种控制拍摄装置的拍摄角度的方法、拍摄装置的拍摄角度的控制装置，以及可穿戴设备。
背景技术
随着科技的进步，拍摄装置，如具有拍摄功能的无人飞行器(Unmanned Aerial Vehicle，UAV)，也称无人机得到了越来越广泛的应用。无人机是一种处在迅速发展中的新概念装备，其具有体积小、造价低、使用方便、对作战环境要求低、战场生存能力较强等优点。无人机通过云台搭载多类图像采集装置，如相机、摄影机等，可以使用户实时看到无人机拍摄的视频、影像或画面等。其中，为了获得不同视角的图像、视频、影像或画面，需要通过控制或调节飞行器等拍摄装置的拍摄角度来实现。
目前通常采用以下两种方式来控制或调节拍摄装置的拍摄角度：1、通过拨动遥控器上的滑轮(左表示度数越来越小，右越来越大，pitch轴范围-90度至0度)来控制或调节拍摄装置的拍摄角度；2、通过手动调节终端设备的终端界面进度条或手动输入具体的角度值来控制或调节拍摄装置的拍摄角度。
在实现本发明过程中，发明人发现相关技术中至少存在如下问题： 需要通过手动拨动遥控器上的滑轮，或者，手动调节终端设备的终端界面进度条或手动输入具体的角度的方式调节拍摄装置的拍摄角度，以获取不同视角的图像、视频、影像或画面，无法实现体感式控制，用户体验差。
发明内容
本申请发明实施例提供一种控制拍摄装置的拍摄角度的方法、拍摄装置的拍摄角度的控制装置及可穿戴设备，可以实现体感式控制，提高用户体验。
本发明实施例公开了如下技术方案：
第一方面，本发明实施例提供了一种控制拍摄装置的拍摄角度的方法，遥控器，所述遥控器分别与所述拍摄装置和可穿戴设备相连，所述可穿戴设备显示所述拍摄装置所拍摄的图像，所述方法包括：
在所述可穿戴设备运动的过程中，获取所述可穿戴设备的加速度；
根据所述可穿戴设备的加速度，得到所述可穿戴设备的姿态参数；
获取所述拍摄装置的拍摄角度信息；
根据所述可穿戴设备的姿态参数以及所述拍摄装置的拍摄角度信息，生成拍摄角度调节指令，所述拍摄角度调节指令用于调节所述拍摄装置的拍摄角度；
根据所述拍摄角度调节指令，控制所述拍摄装置的拍摄角度。
在一些实施例中，所述可穿戴设备的姿态参数包括可穿戴设备的姿态角；
所述根据所述可穿戴设备的加速度，得到所述可穿戴设备的姿态参数，包括：
将所述可穿戴设备的加速度转换为第一四元数；
根据所述第一四元数、预设的第二四元数以及预设的第三四元数，得到所述可穿戴设备的姿态角，所述预设的第二四元数用于表示绕所述 可穿戴设备坐标系的z轴旋转第一预设角度的四元数，所述预设的第三四元数用于表示绕所述可穿戴设备坐标系的x轴旋转第二预设角度的四元数。
在一些实施例中，所述根据所述第一四元数、预设的第二四元数以及预设的第三四元数，得到所述可穿戴设备的姿态角，包括：
将所述预设的第二四元数与所述预设的第三四元数进行叉乘运算后，得到第四四元数；
根据所述第四四元数及所述第一四元数，得到所述可穿戴设备的姿态角。
在一些实施例中，根据所述可穿戴设备的加速度得到所述可穿戴设备的姿态参数的计算公式为：
Figure PCTCN2019090953-appb-000001
其中，(θ,ψ,φ)表示为所述可穿戴设备的姿态角，θ表示为所述可穿戴设备的姿态角中的俯仰角，φ表示为所述可穿戴设备的姿态角中的翻滚角，ψ表示为所述可穿戴设备的姿态角中的偏航角；(X,Y,Z)表示为所述可穿戴设备的加速度；(Q,X,Y,Z)表示为第一四元数，满足：
Figure PCTCN2019090953-appb-000002
PI表示为圆周率。
在一些实施例中，所述拍摄装置搭载于云台上；
所述根据所述可穿戴设备的姿态参数以及所述拍摄装置的拍摄角度信息，生成拍摄角度调节指令，包括：
根据所述可穿戴设备的姿态角以及所述拍摄装置的拍摄角度信息，生成拍摄角度调节指令；
所述根据所述拍摄角度调节指令，控制所述拍摄装置的拍摄角度，包括：
根据所述拍摄角度调节指令，调节所述云台的角度，以调整所述拍 摄装置的拍摄角度。
在一些实施例中，所述可穿戴设备的姿态参数还包括可穿戴设备的角速度，所述方法还包括；
根据所述可穿戴设备的角速度，生成角速度调节指令，所述角速度调节指令用于调节所述拍摄装置的拍摄的角速度；
根据所述角速度调节指令，调节所述云台的角速度，以调节所述拍摄装置的拍摄的角速度。
在一些实施例中，所述方法还包括：
在所述可穿戴设备上实时显示所述拍摄装置的方位信息。
在一些实施例中，所述可穿戴设备设置有加速度计，所述可穿戴设备的加速度由所述加速度计采集得到。
第二方面，本发明实施例提供了一种拍摄装置的拍摄角度的控制装置，所述控制装置分别与所述拍摄装置和可穿戴设备相连，所述可穿戴设备显示所述拍摄装置所拍摄的图像，所述装置包括：
加速度获取模块，用于在所述可穿戴设备运动的过程中，获取所述可穿戴设备的加速度；
姿态参数确定模块，用于根据所述可穿戴设备的加速度，得到所述可穿戴设备的姿态参数；
拍摄角度信息获取模块，用于获取所述拍摄装置的拍摄角度信息；
拍摄角度调节指令生成模块，用于根据所述可穿戴设备的姿态参数以及所述拍摄装置的拍摄角度信息，生成拍摄角度调节指令，所述拍摄角度调节指令用于调节所述拍摄装置的拍摄角度；
拍摄角度调节模块，用于根据所述拍摄角度调节指令，控制所述拍摄装置的拍摄角度。
在一些实施例中，所述可穿戴设备的姿态参数包括可穿戴设备的姿态角；
所述姿态参数确定模块具体用于：
将所述可穿戴设备的加速度转换为第一四元数；
根据所述第一四元数、预设的第二四元数以及预设的第三四元数，得到所述可穿戴设备的姿态角，所述预设的第二四元数用于表示绕所述可穿戴设备坐标系的z轴旋转第一预设角度的四元数，所述预设的第三四元数用于表示绕所述可穿戴设备坐标系的x轴旋转第二预设角度的四元数。
在一些实施例中，所述姿态参数确定模块根据所述第一四元数、预设的第二四元数以及预设的第三四元数，得到所述可穿戴设备的姿态角，包括：
将所述预设的第二四元数与所述预设的第三四元数进行叉乘运算后，得到第四四元数；
根据所述第四四元数及所述第一四元数，得到所述可穿戴设备的姿态角。
在一些实施例中，所述姿态参数确定模块根据所述可穿戴设备的加速度得到所述可穿戴设备的姿态参数的计算公式为：
Figure PCTCN2019090953-appb-000003
其中，(θ,ψ,φ)表示为所述可穿戴设备的姿态角，θ表示为所述可穿戴设备的姿态角中的俯仰角，φ表示为所述可穿戴设备的姿态角中的翻滚角，ψ表示为所述可穿戴设备的姿态角中的偏航角；(X,Y,Z)表示为所述可穿戴设备的加速度；(Q,X,Y,Z)表示为第一四元数，满足：
Figure PCTCN2019090953-appb-000004
PI表示为圆周率。
在一些实施例中，所述拍摄装置搭载于云台上；
所述拍摄角度调节指令生成模块具体用于：
根据所述可穿戴设备的姿态角以及所述拍摄装置的拍摄角度信息， 生成拍摄角度调节指令；
所述拍摄角度调节模块具体用于：
根据所述拍摄角度调节指令，调节所述云台的角度，以调整所述拍摄装置的拍摄角度。
在一些实施例中，所述可穿戴设备的姿态参数还包括可穿戴设备的角速度，所述装置还包括；
角速度调节指令生成模块，用于根据所述可穿戴设备的角速度，生成角速度调节指令，所述角速度调节指令用于调节所述拍摄装置的拍摄的角速度；
角速度调节模块，用于根据所述角速度调节指令，调节所述云台的角速度，以调节所述拍摄装置的拍摄的角速度。
在一些实施例中，所述装置还包括：
方位信息显示模块，用于在所述可穿戴设备上实时显示所述拍摄装置的方位信息。
在一些实施例中，所述可穿戴设备设置有加速度计，所述可穿戴设备的加速度由所述加速度计采集得到。
第三方面，本发明实施例提供了一种遥控器，用于控制拍摄装置的拍摄角度，包括：
至少一个处理器；以及，
与所述至少一个处理器通信连接的存储器；其中，
所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行如上所述的控制拍摄装置的拍摄角度的方法。
第四方面，本发明实施例提供了一种拍摄系统，包括：拍摄装置、如上所述的遥控器以及可穿戴设备，所述遥控器分别与所述拍摄装置和 所述可穿戴设备相连，所述遥控器用于控制所述拍摄装置的拍摄角度。
在一些实施例中，所述拍摄装置包括相机、具有拍摄功能的无人飞行器或者具有拍摄功能的固定装置。
第五方面，本发明实施例提供了一种计算机程序产品，所述计算机程序产品包括存储在非易失性计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被计算机执行时，使所述计算机执行如上所述的控制拍摄装置的拍摄角度的方法。
第六方面，本发明实施例还提供了一种非易失性计算机可读存储介质，所述计算机可读存储介质存储有计算机可执行指令，所述计算机可执行指令用于使计算机执行如上所述的控制拍摄装置的拍摄角度的方法。
本发明实施例，通过可穿戴设备的姿态参数以及所述拍摄装置的拍摄角度信息来调节拍摄装置的拍摄角度，从而实现体感式控制，避免需要手动拨动遥控器上的滑轮，或者，手动调节终端设备的终端界面进度条或手动输入具体的角度的方式调节拍摄装置的拍摄角度，有效提高用户体验。
附图说明
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1是本发明实施例提供的一种控制拍摄装置的拍摄角度的方法的的应用环境的示意图；
图2是本发明实施例提供的VR设备的示意图；
图3是本发明实施例提供的一种控制拍摄装置的拍摄角度的方法的流程示意图；
图4是本发明实施例提供的另一种控制拍摄装置的拍摄角度的方法的流程示意图；
图5是本发明实施例提供的一种拍摄装置的拍摄角度控制装置的示意图；
图6是本发明实施例提供的一种遥控器的硬件结构示意图；
图7是本发明实施例提供的一种拍摄系统的示意图。
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描述，显然，所描述的实施例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作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。
此外，下面所描述的本发明各个实施方式中所涉及到的技术特征只要彼此之间未构成冲突就可以相互组合。
图1为本发明提供的控制拍摄装置的拍摄角度的方法的其中一种应用环境的示意图。其中，该应用环境中包括：拍摄装置10、可穿戴设备20、遥控器30以及用户(图未示)。
该拍摄装置10用于拍摄图像(或视频、影像或画面)等，并将所拍摄的图像传输至可穿戴设备20，以便在该可穿戴设备20上显示拍摄装置10所拍摄的图像。遥控器30分别与拍摄装置10及可穿戴设备相连。遥控器30用于控制拍摄装置10的拍摄角度。具体的，当用户佩戴该可穿戴设备20时，通过用户的运动带动该可穿戴设备20的运动，并通过可穿戴设备20的加速度采集得到可穿戴设备的加速度；然后，可 穿戴设备20将可穿戴设备的加速度传输至遥控器30，以便遥控器30根据可穿戴设备的加速度，得到可穿戴设备的姿态参数，并且拍摄装置10将拍摄装置的拍摄角度信息传输至遥控器30，以便遥控器30根据可穿戴设备的姿态参数以及拍摄装置的拍摄角度信息生成拍摄角度调节指令，从而遥控器30根据该拍摄角度调节指令来控制拍摄装置10的拍摄角度，从而实现体感式控制拍摄装置10的拍摄角度。
其中，拍摄装置10可以为任何合适的拍摄功能的设备，例如，该拍摄装置10可以包括相机、具有拍摄功能的无人飞行器或者具有拍摄功能的固定装置等等。以下对本发明的描述使用无人机(Unmanned Aerial Vehicle，UAV)作为拍摄装置10的示例。UAV是由遥控设备或自备程序控制装置操纵，带任务载荷的不载人航空器。该UAV各种类型的UAV，例如，该UAV可以是旋翼飞行器(rotorcraft)，例如，由多个推动装置通过空气推动的多旋翼飞行器，本发明的实施例并不限于此，UAV也可以是其它类型的UAV或可移动装置。
UAV包括但不限于：机身、飞行控制系统、云台、图像采集装置、图传模块等。其中，飞行控制系统设置于机身内，云台安装于机身上，图像采集装置搭载于云台上。飞行控制系统可以与云台、图像采集装置、图传模块进行耦合，以实现通信。
机身可以包括中心架以及与中心架连接的一个或多个机臂，一个或多个机臂呈辐射状从中心架延伸出。
飞行控制系统具有对UAV的飞行和任务进行监控和操纵的能力，包含对无人机发射和回收控制的一组设备。飞行控制系统用于控制UAV的飞行，例如，可以根据姿态参数控制UAV的飞行。可以理解的是，飞行控制系统可以接收自其它设备发送的姿态参数以及自身的拍摄角度信息，根据该姿态参数以及自身的拍摄角度信息生成拍摄角度调节指令以对UAV进行控制；或者可以接收其它设备发送的根据姿态参数以拍摄角度信息生成的拍摄角度调节指令以对UAV进行控制。
云台用于搭载图像采集装置。云台上设置有云台电机，飞行控制系统可以控制云台，具体的控制云台电机的运动(如转速)，来调节UAV拍摄角度。其中，云台电机可以是无刷电机，也可以有刷电机。还可以理解的是，云台可以位于机身的顶部，也可以位于机身的底部。
图像采集装置可以是照相机、拍照手机或摄像机等用于采集图像的装置，图像采集装置可以与飞行控制系统通信，并在飞行控制系统的控制下进行拍摄。例如，飞行控制系统控制图像采集装置拍摄图像的拍摄频率，也即每单位时间内拍摄多少次。或者，飞行控制系统通过云台控制图像采集装置的拍摄角度。
图传模块用于将天空中处于飞行状态的UAV所拍摄的画面实时稳定的发射给地面无线图传遥控接收设备，如遥控器30。
可以理解的是，上述对于UAV各组成部分的命名仅是出于标识的目的，并不应理解为对本发明的实施例的限制。
需要说明的是当拍摄装置可以为独立的相机，也可以为搭载于无人飞行器上的相机，也即该拍摄装置可以无人飞行器的一个组成部分。
其中，可穿戴设备20可以为任何合适的可以穿戴的设备。例如，可穿戴设备20为虚拟现实(Virtual Reality，VR)设备20a、智能眼镜，该VR设备20a是一种可为用户提供沉浸式感觉的设备。以下对本发明的描述使用VR设备20a作为可穿戴设备20的示例。VR设备20a可将拍摄装置10传输过来的实时图像(或视频、影像或画面)通过光学系统拉到远处放大，近乎充满人的视野范围，从而产生沉浸感，让用户达到置身于其中的感觉。
请参考图2，该VR设备20a包括：显示装置201及智能终端202。该智能终端202与显示装置201连接。
显示装置201可以为各种合适的VR头显，如VR眼镜、VR眼罩、VR头盔或其它头戴式显示设备。显示装置201用于显示拍摄装置10所拍摄的图像，并为用户提供一种沉浸式感觉。显示装置201的显示原理大 致为：左右眼屏幕分别显示左右眼的图像，人眼获取这种带有差异的信息后在脑海中产生立体感，从而为用户提供一种沉浸式感觉。
显示装置201上设置有接口，以使智能终端202与显示装置201连接。具体的，显示装置201上设置有USB接口，以智能终端202接收到的拍摄装置10所拍摄的图像显示于显示装置201上。
可以理解的是，上述显示装置201可以佩戴于用户头部的任何合适位置，只要可以使得拍摄装置10所拍摄的图像在用户的可视范围内即可，也即，本发明实施例对显示装置201所佩戴的位置并不做具体限制。
智能终端202可以为任何合适的终端设备，如手机、小型平板等。以下对本发明的描述使用手机作为智能终端202的示例。手机中可设置有各种手机传感器。手机传感器是手机上通过芯片来感应的元器件，如距离值、温度值、亮度值和压力值等。该手机传感器包括但不限于：加速度计、陀螺仪、磁力传感器、方式传感器、压力传感器、指南针等。其中，VR设备20a可以将通过手机传感器采集的数据传输至遥控器30，以便遥控器30根据该数据得到VR设备20a的姿态参数，进而调节拍摄装置10的拍摄角度。例如，通过加速度计得到VR设备20a运动过程中VR设备20a的加速度，并将该VR设备20a的加速度传输至遥控器30。
需要说明的是，该VR设备20a可以为一体式的VR设备，也可以是分离式的VR设备，也即移动端头显设备。其中，一体式的VR设备是指具备独立处理器的VR头显设备，具备了独立运算、输入和输出的功能，也即上述智能终端202所实现的功能均可以集成于VR设备的处理器上。移动端头显设备是指上述智能终端202与上述显示装置201是可以分离而独立实现自身功能的。
其中，该遥控器30可以是任何合适的遥控设备。遥控器30为受地(舰)面或空中平台上的遥控单元通过机载飞行控制系统控制飞行的航空器。该遥控器30分别与拍摄装置10及可穿戴设备20通信连接。遥控器30为执行上述控制拍摄装置的拍摄角度的方法的主体，也即遥控 器30用于控制拍摄装置10的拍摄角度。其中，遥控器30根据该拍摄角度调节指令来控制拍摄装置10的拍摄角度具体为：通过遥控器30的图传模块和拍摄装置10上的图传模块，实现与拍摄装置10的通讯，将用于控制拍摄角度的拍摄角度调节指令从遥控器30传递给拍摄装置10，例如，拍摄装置10以上述UAV为例，遥控器30将用于控制拍摄角度的拍摄角度调节指令传输至该UAV的图传模块，图传模块连接UAV的飞行控制系统，飞行控制系统连接电调，然后电调连接至云台的云台电机引出线，通过电调控制电机的转速，从而调节UAV的拍摄角度。
通常在拍摄装置10进行拍摄的过程中，拍摄装置10与可穿戴设备20有一定的距离，特别是对于一些高空拍摄，拍摄装置10与可穿戴设备20通常距离较远，为了实现远距离控制拍摄装置10的拍摄角度，需要通过该遥控器30进行拍摄装置10的拍摄角度的控制。
下面结合附图，对本发明实施例作进一步阐述。
实施例1：
图3为本发明实施例提供的一种控制拍摄装置的拍摄角度的方法的流程示意图。该方法适用于对各种拍摄装置的拍摄角度进行调整，如无人飞行器、相机等。该方法可由各种遥控设备执行，如遥控器等。该遥控器分别与拍摄装置和可穿戴设备相连，该可穿戴设备可佩戴于用户头部，该可穿戴设备显示所述拍摄装置所拍摄的图像。该可穿戴设备可以为各种可以穿戴的设备，如VR设备等等。
参照图3，所述控制拍摄装置的拍摄角度的方法包括：
301：在所述可穿戴设备运动的过程中，获取所述可穿戴设备的加速度。
其中，可穿戴设备中设置有智能终端，如手机等。由于手机中携带有各种手机传感器，如加速度计、陀螺仪、磁力传感器、指南针等。因此，在用户佩戴可穿戴设备，在其头部运动带动可穿戴设备的运动时， 可通过手机传感器采集可穿戴设备的运动数据。具体的，所述可穿戴设备的加速度由所述加速度计采集得到。
其中，遥控器获取所述可穿戴设备的加速度具体包括：接收通过加速度计采集得到的可穿戴设备加速度。该可穿戴设备的加速度可以为三轴加速度，也即可穿戴设备坐标系的三个坐标轴方向上的加速度(X,Y,Z) 。
302：根据所述可穿戴设备的加速度，得到所述可穿戴设备的姿态参数。
其中，所述可穿戴设备的姿态参数包括可穿戴设备的姿态角。
为了避免求解姿态角过程中的出现万向节锁(Gimbal Lock)现象，保证数据的稳定性，将获取得到的加速度(X,Y,Z)转换为四元数。其中，产生万向节锁现象的根本原因是，旋转矩阵是依次进行的，假设先围绕x轴旋转，再围绕y轴旋转，最后围绕z轴旋转，这就导致物体其实是围绕自己的坐标系的x轴旋转，而不是惯性系的x轴旋转。表现就是，在一个欧拉角(x1,y1,z1)下，改变x1的值，物体会围绕物体自己的坐标系的x轴进行旋转，而不是世界惯性系的x轴进行旋转,最后，当把物体的x轴旋转到与惯性系的z轴重合时，欧垃角的x1和z1旋转结果就都一样了，也就丢失了一个维度,这便是万向节锁现象。使用三个量来表示三维空间的朝向的系统都会出现万向节锁现象这个问题，而通过四元数进行描述可以有效的避免万向节锁现象。
具体的，遥控器根据所述可穿戴设备的加速度，得到所述可穿戴设备的姿态参数，包括：将所述可穿戴设备的加速度转换为第一四元数；根据所述第一四元数、预设的第二四元数以及预设的第三四元数，得到所述可穿戴设备的姿态角，所述预设的第二四元数用于表示绕所述可穿戴设备坐标系的z轴旋转第一预设角度的四元数，所述预设的第三四元数用于表示绕所述可穿戴设备坐标系的x轴旋转第二预设角度的四元数。
进一步的，遥控器根据所述第一四元数、预设的第二四元数以及预设的第三四元数，得到所述可穿戴设备的姿态角，包括：将所述预设的 第二四元数与所述预设的第三四元数进行叉乘运算后，得到第四四元数；根据所述第四四元数及所述第一四元数，得到所述可穿戴设备的姿态角。
上述遥控器计算可穿戴设备的姿态角的具体过程为：
1、将通过加速度计获取得到的可穿戴设备的加速度(X,Y,Z)转换为第一四元数W＝(W 0,W 1,W 2,W 3)＝(Q,X,Y,Z)。其中，
Figure PCTCN2019090953-appb-000005
W 1＝X,W 2＝Y,W 3＝X。
2、将预设的第二四元数ROT 1与预设的第三四元数ROT 2进行叉乘运算后，得到第四四元数ROT。其中，第四四元数ROT垂直于ROT 1和ROT 2组成面。该预设的第二四元数ROT 1用于表示绕所述可穿戴设备坐标系的z轴旋转第一预设角度的四元数，例如，预设的第二四元数ROT 1用于表示绕所述可穿戴设备坐标系的z轴旋转90的四元数，则该预设的第二四元数ROT 1的表达式为：ROT 1＝(cos(PI/4),0,0,-sin(PI/4))。其中，PI表示为圆周率。具体的，PI＝3.14159265358979323846。该预设的第三四元数ROT 2用于表示绕所述可穿戴设备坐标系的x轴旋转第二预设角度的四元数，例如，该预设的第三四元数ROT 2用于表示绕所述可穿戴设备坐标系的x轴旋转90的四元数，则该预设的第三四元数ROT 2的表达式为：ROT 2＝(cos(PI/4),-sin(PI/4),0,0)。由于第四四元数ROT是由预设的第二四元数ROT 1与所述预设的第三四元数ROT 2进行叉乘运算得到的，则第四四元数ROT的表达式为：
Figure PCTCN2019090953-appb-000006
为了提高计算精度，预设的第二四元数ROT 1与预设的第三四元数ROT 2均为浮点类型数据。
3、将Q与第四四元数ROT进行叉乘得到的四元数进行归一化处理后得到用于表示可穿戴设备的姿态角的四元数，再基于该用于表示可穿戴设备的姿态角的四元数与姿态角转换方程，得到可穿戴设备的姿态角(θ,ψ,φ)。其中，归一化是指是一种无量纲处理手段，使物理系统数值的绝对值变成某种相对值关系，以简化计算，缩小量值。归一化处理不影响最终计算的姿态角的值，只是为了简化计算，缩小量值。
具体的，根据所述可穿戴设备的加速度得到所述可穿戴设备的姿态 参数的计算公式为：
Figure PCTCN2019090953-appb-000007
式中，(θ,ψ,φ)表示为所述可穿戴设备的姿态角，θ表示为所述可穿戴设备的姿态角中的俯仰角，φ表示为所述可穿戴设备的姿态角中的翻滚角，ψ表示为所述可穿戴设备的姿态角中的偏航角；(X,Y,Z)表示为所述可穿戴设备的加速度；(Q,X,Y,Z)表示为第一四元数，满足：
Figure PCTCN2019090953-appb-000008
PI表示为圆周率。
通过上述方式，遥控器便可根据可穿戴设备的加速度，得到所述可穿戴设备的姿态参数，其中，该姿态参数为姿态角。上述方式一方面可以避免万向节锁,保证数据的稳定性；另一方面，计算过程的数据的空间占用小相比正交矩阵小，其中，矩阵需要储存9个数，而本计算方式只需要4个数，有效减少数据的空间占用，提高运算速度。
需要说明的是，通常对于拍摄装置的拍摄角度主要是对俯仰角及翻滚角的调整，也即在一些实施例中，若对拍摄角度的控制的要求不高的情况下，可以之间用上述预设的第二四元数ROT 1代替上述第四四元数进行姿态角的机身，也即直接将Q与预设的第二四元数ROT 1进行叉乘得到的四元数进行归一化处理后得到用于表示可穿戴设备的姿态角的四元数，再基于该用于表示可穿戴设备的姿态角的四元数与姿态角转换方程，得到可穿戴设备的姿态角(θ,ψ,φ)。
所述可穿戴设备的姿态参数还包括可穿戴设备的角速度。其中，遥控器根据所述可穿戴设备的加速度，得到所述可穿戴设备的角速度，可以包括：根据所述可穿戴设备的加速度，得到所述可穿戴设备的姿态角；根据所述可穿戴设备的姿态角，得到所述可穿戴设备的角速度。具体的，可以基于上述计算方式得到可穿戴设备的姿态角，然后再结合微分方程，将可穿戴设备的姿态角进行微分得到可穿戴设备的角速度。
303：获取所述拍摄装置的拍摄角度信息。
其中，该拍摄装置的拍摄角度信息为拍摄装置当前的拍摄角度信息，如拍摄装置当前的角度。
304：根据所述可穿戴设备的姿态参数以及所述拍摄装置的拍摄角度信息，生成拍摄角度调节指令。
其中，所述拍摄角度调节指令用于调节所述拍摄装置的拍摄角度。
由于所述可穿戴设备的姿态参数包括可穿戴设备的姿态角，因此遥控器根据所述可穿戴设备的姿态参数以及所述拍摄装置的拍摄角度信息，生成拍摄角度调节指令，具体包括：根据所述可穿戴设备的姿态角以及所述拍摄装置的拍摄角度信息，生成拍摄角度调节指令。遥控器需要预先获取拍摄装置的拍摄角度信息以及可穿戴设备的姿态参数，才能确定最终需要调整的拍摄装置的拍摄角度。例如，所述拍摄装置的拍摄角度信息也即拍摄装置当前的角度为(θ 1,ψ 1,φ 1)；可穿戴设备的姿态参数也即可穿戴设备的姿态角为(θ 2,ψ 2,φ 2)；则根据(θ 1,ψ 1,φ 1)和(θ 2,ψ 2,φ 2)可以得到，拍摄装置需要调整的角度，从而根据该需要调整的角度，生成拍摄角度调节指令，以调节所述拍摄装置的拍摄角度。
305：根据所述拍摄角度调节指令，控制所述拍摄装置的拍摄角度。
其中，所述拍摄装置搭载于云台上。遥控根据所述拍摄角度调节指令，控制所述拍摄装置的拍摄角度，具体包括：根据所述拍摄角度调节指令，调节所述云台的角度，以调整所述拍摄装置的拍摄角度。
通过遥控器将根据所述可穿戴设备的姿态参数以及所述拍摄装置的拍摄角度信息生成的拍摄角度调节指令传输至拍摄装置的飞行控制系统，从而调节用于搭载拍摄装置的云台的角度，以获取不同视角的拍摄图像，从而实现体感式控制拍摄装置的拍摄角度，避免人为手动触发操作，自动根据用户的头部运动来控制拍摄装置的拍摄视角，同时可穿戴设备为用户显示拍摄装置所拍摄的图像，该可穿戴设备可以为VR设备，使用户获得3D视角，提高用户沉浸式体验。
需要说明的是，在本发明实施例中，本领域普通技术人员，根据本发明实施例的描述可以理解，在不同实施例中，在不矛盾的情况下，所述步骤301-305可以有不同的执行顺序，例如，先执行步骤303再执行步骤301，或者步骤303与步骤301同时执行。
在本发明实施例中，通过可穿戴设备的姿态参数以及所述拍摄装置的拍摄角度信息来调节拍摄装置的拍摄角度，从而实现体感式控制，避免需要手动拨动遥控器上的滑轮，或者，手动调节终端设备的终端界面进度条或手动输入具体的角度的方式调节拍摄装置的拍摄角度，有效提高用户体验；同时，该可穿戴设备可以为VR设备，使用户获得3D视角，提高用户沉浸式体验。
实施例2：
图4为本发明实施例提供的另一种控制拍摄装置的拍摄角度的方法的流程示意图。该方法适用于对各种拍摄装置的拍摄角度进行调整，如无人飞行器、相机等。该方法可由各种遥控设备执行，如遥控器等。该遥控器分别与拍摄装置和可穿戴设备相连，该可穿戴设备可佩戴于用户头部，该可穿戴设备显示所述拍摄装置所拍摄的图像。该可穿戴设备可以为各种可以穿戴的设备，如VR设备等等。
参照图4，所述控制拍摄装置的拍摄角度的方法包括：
401：在所述可穿戴设备运动的过程中，获取所述可穿戴设备的加速度。
402：根据所述可穿戴设备的加速度，得到所述可穿戴设备的姿态参数。
403：获取所述拍摄装置的拍摄角度信息。
404：根据所述可穿戴设备的姿态参数以及所述拍摄装置的拍摄角度信息，生成拍摄角度调节指令。
405：根据所述拍摄角度调节指令，控制所述拍摄装置的拍摄角度。
需要说明的是，上述步骤401-405分别与如图3所示的控制拍摄装置的拍摄角度的方法中的步骤301-305具有相同的技术特征，因此，其具体实施方式可以参考上述实施例的步骤301-305中相应的描述，在本实施例中便不再赘述。
406：根据所述可穿戴设备的角速度，生成角速度调节指令，所述角速度调节指令用于调节所述拍摄装置的拍摄的角速度。
407：根据所述角速度调节指令，调节所述云台的角速度，以调节所述拍摄装置的拍摄的角速度。
基于所述可穿戴设备的姿态参数还包括：可穿戴设备的角速度。因此，遥控器还可以根据可穿戴设备的角速度生成的角速度调节指令，调节搭载拍摄装置的云台的角速度，以调节拍摄装置的拍摄的角速度，从而实现体感式控制拍摄装置的拍摄的角速度，避免人为手动触发操作，自动根据用户的头部运动来控制拍摄装置的拍摄的角速度，进一步提高用户沉浸式体验。
在一些实施例中，该控制拍摄装置的拍摄角度的方法还包括：根据所述可穿戴设备的运动速度，生成运动速度调节指令，所述运动速度调节指令用于调节所述拍摄装置的运动速度；根据所述运动速度调节指令，调节拍摄装置的运动速度，以便进一步提高用户沉浸式体验。
408：在所述可穿戴设备上实时显示所述拍摄装置的方位信息。
由于，可穿戴设备的手机传感器还可以包括指南针，因此，为了更好的了解拍摄装置所在的位置信息，遥控器在调节拍摄装置的拍摄角度的过程中，还可以在可穿戴设备的显示界面上实时显示拍摄装置的方位信息，如当前所在方位及当前的偏转度数等。
在本发明实施例中，本领域普通技术人员，根据本发明实施例的描述可以理解，在不同实施例中，在不矛盾的情况下，所述步骤401-408可以有不同的执行顺序。例如，先执行步骤408再执行步骤406等。
在本发明实施例中，通过可穿戴设备的姿态参数以及所述拍摄装置 的拍摄角度信息来调节拍摄装置的拍摄角度，从而实现体感式控制，避免需要手动拨动遥控器上的滑轮，或者，手动调节终端设备的终端界面进度条或手动输入具体的角度的方式调节拍摄装置的拍摄角度，有效提高用户体验；同时，该可穿戴设备可以为VR设备，使用户获得3D视角，提高用户沉浸式体验。此外，还可以实时显示拍摄装置的方位信息，以便更好的了解拍摄装置所在的位置信息。
实施例3：
图5为本发明实施例提供的一种拍摄装置的拍摄角度的控制装置示意图。其中，该拍摄装置的拍摄角度的控制装置50(简称控制装置)可配置于各种遥控设备中，如遥控器等。该控制装置50分别与拍摄装置和可穿戴设备相连，该可穿戴设备可佩戴于用户头部，该可穿戴设备显示所述拍摄装置所拍摄的图像。该可穿戴设备可以为各种可以穿戴的设备，如VR设备等等。
参照图5，所述控制装置50包括：加速度获取模块501、姿态参数确定模块502、拍摄角度信息获取模块503、拍摄角度调节指令生成模块504、拍摄角度调节模块505、角速度调节指令生成模块506、角速度调节模块507以及方位信息显示模块508。
具体的，加速度获取模块501用于在所述可穿戴设备运动的过程中，获取所述可穿戴设备的加速度。
其中，可穿戴设备中设置有智能终端，如手机等。由于手机中携带有各种手机传感器，如加速度计、陀螺仪、磁力传感器、指南针等。因此，在用户佩戴可穿戴设备，在其头部运动带动可穿戴设备的运动时，可通过手机传感器采集可穿戴设备的运动数据。具体的，所述可穿戴设备的加速度由所述加速度计采集得到。
其中，加速度获取模块501具体用于：接收通过加速度计采集得到的可穿戴设备加速度。该加速度可以为三轴加速度，也即可穿戴设备坐 标系的三个坐标轴方向上的加速度(X,Y,Z)。
具体的，姿态参数确定模块502用于根据所述可穿戴设备的加速度，得到所述可穿戴设备的姿态参数。
其中，所述可穿戴设备的姿态参数包括可穿戴设备的姿态角。
姿态参数确定模块502具体用于：将所述可穿戴设备的加速度转换为第一四元数；根据所述第一四元数、预设的第二四元数以及预设的第三四元数，得到所述可穿戴设备的姿态角，所述预设的第二四元数用于表示绕所述可穿戴设备坐标系的z轴旋转第一预设角度的四元数，所述预设的第三四元数用于表示绕所述可穿戴设备坐标系的x轴旋转第二预设角度的四元数。
进一步的，姿态参数确定模块502根据所述第一四元数、预设的第二四元数以及预设的第三四元数，得到所述可穿戴设备的姿态角，包括：将所述预设的第二四元数与所述预设的第三四元数进行叉乘运算后，得到第四四元数；根据所述第四四元数及所述第一四元数，得到所述可穿戴设备的姿态角。
具体的，姿态参数确定模块502根据所述可穿戴设备的加速度得到所述可穿戴设备的姿态参数的计算公式为：
Figure PCTCN2019090953-appb-000009
式中，(θ,ψ,φ)表示为所述可穿戴设备的姿态角，θ表示为所述可穿戴设备的姿态角中的俯仰角，φ表示为所述可穿戴设备的姿态角中的翻滚角，ψ表示为所述可穿戴设备的姿态角中的偏航角；(X,Y,Z)表示为所述可穿戴设备的加速度；(Q,X,Y,Z)表示为第一四元数，满足：
Figure PCTCN2019090953-appb-000010
PI表示为圆周率。
通过上述方式，姿态参数确定模块502便可根据可穿戴设备的加速度，得到所述可穿戴设备的姿态参数，其中，该姿态参数为姿态角。上 述方式一方面可以避免万向节锁,保证数据的稳定性；另一方面，计算过程的数据的空间占用小相比正交矩阵小，其中，矩阵需要储存9个数，而本计算方式只需要4个数，有效减少数据的空间占用，提高运算速度。
需要说明的是，通常对于拍摄装置的拍摄角度主要是对俯仰角及翻滚角的调整，也即在一些实施例中，若对拍摄角度的控制的要求不高的情况下，可以之间用上述预设的第二四元数代替上述第四四元数进行姿态角的机身，也即直接将Q与预设的第二四元数ROT 1进行叉乘得到的四元数进行归一化处理后得到用于表示可穿戴设备的姿态角的四元数，再基于该用于表示可穿戴设备的姿态角的四元数与姿态角转换方程，得到可穿戴设备的姿态角(θ,ψ,φ)。
所述可穿戴设备的姿态参数还包括可穿戴设备的角速度。其中，姿态参数确定模块502根据所述可穿戴设备的加速度，得到所述可穿戴设备的角速度，可以包括：根据所述可穿戴设备的加速度，得到所述可穿戴设备的姿态角；根据所述可穿戴设备的姿态角，得到所述可穿戴设备的角速度。具体的，姿态参数确定模块502可以基于上述计算方式得到可穿戴设备的姿态角，然后再结合微分方程，将可穿戴设备的姿态角进行微分得到可穿戴设备的角速度。
具体的，拍摄角度信息获取模块503用于获取所述拍摄装置的拍摄角度信息。其中，该拍摄装置的拍摄角度信息为拍摄装置当前的拍摄角度信息，如拍摄装置当前的角度。
具体的，拍摄角度调节指令生成模块504根据所述可穿戴设备的姿态参数以及所述拍摄装置的拍摄角度信息，生成拍摄角度调节指令。其中，所述拍摄角度调节指令用于调节所述拍摄装置的拍摄角度。
由于所述可穿戴设备的姿态参数包括可穿戴设备的姿态角，因此拍摄角度调节指令生成模块504具体用于：根据所述可穿戴设备的姿态角以及所述拍摄装置的拍摄角度信息，生成拍摄角度调节指令。拍摄角度调节指令生成模块504需要预先获取拍摄装置的拍摄角度信息以及可穿 戴设备的姿态参数，才能确定最终需要调整的拍摄装置的拍摄角度。
拍摄角度调节模块505用于根据所述拍摄角度调节指令，控制所述拍摄装置的拍摄角度。
其中，所述拍摄装置搭载于云台上。拍摄角度调节模块505具体用于：根据所述拍摄角度调节指令，调节所述云台的角度，以调整所述拍摄装置的拍摄角度。
通过拍摄角度调节模块505将拍摄角度调节指令生成模块504所生成的拍摄角度调节指令传输至拍摄装置的飞行控制系统，从而调节用于搭载拍摄装置的云台的角度，以获取不同视角的拍摄图像，从而实现体感式控制拍摄装置的拍摄角度，避免人为手动触发操作，自动根据用户的头部运动来控制拍摄装置的拍摄视角，同时可穿戴设备为用户显示拍摄装置所拍摄的图像，该可穿戴设备可以为VR设备，使用户获得3D视角，提高用户沉浸式体验。
具体的，角速度调节指令生成模块506用于根据所述可穿戴设备的角速度，生成角速度调节指令，所述角速度调节指令用于调节所述拍摄装置的拍摄的角速度。
具体的，角速度调节模块507用于根据所述角速度调节指令，调节所述云台的角速度，以调节所述拍摄装置的拍摄的角速度。
基于所述可穿戴设备的姿态参数还包括：可穿戴设备的角速度。因此，角速度调节模块507还可以根据角速度调节指令生成模块506所生成的角速度调节指令，调节搭载拍摄装置的云台的角速度，以调节拍摄装置的拍摄的角速度，从而实现体感式控制拍摄装置的拍摄的角速度，避免人为手动触发操作，自动根据用户的头部运动来控制拍摄装置的拍摄的角速度，进一步提高用户沉浸式体验。
在一些实施例中，该控制装置50还包括：运动速度调节指令生成模块，用于根据所述可穿戴设备的运动速度，生成运动速度调节指令，所述运动速度调节指令用于调节所述拍摄装置的运动速度；运动速度调 节模块，用于根据所述运动速度调节指令，调节拍摄装置的运动速度，以便进一步提高用户沉浸式体验。
具体的，方位信息显示模块508用于在所述可穿戴设备上实时显示所述拍摄装置的方位信息。
由于，可穿戴设备的手机传感器还可以包括指南针，因此，为了更好的了解拍摄装置所在的位置信息，在拍摄角度调节模块505调节拍摄装置的拍摄角度的过程中，还可以通过方位信息显示模块508在可穿戴设备的显示界面上实时显示拍摄装置的方位信息，如当前所在方位及当前的偏转度数等。
需要说明的是，在本发明实施例中，所述控制装置50可执行任意方法实施例所提供的控制拍摄装置的拍摄角度的方法，具备执行方法相应的功能模块和有益效果。未在控制装置50的实施例中详尽描述的技术细节，可参见方法实施例所提供的控制拍摄装置的拍摄角度的方法。
实施例4：
图6是本发明实施例提供的遥控器硬件结构示意图，如图6所示，所述遥控器60包括：
一个或多个处理器601以及存储器602，图6中以一个处理器601为例。
处理器601和存储器602可以通过总线或者其他方式连接，图6中以通过总线连接为例。
存储器602作为一种非易失性计算机可读存储介质，可用于存储非易失性软件程序、非易失性计算机可执行程序以及模块，如本发明实施例中的控制拍摄装置的拍摄角度的方法对应的程序指令/模块(例如，附图5所示的加速度获取模块501、姿态参数确定模块502、拍摄角度信息获取模块503、拍摄角度调节指令生成模块504、拍摄角度调节模块505、角速度调节指令生成模块506、角速度调节模块507以及方位 信息显示模块508)。处理器601通过运行存储在存储器602中的非易失性软件程序、指令以及模块，从而执行遥控器60的各种功能应用以及数据处理，即实现所述方法实施例的控制拍摄装置的拍摄角度的方法。
存储器602可以包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需要的应用程序；存储数据区可存储根据遥控器60使用所创建的数据等。此外，存储器602可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。在一些实施例中，存储器602可选包括相对于处理器601远程设置的存储器，这些远程存储器可以通过网络连接至遥控器60。所述网络的实施例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
所述一个或者多个模块存储在所述存储器602中，当被所述一个或者多个处理器601执行时，执行所述任意方法实施例中的控制拍摄装置的拍摄角度的方法，例如，执行以上描述的图4中的方法步骤401至步骤408，实现图5中的501-508模块的功能。
所述遥控器60可执行任意方法实施例所提供的控制拍摄装置的拍摄角度的方法，具备执行方法相应的功能模块和有益效果。未在遥控器实施例中详尽描述的技术细节，可参见任意方法实施例所提供的控制拍摄装置的拍摄角度的方法。
本发明实施例提供了一种计算机程序产品，所述计算机程序产品包括存储在非易失性计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被计算机执行时，使所述计算机执行所述任意方法实施例中的控制拍摄装置的拍摄角度的方法，例如，执行以上描述的图4中的方法步骤401至步骤408，实现图5中的501-508模块的功能。
本发明实施例提供了一种非易失性计算机可读存储介质，所述计算机可读存储介质存储有计算机可执行指令，所述计算机可执行指令用于 使计算机执行所述任意方法实施例中的控制拍摄装置的拍摄角度的方法，例如，执行以上描述的图4中的方法步骤401至步骤408，实现图5中的501-508模块的功能。
实施例5：
图7是本发明实施例提供的拍摄系统的示意图，如图7所示，所述拍摄系统70包括：拍摄装置701、如上所述的遥控器60以及可穿戴设备702，所述遥控器60分别与所述拍摄装置701和所述可穿戴设备702相连，所述遥控器60用于控制所述拍摄装置701的拍摄角度。所述可穿戴设备702用于显示所述拍摄装置701所拍摄的图像。
其中，所述拍摄装置701包括相机、具有拍摄功能的无人飞行器或者具有拍摄功能的固定装置。所述可穿戴设备702可以为VR设备等。
需要说明的是，以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的模块可以是或者也可以不是物理上分开的，作为模块显示的部件可以是或者也可以不是物理模块，即可以位于一个地方，或者也可以分布到多个网络模块上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。
通过以上的实施例的描述，本领域普通技术人员可以清楚地了解到各实施例可借助软件加通用硬件平台的方式来实现，当然也可以通过硬件。本领域普通技术人员可以理解实现所述实施例方法中的全部或部分流程是可以通过计算机程序指令相关的硬件来完成，所述的程序可存储于计算机可读取存储介质中，该程序在执行时，可包括如所述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory,ROM)或随机存储记忆体(Random Access Memory,RAM)等。
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非 对其限制；在本发明的思路下，以上实施例或者不同实施例中的技术特征之间也可以进行组合，步骤可以以任意顺序实现，并存在如上所述的本发明的不同方面的许多其它变化，为了简明，它们没有在细节中提供；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (19)

  1. 一种控制拍摄装置的拍摄角度的方法，应用于遥控器，所述遥控器分别与所述拍摄装置和可穿戴设备相连，所述可穿戴设备显示所述拍摄装置所拍摄的图像，其特征在于，所述方法包括：
    在所述可穿戴设备运动的过程中，获取所述可穿戴设备的加速度；
    根据所述可穿戴设备的加速度，得到所述可穿戴设备的姿态参数；
    获取所述拍摄装置的拍摄角度信息；
    根据所述可穿戴设备的姿态参数以及所述拍摄装置的拍摄角度信息，生成拍摄角度调节指令，所述拍摄角度调节指令用于调节所述拍摄装置的拍摄角度；
    根据所述拍摄角度调节指令，控制所述拍摄装置的拍摄角度。
  2. 根据权利要求1所述的方法，其特征在于，所述可穿戴设备的姿态参数包括可穿戴设备的姿态角；
    所述根据所述可穿戴设备的加速度，得到所述可穿戴设备的姿态参数，包括：
    将所述可穿戴设备的加速度转换为第一四元数；
    根据所述第一四元数、预设的第二四元数以及预设的第三四元数，得到所述可穿戴设备的姿态角，所述预设的第二四元数用于表示绕所述可穿戴设备坐标系的z轴旋转第一预设角度的四元数，所述预设的第三四元数用于表示绕所述可穿戴设备坐标系的x轴旋转第二预设角度的四元数。
  3. 根据权利要求2所述的方法，其特征在于，所述根据所述第一四元数、预设的第二四元数以及预设的第三四元数，得到所述可穿戴设备的姿态角，包括：
    将所述预设的第二四元数与所述预设的第三四元数进行叉乘运算后，得到第四四元数；
    根据所述第四四元数及所述第一四元数，得到所述可穿戴设备的姿态角。
  4. 根据权利要求2或3所述的方法，其特征在于，根据所述可穿戴设备的加速度得到所述可穿戴设备的姿态参数的计算公式为：
    Figure PCTCN2019090953-appb-100001
    其中，(θ,ψ,φ)表示为所述可穿戴设备的姿态角，θ表示为所述可穿戴设备的姿态角中的俯仰角，φ表示为所述可穿戴设备的姿态角中的翻滚角，ψ表示为所述可穿戴设备的姿态角中的偏航角；(X,Y,Z)表示为所述可穿戴设备的加速度；(Q,X,Y,Z)表示为第一四元数，满足：
    Figure PCTCN2019090953-appb-100002
    PI表示为圆周率。
  5. 根据权利要求2所述的方法，其特征在于，所述拍摄装置搭载于云台上；
    所述根据所述可穿戴设备的姿态参数以及所述拍摄装置的拍摄角度信息，生成拍摄角度调节指令，包括：
    根据所述可穿戴设备的姿态角以及所述拍摄装置的拍摄角度信息，生成拍摄角度调节指令；
    所述根据所述拍摄角度调节指令，控制所述拍摄装置的拍摄角度，包括：
    根据所述拍摄角度调节指令，调节所述云台的角度，以调整所述拍摄装置的拍摄角度。
  6. 根据权利要求5所述的方法，其特征在于，所述可穿戴设备的姿态参数还包括可穿戴设备的角速度，所述方法还包括：
    根据所述可穿戴设备的角速度，生成角速度调节指令，所述角速度调节指令用于调节所述拍摄装置的拍摄的角速度；
    根据所述角速度调节指令，调节所述云台的角速度，以调节所述拍摄装置的拍摄的角速度。
  7. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    在所述可穿戴设备上实时显示所述拍摄装置的方位信息。
  8. 根据权利要求1所述的方法，所述可穿戴设备设置有加速度计，其特征在于，所述可穿戴设备的加速度由所述加速度计采集得到。
  9. 一种拍摄装置的拍摄角度的控制装置，所述控制装置分别与所述拍摄装置和可穿戴设备相连，所述可穿戴设备显示所述拍摄装置所拍摄的图像，其特征在于，所述控制装置包括：
    加速度获取模块，用于在所述可穿戴设备运动的过程中，获取所述可穿戴设备的加速度；
    姿态参数确定模块，用于根据所述可穿戴设备的加速度，得到所述可穿戴设备的姿态参数；
    拍摄角度信息获取模块，用于获取所述拍摄装置的拍摄角度信息；
    拍摄角度调节指令生成模块，用于根据所述可穿戴设备的姿态参数以及所述拍摄装置的拍摄角度信息，生成拍摄角度调节指令，所述拍摄角度调节指令用于调节所述拍摄装置的拍摄角度；
    拍摄角度调节模块，用于根据所述拍摄角度调节指令，控制所述拍摄装置的拍摄角度。
  10. 根据权利要求9所述的装置，其特征在于，所述可穿戴设备的姿态参数包括可穿戴设备的姿态角；
    所述姿态参数确定模块具体用于：
    将所述可穿戴设备的加速度转换为第一四元数；
    根据所述第一四元数、预设的第二四元数以及预设的第三四元数，得到所述可穿戴设备的姿态角，所述预设的第二四元数用于表示绕所述可穿戴设备坐标系的z轴旋转第一预设角度的四元数，所述预设的第三四元数用于表示绕所述可穿戴设备坐标系的x轴旋转第二预设角度的四元数。
  11. 根据权利要求10所述的装置，其特征在于，所述姿态参数确定模块根据所述第一四元数、预设的第二四元数以及预设的第三四元数，得到所述可穿戴设备的姿态角，包括：
    将所述预设的第二四元数与所述预设的第三四元数进行叉乘运算后，得到第四四元数；
    根据所述第四四元数及所述第一四元数，得到所述可穿戴设备的姿态角。
  12. 根据权利要求9或10所述的装置，其特征在于，所述姿态参数确定模块根据所述可穿戴设备的加速度得到所述可穿戴设备的姿态参数的计算公式为：
    Figure PCTCN2019090953-appb-100003
    其中，(θ,ψ,φ)表示为所述可穿戴设备的姿态角，θ表示为所述可穿戴设备的姿态角中的俯仰角，φ表示为所述可穿戴设备的姿态角中的翻滚角，ψ表示为所述可穿戴设备的姿态角中的偏航角；(X,Y,Z)表示为所 述可穿戴设备的加速度；(Q,X,Y,Z)表示为第一四元数，满足：
    Figure PCTCN2019090953-appb-100004
    PI表示为圆周率。
  13. 根据权利要求10所述的装置，其特征在于，所述拍摄装置搭载于云台上；
    所述拍摄角度调节指令生成模块具体用于：
    根据所述可穿戴设备的姿态角以及所述拍摄装置的拍摄角度信息，生成拍摄角度调节指令；
    所述拍摄角度调节模块具体用于：
    根据所述拍摄角度调节指令，调节所述云台的角度，以调整所述拍摄装置的拍摄角度。
  14. 根据权利要求13所述的装置，其特征在于，所述可穿戴设备的姿态参数还包括可穿戴设备的角速度，所述装置还包括：
    角速度调节指令生成模块，用于根据所述可穿戴设备的角速度，生成角速度调节指令，所述角速度调节指令用于调节所述拍摄装置的拍摄的角速度；
    角速度调节模块，用于根据所述角速度调节指令，调节所述云台的角速度，以调节所述拍摄装置的拍摄的角速度。
  15. 根据权利要求9所述的装置，其特征在于，所述装置还包括：
    方位信息显示模块，用于在所述可穿戴设备上实时显示所述拍摄装置的方位信息。
  16. 根据权利要求9所述的装置，所述可穿戴设备设置有加速度计，其特征在于，所述可穿戴设备的加速度由所述加速度计采集得到。
  17. 一种遥控器，用于控制拍摄装置的拍摄角度，其特征在于，包括：
    至少一个处理器；以及，
    与所述至少一个处理器通信连接的存储器；其中，
    所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行权利要求1-8的任一项所述的方法。
  18. 一种拍摄系统，其特征在于，包括拍摄装置、如权利要求17所述的遥控器以及可穿戴设备，所述遥控器分别与所述拍摄装置和所述可穿戴设备相连，所述遥控器用于控制所述拍摄装置的拍摄角度。
  19. 根据权利要求18所述的拍摄系统，其特征在于，所述拍摄装置包括相机、具有拍摄功能的无人飞行器或者具有拍摄功能的固定装置。
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