WO2020097890A1 - 手持云台的控制方法和手持云台 - Google Patents

手持云台的控制方法和手持云台 Download PDF

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Publication number
WO2020097890A1
WO2020097890A1 PCT/CN2018/115756 CN2018115756W WO2020097890A1 WO 2020097890 A1 WO2020097890 A1 WO 2020097890A1 CN 2018115756 W CN2018115756 W CN 2018115756W WO 2020097890 A1 WO2020097890 A1 WO 2020097890A1
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WO
WIPO (PCT)
Prior art keywords
axis
shooting device
handle
posture
posture information
Prior art date
Application number
PCT/CN2018/115756
Other languages
English (en)
French (fr)
Inventor
苏铁
郝祎
Original Assignee
深圳市大疆创新科技有限公司
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.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2018/115756 priority Critical patent/WO2020097890A1/zh
Priority to CN201880040466.0A priority patent/CN110785601A/zh
Priority to EP18940106.0A priority patent/EP3882736A4/en
Publication of WO2020097890A1 publication Critical patent/WO2020097890A1/zh
Priority to US17/317,879 priority patent/US20210263394A1/en

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Classifications

    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera accessories
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/04—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or holding steady relative to, a person, e.g. by chains, e.g. rifle butt or pistol grip supports, supports attached to the chest or head
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F16M11/123—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints the axis of rotation intersecting in a single point, e.g. by using gimbals
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/128—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction for panning and rolling
    • 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
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels
    • G01C9/02—Details
    • G01C9/06—Electric or photoelectric indication or reading means
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/563—Camera grips, handles
    • 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
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F16M2200/041—Balancing means for balancing rotational movement of the head
    • 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
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F16M2200/044—Balancing means for balancing rotational movement of the undercarriage
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels
    • G01C9/02—Details
    • G01C9/06—Electric or photoelectric indication or reading means
    • G01C2009/066—Electric or photoelectric indication or reading means optical
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/423—Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37134—Gyroscope
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39217—Keep constant orientation of handled object while moving manipulator
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39403—Method, axial rotation of tool to make tool and base coordinates parallel
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40547—End effector position using accelerometers in tip
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40582—Force sensor in robot fixture, base
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40617—Agile eye, control position of camera, active vision, pan-tilt camera, follow object

Definitions

  • the invention relates to the technical field of intelligent terminals, in particular to a control method of a handheld gimbal and a handheld gimbal.
  • the handheld gimbal can include: a handle and a three-axis gimbal.
  • the handle is connected to the gimbal base of the three-axis gimbal.
  • Camera equipment can be set on the three-axis gimbal.
  • the handheld gimbal can control the rotation of the camera device and the execution of directional actions such as pitching, so as to take excellent photos and / or videos in various directions.
  • the handheld gimbal has a three-axis full-following function within a certain rotation range.
  • the posture of the camera device can follow the posture of the handle, keeping the relative posture with the handle unchanged.
  • the rotation of the base exceeds a certain range, for example, beyond the range of plus or minus 90 degrees, the camera equipment will twitch or flutter, resulting in the handheld gimbal unable to realize the three-axis full-following function.
  • the invention provides a handheld gimbal control method and a handheld gimbal, which realizes the three-axis follow function of the gimbal in any posture of the handle, and improves the accuracy and stability of the handheld gimbal control.
  • the present invention provides a method for controlling a handheld gimbal, including:
  • the axis joint rotation on the handheld gimbal is controlled so that the posture of the shooting device follows the posture of the handle.
  • the present invention provides a handheld gimbal, including: a handle, a gimbal, and a shooting device;
  • the gimbal includes a gimbal base and a plurality of shaft joints, each of the shaft joints includes a motor and a shaft arm drivingly connected to the motor; the handle is connected to the gimbal base; the shooting device Set on the gimbal;
  • the gimbal also includes a memory and a processor
  • the memory is used to store instructions
  • the processor is used to execute the instruction to realize:
  • the axis joint rotation on the handheld gimbal is controlled so that the posture of the shooting device follows the posture of the handle.
  • the present invention provides a storage medium, including: a readable storage medium and a computer program, where the computer program is used to implement the control method of the handheld cloud platform provided in any of the embodiments of the first aspect described above.
  • the present invention provides a program product that includes a computer program (ie, execution instructions), the computer program stored in a readable storage medium.
  • the processor can read the computer program from the readable storage medium, and the processor executes the computer program for executing the control method of the handheld cloud platform provided in any of the embodiments of the first aspect.
  • the invention provides a control method of a handheld gimbal and a handheld gimbal. After the handheld gimbal rotates, the current posture information of the shooting device and the current posture information of the handle are acquired, according to the current posture information of the shooting device and the current posture of the handle Information, obtain the target posture information of the shooting device, and control the rotation of the shaft joint on the handheld gimbal according to the current posture information and the target posture information of the shooting device, so that the posture of the shooting device follows the posture of the handle.
  • the posture of the shooting device can follow the posture of the handle, which realizes the three-axis follow function of the three-axis gimbal under any posture of the handle, and improves the accuracy and stability of the handheld gimbal control.
  • FIG. 1 is a schematic structural diagram of a hand-held cloud platform applicable to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of the working principle of a hand-held cloud platform provided by an embodiment of the present invention
  • FIG. 3 is a flowchart of a method for controlling a handheld cloud platform provided by an embodiment of the present invention
  • FIG. 4 is a schematic diagram of the posture change of the handheld gimbal during the rotation process provided by an embodiment of the present invention
  • FIG. 5 is a schematic diagram of a scene in which the posture of the shooting device follows the posture of the handle according to an embodiment of the present invention
  • FIG. 6 is a schematic diagram of another scene in which the posture of the shooting device follows the posture of the handle according to an embodiment of the present invention
  • FIG. 7 is a schematic diagram of the principle of a spherical linear interpolation algorithm provided by an embodiment of the present invention.
  • FIG. 8 is a schematic structural diagram of a handheld cloud platform provided by an embodiment of the present invention.
  • the control method of the handheld gimbal provided by the embodiment of the present invention can be applied to a device including a multi-axis gimbal.
  • a handheld gimbal including a three-axis gimbal is taken as an example for illustration.
  • FIG. 1 is a schematic structural diagram of a handheld cloud platform to which an embodiment of the present invention is applicable.
  • the handheld gimbal may include a handle 10, a three-axis gimbal, and a shooting device 9.
  • a control button 11 can be provided on the handle 10 to input the amount of the rocker lever for controlling the movement of the motor on the three-axis gimbal. It should be noted that, in this embodiment, the implementation manner of the control button 11 is not limited.
  • the control button 11 may be a rocker.
  • the three-axis gimbal may include a gimbal base 4 and three axis joints.
  • the gimbal base 4 is connected to the handle 10.
  • Each shaft joint includes a motor and a shaft arm drivingly connected to the motor.
  • the three axis joints may include a yaw axis joint, a pitch axis joint, and a roll axis joint.
  • the yaw axis is also called the yaw axis or the translation axis
  • the pitch axis is also called the pitch axis
  • the roll axis is also called the roll axis.
  • the yaw axis joint is connected to the gimbal base 4.
  • the yaw axis joint includes a yaw axis motor 3 and a yaw axis arm 5 drivingly connected to the yaw axis motor 3.
  • the roll axis joint includes a roll axis motor 2 and a roll axis arm 8 drivingly connected to the roll axis motor 2.
  • the pitch axis joint includes a pitch axis motor 1 and a pitch axis arm 7 drivingly connected to the pitch axis motor 1.
  • the yaw-axis motor 3, the roll-axis motor 2, and the pitch-axis motor 1 can rotate relative to the axes in different directions in the body coordinate system of the handle 10 and the shooting device 9 .
  • the handle 10 is vertical, and the optical axis of the shooting device 9 is horizontal.
  • the yaw axis motor 3 can rotate around the yaw axis of the shooting device 9
  • the roll axis motor 2 can rotate around the roll axis of the shooting device 9
  • the pitch axis motor 1 can rotate around the shooting The pitch axis of device 9 rotates.
  • the handle 10 is rotated clockwise by 90 degrees, the handle 10 is horizontal, and the pitch axis motor 1 is rotated counterclockwise by 90 degrees, so that the optical axis of the shooting device 9 is still horizontal.
  • the yaw axis motor 3 can rotate around the roll axis of the shooting device 9
  • the roll axis motor 2 can rotate around the yaw axis of the shooting device 9
  • the pitch axis motor 1 can rotate The pitch axis of device 9 rotates.
  • the handle 10 generally includes a front side and a back side.
  • the front side is usually provided with function operation parts such as a rocker, and the back side facing away from the front side may also be provided with some function keys, such as shortcut keys.
  • function operation parts such as a rocker
  • shortcut keys such as shortcut keys
  • the shooting device 9 follows the handle 10, when the handle 10 falls forward 90 degrees, if the initial posture of the shooting device 9 is toward the front and the optical axis is horizontal, then the shooting device 9 rotates to face downward s position. In order for the shooting device 9 to shoot the object in front, the pitch axis motor is controlled to rotate 90 degrees. At this time, the optical axis of the shooting device 9 is parallel to or coincides with the axis of the handle 10, and the flashlight mode is used.
  • the pitch axis motor can be controlled to rotate the shooting device 9 so that the optical axis of the shooting device 9 is parallel to or coincides with the axis of the handle 10, and then the handle 10 is turned forward Next, the shooting device 9 follows the movement and finally adjusts to the flashlight mode.
  • the handheld gimbal may include a camera fixing mechanism 6 for fixing the camera 9.
  • the embodiment of the present invention does not limit the shape and position of the fixing mechanism 6 of the photographing device.
  • an inertial measurement element may be provided in the fixing mechanism 6 of the shooting device.
  • the inertial measurement element may be a gyroscope, an accelerometer, and so on.
  • FIG. 2 is a schematic diagram of the working principle of a handheld cloud platform provided by an embodiment of the present invention.
  • the handheld gimbal can use a inertial measurement element as a feedback device and a motor as an output element to form a closed-loop control system.
  • the control quantity is the attitude of the handheld gimbal, including the attitude of the handle and / or the attitude of the shooting device.
  • the measured posture can be achieved through feedback control to achieve the target posture.
  • the target posture can be obtained by the amount of the rocker lever output by the controller and the torque output by the motor.
  • the controller in the hand-held gimbal can control the movement of the three-axis motor and realize the change of the attitude of the three-axis gimbal.
  • Measurement posture can be obtained through gyroscope measurement.
  • the controller can further control the motion of the three-axis motor so that the measured posture reaches the target posture and realize closed-loop control.
  • the remote controller may include a joystick provided on the handle, or other controller connected to the handheld gimbal.
  • the embodiment of the present invention does not limit the connection method between the shooting device 9 and the three-axis gimbal.
  • the shooting device 9 may be fixedly installed on the three-axis gimbal.
  • the shooting device 9 may be detachably installed on the three-axis gimbal.
  • the embodiment of the present invention does not limit the type of the shooting device 9.
  • the shooting device 9 may be a camera, a video camera, a smartphone, and so on.
  • the shooting device 9 may include an inertial measurement unit.
  • the embodiment of the present invention does not limit the shape of the handle 10 and the control button 11 provided on the handle 10, and does not limit the position of the control button 11 on the handle 10.
  • FIG. 3 is a flowchart of a method for controlling a handheld cloud platform provided by an embodiment of the present invention.
  • the execution subject may be a handheld gimbal.
  • the control method of the handheld gimbal provided in this embodiment may include:
  • FIG. 4 is a schematic diagram of the posture change of the handheld gimbal during the rotation process provided by an embodiment of the present invention.
  • state (a) shows the initial state of the handheld gimbal.
  • the handle 10 is upright, the optical axis of the shooting device 9 is horizontal, and the shooting device 9 is facing forward.
  • the current state is (b).
  • the handle 10 is upright and the optical axis of the shooting device 9 is horizontal.
  • the attitude of the shooting device 9 has changed with respect to the attitude of the handle 10.
  • the current posture information of the shooting device 9 and the current posture information of the handle 10 can be acquired for subsequent processing.
  • this embodiment does not limit the initial postures of the shooting device 9 and the handle 10.
  • the optical axis of the shooting device and the axis of the handle may be parallel or coincide.
  • the gesture information may include quaternion.
  • quaternion refers to a simple super complex number.
  • Each quaternion is a linear combination of 1, i, j, and k.
  • the quaternion can generally be expressed as a + bk + cj + di, where a, b, c, and d are real numbers. In different applications, the specific form of quaternion can be different.
  • the posture of the shooting device changes relative to the posture of the handle. Therefore, according to the current posture information of the shooting device and the current posture information of the handle, the target posture information of the shooting device can be obtained.
  • the target posture information is to realize that the posture of the shooting device follows the posture of the handle, and the posture that the shooting device expects to achieve.
  • the target posture information may be intermediate posture information during the process that the posture of the shooting device follows the posture of the handle, or the current posture information of the handle.
  • the intermediate attitude information may be the real-time attitude of the handle according to the preset frequency when the handheld gimbal rotates .
  • the posture of the shooting device follows the posture of the handle, which means that the posture of the shooting device remains unchanged relative to the posture of the handle.
  • At least one motor of the three-axis gimbal can be controlled to work according to the current posture information and the target posture information of the shooting device.
  • the three-axis gimbal drives the shooting device to move, so that the shooting device reaches the desired target posture, and the posture of the shooting device follows the posture of the handle.
  • State (b) is the attitude of holding the gimbal at the current moment.
  • the posture of the shooting device does not follow the posture of the handle.
  • target posture information of the shooting device can be obtained.
  • the posture of the shooting device in (b) and the acquired target posture information can finally be realized to follow the posture of the handle, that is, state (c).
  • the posture of the shooting device remains unchanged relative to the posture of the handle.
  • the speed at which the posture of the shooting device follows the posture of the handle may be different, and the effects presented may also be different.
  • FIG. 5 is a schematic diagram of a scene in which the posture of the shooting device follows the posture of the handle according to an embodiment of the present invention.
  • the posture of the shooting device can all follow the posture of the handle.
  • FIG. 6 is a schematic diagram of another scenario in which the posture of the photographing device follows the posture of the handle according to an embodiment of the present invention.
  • the posture of the shooting device can finally be realized to follow the posture of the handle.
  • the posture of the shooting device does not follow the posture of the handle.
  • the posture of the shooting device after a delay, the posture of the shooting device finally follows the posture of the handle.
  • the method for controlling the handheld gimbal provided in this embodiment can determine the target posture that the shooting device hopes to achieve by acquiring the current posture information of the shooting device and the handle. Furthermore, according to the current posture information of the shooting device and the target posture information, the motor is controlled to work. During the rotation of the handheld gimbal, the posture of the shooting device can follow the posture of the handle regardless of the posture of the handle. The following three-axis gimbal three-axis follow function improves the accuracy and stability of handheld gimbal control.
  • acquiring the current pose information of the handle may include:
  • the state of the handheld gimbal before rotation is (a). Since the inertial measuring element is provided in the photographing device 9 or the inertial measuring element is provided in the photographing device fixing mechanism 6 shown in FIG. 1, the posture information of the photographing device can be acquired.
  • the historical posture information of the shooting device before the rotation of the handheld gimbal is specifically the posture information of the shooting device 9 in (a).
  • at least one axis joint on the handheld gimbal may include a pitch axis axis joint (pitch axis axis joint), a roll axis axis joint (roll axis axis joint) and a translation axis axis joint (yaw axis axis joint).
  • the current posture information of the handle can be obtained.
  • obtaining the current posture information of the handle according to the historical posture information and the rotation angle may include:
  • the quaternions corresponding to the at least one shaft joint are determined.
  • the current posture information of the handle is obtained according to the quaternion corresponding to the historical posture information of the shooting device and the quaternion corresponding to at least one axis joint, respectively.
  • At least one axis joint includes a pitch axis joint, a roll axis joint, and a yaw axis joint.
  • the quaternion corresponding to the pitch axis joint is q_pitch
  • the quaternion corresponding to the roll axis joint is q_roll
  • the quaternion corresponding to the yaw axis joint is q_yaw.
  • the definition of quaternion is ⁇ represents the rotation angle of the shaft joint.
  • V1, V2, V3 represent the axis vector of the axis joint, and the modulus value is 1.
  • ⁇ p represents the rotation angle of the pitch axis joint.
  • ⁇ y represents the rotation angle of the yaw axis joint.
  • the current pose information of the handle q_base q_camera * q_pitch * q_roll * q_yaw.
  • q_camera represents the quaternion corresponding to the historical pose information of the shooting device.
  • posture acquisition elements such as inertial measurement elements are also provided on the handle, the real-time posture of the handle can be directly obtained.
  • obtaining the target posture information of the shooting device according to the current posture information of the shooting device and the current posture information of the handle may include:
  • the following time is the time interval from the end of the rotation of the handheld gimbal until the posture of the shooting device follows the posture of the handle.
  • an interpolation algorithm is used to obtain the target posture information of the shooting device.
  • the following time reflects the following speed of the attitude of the photographing device following the attitude of the handle.
  • This embodiment does not limit the specific value of the following time.
  • the following time may be a preset value, or a value input by a user, or a value determined according to the calculation speed of the processor.
  • an interpolation algorithm can be used to obtain the target posture information of the shooting device, and then the posture of the shooting device follows the posture of the handle, and the following speed and following stability can be weighed.
  • interpolation method also known as “interpolation method”
  • interpolation method uses the function values of several points of a function f (x) known in a certain interval to make an appropriate specific function, and uses the value of this specific function at other points of the interval as The approximate value of the function f (x).
  • FIG. 7 is a schematic diagram of the principle of a spherical linear interpolation algorithm provided by an embodiment of the present invention.
  • Spherical linear interpolation (Slerp) algorithm is a linear interpolation operation of quaternions, mainly used for smooth interpolation between two quaternions representing rotation.
  • the angle between the vector p and the vector q is ⁇
  • the angle between the vector p and the vector r is t ⁇
  • the angle between the vector q and the vector r is (1-t) ⁇ .
  • Slerp () represents a spherical interpolation function.
  • the vector p can be understood as the posture of the shooting device
  • the vector q can be understood as the posture of the handle. Then, a functional relationship between the vector p and the vector q with the time variable is established through the Slerp algorithm, and r can be understood as the shooting at t The target posture of the device.
  • the target posture of the real-time dynamic shooting device can be obtained during the movement, so that the shooting device can better follow the handle.
  • the shooting device can follow the handle without causing control disturbance.
  • control method of the handheld gimbal provided in this embodiment adjusts the attitude of the shooting device in real time at a preset frequency to follow the attitude of the handle, the following time is a single period of time at the preset frequency.
  • control method of the handheld cloud platform may further include:
  • the axis joint rotation on the handheld gimbal is controlled so that the optical axis of the shooting device is parallel to or coincides with the axis of the handle.
  • the direction cosine matrix is a matrix formed by the direction cosine between the base vectors of two different sets of standard orthogonal bases.
  • the direction cosine matrix can be used to express the relationship between a set of standard orthogonal bases and another set of standard orthogonal bases, and can also be used to express the direction cosine of a vector for another set of standard orthogonal bases.
  • the cosine of a vector in three directions is the cosine of the angle between the vector and the three coordinate axes.
  • the direction cosine between two vectors refers to the cosine of the angle between the two vectors.
  • states (a) to (c) can realize that the posture of the shooting device follows the posture of the handle.
  • the axis joint rotation on the handheld gimbal can be controlled according to the target posture information and the posture corresponding to the pitch axis, so that the optical axis of the shooting device is parallel to or coincides with the axis of the handle.
  • the optical axis of the shooting device can be parallel or coincident with the axis of the handle, thereby providing support for the rollover 360 mode of the shooting device, so that the handle is in any posture
  • the camera can be controlled to rotate around the center of its optical axis, which improves the accuracy and achievability of the handheld gimbal control.
  • this embodiment does not perform the order of the steps of making the optical axis of the shooting device parallel to or coincident with the axis of the handle and the step of making the posture of the shooting device follow the posture of the handle (ie, steps S301 to S303 above) limited.
  • the step of making the optical axis of the shooting device parallel to or coincident with the axis of the handle follows the step of making the posture of the shooting device follow the posture of the handle.
  • the state change may be (a), (b), (c), (d) in this order.
  • the step of making the optical axis of the shooting device parallel to or coincident with the axis of the handle is before the step of making the posture of the shooting device follow the posture of the handle.
  • the state change may be (a), (d), (b), (c) in sequence. Only at this time, when the posture tracking is realized in (b) and (c), finally, the optical axis of the shooting device will be parallel to or coincide with the axis of the handle.
  • the attitude corresponding to the pitch axis may include the quaternion corresponding to the pitch axis.
  • obtaining the attitude corresponding to the pitch axis in the body coordinate system of the shooting device according to the direction cosine matrix may include:
  • the axis vector of the pitch axis in the earth coordinate system is obtained.
  • the attitude corresponding to the pitch axis is obtained.
  • Vs (xs, ys, zs) in the geodetic coordinate system
  • Vb (xb, yb, zb) represents the axis vector in the body coordinate system.
  • the attitude corresponding to the pitch axis can be obtained according to the axis vector Vs of the pitch axis in the geodetic coordinate system and the rotation angle ⁇ of the pitch axis.
  • the attitude corresponding to the pitch axis can be expressed by quaternion. Specifically
  • q_tar_final q_pitch * q_tar.
  • q_tar represents the quaternion of the target posture information of the shooting device.
  • control method of the handheld cloud platform may further include:
  • the axis joint rotation on the handheld gimbal is controlled so that the shooting device rolls and rolls around its optical axis.
  • obtaining the posture corresponding to the translation axis in the body coordinate system of the shooting device according to the direction cosine matrix may include:
  • the axis vector of the direction cosine matrix and the translation axis in the body coordinate system is obtained.
  • the posture corresponding to the translation axis is obtained.
  • the above direction cosine matrix R_tar is also used as an example for description.
  • the posture corresponding to the translation axis can be obtained according to the rotation vector ⁇ of the translation axis in the geodetic coordinate system and the rotation angle ⁇ of the translation axis.
  • the posture corresponding to the translation axis can be expressed by quaternion. Specifically
  • q_tar_final q_yaw * q_pitch * q_tar.
  • q_tar represents the quaternion of the target posture information of the shooting device.
  • obtaining the rotation angle of the translation axis may include:
  • This embodiment provides a method for controlling a handheld gimbal, including: after the handheld gimbal rotates, acquiring the current posture information of the shooting device and the current posture information of the handle, and according to the current posture information of the shooting device and the current posture information of the handle, Obtain the target posture information of the shooting device, and control the rotation of the shaft joint on the handheld gimbal according to the current posture information and the target posture information of the shooting device, so that the posture of the shooting device follows the posture of the handle.
  • the control method of the handheld gimbal provided in this embodiment can determine the desired posture of the shooting device by acquiring the current posture information of the shooting device and the handle, and then control the operation of the motor, regardless of the posture of the handle, the posture of the shooting device is It can follow the posture of the handle, and realize the three-axis follow function of the three-axis gimbal under any posture of the handle, which improves the accuracy and stability of the handheld gimbal control.
  • the handheld gimbal provided in this embodiment is used to execute the method for controlling the handheld gimbal provided in the embodiments shown in FIGS. 3 to 7.
  • the handheld gimbal provided in this embodiment may include:
  • Handle 81 Handle 81, gimbal 82 and shooting device 83.
  • the gimbal 82 includes a gimbal base and a plurality of shaft joints, and each of the shaft joints includes a motor and a shaft arm drivingly connected to the motor.
  • the handle 81 is connected to the gimbal base.
  • the shooting device 83 is provided on the gimbal.
  • the gimbal also includes a memory 85 and a processor 84.
  • the memory 85 is used to store instructions.
  • the processor 84 is used to execute instructions to realize:
  • the current posture information of the shooting device and the current posture information of the handle are acquired.
  • the target posture information of the shooting device is obtained according to the current posture information of the shooting device and the current posture information of the handle.
  • the axis joint rotation on the handheld gimbal is controlled so that the posture of the shooting device follows the posture of the handle.
  • processor 84 is specifically used for:
  • processor 84 is specifically used for:
  • the quaternions corresponding to the at least one shaft joint are determined.
  • the current posture information of the handle is obtained according to the quaternion corresponding to the historical posture information of the shooting device and the quaternion corresponding to at least one axis joint, respectively.
  • the at least one axis joint includes: a pitch axis axis joint, a roll axis axis joint, and a translation axis axis joint.
  • processor 84 is specifically used for:
  • the following time is the time interval from the end of the rotation of the handheld gimbal until the posture of the shooting device follows the posture of the handle.
  • an interpolation algorithm is used to obtain the target posture information of the shooting device.
  • the processor 84 adjusts the attitude of the shooting device in real time at a preset frequency to follow the attitude of the handle, and the following time is a single period of time at the preset frequency.
  • the interpolation algorithm is a spherical linear interpolation algorithm.
  • processor 84 is also used for:
  • the axis joint rotation on the handheld gimbal is controlled so that the optical axis of the shooting device is parallel to or coincides with the axis of the handle.
  • processor 84 is specifically used for:
  • the axis vector of the pitch axis in the earth coordinate system is obtained.
  • the attitude corresponding to the pitch axis is obtained.
  • processor 84 is also used for:
  • the axis joint rotation on the handheld gimbal is controlled so that the shooting device rolls and rolls around its optical axis.
  • processor 84 is specifically used for:
  • the axis vector of the direction cosine matrix and the translation axis in the body coordinate system is obtained.
  • the posture corresponding to the translation axis is obtained.
  • processor 84 is specifically used for:
  • the target posture information is intermediate posture information during the process that the posture of the shooting device follows the posture of the handle, or the current posture information of the handle.
  • the handheld gimbal provided in this embodiment is used to execute the control method of the handheld gimbal provided in the embodiments shown in FIG. 3 to FIG. 7.
  • the technical principles and technical effects are similar, and are not repeated here.

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Abstract

一种手持云台的控制方法和手持云台，其中，手持云台的控制方法包括：手持云台发生旋转后，获取拍摄设备的当前姿态信息和手柄的当前姿态信息（S301）；根据所述拍摄设备的当前姿态信息和所述手柄的当前姿态信息，获得所述拍摄设备的目标姿态信息（S302）；根据所述拍摄设备的当前姿态信息和所述目标姿态信息控制所述手持云台上的轴关节旋转，以使所述拍摄设备的姿态跟随所述手柄的姿态（S303）。无论手柄处于何种状态，拍摄设备的姿态都可以跟随手柄的姿态，提升了手持云台控制的准确性和稳定性。

Description

手持云台的控制方法和手持云台 技术领域
本发明涉及智能终端技术领域，尤其涉及一种手持云台的控制方法和手持云台。
背景技术
随着智能移动终端的普及，越来越多的人开始使用手持云台进行摄影。手持云台可以包括：手柄和三轴云台。手柄与三轴云台的云台基座连接。三轴云台上可以设置摄像设备。手持云台可以控制摄像设备的旋转以及俯仰等方向动作的执行，从而拍摄出各种方向的优秀照片和/或视频。
目前，手持云台在一定的旋转范围内具备三轴全跟随功能。手柄的姿态变化时，摄像设备的姿态可以跟随手柄的姿态而变化，保持与手柄的相对姿态不变。但是，当基座的旋转超出了一定的范围，例如，超出了正负90度的范围，摄像设备会发生抽动或者乱甩，导致手持云台无法实现三轴全跟随功能。
发明内容
本发明提供一种手持云台的控制方法和手持云台，实现了手柄任意姿态下的云台三轴跟随功能，提升了手持云台控制的准确性和稳定性。
第一方面，本发明提供一种手持云台的控制方法，包括：
手持云台发生旋转后，获取拍摄设备的当前姿态信息和手柄的当前姿态信息；
根据所述拍摄设备的当前姿态信息和所述手柄的当前姿态信息，获得所述拍摄设备的目标姿态信息；
根据所述拍摄设备的当前姿态信息和所述目标姿态信息控制所述手持云台上的轴关节旋转，以使所述拍摄设备的姿态跟随所述手柄的姿态。
第二方面，本发明提供一种手持云台，包括：手柄、云台和拍摄设备；
所述云台包括云台基座和多个轴关节，每个所述轴关节包括电机和与所 述电机驱动连接的轴臂；所述手柄与所述云台基座连接；所述拍摄设备设置在所述云台上；
所述云台还包括存储器和处理器；
所述存储器用于存储指令；
所述处理器用于运行所述指令以实现：
在手持云台发生旋转后，获取拍摄设备的当前姿态信息和手柄的当前姿态信息；
根据所述拍摄设备的当前姿态信息和所述手柄的当前姿态信息，获得所述拍摄设备的目标姿态信息；
根据所述拍摄设备的当前姿态信息和所述目标姿态信息控制所述手持云台上的轴关节旋转，以使所述拍摄设备的姿态跟随所述手柄的姿态。
第三方面，本发明提供一种存储介质，包括：可读存储介质和计算机程序，所述计算机程序用于实现上述第一方面任一实施方式提供的手持云台的控制方法。
第四方面，本发明提供一种程序产品，该程序产品包括计算机程序(即执行指令)，该计算机程序存储在可读存储介质中。处理器可以从可读存储介质读取该计算机程序，处理器执行该计算机程序用于执行上述第一方面任一实施方式提供的手持云台的控制方法。
本发明提供一种手持云台的控制方法和手持云台，通过手持云台发生旋转后，获取拍摄设备的当前姿态信息和手柄的当前姿态信息，根据拍摄设备的当前姿态信息和手柄的当前姿态信息，获得拍摄设备的目标姿态信息，根据拍摄设备的当前姿态信息和目标姿态信息控制手持云台上的轴关节旋转，以使拍摄设备的姿态跟随手柄的姿态。无论手柄处于何种姿态，拍摄设备的姿态都可以跟随手柄的姿态，实现了手柄任意姿态下的三轴云台三轴跟随功能，提升了手持云台控制的准确性和稳定性。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图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为本发明实施例适用的手持云台的结构示意图；
图2为本发明实施例提供的手持云台的工作原理示意图；
图3为本发明实施例提供的手持云台的控制方法的流程图；
图4为本发明实施例提供的手持云台在旋转过程中的姿态变化示意图；
图5为本发明实施例提供的拍摄设备的姿态跟随手柄的姿态的一种场景的示意图；
图6为本发明实施例提供的拍摄设备的姿态跟随手柄的姿态的另一种场景的示意图；
图7为本发明实施例提供的球面线性插值算法的原理示意图；
图8为本发明实施例提供的手持云台的结构示意图。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，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。
本发明实施例提供的手持云台的控制方法，可以应用于包括多轴云台的设备。示例性的，在本发明各个实施例中，以包括三轴云台的手持云台为例进行示例性说明。
示例性的，图1为本发明实施例适用的手持云台的结构示意图。如图1所示，手持云台可以包括手柄10、三轴云台和拍摄设备9。
其中，手柄10上可以设置控制按键11，以输入控制三轴云台上电机运动的摇杆杆量。需要说明的是，本实施例对于控制按键11的实现方式不做限定。例如，控制按键11可以为摇杆。
其中，三轴云台可以包括云台基座4和三个轴关节。云台基座4与手柄10连接。每个轴关节包括电机和与电机驱动连接的轴臂。具体的，三个轴关节可以包括yaw轴轴关节、pitch轴轴关节和roll轴轴关节。yaw轴也称为偏 航轴或者平移轴，pitch轴也称为俯仰轴，roll轴也称为横滚轴。yaw轴轴关节与云台基座4连接。yaw轴轴关节包括yaw轴电机3和与yaw轴电机3驱动连接的yaw轴轴臂5。roll轴轴关节包括roll轴电机2和与roll轴电机2驱动连接的roll轴轴臂8。pitch轴轴关节包括pitch轴电机1和与pitch轴电机1驱动连接的pitch轴轴臂7。
需要说明的是，当手柄10和拍摄设备9的姿态不同时，yaw轴电机3、roll轴电机2和pitch轴电机1可以相对于手柄10和拍摄设备9的机体坐标系中不同方向的轴旋转。例如，在图1所示的姿态下，手柄10竖直，拍摄设备9的光轴水平。此时，相对于拍摄设备9的机体坐标系而言，yaw轴电机3可以围绕拍摄设备9的yaw轴旋转，roll轴电机2可以围绕拍摄设备9的roll轴旋转，pitch轴电机1可以围绕拍摄设备9的pitch轴旋转。如果将手柄10顺时针旋转90度，使得手柄10水平，并将pitch轴电机1逆时针旋转90度，使得拍摄设备9的光轴依然水平。此时，相对于拍摄设备9的机体坐标系而言，yaw轴电机3可以围绕拍摄设备9的roll轴旋转，roll轴电机2可以围绕拍摄设备9的yaw轴旋转，pitch轴电机1可以围绕拍摄设备9的pitch轴旋转。具体地，手柄10一般包括正面以及背面，正面通常设置如摇杆等功能操作件，与正面相背离的背面也可设置一些功能按键，如快捷键等。当拍摄前方物体时，拍摄设备9的镜头朝向所述手柄10的背面所朝的方向。
若将拍摄设备9朝向的前方物体方向也即所述手柄10的背面朝向的方向称为前方，则上述的将手柄10顺时针转动90度，使得手柄10水平，即为将手柄10向前倒下90度。
由于拍摄设备9跟随所述手柄10运动，故在手柄10在向前倒下90度时，若拍摄设备9的初始姿态是朝向前方，且光轴水平，则此时拍摄设备9旋转至朝向下方的位置。为使拍摄设备9可拍摄前方物体，则控制pitch轴电机旋转90度，此时拍摄设备9的光轴与手柄10的轴心平行或重合，此时为手电筒模式。
可以理解，也可在旋转手柄10之前，先控制pitch轴电机转动，以带动拍摄设备9旋转，使拍摄设备9的光轴与手柄10的轴心平行或重合，然后在旋转手柄10向前倒下，拍摄设备9跟随运动，最终调整至手电筒模式。
可选的，手持云台可以包括拍摄设备固定机构6，用于固定拍摄设备9。 本发明实施例对于拍摄设备固定机构6的形状和位置不做限定。可选的，拍摄设备固定机构6中可以设置惯性测量元件。可选的，惯性测量元件可以为陀螺仪、加速度计，等等。
图2为本发明实施例提供的手持云台的工作原理示意图。如图2所示，手持云台可以通过惯性测量元件作为反馈器件，电机作为输出元件，形成闭环控制系统。在这个控制系统中，控制量是手持云台的姿态，包括手柄的姿态和/或拍摄设备的姿态。给定一个目标姿态，可以通过反馈控制实现测量姿态达到目标姿态。具体的，通过控制器输出的摇杆杆量和电机输出的扭矩，可以获得目标姿态。手持云台中的控制器可以控制三轴电机运动，实现三轴云台姿态的变化。通过陀螺仪的测量可以获得测量姿态。进而，根据目标姿态和测量姿态，控制器可以进一步控制三轴电机的运动，使得测量姿态达到目标姿态，实现闭环控制。其中，遥控器可以包括设置在手柄上的摇杆，或者是与手持云台连接的其他控制器。
需要说明的是，本发明实施例对于拍摄设备9与三轴云台的连接方式不做限定。可选的，拍摄设备9可以固定设置在三轴云台上。可选的，拍摄设备9可以可拆卸的设置在三轴云台上。
需要说明的是，本发明实施例对于拍摄设备9的类型不做限定。例如，拍摄设备9可以为照相机、摄像机、智能手机，等等。可选的，拍摄设备9中可以包括惯性测量单元。
需要说明的是，本发明实施例对于手柄10以及手柄10上设置的控制按键11的形状不做限定，对于控制按键11在手柄10上的设置位置不做限定。
图3为本发明实施例提供的手持云台的控制方法的流程图。本实施例提供的手持云台的控制方法，执行主体可以为手持云台。如图3所示，本实施例提供的手持云台的控制方法，可以包括：
S301、手持云台发生旋转后，获取拍摄设备的当前姿态信息和手柄的当前姿态信息。
具体的，手持云台在旋转过程中，拍摄设备的姿态和手柄的姿态均发生变化。而且，拍摄设备的姿态相对于手柄的姿态可能发生变化。示例性的，图4为本发明实施例提供的手持云台在旋转过程中的姿态变化示意图。如图 4所示，状态(a)示出了手持云台的初始状态。此时，手柄10竖直，拍摄设备9的光轴水平，且拍摄设备9朝向前方。当手持云台朝前旋转后，当前时刻的状态为(b)。此时，手柄10竖直，拍摄设备9的光轴水平。拍摄设备9的姿态相对于手柄10的姿态发生了变化。可以获取拍摄设备9的当前姿态信息和手柄10的当前姿态信息，用于后续处理。
需要说明的是，本实施例对于拍摄设备9和手柄10的初始姿态不做限定。
可选的，手持云台在旋转前，拍摄设备的光轴与手柄的轴心可以平行或重合。
可选的，姿态信息可以包括四元数。
所谓四元数，是指简单的超复数。复数由实数加上虚数单位i组成，其中，i^2＝-1。相似的，四元数都是由实数加上三个虚数单位i、j、k组成。而且，它们有如下的关系：i^2＝j^2＝k^2＝-1，i^0＝j^0＝k^0＝1。每个四元数都是1、i、j和k的线性组合。四元数一般可表示为a+bk+cj+di，其中a、b、c、d是实数。在不同的应用中，四元数的具体形式可以不同。
S302、根据拍摄设备的当前姿态信息和手柄的当前姿态信息，获得拍摄设备的目标姿态信息。
具体的，由于手持云台在旋转过程中，拍摄设备的姿态相对于手柄的姿态发生了变化，因此，根据拍摄设备的当前姿态信息和手柄的当前姿态信息，可以获得拍摄设备的目标姿态信息。目标姿态信息是为了实现拍摄设备的姿态跟随手柄的姿态，拍摄设备期望实现的姿态。
可选的，目标姿态信息可以为在拍摄设备的姿态跟随手柄的姿态过程中的中间姿态信息，或者为手柄的当前姿态信息。
可选的，当本实施例提供的手持云台的控制方法以预设频率实时调整拍摄设备的姿态以跟随手柄的姿态，中间姿态信息可以为手持云台旋转时手柄按照预设频率的实时姿态。
需要说明的是，本实施例对于预设频率的具体取值不做限定。
其中，拍摄设备的姿态跟随手柄的姿态，是指拍摄设备的姿态相对于手柄的姿态保持不变。
S303、根据拍摄设备的当前姿态信息和目标姿态信息控制手持云台上的轴关节旋转，以使拍摄设备的姿态跟随手柄的姿态。
具体的，由于已经获得了拍摄设备的当前姿态信息以及拍摄设备期望实现的目标姿态信息，因此，可以根据拍摄设备的当前姿态信息和目标姿态信息，控制三轴云台的至少一个电机工作。三轴云台带动拍摄设备移动，从而使得拍摄设备达到期望的目标姿态，实现了拍摄设备的姿态跟随手柄的姿态。
参照图4。状态(b)为当前时刻手持云台的姿态。此时，拍摄设备的姿态未跟随手柄的姿态。根据(b)中拍摄设备的姿态信息和手柄的姿态信息，可以获得拍摄设备的目标姿态信息。进而，根据(b)中拍摄设备的姿态信息以及获取的目标姿态信息，最终可以实现拍摄设备的姿态跟随手柄的姿态，即状态(c)。其中，状态(a)和状态(c)中，拍摄设备的姿态相对于手柄的姿态保持不变。
需要说明的是，根据手持云台的结构以及处理器的处理速度，实现拍摄设备的姿态跟随手柄的姿态的速度可以不同，呈现的效果也不同。
可选的，图5为本发明实施例提供的拍摄设备的姿态跟随手柄的姿态的一种场景的示意图。例如，当手持云台的重量较轻、结构简单，处理器的处理速度较高时，可以实现实时跟随。如图5所示，在手持云台旋转的过程中，在(a)、(b)、(c)和(d)的位置，拍摄设备的姿态均可以跟随手柄的姿态。
可选的，图6为本发明实施例提供的拍摄设备的姿态跟随手柄的姿态的另一种场景的示意图。例如，当手持云台的重量较重、结构复杂，处理器的处理速度较慢时，最终也可以实现拍摄设备的姿态跟随手柄的姿态。如图6所示，在手持云台旋转的过程中，在(b)和(c)的位置，拍摄设备的姿态未跟随手柄的姿态。但是，在(d)的位置，经过一段时间的延迟后，最终实现了拍摄设备的姿态跟随手柄的姿态。
可见，本实施例提供的手持云台的控制方法，通过获取拍摄设备和手柄的当前姿态信息，可以确定拍摄设备希望达到的目标姿态。进而，根据拍摄设备的当前姿态信息和目标姿态信息控制电机工作，在手持云台发生旋转的过程中，无论手柄处于何种姿态，拍摄设备的姿态都可以跟随手柄的姿态，实现了手柄任意姿态下的三轴云台三轴跟随功能，提升了手持云台控制的准确性和稳定性。
可选的，S301中，获取手柄的当前姿态信息，可以包括：
获取拍摄设备在手持云台旋转前的历史姿态信息，以及手持云台上至少一个轴关节在拍摄设备的机体坐标系中分别对应的旋转角度。
根据历史姿态信息和旋转角度，获取手柄的当前姿态信息。
下面通过示例进行说明。
如图4所示，手持云台在旋转前的状态为(a)。由于拍摄设备9中设置有惯性测量元件，或者，图1所示的拍摄设备固定机构6中设置有惯性测量元件，可以获取拍摄设备的姿态信息。拍摄设备在手持云台旋转前的历史姿态信息，具体为(a)中拍摄设备9的姿态信息。可选的，手持云台上至少一个轴关节可以包括俯仰轴轴关节(pitch轴轴关节)、横滚轴轴关节(roll轴轴关节)和平移轴轴关节(yaw轴轴关节)。根据(a)中拍摄设备9的姿态信息，以及手持云台上至少一个轴关节在拍摄设备的机体坐标系中分别对应的旋转角度，可以获取手柄的当前姿态信息。
通过拍摄设备的姿态信息和云台的旋转角度获取手柄的姿态信息，简化了手持云台上惯性测量元件的设置复杂度，简化了手持云台的结构，便于实现。
可选的，根据历史姿态信息和旋转角度，获取手柄的当前姿态信息，可以包括：
根据至少一个轴关节分别对应的旋转角度，确定至少一个轴关节分别对应的四元数。
根据拍摄设备的历史姿态信息对应的四元数和至少一个轴关节分别对应的四元数，获得手柄的当前姿态信息。
下面通过示例进行说明。
假设，至少一个轴关节包括pitch轴轴关节、roll轴轴关节和yaw轴轴关节。pitch轴轴关节对应的四元数为q_pitch，roll轴轴关节对应的四元数为q_roll，yaw轴轴关节对应的四元数为q_yaw。其中，四元数的定义为
Figure PCTCN2018115756-appb-000001
θ表示轴关节的旋转角度。V1，V2，V3表示轴关节的轴向量，模值为1。
在机体坐标系下，绕pitch轴进行旋转，向量V1，V2，V3的值为(0,1,0)。
Figure PCTCN2018115756-appb-000002
θp表示pitch轴轴关节的旋转角度。
同理，绕roll轴进行旋转，向量V1，V2，V3的值为(1,0,0)。
Figure PCTCN2018115756-appb-000003
θr表示roll轴轴关节的旋转角度。
绕yaw轴进行旋转，向量V1，V2，V3的值为(0,0,1)。
Figure PCTCN2018115756-appb-000004
θy表示yaw轴轴关节的旋转角度。
手柄的当前姿态信息q_base＝q_camera*q_pitch*q_roll*q_yaw。其中，q_camera表示拍摄设备的历史姿态信息对应的四元数。
可以理解，若手柄上也设置如惯性测量元件等姿态获取元件，则可直接获取手柄的实时姿态。
可选的，S302中，根据拍摄设备的当前姿态信息和手柄的当前姿态信息，获得拍摄设备的目标姿态信息，可以包括：
获取跟随时间，跟随时间为从手持云台旋转结束后开始直至拍摄设备的姿态跟随手柄的姿态为止的时间间隔。
根据拍摄设备的当前姿态信息、手柄的当前姿态信息和跟随时间，采用插值算法获得拍摄设备的目标姿态信息。
具体的，跟随时间反映了拍摄设备的姿态跟随手柄的姿态的跟随速度。跟随时间设置的越长，跟随速度越慢，跟随效果越稳定。跟随时间设置的越短，跟随速度越快。本实施例对于跟随时间的具体取值不做限定。跟随时间可以为预设的数值，或者用户输入的数值，或者根据处理器的运算速度确定的数值。
通过拍摄设备的当前姿态信息、手柄的当前姿态信息和跟随时间，可以采用插值算法获得拍摄设备的目标姿态信息，进而实现拍摄设备的姿态跟随手柄的姿态，并且可以权衡跟随速度和跟随稳定性。
需要说明的是，本实施例对于插值算法的具体实现方式不做限定。
所谓插值法，又称“内插法”，利用函数f(x)在某区间中已知的若干点的函数值，作出适当的特定函数，在区间的其他点上用这特定函数的值作为函数f(x)的近似值。
下面以插值算法为球面线性插值算法为示例进行说明。参照图7，图7为本发明实施例提供的球面线性插值算法的原理示意图。
球面线性插值(Spherical linear interpolation，Slerp)算法，是四元数的一种线性插值运算，主要用于在两个表示旋转的四元数之间平滑插值。插值 的一般公式可以写为r＝a(t)p+b(t)q，要找到合适的a(t)和b(t)。如图7所示，向量p和向量q之间的夹角为θ，向量p和向量r之间的夹角为tθ，向量q和向量r之间的夹角为(1-t)θ。
具体运算过程如下：
将上面的公式两边点乘p可得：p·r＝a(t)p·p+b(t)p·q，cos tθ＝a(t)+b(t)cosθ
同样地，对公式两边点乘q可得：cos[(1-t)θ]＝a(t)cosθ+b(t)
两个方程可以解出两个未知量a(t)和b(t)：
Figure PCTCN2018115756-appb-000005
Figure PCTCN2018115756-appb-000006
使用三角函数公式可以将其化简为：
Figure PCTCN2018115756-appb-000007
Figure PCTCN2018115756-appb-000008
于是，四元数的球面线性插值公式为：
Figure PCTCN2018115756-appb-000009
其中，Slerp()表示球形插值函数。
在本实施例中，向量p可理解为拍摄设备的姿态，向量q可以理解为手柄的姿态，则通过Slerp算法建立加入时间变量的向量p与向量q的函数关系，r可以理解为t时刻拍摄设备的目标姿态。
通过上述方法可在运动过程中获取实时的动态的拍摄设备的目标姿态，实现拍摄设备对手柄较好地跟随。
通过该方法，不论在手柄向前倒下运动到手电筒模式，还是手柄向两侧旋转倒下，都可以实现拍摄设备对手柄的跟随，不会产生控制紊乱的情况。
可以理解，使用该方法，可保证手持云台在任何装置转动是拍摄设备都可以很好地跟随手柄。
可选的，若本实施例提供的手持云台的控制方法以预设频率实时调整拍摄设备的姿态以跟随手柄的姿态，跟随时间为预设频率的单段时间周期。
可选的，本实施例提供的手持云台的控制方法，还可以包括：
根据目标姿态信息获取方向余弦矩阵。
根据方向余弦矩阵获取拍摄设备的机体坐标系中俯仰轴对应的姿态。
根据目标姿态信息和俯仰轴对应的姿态，控制手持云台上的轴关节旋转，以使拍摄设备的光轴与手柄的轴心平行或重合。
其中，方向余弦矩阵，是由两组不同的标准正交基的基底向量之间的方向余弦所形成的矩阵。方向余弦矩阵可以用来表达一组标准正交基与另一组标准正交基之间的关系，也可以用来表达一个向量对于另一组标准正交基的方向余弦。在解析几何中，一个向量的三个方向余弦分别是该向量与三个坐标轴之间的角度的余弦。两个向量之间的方向余弦是指这两个向量之间的角度的余弦。
示例性的，请参考图4。如图4所示，状态(a)～(c)可以实现拍摄设备的姿态跟随手柄的姿态。在状态(d)，可以根据目标姿态信息和俯仰轴对应的姿态，控制手持云台上的轴关节旋转，以使拍摄设备的光轴与手柄的轴心平行或重合。
可见，通过上述步骤，在手柄为任意姿态时，都可以实现拍摄设备的光轴与手柄的轴心平行或重合，从而为拍摄设备的横滚翻转360模式提供支撑，使得手柄处于任意姿态下都能控制相机绕自己的光轴中心做旋转，提升了手持云台控制的准确性和可实现性。
需要说明的是，本实施例对于使拍摄设备的光轴与手柄的轴心平行或重合的步骤以及使拍摄设备的姿态跟随手柄的姿态的步骤(即上述步骤S301～S303)的执行顺序不做限定。可选的，在一种实现方式中，使拍摄设备的光轴与手柄的轴心平行或重合的步骤，在使拍摄设备的姿态跟随手柄的姿态的步骤的后面。如图4所示，此时，状态变化可以依次为(a)、(b)、(c)、(d)。可选的，在另一种实现方式中，使拍摄设备的光轴与手柄的轴心平行或重合的步骤，在使拍摄设备的姿态跟随手柄的姿态的步骤的前面。如图4所示，此时，状态变化可以依次为(a)、(d)、(b)、(c)。只不过此时，(b)和(c)中实现姿态跟随时，最终，拍摄设备的光轴将与手柄的轴心平行或重合。
可选的，俯仰轴对应的姿态可以包括俯仰轴对应的四元数。
可选的，根据方向余弦矩阵获取拍摄设备的机体坐标系中俯仰轴对应的姿态，可以包括：
根据方向余弦矩阵和俯仰轴在机体坐标系中的轴向量，获得俯仰轴在大地坐标系中的轴向量。
获取俯仰轴的转动角度。
根据俯仰轴在大地坐标系中的轴向量和俯仰轴的转动角度，获得俯仰轴对应的姿态。
下面通过示例进行说明。
假设，方向余弦矩阵R_tar为：
Figure PCTCN2018115756-appb-000010
利用R_tar*Vb＝Vs，可以获得大地坐标系中的轴向量Vs＝(xs,ys,zs)。其中，Vb＝(xb,yb,zb)表示机体坐标系中的轴向量。
其中，俯仰轴在机体坐标系中的轴向量为(0,1,0)。则，俯仰轴在大地坐标系中的轴向量为方向余弦矩阵R_tar中的第二列，具体为Vs＝(V 12,V 22,V 32)。
获取俯仰轴的转动角度θ后，可以根据俯仰轴在大地坐标系中的轴向量Vs和俯仰轴的转动角度θ，获得俯仰轴对应的姿态。俯仰轴对应的姿态可以通过四元数表示。具体为
Figure PCTCN2018115756-appb-000011
拍摄设备的光轴与手柄的轴心平行或重合时，拍摄设备的姿态对应的四元数为q_tar_final＝q_pitch*q_tar。其中，q_tar表示拍摄设备的目标姿态信息的四元数。
需要说明的是，本实施例对于俯仰轴的转动角度的具体数值不做限定。
可选的，本实施例提供的手持云台的控制方法，还可以包括：
根据方向余弦矩阵获取拍摄设备的机体坐标系中平移轴对应的姿态。
根据目标姿态信息、俯仰轴对应的姿态和平移轴对应的姿态，控制手持云台上的轴关节旋转，以使拍摄设备绕其光轴横滚旋转。
具体的，在实现上述的使拍摄设备的光轴与手柄的轴心平行或重合以及实现使拍摄设备的姿态跟随手柄的姿态之后，可以根据目标姿态信息、俯仰轴对应的姿态和平移轴对应的姿态，控制手持云台上的轴关节旋转，以使拍摄设备绕其光轴横滚旋转。当手柄处于任意姿态下，都可以控制相机绕自己 的光轴中心做旋转，提升了手持云台控制的准确性和可实现性。
可选的，根据方向余弦矩阵获取拍摄设备的机体坐标系中平移轴对应的姿态，可以包括：
根据方向余弦矩阵和平移轴在机体坐标系中的轴向量，获得平移轴在大地坐标系中的轴向量。
获取平移轴的转动角度。
根据平移轴在大地坐标系中的轴向量和平移轴的转动角度，获得平移轴对应的姿态。
还以上述方向余弦矩阵R_tar为示例进行说明。
平移轴在机体坐标系中的轴向量(0,0,1)。则，平移轴在大地坐标系中的轴向量为方向余弦矩阵R_tar中的第三列，具体为Vs＝(V 13,V 23,V 33)。
获取平移轴的转动角度θ后，可以根据平移轴在大地坐标系中的轴向量Vs和平移轴的转动角度θ，获得平移轴对应的姿态。平移轴对应的姿态可以通过四元数表示。具体为
Figure PCTCN2018115756-appb-000012
拍摄设备绕其光轴横滚旋转时，拍摄设备的姿态对应的四元数为q_tar_final＝q_yaw*q_pitch*q_tar。其中，q_tar表示拍摄设备的目标姿态信息的四元数。
需要说明的是，本实施例对于平移轴的转动角度的具体数值不做限定。
可选的，获取平移轴的转动角度，可以包括：
获取用户对手柄上的摇杆进行操作时输入的角速度。
利用角速度进行积分，获得平移轴的转动角度。
本实施例提供一种手持云台的控制方法，包括：手持云台发生旋转后，获取拍摄设备的当前姿态信息和手柄的当前姿态信息，根据拍摄设备的当前姿态信息和手柄的当前姿态信息，获得拍摄设备的目标姿态信息，根据拍摄设备的当前姿态信息和目标姿态信息控制手持云台上的轴关节旋转，以使拍摄设备的姿态跟随手柄的姿态。本实施例提供的手持云台的控制方法，通过获取拍摄设备和手柄的当前姿态信息，可以确定拍摄设备希望达到的目标姿态，进而控制电机工作，无论手柄处于何种姿态，拍摄设备的姿态都可以跟随手柄的姿态，实现了手柄任意姿态下的三轴云台三轴跟随功能，提升了手持云台控制的准确性和稳定性。
图8为本发明实施例提供的手持云台的结构示意图。如图8所示，本实施例提供的手持云台，用于执行图3～图7所示实施例提供的手持云台的控制方法。如图8所示，本实施例提供的手持云台，可以包括：
手柄81、云台82和拍摄设备83。
所述云台82包括云台基座和多个轴关节，每个所述轴关节包括电机和与所述电机驱动连接的轴臂。所述手柄81与所述云台基座连接。所述拍摄设备83设置在所述云台上。
云台还包括存储器85和处理器84。
存储器85用于存储指令。
处理器84用于运行指令以实现：
在手持云台发生旋转后，获取拍摄设备的当前姿态信息和手柄的当前姿态信息。
根据拍摄设备的当前姿态信息和手柄的当前姿态信息，获得拍摄设备的目标姿态信息。
根据拍摄设备的当前姿态信息和目标姿态信息控制手持云台上的轴关节旋转，以使拍摄设备的姿态跟随手柄的姿态。
可选的，处理器84具体用于：
获取拍摄设备在手持云台旋转前的历史姿态信息，以及手持云台上至少一个轴关节在拍摄设备的机体坐标系中分别对应的旋转角度。
根据历史姿态信息和旋转角度，获取手柄的当前姿态信息。
可选的，处理器84具体用于：
根据至少一个轴关节分别对应的旋转角度，确定至少一个轴关节分别对应的四元数。
根据拍摄设备的历史姿态信息对应的四元数和至少一个轴关节分别对应的四元数，获得手柄的当前姿态信息。
可选的，至少一个轴关节包括：俯仰轴轴关节、横滚轴轴关节和平移轴轴关节。
可选的，处理器84具体用于：
获取跟随时间，跟随时间为从手持云台旋转结束后开始直至拍摄设备的 姿态跟随手柄的姿态为止的时间间隔。
根据拍摄设备的当前姿态信息、手柄的当前姿态信息和跟随时间，采用插值算法获得拍摄设备的目标姿态信息。
可选的，处理器84以预设频率实时调整拍摄设备的姿态以跟随手柄的姿态，跟随时间为预设频率的单段时间周期。
可选的，插值算法为球面线性插值算法。
可选的，处理器84还用于：
根据目标姿态信息获取方向余弦矩阵。
根据方向余弦矩阵获取拍摄设备的机体坐标系中俯仰轴对应的姿态。
根据目标姿态信息和俯仰轴对应的姿态，控制手持云台上的轴关节旋转，以使拍摄设备的光轴与手柄的轴心平行或重合。
可选的，处理器84具体用于：
根据方向余弦矩阵和俯仰轴在机体坐标系中的轴向量，获得俯仰轴在大地坐标系中的轴向量。
获取俯仰轴的转动角度。
根据俯仰轴在大地坐标系中的轴向量和俯仰轴的转动角度，获得俯仰轴对应的姿态。
可选的，处理器84还用于：
根据方向余弦矩阵获取拍摄设备的机体坐标系中平移轴对应的姿态。
根据目标姿态信息、俯仰轴对应的姿态和平移轴对应的姿态，控制手持云台上的轴关节旋转，以使拍摄设备绕其光轴横滚旋转。
可选的，处理器84具体用于：
根据方向余弦矩阵和平移轴在机体坐标系中的轴向量，获得平移轴在大地坐标系中的轴向量。
获取平移轴的转动角度。
根据平移轴在大地坐标系中的轴向量和平移轴的转动角度，获得平移轴对应的姿态。
可选的，处理器84具体用于：
获取用户对手柄上的摇杆进行操作时输入的角速度。
利用角速度进行积分，获得平移轴的转动角度。
可选的，目标姿态信息为在拍摄设备的姿态跟随手柄的姿态过程中的中间姿态信息，或者为手柄的当前姿态信息。
本实施例提供的手持云台，用于执行图3～图7所示实施例提供的手持云台的控制方法，技术原理和技术效果相似，此处不再赘述。
本领域普通技术人员可以理解：实现上述各方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成。前述的程序可以存储于一计算机可读取存储介质中。该程序在执行时，执行包括上述各方法实施例的步骤；而前述的存储介质包括：ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。
最后应说明的是：以上各实施例仅用以说明本发明实施例的技术方案，而非对其限制；尽管参照前述各实施例对本发明实施例进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明实施例技术方案的范围。

Claims (27)

  1. 一种手持云台的控制方法，其特征在于，包括：
    手持云台发生旋转后，获取拍摄设备的当前姿态信息和手柄的当前姿态信息；
    根据所述拍摄设备的当前姿态信息和所述手柄的当前姿态信息，获得所述拍摄设备的目标姿态信息；
    根据所述拍摄设备的当前姿态信息和所述目标姿态信息控制所述手持云台上的轴关节旋转，以使所述拍摄设备的姿态跟随所述手柄的姿态。
  2. 根据权利要求1所述的方法，其特征在于，获取手柄的当前姿态信息，包括：
    获取所述拍摄设备在所述手持云台旋转前的历史姿态信息，以及所述手持云台上至少一个轴关节在所述拍摄设备的机体坐标系中分别对应的旋转角度；
    根据所述历史姿态信息和所述旋转角度，获取所述手柄的当前姿态信息。
  3. 根据权利要求2所述的方法，其特征在于，所述根据所述历史姿态信息和所述旋转角度，获取所述手柄的当前姿态信息，包括：
    根据所述至少一个轴关节分别对应的旋转角度，确定所述至少一个轴关节分别对应的四元数；
    根据所述拍摄设备的历史姿态信息对应的四元数和所述至少一个轴关节分别对应的四元数，获得所述手柄的当前姿态信息。
  4. 根据权利要求2所述的方法，其特征在于，所述至少一个轴关节包括：俯仰轴轴关节、横滚轴轴关节和平移轴轴关节。
  5. 根据权利要求1-4任一项所述的方法，其特征在于，所述根据所述拍摄设备的当前姿态信息和所述手柄的当前姿态信息，获得所述拍摄设备的目标姿态信息，包括：
    获取跟随时间，所述跟随时间为从所述手持云台旋转结束后开始直至所述拍摄设备的姿态跟随所述手柄的姿态为止的时间间隔；
    根据所述拍摄设备的当前姿态信息、所述手柄的当前姿态信息和所述跟随时间，采用插值算法获得所述拍摄设备的目标姿态信息。
  6. 根据权利要求5所述的方法，其特征在于，所述控制方法以预设频率 实时调整所述拍摄设备的姿态以跟随所述手柄的姿态。
  7. 根据权利要求5所述的方法，其特征在于，所述插值算法为球面线性插值算法。
  8. 根据权利要求1-7任一项所述的方法，其特征在于，还包括：
    根据所述目标姿态信息获取方向余弦矩阵；
    根据所述方向余弦矩阵获取所述拍摄设备的机体坐标系中俯仰轴对应的姿态；
    根据所述目标姿态信息和所述俯仰轴对应的姿态，控制所述手持云台上的轴关节旋转，以使所述拍摄设备的光轴与所述手柄的轴心平行或重合。
  9. 根据权利要求8所述的方法，其特征在于，所述根据所述方向余弦矩阵获取所述拍摄设备的机体坐标系中俯仰轴对应的姿态，包括：
    根据所述方向余弦矩阵和所述俯仰轴在所述机体坐标系中的轴向量，获得所述俯仰轴在大地坐标系中的轴向量；
    获取所述俯仰轴的转动角度；
    根据所述俯仰轴在大地坐标系中的轴向量和所述俯仰轴的转动角度，获得所述俯仰轴对应的姿态。
  10. 根据权利要求8或9所述的方法，其特征在于，还包括：
    根据所述方向余弦矩阵获取所述拍摄设备的机体坐标系中平移轴对应的姿态；
    根据所述目标姿态信息、所述俯仰轴对应的姿态和所述平移轴对应的姿态，控制所述手持云台上的轴关节旋转，以使所述拍摄设备绕其光轴横滚旋转。
  11. 根据权利要求10所述的方法，其特征在于，所述根据所述方向余弦矩阵获取所述拍摄设备的机体坐标系中平移轴对应的姿态，包括：
    根据所述方向余弦矩阵和所述平移轴在所述机体坐标系中的轴向量，获得所述平移轴在大地坐标系中的轴向量；
    获取所述平移轴的转动角度；
    根据所述平移轴在大地坐标系中的轴向量和所述平移轴的转动角度，获得所述平移轴对应的姿态。
  12. 根据权利要求11所述的方法，其特征在于，所述获取所述平移轴的 转动角度，包括：
    获取用户对所述手柄上的摇杆进行操作时输入的角速度；
    利用所述角速度进行积分，获得所述平移轴的转动角度。
  13. 根据权利要求1-12任一项所述的方法，其特征在于，所述目标姿态信息为在所述拍摄设备的姿态跟随所述手柄的姿态过程中的中间姿态信息，或者为所述手柄的当前姿态信息。
  14. 一种手持云台，其特征在于，包括：手柄、云台和拍摄设备；
    所述云台包括云台基座和多个轴关节，每个所述轴关节包括电机和与所述电机驱动连接的轴臂；所述手柄与所述云台基座连接；所述拍摄设备设置在所述云台上；
    所述云台还包括存储器和处理器；
    所述存储器用于存储指令；
    所述处理器用于运行所述指令以实现：
    在手持云台发生旋转后，获取拍摄设备的当前姿态信息和手柄的当前姿态信息；
    根据所述拍摄设备的当前姿态信息和所述手柄的当前姿态信息，获得所述拍摄设备的目标姿态信息；
    根据所述拍摄设备的当前姿态信息和所述目标姿态信息控制所述手持云台上的轴关节旋转，以使所述拍摄设备的姿态跟随所述手柄的姿态。
  15. 根据权利要求14所述的手持云台，其特征在于，所述处理器具体用于：
    获取所述拍摄设备在所述手持云台旋转前的历史姿态信息，以及所述手持云台上至少一个轴关节在所述拍摄设备的机体坐标系中分别对应的旋转角度；
    根据所述历史姿态信息和所述旋转角度，获取所述手柄的当前姿态信息。
  16. 根据权利要求15所述的手持云台，其特征在于，所述处理器具体用于：
    根据所述至少一个轴关节分别对应的旋转角度，确定所述至少一个轴关节分别对应的四元数；
    根据所述拍摄设备的历史姿态信息对应的四元数和所述至少一个轴关节 分别对应的四元数，获得所述手柄的当前姿态信息。
  17. 根据权利要求15所述的手持云台，其特征在于，所述至少一个轴关节包括：俯仰轴轴关节、横滚轴轴关节和平移轴轴关节。
  18. 根据权利要求14-17任一项所述的手持云台，其特征在于，所述处理器具体用于：
    获取跟随时间，所述跟随时间为从所述手持云台旋转结束后开始直至所述拍摄设备的姿态跟随所述手柄的姿态为止的时间间隔；
    根据所述拍摄设备的当前姿态信息、所述手柄的当前姿态信息和所述跟随时间，采用插值算法获得所述拍摄设备的目标姿态信息。
  19. 根据权利要求18所述的手持云台，其特征在于，所述处理器以预设频率实时调整所述拍摄设备的姿态以跟随所述手柄的姿态。
  20. 根据权利要求18所述的手持云台，其特征在于，所述插值算法为球面线性插值算法。
  21. 根据权利要求14-20任一项所述的手持云台，其特征在于，所述处理器还用于：
    根据所述目标姿态信息获取方向余弦矩阵；
    根据所述方向余弦矩阵获取所述拍摄设备的机体坐标系中俯仰轴对应的姿态；
    根据所述目标姿态信息和所述俯仰轴对应的姿态，控制所述手持云台上的轴关节旋转，以使所述拍摄设备的光轴与所述手柄的轴心平行或重合。
  22. 根据权利要求21所述的手持云台，其特征在于，所述处理器具体用于：
    根据所述方向余弦矩阵和所述俯仰轴在所述机体坐标系中的轴向量，获得所述俯仰轴在大地坐标系中的轴向量；
    获取所述俯仰轴的转动角度；
    根据所述俯仰轴在大地坐标系中的轴向量和所述俯仰轴的转动角度，获得所述俯仰轴对应的姿态。
  23. 根据权利要求21或22所述的手持云台，其特征在于，所述处理器还用于：
    根据所述方向余弦矩阵获取所述拍摄设备的机体坐标系中平移轴对应的 姿态；
    根据所述目标姿态信息、所述俯仰轴对应的姿态和所述平移轴对应的姿态，控制所述手持云台上的轴关节旋转，以使所述拍摄设备绕其光轴横滚旋转。
  24. 根据权利要求23所述的手持云台，其特征在于，所述处理器具体用于：
    根据所述方向余弦矩阵和所述平移轴在所述机体坐标系中的轴向量，获得所述平移轴在大地坐标系中的轴向量；
    获取所述平移轴的转动角度；
    根据所述平移轴在大地坐标系中的轴向量和所述平移轴的转动角度，获得所述平移轴对应的姿态。
  25. 根据权利要求24所述的手持云台，其特征在于，所述处理器具体用于：
    获取用户对所述手柄上的摇杆进行操作时输入的角速度；
    利用所述角速度进行积分，获得所述平移轴的转动角度。
  26. 根据权利要求14-25任一项所述的手持云台，其特征在于，所述目标姿态信息为在所述拍摄设备的姿态跟随所述手柄的姿态过程中的中间姿态信息，或者为所述手柄的当前姿态信息。
  27. 一种存储介质，其特征在于，包括：可读存储介质和计算机程序，所述计算机程序用于实现如权利要求1-13中任一项所述的手持云台的控制方法。
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