WO2020233683A1 - 云台控制方法、装置、控制终端及飞行器系统 - Google Patents

云台控制方法、装置、控制终端及飞行器系统 Download PDF

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Publication number
WO2020233683A1
WO2020233683A1 PCT/CN2020/091621 CN2020091621W WO2020233683A1 WO 2020233683 A1 WO2020233683 A1 WO 2020233683A1 CN 2020091621 W CN2020091621 W CN 2020091621W WO 2020233683 A1 WO2020233683 A1 WO 2020233683A1
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WO
WIPO (PCT)
Prior art keywords
image
pan
target object
tilt
view
Prior art date
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Ceased
Application number
PCT/CN2020/091621
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English (en)
French (fr)
Inventor
冯银华
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Autel Robotics Co Ltd
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Autel Robotics Co Ltd
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Publication date
Application filed by Autel Robotics Co Ltd filed Critical Autel Robotics Co Ltd
Publication of WO2020233683A1 publication Critical patent/WO2020233683A1/zh
Priority to US17/455,748 priority Critical patent/US12069372B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/08—Arrangements of cameras
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • 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
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • 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
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G03B15/006—Apparatus mounted on flying objects
    • 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
    • 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
    • G05D3/20—Control of position or direction using feedback using a digital comparing device
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/22—Image preprocessing by selection of a specific region containing or referencing a pattern; Locating or processing of specific regions to guide the detection or recognition
    • G06V10/235—Image preprocessing by selection of a specific region containing or referencing a pattern; Locating or processing of specific regions to guide the detection or recognition based on user input or interaction
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
    • H04N23/682—Vibration or motion blur correction
    • H04N23/685—Vibration or motion blur correction performed by mechanical compensation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10032—Satellite or aerial image; Remote sensing
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20092—Interactive image processing based on input by user
    • G06T2207/20101—Interactive definition of point of interest, landmark or seed
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30244—Camera pose
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V2201/00—Indexing scheme relating to image or video recognition or understanding
    • G06V2201/07—Target detection
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
    • H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control

Definitions

  • This application relates to the technical field of PTZ control, in particular to a PTZ control method, device, control terminal and aircraft system.
  • Unmanned aerial vehicle UAV
  • Unmanned aerial vehicle is a new concept equipment under rapid development. It has the advantages of small size, light weight, flexible maneuverability, fast response, unmanned driving, and low operational requirements.
  • the unmanned aerial vehicle is equipped with multiple types of shooting devices, such as cameras and video cameras, through the gimbal, which can realize the functions of real-time image transmission and high-risk area detection, which is a powerful supplement to satellite remote sensing and traditional aerial remote sensing.
  • the gimbal is the core device for stabilizing the shooting picture in the drone aerial photography. It uses the active rotation of the motor to offset the disturbance of the shooting device in real time, preventing the shaking of the shooting device, and ensuring the stability of the shooting picture.
  • the pan/tilt on the market is equipped with angle sensors, such as potentiometers, magnetic knitting, etc. Its main function is to obtain the collected measurement information in real time, so that the controller of the pan/tilt can obtain the angle of the motor through the measurement information, which can increase the stability of the pan Control provides necessary motor angle information.
  • the inventor found that there are at least the following problems in the related technology:
  • the user inputs the angle parameters of each axis of the pan/tilt through the App or the remote control to control the movement of the pan/tilt, thereby adjusting the camera.
  • the App inputs the angle parameters of each axis of the pan/tilt through the App or the remote control to control the movement of the pan/tilt, thereby adjusting the camera.
  • the purpose of the embodiments of the present invention is to provide a pan/tilt control method, device, control terminal and aircraft system, which can control the rotation of the pan/tilt so that the designated point selected in the shooting screen appears at the preset position of the shooting screen, thereby obtaining Ideal shooting picture.
  • embodiments of the present invention provide a pan/tilt control method for controlling a terminal, the pan/tilt is equipped with a photographing device, and the method includes: acquiring photographing parameters of the photographing device Information, wherein the shooting parameter information includes the angle of view of the shooting device and the resolution of the shooting image of the shooting device; acquiring the image coordinates of the target object selected by the user in the shooting image; The parameter information and the position information of the target object control the posture of the pan-tilt so that the target object is at a preset position in the captured image.
  • the obtaining the image coordinates of the target object selected by the user in the captured image includes: obtaining the image coordinates of the target object through a click operation of the user on the control terminal.
  • the resolution of the captured image includes image pixel width and image pixel height
  • the field of view includes a horizontal field of view and a vertical field of view
  • the image coordinates of the target object, controlling the posture of the pan-tilt so that the target object is in the preset position in the captured image includes: according to the image coordinates of the target object, the height of the image pixels, and the The vertical field of view, calculate the pitch angle of the pan/tilt; according to the image coordinates of the target object, the image pixel width, and the horizontal field of view, calculate the yaw angle of the pan/tilt; The pitch angle and the yaw angle control the attitude of the pan/tilt so that the target object is at the preset position in the captured image.
  • the calculating the pitch angle of the pan/tilt head according to the image coordinates of the target object, the height of the image pixels, and the vertical field of view includes:
  • ⁇ y is the pitch angle of the pan/tilt
  • y is the image coordinates of the target object
  • H is the image pixel height
  • ⁇ h is the vertical field of view angle
  • the calculating the yaw angle of the pan/tilt head according to the image coordinates of the target object, the image pixel width, and the horizontal field of view includes:
  • ⁇ x is the yaw angle of the pan/tilt
  • x is the image coordinates of the target object
  • W is the image pixel width
  • ⁇ w is the horizontal field of view angle
  • the preset position is the center of the captured image.
  • an embodiment of the present invention also provides a pan/tilt control device for controlling a terminal, the pan/tilt is equipped with a photographing device, and the device includes: a first acquisition module for acquiring information about the photographing device Shooting parameter information, where the shooting parameter information includes the angle of view of the shooting device and the resolution of the shooting image of the shooting device; the second acquisition module is used to acquire the information of the target object selected by the user in the shooting image Image coordinates; a control module for controlling the posture of the pan-tilt according to the shooting parameter information and the image coordinates of the target object, so that the target object is at a preset position in the captured image.
  • the second obtaining module is specifically configured to obtain the image coordinates of the target object through a click operation of the user on the control terminal.
  • the resolution of the captured image includes image pixel width and image pixel height
  • the field of view angle includes a horizontal field of view and a vertical field of view
  • the control module includes: a pitch angle calculation unit , Used to calculate the pitch angle of the pan/tilt head according to the image coordinates of the target object, the height of the image pixels and the vertical field of view; the yaw angle calculation unit is used to calculate the image coordinates of the target object , The image pixel width and the horizontal field of view angle to calculate the yaw angle of the pan/tilt; the control unit is used to control the attitude of the pan/tilt based on the pitch angle and the yaw angle to So that the target object is at the preset position in the captured image.
  • the pitch angle calculation unit is specifically configured to:
  • ⁇ y is the pitch angle of the pan/tilt
  • y is the y-axis coordinate of the target object
  • H is the image pixel height
  • ⁇ h is the vertical field of view angle
  • the yaw angle calculation unit is specifically used for:
  • ⁇ x is the yaw angle of the pan/tilt
  • x is the x-axis coordinate of the target object
  • W is the image pixel width
  • ⁇ w is the horizontal field of view angle
  • the preset position is the center of the captured image.
  • an embodiment of the present invention also provides a control terminal.
  • the control terminal includes: a housing; a display screen connected to the housing; at least one processor provided in the housing; The at least one processor is communicatively connected to the memory; wherein, the processor is configured to: obtain shooting parameter information of the shooting device, wherein the shooting parameter information includes the field of view of the shooting device and the The resolution of the captured image; obtain the image coordinates of the target object selected by the user in the captured image; control the posture of the pan/tilt according to the shooting parameter information and the image coordinates of the target object, so that the target The subject is in a preset position in the captured image.
  • the processor is specifically configured to: obtain the image coordinates of the target object through a click operation of the user on the display screen.
  • the resolution of the captured image includes image pixel width and image pixel height
  • the field of view angle includes a horizontal field of view and a vertical field of view
  • the processor is specifically configured to: The image coordinates of the target object, the height of the image pixels, and the vertical angle of view, the pitch angle of the pan/tilt is calculated; according to the image coordinates of the target object, the width of the image pixels, and the horizontal angle of view Calculate the yaw angle of the pan/tilt; control the attitude of the pan/tilt according to the pitch angle and the yaw angle, so that the target object is at the preset position in the captured image.
  • the processor is specifically configured to:
  • ⁇ y is the pitch angle of the pan/tilt
  • y is the y-axis coordinate of the target object in the image coordinates
  • H is the image pixel height
  • ⁇ h is the vertical field of view angle
  • the processor is specifically configured to:
  • ⁇ x is the yaw angle of the pan/tilt
  • x is the x-axis coordinate of the target object in the image coordinates
  • W is the image pixel width
  • ⁇ w is the horizontal field of view angle
  • an embodiment of the present invention also provides an aircraft system, including: an unmanned aerial vehicle, including a fuselage, a pan/tilt, and a photographing device.
  • the photographing device is mounted on the pan/tilt, and the pan/tilt is mounted on the aircraft.
  • Body and the control terminal as described above, the control terminal is in communication connection with the drone.
  • an embodiment of the present invention also provides a non-volatile computer-readable storage medium, the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a control terminal, The control terminal is caused to execute the above-mentioned PTZ control method.
  • the embodiment of the present invention obtains the field of view of the camera mounted on the PTZ and the resolution of the captured image, and obtains the image coordinates of the target object selected by the user in the captured image, and is based on the field of view of the camera and the resolution of the captured image.
  • the resolution and the image coordinates of the target object are used to control the posture of the pan-tilt so that the target object is in the preset position in the captured image, thereby obtaining an ideal shooting image and improving the user experience.
  • FIG. 1 is a schematic flowchart of a method for controlling a PTZ according to an embodiment of the present invention
  • FIG. 2a is a schematic diagram of a field of view of a photographing device provided by an embodiment of the present invention.
  • 2b is a schematic diagram of position coordinates between a shooting device and a target object provided by an embodiment of the present invention
  • FIG. 3 is a schematic flowchart of S120 in FIG. 1;
  • FIG. 4 is a schematic flowchart of S130 in FIG. 1;
  • Figures 5a and 5b are schematic diagrams of establishing a coordinate system of a captured image
  • FIG. 6 is a schematic structural diagram of a pan-tilt control device provided by an embodiment of the present invention.
  • FIG. 7 is a schematic structural diagram of a control terminal provided by an embodiment of the present invention.
  • FIG. 8 is a schematic structural diagram of an aircraft system provided by an embodiment of the present invention.
  • the pan/tilt control method and device provided in the embodiments of the present invention can be applied to various terminals or aircraft systems.
  • the terminal is connected to an aircraft.
  • the aircraft such as an unmanned aerial vehicle (UAV)
  • UAV unmanned aerial vehicle
  • the camera can be equipped with the camera and installed on the body of the UAV for aerial photography.
  • the terminal is connected to the UAV.
  • UAV includes: body, PTZ and shooting equipment.
  • the camera is mounted on the pan/tilt, which is mounted on the body.
  • the fuselage includes a central shell and one or more arms connected with the central shell, and the one or more arms extend radially from the central shell.
  • the connection between the arm and the center housing can be an integral connection or a fixed connection.
  • the pan-tilt is used to carry the shooting device to realize the fixation of the shooting device, or to adjust the attitude of the shooting device at will (for example, changing the height, inclination and/or direction of the shooting device) and to stably maintain the shooting device in a set attitude.
  • the pan/tilt is mainly used to stabilize the shooting device in a set posture, prevent the shooting device from shaking and ensure the stability of the shooting picture.
  • the pan-tilt is connected to the terminal so that the paper strip can be adjusted under the control of the terminal.
  • the pan/tilt may include a base, a motor, and a pan/tilt controller.
  • the motor is installed on the base
  • the pan/tilt controller is connected with the motor
  • the pan/tilt controller is used to control the motor
  • the pan/tilt controller is connected with the terminal.
  • the terminal is used to execute the aforementioned pan/tilt control method to obtain the pan/tilt attitude (for example, pitch angle, yaw angle, roll angle), generate control instructions according to the pan/tilt attitude, and send the control instructions to the pan/tilt.
  • the pan/tilt controller controls the motor through the control instruction; the pan/tilt controller is used to execute the above-mentioned pan/tilt control method to obtain the pan/tilt attitude, generate control instructions according to the pan/tilt attitude, and control the motor through the control instructions.
  • the base is connected to the body of the UAV, and is used to fix the shooting device on the body of the UAV.
  • the motors are respectively connected with the base and the shooting equipment.
  • the pan/tilt may be a multi-axis pan/tilt, and adapted to it, there are multiple motors, that is, each axis is provided with one motor.
  • the motor can drive the rotation of the shooting device to meet the adjustment of the horizontal rotation and pitch angle of the shooting shaft.
  • the motor can be rotated manually through remote control or the program can be used to automatically rotate the motor, so as to achieve the function of omnidirectional scanning and monitoring; on the other hand, In the process of aerial photography by the UAV, the rotation of the motor cancels the disturbance of the shooting equipment in real time, prevents the shooting equipment from shaking, and ensures the stability of the shooting picture.
  • the pan/tilt controller is a device with certain logic processing capabilities, such as a control chip, a single-chip microcomputer, and a microcontroller unit (MCU).
  • the photographing device may be an image collecting device for collecting images.
  • the photographing device includes but is not limited to: a camera, a video camera, a camera, a scanner, a camera phone, and the like.
  • the shooting device is used to obtain aerial images during the flight of the UAV.
  • the embodiment of the present invention aims to provide a pan/tilt control method, device, control terminal, and aircraft system, which can control the rotation of the pan/tilt so that the designated point selected in the shooting screen appears on the shooting screen The preset position to get the ideal shooting picture.
  • the embodiment of the present invention obtains the field of view of the camera mounted on the PTZ and the resolution of the captured image, and obtains the image coordinates of the target object selected by the user in the captured image, and is based on the field of view of the camera and the resolution of the captured image.
  • the resolution and the image coordinates of the target object are used to control the posture of the pan-tilt so that the target object is in the preset position in the captured image, thereby obtaining an ideal shooting image and improving the user experience.
  • FIG. 1 is a schematic flowchart of a method for controlling a pan/tilt head provided by an embodiment of the present invention.
  • the PTZ control method can be executed by various controllers with certain logic processing capabilities, such as terminals.
  • the method of executing PTZ control takes the control terminal as an example, and the aircraft takes the drone as an example.
  • the drone includes a fuselage, a pan-tilt, and shooting equipment mounted on the pan-tilt.
  • the pan-tilt is installed on the fuselage.
  • the pan/tilt includes a base, a motor, and a pan/tilt controller.
  • the control terminal is connected with the pan/tilt controller, the pan/tilt controller is connected with the motor, and the shooting device is connected with the base through the motor.
  • the gimbal can be a multi-axis gimbal, such as a two-axis gimbal and a three-axis gimbal. The following three-axis gimbal is taken as an example for description.
  • the PTZ control method includes:
  • shooting parameter information refers to parameter information acquired when the shooting device shoots a shooting object, where the shooting target refers to all objects currently shot by the shooting device.
  • the shooting parameter information includes the angle of view of the shooting device and the resolution of the shooting image of the shooting device.
  • the angle of view refers to the angle formed by the two edges of the maximum range through which the object can pass through the lens of the shooting device as the vertex.
  • the field of view include the horizontal field of view and the vertical field of view.
  • the horizontal field of view takes the lens of the shooting device as the vertex, and the two vertical edges of the maximum range through which the object can pass through the lens
  • the angle formed by the vertical field of view refers to the angle formed by the two horizontal edges of the maximum range of the object that can pass through the lens with the lens of the shooting device as the vertex.
  • Fig. 2a the horizontal field angle ⁇ w of the shooting device and the vertical field angle ⁇ h of the shooting device are shown.
  • the "resolution of the captured image” is the resolution of the image captured by the shooting device, as shown in Figure 2b, the resolution of the captured image includes the image pixel width W and the image pixel height H, and the image pixel width W is the shooting object
  • the imaging width on the CCD target surface of the shooting device, and the image pixel height H is the imaging height of the shooting object on the CCD target surface of the shooting device, where the unit of the specification and size of the CCD target surface is millimeters.
  • obtaining the shooting parameter information of the shooting device is specifically: the terminal obtains the shooting parameter information of the shooting device in real time, wherein the terminal can be connected to the shooting device, and the terminal reads the shooting parameter information of the shooting device in real time, or, The terminal is connected with the PTZ controller, the PTZ controller is connected with the shooting device, and the shooting parameter information of the shooting device is read in real time through the PTZ controller.
  • the terminal reads the focal length of the photographing device and the image pixel width W and image pixel height H of the photographed image in real time, and calculates the photographing device’s focal length according to the focal length of the photographing device, the image pixel width W and the image pixel height H
  • the horizontal field of view ⁇ w and the vertical field of view ⁇ h of the shooting device are used to obtain the shooting parameter information of the shooting device in real time.
  • S120 Acquire the image coordinates of the target object selected by the user in the captured image
  • the “target object” is the target point selected by the user in the captured image captured by the photographing device
  • the “image coordinates of the target object” is the position of the target point in the captured image.
  • the captured image captured by the camera is displayed on the screen of the terminal, and the user views the captured image on the screen of the terminal, and selects a point in the captured image on the screen as the target point, then the object corresponding to the target point is the target object ,
  • the position of the target point in the captured image is the image coordinate of the target object.
  • S120 may include:
  • the image coordinates of the target object can be obtained by obtaining the user's click operation on the control terminal.
  • acquiring the image coordinates of the target object may specifically include: establishing a coordinate system in the captured image; acquiring coordinate information of the target object in the coordinate system, and using the coordinate information as the image coordinates of the target object.
  • a coordinate system in the captured image specifically: take one of the vertices of the captured image as the origin, the direction of the image width W of the captured image as the x axis, and the direction of the image height H of the captured image as the y axis to establish a plane
  • the rectangular coordinate system obtains the coordinate information of the target object in the coordinate system, and uses the coordinate information as the image coordinates of the target object.
  • a coordinate system xoy is established, the target object is P, and the coordinate information of the target object P can be obtained from the coordinate system as (x, y), then (x, y) is the image coordinate of the target object P.
  • S110 and S120 can be executed at the same time, or can be executed step by step, for example, execute S110 first and then execute S120, or execute S120 first and then execute S110.
  • S130 Control the posture of the pan-tilt according to the shooting parameter information and the image coordinates of the target object, so that the target object is at a preset position in the shooting image.
  • the "preset position" may be the position where the user wants the target object to appear in the captured image in advance.
  • the preset position is the center of the captured image. For example, assuming that the target object is in the captured image In the upper left corner of the captured image, after the attitude of the pan/tilt is adjusted, the target object is located in the center of the captured image.
  • S130 may include:
  • S132 Calculate the yaw angle of the pan/tilt according to the image coordinates, image pixel width, and horizontal field of view of the target object;
  • S133 Control the attitude of the pan/tilt according to the pitch angle and the yaw angle, so that the target object is at a preset position in the captured image.
  • the pitch angle of the gimbal is the angle that the gimbal needs to rotate on the pitch axis
  • the yaw angle of the gimbal is the angle that the gimbal needs to rotate on the yaw axis.
  • (x, y) are the image coordinates of the target object P
  • y is the y-axis coordinate of the target object in the image coordinates
  • H is the image pixel height of the captured image
  • ⁇ h is the vertical field of view angle of the shooting device
  • ⁇ y is the pitch angle of the gimbal.
  • F h is the distance from the vertex of the vertical angle of view of the shooting device to the shooting object along the y-axis direction.
  • (x, y) are the image coordinates of the target object P
  • x is the x-axis coordinate of the target object in the image coordinates
  • W is the image pixel width of the captured image
  • ⁇ w is the horizontal field of view angle of the shooting device
  • ⁇ x is the pitch angle of the gimbal
  • Fw is the distance from the vertex of the horizontal angle of view of the shooting device to the shooting object along the x-axis direction.
  • the attitude of the gimbal is controlled according to the pitch angle and the yaw angle.
  • the specific implementation can be as follows: After the pitch angle and the yaw angle are calculated, the terminal generates a control command according to the pitch angle and the yaw angle, and controls the The instruction is sent to the pan/tilt controller, so that the pan/tilt controller controls the rotation of the motor to control the attitude adjustment of the pan/tilt, so that the target object appears in the center of the captured image.
  • the terminal can first control the gimbal adjustment according to the pitch angle, and then control the gimbal adjustment according to the yaw angle, or first control the gimbal adjustment according to the yaw angle, and then control the gimbal adjustment according to the pitch angle, or at the same time according to the pitch angle And yaw angle control gimbal adjustment.
  • the PTZ control method obtains the angle of view of the camera mounted on the PTZ camera and the resolution of the captured image, and obtains the image coordinates of the target object selected by the user in the captured image, and is based on the view of the camera.
  • the field angle, the resolution of the captured image, and the image coordinates of the target object are used to control the posture of the pan-tilt so that the target object is in the preset position in the captured image, thereby obtaining an ideal shooting image and improving the user experience.
  • Fig. 6 is a schematic structural diagram of a pan/tilt control device provided by an embodiment of the present invention.
  • the pan-tilt control device 60 can be configured in various controllers with certain logic processing capabilities, such as terminals.
  • the method of executing PTZ control takes the control terminal as an example, and the aircraft takes the drone as an example.
  • the drone includes a fuselage, a pan-tilt, and shooting equipment mounted on the pan-tilt.
  • the pan-tilt is installed on the fuselage.
  • the pan/tilt includes a base, a motor, and a pan/tilt controller.
  • the control terminal is connected with the pan/tilt controller, the pan/tilt controller is connected with the motor, and the shooting device is connected with the base through the motor.
  • the gimbal can be a multi-axis gimbal, such as a two-axis gimbal and a three-axis gimbal. The following three-axis gimbal is taken as an example for description.
  • the pan-tilt control device 60 includes a first acquisition module 61, a second acquisition module 62 and a control module 63.
  • the first acquisition module 61 and the second acquisition module 62 are respectively connected to the control module 63.
  • the first acquisition module 61 is configured to acquire shooting parameter information of the shooting device, where the shooting parameter information includes the field of view of the shooting device and the resolution of the shooting image of the shooting device.
  • the second acquiring module 62 is configured to acquire the image coordinates of the target object selected by the user in the captured image.
  • the control module 63 is configured to control the posture of the pan-tilt according to the shooting parameter information and the image coordinates of the target object, so that the target object is at a preset position in the shooting image.
  • the second obtaining module 62 includes: a coordinate obtaining unit.
  • the coordinate acquisition unit is used to acquire the image coordinates of the target object through the user's click operation on the control terminal.
  • the control module 63 includes: a pitch angle calculation unit, a yaw angle calculation unit, and a control unit.
  • the pitch angle calculation unit is used to calculate the pitch angle of the pan/tilt according to the image coordinates, image pixel height and vertical field of view of the target object;
  • the yaw angle calculation unit is used to calculate the image coordinates, image pixel width and horizontal field of view of the target object Angle, calculate the yaw angle of the gimbal;
  • the control unit is used to control the attitude of the gimbal according to the pitch and yaw angle.
  • the pitch angle calculation unit is specifically used for:
  • ⁇ y is the pitch angle of the pan/tilt
  • y is the y-axis coordinate of the target object
  • H is the image pixel height
  • ⁇ h is the vertical field of view.
  • the yaw angle calculation unit is specifically used for:
  • ⁇ x is the yaw angle of the pan/tilt
  • x is the x-axis coordinate of the target object
  • W is the image pixel width
  • ⁇ w is the horizontal field of view.
  • the preset position is the center of the captured image.
  • the pan-tilt control device 60 acquires the field of view of the camera mounted on the pan-tilt and the resolution of the captured image through the first acquisition module 61, and acquires the user selected in the captured image through the second acquisition module 62
  • the image coordinates of the target object are controlled by the control module 63 based on the field of view of the shooting device, the resolution of the captured image, and the image coordinates of the target object to control the posture of the pan/tilt so that the target object is at the preset position in the captured image. Get the ideal shooting picture and improve the user experience.
  • FIG. 7 is a schematic structural diagram of a control terminal provided by an embodiment of the present invention.
  • the control terminal 70 includes: one or more processors 71 and a memory 72 (a processor 71 is taken as an example in FIG. 7), a housing 73, and a display screen 74 connected to the housing.
  • the processor 71 is photographed in the housing, and the processor 71 and the memory 72 may be connected by a bus or other means.
  • the bus connection is taken as an example in FIG. 7.
  • the memory 72 can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as programs corresponding to the pan/tilt control method in the embodiment of the present invention Instructions/units (for example, the first acquisition module 61, the second acquisition module 62, and the control module 63 shown in FIG. 6).
  • the processor 71 executes various functional applications and data processing of the pan-tilt by running non-volatile software programs, instructions, and units stored in the memory 72, that is, implementing the pan-tilt control method of the foregoing method embodiment.
  • the memory 72 may include a program storage area and a data storage area.
  • the program storage area may store an operating system and an application program required by at least one function; the data storage area may store data created according to the use of the drone.
  • the memory 72 may include a high-speed random access memory, and may also 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 devices.
  • the storage 72 may optionally include storage remotely arranged relative to the processor 71, and these remote storages may be connected to the drone through a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.
  • the one or more units are stored in the memory 72, and when executed by the one or more processors 71, the pan/tilt control method in any of the foregoing method embodiments is executed, for example, the method S110- in FIG. 1 described above is executed. S130, realize the functions of the modules 61-63 shown in FIG. 6.
  • the processor 71 is configured to obtain shooting parameter information of the shooting device, where the shooting parameter information includes the angle of view of the shooting device and the resolution of the shooting image of the shooting device; The image coordinates of the target object selected in the image coordinates; according to the shooting parameter information and the image coordinates of the target object, the posture of the pan-tilt is controlled so that the target object is at the preset position in the shooting image.
  • the processor 71 is specifically configured to obtain the image coordinates of the target object through the user's click operation on the display screen.
  • the resolution of the captured image includes image pixel width and image pixel height, and the field of view includes a horizontal field of view and a vertical field of view; then,
  • the processor 71 is specifically configured to: calculate the pitch angle of the pan/tilt according to the image coordinates, image pixel height, and vertical angle of view of the target object; and calculate the cloud based on the image coordinates, image pixel width, and horizontal angle of view of the target object.
  • the yaw angle of the station; according to the pitch angle and the yaw angle, the attitude of the gimbal is controlled so that the target object is at the preset position in the captured image.
  • the processor 71 is specifically configured to: calculate the pitch angle of the pan/tilt according to the following formula:
  • ⁇ y is the pitch angle of the pan/tilt
  • y is the y-axis coordinate of the target object in the image coordinates
  • H is the image pixel height
  • ⁇ h is the vertical field of view.
  • the processor 71 is specifically configured to: calculate the yaw angle of the gimbal according to the following formula:
  • ⁇ x is the yaw angle of the pan/tilt
  • x is the x-axis coordinate of the target object in the image coordinates
  • W is the image pixel width
  • ⁇ w is the horizontal field of view.
  • the preset position is the center of the captured image.
  • the above-mentioned terminal can execute the pan/tilt control method provided by the embodiment of the present invention, and has corresponding functional modules and beneficial effects for the execution method.
  • the above-mentioned terminal can execute the pan/tilt control method provided by the embodiment of the present invention, and has corresponding functional modules and beneficial effects for the execution method.
  • the embodiment of the present invention also provides a non-volatile computer-readable storage medium, the computer-readable storage medium stores computer-executable instructions, the computer-executable instructions are executed by one or more processors, for example, FIG. 7
  • One processor 71 in the above-mentioned one or more processors can execute the pan-tilt control method in any of the above-mentioned method embodiments, for example, execute the above-described methods S110-S130 in FIG. 1 to implement the method shown in FIG. 6
  • the functions of modules 61-63 can execute the pan-tilt control method in any of the above-mentioned method embodiments, for example, execute the above-described methods S110-S130 in FIG. 1 to implement the method shown in FIG. 6
  • the functions of modules 61-63 are examples of modules 61-63.
  • FIG. 8 is a schematic structural diagram of an aircraft system provided by an embodiment of the present invention.
  • the aircraft system 80 includes a drone 81 and a control terminal 70, and the control terminal 70 is connected to the drone 81.
  • the control terminal 70 is the same as the terminal 70 in Embodiment 3, and will not be repeated here.
  • UAV 81 includes:
  • PTZ 812 installed on the body 811, and connected with the control terminal 70;
  • the camera 813 is mounted on the pan/tilt 812.
  • the pan/tilt 812 may include a base, a motor, and a pan/tilt controller.
  • the control terminal 70 is connected with the pan/tilt controller, the pan/tilt controller is connected with the motor, and the photographing device 813 is connected with the base via the motor.

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Abstract

一种云台控制方法、装置、控制终端及飞行器系统。其中，云台控制方法用于控制终端，云台搭载有拍摄设备，方法包括：获取拍摄设备的拍摄参数信息，其中，拍摄参数信息包括拍摄设备的视场角以及拍摄设备的拍摄图像的分辨率（S110）；获取用户在拍摄图像中选择的目标对象的图像坐标（S120）；根据拍摄参数信息和目标对象的图像坐标，控制云台的姿态，以使得目标对象处于拍摄图像中的预设位置（S130）。通过以上方式，能够控制云台转动，以使得在拍摄画面中选择的指定点出现在拍摄画面的预设位置，从而得到理想的拍摄画面。

Description

云台控制方法、装置、控制终端及飞行器系统
本申请要求于2019年5月22日提交中国专利局、申请号为201910430485.0、申请名称为“云台控制方法、装置、控制终端及飞行器系统”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
本申请涉及云台控制技术领域，特别是涉及一种云台控制方法、装置、控制终端及飞行器系统。
背景技术
随着无人飞行器技术的发展，无人飞行器(Unmanned Aerial Vehicle，UAV)在军事及民用领域都得到了广泛的应用。无人飞行器是一种处在迅速发展中的新概念装备，其具有体积小、重量轻、机动灵活、反应快速、无人驾驶、操作要求低的优点。无人飞行器通过云台搭载多类拍摄装置，如相机、摄影机等，可以实现影像实时传输、高危地区探测功能，是卫星遥感与传统航空遥感的有力补充。
其中，云台是无人机航拍中实现拍摄画面增稳的核心器件，其利用电机的主动转动实时抵消拍摄装置受到的扰动，防止拍摄装置的抖动，保证拍摄画面的稳定。目前市面上云台均配有角度传感器，如电位器、磁编等，其主要作用是实时获取采集的测量信息，以便云台的控制器通过测量信息得到电机的角度，为云台的增稳控制提供必要的电机的角度信息。
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：现有的技术方案中用户通过App或者遥控器输入云台各个轴的角度参数，以控制云台的运动，从而调节相机摄像头的方位，但对于操作不熟练的而用户在短时间内很难配合好各个角度参数，难以得到理想的拍摄画面。
发明内容
本发明实施例的目的是提供一种云台控制方法、装置、控制终端及飞行器系统，能够控制云台转动，以使得在拍摄画面中选择的指定点出现在拍摄画面的预设位置，从而得到理想的拍摄画面。
为解决上述技术问题，第一方面，本发明实施例提供了一种云台控制方法，用于控制终端，所述云台搭载有拍摄设备，所述方法包括：获取所述拍摄设备的拍摄参数信息，其中，所述拍摄参数信息包括所述拍摄设备的视场角以及所述拍摄设备的拍摄图像的分辨率；获取用户在所述拍摄图像中选择的目标对象的图像坐标；根据所述拍摄参数信息和所述目标对象的位置信息，控制所述云台的姿态，以使得所述目标对象处于所述拍摄图像中的预设位置。
在一些实施例中，所述获取用户在所述拍摄图像中选择的目标对象的图像 坐标，包括：通过所述用户在所述控制终端上的点击操作，获取所述目标对象的图像坐标。
在一些实施例中，所述拍摄图像的分辨率包括图像像素宽度和图像像素高度，所述视场角包括水平视场角和垂直视场角；则，所述根据所述拍摄参数信息和所述目标对象的图像坐标，控制所述云台的姿态，以使得所述目标对象处于所述拍摄图像中的预设位置，包括：根据所述目标对象的图像坐标、所述图像像素高度以及所述垂直视场角，计算所述云台的俯仰角；根据所述目标对象的图像坐标、所述图像像素宽度以及所述水平视场角，计算所述云台的偏航角；根据所述俯仰角和所述偏航角，控制所述云台的姿态，以使得所述目标对象处于所述拍摄图像中的所述预设位置。
在一些实施例中，所述根据所述目标对象的图像坐标、所述图像像素高度以及所述垂直视场角，计算所述云台的俯仰角，包括：
根据以下公式计算所述云台的俯仰角：
Figure PCTCN2020091621-appb-000001
其中，θ y为所述云台的俯仰角，y为所述目标对象的图像坐标，H为所述图像像素高度，θ h为所述垂直视场角。
在一些实施例中，所述根据所述目标对象的图像坐标、所述图像像素宽度以及所述水平视场角，计算所述云台的偏航角，包括：
根据以下公式计算所述云台的偏航角：
Figure PCTCN2020091621-appb-000002
其中，θ x为所述云台的偏航角，x为所述目标对象的图像坐标，W为所述图像像素宽度，θ w为所述水平视场角。
在一些实施例中，所述预设位置为所述拍摄图像的中心。
第二方面，本发明实施例还提供了一种云台控制装置，用于控制终端，所述云台搭载有拍摄设备，所述装置包括：第一获取模块，用于获取所述拍摄设备的拍摄参数信息，所述拍摄参数信息包括所述拍摄设备的视场角以及所述拍摄设备的拍摄图像的分辨率；第二获取模块，用于获取用户在所述拍摄图像中 选择的目标对象的图像坐标；控制模块，用于根据所述拍摄参数信息和所述目标对象的图像坐标，控制所述云台的姿态，以使得所述目标对象处于所述拍摄图像中的预设位置。
在一些实施例中，所述第二获取模块具体用于：通过所述用户在所述控制终端上的点击操作，获取所述目标对象的图像坐标。
在一些实施例中，所述拍摄图像的分辨率包括图像像素宽度和图像像素高度，所述视场角包括水平视场角和垂直视场角；则，所述控制模块包括：俯仰角计算单元，用于根据所述目标对象的图像坐标、所述图像像素高度以及所述垂直视场角，计算所述云台的俯仰角；偏航角计算单元，用于根据所述目标对象的图像坐标、所述图像像素宽度以及所述水平视场角，计算所述云台的偏航角；控制单元，用于根据所述俯仰角和所述偏航角，控制所述云台的姿态，以使得所述目标对象处于所述拍摄图像中的所述预设位置。
在一些实施例中，所述俯仰角计算单元具体用于：
根据以下公式计算所述云台的俯仰角：
Figure PCTCN2020091621-appb-000003
其中，θ y为所述云台的俯仰角，y为所述目标对象的y轴坐标，H为所述图像像素高度，θ h为所述垂直视场角。
在一些实施例中，所述偏航角计算单元具体用于：
根据以下公式计算所述云台的偏航角：
Figure PCTCN2020091621-appb-000004
其中，θ x为所述云台的偏航角，x为所述目标对象的x轴坐标，W为所述图像像素宽度，θ w为所述水平视场角。
在一些实施例中，所述预设位置为所述拍摄图像的中心。
第三方面，本发明实施例还提供了一种控制终端，所述控制终端包括：壳体；显示屏，与所述壳体相连；至少一个处理器，设于所述壳体内；以及与所述至少一个处理器通信连接的存储器；其中，所述处理器用于：获取所述拍摄 设备的拍摄参数信息，其中，所述拍摄参数信息包括所述拍摄设备的视场角以及所述拍摄设备的拍摄图像的分辨率；获取用户在所述拍摄图像中选择的目标对象的图像坐标；根据所述拍摄参数信息和所述目标对象的图像坐标，控制所述云台的姿态，以使得所述目标对象处于所述拍摄图像中的预设位置。
在一些实施例中，，所述处理器具体用于：通过所述用户在所述显示屏上的点击操作，获取所述目标对象的所述图像坐标。
在一些实施例中，所述拍摄图像的分辨率包括图像像素宽度和图像像素高度，所述视场角包括水平视场角和垂直视场角；则，所述处理器具体用于：根据所述目标对象的图像坐标、所述图像像素高度以及所述垂直视场角，计算所述云台的俯仰角；根据所述目标对象的图像坐标、所述图像像素宽度以及所述水平视场角，计算所述云台的偏航角；根据所述俯仰角和所述偏航角，控制所述云台的姿态，以使得所述目标对象处于所述拍摄图像中的所述预设位置。
在一些实施例中，所述处理器具体用于：
根据以下公式计算所述云台的俯仰角：
Figure PCTCN2020091621-appb-000005
其中，θ y为所述云台的俯仰角，y为所述图像坐标中所述目标对象的y轴坐标，H为所述图像像素高度，θ h为所述垂直视场角。
在一些实施例中，，所述处理器具体用于：
根据以下公式计算所述云台的偏航角：
Figure PCTCN2020091621-appb-000006
其中，θ x为所述云台的偏航角，x为所述图像坐标中所述目标对象的x轴坐标，W为所述图像像素宽度，θ w为所述水平视场角。
在一些实施例中，所述预设位置为所述拍摄图像的中心。第四方面，本发明实施例还提供了飞行器系统，包括：无人机，包括机身、云台和拍摄设备，所述拍摄设备搭载于所述云台，所述云台安装于所述机身；以及如上所述的控 制终端，所述控制终端与所述无人机通信连接。
第五方面，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，当所述计算机可执行指令被控制终端执行时，使所述控制终端执行上述的云台控制方法。
本发明实施例通过获取云台搭载的拍摄设备的视场角以及拍摄图像的分辨率，并获取用户在拍摄图像中选择的目标对象的图像坐标，并基于拍摄设备的视场角、拍摄图像的分辨率以及目标对象的图像坐标，控制云台的姿态，使得目标对象处于拍摄图像中的预设位置，从而得到理想的拍摄画面，提高用户的体验。
附图说明
为了更清楚地说明本发明实施例的技术方案，下面将对本发明实施例中所需要使用的附图作简单地介绍。显而易见地，下面所描述的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明实施例提供的一种云台控制方法的流程示意图；
图2a为本发明实施例提供的拍摄设备的视场角的示意图；
图2b为本发明实施例提供的拍摄设备和目标对象之间的位置坐标示意图；
图3为图1中的S120的流程示意图；
图4为图1中的S130的流程示意图；
图5a和图5b为拍摄图像坐标系建立示意图；
图6为本发明实施例提供的一种云台控制装置的结构示意图；
图7为本发明实施例提供的一种控制终端的结构示意图；
图8为本发明实施例提供的一种飞行器系统的结构示意图。
具体实施方式
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本发明，并不用于限定本发明。
需要说明的是，如果不冲突，本发明实施例中的各个特征可以相互结合，均在本发明的保护范围之内。另外，虽然在装置示意图中进行了功能模块划分，在流程图中示出了逻辑顺序，但是在某些情况下，可以以不同于装置中的模块划分，或流程图中的顺序执行所示出或描述的步骤。再者，本发明所采用的“第一”“第二”等字样并不对数据和执行次序进行限定，仅是对功能和作用基本相同的相同项或相似项进行区分。
本发明实施例提供的云台控制方法和装置可以应用到各种终端、或者飞行器系统上。例如，终端与飞行器连接，飞行器如无人机(unmanned aerial vehicle，UAV)，设置有云台及拍摄设备，云台可搭载拍摄设备，并安装于UAV的机身上，以进行航拍工作。
下面以UAV为例进行具体说明。
终端与UAV连接。
其中，UAV包括：机身、云台和拍摄设备。拍摄设备搭载于云台，云台安装于机身。
机身包括中心壳体以及与中心壳体连接的一个或多个机臂，一个或多个机臂呈辐射状从中心壳体延伸出。机臂与中心壳体的连接可以是一体连接或者固定连接。
云台用于搭载拍摄设备，以实现拍摄设备的固定、或随意调节拍摄设备的姿态(例如，改变拍摄设备的高度、倾角和/或方向)以及使拍摄设备稳定保持在设定的姿态上。例如，当UAV进行航拍时，云台主要用于使拍摄设备稳定保持在设定的姿态上，防止拍摄设备拍摄画面抖动，保证拍摄画面的稳定。云台与终端连接，以使在终端的控制下进行纸条调整。
其中，云台可以包括：基座、电机及云台控制器。其中，电机安装于基座，云台控制器与电机连接，云台控制器用于控制电机，云台控制器与终端连接。具体的，终端用于执行上述云台控制方法以得到云台姿态(例如俯仰角、偏航角、翻滚角)，根据云台姿态生成控制指令，并将该控制指令发送给云台的云台控制器，云台控制器通过该控制指令控制电机；云台控制器用于执行上述云台控制方法以得到云台姿态，根据云台姿态生成控制指令，并通过该控制指令控制电机。
其中，基座与UAV的机身连接，用于将拍摄设备固定安装于UAV的机身上。电机分别与基座及拍摄设备连接。该云台可以为多轴云台，与之适应的，电机为多个，也即每个轴设置有一个电机。电机一方面可带动拍摄装置的转动，从而满足拍摄转轴的水平旋转和俯仰角度的调节，通过手动远程控制电机旋转或利用程序让电机自动旋转，从而达到全方位扫描监控的作用；另一方面，在UAV进行航拍的过程中，通过电机的转动实时抵消拍摄设备受到的扰动，防止拍摄设备抖动，保证拍摄画面的稳定。云台控制器为具有一定逻辑处理能力的器件，如控制芯片、单片机、微控制单元(Microcontroller Unit，MCU)等。
拍摄设备可以为图像采集设备，用于采集图像，该拍摄设备包括但不限于：相机、摄影机、摄像头、扫描仪、拍照手机等。拍摄设备用于在UAV进行飞行的过程中获取航拍图像。
在云台控制的过程中，通常需要基于云台各个轴的角度参数，以控制云台的运动。而目前的技术方案中用户通过App或者遥控器输入云台各个轴的角度参数，以控制云台的运动，从而调节相机摄像头的方位，但对于操作不熟练的而用户在短时间内很难配合好各个角度参数，难以得到理想的拍摄画面。
因此，基于上述的技术问题，本发明实施例目的在于提供一种云台控制方法、装置、控制终端、飞行器系统，能够控制云台转动，以使得在拍摄画面中选择的指定点出现在拍摄画面的预设位置，从而得到理想的拍摄画面。
本发明实施例通过获取云台搭载的拍摄设备的视场角以及拍摄图像的分辨率，并获取用户在拍摄图像中选择的目标对象的图像坐标，并基于拍摄设备的视场角、拍摄图像的分辨率以及目标对象的图像坐标，控制云台的姿态，使得目标对象处于拍摄图像中的预设位置，从而得到理想的拍摄画面，提高用户的体验。
下面结合附图，对本发明实施例作进一步阐述。
实施例1：
图1为本发明实施例提供的一种云台控制方法的流程示意图。其中，该云台控制方法可以由各种具有一定逻辑处理能力的控制器执行，如终端等。以下执行云台控制方法以控制终端为例、飞行器以无人机为例进行说明。其中，无人机包括机身、云台及搭载于云台上的拍摄设备，云台安装于机身。云台包括基座、电机及云台控制器，控制终端与云台控制器连接，云台控制器与电机连接，拍摄设备与基座通过电机连接。其中，云台可以为多轴云台，如两轴云台、三轴云台，以下三轴云台为例进行说明。
请参照图1，所述云台控制方法包括：
S110、获取拍摄设备的拍摄参数信息，其中，拍摄参数信息包括拍摄设备的视场角以及拍摄设备的拍摄图像的分辨率；
在本实施例中，“拍摄参数信息”是指在拍摄设备拍摄拍摄对象时所获取的参数信息，其中，拍摄对象是指拍摄设备当前拍摄到的所有对象。拍摄参数信息包括拍摄设备的视场角以及拍摄设备的拍摄图像的分辨率。其中，视场角是指以拍摄设备的镜头为顶点，以拍摄对象可通过镜头的最大范围的两条边缘构成的夹角。在本实施例中，视场角包括水平视场角和垂直视场角吗，水平视场角是以拍摄设备的镜头为顶点，以拍摄对象可通过镜头的最大范围的两条垂直方向的边缘构成的夹角，垂直视场角是指以拍摄设备的镜头为顶点，以拍摄对象可通过镜头的最大范围的两条水平方向的边缘构成的夹角。如图2a所示，示出了拍摄设备的水平视场角θ w和拍摄设备的垂直视场角θ h。其中，“拍摄图像的分辨率”为拍摄设备所拍摄到的图像的分辨率，如图2b所示，拍摄图像的分辨率包括图像像素宽度W和图像像素高度H，图像像素宽度W为拍摄对象在拍摄设备的CCD靶面上的成像宽度，图像像素高度H为拍摄对象在拍摄设备 的CCD靶面上的成像高度，其中，CCD靶面规格尺寸单位为毫米。
在本实施例中，获取拍摄设备的拍摄参数信息，具体为：终端实时获取拍摄设备的拍摄参数信息，其中，可以通过终端与拍摄设备连接，终端实时读取拍摄设备的拍摄参数信息，或者，终端与云台控制器连接，云台控制器与拍摄设备连接，通过云台控制器实时读取拍摄设备的拍摄参数信息。例如，终端实时读取拍摄设备的焦距以及拍摄图像的图像像素宽度W和图像像素高度H，并根据拍摄设备的焦距以及拍摄图像的图像像素宽度W和图像像素高度H，分别计算出拍摄设备的水平视场角θ w和拍摄设备的垂直视场角θ h，从而实时获取拍摄设备的拍摄参数信息。
S120、获取用户在拍摄图像中选择的目标对象的图像坐标；
在本实施例中，“目标对象”为用户在拍摄设备拍摄得到的拍摄图像中选择的目标点，“目标对象的图像坐标”为该目标点在拍摄图像中的位置。例如，拍摄设备拍摄得到的拍摄图像显示在终端的屏幕上，用户在终端的屏幕上观看拍摄图像，并在屏幕上选择拍摄图像中的一点作为目标点，则该目标点对应的物体为目标对象，该目标点在拍摄图像中的位置为目标对象的图像坐标。
其中，如图3所示，S120可以包括：
S121、通过用户在控制终端上的点击操作，获取目标对象的图像坐标。
用户可以通过多种方式选择目标点，在本实施例中，可以通过获取用户在控制终端上的点击操作，从而获取目标对象的图像坐标。其中，获取目标对象的图像坐标，具体可以包括：在拍摄图像中建立坐标系；获取目标对象在坐标系中的坐标信息，并将坐标信息作为目标对象的图像坐标。在拍摄图像中建立坐标系，具体为：以拍摄图像的其中一顶点为原点，并以拍摄图像的图像宽度W的方向为x轴，以拍摄图像的图像高度H的方向为y轴，建立平面直角坐标系获取目标对象在该坐标系的坐标信息，并将该坐标信息作为目标对象的图像坐标。例如，如图2b所示，建立坐标系xoy，目标对象为P，由坐标系可得到目标对象P的坐标信息为(x，y)，则(x，y)为目标对象P的图像坐标。
需要说明的是，S110和S120可以同时执行，也可以分步执行，例如先执行S110再执行S120，或者，先执行S120再执行S110。
S130、根据拍摄参数信息和目标对象的图像坐标，控制云台的姿态，以使得目标对象处于拍摄图像中的预设位置。
其中，“预设位置”可以为用户预先设置的希望目标对象出现在拍摄图像中的位置，在本实施例中，预设位置为拍摄图像的中心，例如，假设获取的拍摄图像中目标对象处于拍摄图像的左上角，则在云台的姿态调整后，目标对象位于拍摄图像的中心。
其中，如图4所示，S130可以包括：
S131、根据目标对象的图像坐标、图像像素高度以及垂直视场角，计算云台的俯仰角；
S132、根据目标对象的图像坐标、图像像素宽度以及水平视场角，计算云台的偏航角；
S133、根据俯仰角和偏航角，控制云台的姿态，以使得目标对象处于拍摄图像中的预设位置。
其中，云台的俯仰角为云台在俯仰轴上需要旋转的角度，云台的偏航角为云台在偏航轴上需要旋转的角度。
在S131中，请一并参阅图5a，(x，y)为目标对象P的图像坐标，y为所述图像坐标中所述目标对象的y轴坐标，H为拍摄图像的图像像素高度，θ h为拍摄设备的垂直视场角，θ y为云台的俯仰角，则根据几何关系可得到以下公式：
Figure PCTCN2020091621-appb-000007
即
Figure PCTCN2020091621-appb-000008
其中，F h为拍摄设备的垂直视场角的顶点到沿y轴方向上的拍摄对象的距离。
对拍摄图像中的任意P(x，y)，根据几何关系均可得到以下公式：
Figure PCTCN2020091621-appb-000009
即
Figure PCTCN2020091621-appb-000010
将F h代入，则得到云台的俯仰角为：
Figure PCTCN2020091621-appb-000011
在S132中，请一并参阅图5b，(x，y)为目标对象P的图像坐标，x为所述图像坐标中所述目标对象的x轴坐标，W为拍摄图像的图像像素宽度，θ w为拍摄设备的水平视场角，θ x为云台的俯仰角，则根据几何关系可得到以下公式：
Figure PCTCN2020091621-appb-000012
即
Figure PCTCN2020091621-appb-000013
其中，F w为拍摄设备的水平视场角的顶点到沿x轴方向上的拍摄对象的距离。
对拍摄图像中的任意P(x，y)，根据几何关系均可得到以下公式：
Figure PCTCN2020091621-appb-000014
即
Figure PCTCN2020091621-appb-000015
将F w代入，则得到云台的偏航角为：
Figure PCTCN2020091621-appb-000016
在S133中，根据俯仰角和偏航角，控制云台的姿态，具体实施方式可以为：计算得到俯仰角和偏航角后，终端根据俯仰角和偏航角生成控制指令，并将该控制指令发送到云台控制器，以使云台控制器控制电机转动，以控制云台 的姿态调整，从而使得目标对象出现在拍摄图像的中心。其中，终端可以先根据俯仰角控制云台调整、然后根据偏航角控制云台调整，也可以先根据偏航角控制云台调整、然后根据俯仰角控制云台调整，还可以同时根据俯仰角和偏航角控制云台调整。
在本实施例中，云台控制方法通过获取云台搭载的拍摄设备的视场角以及拍摄图像的分辨率，并获取用户在拍摄图像中选择的目标对象的图像坐标，并基于拍摄设备的视场角、拍摄图像的分辨率以及目标对象的图像坐标，控制云台的姿态，使得目标对象处于拍摄图像中的预设位置，从而得到理想的拍摄画面，提高用户的体验。
实施例2：
图6为本发明实施例提供的一种云台控制装置的结构示意图。其中，云台控制装置60可配置于各种具有一定逻辑处理能力的控制器中，如终端等。以下执行云台控制方法以控制终端为例、飞行器以无人机为例进行说明。其中，无人机包括机身、云台及搭载于云台上的拍摄设备，云台安装于机身。云台包括基座、电机及云台控制器，控制终端与云台控制器连接，云台控制器与电机连接，拍摄设备与基座通过电机连接。其中，云台可以为多轴云台，如两轴云台、三轴云台，以下三轴云台为例进行说明。
请参照图6，所述云台控制装置60包括：第一获取模块61、第二获取模块62和控制模块63。
其中，第一获取模块61、第二获取模块62分别与控制模块63连接。第一获取模块61用于获取拍摄设备的拍摄参数信息，其中，拍摄参数信息包括拍摄设备的视场角以及拍摄设备的拍摄图像的分辨率。第二获取模块62用于获取用户在拍摄图像中选择的目标对象的图像坐标。控制模块63用于根据拍摄参数信息和目标对象的图像坐标，控制云台的姿态，以使得目标对象处于拍摄图像中的预设位置。
其中，第二获取模块62包括：坐标获取单元。坐标获取单元用于通过所述用户在所述控制终端上的点击操作，获取所述目标对象的图像坐标。
其中，拍摄图像的分辨率包括图像像素宽度和图像像素高度，视场角包括水平视场角和垂直视场角。控制模块63包括：俯仰角计算单元、偏航角计算单元和控制单元。俯仰角计算单元用于根据目标对象的图像坐标、图像像素高度以及垂直视场角，计算云台的俯仰角；偏航角计算单元用于根据目标对象的图像坐标、图像像素宽度以及水平视场角，计算云台的偏航角；控制单元用于根据俯仰角和偏航角，控制云台的姿态。
其中，俯仰角计算单元具体用于：
根据以下公式计算俯仰角：
Figure PCTCN2020091621-appb-000017
其中，θ y为云台的俯仰角，y为所述目标对象的y轴坐标，H为图像像素高度，θ h为垂直视场角。
其中，偏航角计算单元具体用于：
根据以下公式计算云台的偏航角：
Figure PCTCN2020091621-appb-000018
其中，θ x为云台的偏航角，x为所述目标对象的x轴坐标，W为图像像素宽度，θ w为水平视场角。
其中，预设位置为拍摄图像的中心。
在本实施例中，云台控制装置60通过第一获取模块61获取云台搭载的拍摄设备的视场角以及拍摄图像的分辨率，并通过第二获取模块62获取用户在拍摄图像中选择的目标对象的图像坐标，并通过控制模块63基于拍摄设备的视场角、拍摄图像的分辨率以及目标对象的图像坐标，控制云台的姿态，使得 目标对象处于拍摄图像中的预设位置，从而得到理想的拍摄画面，提高用户的体验。
实施例3：
图7为本发明实施例提供的一种控制终端的结构示意图。如图7所示，控制终端70包括：一个或多个处理器71以及存储器72(图7中以一个处理器71为例)，以及壳体73、与壳体相连的显示屏74。处理器71摄于壳体内，处理器71和存储器72可以通过总线或者其他方式连接，图7中以总线连接为例。
存储器72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云台控制方法对应的程序指令/单元(例如，附图6所示的第一获取模块61、第二获取模块62和控制模块63)。处理器71通过运行存储在存储器72中的非易失性软件程序、指令以及单元，从而执行云台的各种功能应用以及数据处理，即实现上述方法实施例的云台控制方法。
存储器72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无人机使用所创建的数据等。此外，存储器72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72可选包括相对于处理器71远程设置的存储器，这些远程存储器可以通过网络连接至无人机。上述网络的实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。
该一个或者多个单元存储在存储器72中，当被一个或者多个处理器71执行时，执行上述任意方法实施例中的云台控制方法，例如，执行以上描述的图1中的方法S110-S130，实现图6所示的模块61-63的功能。
在本实施例中，处理器71用于获取拍摄设备的拍摄参数信息，其中，拍摄参数信息包括所述拍摄设备的视场角以及所述拍摄设备的拍摄图像的分辨率；获取用户在拍摄图像中选择的目标对象的图像坐标；根据拍摄参数信息和目标对象的图像坐标，控制云台的姿态，以使得目标对象处于拍摄图像中的预设位置。
其中，处理器71具体用于通过用户在显示屏上的点击操作，获取目标对 象的图像坐标。所述拍摄图像的分辨率包括图像像素宽度和图像像素高度，所述视场角包括水平视场角和垂直视场角；则，
其中，处理器71具体用于：根据目标对象的图像坐标、图像像素高度以及垂直视场角，计算云台的俯仰角；根据目标对象的图像坐标、图像像素宽度以及水平视场角，计算云台的偏航角；根据俯仰角和偏航角，控制云台的姿态，以使得目标对象处于拍摄图像中的预设位置。
其中，处理器71具体用于：根据以下公式计算云台的俯仰角：
Figure PCTCN2020091621-appb-000019
其中，θ y为云台的俯仰角，y为图像坐标中目标对象的y轴坐标，H为图像像素高度，θ h为垂直视场角。
其中，处理器71具体用于：根据以下公式计算云台的偏航角：
Figure PCTCN2020091621-appb-000020
其中，θ x为云台的偏航角，x为图像坐标中目标对象的x轴坐标，W为图像像素宽度，θ w为水平视场角。
其中，预设位置为拍摄图像的中心。
上述终端可执行本发明实施例所提供的云台控制方法，具备执行方法相应的功能模块和有益效果。未在终端可实施例中详尽描述的技术细节，可参见本发明实施例所提供的方法。
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，该计算机可执行指令被一个或多个处理器执行，例如图7中的一个处理器71，可使得上述一个或多个处理器可执行 上述任意方法实施例中的云台控制方法，例如，执行以上描述的图1中的方法S110-S130，实现图6所示的模块61-63的功能。
实施例4：
图8为本发明实施例提供的一种飞行器系统的结构示意图。如图8所示，飞行器系统80包括：无人机81和控制终端70，控制终端70与无人机81连接。其中，控制终端70与实施例3中的终端70相同，此处不再赘述。
其中，无人机81包括：
机身811；
云台812，安装于机身811，并且与控制终端70连接；
拍摄设备813，搭载于云台812。
其中，云台812可以包括基座、电机及云台控制器，控制终端70与云台控制器连接，云台控制器与电机连接，拍摄设备813与基座通过电机连接。
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；在本申请的思路下，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申请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申请进行了详细的说明，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申请各实施例技术方案的范围。

Claims (19)

  1. 一种云台控制方法，用于控制终端，其特征在于，所述云台搭载有拍摄设备，所述方法包括：
    获取所述拍摄设备的拍摄参数信息，其中，所述拍摄参数信息包括所述拍摄设备的视场角以及所述拍摄设备的拍摄图像的分辨率；
    获取用户在所述拍摄图像中选择的目标对象的图像坐标；
    根据所述拍摄参数信息和所述目标对象的图像坐标，控制所述云台的姿态，以使得所述目标对象处于所述拍摄图像中的预设位置。
  2. 根据权利要求1所述的方法，其特征在于，所述获取用户在所述拍摄图像中选择的目标对象的图像坐标，包括：
    通过所述用户在所述控制终端上的点击操作，获取所述目标对象的图像坐标。
  3. 根据权利要求2所述的方法，其特征在于，所述拍摄图像的分辨率包括图像像素宽度和图像像素高度，所述视场角包括水平视场角和垂直视场角；则，
    所述根据所述拍摄参数信息和所述目标对象的图像坐标，控制所述云台的姿态，以使得所述目标对象处于所述拍摄图像中的预设位置，包括：
    根据所述目标对象的图像坐标、所述图像像素高度以及所述垂直视场角，计算所述云台的俯仰角；
    根据所述目标对象的图像坐标、所述图像像素宽度以及所述水平视场角，计算所述云台的偏航角；
    根据所述俯仰角和所述偏航角，控制所述云台的姿态，以使得所述目标对象处于所述拍摄图像中的所述预设位置。
  4. 根据权利要求3所述的方法，其特征在于，所述根据所述目标对象的图像坐标、所述图像像素高度以及所述垂直视场角，计算所述云台的俯仰角，包括：
    根据以下公式计算所述俯仰角：
    Figure PCTCN2020091621-appb-100001
    其中，θ y为所述云台的俯仰角，y为所述图像坐标中所述目标对象的y轴坐标，H为所述图像像素高度，θ h为所述垂直视场角。
  5. 根据权利要求3或4所述的方法，其特征在于，所述根据所述目标对象的图像坐标、所述图像像素宽度以及所述水平视场角，计算所述云台的偏航角，包括：
    根据以下公式计算所述云台的偏航角：
    Figure PCTCN2020091621-appb-100002
    其中，θ x为所述云台的偏航角，x为所述图像坐标中所述目标对象的x轴坐标，W为所述图像像素宽度，θ w为所述水平视场角。
  6. 根据权利要求1-5任一项所述的方法，其特征在于，所述预设位置为所述拍摄图像的中心。
  7. 一种云台控制装置，其特征在于，用于控制终端，所述云台搭载有拍摄设备，所述装置包括：
    第一获取模块，用于获取所述拍摄设备的拍摄参数信息，其中，所述拍摄参数信息包括所述拍摄设备的视场角以及所述拍摄设备的拍摄图像的分辨率；
    第二获取模块，用于获取用户在所述拍摄图像中选择的目标对象的图像坐 标；
    控制模块，用于根据所述拍摄参数信息和所述目标对象的图像坐标，控制所述云台的姿态，以使得所述目标对象处于所述拍摄图像中的预设位置。
  8. 根据权利要求7所述的装置，其特征在于，所述第二获取模块具体用于：
    通过所述用户在所述控制终端上的点击操作，获取所述目标对象的图像坐标。
  9. 根据权利要求8所述的装置，其特征在于，所述拍摄图像的分辨率包括图像像素宽度和图像像素高度，所述视场角包括水平视场角和垂直视场角；
    则，所述控制模块包括：
    俯仰角计算单元，用于根据所述目标对象的图像坐标、所述图像像素高度以及所述垂直视场角，计算所述云台的俯仰角；
    偏航角计算单元，用于根据所述目标对象的图像坐标、所述图像像素宽度以及所述水平视场角，计算所述云台的偏航角；
    控制单元，用于根据所述俯仰角和所述偏航角，控制所述云台的姿态，以使得所述目标对象处于所述拍摄图像中的所述预设位置。
  10. 根据权利要求9所述的装置，其特征在于，所述俯仰角计算单元具体用于：
    根据以下公式计算所述云台的俯仰角：
    Figure PCTCN2020091621-appb-100003
    其中，θ y为所述云台的俯仰角，y为所述目标对象的y轴坐标，H为所述图像像素高度，θ h为所述垂直视场角。
  11. 根据权利要求9所述的装置，其特征在于，所述偏航角计算单元具体用于：
    根据以下公式计算所述云台的偏航角：
    Figure PCTCN2020091621-appb-100004
    其中，θ x为所述云台的偏航角，x为所述目标对象的x轴坐标，W为所述图像像素宽度，θ w为所述水平视场角。
  12. 根据权利要求7-11任一项所述的装置，其特征在于，所述预设位置为所述拍摄图像的中心。
  13. 一种控制终端，其特征在于，用于云台控制，所述云台搭载有拍摄设备；
    所述控制终端包括：
    壳体；
    显示屏，与所述壳体相连；
    至少一个处理器，设于所述壳体内；以及
    与所述至少一个处理器通信连接的存储器；
    其中，所述处理器用于：
    获取所述拍摄设备的拍摄参数信息，其中，所述拍摄参数信息包括所述拍摄设备的视场角以及所述拍摄设备的拍摄图像的分辨率；
    获取用户在所述拍摄图像中选择的目标对象的图像坐标；
    根据所述拍摄参数信息和所述目标对象的图像坐标，控制所述云台的姿态，以使得所述目标对象处于所述拍摄图像中的预设位置。
  14. 根据权利要求13所述的控制终端，其特征在于，所述处理器具体用于：
    通过所述用户在所述显示屏上的点击操作，获取所述目标对象的所述图像坐标。
  15. 根据权利要求14所述的方法，其特征在于，所述拍摄图像的分辨率包括图像像素宽度和图像像素高度，所述视场角包括水平视场角和垂直视场角；则，
    所述处理器具体用于：
    根据所述目标对象的图像坐标、所述图像像素高度以及所述垂直视场角，计算所述云台的俯仰角；
    根据所述目标对象的图像坐标、所述图像像素宽度以及所述水平视场角，计算所述云台的偏航角；
    根据所述俯仰角和所述偏航角，控制所述云台的姿态，以使得所述目标对象处于所述拍摄图像中的所述预设位置。
  16. 根据权利要求15所述的方法，其特征在于，所述处理器具体用于：
    根据以下公式计算所述云台的俯仰角：
    Figure PCTCN2020091621-appb-100005
    其中，θ y为所述云台的俯仰角，y为所述图像坐标中所述目标对象的y轴坐标，H为所述图像像素高度，θ h为所述垂直视场角。
  17. 根据权利要求15或16所述的方法，其特征在于，所述处理器具体用于：
    根据以下公式计算所述云台的偏航角：
    Figure PCTCN2020091621-appb-100006
    其中，θ x为所述云台的偏航角，x为所述图像坐标中所述目标对象的x轴坐标，W为所述图像像素宽度，θ w为所述水平视场角。
  18. 根据权利要求13-17任一项所述的方法，其特征在于，所述预设位置为所述拍摄图像的中心。
  19. 一种飞行器系统，其特征在于，包括：
    无人机，包括机身、云台和拍摄设备，所述拍摄设备搭载于所述云台，所述云台安装于所述机身；以及
    如权利要求13-18任一项所述的控制终端，所述控制终端与所述无人机通信连接。
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