WO2021026748A1 - 拍摄检测方法、装置、云台、系统及存储介质 - Google Patents

拍摄检测方法、装置、云台、系统及存储介质 Download PDF

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Publication number
WO2021026748A1
WO2021026748A1 PCT/CN2019/100294 CN2019100294W WO2021026748A1 WO 2021026748 A1 WO2021026748 A1 WO 2021026748A1 CN 2019100294 W CN2019100294 W CN 2019100294W WO 2021026748 A1 WO2021026748 A1 WO 2021026748A1
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Prior art keywords
target
posture data
joint angle
shooting
task
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PCT/CN2019/100294
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English (en)
French (fr)
Inventor
王映知
刘帅
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深圳市大疆创新科技有限公司
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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 CN201980032718.XA priority Critical patent/CN112204944B/zh
Priority to PCT/CN2019/100294 priority patent/WO2021026748A1/zh
Publication of WO2021026748A1 publication Critical patent/WO2021026748A1/zh

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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
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • 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

Definitions

  • This application relates to the shooting field, and in particular to a shooting detection method, device, pan/tilt, system, and computer-readable storage medium.
  • the pan-tilt is a support platform of the camera and is used to install and fix the camera, which can be rotated under the control of the control device.
  • the pan/tilt in the related technology supports multiple shooting modes, such as panoramic shooting, time-lapse shooting, zoom shooting, or story mode. Among them, panoramic shooting, time-lapse shooting or story mode requires multiple photos or multiple video clips to be taken and stitched together.
  • the pan-tilt is connected to the control device (such as a mobile terminal).
  • the control device will send the target posture of the next position to the gimbal so that the gimbal can adjust the angle based on the target posture of the next position, but the gimbal may be Because the limit range is exceeded, the next position cannot be reached.
  • the gimbal will automatically end the panoramic shooting, time-lapse shooting or story mode, and the photos or video clips taken before are correspondingly invalid, resulting in time cost and Waste of shooting resources.
  • one of the objectives of the present invention is to provide a shooting detection method, device, pan-tilt, system, and computer-readable storage medium.
  • the first aspect of this application provides a method, which specifically includes:
  • target posture data corresponding to the pan/tilt in this shooting task wherein, the shooting task is a task requiring no less than 2 shooting times; the number of target posture data is the same as the number of shooting times;
  • an apparatus including:
  • the target posture data acquisition module is used to obtain the target posture data corresponding to the PTZ in this shooting task; wherein, the shooting task is a task that requires no less than 2 shooting times; the number of the target posture data and the total The number of shots is the same;
  • the target joint angle determination module is used to determine the value of the target joint angle corresponding to the target pose data according to each target pose data and the base measurement pose data;
  • the shooting task judgment module is used to execute the shooting task if all the target joint angle values are within the preset limit range, otherwise, the shooting task is ended.
  • a pan-tilt including:
  • a memory for storing processor executable instructions
  • the joint angle sensor is used to measure the joint angle
  • the inertial sensor is used to measure acceleration data and angular velocity data of the pan/tilt;
  • the processor is configured to execute the method of any one of the first aspect.
  • a shooting detection system including an application and a pan/tilt,
  • the application is used to connect to the pan-tilt and send target posture data corresponding to this shooting task to the pan-tilt;
  • the shooting task is a task that requires no less than 2 shooting times;
  • the target posture data The number of is the same as the number of shooting;
  • the pan/tilt is used to receive the target posture data, and determine the value of the target joint angle corresponding to the target posture data according to each target posture data and the measured posture data of the base; if all the target joint angle values are in the preset Set the limit range, execute this shooting task, otherwise, end this shooting task.
  • a computer-readable storage medium having computer instructions stored thereon, and when the instructions are executed by a processor, the steps in the first aspect are implemented.
  • This application obtains the target posture data corresponding to the PTZ in this shooting task, and determines the value of the target joint angle corresponding to each target posture data one by one, and makes a unified judgment on all target joint angles. If all target joint angles The value of is within the preset limit range, indicating that the gimbal can complete this shooting task, then execute this shooting task, otherwise, it indicates that the limit range of the gimbal is exceeded, and the gimbal may enter the gimbal deadlock If the shooting task cannot be successfully completed, the shooting task will be ended. This application determines whether the gimbal can complete the shooting task through a unified judgment of all target joint angles, so as to avoid knowing something after the shooting task is performed. The shooting task ends when a location is unreachable, which helps to save time, cost and shooting resources, and optimize the user experience.
  • Fig. 1 is a flowchart of an embodiment of a shooting detection method according to an exemplary embodiment of the present application.
  • Fig. 2 is a schematic diagram showing the three-axis structure of a three-axis pan/tilt head according to an exemplary embodiment of the present application.
  • Fig. 3 is a flowchart of an embodiment of a second shooting detection method according to an exemplary embodiment of the present application.
  • Fig. 4 is a flowchart of an embodiment of a third shooting detection method according to an exemplary embodiment of the present application.
  • Fig. 5 is a block diagram showing an embodiment of a photographing detection device according to an exemplary embodiment of the present application.
  • Fig. 6 is a structural block diagram of a pan-tilt according to an exemplary embodiment of the present application.
  • Fig. 7 is a structural block diagram of a photographing detection system according to an exemplary embodiment of the present application.
  • first, second, third, etc. may be used in this application to describe various information, the information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other.
  • first information may also be referred to as second information, and similarly, the second information may also be referred to as first information.
  • the word “if” as used herein can be interpreted as “when” or “when” or “in response to determination”.
  • the terms “include”, “include”, or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements that are not explicitly listed. Elements, or also include elements inherent to such processes, methods, articles, or equipment. If there are no more restrictions, the element defined by the sentence “including a" does not exclude the existence of other same elements in the process, method, article or equipment including the element.
  • the pan-tilt is the support platform of the camera, which is used to install and fix the camera, which can be rotated under the control of the control device.
  • the pan-tilt in the related technology supports multiple shooting modes, such as panoramic shooting, time-lapse shooting, zoom shooting or story mode.
  • panoramic shooting, time-lapse shooting or story mode requires multiple photos or multiple video clips to be taken and stitched together.
  • the pan-tilt is connected to the control device (such as a mobile terminal).
  • the control device will send the target posture of the next position to the gimbal so that the gimbal can adjust the angle based on the target posture of the next position, but the gimbal may change Since the adjustment angle corresponding to the target posture exceeds the limit range (representing the specified angle range) and cannot reach the next position, the pan-tilt will automatically end this panoramic shooting, time-lapse shooting or story mode, then the previous shooting
  • the photos or video clips are correspondingly invalid, resulting in time cost and waste of shooting resources; as an example, for example, in a panoramic shooting task, there are a total of 9 target postures.
  • the gimbal If the gimbal is preparing for the first time during this shooting When shooting in 3 positions, because the adjustment angle corresponding to the target posture exceeds the limit range, it cannot be reached. In related technologies, the gimbal will adjust to the third position after taking the first and second photos. , Found that it could not be reached and ended this panoramic shooting task, resulting in poor user experience.
  • the embodiments of the present application provide a shooting detection method, which can obtain the target posture data of the PTZ in this shooting task, and determine the value of the target joint angle corresponding to each target posture data. Whether the value of all target joint angles exceeds the preset limit range, it is determined whether to perform the shooting task accordingly.
  • FIG. 1 is a flowchart of an embodiment of a shooting detection method according to an exemplary embodiment of the present application.
  • the shooting detection method may be executed by a pan-tilt, and the method includes:
  • step S101 the target posture data corresponding to the pan/tilt in this shooting task is acquired; wherein the shooting task is a task that requires no less than 2 shooting times; the number of the target posture data is the same as that of the shooting The same number of times.
  • step S102 the value of the target joint angle corresponding to the target posture data is determined according to each target posture data and the measured posture data of the base.
  • step S103 if all the target joint angle values are within the preset limit range, the current shooting task is executed; otherwise, the current shooting task is ended.
  • the target posture data can be obtained from an associated control device, and the target posture data can be determined based on the field of view of the camera of the control device.
  • the user can install on the control device
  • the application adapted to the pan/tilt head realizes the control of the pan/tilt head by the application through the connection between the pan/tilt head and the control device, such as controlling the rotation of the pan/tilt head; in addition, on the application
  • the association relationship between the field of view of the camera of the control device, the shooting task, and the corresponding target posture data can be pre-stored. After the user determines the corresponding shooting task on the control device, the application is based on the field of view of the camera of the control device.
  • the corresponding target posture data is sent to the pan/tilt, so that the pan/tilt performs subsequent operations based on the target posture data; or the pan/tilt may also provide corresponding options
  • the user can select the shooting task on the pan/tilt, and then the pan/tilt sends the information of the shooting task selected by the user to the control device, so that the control device sends corresponding target posture data according to the information;
  • the control device may be a mobile terminal such as a smart phone.
  • the pan/tilt may be a pan/tilt with an orthogonal structure or a pan/tilt with a non-orthogonal structure.
  • the pan/tilt is a three-axis pan/tilt, which includes An outer frame 11 rotated by a rotation axis 10, a middle frame 21 rotated along a second rotation axis 20, an inner frame 31 rotated along a third rotation axis 30, and a base 41.
  • the platform is an orthogonal structure
  • the first A rotation axis 10, a second rotation axis 20, and a third rotation axis 30 are orthogonally distributed two by two in space.
  • the coordinates of the first rotation axis 10 can be expressed as (0,0,1), and the second rotation axis
  • the coordinates of the axis 10 can be expressed as (0,1,0)
  • the coordinates of the third rotation axis 10 can be expressed as (1,0,0); if the PTZ is a non-orthogonal structure, the first rotation axis 10 , The second rotation axis 20 and the third rotation axis 30 are not in a pairwise vertical relationship in space.
  • the coordinates of the first rotation axis 10 can be expressed as (0,0,1)
  • the coordinates of the second rotation axis 10 can be expressed It is (-0.288, 0.913, 0.288) (for example, the value can be set according to the actual situation, and the embodiment of this application does not impose any restriction on this)
  • the coordinates of the third rotation axis 10 can be expressed as (1,0,0)
  • the angle of rotation around the outer frame 11 is the joint angle of the outer frame 11
  • the angle of rotation around the middle frame 21 is the joint angle of the middle frame 21
  • the angle of rotation around the inner frame 31 is The joint angle of the inner frame 31 and the joint angle of the pan/tilt head are the combined result of the joint angle of the outer frame 11, the joint angle of the middle frame 21, and the joint angle of the inner frame 31.
  • q [cos(theta/2)sin(theta/2)*nx sin(theta) /2)*ny sin(theta/2)*nz]
  • the quaternion of the joint angle of the outer frame 11 is expressed as q_frame_out
  • the joint angle of the middle frame 21 is The quaternion is expressed as q_frame_mid
  • the quaternion of the joint angle of the inner frame 31 is expressed as q_frame_inn
  • the quaternion of the attitude data of the base is expressed as q_handle
  • the quaternion of the attitude data of the pan/tilt is expressed as q_camera.
  • the measured posture data of the base can be determined based on the measured value of the joint angle and the measured value of the gimbal posture, because the joint angle of the current gimbal (ie, the measured value of the joint angle) can be obtained by the joint angle sensor, and the current The attitude data of the pan/tilt (ie, the measured value of the attitude of the pan/tilt) can be determined by the data collected by the inertial sensor.
  • the basis Seat measurement posture data can also be determined accordingly; wherein, the inertial sensor includes a gyroscope and an acceleration sensor, the acceleration sensor is used to measure the acceleration of three axes in the space coordinate system, and the gyroscope is used to measure the angular velocity of the three axes.
  • the measured value of the PTZ attitude is the result of the fusion of measured acceleration data and angular velocity data.
  • the PTZ after the PTZ acquires the target posture data corresponding to this shooting task, it determines the value of the target joint angle corresponding to the target posture data according to each target posture data and the measured posture data of the base.
  • the joint angle represents the angle of rotation around the axis of the pan/tilt
  • the measured posture data of the base represents the current measured angle of the base of the gimbal with respect to the horizontal plane.
  • the pan/tilt head judges whether the values of all target joint angles are within the preset limit range (ie, the preset angle range).
  • the shooting task to which this application applies is a task that requires no less than two shooting times, for example, the shooting task is a panoramic shooting task, a predetermined path shooting task, or a story mode shooting task, and the acquired target pose
  • the number of data is the same as the number of shooting.
  • the shooting task is a panoramic shooting task: the pan-tilt obtains all target posture data corresponding to the panoramic shooting task, and determines the value of the target joint angle corresponding to each target posture data, and performs a calculation on all target joint angles.
  • the shooting task executes the shooting task; otherwise, it indicates that the limit range of the gimbal is exceeded.
  • the station may enter the gimbal deadlock state and cannot successfully complete the shooting task, then the shooting task will end.
  • the shooting task is a predetermined path shooting task: the pan-tilt acquires all target posture data corresponding to the predetermined path shooting task, and determines the value of the target joint angle corresponding to each target posture data, for all target joints Make a unified judgment on the angle. If all the target joint angles are within the preset limit range, indicating that the gimbal can complete the shooting task, then execute the shooting task; otherwise, it indicates that the limit range of the gimbal is exceeded , The gimbal may enter the deadlock state of the universal joint, and the shooting task cannot be successfully completed, then the shooting task will end.
  • the shooting task is a story mode shooting task (the story mode shooting task may include multiple templates, different templates represent different video shooting methods, each template corresponds to preset target posture data, the user can perform according to needs Selection):
  • the PTZ obtains all target posture data corresponding to the story mode shooting task, and determines the value of the target joint angle corresponding to each target posture data, and makes a unified judgment on all target joint angles. If all targets The joint angle values are all within the preset limit range, indicating that the gimbal can complete this shooting task, then execute this shooting task, otherwise, it indicates that the limit range of the gimbal is exceeded, and the gimbal may enter the gimbal In the deadlock state, the shooting task cannot be successfully completed, the shooting task will be ended.
  • FIG. 3 is a flowchart of an embodiment of a second shooting detection method according to an exemplary embodiment of the present application.
  • the PTZ will perform the process of the shooting detection method of the present application before performing the shooting task.
  • the method includes:
  • step S201 before performing this shooting task, obtain the target attitude data corresponding to the PTZ in this shooting task; wherein, the shooting task is a task that requires shooting not less than 2 times; the target attitude data The number of is the same as the number of shots.
  • step S202 the value of the target joint angle corresponding to the target posture data is determined according to each target posture data and the measured posture data of the base.
  • step S203 if all the target joint angle values are within the preset limit range, the current shooting task is executed; otherwise, the current shooting task is ended.
  • the pan/tilt may obtain target posture data corresponding to this shooting task sent by the associated control device; the shooting task includes a panoramic shooting task and a predetermined path shooting task.
  • the PTZ is a PTZ with an orthogonal structure
  • the analytical solution is composed of fractions
  • the solution form of basic functions such as trigonometric function, exponent, logarithm and even infinite series can be calculated from the expression of the solution to any corresponding value; after determining the base measurement attitude data, the value of the target joint angle is The target posture data and the measured posture data of the base are calculated as the known parameters of the preset analytical solution.
  • the embodiment of the present application solves the problem by numerical iteration.
  • the target joint angle if the PTZ is a PTZ with a non-orthogonal structure, it is difficult to obtain the analytical solution corresponding to the target joint angle. Therefore, the embodiment of the present application solves the problem by numerical iteration.
  • the target joint angle if the PTZ is a PTZ with a non-orthogonal structure, it is difficult to obtain the analytical solution corresponding to the target joint angle. Therefore, the embodiment of the present application solves the problem by numerical iteration. The target joint angle.
  • the embodiment of the present application determines that the initial value of the joint angle corresponding to each target posture data is: use the target posture data and the measured posture data of the base as the orthogonal structure cloud The calculated result of the known parameters of the analytical solution of the station, so that the initial value of the joint angle is closer to the result of the numerical iteration, which improves the speed of the iteration convergence and also avoids the divergence of the iteration result.
  • the pan/tilt head After determining the initial value of the joint angle and the base measurement posture data, for each target posture data, the pan/tilt head performs iteration based on the target posture data, the base measurement posture data, and the initial value of the joint angle , Obtain the iteration result corresponding to the preset number of iterations, and then determine the value of the target joint angle corresponding to the target posture data based on the iteration result; it can be understood that the embodiment of the present application has regard to the selection of the numerical iteration method and the The setting of the number of iterations is not limited, and can be specifically set according to actual conditions. For example, the Newton iteration method can be selected and the number of iterations can be set to 20.
  • the iterative process can be described as: for each target pose data, in the first iteration, the initial value of the joint angle is used as the input value of the joint angle, and the following steps are performed until the preset number of iterations is obtained Corresponding iteration result: calculate the target pose data, base measurement pose data and the input value of the joint angle as the known parameters of the preset iteration formula, and use the calculation result as the input value of the joint angle for the next iteration It is understandable that the selection of the iterative formula can be specifically set according to actual conditions, and the embodiment of the present application does not impose any limitation on this.
  • the determining the value of the target joint angle corresponding to the target pose data based on the iteration result includes: if the difference between the iteration result and the initial value of the joint angle is less than a preset threshold, the iteration The result is used as the value of the target joint angle corresponding to the target posture data. Otherwise, it is considered that the current iteration process has not converged, and the pan/tilt head uses the initial value of the joint angle as the value of the target joint angle corresponding to the target posture data.
  • the pan/tilt before performing this shooting task, acquires the target posture data corresponding to this shooting task, and then determines the target posture according to each target posture data and the measured posture data of the base The value of the target joint angle corresponding to the data, after determining the value of the target joint angle corresponding to all the target posture data, the pan/tilt head determines whether all the target joint angle values are within the preset limit range (the preset angle range ), if yes, it indicates that the PTZ can complete the shooting task, then execute the shooting task, and send the correct code indicating that it is reachable to the application on the control device, otherwise, it indicates that the limit range of the PTZ is exceeded, The pan-tilt may enter the gimbal deadlock state, and the shooting task cannot be successfully completed, the shooting task will be ended, and an error code indicating unreachable will be sent to the application on the control device; The unified judgment of all target joint angles determines whether the pan/tilt can complete the shooting task, avoiding that a certain position
  • the posture data of the base may be changed.
  • the user's hand holding the pan/tilt shakes greatly, causing the cloud
  • the posture data of the pedestal base changes, so that the target joint angle determined based on the previous pedestal measurement posture data is invalid.
  • the previous judgment result of the target joint angle is also not applicable to the current situation, so it is necessary to re-execute the shooting task Judging, based on this, please refer to FIG. 4, which is a flowchart of an embodiment of a third shooting detection method according to an exemplary embodiment of the present application.
  • the pan/tilt head will detect a change in the measured attitude data of the base
  • the process of performing the shooting detection method of the present application the method includes:
  • step S301 if a change in the measured posture data of the base is detected, obtain the target posture data corresponding to the PTZ in this shooting task; wherein, the shooting task is a task that requires no less than 2 shooting times; The number of the target posture data is the same as the number of shooting.
  • step S302 the value of the target joint angle corresponding to the target posture data is determined according to each target posture data and the measured posture data of the base.
  • step S303 if all the target joint angle values are within the preset limit range, the current shooting task is executed; otherwise, the current shooting task is ended.
  • the change in the measured posture data of the base mentioned in the embodiment of the present application means that the currently determined base measured posture data is different from the last determined base measured posture data.
  • the pan/tilt may store the target posture data corresponding to the shooting task sent by the associated control device before starting to perform the shooting task, so as to subsequently detect the measured posture of the base When the data is changed, quickly obtain the stored target posture data corresponding to the shooting task for subsequent operations.
  • the PTZ is a PTZ with an orthogonal structure
  • the analytical solution is composed of fractions
  • the solution form of basic functions such as trigonometric functions, exponents, logarithms and even infinite series can calculate any corresponding value from the expression of the solution; based on the measured value of the joint angle of the current gimbal and the measured value of the gimbal attitude
  • the value of the target joint angle is a result calculated by using the target posture data and the measured posture data of the base as known parameters of a preset analytical solution.
  • the embodiment of the present application solves the problem by numerical iteration.
  • the target joint angle if the PTZ is a PTZ with a non-orthogonal structure, it is difficult to obtain the analytical solution corresponding to the target joint angle. Therefore, the embodiment of the present application solves the problem by numerical iteration.
  • the target joint angle if the PTZ is a PTZ with a non-orthogonal structure, it is difficult to obtain the analytical solution corresponding to the target joint angle. Therefore, the embodiment of the present application solves the problem by numerical iteration. The target joint angle.
  • the shooting detection process is performed when the change in the measured posture data of the base is detected.
  • the initial value of the joint angle corresponding to each target posture data is determined as above The value of the target joint angle corresponding to the target posture data determined in a shooting detection process; then, after determining the initial value of the joint angle and the measured posture data of the base, for each target posture data, the PTZ is based on the The target posture data, the measured posture data of the base, and the initial value of the joint angle are iterated to obtain an iteration result corresponding to a preset number of iterations, and the value of the target joint angle corresponding to the target posture data is determined based on the iteration result.
  • the iterative process can be described as: for each target pose data, in the first iteration, the initial value of the joint angle is used as the input value of the joint angle, and the following steps are performed until the preset number of iterations is obtained
  • Corresponding iteration result calculate the target pose data, base measurement pose data and the input value of the joint angle as the known parameters of the preset iteration formula, and use the calculation result as the input value of the joint angle for the next iteration .
  • the determining the value of the target joint angle corresponding to the target pose data based on the iteration result includes: if the difference between the iteration result and the initial value of the joint angle is less than a preset threshold, the iteration The result is used as the value of the target joint angle corresponding to the target posture data. Otherwise, it is considered that the current iteration process has not converged, and the pan/tilt head uses the initial value of the joint angle as the value of the target joint angle corresponding to the target posture data.
  • the pan-tilt when a change in the measured posture data of the base is detected during the execution of the shooting task, the pan-tilt obtains the corresponding target posture data in the shooting task, and then according to each target posture data and all The measured posture data of the base determines the value of the target joint angle corresponding to the target posture data. After determining the value of the target joint angle corresponding to all the target posture data, the pan/tilt head determines whether the values of all the target joint angles are in the expected value.
  • FIG. 5 is a block diagram of an embodiment of a photographing detection device according to an exemplary embodiment of the present application.
  • the device includes:
  • the target posture data acquisition module 401 is used to obtain the target posture data corresponding to the PTZ in this shooting task; wherein, the shooting task is a task that requires no less than 2 shooting times; the number of the target posture data is equal to The number of shots is the same.
  • the target joint angle determination module 402 is used to determine the value of the target joint angle corresponding to the target posture data according to each target posture data and the base measurement posture data.
  • the shooting task judging module 403 is configured to execute this shooting task if the values of all target joint angles are within the preset limit range, otherwise, end the shooting task.
  • the pan-tilt is a pan-tilt with an orthogonal structure
  • the value of the target joint angle is calculated based on the known parameters of the preset analytical solution with the target posture data and base measurement posture data.
  • the PTZ is a PTZ with a non-orthogonal structure.
  • the target joint angle determination module 402 includes:
  • the joint angle initial value obtaining unit is used to obtain the joint angle initial values corresponding to all target posture data.
  • the iterative result obtaining unit is configured to, for each target posture data, iterate based on the target posture data, the measured posture data of the base, and the initial value of the joint angle, and obtain the iteration result corresponding to the preset number of iterations.
  • the target joint angle determination unit is configured to determine the value of the target joint angle corresponding to the target posture data based on the iteration result.
  • the target joint angle determination unit includes:
  • the iteration result is used as the value of the target joint angle corresponding to the target posture data; otherwise, the initial value of the joint angle is used as the target The value of the target joint angle corresponding to the pose data.
  • the initial value of the joint angle corresponding to each target posture data is the known that the target posture data and the measured posture data of the base are used as the analytical solution of the orthogonal structure PTZ The result of parameter calculation.
  • the initial value of the joint angle corresponding to each target posture data is the value of the target joint angle determined in the previous shooting detection process.
  • the iteration result obtaining unit includes:
  • the initial value of the joint angle is used as the input value of the joint angle, and the following steps are performed until the iteration result corresponding to the preset number of iterations is obtained: the target attitude data, the base measurement attitude data, and the
  • the input value of the joint angle is calculated as the known parameter of the preset iteration formula, and the calculation result is used as the input value of the joint angle for the next iteration.
  • the measured posture data of the base is determined based on the measured value of the joint angle obtained by the joint angle sensor, and the measured value of the pan-tilt posture determined according to the data collected by the inertial sensor.
  • the target posture data is obtained from an associated control device.
  • the target posture data is determined based on the angle of view of the camera of the control device.
  • the shooting task includes a panoramic shooting task, a predetermined route shooting task, and a story mode shooting task.
  • the shooting task is a panoramic shooting task.
  • the target posture data acquisition module 401 includes:
  • the shooting task is a predetermined route shooting task.
  • the target posture data acquisition module 402 includes:
  • the shooting task is a story mode shooting task.
  • the target posture data acquisition module 402 includes:
  • the relevant part can refer to the part of the description of the method embodiment.
  • the device embodiments described above are merely illustrative.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network units.
  • Some or all of the modules may be selected according to actual needs to achieve the objectives of the solutions of the embodiments. Those of ordinary skill in the art can understand and implement it without creative work.
  • FIG. 6 is a structural block diagram of a pan-tilt 500 according to an exemplary embodiment of this application.
  • the PTZ 500 includes:
  • the joint angle sensor 504 is used to measure the joint angle.
  • the inertial sensor 505 is used to measure acceleration data and angular velocity data of the pan-tilt 500.
  • the processor 501 is configured to perform operations in the shooting detection method.
  • the processor 501 executes the program code 503 included in the memory 502, and the processor 501 may be a central processing unit (Central Processing Unit, CPU), or other general-purpose processors, digital signal processors (Digital Signal Processors) Processor, DSP), Application Specific Integrated Circuit (ASIC), ready-made programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc.
  • the general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like.
  • the memory 502 stores the program code of the shooting detection method.
  • the memory 502 may include at least one type of storage medium.
  • the storage medium includes flash memory, hard disk, multimedia card, card type memory (for example, SD or DX memory, etc.) Etc.), random access memory (RAM), static random access memory (SRAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), programmable read only memory (PROM), magnetic memory, Disk, CD, etc.
  • the pan-tilt 500 may cooperate with a network storage device that performs the storage function of the memory through a network connection.
  • the memory 502 may be an internal storage unit of the pan/tilt 500, such as a hard disk or memory of the pan/tilt 500.
  • the memory 502 may also be an external storage device of the PTZ 500, such as a plug-in hard disk equipped on the PTZ 500, a smart memory card (Smart Media Card, SMC), a Secure Digital (SD) card, and a flash memory card (Flash Card) etc. Further, the memory 502 may also include both an internal storage unit of the pan-tilt 500 and an external storage device.
  • the memory 502 is used to store the computer program code 503 and other programs and data required by the pan-tilt 500.
  • the memory 502 can also be used to temporarily store data that has been output or will be output.
  • the joint angle sensor 504 is an angle sensor installed on the axis of the pan-tilt and used to detect the change of the joint angle of the pan-tilt.
  • the inertial sensor 505 includes an accelerometer (or acceleration sensor) and an angular velocity sensor (gyro), which are used to measure acceleration data and angular velocity data of the pan/tilt 500, respectively.
  • accelerometer or acceleration sensor
  • angular velocity sensor gyro
  • the various embodiments described herein can be implemented using a computer-readable medium such as computer software, hardware, or any combination thereof.
  • a computer-readable medium such as computer software, hardware, or any combination thereof.
  • ASIC application-specific integrated circuits
  • DSP digital signal processors
  • DSPD digital signal processing devices
  • PLD programmable logic devices
  • FPGA field programmable gate arrays
  • a processor a controller, a microcontroller, a microprocessor, and an electronic unit designed to perform the functions described herein are implemented.
  • implementations such as procedures or functions can be implemented with a separate software module that allows execution of at least one function or operation.
  • the software codes can be implemented by software applications (or programs) written in any suitable programming language, and the software codes can be stored in a memory and executed by the controller.
  • the pan-tilt 500 may include, but is not limited to, a memory 504 and a processor 501. Those skilled in the art can understand that FIG. 6 is only an example of the pan-tilt 500, and does not constitute a limitation on the pan-tilt 500. It may include more or less components than shown in the figure, or a combination of certain components, or different components. For example, the device may also include input and output devices, network access devices, and so on.
  • the relevant part can refer to the part of the description of the method embodiment.
  • FIG. 7 is a structural block diagram of a photographing detection system 10 according to an exemplary embodiment of this application.
  • the shooting detection system 10 includes an application 600 and a pan-tilt 500.
  • the application 600 is installed in the control device 700.
  • the application 600 is used to connect to the pan/tilt 500 and send the target posture data corresponding to this shooting task to the pan/tilt 500; the shooting task is a task that requires not less than 2 shots; The number of target posture data is the same as the number of shooting.
  • the pan-tilt 500 is used to receive the target posture data, and determine the value of the target joint angle corresponding to the target posture data according to each target posture data and the measured posture data of the base; if all the target joint angle values are Within the preset limit range, execute this shooting task, otherwise, end this shooting task.
  • the relevant part can refer to the description of the method embodiment.
  • this embodiment also provides a computer-readable storage medium on which a computer program is stored.
  • the program is executed by the processor of the above-mentioned pan-tilt, the record in any of the above-mentioned embodiments is realized.
  • the steps of the shooting detection method is realized.
  • This embodiment may adopt the form of a computer program product implemented on one or more storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing program codes.
  • Computer usable storage media include permanent and non-permanent, removable and non-removable media, and information storage can be achieved by any method or technology.
  • the information can be computer-readable instructions, data structures, program modules, or other data.
  • Examples of computer storage media include, but are not limited to: phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, CD-ROM, digital versatile disc (DVD) or other optical storage, Magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media can be used to store information that can be accessed by computing devices.
  • PRAM phase change memory
  • SRAM static random access memory
  • DRAM dynamic random access memory
  • RAM random access memory
  • ROM read-only memory
  • EEPROM electrically erasable programmable read-only memory
  • flash memory or other memory technology
  • CD-ROM compact disc
  • DVD digital versatile disc
  • Magnetic cassettes magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media can be used to store information that can be accessed by computing devices.

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Abstract

一种拍摄检测方法、装置、云台、系统以及计算机可读存储介质。方法包括：获取云台在本次拍摄任务中对应的目标姿态数据；其中，拍摄任务为需要拍摄的次数不小于2的任务；目标姿态数据的个数与拍摄的次数相同（S101）；根据每一目标姿态数据以及基座测量姿态数据确定该目标姿态数据对应的目标关节角的值（S102）；若所有的目标关节角的值均在预设限位范围内，执行本次拍摄任务，否则，结束本次拍摄任务（S103）。本方法实现对拍摄任务是否可执行的判断，优化用户使用体验。

Description

拍摄检测方法、装置、云台、系统及存储介质 技术领域
本申请涉及拍摄领域，尤其涉及一种拍摄检测方法、装置、云台、系统以及计算机可读存储介质。
背景技术
当前，利用云台辅助进行拍摄的技术得到了广泛的应用，云台是摄像机的支撑平台，用于安装、固定摄像机，其可以在控制设备的控制下进行转动。相关技术中的云台支持多种拍摄模式，如全景拍摄、延时拍摄、变焦拍摄或者故事模式等。其中，全景拍摄、延时拍摄或者故事模式需要拍摄多张照片或多个视频片段并进行拼接，相关技术在进行全景拍摄或者延时拍摄的过程中，云台与控制设备(如移动终端)连接，云台在当前位置拍摄完成之后，控制设备会向云台发送下一位置的目标姿态，以使云台基于下一位置的目标姿态进行角度调整，但是云台在角度调整的过程中，可能会由于超出限位范围无法到达下一位置，这时云台会自动结束本次全景拍摄、延时拍摄或者故事模式，则之前拍摄的照片或视频片段也相应地无效了，造成了时间成本和拍摄资源的浪费。
发明内容
有鉴于此，本发明的目的之一是提供一种拍摄检测方法、装置、云台、系统以及计算机可读存储介质。
首先，本申请的第一方面提供了一种方法，所述方法具体包括：
获取云台在本次拍摄任务中对应的目标姿态数据；其中，所述拍摄任务为需要拍摄的次数不小于2的任务；所述目标姿态数据的个数与所述拍摄的次数相同；
根据每一目标姿态数据以及基座测量姿态数据确定该目标姿态数据对应的目标关节角的值；
若所有的目标关节角的值均在预设限位范围内，执行本次拍摄任务，否则，结束本次拍摄任务。
根据本申请实施例的第二方面，提供一种装置，所述装置包括：
目标姿态数据获取模块，用于获取云台在本次拍摄任务中对应的目标姿态数据；其中，所述拍摄任务为需要拍摄的次数不小于2的任务；所述目标姿态数据的个数与所述拍摄的次数相同；
目标关节角确定模块，用于根据每一目标姿态数据以及基座测量姿态数据确定该目标姿态数据对应的目标关节角的值；
拍摄任务判断模块，用于若所有的目标关节角的值均在预设限位范围内，执行本次拍摄任务，否则，结束本次拍摄任务。
根据本申请实施例的第三方面，提供一种云台，包括：
处理器；
用于存储处理器可执行指令的存储器；
关节角传感器以及惯性传感器；
所述关节角传感器用于测量所述关节角；
所述惯性传感器，用于测量所述云台的加速度数据和角速度数据；
其中，所述处理器被配置为执行第一方面任意一项所述的方法。
根据本申请实施例的第四方面，提供一种拍摄检测系统，包括应用以及云台，
所述应用，用于与所述云台连接，将本次拍摄任务对应的目标姿态数据发送给所述云台；所述拍摄任务为需要拍摄的次数不小于2的任务；所述目标姿态数据的个数与所述拍摄的次数相同；
所述云台，用于接收所述目标姿态数据，根据每一目标姿态数据以及基座测量姿态数据确定该目标姿态数据对应的目标关节角的值；若所有的目标关节角的值均在预设限位范围内，执行本次拍摄任务，否则，结束本次拍摄任务。
根据本申请实施例的第四方面，还提供了一种计算机可读存储介质， 其上存储有计算机指令，该指令被处理器执行时实现第一方面中任一的步骤。
本申请的实施例提供的技术方案可以包括以下有益效果：
本申请获取云台在本次拍摄任务中对应的目标姿态数据，并一一确定每一目标姿态数据对应的目标关节角的值，对所有的目标关节角进行统一判断，若所有的目标关节角的值均在预设限位范围内，表明云台能够完成本次拍摄任务，则执行本次拍摄任务，否则，表明超出了云台的限位范围，云台可能会进入万向节死锁状态，无法顺利完成本次拍摄任务，则结束本次拍摄任务，本申请通过对所有目标关节角的统一判断，确定云台能否完成本次拍摄任务，避免在执行了拍摄任务之后才知道某一位置不可达从而结束拍摄任务，有利于节约时间成本和拍摄资源，优化用户的使用体验。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本申请。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本申请根据一示例性实施例示出的一种拍摄检测方法的实施例流程图。
图2是本申请根据一示例性实施例示出的一种三轴云台的三轴结构示意图。
图3是本申请根据一示例性实施例示出的第二种拍摄检测方法的实施例流程图。
图4是本申请根据一示例性实施例示出的第三种拍摄检测方法的实施例 流程图。
图5是本申请根据一示例性实施例示出的拍摄检测装置的实施例框图。
图6是本申请根据一示例性实施例示出的一种云台的结构框图。
图7是本申请根据一示例性实施例示出的一种拍摄检测系统的结构框图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，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，都属于本申请保护的范围。
在本申请使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本申请。在本申请和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本文中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。
应当理解，尽管在本申请可能采用术语第一、第二、第三等来描述各种信息，但这些信息不应限于这些术语。这些术语仅用来将同一类型的信息彼此区分开。例如，在不脱离本申请范围的情况下，第一信息也可以被称为第二信息，类似地，第二信息也可以被称为第一信息。取决于语境，如在此所使用的词语“如果”可以被解释成为“在……时”或“当……时”或“响应于确定”。术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或 者设备中还存在另外的相同要素。
当前，利用云台辅助进行拍摄的技术得到了广泛的应用。云台是摄像机的支撑平台，用于安装、固定摄像机，其可以在控制设备的控制下进行转动。
相关技术中的云台支持多种拍摄模式，如全景拍摄、延时拍摄、变焦拍摄或故事模式等。其中，全景拍摄、延时拍摄或者故事模式需要拍摄多张照片或多个视频片段并进行拼接，相关技术在进行全景拍摄或者延时拍摄的过程中，云台与控制设备(如移动终端)连接，云台在当前位置拍摄完成之后，控制设备会向云台发送下一位置的目标姿态，以使云台基于下一位置的目标姿态进行角度调整，但是云台在调整的过程中，可能会由于所述目标姿态对应的调整角度超出限位范围(表示规定的角度范围)而无法到达下一位置，这时云台会自动结束本次全景拍摄、延时拍摄或者故事模式，则之前拍摄的照片或视频片段也相应地无效了，造成了时间成本和拍摄资源的浪费；作为例子，比如在一次全景拍摄任务中一共有9个位置的目标姿态，如果本次拍摄过程中云台在准备第3个位置的拍摄时由于目标姿态对应的调整角度超出限位范围无法到达，相关技术中云台会在拍摄完第一张照片和第二张照片之后，在调整至第3个位置的过程中，发现无法到达而结束本次全景拍摄任务，造成用户体验的不佳。
基于上述问题，本申请实施例提供了一种拍摄检测方法，其可以获取云台在本次拍摄任务中对应的目标姿态数据，并确定每一目标姿态数据对应的目标关节角的值，通过判断所有的目标关节角的值是否超出预设限位范围，来相应确定是否执行本次拍摄任务。
请参阅图1，是本申请根据一示例性实施例示出的一种拍摄检测方法的实施例流程图。
图1所示的实施例中，所述拍摄检测方法可由云台来执行，所述方法包括：
在步骤S101中，获取云台在本次拍摄任务中对应的目标姿态数据；其中，所述拍摄任务为需要拍摄的次数不小于2的任务；所述目标姿态数据的 个数与所述拍摄的次数相同。
在步骤S102中，根据每一目标姿态数据以及基座测量姿态数据确定该目标姿态数据对应的目标关节角的值。
在步骤S103中，若所有的目标关节角的值均在预设限位范围内，执行本次拍摄任务，否则，结束本次拍摄任务。
在一实施例中，所述目标姿态数据可以从关联的控制设备中获取，并且所述目标姿态数据可以基于所述控制设备的摄像头的视场角确定，作为例子，用户可以在控制设备上安装与所述云台适配的应用，通过所述云台与所述控制设备的连接，实现所述应用对所述云台的控制，比如控制所述云台转动；另外，在所述应用上可以预先存储有控制设备的摄像头的视场角、拍摄任务以及对应的目标姿态数据的关联关系，用户在控制设备上确定相应的拍摄任务之后，所述应用根据所述控制设备的摄像头的视场角、所述拍摄任务以及所述关联关系，将对应的目标姿态数据发送至所述云台，以便所述云台基于所述目标姿态数据进行后续操作；或者，云台也可以提供相应的选择界面，可以由用户在云台上进行拍摄任务的选择，然后云台将用户选择的拍摄任务的信息发送至所述控制设备，以便所述控制设备根据所述信息发送对应的目标姿态数据；可以理解的是，本申请对于所述控制设备的具体类型不做任何限制，可依据实际情况进行具体选择，比如所述控制设备可以为移动终端如智能手机。
在一实施例中，所述云台可以为正交结构的云台或者非正交结构的云台，作为例子，请参阅图2，比如所述云台为三轴云台，其包括沿第一旋转轴10旋转的外框架11、沿第二旋转轴20旋转的中框架21、沿第三旋转轴30旋转的内框架31以及基座41，若所述云台为正交结构，则第一旋转轴10、第二旋转轴20以及第三旋转轴30在空间中呈两两垂直的正交分布，比如第一旋转轴10的坐标可以表示为(0,0,1)，第二旋转轴10的坐标可以表示为(0,1,0)，第三旋转轴10的坐标可以表示为(1,0,0)；若所述云台为非正交结构，则第一旋转轴10、第二旋转轴20以及第三旋转轴30在空间中没有呈两两垂 直关系，比如第一旋转轴10的坐标可以表示为(0,0,1)，第二旋转轴10的坐标可以表示为(-0.288,0.913,0.288)(举例数值，可依据实际情况进行具体设置，本申请实施例对此不做任何限制)，第三旋转轴10的坐标可以表示为(1,0,0)；其中，绕所述外框架11旋转的角度即为外框架11的关节角，绕所述中框架21旋转的角度即为中框架21的关节角，绕所述内框架31旋转的角度即为内框架31的关节角，所述云台的关节角即为所述外框架11的关节角、中框架21的关节角以及内框架31的关节角综合的结果。
在一个例子中，设绕任意轴(n＝(nx,ny,nz))旋转一定角度theta的四元数为：q＝[cos(theta/2)sin(theta/2)*nx sin(theta/2)*ny sin(theta/2)*nz]，基于所述四元数以及各个旋转轴的坐标，设外框架11的关节角的四元数表示为q_frame_out，中框架21的关节角的四元数表示为q_frame_mid，以及内框架31的关节角的四元数表示为q_frame_inn，基座的姿态数据的四元数表示为q_handle，云台的姿态数据的四元数表示为q_camera，则有：q_camera＝q_handle×q_frame_out×q_frame_mid×q_frame_inn；其中，设所述云台的关节角的四元数表示为q_frame，则q_frame＝q_frame_out×q_frame_mid×q_frame_inn。
其中，所述基座测量姿态数据可以基于关节角的测量值以及云台姿态的测量值所确定，由于当前云台的关节角(即关节角的测量值)可以由关节角传感器获取，且当前云台的姿态数据(即云台姿态的测量值)可以由惯性传感器采集的数据所确定，由上述公式可知，在关节角的测量值和云台姿态的测量值确定的情况下，所述基座测量姿态数据也可以相应确定；其中，所述惯性传感器包括陀螺仪以及加速度传感器，所述加速度传感器用于测量空间坐标系中三轴的加速度，所述陀螺仪用于测量其三轴的角速度，则所述云台姿态的测量值为测量的加速度数据以及角速度数据融合的结果。
在本实施例中，所述云台在获取本次拍摄任务中对应的目标姿态数据之后，根据每一目标姿态数据以及所述基座测量姿态数据确定该目标姿态数据对应的目标关节角的值，所述关节角表示绕云台轴旋转的角度，所述基座测量姿态数据表示测量的当前云台基座相对于水平面的角度，在确定所有目标姿 态数据对应的目标关节角的值之后，所述云台判断所有的目标关节角的值是否都在预设限位范围(即预设的角度范围)，若是，表明云台能够完成本次拍摄任务，则执行本次拍摄任务，否则，表明超出了云台的限位范围，云台可能会进入万向节死锁状态，从而无法顺利完成本次拍摄任务，则所述云台结束本次拍摄任务；本申请实施例通过对所有目标关节角的统一判断，确定云台能否完成本次拍摄任务，避免在执行了拍摄任务之后才知道某一位置不可达从而结束拍摄任务，有利于节约时间成本和拍摄资源，优化用户的使用体验。
可以理解的是，所述限位范围基于云台的具体类型所确定，本申请实施例对此不做任何限制。
需要说明的是，本申请所适用的拍摄任务为需要拍摄的次数不小于2的任务，比如所述拍摄任务为全景拍摄任务、预定路径拍摄任务或者故事模式拍摄任务，且获取的所述目标姿态数据的个数与所述拍摄的次数相同。
例如，所述拍摄任务为全景拍摄任务：所述云台获取所述全景拍摄任务对应的所有目标姿态数据，并确定每一目标姿态数据对应的目标关节角的值，对所有的目标关节角进行统一判断，若所有的目标关节角的值均在预设限位范围内，表明云台能够完成本次拍摄任务，则执行本次拍摄任务，否则，表明超出了云台的限位范围，云台可能会进入万向节死锁状态，无法顺利完成本次拍摄任务，则结束本次拍摄任务。
例如，所述拍摄任务为预定路径拍摄任务：所述云台获取所述预定路径拍摄任务对应的所有目标姿态数据，并确定每一目标姿态数据对应的目标关节角的值，对所有的目标关节角进行统一判断，若所有的目标关节角的值均在预设限位范围内，表明云台能够完成本次拍摄任务，则执行本次拍摄任务，否则，表明超出了云台的限位范围，云台可能会进入万向节死锁状态，无法顺利完成本次拍摄任务，则结束本次拍摄任务。
例如，所述拍摄任务为故事模式拍摄任务(所述故事模式拍摄任务可以包括多个模板，不同模板表示不同的视频拍摄方式，每个模板对应有预设 的目标姿态数据，用户可以根据需要进行选择)：所述云台获取所述故事模式拍摄任务对应的所有目标姿态数据，并确定每一目标姿态数据对应的目标关节角的值，对所有的目标关节角进行统一判断，若所有的目标关节角的值均在预设限位范围内，表明云台能够完成本次拍摄任务，则执行本次拍摄任务，否则，表明超出了云台的限位范围，云台可能会进入万向节死锁状态，无法顺利完成本次拍摄任务，则结束本次拍摄任务。
请参阅图3，是本申请根据一示例性实施例示出的第二种拍摄检测方法的实施例流程图，所述云台会在执行本次拍摄任务前进行本申请的拍摄检测方法的流程，所述方法包括：
在步骤S201中，在执行本次拍摄任务前，获取云台在本次拍摄任务中对应的目标姿态数据；其中，所述拍摄任务为需要拍摄的次数不小于2的任务；所述目标姿态数据的个数与所述拍摄的次数相同。
在步骤S202中，根据每一目标姿态数据以及基座测量姿态数据确定该目标姿态数据对应的目标关节角的值。
在步骤S203中，若所有的目标关节角的值均在预设限位范围内，执行本次拍摄任务，否则，结束本次拍摄任务。
在一实施例中，在执行本次拍摄任务之前，所述云台可以获取关联的控制设备发送的本次拍摄任务对应的目标姿态数据；所述拍摄任务包括全景拍摄任务以及预定路径拍摄任务。
在一种可能的实现方式中，如果所述云台是具有正交结构的云台，基于正交结构的性质可以确定求取目标关节角对应的解析解，所述解析解为包含分式、三角函数、指数、对数甚至无限级数等基本函数的解的形式，从解的表达式中就可以算出任何对应值；在确定基座测量姿态数据之后，所述目标关节角的值为以所述目标姿态数据和基座测量姿态数据作为预设解析解的已知参数计算出的结果。
在另一种可能的实现方式中，如果所述云台是具有非正交结构的云台，其难以获取求取目标关节角对应的解析解，因此，本申请实施例通过数值迭 代的方式求解所述目标关节角。
由于采用数值迭代的方式求解所述目标关节角，对于迭代初始值的选取是非常重要的，迭代初始值选取的不恰当会降低迭代收敛速度，基于此，考虑到非正交结构的云台与正交结构的云台在结构上比较类似，本申请实施例确定每一所述目标姿态数据对应的关节角初始值是：以该所述目标姿态数据和基座测量姿态数据作为正交结构云台的解析解的已知参数计算出的结果，从而使得所述关节角初始值与数值迭代的结果较为接近，提高迭代收敛的速度，同时也避免迭代结果的发散。
接着，在确定所述关节角初始值以及基座测量姿态数据之后，对于每一目标姿态数据，所述云台基于所述目标姿态数据、基座测量姿态数据以及所述关节角初始值进行迭代，获取预设迭代次数对应的迭代结果，然后基于所述迭代结果确定该目标姿态数据对应的目标关节角的值；可以理解的是，本申请实施例对于所述数值迭代方法的选取以及所述迭代次数的设置不做任何限定，可依据实际情况进行具体设置，例如可以选取牛顿迭代法，以及设置迭代次数为20次。
在一实施例中，迭代的过程可以描述为：对于每一目标姿态数据，在首次迭代时，将所述关节角初始值作为所述关节角的输入值，执行以下步骤直到获取预设迭代次数对应的迭代结果：将所述目标姿态数据、基座测量姿态数据以及所述关节角的输入值作为预设迭代公式的已知参数进行计算，将计算结果作为下一次迭代的关节角的输入值；可以理解的是，对于所述迭代公式的选取可依据实际情况进行具体设置，本申请实施例对此不做任何限制。
在一实施例，所述基于所述迭代结果确定该目标姿态数据对应的目标关节角的值包括：若所述迭代结果与所述关节角初始值的差值小于预设阈值，将所述迭代结果作为该目标姿态数据对应的目标关节角的值，否则，认为本次迭代过程未收敛，则所述云台将所述关节角初始值作为该目标姿态数据对应的目标关节角的值。
在本实施例中，在执行本次拍摄任务之前，所述云台获取在本次拍摄 任务中对应的目标姿态数据，然后根据每一目标姿态数据以及所述基座测量姿态数据确定该目标姿态数据对应的目标关节角的值，在确定所有目标姿态数据对应的目标关节角的值之后，所述云台判断所有的目标关节角的值是否都在预设限位范围(预设的角度范围)，若是，表明云台能够完成本次拍摄任务，则执行本次拍摄任务，并向所述控制设备上的应用发送表示可达的正确码，否则，表明超出了云台的限位范围，云台可能会进入万向节死锁状态，无法顺利完成本次拍摄任务，则结束本次拍摄任务，并向所述控制设备上的应用发送表示不可达的错误码；本申请实施例通过对所有目标关节角的统一判断，确定云台能否完成本次拍摄任务，避免在执行了拍摄任务之后才知道某一位置不可达从而结束拍摄任务，有利于节约时间成本和拍摄资源，优化用户的使用体验。
考虑到在进行拍摄任务的过程中，由于某种外力因素可能会使得基座的姿态数据发生改变，比如所述云台为手持云台时，用户握持云台的手大幅度的晃动使得云台基座的姿态数据发生变化，从而使得基于先前的基座测量姿态数据确定的目标关节角无效，则先前对于目标关节角的判断结果也不适用当前情况，因此需重新进行拍摄任务是否执行的判断，基于此，请参阅图4，是本申请根据一示例性实施例示出的第三种拍摄检测方法的实施例流程图，所述云台会在检测到所述基座测量姿态数据改变时进行本申请的拍摄检测方法的流程，所述方法包括：
在步骤S301中，若检测到所述基座测量姿态数据改变，获取云台在本次拍摄任务中对应的目标姿态数据；其中，所述拍摄任务为需要拍摄的次数不小于2的任务；所述目标姿态数据的个数与所述拍摄的次数相同。
在步骤S302中，根据每一目标姿态数据以及基座测量姿态数据确定该目标姿态数据对应的目标关节角的值。
在步骤S303中，若所有的目标关节角的值均在预设限位范围内，执行本次拍摄任务，否则，结束本次拍摄任务。
需要说明的是，本申请实施例所提及的所述基座测量姿态数据改变， 是指当前确定的基座测量姿态数据相对于上一次确定的基座测量姿态数据有所不同。
在一实施例中，所述云台可以在开始执行本次拍摄任务之前，将关联的控制设备发送的本次拍摄任务对应的目标姿态数据存储起来，以便在后续检测到所述基座测量姿态数据改变时，快速获取存储的本次拍摄任务对应的目标姿态数据进行后续操作。
在一种可能的实现方式中，如果所述云台是具有正交结构的云台，基于正交结构的性质可以确定求取目标关节角对应的解析解，所述解析解为包含分式、三角函数、指数、对数甚至无限级数等基本函数的解的形式，从解的表达式中就可以算出任何对应值；在基于当前云台的关节角的测量值以及云台姿态的测量值确定基座测量姿态数据之后，所述目标关节角的值为以所述目标姿态数据和基座测量姿态数据作为预设解析解的已知参数计算出的结果。
在另一种可能的实现方式中，如果所述云台是具有非正交结构的云台，其难以获取求取目标关节角对应的解析解，因此，本申请实施例通过数值迭代的方式求解所述目标关节角。
在拍摄任务执行过程中检测到所述基座测量姿态数据改变时进行的拍摄检测过程，在进行目标关节角的迭代计算时，将每一所述目标姿态数据对应的关节角初始值确定为上一次拍摄检测过程确定的该目标姿态数据对应的目标关节角的值；接着，在确定所述关节角初始值以及基座测量姿态数据之后，对于每一目标姿态数据，所述云台基于所述目标姿态数据、基座测量姿态数据以及所述关节角初始值进行迭代，获取预设迭代次数对应的迭代结果，基于所述迭代结果确定该目标姿态数据对应的目标关节角的值。
在一实施例中，迭代的过程可以描述为：对于每一目标姿态数据，在首次迭代时，将所述关节角初始值作为所述关节角的输入值，执行以下步骤直到获取预设迭代次数对应的迭代结果：将所述目标姿态数据、基座测量姿态数据以及所述关节角的输入值作为预设迭代公式的已知参数进行计算，将 计算结果作为下一次迭代的关节角的输入值。
在一实施例，所述基于所述迭代结果确定该目标姿态数据对应的目标关节角的值包括：若所述迭代结果与所述关节角初始值的差值小于预设阈值，将所述迭代结果作为该目标姿态数据对应的目标关节角的值，否则，认为本次迭代过程未收敛，则所述云台将所述关节角初始值作为该目标姿态数据对应的目标关节角的值。
在本实施例中，在拍摄任务执行过程中检测到所述基座测量姿态数据改变时，所述云台获取在本次拍摄任务中对应的目标姿态数据，然后根据每一目标姿态数据以及所述基座测量姿态数据确定该目标姿态数据对应的目标关节角的值，在确定所有目标姿态数据对应的目标关节角的值之后，所述云台判断所有的目标关节角的值是否都在预设限位范围(预设的角度范围)，若是，执行本次拍摄任务，并向所述控制设备上的应用发送表示可达的正确码，否则，结束本次拍摄任务，并向所述控制设备上的应用返回表示不可达的错误码；本申请实施例通过对所有目标关节角的统一判断，确定云台能否完成本次拍摄任务，避免在执行了拍摄任务之后才知道某一位置不可达从而结束拍摄任务，有利于节约时间成本和拍摄资源，优化用户的使用体验。
相应的，请参阅图5，是本申请根据一示例性实施例示出的拍摄检测装置的实施例框图，所述装置包括：
目标姿态数据获取模块401，用于获取云台在本次拍摄任务中对应的目标姿态数据；其中，所述拍摄任务为需要拍摄的次数不小于2的任务；所述目标姿态数据的个数与所述拍摄的次数相同。
目标关节角确定模块402，用于根据每一目标姿态数据以及基座测量姿态数据确定该目标姿态数据对应的目标关节角的值。
拍摄任务判断模块403，用于若所有的目标关节角的值均在预设限位范围内，执行本次拍摄任务，否则，结束本次拍摄任务。
作为例子，所述云台是具有正交结构的云台，所述目标关节角的值是以所述目标姿态数据和基座测量姿态数据作为预设解析解的已知参数计算出 的结果。
作为例子，所述云台为非正交结构的云台。
所述目标关节角确定模块402包括：
关节角初始值获取单元，用于获取所有目标姿态数据分别对应的关节角初始值。
迭代结果获取单元，用于对于每一目标姿态数据，基于所述目标姿态数据、基座测量姿态数据以及所述关节角初始值进行迭代，获取预设迭代次数对应的迭代结果。
目标关节角确定单元，用于基于所述迭代结果确定该目标姿态数据对应的目标关节角的值。
作为例子，所述目标关节角确定单元包括：
若所述迭代结果与所述关节角初始值的差值小于预设阈值，将所述迭代结果作为该目标姿态数据对应的目标关节角的值，否则，将所述关节角初始值作为该目标姿态数据对应的目标关节角的值。
作为例子，在执行本次拍摄任务前，每一所述目标姿态数据对应的关节角初始值是以该所述目标姿态数据和基座测量姿态数据作为正交结构云台的解析解的已知参数计算出的结果。
作为例子，若检测到所述基座测量姿态数据改变时，每一所述目标姿态数据对应的关节角初始值为上一次拍摄检测过程确定的目标关节角的值。
作为例子，所述迭代结果获取单元包括:
在首次迭代时，将所述关节角初始值作为所述关节角的输入值，执行以下步骤直到获取预设迭代次数对应的迭代结果：将所述目标姿态数据、基座测量姿态数据以及所述关节角的输入值作为预设迭代公式的已知参数进行计算，将计算结果作为下一次迭代的关节角的输入值。
作为例子，所述基座测量姿态数据基于关节角传感器获取的关节角的测量值，以及根据惯性传感器采集的数据确定的云台姿态的测量值所确定。
作为例子，所述目标姿态数据从关联的控制设备获取。
所述目标姿态数据基于所述控制设备的摄像头的视场角确定。
作为例子，所述拍摄任务包括全景拍摄任务、预定路径拍摄任务以及故事模式拍摄任务。
作为例子，所述拍摄任务为全景拍摄任务。
所述目标姿态数据获取模块401包括：
获取所述全景拍摄任务对应的所有目标姿态数据。
作为例子，所述拍摄任务为预定路径拍摄任务。
所述目标姿态数据获取模块402包括：
获取所述预定路径拍摄任务对应的所有目标姿态数据。
作为例子，所述拍摄任务为故事模式拍摄任务。
所述目标姿态数据获取模块402包括：
获取所述故事模式拍摄任务对应的所有目标姿态数据。
对于装置实施例而言，由于其基本对应于方法实施例，所以相关之处参见方法实施例的部分说明即可。以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性劳动的情况下，即可以理解并实施。
相应的，请参阅图6，为本申请根据一示例性实施例示出的一种云台500的结构框图。所述云台500包括：
处理器501。
用于存储处理器501可执行程序代码503的存储器502。
关节角传感器504以及惯性传感器505。
所述关节角传感器504用于测量所述关节角。
所述惯性传感器505，用于测量所述云台500的加速度数据和角速度数据。
其中，所述处理器501被配置为执行所述拍摄检测方法中的操作。
所述处理器501执行所述存储器502中包括的程序代码503，所述处理器501可以是中央处理单元(Central Processing Unit，CPU)，还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
所述存储器502存储所述的拍摄检测方法的程序代码，所述存储器502可以包括至少一种类型的存储介质，存储介质包括闪存、硬盘、多媒体卡、卡型存储器(例如，SD或DX存储器等等)、随机访问存储器(RAM)、静态随机访问存储器(SRAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、可编程只读存储器(PROM)、磁性存储器、磁盘、光盘等等。而且，云台500可以与通过网络连接执行存储器的存储功能的网络存储装置协作。存储器502可以是云台500的内部存储单元，例如云台500的硬盘或内存。存储器502也可以是云台500的外部存储设备，例如云台500上配备的插接式硬盘，智能存储卡(Smart Media Card,SMC)，安全数字(Secure Digital,SD)卡，闪存卡(Flash Card)等。进一步地，存储器502还可以既包括云台500的内部存储单元也包括外部存储设备。存储器502用于存储计算机程序代码503以及云台500所需的其他程序和数据。存储器502还可以用于暂时地存储已经输出或者将要输出的数据。
所述关节角传感器504为安装于云台轴上的角度传感器，用来检测云台的关节角变化。
所述惯性传感器505包括加速度计(或加速度传感计)和角速度传感器(陀螺仪)，分别用于测量所述云台500的加速度数据和角速度数据。
这里描述的各种实施方式可以使用例如计算机软件、硬件或其任何组合的计算机可读介质来实施。对于硬件实施，这里描述的实施方式可以通过 使用特定用途集成电路(ASIC)、数字信号处理器(DSP)、数字信号处理装置(DSPD)、可编程逻辑装置(PLD)、现场可编程门阵列(FPGA)、处理器、控制器、微控制器、微处理器、被设计为执行这里描述的功能的电子单元中的至少一种来实施。对于软件实施，诸如过程或功能的实施方式可以与允许执行至少一种功能或操作的单独的软件模块来实施。软件代码可以由以任何适当的编程语言编写的软件应用程序(或程序)来实施，软件代码可以存储在存储器中并且由控制器执行。
所述云台500可包括，但不仅限于，存储器504、处理器501。本领域技术人员可以理解，图6仅仅是云台500的示例，并不构成对云台500的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件，例如设备还可以包括输入输出设备、网络接入设备等。
对于设备实施例而言，由于其基本对应于方法实施例，所以相关之处参见方法实施例的部分说明即可。
相应地，请参阅图7，为本申请根据一示例性实施例示出的一种拍摄检测系统10的结构框图。所述拍摄检测系统10包括应用600以及云台500。所述应用600安装于控制设备700中。
所述应用600，用于与所述云台500连接，将本次拍摄任务对应的目标姿态数据发送给所述云台500；所述拍摄任务为需要拍摄的次数不小于2的任务；所述目标姿态数据的个数与所述拍摄的次数相同。
所述云台500，用于接收所述目标姿态数据，根据每一目标姿态数据以及基座测量姿态数据确定该目标姿态数据对应的目标关节角的值；若所有的目标关节角的值均在预设限位范围内，执行本次拍摄任务，否则，结束本次拍摄任务。
对于系统实施例而言，由于其云台进行拍摄检测的过程基本对应于方法实施例，所以相关之处参见方法实施例的部分说明即可。
与前述应用功能实现方法实施例相对应，本实施例还提供一种计算机可读存储介质，其上存储有计算机程序，该程序被上述云台的处理器执行时实现 上述任一实施例所记载的所述拍摄检测方法的步骤。
本实施例可采用在一个或多个其中包含有程序代码的存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。计算机可用存储介质包括永久性和非永久性、可移动和非可移动媒体，可以由任何方法或技术来实现信息存储。信息可以是计算机可读指令、数据结构、程序的模块或其他数据。计算机的存储介质的例子包括但不限于：相变内存(PRAM)、静态随机存取存储器(SRAM)、动态随机存取存储器(DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、快闪记忆体或其他内存技术、只读光盘只读存储器(CD-ROM)、数字多功能光盘(DVD)或其他光学存储、磁盒式磁带，磁带磁磁盘存储或其他磁性存储设备或任何其他非传输介质，可用于存储可以被计算设备访问的信息。
本领域技术人员在考虑说明书及实践这里公开的发明后，将容易想到本申请的其它实施方案。本申请实施例旨在涵盖本申请的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本申请的一般性原理并包括本申请未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本申请的真正范围和精神由下面的权利要求指出。
应当理解的是，本申请并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本申请的范围仅由所附的权利要求来限制。
以上所述仅为本申请的较佳实施例而已，并不用以限制本申请，凡在本申请的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本申请保护的范围之内。

Claims (30)

  1. 一种拍摄检测方法，其特征在于，包括以下步骤：
    获取云台在本次拍摄任务中对应的目标姿态数据；其中，所述拍摄任务为需要拍摄的次数不小于2的任务；所述目标姿态数据的个数与所述拍摄的次数相同；
    根据每一目标姿态数据以及基座测量姿态数据确定该目标姿态数据对应的目标关节角的值；
    若所有的目标关节角的值均在预设限位范围内，执行本次拍摄任务，否则，结束本次拍摄任务。
  2. 根据权利要求1所述的拍摄检测方法，其特征在于，
    所述云台是具有正交结构的云台，所述目标关节角的值是以所述目标姿态数据和基座测量姿态数据作为预设解析解的已知参数计算出的结果。
  3. 根据权利要求1所述的拍摄检测方法，其特征在于，所述云台为非正交结构的云台；
    所述根据每一目标姿态数据以及基座测量姿态数据确定该目标姿态数据对应的目标关节角，包括：
    获取所有目标姿态数据分别对应的关节角初始值；
    对于每一目标姿态数据，基于所述目标姿态数据、基座测量姿态数据以及所述关节角初始值进行迭代，获取预设迭代次数对应的迭代结果；
    基于所述迭代结果确定该目标姿态数据对应的目标关节角的值。
  4. 根据权利要求3所述的拍摄检测方法，其特征在于，所述基于所述迭代结果确定该目标姿态数据对应的目标关节角的值，包括：
    若所述迭代结果与所述关节角初始值的差值小于预设阈值，将所述迭代结果作为该目标姿态数据对应的目标关节角的值，否则，将所述关节角初始值作为该目标姿态数据对应的目标关节角的值。
  5. 根据权利要求3所述的拍摄检测方法，其特征在于，
    在执行本次拍摄任务前，每一所述目标姿态数据对应的关节角初始值 是以该所述目标姿态数据和基座测量姿态数据作为正交结构云台的解析解的已知参数计算出的结果。
  6. 根据权利要求3所述的拍摄检测方法，其特征在于，
    若检测到所述基座测量姿态数据改变时，每一所述目标姿态数据对应的关节角初始值为上一次拍摄检测过程确定的目标关节角的值。
  7. 根据权利要求3所述的拍摄检测方法，其特征在于，所述基于所述目标姿态数据、基座测量姿态数据以及所述关节角的初始值进行迭代，获取预设迭代次数对应的迭代结果，包括:
    在首次迭代时，将所述关节角初始值作为所述关节角的输入值，执行以下步骤直到获取预设迭代次数对应的迭代结果：
    将所述目标姿态数据、基座测量姿态数据以及所述关节角的输入值作为预设迭代公式的已知参数进行计算，将计算结果作为下一次迭代的关节角的输入值。
  8. 根据权利要求1至7任意一项所述的拍摄检测方法，其特征在于，所述基座测量姿态数据基于关节角的测量值以及云台姿态的测量值所确定；所述关节角的测量值由关节角传感器获取；所述云台姿态的测量值由惯性传感器采集的数据所确定。
  9. 根据权利要求1所述的拍摄检测方法，其特征在于，所述目标姿态数据从关联的控制设备获取；
    所述目标姿态数据基于所述控制设备的摄像头的视场角确定。
  10. 根据权利要求1所述的拍摄检测方法，其特征在于，所述拍摄任务包括全景拍摄任务、预定路径拍摄任务以及故事模式拍摄任务。
  11. 根据权利要求10所述的拍摄检测方法，其特征在于，所述拍摄任务为全景拍摄任务；
    所述获取云台在本次拍摄任务中对应的目标姿态数据，包括：
    获取所述全景拍摄任务对应的所有目标姿态数据。
  12. 根据权利要求10所述的拍摄检测方法，其特征在于，所述拍摄任 务为预定路径拍摄任务；
    所述获取云台在本次拍摄任务中对应的目标姿态数据，包括：
    获取所述预定路径拍摄任务对应的所有目标姿态数据。
  13. 根据权利要求10所述的拍摄检测方法，其特征在于，所述拍摄任务为故事模式拍摄任务；
    所述获取云台在本次拍摄任务中对应的目标姿态数据，包括：
    获取所述故事模式拍摄任务对应的所有目标姿态数据。
  14. 一种拍摄检测装置，其特征在于，包括：
    目标姿态数据获取模块，用于获取云台在本次拍摄任务中对应的目标姿态数据；其中，所述拍摄任务为需要拍摄的次数不小于2的任务；所述目标姿态数据的个数与所述拍摄的次数相同；
    目标关节角确定模块，用于根据每一目标姿态数据以及基座测量姿态数据确定该目标姿态数据对应的目标关节角的值；
    拍摄任务判断模块，用于若所有的目标关节角的值均在预设限位范围内，执行本次拍摄任务，否则，结束本次拍摄任务。
  15. 根据权利要求14所述的拍摄检测装置，其特征在于，
    所述云台是具有正交结构的云台，所述目标关节角的值是以所述目标姿态数据和基座测量姿态数据作为预设解析解的已知参数计算出的结果。
  16. 根据权利要求14所述的拍摄检测装置，其特征在于，所述云台为非正交结构的云台；
    所述目标关节角确定模块包括：
    关节角初始值获取单元，用于获取所有目标姿态数据分别对应的关节角初始值；
    迭代结果获取单元，用于对于每一目标姿态数据，基于所述目标姿态数据、基座测量姿态数据以及所述关节角初始值进行迭代，获取预设迭代次数对应的迭代结果；
    目标关节角确定单元，用于基于所述迭代结果确定该目标姿态数据对 应的目标关节角的值。
  17. 根据权利要求16所述的拍摄检测装置，其特征在于，所述目标关节角确定单元包括：
    若所述迭代结果与所述关节角初始值的差值小于预设阈值，将所述迭代结果作为该目标姿态数据对应的目标关节角的值，否则，将所述关节角初始值作为该目标姿态数据对应的目标关节角的值。
  18. 根据权利要求16所述的拍摄检测装置，其特征在于，
    在执行本次拍摄任务前，每一所述目标姿态数据对应的关节角初始值是以该所述目标姿态数据和基座测量姿态数据作为正交结构云台的解析解的已知参数计算出的结果。
  19. 根据权利要求16所述的拍摄检测装置，其特征在于，
    若检测到所述基座测量姿态数据改变时，每一所述目标姿态数据对应的关节角初始值为上一次拍摄检测过程确定的目标关节角的值。
  20. 根据权利要求16所述的拍摄检测装置，其特征在于，所述迭代结果获取单元包括:
    在首次迭代时，将所述关节角初始值作为所述关节角的输入值，执行以下步骤直到获取预设迭代次数对应的迭代结果：将所述目标姿态数据、基座测量姿态数据以及所述关节角的输入值作为预设迭代公式的已知参数进行计算，将计算结果作为下一次迭代的关节角的输入值。
  21. 根据权利要求14至20任意一项所述的拍摄检测装置，其特征在于，所述基座测量姿态数据基于关节角传感器获取的关节角的测量值，以及根据惯性传感器采集的数据确定的云台姿态的测量值所确定。
  22. 根据权利要求14所述的拍摄检测装置，其特征在于，
    所述目标姿态数据从关联的控制设备获取；
    所述目标姿态数据基于所述控制设备的摄像头的视场角确定。
  23. 根据权利要求14所述的拍摄检测装置，其特征在于，所述拍摄任务包括全景拍摄任务、预定路径拍摄任务以及故事模式拍摄任务。
  24. 根据权利要求23所述的拍摄检测装置，其特征在于，所述拍摄任务为全景拍摄任务；
    所述目标姿态数据获取模块包括：
    获取所述全景拍摄任务对应的所有目标姿态数据。
  25. 根据权利要求23所述的拍摄检测装置，其特征在于，所述拍摄任务为预定路径拍摄任务；
    所述目标姿态数据获取模块包括：
    获取所述预定路径拍摄任务对应的所有目标姿态数据。
  26. 根据权利要求23所述的拍摄检测装置，其特征在于，所述拍摄任务为故事模式拍摄任务；
    所述目标姿态数据获取模块包括：
    获取所述故事模式拍摄任务对应的所有目标姿态数据。
  27. 一种云台，其特征在于，包括：
    处理器；
    用于存储处理器可执行指令的存储器；
    关节角传感器以及惯性传感器；
    所述关节角传感器用于测量所述关节角；
    所述惯性传感器，用于测量所述云台的加速度数据和角速度数据；
    其中，所述处理器被配置为执行权利要求1至13任意一项所述的方法。
  28. 一种拍摄检测系统，其特征在于，包括应用以及云台；
    所述应用，用于与所述云台连接，将本次拍摄任务对应的目标姿态数据发送给所述云台；所述拍摄任务为需要拍摄的次数不小于2的任务；所述目标姿态数据的个数与所述拍摄的次数相同；
    所述云台，用于接收所述目标姿态数据，根据每一目标姿态数据以及基座测量姿态数据确定该目标姿态数据对应的目标关节角的值；若所有的目标关节角的值均在预设限位范围内，执行本次拍摄任务，否则，结束本次拍摄任务。
  29. 根据权利要求28所述的拍摄检测系统，其特征在于，所述目标姿态数据基于所述应用所在的控制设备的摄像头的视场角所确定。
  30. 一种计算机可读存储介质，其特征在于，其上存储有计算机指令，该指令被处理器执行时实现权利要求1至13任意一项所述的方法。
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