WO2021026752A1 - 云台控制方法、云台及计算机可读存储介质 - Google Patents

云台控制方法、云台及计算机可读存储介质 Download PDF

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Publication number
WO2021026752A1
WO2021026752A1 PCT/CN2019/100336 CN2019100336W WO2021026752A1 WO 2021026752 A1 WO2021026752 A1 WO 2021026752A1 CN 2019100336 W CN2019100336 W CN 2019100336W WO 2021026752 A1 WO2021026752 A1 WO 2021026752A1
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WO
WIPO (PCT)
Prior art keywords
pan
tilt
shooting mode
motor
joint angle
Prior art date
Application number
PCT/CN2019/100336
Other languages
English (en)
French (fr)
Inventor
常贤茂
王映知
刘帅
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2019/100336 priority Critical patent/WO2021026752A1/zh
Priority to CN201980033298.7A priority patent/CN112154651A/zh
Publication of WO2021026752A1 publication Critical patent/WO2021026752A1/zh
Priority to US17/669,847 priority patent/US20220163874A1/en

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Classifications

    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera accessories
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/563—Camera grips, handles
    • 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
    • H04N23/667—Camera operation mode switching, e.g. between still and video, sport and normal or high- and low-resolution modes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F16M11/123—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints the axis of rotation intersecting in a single point, e.g. by using gimbals
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • 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
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
    • F16M11/2035—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction
    • F16M11/2042—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction constituted of several dependent joints
    • F16M11/205—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction constituted of several dependent joints the axis of rotation intersecting in a single point, e.g. gimbals
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/04—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or holding steady relative to, a person, e.g. by chains, e.g. rifle butt or pistol grip supports, supports attached to the chest or head
    • 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
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04M—TELEPHONIC COMMUNICATION
    • H04M2250/00—Details of telephonic subscriber devices
    • H04M2250/52—Details of telephonic subscriber devices including functional features of a camera

Definitions

  • This application relates to the technical field of pan-tilt control, and in particular to a pan-tilt control method, pan-tilt and computer-readable storage medium.
  • the camera or smart phone can be fixed on a three-axis hand-held pan/tilt.
  • the three-axis hand-held pan/tilt can automatically adjust the posture of the camera or smart phone according to the user's actions to keep the picture stable.
  • the present application provides a pan-tilt control method, pan-tilt, and computer-readable storage medium, aiming to ensure smooth and convenient switching of horizontal and vertical shooting modes under uninterrupted shooting conditions.
  • this application provides a pan-tilt control method, including:
  • the target motor is controlled to rotate until the joint angle of the target motor after the rotation becomes the target joint angle.
  • this application also provides a pan/tilt control method for a handheld pan/tilt.
  • the handheld pan/tilt is provided with a switch control key, and the switch control key is used to control the handheld pan/tilt to turn on or Turning off is also used to control the shooting mode of the handheld PTZ to be the vertical shooting mode; the method includes:
  • the handheld platform is controlled to turn on, and a vertical shooting mode control instruction corresponding to the trigger operation is generated.
  • the vertical shooting mode control instruction is used to control all The shooting mode of the handheld gimbal is vertical shooting mode;
  • the handheld pan/tilt is controlled to be in a vertical shooting state.
  • the present application also provides a pan/tilt head, the pan/tilt head includes: at least one set of shaft components, the shaft components include a motor and a shaft arm, the motor is connected to the shaft arm for Driving the shaft arm to rotate; and,
  • One or more processors at least one of the processors is used to communicate with the motor; wherein, the one or more processors work individually or together to implement the following steps:
  • the target motor is controlled to rotate until the joint angle of the target motor after the rotation becomes the target joint angle.
  • the present application also provides a pan/tilt, the pan/tilt includes a switch control key, the switch control key is used to control the pan/tilt to turn on or off, and is also used to control the pan/tilt
  • the shooting mode is a vertical shooting mode; and one or more processors, wherein at least one of the processors is used to communicate with the switch machine control key; wherein, the one or more processors work individually or together , Used to implement the following steps:
  • the pan/tilt head is controlled to turn on, and a vertical shooting mode control instruction corresponding to the trigger operation is generated, and the vertical shooting mode control instruction is used to control the The shooting mode of the gimbal is vertical shooting mode;
  • the pan/tilt is controlled to be in a vertical shooting state.
  • the present application also provides a computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor realizes the above The steps of the PTZ control method described.
  • the embodiment of the present application provides a pan/tilt control method, pan/tilt and computer-readable storage medium.
  • the target motor and the target joint angle are determined through a shooting mode switching instruction, and are based on the current joint angle of the target motor and the target joint angle.
  • the corresponding rotation control command is generated, and then based on the rotation control command, the target motor is controlled to rotate until the joint angle of the target motor after rotation is the target joint angle.
  • the entire shooting mode switching process does not require mechanical devices.
  • the switching of the shooting model can be realized by rotating the motor, and the horizontal and vertical shooting modes can be switched smoothly and conveniently without interruption of shooting.
  • FIG. 1 is a schematic diagram of a photographic stabilizer for implementing the pan-tilt control method of the present application
  • FIG. 2 is a schematic flowchart of steps of a method for controlling a PTZ according to an embodiment of the present application
  • FIG. 3 is a schematic diagram of the process of switching the shooting mode of the pan-tilt in an embodiment of the present application
  • FIG. 4 is a schematic flow chart of the steps of another pan/tilt control method provided by an embodiment of the present application.
  • FIG. 5 is a schematic flowchart of controlling the pan/tilt to be in the vertical mode when the pan/tilt is turned on in an embodiment of the present application;
  • FIG. 6 is a schematic flowchart of steps of another pan/tilt control method according to an embodiment of the present application.
  • FIG. 7 is a schematic block diagram of the structure of a pan/tilt head provided by an embodiment of the present application.
  • FIG. 8 is a schematic block diagram of the structure of another pan/tilt head provided by an embodiment of the present application.
  • the embodiment of the present application provides a pan/tilt control method, which can be applied to a shooting stabilizer, for example, the shooting stabilizer is a handheld pan/tilt.
  • the pan/tilt control method can control the rotation of the motor of the hand-held pan/tilt to adjust the posture of the camera mounted on the pan/tilt, for example, to switch between horizontal and vertical screens.
  • This pan/tilt control solution is also used to control the handheld pan/tilt to enter the vertical shooting mode when it is turned on, which is convenient for the user to set the parameters of the camera mounted on the handheld pan/tilt.
  • FIG. 1 is a schematic structural diagram of a handheld pan/tilt head implementing the pan/tilt control method of the present application.
  • the handheld pan/tilt head 100 includes a clamping portion 101, a handle portion 102, a rotating shaft 103, and a motor 104 And the shooting mode switching control key 105.
  • the clamping part 101 is used to clamp a photographing device, such as a smart phone and a camera.
  • the clamping part 101 may also be integrated with the photographing device.
  • the motor 104 is connected with the rotating shaft 103 for driving the rotating shaft 103 to rotate, the rotating shaft 103 is connected with the clamping part 101, and the clamping part 101 rotates as the rotating shaft 103 rotates.
  • the shooting mode switching control key 105 is used to control the handheld PTZ 100 to switch the shooting mode, the shooting mode switching control key 105 is also used to control the handheld PTZ 100 to turn on or off, the shooting mode switching control key 105 is also used to control the handheld PTZ 100
  • the shooting mode switching control key 105 includes at least one of the following: a press control key, a joystick control key, a slide control key, and a click control key.
  • the handheld PTZ 100 may be a PTZ with a non-orthogonal structure, so that the joint angle of the inner frame of the PTZ has a very large range of motion.
  • the handheld pan/tilt 100 does not need to use mechanical devices to switch between horizontal and vertical shooting, and directly controls the rotation of the inner frame motor to quickly complete the function of switching between horizontal and vertical shooting. After the pan/tilt is turned on, it enters the vertical shooting mode by default, which greatly improves users Experience.
  • FIG. 2 is a schematic flowchart of steps of a method for controlling a pan/tilt head according to an embodiment of the present application.
  • the pan/tilt control method can be applied to a handheld pan/tilt to control the handheld pan/tilt to switch shooting modes.
  • the pan/tilt control method includes steps S101 to S103.
  • the handheld gimbal is a gimbal with a non-orthogonal structure.
  • the shooting modes of the handheld gimbal include horizontal and vertical modes.
  • the handheld gimbal can switch between the horizontal and vertical modes; the handheld gimbal is in In horizontal mode, the joint angles of the outer frame motor, middle frame motor, and inner frame motor of the handheld gimbal are all zero.
  • the handheld gimbal is in vertical mode, the joint angles of the outer frame motor and middle frame motor of the handheld gimbal are all zero.
  • the angle is zero, and the joint angle of the inner frame motor is 90 degrees.
  • switching the shooting mode only the joint angle of the inner frame motor needs to be adjusted, and the other joint angles do not need to be adjusted, which can increase the mode switching speed.
  • the handheld pan/tilt acquires the shooting mode switching instruction, and when the shooting mode switching instruction is acquired, the handheld pan/tilt determines the target motor to be rotated and the target joint angle of the target motor according to the shooting mode switching instruction, and when not acquired When shooting mode switching command, the handheld pan/tilt does not switch shooting mode.
  • the shooting mode switching instruction is used to control the switching of shooting modes
  • the target joint angle is the joint angle of the motor corresponding to the shooting mode to be switched.
  • the handheld pan/tilt can obtain the shooting mode switching instruction in real time or at preset intervals. It is noted that the aforementioned preset time can be set based on actual conditions, and this application does not specifically limit this.
  • the handheld pan/tilt acquires shooting mode switching instructions at regular intervals, which can reduce the power consumption of the handheld pan/tilt.
  • the handheld pan/tilt is provided with a shooting mode switching control key, and the handheld pan/tilt acquires the user's triggering operation of the shooting mode switching control key, and according to the acquired user's triggering of the shooting mode switching control key Operate to generate the corresponding shooting mode switching instruction.
  • the shooting mode switching control keys include but are not limited to pressing control keys, joystick control keys, sliding control keys and click control keys.
  • the trigger operation includes but not limited to pressing operation, joystick operation, sliding operation and click operation.
  • the setting position of the shooting mode switching control key can be set based on the actual situation, which is not specifically limited in this application.
  • the shooting mode switching control key is set on the handle of the handheld pan/tilt.
  • the shooting mode switching instruction includes a shooting mode label
  • the shooting mode label includes a label corresponding to the horizontal mode and a label corresponding to the vertical mode
  • the method for determining the target motor and the target joint angle is specifically: Obtain the shooting mode label from the shooting mode switching command, and determine whether the shooting mode corresponding to the shooting mode label is horizontal mode or vertical mode; if the shooting mode corresponding to the shooting mode label is horizontal mode, it will be used in the mode Switch the corresponding motor as the target motor to be rotated, and the target joint angle is 0 degrees; if the shooting mode corresponding to the shooting mode label is the vertical mode, the motor corresponding to the mode switch is used as the target motor to be rotated, and the target The joint angle is 90 degrees.
  • the shooting mode label can be distinguished, so that the handheld gimbal can quickly determine the motor and joint angle to be rotated through the shooting mode label, which indirectly increases the shooting mode switching speed and improves the user experience.
  • the handheld gimbal can control the target motor to rotate to realize the switching of shooting modes. Specifically, the handheld gimbal obtains the current joint angle of the target motor, and calculates the target joint angle and the current joint The deviation value between the angles, and the corresponding rotation control command is generated according to the deviation value, that is, the rotation speed corresponding to the deviation value is obtained, and the corresponding rotation control command is generated based on the rotation speed, wherein the rotation control command is used to control The target motor rotates.
  • the handheld pan/tilt head controls the target motor to rotate at a uniform speed according to the rotation control speed in the rotation control instruction until the joint angle of the target motor after rotation is the target joint angle, or until the rotation
  • the angle difference between the joint angle of the target motor and the target joint angle is smaller than a preset difference threshold.
  • the above-mentioned preset difference threshold can be set based on actual conditions, which is not specifically limited in this application.
  • the difference threshold is 1 degree.
  • the handheld gimbal determines the difference between the joint angle of the target motor after rotation and the target joint angle every preset time; to determine whether the difference is greater than the preset Threshold, if the difference is greater than the preset threshold, the rotation control command is updated according to the difference, and based on the updated rotation control command, the target motor is controlled to rotate; if the difference is less than or equal to the preset threshold, follow the first A preset rotation speed controls the target motor to rotate until the joint angle of the target motor after rotation becomes the target joint angle. It should be noted that the rotation speed in the updated rotation control command is different from the rotation speed in the rotation control command before the update.
  • the above-mentioned preset threshold and preset rotation speed can be set based on actual conditions, and this application does not make specifics about this limited.
  • the rotation control command is dynamically updated based on the difference between the joint angle of the rotated motor and the target joint angle, which can control the rotation of the motor at a variable speed while maintaining stability, improving the switching of shooting modes speed.
  • the update method of the rotation control instruction is specifically: the handheld pan/tilt obtains the mapping relationship table between the pre-stored difference and the rotation speed; according to the mapping relationship table, the rotation speed corresponding to the difference is used as the rotation speed of the target motor, That is, query the mapping table, obtain the rotation speed corresponding to the difference, and use the rotation speed corresponding to the difference as the rotation speed of the target motor; update the rotation control command according to the rotation speed of the target motor.
  • the above-mentioned mapping relationship table between the difference value and the rotation speed can be set based on actual conditions, which is not specifically limited in this application.
  • the greater the difference, the greater the rotation speed, and the smaller the difference the smaller the rotation speed.
  • the handheld pan/tilt head determines whether the rotation speed of the target motor is less than the second preset rotation speed, wherein the first preset rotation speed is less than the second preset rotation speed; if The rotation speed of the target motor is less than the second preset rotation speed, and the rotation control command is updated according to the rotation speed of the target motor.
  • the second preset rotation speed is the maximum rotation speed of the motor, which can be set based on actual conditions, which is not specifically limited in this application. By setting the maximum rotation speed of the motor, you can avoid the problem that the motor rotates at a faster speed and cause damage to the handheld gimbal.
  • the shooting mode can be improved The switching speed.
  • the control command of the handheld pan/tilt is a ZXYX control command, that is, the handheld pan/tilt performs an additional rotation around X based on the traditional ZXY sequence, which is recorded as ROLL2, and the ZXYX control command is YAW, ROLL, PITCH and ROLL2, ROLL2 are used for horizontal and vertical shooting control, ROLL2 is 0° in horizontal shooting state, and 90° in vertical shooting state.
  • the ROLL2 command is used to control the joint angle of the inner frame motor.
  • the vertical mode is to rotate the joint angle of the inner frame motor by 90 degrees on the basis of the horizontal mode. Since ROLL2 is the last X-rotation, it will not affect the normal ROLL, PITCH, YAW commands, so it can well control the horizontal and vertical shooting mode, and will not affect the normal operation of other functions.
  • FIG. 3 is a schematic diagram of the process of switching the shooting mode of the pan-tilt in an embodiment of the present application.
  • the hand-held pan/tilt is turned on and the self-check is operating normally. If it is operating normally, it is determined whether the horizontal and vertical shooting switching command is received. If the horizontal and vertical shooting switching command is received, the shooting mode corresponding to the horizontal and vertical shooting switching command is determined. Whether it is horizontal or vertical mode, if the shooting mode corresponding to the horizontal and vertical switching command is horizontal mode, the value of ROLL2 is adjusted to 0°, that is, the joint angle of the inner frame motor is adjusted to 0°, so that the handheld The shooting mode of the gimbal is switched to horizontal shooting mode.
  • the value of ROLL2 is adjusted to 90°, that is, the joint angle of the inner frame motor is adjusted to 90°.
  • the specific adjustment method is: calculate the difference between the current joint angle of the inner frame motor and the target joint angle, and determine whether the inner frame motor reaches the position corresponding to the shooting mode based on the difference. If the inner frame motor reaches the position corresponding to the shooting mode, it is determined that the mode switching is completed, and the handheld gimbal runs normally. If the inner frame motor does not reach the position corresponding to the shooting mode, a control command is generated based on the difference and the inner frame motor is controlled to rotate. Until the inner frame motor reaches the position corresponding to the shooting mode.
  • the pan/tilt control method provided by the above embodiment determines the target motor and the target joint angle through a shooting mode switching command, and generates a corresponding rotation control command based on the deviation between the current joint angle of the target motor and the target joint angle, Then, based on the rotation control instruction, the target motor is controlled to rotate until the joint angle of the target motor after rotation is the target joint angle.
  • the entire shooting mode switching process does not require mechanical devices.
  • the shooting model can be switched by rotating the motor. Under the condition of ensuring uninterrupted shooting, the horizontal and vertical shooting modes can be switched smoothly and conveniently.
  • FIG. 4 is a schematic flowchart of the steps of another pan/tilt control method provided by an embodiment of the present application.
  • the pan/tilt control method includes steps S201 to S204.
  • the motors are controlled to rotate until the joint angle of each motor of the gimbal meets the joint angle condition corresponding to the vertical mode, that is, after the handheld gimbal is started, the handheld gimbal is in vertical shooting mode.
  • the joint angle condition corresponding to the vertical shooting mode is that the joint angle of the outer frame motor and the middle frame motor of the handheld gimbal is zero, and the joint angle of the inner frame motor is 90 degrees.
  • the handheld gimbal obtains the current joint angle of each motor and the target joint angle of each motor in the vertical mode, and uses a single motor as a unit to calculate the angle difference between the current joint angle of the motor and the target joint angle , Get the angle difference of each motor; determine the rotation speed of each motor according to the angle difference of each motor; generate the corresponding rotation control command according to the rotation speed of each motor, And according to the rotation control instruction, the motors of the handheld gimbal are controlled to rotate until the joint angles of the motors of the handheld gimbal are the target joint angles.
  • the handheld gimbal can rotate the motors at a uniform speed, or under the condition of ensuring stability, rotate the motors at a variable speed.
  • the shooting mode can be quickly and smoothly set to the vertical mode, which is convenient for users to operate. Improve user experience.
  • the handheld gimbal needs to be switched from the joint angle control mode to the attitude control mode, and the control gimbal is at the attitude zero position, specifically, the current attitude quaternion of the handheld gimbal is obtained , And convert the current posture quaternion to the posture quaternion in horizontal mode; perform Euler angle calculation on the posture quaternion to obtain the Euler angle corresponding to the posture quaternion, and correspond to the vertical mode
  • the joint angles of the motors of the gimbal and the Euler angle are used as the initial posture information of the handheld gimbal; according to the initial posture information of the handheld gimbal, the motors of the handheld gimbal are controlled to rotate until the handheld gimbal’s Each motor returns to the attitude zero position.
  • the current posture data of the handheld gimbal can be obtained, and the joint angle control mode and the posture control mode can be completed At the same time, in the attitude control mode, the handheld PTZ is controlled to return to the center.
  • the handheld PTZ in the zero position is convenient for the user to operate, which greatly improves the user experience.
  • the method of controlling the return of the handheld gimbal is specifically: taking the posture information corresponding to the zero position of the posture as the target posture information, and calculating the respective posture of each motor according to the initial posture information and the target posture information Angle deviation value; according to the respective attitude angle deviation value of each motor, determine the respective rotation speed of each motor, and generate the corresponding control command of each motor according to the respective rotation speed of each motor;
  • the control commands corresponding to the motors control the motors of the pan/tilt to rotate until the motors of the pan/tilt return to the zero position.
  • the hand-held pan/tilt can rotate the motors at a uniform speed, or while ensuring stability, the motors can be rotated at variable speeds, which can smoothly and quickly control the hand-held pan/tilt to return to the zero position, reducing user waiting time and improving user experience.
  • FIG. 5 is a schematic diagram of the process of controlling the pan-tilt to be in the vertical mode when the pan-tilt is turned on in an embodiment of the present application.
  • the gimbal when the gimbal is turned on, the gimbal automatically enters the joint angle control mode.
  • the gimbal is in the vertical mode by default, and the joint angle of the inner frame motor is determined to be 90 degrees.
  • the joint angle of the middle frame motor and the outer frame motor The joint angle is 0 degrees, and the adjustment method is based on the difference between the current joint angle of each motor and the determined joint angle to generate a control command, and control the rotation of each motor based on the control command until each motor of the pan/tilt is in vertical mode
  • the corresponding position when the motors of the gimbal are in the position corresponding to the vertical mode, ROLL2 is 90°, the current posture quaternion of the camera is converted to the posture quaternion under the horizontal mode; for the horizontal mode
  • the Euler angle of the attitude quaternion is calculated to obtain the Euler angle corresponding to the attitude quaternion, and the joint angle of each motor of the gimbal corresponding to the vertical mode and the Euler angle are used as the initial attitude of the handheld gimbal Information, the pan/tilt enters the attitude control mode, and actively returns to center according to the initial attitude information. When the center is completed, the pan/tilt operates normally.
  • the handheld pan/tilt acquires the shooting mode switching instruction, and when the shooting mode switching instruction is acquired, the handheld pan/tilt determines the target motor to be rotated and the target joint angle of the target motor according to the shooting mode switching instruction, and when not acquired When shooting mode switching command, the handheld pan/tilt does not switch shooting mode.
  • S203 Calculate the deviation value between the current joint angle of the target motor and the target joint angle, and generate a corresponding rotation control command according to the deviation value.
  • the handheld gimbal can control the target motor to rotate to realize the switching of shooting modes. Specifically, the handheld gimbal obtains the current joint angle of the target motor, and calculates the target joint angle and the current joint The deviation value between the angles, and the corresponding rotation control command is generated according to the deviation value, that is, the rotation speed corresponding to the deviation value is obtained, and the corresponding rotation control command is generated based on the rotation speed.
  • the handheld pan/tilt head controls the target motor to rotate at a uniform speed according to the rotation control speed in the rotation control instruction until the joint angle of the target motor after rotation is the target joint angle, or the target after rotation
  • the angle difference between the joint angle of the motor and the target joint angle is less than a preset difference threshold.
  • the handheld pan-tilt is controlled to be in the vertical mode when the handheld pan-tilt is started, and the handheld pan-tilt in the vertical mode is more convenient for users to operate and greatly improves the user experience.
  • FIG. 6 is a schematic flowchart of steps of yet another method for controlling a pan/tilt head according to an embodiment of the present application.
  • the pan-tilt control method includes steps S301 to S305.
  • the handheld pan/tilt is provided with a switch machine control key, which controls the handheld pan/tilt to turn on or off, and is also used to control the handheld pan/tilt's shooting mode to vertical mode.
  • the user can trigger the switch machine control key Operate, control the turn-on or turn-off of the handheld PTZ.
  • the switch machine control key includes but is not limited to a press control key, a rocker control key, a slide control key, and a click control key.
  • the trigger operation includes but is not limited to a press operation, a rocker operation, a sliding operation and a click operation.
  • the above-mentioned switch machine control key is also used to control the shooting mode of the handheld pan/tilt head to horizontal mode, and/or the switch machine control key is also used to control other modes of the handheld gimbal, the switch machine control key It is also used to control the other modes of the handheld PTZ and the corresponding trigger operations are different.
  • One control key can realize the multi-function control of the handheld PTZ, reducing the number of control keys, making it convenient for users to use and improving user experience.
  • the handheld pan/tilt detects the user's triggering operation of the switch machine control key, and when the user's triggering operation of the switch machine control key is detected, the user's trigger operation of the switch machine control key is acquired.
  • the setting position of the above-mentioned switch machine-controlled keying key on the handheld pan/tilt head can be set based on actual conditions, which is not specifically limited in this application.
  • the handheld PTZ is controlled to turn on, and a vertical shooting mode control instruction corresponding to the trigger operation is generated, wherein the vertical shooting mode control instruction is used to control the handheld cloud
  • the shooting mode of the station is vertical shooting mode.
  • the method for generating the vertical shooting mode control instruction is specifically: the handheld PTZ obtains the instruction tag corresponding to the trigger operation, and determines whether the instruction corresponding to the instruction tag is a vertical shooting mode control instruction; if the instruction tag corresponds to The command of is the vertical mode control command, then get the target joint angle of each motor when the handheld gimbal is in the vertical shooting state and the current joint angle of each motor in the current state of the handheld gimbal; according to the target joint of each motor of the handheld gimbal Angle and current joint angle, generate corresponding vertical mode control command.
  • the vertical shooting mode control command is generated by the trigger operation, so that the handheld PTZ is in the vertical shooting state after being turned on, which is convenient for users to set parameters and greatly improves the user experience.
  • the rotation control command is specifically generated as follows: according to the target joint angle and current joint angle of each motor of the handheld gimbal, determine the joint angle difference of each motor of the handheld gimbal; The joint angle difference determines the respective rotation speed of each motor of the handheld pan/tilt; according to the rotation speed of each motor of the handheld pan/tilt, the corresponding rotation control command is generated.
  • the corresponding rotation speed of each motor can be determined dynamically or fixedly, and the corresponding vertical mode control command can be generated.
  • the vertical mode control command can be used to control each motor at the corresponding speed. Rotation is convenient for smooth and fast control of the handheld PTZ in the vertical shooting state.
  • the method of determining the rotation speed is specifically as follows: the handheld gimbal obtains a mapping relationship table between the pre-stored joint angle difference and the rotation speed; according to the mapping relationship table, the joint angle difference of each motor of the handheld gimbal is corresponding to each As the rotation speed of each motor of the handheld gimbal, query the mapping table to obtain the rotation speed corresponding to the joint angle difference of each motor of the handheld gimbal, and use the obtained rotation speed as The rotation speed of each motor of the handheld gimbal.
  • the above-mentioned mapping relationship table between the joint angle difference and the rotation speed can be set based on the actual situation, which is not specifically limited in this application.
  • the handheld gimbal controls each motor of the handheld gimbal to rotate at a constant speed until the handheld gimbal is in the vertical state, that is, the posture angle of each motor after rotation is
  • the attitude angle of each motor in the vertical shooting state or the angle difference between the attitude angle of each motor after rotation and the attitude angle of each motor in the vertical shooting state is less than the preset angle threshold, it is determined that the handheld gimbal is in the vertical shooting state.
  • the above-mentioned angle threshold can be set based on actual conditions, which is not specifically limited in this application.
  • the rotation speed of each motor in the vertical mode control command is updated at an interval preset time, specifically, the rotation speed of each motor is calculated at an interval preset time
  • the angle difference between the attitude angle of each motor and the attitude angle of each motor in the vertical state and determine whether the angle difference is greater than the set angle threshold; if the angle difference is greater than the set angle threshold, the The angle difference determines the rotation speed of each motor; if the rotation speed of each motor is less than the set speed threshold, based on the rotation speed of each motor, the rotation speed of each motor in the vertical mode control command is updated to get the updated According to the vertical mode control command, and based on the updated vertical mode control command, each motor is controlled to rotate; if the angle difference is less than the set angle threshold, it is determined that the handheld pan/tilt is in vertical mode and stops rotating each motor .
  • the user can control the handheld pan-tilt to turn on and control the handheld pan-tilt to be in a vertical shooting state through the set switch control keys, which facilitates the user to set parameters and greatly improves the user experience.
  • FIG. 7 is a schematic block diagram of the structure of a pan-tilt according to an embodiment of the present application.
  • the pan/tilt head 400 includes at least one set of shaft assembly 401.
  • the shaft assembly 401 includes a motor 4011 and a shaft arm 4012.
  • the motor 4011 is connected to the shaft arm 4012 for driving the shaft. 4012 rotates; and, one or more processors 402, at least one processor 402 is used to communicate with the motor 4011.
  • the processor 402 may be a Micro-controller Unit (MCU), a Central Processing Unit (CPU), a Digital Signal Processor (Digital Signal Processor, DSP), or the like.
  • MCU Micro-controller Unit
  • CPU Central Processing Unit
  • DSP Digital Signal Processor
  • processors 402 work individually or together to implement the following steps:
  • the target motor is controlled to rotate until the joint angle of the target motor after the rotation becomes the target joint angle.
  • the one or more processors control the target motor to rotate based on the rotation control instruction until the joint angle of the target motor after the rotation is the target joint angle, for realizing :
  • the target motor is controlled to rotate according to the first preset rotation speed until the joint angle of the target motor after the rotation is the target joint angle.
  • the one or more processors implement the update of the rotation control instruction according to the difference value, they are used to implement:
  • the rotation control command is updated according to the rotation speed of the target motor.
  • the one or more processors implement the update of the rotation control instruction according to the difference value, it is further used to implement:
  • the rotation control instruction is updated according to the rotation speed of the target motor.
  • the processor determines the target motor to be rotated and the target joint angle of the target motor according to the shooting mode switching instruction, the processor is used to achieve:
  • the motor corresponding to the mode switching is used as the target motor to be rotated, and the target joint angle is 0 degrees;
  • the motor corresponding to the mode switching is used as the target motor to be rotated, and the target joint angle is 90 degrees.
  • the one or more processors acquire a shooting mode switching instruction, and determine the target motor to be rotated and the target joint angle of the target motor according to the shooting mode switching instruction, it is used to achieve:
  • the target motor to be rotated and the target joint angle of the target motor are determined according to the shooting mode switching instruction.
  • the one or more processors implement the acquisition of the shooting mode switching instruction, they are used to implement:
  • the pan/tilt head is provided with a shooting mode switching control key, and the one or more processors implement the acquisition of a shooting mode switching instruction, and according to the shooting mode switching instruction, determine the target motor to be rotated and the target Before the target joint angle of the motor, it is used to achieve:
  • a corresponding shooting mode switching instruction is generated.
  • the shooting mode switching control key includes a press control key, a rocker control key, a slide control key, and a click control key.
  • the trigger operation includes a pressing operation, a rocker operation, a sliding operation, and a clicking operation.
  • the one or more processors acquire a shooting mode switching instruction, and according to the shooting mode switching instruction, before determining the target motor to be rotated and the target joint angle of the target motor, it is used to achieve:
  • the motors of the pan/tilt are controlled to rotate until the joint angles of the motors of the pan/tilt meet the joint angle conditions corresponding to the vertical mode.
  • the one or more processors realize that when the pan/tilt is started, each motor of the pan/tilt is controlled to rotate until the joint angle of each motor of the pan/tilt meets the joint angle condition corresponding to the vertical mode After that, it is used to achieve:
  • the pull angle is used as the initial posture information of the PTZ;
  • the motors of the pan/tilt are controlled to rotate until the motors of the pan/tilt return to the attitude zero position.
  • the one or more processors can control the motors of the pan/tilt to rotate according to the initial posture information of the pan/tilt, until the motors of the pan/tilt return to the zero position, using To achieve:
  • the motors of the pan/tilt are controlled to rotate until the motors of the pan/tilt return to the posture zero position.
  • the PTZ is a PTZ with a non-orthogonal structure.
  • pan-tilt can refer to the corresponding process in the aforementioned pan-tilt control method embodiment. Repeat it again.
  • FIG. 8 is a schematic block diagram of the structure of another pan/tilt head provided by an embodiment of the present application.
  • the pan/tilt 500 includes a switch machine control key 501, which is used to control the pan/tilt to turn on or off, and is also used to control the pan/tilt's shooting mode to vertical mode, and one or more There are two processors 502, wherein at least one of the processors 502 is configured to communicate with the switch machine control key 501.
  • the processor 502 may be a micro-controller unit (MCU), a central processing unit (Central Processing Unit, CPU), a digital signal processor (Digital Signal Processor, DSP), or the like.
  • MCU micro-controller unit
  • CPU Central Processing Unit
  • DSP Digital Signal Processor
  • the one or more processors work individually or together to implement the following steps:
  • the pan/tilt head is controlled to turn on, and a vertical shooting mode control instruction corresponding to the trigger operation is generated, and the vertical shooting mode control instruction is used to control the The shooting mode of the gimbal is vertical shooting mode;
  • the pan/tilt is controlled to be in a vertical shooting state.
  • the switch control key is also used to control the shooting mode of the handheld pan/tilt head to be a horizontal shooting mode.
  • the switch machine control key includes at least one of the following: a press control key, a rocker control key, a slide control key, and a click control key.
  • the trigger operation includes at least one of the following: a pressing operation, a rocker operation, a sliding operation, and a clicking operation.
  • the switch machine control key is also used to control other modes of the pan/tilt head, and the switch machine control key is also used to control other modes of the pan/tilt head that correspond to different trigger operations.
  • the PTZ is a PTZ with a non-orthogonal structure.
  • the one or more processors implement the generation of a vertical shooting mode control instruction corresponding to the trigger operation, they are used to implement:
  • the instruction corresponding to the instruction tag is a vertical mode control instruction, acquiring the target joint angle of each motor when the pan/tilt is in the vertical state and the current joint angle of each motor in the current state of the pan/tilt;
  • a corresponding vertical shooting mode control command is generated.
  • the one or more processors when they generate corresponding vertical mode control commands according to the target joint angles and the current joint angles of the motors of the pan/tilt head, they are used to achieve:
  • the one or more processors determine the respective rotation speeds of the motors of the pan/tilt head according to the joint angle differences of the motors of the pan/tilt head, they are used to achieve:
  • the respective rotation speeds of the joint angle differences of the motors of the pan/tilt head are taken as the respective rotation speeds of the motors of the pan/tilt head.
  • pan-tilt can refer to the corresponding process in the aforementioned pan-tilt control method embodiment. Repeat it again.
  • the embodiments of the present application also provide a computer-readable storage medium, the computer-readable storage medium stores a computer program, the computer program includes program instructions, and the processor executes the program instructions to implement the foregoing implementation The steps of the PTZ control method provided in the example.
  • the computer-readable storage medium may be the internal storage unit of the pan/tilt head described in any of the foregoing embodiments, such as the hard disk or memory of the pan/tilt head.
  • the computer-readable storage medium may also be an external storage device of the pan/tilt, such as a plug-in hard disk equipped on the pan/tilt, a smart memory card (Smart Media Card, SMC), or a Secure Digital (SD). ) Card, Flash Card, etc.

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Abstract

一种云台控制方法、云台及计算机可读存储介质，该方法包括：获取拍摄模式切换指令，并根据所述拍摄模式切换指令，确定待旋转的目标电机和所述目标电机的目标关节角（S101）；计算所述目标电机的当前关节角与所述目标关节角之间的偏差值，并根据所述偏差值生成对应的旋转控制指令（S102）；基于所述旋转控制指令，控制所述目标电机进行旋转，直至旋转后的所述目标电机的关节角为所述目标关节角（S103）。该方法提高了横竖拍模式的切换便利性。

Description

云台控制方法、云台及计算机可读存储介质 技术领域
本申请涉及云台控制的技术领域，尤其涉及一种云台控制方法、云台及计算机可读存储介质。
背景技术
通过单反或智能手机等电子设备进行拍照和录像，由于拍照或录像一般是由人们手动控制的，因此容易出现抖动或不平衡的情况，导致拍摄得到画面不流畅和画面模糊等问题出现。为此，可以通过将相机或智能手机等固定在三轴手持云台上，三轴手持云台可以自动随着使用者的动作调整相机或智能手机等的姿态，保持画面稳定。
发明人发现，在一些使用场景下，用户有需求切换拍摄设备的横竖拍模式。但传统的切换横竖拍模式的方式不够方便。因此，如何在保证拍摄不间断的情况下，便利的切换横竖拍模式是目前亟待解决的问题。
发明内容
基于此，本申请提供了一种云台控制方法、云台及计算机可读存储介质，旨在保证拍摄不间断的情况下，平稳便利的切换横竖拍模式。
第一方面，本申请提供了一种云台控制方法，包括：
获取拍摄模式切换指令，并根据所述拍摄模式切换指令，确定待旋转的目标电机和所述目标电机的目标关节角，其中，所述拍摄模式切换指令用于控制拍摄模式的切换，所述目标关节角为待切换的拍摄模式对应的电机的关节角；
计算所述目标电机的当前关节角与所述目标关节角之间的偏差值，并根据所述偏差值生成对应的旋转控制指令，其中，所述旋转控制指令用于控制所述目标电机旋转；
基于所述旋转控制指令，控制所述目标电机进行旋转，直至旋转后的所述目标电机的关节角为所述目标关节角。
第二方面，本申请还提供了一种云台控制方法，用于手持云台，所述手持云台设置有开关机控键，所述开关机控键用于控制所述手持云台开机或关机，还用于控制所述手持云台的拍摄模式为竖拍模式；所述方法包括：
获取用户对所述开关机控键的触发操作；
根据获取到的用户对所述开关机控键的触发操作，控制所述手持云台开机，并生成与所述触发操作对应的竖拍模式控制指令，所述竖拍模式控制指令用于控制所述手持云台的拍摄模式为竖拍模式；
根据所述竖拍模式控制指令，控制所述手持云台处于竖拍状态。
第三方面，本申请还提供了一种云台，所述云台包括：至少一组轴组件，所述轴组件包括电机以及轴臂，所述电机，与所述轴臂相连接，用于驱动所述轴臂转动；以及，
一个或多个处理器，至少一个所述处理器用于与所述电机通讯连接；其中，所述一个或多个处理器单独地或共同地工作，用于实现如下步骤：
获取拍摄模式切换指令，并根据所述拍摄模式切换指令，确定待旋转的目标电机和所述目标电机的目标关节角，其中，所述拍摄模式切换指令用于控制拍摄模式的切换，所述目标关节角为待切换的拍摄模式对应的电机的关节角；
计算所述目标电机的当前关节角与所述目标关节角之间的偏差值，并根据所述偏差值生成对应的旋转控制指令，其中，所述旋转控制指令用于控制所述目标电机旋转；
基于所述旋转控制指令，控制所述目标电机进行旋转，直至旋转后的所述目标电机的关节角为所述目标关节角。
第四方面，本申请还提供了一种云台，所述云台包括开关机控键，所述开关机控键用于控制所述云台开机或关机，还用于控制所述云台的拍摄模式为竖拍模式；以及一个或多个处理器，其中，至少一个所述处理器用于与所述开关机控键通讯连接；其中，所述一个或多个处理器单独地或共同地工作，用于实现如下步骤：
获取用户对所述开关机控键的触发操作；
根据获取到的用户对所述开关机控键的触发操作，控制所述云台开机，并生成与所述触发操作对应的竖拍模式控制指令，所述竖拍模式控制指令用于控制所述云台的拍摄模式为竖拍模式；
根据所述竖拍模式控制指令，控制所述云台处于竖拍状态。
第五方面，本申请还提供了一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时使所述处理器实现如上所述的云台控制方法的步骤。
本申请实施例提供了一种云台控制方法、云台及计算机可读存储介质，通过拍摄模式切换指令，确定目标电机和目标关节角，并基于目标电机的当前关节角和该目标关节角之间的偏差值，生成对应的旋转控制指令，然后基于该旋转控制指令，控制目标电机进行旋转，直至旋转后的目标电机的关节角为目标关节角，整个拍摄模式切换过程不需要使用机械装置，通过旋转电机即可实现拍摄模型的切换，可以在保证拍摄不间断的情况下，平稳便利的切换横竖拍模式。
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的前提下，还可以根据这些附图获得其他的附图。
图1是实施本申请云台控制方法的拍摄稳定器的一结构示意图；
图2是本申请一实施例提供的一种云台控制方法的步骤示意流程图；
图3是本申请实施例中云台切换拍摄模式的流程示意图；
图4是本申请一实施例提供的另一种云台控制方法的步骤示意流程图；
图5是本申请实施例中云台开机时控制云台处于竖拍模式的流程示意图；
图6是本申请一实施例提供的另一种云台控制方法的步骤示意流程图；
图7是本申请一实施例提供的一种云台的结构示意性框图；
图8是本申请一实施例提供的另一种云台的结构示意性框图。
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。
附图中所示的流程图仅是示例说明，不是必须包括所有的内容和操作/步骤，也不是必须按所描述的顺序执行。例如，有的操作/步骤还可以分解、组合或部分合并，因此实际执行的顺序有可能根据实际情况改变。
本申请实施例提供一种云台控制方法，该云台控制方法可应用于拍摄稳定器，例如，拍摄稳定器为手持云台。该云台控制方法可以控制手持云台的电机进行旋转，以调整云台所搭载的相机的姿态，例如，进行横竖屏切换。该云台控制方案还用于控制手持云台开机即进入竖拍模式，方便用户对手持云台所搭载的拍摄装置进行参数设置。
请参阅图1，图1是实施本申请云台控制方法的手持云台的一结构示意图，如图1所示，该手持云台100包括装夹部101、手柄部102、转轴103、电机104和拍摄模式切换控键105。装夹部101用于装夹拍摄装置，如智能手机和相机等，可选地，装夹部101还可以与拍摄装置是一体的。电机104与转轴103相连接，用于驱动转轴103转动，转轴103与装夹部101相连接，装夹部101随着转轴103转动而转动。拍摄模式切换控键105用于控制手持云台100切换拍摄模式，拍摄模式切换控键105还用于控制手持云台100开机或关机，拍摄模式切换控键105还用于控制手持云台100的其他模式的切换，如手电筒模式和悬挂模式等的切换，拍摄模式切换控键105包括如下至少一种：按压控键、摇杆控键、滑动控键和点击控键。该手持云台100可以是非正交结构的云台，使得云台的内框关节角具有非常大的活动范围。该手持云台100可以不需要再使用机械装置进行横竖拍的切换，直接控制内框电机旋转即可快速完成横竖拍切换的功能，云台开机后默认进入到竖拍模式，极大的提高用户体验。
下面结合附图，对本申请的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
请参阅图2，图2是本申请一实施例提供的一种云台控制方法的步骤示意流程图。该云台控制方法可以应用在手持云台中，用于控制手持云台切换拍摄模式。
具体地，如图2所示，该云台控制方法包括步骤S101至步骤S103。
S101、获取拍摄模式切换指令，并根据所述拍摄模式切换指令，确定待旋转的目标电机和所述目标电机的目标关节角。
其中，手持云台为非正交结构的云台，手持云台的拍摄模式包括横拍模式和竖拍模式，手持云台可以实现横拍模式与竖拍模式之间的切换；手持云台处于横拍模式时，手持云台的外框电机、中框电机和内框电机的关节角均为零，而手持云台处于竖拍模式时，手持云台的外框电机和中框电机的关节角为零，而内框电机的关节角为90度。切换拍摄模式时，只需要调整内框电机的关节角即可，不需要调整其余的关节角，可以提高模式切换速度。
具体地，手持云台获取拍摄模式切换指令，当获取到拍摄模式切换指令时，手持云台根据该拍摄模式切换指令，确定待旋转的目标电机和目标电机的目标关节角，而当没有获取到拍摄模式切换指令时，手持云台不切换拍摄模式。其中，该拍摄模式切换指令用于控制拍摄模式的切换，该目标关节角为待切换的拍摄模式对应的电机的关节角，手持云台可以实时或以间隔预设时间获取拍摄模式切换指令，需要说明的是，上述预设时间可基于实际情况进行设置，本申请对此不作具体限定。手持云台定时获取拍摄模式切换指令，可以减少手持云台的电量消耗。
在一实施例中，该手持云台设置有拍摄模式切换控键，手持云台通过获取用户对该拍摄模式切换控键的触发操作，并根据获取到的用户对该拍摄模式切换控键的触发操作，生成对应的拍摄模式切换指令。其中，该拍摄模式切换控键包括但不限于按压控键、摇杆控键、滑动控键和点击控键，该触发操作包括但不限于按压操作、摇杆操作、滑动操作和点击操作，需要说明的是，该拍摄模式切换控键的设置位置可基于实际情况进行设置，本申请对此不作具体限定。可选地，该拍摄模式切换控键设置于该手持云台的手柄上。通过在手持云台上设置拍摄模式切换控键，便于用户通过拍摄模式切换控键便捷的控制手持云台切换拍摄模式，极大的提高了用户体验。
在一实施例中，该拍摄模式切换指令包括拍摄模式标签，该拍摄模式标签包括横拍模式对应的标签和竖拍模式对应的标签，目标电机和目标关节角的确定方式具体为：手持云台从该拍摄模式切换指令中获取拍摄模式标签，并确定拍摄模式标签对应的拍摄模式是横拍模式，还是竖拍模式；如果该拍摄模式标签对应的拍摄模式是横拍模式，则将用于模式切换对应的电机作为待旋转的目 标电机，且目标关节角为0度；如果拍摄模式标签对应的拍摄模式是竖拍模式，则将用于模式切换对应的电机作为待旋转的目标电机，且目标关节角为90度。通过设置拍摄模式标签，可以实现对拍摄模式的区分，便于手持云台通过拍摄模式标签，可以快速的确定待旋转的电机和关节角，间接的提高拍摄模式切换速度，提高用户体验。
S102、计算所述目标电机的当前关节角与所述目标关节角之间的偏差值，并根据所述偏差值生成对应的旋转控制指令。
在确定目标电机和目标关节角之后，手持云台可控制该目标电机进行旋转，以实现拍摄模式切换，具体地，手持云台获取目标电机的当前关节角，并计算该目标关节角与当前关节角之间的偏差值，并根据该偏差值生成对应的旋转控制指令，即获取该偏差值对应的旋转速度，并基于该旋转速度生成对应的旋转控制指令，其中，该旋转控制指令用于控制目标电机旋转。
S103、基于所述旋转控制指令，控制所述目标电机进行旋转，直至旋转后的所述目标电机的关节角为所述目标关节角。
具体地，在生成旋转控制指令后，手持云台按照该旋转控制指令中的旋转控制速度，控制该目标电机匀速旋转，直到旋转后的目标电机的关节角为目标关节角，或者直到旋转后的目标电机的关节角与目标关节角之间的角度差值小于预设的差值阈值。需要说明的是，上述预设的差值阈值可基于实际情况进行设置，本申请对此不作具体限定，可选地，差值阈值为1度。通过控制电机匀速旋转，实现拍摄模式的平稳切换。
在一实施例中，在控制目标电机进行旋转的过程中，手持云台每隔预设时间确定旋转后的目标电机的关节角与目标关节角之间的差值；确定差值是否大于预设阈值，如果该差值大于预设阈值，则根据该差值更新旋转控制指令，并基于更新后的旋转控制指令，控制目标电机进行旋转；如果该差值小于或等于预设阈值，则按照第一预设旋转速度控制目标电机进行旋转，直到旋转后的目标电机的关节角为目标关节角。需要说明的是，更新后的旋转控制指令中的旋转速度与更新前的旋转控制指令中的旋转速度不同，上述预设阈值和预设旋转速度可基于实际情况进行设置，本申请对此不作具体限定。在控制电机旋转的过程中，基于旋转后的电机的关节角和目标关节角之间的差值动态更新旋转控制指令，可以在保持平稳的情况下，变速的控制电机旋转，提高拍摄模式的切 换速度。
其中，旋转控制指令的更新方式具体为：手持云台获取预存的差值与旋转速度之间的映射关系表；根据该映射关系表，将该差值对应的旋转速度作为目标电机的旋转速度，即查询该映射关系表，获取该差值对应的旋转速度，并将该差值对应的旋转速度作为目标电机的旋转速度；根据该目标电机的旋转速度更新该旋转控制指令。需要说明的是，上述差值与旋转速度之间的映射关系表可基于实际情况进行设置，本申请对此不作具体限定。可选地，差值越大，则旋转速度越大，差值越小，则旋转速度越小。
在一实施例中，在确定目标电机的旋转速度之后，手持云台确定目标电机的旋转速度是否小于第二预设旋转速度，其中，第一预设旋转速度小于第二预设旋转速度；如果目标电机的旋转速度小于第二预设旋转速度，则根据目标电机的旋转速度更新旋转控制指令。需要说明的是，第二预设旋转速度为电机的最大旋转速度，可基于实际情况进行设置，本申请对此不作具体限定。通过设定电机的最大旋转速度，可以避免电机以较快的速度旋转，导致手持云台损坏的问题，同时在保持平稳的情况下，通过动态确定旋转速度以及更新旋转控制指令，可以提高拍摄模式的切换速度。
在一实施例中，手持云台的控制指令为ZXYX的控制指令，即手持云台在传统ZXY顺序基础上又多进行一次绕X旋转，记为ROLL2，则ZXYX的控制指令为YAW、ROLL、PITCH和ROLL2，ROLL2用于横竖拍控制，横拍状态下ROLL2为0°，竖拍状态下为90°。通过ROLL2这个指令来控制内框电机的关节角，竖拍模式就是在横拍模式的姿态基础上再将内框电机的关节角转90度。由于ROLL2是最后饶X旋转的，不会影响正常的ROLL、PITCH、YAW指令，因此可以很好的实现横竖拍模式的控制，也不会影响其他功能的正常工作。
请参阅图3，图3是本申请实施例中云台切换拍摄模式的流程示意图。如图3所示，手持云台开机，自检是否正常运行，如果正常运行，则确定是否收到横竖拍切换指令，如果收到横竖拍切换指令，则确定该横竖拍切换指令对应的拍摄模式是横拍模式，还是竖拍模式，如果该横竖拍切换指令对应的拍摄模式是横拍模式，则将ROLL2的值调整为0°，即调整内框电机的关节角为0°，从而将手持云台的拍摄模式切换为横拍模式，如果该横竖拍切换指令对应的拍 摄模式是竖拍模式，则将将ROLL2的值调整为90°，即调整内框电机的关节角为90°，从而将手持云台的拍摄模式切换为竖拍模式，具体的调整方式为：计算内框电机的当前关节角与目标关节角的差值，基于差值确定内框电机是否到达拍摄模式对应的位置，如果内框电机到达拍摄模式对应的位置，则确定完成模式切换，手持云台正常运行，如果内框电机没有到达拍摄模式对应的位置，则基于差值生成控制指令，并控制内框电机旋转，直到内框电机到达拍摄模式对应的位置。
上述实施例提供的云台控制方法，通过拍摄模式切换指令，确定目标电机和目标关节角，并基于目标电机的当前关节角和该目标关节角之间的偏差值，生成对应的旋转控制指令，然后基于该旋转控制指令，控制目标电机进行旋转，直至旋转后的目标电机的关节角为目标关节角，整个拍摄模式切换过程不需要使用机械装置，通过旋转电机即可实现拍摄模型的切换，可以在保证拍摄不间断的情况下，平稳便利的切换横竖拍模式。
请参阅图4，图4是本申请一实施例提供的另一种云台控制方法的步骤示意流程图。
具体地，如图4所示，该云台控制方法包括步骤S201至S204。
S201、在云台启动时，控制所述云台的各电机进行旋转，直至所述云台的各电机的关节角满足竖拍模式对应的关节角条件。
具体地，手持云台启动时，控制各电机进行旋转，直到云台的各电机的关节角满足竖拍模式对应的关节角条件，即手持云台在启动完成后，手持云台的处于竖拍模式。其中，竖拍模式对应的关节角条件为手持云台的外框电机和中框电机的关节角为零，而内框电机的关节角为90度。手持云台在启动完成后，处于竖拍模式的手持云台更加方便用户操作，极大的提高用户体验。
在一实施例中，手持云台获取各电机的当前关节角和在竖拍模式下各电机的目标关节角，并以单个电机为单位，计算电机的当前关节角与目标关节角的角度差值，得到每个电机各自对应的角度差值；根据每个电机各自对应的角度差值，确定每个电机各自对应的旋转速度；根据每个电机各自对应的旋转速度，生成对应的旋转控制指令，并根据该旋转控制指令，控制手持云台的各电机进行旋转，直到手持云台的各电机的关节角为目标关节角。手持云台可以匀速的旋转各电机，也可以在保证稳定的情况下，变速的旋转各电机，可以在云台启 动的过程中，快速平稳的将拍摄模式设置为竖拍模式，方便用户操作，提高用户体验。
在一实施例中，手持云台启动完成后，手持云台需要从关节角控制模式切换为姿态控制模式，且控制云台位于姿态零位，具体地，获取手持云台的当前姿态四元数，并将该当前姿态四元数转换为横拍模式下的姿态四元数；对姿态四元数进行欧拉角解算，得到姿态四元数对应的欧拉角，并将竖拍模式对应的云台的各电机的关节角和该欧拉角作为该手持云台的初始姿态信息；根据该手持云台的初始姿态信息，控制手持云台的各电机进行旋转，直至该手持云台的各电机回到姿态零位。通过将当前姿态四元数转换为横拍模式下的姿态四元数，并对该姿态四元数进行解算，可以得到手持云台的当前姿态数据，可以完成关节角控制模式与姿态控制模式的无缝切换，同时在姿态控制模式下，控制手持云台回中，处于姿态零位的手持云台便于用户操作，极大的提高用户体验。
在一实施例中，控制手持云台回中的方式具体为：将姿态零位对应的姿态信息作为目标姿态信息，并根据该初始姿态信息和该目标姿态信息，计算每个电机各自对应的姿态角偏差值；根据每个电机各自对应的姿态角偏差值，确定每个电机各自对应的旋转速度，并根据每个电机各自对应的旋转速度，生成每个电机各自对应的控制指令；基于每个电机各自对应的控制指令，控制云台的各电机进行旋转，直至云台的各电机回到姿态零位。手持云台可以匀速的旋转各电机，也可以在保证稳定的情况下，变速的旋转各电机，可以平稳快速的控制手持云台回到姿态零位，减少用户等待时间，提高用户体验。
请参阅图5，图5是本申请实施例中云台开机时控制云台处于竖拍模式的流程示意图。如图5所示，云台开机，云台自动进入关节角控制模式，默认云台处于竖拍模式，则确定内框电机的关节角为90度，中框电机的关节角和外框电机的关节角为0度，调整方式为基于各电机的当前关节角和确定的关节角之间的差值，生成控制指令，并基于控制指令控制各电机旋转，直到云台的各电机处于竖拍模式对应的位置，在云台的各电机处于竖拍模式对应的位置时，ROLL2为90°，将相机的当前姿态四元数转换为横拍模式下的姿态四元数；对横拍模式下的姿态四元数进行欧拉角解算，得到姿态四元数对应的欧拉角，并将竖拍模式对应的云台的各电机的关节角和该欧拉角作为该手持云台的初始姿态信息，云台进入姿态控制模式，并根据该初始姿态信息主动进行回中，回中完成时，云台正常运行。
S202、获取拍摄模式切换指令，并根据所述拍摄模式切换指令，确定待旋 转的目标电机和所述目标电机的目标关节角。
具体地，手持云台获取拍摄模式切换指令，当获取到拍摄模式切换指令时，手持云台根据该拍摄模式切换指令，确定待旋转的目标电机和目标电机的目标关节角，而当没有获取到拍摄模式切换指令时，手持云台不切换拍摄模式。
S203、计算所述目标电机的当前关节角与所述目标关节角之间的偏差值，并根据所述偏差值生成对应的旋转控制指令。
在确定目标电机和目标关节角之后，手持云台可控制该目标电机进行旋转，以实现拍摄模式切换，具体地，手持云台获取目标电机的当前关节角，并计算该目标关节角与当前关节角之间的偏差值，并根据该偏差值生成对应的旋转控制指令，即获取该偏差值对应的旋转速度，并基于该旋转速度生成对应的旋转控制指令。
S204、基于所述旋转控制指令，控制所述目标电机进行旋转，直至旋转后的所述目标电机的关节角为所述目标关节角。
具体地，在生成旋转控制指令后，手持云台按照该旋转控制指令中的旋转控制速度，控制该目标电机匀速旋转，直到旋转后的目标电机的关节角为目标关节角，或者旋转后的目标电机的关节角与目标关节角之间的角度差值小于预设的差值阈值。
上述实施例提供的云台控制方法，手持云台在启动时，控制手持云台处于竖拍模式，而处于竖拍模式的手持云台更加方便用户操作，极大的提高了用户体验。
请参阅图6，图6是本申请一实施例提供的又一种云台控制方法的步骤示意流程图。
具体地，如图6所示，该云台控制方法包括步骤S301至步骤S305。
S301、获取用户对所述开关机控键的触发操作。
其中，手持云台设置有开关机控键，该开关机控键控制手持云台开机或关机，还用于控制手持云台的拍摄模式为竖拍模式，用户可通过对开关机控键的触发操作，控制手持云台的开机或关机。该开关机控键包括但不限于按压控键、摇杆控键、滑动控键和点击控键，该触发操作包括但不限于按压操作、摇杆操作、滑动操作和点击操作。
在一实施例中，上述开关机控键还用于控制手持云台的拍摄模式为横拍模 式，和/或该开关机控键还用于控制手持云台的其他模式，该开关机控键还用于控制手持云台的其他模式对应的触发操作不相同。通过一个控键可以实现手持云台的多功能控制，减少控键数量，便于用户使用，提高了用户体验。
具体地，手持云台检测用户对该开关机控键的触发操作，当检测到用户对该开关机控键的触发操作时，获取用户对该开关机控键的触发操作。需要说明的是，上述开关机控键控键在手持云台上的设置位置可基于实际情况进行设置，本申请对此不作具体限定。
S302、根据获取到的用户对所述开关机控键的触发操作，控制所述手持云台开机，并生成与所述触发操作对应的竖拍模式控制指令。
具体地，根据获取到的用户对开关机控键的触发操作，控制手持云台开机，并生成与该触发操作对应的竖拍模式控制指令，其中，该竖拍模式控制指令用于控制手持云台的拍摄模式为竖拍模式。
在一实施例中，竖拍模式控制指令的生成方式具体为：手持云台获取该触发操作对应的指令标签，并确定该指令标签对应的指令是否为竖拍模式控制指令；若该指令标签对应的指令为竖拍模式控制指令，则获取手持云台处于竖拍状态下各电机的目标关节角以及手持云台在当前状态下各电机的当前关节角；根据手持云台的各电机的目标关节角和当前关节角，生成对应的竖拍模式控制指令。通过触发操作生成竖拍模式控制指令，使得手持云台在开机后处于竖拍状态，便于用户设置参数，极大的提高了用户体验。
其中，旋转控制指令的生成方式具体为：根据该手持云台的各电机的目标关节角和当前关节角，确定手持云台的各电机的关节角差值；根据该手持云台的各电机的关节角差值，确定手持云台的各电机各自对应的旋转速度；根据手持云台的各电机的旋转速度，生成对应的旋转控制指令。通过各电机的关节角差值，可以动态或固定的确定各电机各自对应的旋转速度，且生成对应的竖拍模式控制指令，可以通过该竖拍模式控制指令同时控制各电机按照对应的速度进行旋转，便于平稳快速的控制手持云台处于竖拍状态。
其中，旋转速度的确定方式具体为：手持云台获取预存的关节角差值与旋转速度之间的映射关系表；根据该映射关系表，将手持云台的各电机的关节角差值各自对应的旋转速度作为手持云台的各电机各自对应的旋转速度，即查询该映射关系表，获取手持云台的各电机的关节角差值各自对应的旋转速度，并将获取到的各旋转速度作为手持云台的各电机各自对应的旋转速度。需要说明 的是，上述关节角差值与旋转速度之间的映射关系表可基于实际情况进行设置，本申请对此不作具体限定。
S303、根据所述竖拍模式控制指令，控制所述手持云台处于竖拍状态。
具体地，手持云台按照该竖拍模式控制指令中各电机的旋转速度，匀速控制手持云台的各电机进行旋转，直到手持云台处于竖拍状态，即旋转后的各电机的姿态角为竖拍状态下各电机的姿态角，或者旋转后的各电机的姿态角与竖拍状态下各电机的姿态角的角度差值小于预设的角度阈值时，确定手持云台处于竖拍状态。需要说明的是，上述角度阈值可基于实际情况进行设置，本申请对此不作具体限定。通过匀速的控制各电机进行旋转，可以平稳快速的控制手持云台处于竖拍状态。
在一实施例中，在控制手持云台的各电机进行旋转的过程中，以间隔预设时间更新该竖拍模式控制指令中各电机的旋转速度，具体地，以间隔预设时间计算旋转后的各电机的姿态角与竖拍状态下各电机的姿态角的角度差值，并确定该角度差值是否大于设定的角度阈值；如果该角度差值大于设定的角度阈值，则根据该角度差值，确定各电机的旋转速度；如果各电机的旋转速度均小于设定的速度阈值，则基于各电机的旋转速度，更新该竖拍模式控制指令中各电机的旋转速度，得到更新后的竖拍模式控制指令，并基于更新后的竖拍模式控制指令，控制各电机进行旋转；如果该角度差值小于设定的角度阈值，则确定手持云台处于竖拍状态，停止旋转各电机。通过变速旋转手持云台的各电机，可以在保证云台平稳的情况下，快速的控制手持云台处于竖拍状态，提高用户体验。
上述实施例提供的云台控制方法，用户可通过设置的开关控键，一键控制手持云台开机，以及控制手持云台处于竖拍状态，便于用户设置参数，极大的提高了用户体验。
请参阅图7，图7是本申请一实施例提供的云台的结构示意性框图。
如图7所示，该云台400包括至少一组轴组件401，该轴组件401包括电机4011以及轴臂4012，所述电机4011，与所述轴臂4012相连接，用于驱动所述轴4012转动；以及，一个或多个处理器402，至少一个处理器402用于与电机4011通讯连接。
具体地，处理器402可以是微控制单元(Micro-controller Unit，MCU)、中央处理单元(Central Processing Unit，CPU)或数字信号处理器(Digital Signal Processor，DSP)等。
其中，所述一个或多个处理器402单独地或共同地工作，用于实现如下步骤：
获取拍摄模式切换指令，并根据所述拍摄模式切换指令，确定待旋转的目标电机和所述目标电机的目标关节角，其中，所述拍摄模式切换指令用于控制拍摄模式的切换，所述目标关节角为待切换的拍摄模式对应的电机的关节角；
计算所述目标电机的当前关节角与所述目标关节角之间的偏差值，并根据所述偏差值生成对应的旋转控制指令，其中，所述旋转控制指令用于控制所述目标电机旋转；
基于所述旋转控制指令，控制所述目标电机进行旋转，直至旋转后的所述目标电机的关节角为所述目标关节角。
可选地，所述一个或多个处理器实现基于所述旋转控制指令，控制所述目标电机进行旋转，直至旋转后的所述目标电机的关节角为所述目标关节角时，用于实现：
在控制所述目标电机进行旋转的过程中，每隔预设时间确定旋转后的所述目标电机的关节角与所述目标关节角之间的差值；
确定所述差值是否大于预设阈值；
若所述差值大于预设阈值，则根据所述差值更新所述旋转控制指令，并基于更新后的旋转控制指令，控制所述目标电机进行旋转；
若所述差值小于或等于预设阈值，则按照第一预设旋转速度控制所述目标电机进行旋转，直到旋转后的所述目标电机的关节角为所述目标关节角。
可选地，所述一个或多个处理器实现根据所述差值更新所述旋转控制指令时，用于实现：
获取预存的差值与旋转速度之间的映射关系表；
根据所述映射关系表，将所述差值对应的旋转速度作为所述目标电机的旋转速度；
根据所述目标电机的旋转速度更新所述旋转控制指令。
可选地，所述一个或多个处理器实现根据所述差值更新所述旋转控制指令之前，还用于实现：
确定所述目标电机的旋转速度是否小于第二预设旋转速度，其中，所述第一预设旋转速度小于所述第二预设旋转速度；
若所述目标电机的旋转速度小于第二预设旋转速度，则根据所述目标电机的旋转速度更新所述旋转控制指令。
可选地，所述一个或多个处理器实现根据所述拍摄模式切换指令，确定待旋转的目标电机和所述目标电机的目标关节角时，用于实现：
从所述拍摄模式切换指令中获取拍摄模式标签，并确定所述拍摄模式标签对应的拍摄模式是横拍模式，还是竖拍模式；
若所述拍摄模式标签对应的拍摄模式是横拍模式，则将用于模式切换对应的电机作为待旋转的目标电机，且所述目标关节角为0度；
若所述拍摄模式标签对应的拍摄模式是竖拍模式，则将用于模式切换对应的电机作为待旋转的目标电机，且所述目标关节角为90度。
可选地，所述一个或多个处理器实现获取拍摄模式切换指令，并根据所述拍摄模式切换指令，确定待旋转的目标电机和所述目标电机的目标关节角时，用于实现：
获取拍摄模式切换指令；
当获取到所述拍摄模式切换指令时，根据所述拍摄模式切换指令，确定待旋转的目标电机和所述目标电机的目标关节角。
可选地，所述一个或多个处理器实现获取拍摄模式切换指令时，用于实现：
以间隔预设时间获取拍摄模式切换指令。
可选地，所述云台设置有拍摄模式切换控键，所述一个或多个处理器实现获取拍摄模式切换指令，并根据所述拍摄模式切换指令，确定待旋转的目标电机和所述目标电机的目标关节角之前，用于实现：
获取用户对所述拍摄模式切换控键的触发操作；
根据获取到的用户对所述拍摄模式切换控键的触发操作，生成对应的拍摄模式切换指令。
可选地，所述拍摄模式切换控键包括按压控键、摇杆控键、滑动控键和点击控键。
可选地，所述触发操作包括按压操作、摇杆操作、滑动操作和点击操作。
可选地，所述一个或多个处理器实现获取拍摄模式切换指令，并根据所述拍摄模式切换指令，确定待旋转的目标电机和所述目标电机的目标关节角之前，用于实现：
在云台启动时，控制所述云台的各电机进行旋转，直至所述云台的各电机的关节角满足竖拍模式对应的关节角条件。
可选地，所述一个或多个处理器实现在云台启动时，控制所述云台的各电机进行旋转，直至所述云台的各电机的关节角满足竖拍模式对应的关节角条件 之后，用于实现：
获取所述云台的当前姿态四元数，并将所述当前姿态四元数转换为横拍模式下的姿态四元数；
对所述姿态四元数进行欧拉角解算，得到所述姿态四元数对应的欧拉角，并将所述竖拍模式对应的所述云台的各电机的关节角和所述欧拉角作为所述云台的初始姿态信息；
根据所述云台的初始姿态信息，控制所述云台的各电机进行旋转，直至所述云台的各电机回到姿态零位。
可选地，所述一个或多个处理器实现根据所述云台的初始姿态信息，控制所述云台的各电机进行旋转，直至所述云台的各电机回到姿态零位时，用于实现：
将姿态零位对应的姿态信息作为目标姿态信息，并根据所述初始姿态信息和所述目标姿态信息，计算每个电机各自对应的姿态角偏差值；
根据每个电机各自对应的姿态角偏差值，确定每个电机各自对应的旋转速度，并根据每个电机各自对应的旋转速度，生成每个电机各自对应的控制指令；
基于每个电机各自对应的控制指令，控制所述云台的各电机进行旋转，直至所述云台的各电机回到姿态零位。
可选地，所述云台为非正交结构的云台。
需要说明的是，所属领域的技术人员可以清楚地了解到，为了描述的方便和简洁，上述描述的云台的具体工作过程，可以参考前述云台控制方法实施例中的对应过程，在此不再赘述。
请参阅图8，图8是本申请一实施例提供的另一云台的结构示意性框图。
如图8所示，该云台500包括开关机控键501，开关机控键用于控制云台开机或关机，还用于控制所述云台的拍摄模式为竖拍模式，以及一个或多个处理器502，其中，至少一个所述处理器502用于与所述开关机控键501通讯连接。
具体地，处理器502可以是微控制单元(Micro-controller Unit，MCU)、中央处理单元(Central Processing Unit，CPU)或数字信号处理器(Digital Signal Processor，DSP)等。
其中，所述一个或多个处理器单独地或共同地工作，用于实现如下步骤：
获取用户对所述开关机控键的触发操作；
根据获取到的用户对所述开关机控键的触发操作，控制所述云台开机，并生成与所述触发操作对应的竖拍模式控制指令，所述竖拍模式控制指令用于控制所述云台的拍摄模式为竖拍模式；
根据所述竖拍模式控制指令，控制所述云台处于竖拍状态。
可选地，所述开关机控键还用于控制所述手持云台的拍摄模式为横拍模式。
可选地，所述开关机控键包括如下至少一种：按压控键、摇杆控键、滑动控键和点击控键。
可选地，所述触发操作包括如下至少一种：按压操作、摇杆操作、滑动操作和点击操作。
可选地，所述开关机控键还用于控制所述云台的其他模式，所述开关机控键还用于控制所述云台的其他模式对应的所述触发操作不相同。
可选地，所述云台为非正交结构的云台。
可选地，所述一个或多个处理器实现生成与所述触发操作对应的竖拍模式控制指令时，用于实现：
获取所述触发操作对应的指令标签，并确定所述指令标签对应的指令是否为竖拍模式控制指令；
若所述指令标签对应的指令为竖拍模式控制指令，则获取所述云台处于竖拍状态下各电机的目标关节角以及所述云台在当前状态下各电机的当前关节角；
根据所述云台的各电机的所述目标关节角和所述当前关节角，生成对应的竖拍模式控制指令。
可选地，所述一个或多个处理器实现根据所述云台的各电机的所述目标关节角和所述当前关节角，生成对应的竖拍模式控制指令时，用于实现：
根据所述云台的各电机的所述目标关节角和所述当前关节角，确定所述云台的各电机的关节角差值；
根据所述云台的各电机的关节角差值，确定所述云台的各电机各自对应的旋转速度；
根据所述云台的各电机的旋转速度，生成对应的竖拍模式控制指令。
可选地，所述一个或多个处理器实现根据所述云台的各电机的关节角差值，确定所述云台的各电机各自对应的旋转速度时，用于实现：
获取预存的关节角差值与旋转速度之间的映射关系表；
根据所述映射关系表，将所述云台的各电机的关节角差值各自对应的旋转速度作为所述云台的各电机各自对应的旋转速度。
需要说明的是，所属领域的技术人员可以清楚地了解到，为了描述的方便和简洁，上述描述的云台的具体工作过程，可以参考前述云台控制方法实施例中的对应过程，在此不再赘述。
本申请的实施例中还提供一种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程序，所述计算机程序中包括程序指令，所述处理器执行所述程序指令，实现上述实施例提供的云台控制方法的步骤。
其中，所述计算机可读存储介质可以是前述任一实施例所述的云台的内部存储单元，例如所述云台的硬盘或内存。所述计算机可读存储介质也可以是所述云台的外部存储设备，例如所述云台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。
应当理解，在此本申请说明书中所使用的术语仅仅是出于描述特定实施例的目的而并不意在限制本申请。如在本申请说明书和所附权利要求书中所使用的那样，除非上下文清楚地指明其它情况，否则单数形式的“一”、“一个”及“该”意在包括复数形式。
还应当理解，在本申请说明书和所附权利要求书中使用的术语“和/或”是指相关联列出的项中的一个或多个的任何组合以及所有可能组合，并且包括这些组合。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到各种等效的修改或替换，这些修改或替换都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以权利要求的保护范围为准。

Claims (47)

  1. 一种云台控制方法，其特征在于，包括：
    获取拍摄模式切换指令，并根据所述拍摄模式切换指令，确定待旋转的目标电机和所述目标电机的目标关节角，其中，所述拍摄模式切换指令用于控制拍摄模式的切换，所述目标关节角为待切换的拍摄模式对应的电机的关节角；
    计算所述目标电机的当前关节角与所述目标关节角之间的偏差值，并根据所述偏差值生成对应的旋转控制指令，其中，所述旋转控制指令用于控制所述目标电机旋转；
    基于所述旋转控制指令，控制所述目标电机进行旋转，直至旋转后的所述目标电机的关节角为所述目标关节角。
  2. 根据权利要求1所述云台控制方法，其特征在于，所述基于所述旋转控制指令，控制所述目标电机进行旋转，直至旋转后的所述目标电机的关节角为所述目标关节角，包括：
    在控制所述目标电机进行旋转的过程中，每隔预设时间确定旋转后的所述目标电机的关节角与所述目标关节角之间的差值；
    确定所述差值是否大于预设阈值；
    若所述差值大于预设阈值，则根据所述差值更新所述旋转控制指令，并基于更新后的旋转控制指令，控制所述目标电机进行旋转；
    若所述差值小于或等于预设阈值，则按照第一预设旋转速度控制所述目标电机进行旋转，直到旋转后的所述目标电机的关节角为所述目标关节角。
  3. 根据权利要求2所述云台控制方法，其特征在于，所述根据所述差值更新所述旋转控制指令，包括：
    获取预存的差值与旋转速度之间的映射关系表；
    根据所述映射关系表，将所述差值对应的旋转速度作为所述目标电机的旋转速度；
    根据所述目标电机的旋转速度更新所述旋转控制指令。
  4. 根据权利要求3所述云台控制方法，其特征在于，所述根据所述目标电机的旋转速度更新所述旋转控制指令之前，还包括：
    确定所述目标电机的旋转速度是否小于第二预设旋转速度，其中，所述第一预设旋转速度小于所述第二预设旋转速度；
    若所述目标电机的旋转速度小于第二预设旋转速度，则根据所述目标电机 的旋转速度更新所述旋转控制指令。
  5. 根据权利要求1所述云台控制方法，其特征在于，所述根据所述拍摄模式切换指令，确定待旋转的目标电机和所述目标电机的目标关节角，包括：
    从所述拍摄模式切换指令中获取拍摄模式标签，并确定所述拍摄模式标签对应的拍摄模式是横拍模式，还是竖拍模式；
    若所述拍摄模式标签对应的拍摄模式是横拍模式，则将用于模式切换对应的电机作为待旋转的目标电机，且所述目标关节角为0度；
    若所述拍摄模式标签对应的拍摄模式是竖拍模式，则将用于模式切换对应的电机作为待旋转的目标电机，且所述目标关节角为90度。
  6. 根据权利要求1-5中任一项所述云台控制方法，其特征在于，所述获取拍摄模式切换指令，并根据所述拍摄模式切换指令，确定待旋转的目标电机和所述目标电机的目标关节角，包括：
    获取拍摄模式切换指令；
    当获取到所述拍摄模式切换指令时，根据所述拍摄模式切换指令，确定待旋转的目标电机和所述目标电机的目标关节角。
  7. 根据权利要求6所述云台控制方法，其特征在于，所述获取拍摄模式切换指令，包括：
    以间隔预设时间获取拍摄模式切换指令。
  8. 根据权利要求1-5中任一项所述云台控制方法，其特征在于，所述云台设置有拍摄模式切换控键；所述获取拍摄模式切换指令，并根据所述拍摄模式切换指令，确定待旋转的目标电机和所述目标电机的目标关节角之前，还包括：
    获取用户对所述拍摄模式切换控键的触发操作；
    根据获取到的用户对所述拍摄模式切换控键的触发操作，生成对应的拍摄模式切换指令。
  9. 根据权利要求8所述云台控制方法，其特征在于，所述拍摄模式切换控键包括按压控键、摇杆控键、滑动控键和点击控键。
  10. 根据权利要求8所述云台控制方法，其特征在于，所述触发操作包括按压操作、摇杆操作、滑动操作和点击操作。
  11. 根据权利要求1-5中任一项所述云台控制方法，其特征在于，所述获取拍摄模式切换指令，并根据所述拍摄模式切换指令，确定目标电机和目标关节角之前，还包括：
    在云台启动时，控制所述云台的各电机进行旋转，直至所述云台的各电机 的关节角满足竖拍模式对应的关节角条件。
  12. 根据权利要求11所述云台控制方法，其特征在于，所述在云台启动时，控制所述云台的各电机进行旋转，直至所述云台的各电机的关节角满足竖拍模式对应的关节角条件之后，还包括：
    获取所述云台的当前姿态四元数，并将所述当前姿态四元数转换为横拍模式下的姿态四元数；
    对所述姿态四元数进行欧拉角解算，得到所述姿态四元数对应的欧拉角，并将所述竖拍模式对应的所述云台的各电机的关节角和所述欧拉角作为所述云台的初始姿态信息；
    根据所述云台的初始姿态信息，控制所述云台的各电机进行旋转，直至所述云台的各电机回到姿态零位。
  13. 根据权利要求12所述云台控制方法，其特征在于，所述根据所述云台的初始姿态信息，控制所述云台的各电机进行旋转，直至所述云台的各电机回到姿态零位，包括：
    将姿态零位对应的姿态信息作为目标姿态信息，并根据所述初始姿态信息和所述目标姿态信息，计算每个电机各自对应的姿态角偏差值；
    根据每个电机各自对应的姿态角偏差值，确定每个电机各自对应的旋转速度，并根据每个电机各自对应的旋转速度，生成每个电机各自对应的控制指令；
    基于每个电机各自对应的控制指令，控制所述云台的各电机进行旋转，直至所述云台的各电机回到姿态零位。
  14. 根据权利要求1-5中任一项所述云台控制方法，其特征在于，所述云台为非正交结构的云台。
  15. 一种云台控制方法，用于手持云台，其特征在于，所述手持云台设置有开关机控键，所述开关机控键用于控制所述手持云台开机或关机，还用于控制所述手持云台的拍摄模式为竖拍模式；所述方法包括：
    获取用户对所述开关机控键的触发操作；
    根据获取到的用户对所述开关机控键的触发操作，控制所述手持云台开机，并生成与所述触发操作对应的竖拍模式控制指令，所述竖拍模式控制指令用于控制所述手持云台的拍摄模式为竖拍模式；
    根据所述竖拍模式控制指令，控制所述手持云台处于竖拍状态。
  16. 根据权利要求15所述的云台控制方法，其特征在于，所述开关机控键还用于控制所述手持云台的拍摄模式为横拍模式。
  17. 根据权利要求15所述的云台控制方法，其特征在于，所述开关机控键包括如下至少一种：按压控键、摇杆控键、滑动控键和点击控键。
  18. 根据权利要求15所述的云台控制方法，其特征在于，所述触发操作包括如下至少一种：按压操作、摇杆操作、滑动操作和点击操作。
  19. 根据权利要求15所述的云台控制方法，其特征在于，所述开关机控键还用于控制所述手持云台的其他模式，所述开关机控键还用于控制所述手持云台的其他模式对应的所述触发操作不相同。
  20. 根据权利要求15所述的云台控制方法，其特征在于，所述手持云台为非正交结构的云台。
  21. 根据权利要求15-20中任一项所述的云台控制方法，其特征在于，所述生成与所述触发操作对应的竖拍模式控制指令，包括：
    获取所述触发操作对应的指令标签，并确定所述指令标签对应的指令是否为竖拍模式控制指令；
    若所述指令标签对应的指令为竖拍模式控制指令，则获取所述手持云台处于竖拍状态下各电机的目标关节角以及所述手持云台在当前状态下各电机的当前关节角；
    根据所述手持云台的各电机的所述目标关节角和所述当前关节角，生成对应的竖拍模式控制指令。
  22. 根据权利要求21所述的云台控制方法，其特征在于，所述根据所述手持云台的各电机的所述目标关节角和所述当前关节角，生成对应的竖拍模式控制指令，包括：
    根据所述手持云台的各电机的所述目标关节角和所述当前关节角，确定所述手持云台的各电机的关节角差值；
    根据所述手持云台的各电机的关节角差值，确定所述手持云台的各电机各自对应的旋转速度；
    根据所述手持云台的各电机的旋转速度，生成对应的竖拍模式控制指令。
  23. 根据权利要求22所述的云台控制方法，其特征在于，所述根据所述手持云台的各电机的关节角差值，确定所述手持云台的各电机各自对应的旋转速度，包括：
    获取预存的关节角差值与旋转速度之间的映射关系表；
    根据所述映射关系表，将所述手持云台的各电机的关节角差值各自对应的旋转速度作为所述手持云台的各电机各自对应的旋转速度。
  24. 一种云台，其特征在于，所述云台包括：
    至少一组轴组件，所述轴组件包括电机以及轴臂，所述电机，与所述轴臂相连接，用于驱动所述轴臂转动；以及，
    一个或多个处理器，至少一个所述处理器用于与所述电机通讯连接；其中，所述一个或多个处理器单独地或共同地工作，用于实现如下步骤：
    获取拍摄模式切换指令，并根据所述拍摄模式切换指令，确定待旋转的目标电机和所述目标电机的目标关节角，其中，所述拍摄模式切换指令用于控制拍摄模式的切换，所述目标关节角为待切换的拍摄模式对应的电机的关节角；
    计算所述目标电机的当前关节角与所述目标关节角之间的偏差值，并根据所述偏差值生成对应的旋转控制指令，其中，所述旋转控制指令用于控制所述目标电机旋转；
    基于所述旋转控制指令，控制所述目标电机进行旋转，直至旋转后的所述目标电机的关节角为所述目标关节角。
  25. 根据权利要求24所述的云台，其特征在于，所述一个或多个处理器实现基于所述旋转控制指令，控制所述目标电机进行旋转，直至旋转后的所述目标电机的关节角为所述目标关节角时，用于实现：
    在控制所述目标电机进行旋转的过程中，每隔预设时间确定旋转后的所述目标电机的关节角与所述目标关节角之间的差值；
    确定所述差值是否大于预设阈值；
    若所述差值大于预设阈值，则根据所述差值更新所述旋转控制指令，并基于更新后的旋转控制指令，控制所述目标电机进行旋转；
    若所述差值小于或等于预设阈值，则按照第一预设旋转速度控制所述目标电机进行旋转，直到旋转后的所述目标电机的关节角为所述目标关节角。
  26. 根据权利要求25所述的云台，其特征在于，所述一个或多个处理器实现根据所述差值更新所述旋转控制指令时，用于实现：
    获取预存的差值与旋转速度之间的映射关系表；
    根据所述映射关系表，将所述差值对应的旋转速度作为所述目标电机的旋转速度；
    根据所述目标电机的旋转速度更新所述旋转控制指令。
  27. 根据权利要求26所述的云台，其特征在于，所述一个或多个处理器实现根据所述差值更新所述旋转控制指令之前，还用于实现：
    确定所述目标电机的旋转速度是否小于第二预设旋转速度，其中，所述第 一预设旋转速度小于所述第二预设旋转速度；
    若所述目标电机的旋转速度小于第二预设旋转速度，则根据所述目标电机的旋转速度更新所述旋转控制指令。
  28. 根据权利要求24所述的云台，其特征在于，所述一个或多个处理器实现根据所述拍摄模式切换指令，确定待旋转的目标电机和所述目标电机的目标关节角时，用于实现：
    从所述拍摄模式切换指令中获取拍摄模式标签，并确定所述拍摄模式标签对应的拍摄模式是横拍模式，还是竖拍模式；
    若所述拍摄模式标签对应的拍摄模式是横拍模式，则将用于模式切换对应的电机作为待旋转的目标电机，且所述目标关节角为0度；
    若所述拍摄模式标签对应的拍摄模式是竖拍模式，则将用于模式切换对应的电机作为待旋转的目标电机，且所述目标关节角为90度。
  29. 根据权利要求24-28中任一项所述的云台，其特征在于，所述一个或多个处理器实现获取拍摄模式切换指令，并根据所述拍摄模式切换指令，确定待旋转的目标电机和所述目标电机的目标关节角时，用于实现：
    获取拍摄模式切换指令；
    当获取到所述拍摄模式切换指令时，根据所述拍摄模式切换指令，确定待旋转的目标电机和所述目标电机的目标关节角。
  30. 根据权利要求29所述的云台，其特征在于，所述一个或多个处理器实现获取拍摄模式切换指令时，用于实现：
    以间隔预设时间获取拍摄模式切换指令。
  31. 根据权利要求24-28中任一项所述的云台，其特征在于，所述云台设置有拍摄模式切换控键，所述一个或多个处理器实现获取拍摄模式切换指令，并根据所述拍摄模式切换指令，确定待旋转的目标电机和所述目标电机的目标关节角之前，用于实现：
    获取用户对所述拍摄模式切换控键的触发操作；
    根据获取到的用户对所述拍摄模式切换控键的触发操作，生成对应的拍摄模式切换指令。
  32. 根据权利要求31所述的云台，其特征在于，所述拍摄模式切换控键包括按压控键、摇杆控键、滑动控键和点击控键。
  33. 根据权利要求31所述的云台，其特征在于，所述触发操作包括按压操作、摇杆操作、滑动操作和点击操作。
  34. 根据权利要求24-28中任一项所述的云台，其特征在于，所述一个或多个处理器实现获取拍摄模式切换指令，并根据所述拍摄模式切换指令，确定待旋转的目标电机和所述目标电机的目标关节角之前，用于实现：
    在云台启动时，控制所述云台的各电机进行旋转，直至所述云台的各电机的关节角满足竖拍模式对应的关节角条件。
  35. 根据权利要求34所述的云台，其特征在于，所述一个或多个处理器实现在云台启动时，控制所述云台的各电机进行旋转，直至所述云台的各电机的关节角满足竖拍模式对应的关节角条件之后，用于实现：
    获取所述云台的当前姿态四元数，并将所述当前姿态四元数转换为横拍模式下的姿态四元数；
    对所述姿态四元数进行欧拉角解算，得到所述姿态四元数对应的欧拉角，并将所述竖拍模式对应的所述云台的各电机的关节角和所述欧拉角作为所述云台的初始姿态信息；
    根据所述云台的初始姿态信息，控制所述云台的各电机进行旋转，直至所述云台的各电机回到姿态零位。
  36. 根据权利要求34所述的云台，其特征在于，所述一个或多个处理器实现根据所述云台的初始姿态信息，控制所述云台的各电机进行旋转，直至所述云台的各电机回到姿态零位时，用于实现：
    将姿态零位对应的姿态信息作为目标姿态信息，并根据所述初始姿态信息和所述目标姿态信息，计算每个电机各自对应的姿态角偏差值；
    根据每个电机各自对应的姿态角偏差值，确定每个电机各自对应的旋转速度，并根据每个电机各自对应的旋转速度，生成每个电机各自对应的控制指令；
    基于每个电机各自对应的控制指令，控制所述云台的各电机进行旋转，直至所述云台的各电机回到姿态零位。
  37. 根据权利要求24-28中任一项所述的云台，其特征在于，所述云台为非正交结构的云台。
  38. 一种云台，其特征在于，所述云台包括开关机控键，所述开关机控键用于控制所述云台开机或关机，还用于控制所述云台的拍摄模式为竖拍模式；以及一个或多个处理器，其中，至少一个所述处理器用于与所述开关机控键通讯连接；其中，所述一个或多个处理器单独地或共同地工作，用于实现如下步骤：
    获取用户对所述开关机控键的触发操作；
    根据获取到的用户对所述开关机控键的触发操作，控制所述云台开机，并生成与所述触发操作对应的竖拍模式控制指令，所述竖拍模式控制指令用于控制所述云台的拍摄模式为竖拍模式；
    根据所述竖拍模式控制指令，控制所述云台处于竖拍状态。
  39. 根据权利要求38所述的云台，其特征在于，所述开关机控键还用于控制所述手持云台的拍摄模式为横拍模式。
  40. 根据权利要求38所述的云台，其特征在于，所述开关机控键包括如下至少一种：按压控键、摇杆控键、滑动控键和点击控键。
  41. 根据权利要求38所述的云台，其特征在于，所述触发操作包括如下至少一种：按压操作、摇杆操作、滑动操作和点击操作。
  42. 根据权利要求38所述的云台，其特征在于，所述开关机控键还用于控制所述云台的其他模式，所述开关机控键还用于控制所述云台的其他模式对应的所述触发操作不相同。
  43. 根据权利要求38所述的云台，其特征在于，所述云台为非正交结构的云台。
  44. 根据权利要求38-43中任一项所述的云台，其特征在于，所述一个或多个处理器实现生成与所述触发操作对应的竖拍模式控制指令时，用于实现：
    获取所述触发操作对应的指令标签，并确定所述指令标签对应的指令是否为竖拍模式控制指令；
    若所述指令标签对应的指令为竖拍模式控制指令，则获取所述云台处于竖拍状态下各电机的目标关节角以及所述云台在当前状态下各电机的当前关节角；
    根据所述云台的各电机的所述目标关节角和所述当前关节角，生成对应的竖拍模式控制指令。
  45. 根据权利要求44所述的云台，其特征在于，所述一个或多个处理器实现根据所述云台的各电机的所述目标关节角和所述当前关节角，生成对应的竖拍模式控制指令时，用于实现：
    根据所述云台的各电机的所述目标关节角和所述当前关节角，确定所述云台的各电机的关节角差值；
    根据所述云台的各电机的关节角差值，确定所述云台的各电机各自对应的旋转速度；
    根据所述云台的各电机的旋转速度，生成对应的竖拍模式控制指令。
  46. 根据权利要求45所述的云台，其特征在于，所述一个或多个处理器实 现根据所述云台的各电机的关节角差值，确定所述云台的各电机各自对应的旋转速度时，用于实现：
    获取预存的关节角差值与旋转速度之间的映射关系表；
    根据所述映射关系表，将所述云台的各电机的关节角差值各自对应的旋转速度作为所述云台的各电机各自对应的旋转速度。
  47. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时使所述处理器实现如权利要求1-23中任一项所述的云台控制方法。
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