WO2021026753A1 - 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

Info

Publication number
WO2021026753A1
WO2021026753A1 PCT/CN2019/100337 CN2019100337W WO2021026753A1 WO 2021026753 A1 WO2021026753 A1 WO 2021026753A1 CN 2019100337 W CN2019100337 W CN 2019100337W WO 2021026753 A1 WO2021026753 A1 WO 2021026753A1
Authority
WO
WIPO (PCT)
Prior art keywords
pan
tilt
attitude angle
centering
current
Prior art date
Application number
PCT/CN2019/100337
Other languages
English (en)
French (fr)
Inventor
常贤茂
刘帅
王映知
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 CN201980033540.0A priority Critical patent/CN112219178A/zh
Priority to PCT/CN2019/100337 priority patent/WO2021026753A1/zh
Publication of WO2021026753A1 publication Critical patent/WO2021026753A1/zh
Priority to US17/669,371 priority patent/US20220166910A1/en

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
    • F16M11/105—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis the horizontal axis being the roll axis, e.g. for creating a landscape-portrait rotation
    • 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
    • F16M11/2064—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction for tilting and panning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • G05D3/20—Control of position or direction using feedback using a digital comparing device
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
    • H04N23/681—Motion detection
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
    • H04N23/682—Vibration or motion blur correction
    • H04N23/685—Vibration or motion blur correction performed by mechanical compensation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F16M2200/041—Balancing means for balancing rotational movement of the head
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F16M2200/044—Balancing means for balancing rotational movement of the undercarriage

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 to a shooting stabilizer, such as a handheld pan-tilt, to automatically adjust the posture of the camera or smart phone according to the user's actions to keep the picture stable.
  • a shooting stabilizer such as a handheld pan-tilt
  • the traditional control of the handheld PTZ back It is difficult to control the handheld PTZ back to center accurately and safely.
  • this application provides a pan-tilt control method, pan-tilt, and computer-readable storage medium, aiming at accurately and safely controlling the pan-tilt back to center.
  • this application provides a pan-tilt control method, including:
  • the centering control instruction is executed to control the pan/tilt head to center until the posture angle of the clamping part after the centering is the target posture angle.
  • this application also provides a pan-tilt control method for a handheld pan-tilt, the handheld pan-tilt is provided with a center control key; the method includes:
  • pan/tilt centering instruction corresponding to the trigger operation according to the acquired user's triggering operation on the centering control key, where the pan/tilt centering instruction is used to control the handheld pan/tilt to center;
  • pan/tilt centering instruction control the handheld pan/tilt to center.
  • the present application also provides a pan/tilt head.
  • the pan/tilt head includes a clamping portion, a handle portion, and at least one set of shaft components.
  • the shaft component includes a motor and a shaft arm.
  • the motor and the shaft arm Are connected to drive the shaft arm to rotate, the shaft arm is connected with the clamping part, and the clamping part rotates with the rotation of the shaft arm; and further includes 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 jointly to implement the following steps:
  • the centering control instruction is executed to control the pan/tilt head to center until the posture angle of the clamping part after the centering is the target posture angle.
  • the present application also provides a pan/tilt head, the pan/tilt head includes a center control key, and one or more processors, wherein at least one of the processors is used to communicate with the center control key ;
  • the one or more processors work individually or together to implement the following steps:
  • pan/tilt centering instruction corresponding to the trigger operation according to the acquired user's triggering operation on the centering control key, where the pan/tilt centering instruction is used to control the centering of the pan/tilt;
  • 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 embodiments of the application provide a pan/tilt control method, a pan/tilt and a computer-readable storage medium.
  • the pan/tilt can be accurately determined through the current control mode of the pan/tilt, the current attitude angle of the handle and the current attitude angle of the clamping part.
  • the attitude angle when the centering is completed, and then based on the attitude angle and the current attitude angle of the clamping part, a control instruction for controlling the centering of the pan/tilt can be generated, and the control instruction can be executed, so that the pan/tilt can be stably in any attitude.
  • the tremor's execution return to center function can effectively reduce the problems of the gimbal throwing, hitting the upper limit or the system crash, and can accurately and safely control the gimbal to return to center.
  • FIG. 1 is a schematic diagram of the structure of a handheld PTZ for implementing the PTZ 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 flowchart of a sub-step of the pan-tilt control method in FIG. 2;
  • FIG. 4 is a schematic flowchart of another sub-step of the PTZ control method in FIG. 2;
  • FIG. 5 is a schematic diagram of the flow of controlling the switching mode and centering of the PTZ in an embodiment of the 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 handheld pan/tilt to adjust the attitude of the pan/tilt, for example, control the pan/tilt to return to the center.
  • the PTZ control method can solve the problem of centering of the PTZ in complex posture combinations when controlling the center of the PTZ. It fully considers the shortest path, mechanical limit and some limiting factors that will affect the centering function to ensure the The centering function can be completed normally under any combination of postures. The whole process is smooth and smooth, without tremor, which greatly improves the user experience.
  • 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 back to the center 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 back center control key 105 is used to control the handheld PTZ 100 back to center, the back center control key 105 is also used to control the handheld PTZ 100 to turn on or off, and the back center control key 105 is also used to control the mode switching of the handheld PTZ 100, such as To switch between flashlight mode, hanging mode, horizontal mode and vertical mode, the back-to-center control key 105 includes at least one of the following: press control key, joystick control key, slide control key, and click control key.
  • 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 accurate and safe return of the handheld pan/tilt.
  • the pan/tilt control method includes steps S101 to S103.
  • S101 Determine the target attitude angle of the pan/tilt head according to the current control mode of the pan/tilt head, the current attitude angle of the handle part, and the current attitude angle of the clamping part.
  • the handheld PTZ is a PTZ with a non-orthogonal structure.
  • the handheld PTZ includes a handle portion, a clamping portion, and at least one set of shaft assembly.
  • the shaft assembly includes a motor and a shaft arm.
  • the motor is connected to the shaft arm.
  • the motor is used to drive the shaft arm to rotate, the shaft arm is connected with the clamping part, and the clamping part rotates with the rotation of the shaft arm.
  • the clamping part is used to install imaging equipment such as smart phones or SLR cameras.
  • the handheld pan/tilt head determines the target attitude angle of the handheld pan/tilt head according to the current control mode, the current attitude angle of the handle part, and the current attitude angle of the clamping part.
  • the target attitude angle is the attitude angle of the pan/tilt head when the centering is completed.
  • the clamping part is provided with an inertial measurement unit
  • the current attitude angle of the clamping part can be determined by the set inertial measurement unit
  • the current attitude angle of the handle part is determined based on the current attitude angle of the clamping part, or the installation
  • Both the clamping portion and the handle portion are provided with an inertial measurement unit
  • the current attitude angle of the clamping portion and the current attitude angle of the handle portion can be determined by the respective inertial measurement units.
  • the cost of the device can be reduced, and accurate attitude angles of the clamping part and the handle part can be obtained, and by setting both the clamping part and the handle part
  • the inertial measurement unit does not need to obtain the attitude angle of the handle part through complicated calculations, and can quickly obtain the attitude angle of the clamping part and the handle part.
  • the handheld pan/tilt acquires the pan/tilt centering instruction in real time or at predetermined intervals.
  • the pan/tilt centering instruction is used to control the pan/tilt centering; when the pan/tilt centering instruction is acquired, it is based on the cloud centering instruction.
  • the PTZ return instruction can be obtained in time and accurately, which is convenient for subsequent timely and accurate control of the PTZ return.
  • control mode label is obtained from the PTZ centering instruction, and the control mode corresponding to the control mode label is used as the current control mode of the handheld PTZ; the attitude angle output by the inertial measurement unit at the current moment is obtained, and the inertia The attitude angle output by the measuring unit at the current time is used as the current attitude angle of the clamping part; the joint angle data output by the encoder at the current time is obtained, and the current attitude of the handle part is back calculated based on the joint angle data and the current attitude angle of the clamping part angle.
  • the control mode label is obtained from the pan/tilt center return instruction, and the control mode corresponding to the control mode label is used as the current control mode of the handheld pan/tilt;
  • the attitude output by the first inertial measurement unit at the current moment is acquired Angle and the attitude angle output by the second inertial measurement unit at the current moment; use the attitude angle output by the first inertial measurement unit at the current moment as the current attitude angle of the clamping part, and use the attitude angle output by the second inertial measurement unit at the current moment
  • the angle is used as the current attitude angle of the handle.
  • the hand-held pan/tilt detects the change process of the attitude angle of the handle. If it is detected that the change process of the attitude angle of the handle satisfies the preset handle attitude angle change mode, the pan/tilt return instruction is automatically triggered, and Get the centering instruction of the pan/tilt. Or hold the pan-tilt to detect the change process of the attitude angle of the handle. If it is detected that the change process of the attitude angle of the handle meets the preset handle attitude angle change mode, and the attitude angle of the clamping part follows the change process of the attitude angle of the handle If it changes, it will automatically trigger the pan/tilt centering instruction and get the pan/tilt centering instruction.
  • the aforementioned preset handle attitude angle change mode can be set based on actual conditions, which is not specifically limited in this application.
  • the handle attitude angle change mode is that the joint angle of the middle frame motor moves more than 40 degrees.
  • the hand-held pan/tilt is provided with a center control key, and the user can manually trigger the center control key through the center control key. Specifically, the user can obtain the trigger operation of the center control key. When the trigger operation of the center control key meets the preset trigger operation, the pan/tilt center return instruction is triggered, and the pan/tilt center return instruction is obtained.
  • the center control key includes at least one of the following: press control key, joystick control key, slide control key, and click control key
  • the trigger operation includes at least one of the following: press operation, joystick operation, sliding Operation and click operation.
  • the above preset trigger operation and the setting position of the center control key can be set based on actual conditions, and this application does not specifically limit this.
  • the center control key is arranged on the handle of the pan/tilt. By setting the center control key, it is convenient for the user to control the handheld pan/tilt back to center with one key, which improves the convenience of centering control and effectively improves the user experience.
  • step S101 includes sub-step S1011 to sub-step S1013.
  • the handheld gimbal stores the control mode of the gimbal, the posture angle of the handle and the posture angle of the clamping unit, the mapping relationship table formed with the desired posture angle, the control mode of the gimbal, the posture angle of the handle and the clamping
  • the posture angle of the part has a corresponding relationship with the desired posture angle.
  • the desired attitude angle is the desired attitude angle of the handheld gimbal when the centering is completed.
  • the handheld gimbal obtains the current control mode, and obtains the current attitude angle of the clamping part through the inertial measurement unit; obtains the joint angle data output by the encoder, and backcalculates based on the current attitude angle of the clamping part and the joint angle data
  • the current attitude angle of the handle part; or the current attitude angle of the clamping part and the current attitude angle of the handle part are obtained through inertial measurement units respectively provided in the clamping part and the handle part.
  • the mapping relationship table to obtain the current control mode of the pan/tilt, the current attitude angle of the handle and the current attitude angle of the clamping part, and the corresponding desired attitude angle, and use the acquired desired attitude angle as the target of the pan/tilt. Attitude angle.
  • the mapping relationship table formed with the desired attitude angle can quickly and accurately determine the center of the pan/tilt based on the current attitude angle and mode of the pan/tilt.
  • the rear attitude angle is convenient for subsequent control of the gimbal back to center.
  • the mapping relationship table formed by the control mode of the pan/tilt head, the attitude angle of the handle part, and the attitude angle of the clamping part and the desired attitude angle can be set based on actual conditions, which is not specifically limited in this application.
  • the posture of the hand-held part is divided into upright, inverted, left 90 degrees, right 90 degrees, forward 90 degrees and backward 90 degrees, a total of six states, and the clamping
  • the posture of the body is divided into four states: upright, upside down, 90 degrees forward and 90 degrees backward. It needs to be explained that this is divided without considering the rotation of the ROLL axis, which is mainly related to the horizontal and vertical shooting. Under the circumstance of ignoring the joint angle limit, the hand-held part and the clamping part can have 24 combined postures. The centering control under these 24 combinations can be classified and discussed to ensure the correctness of the function.
  • the control mode is also divided into five control modes: normal, upper flashlight, lower flashlight, left vertical shooting, and right vertical shooting. There will be different treatments under different control modes. In fact, some of the control under these 24 combined attitudes are universal. Therefore, based on returning to the attitude zero position as much as possible when it can return to the attitude zero position, and at the same time considering what attitude the user wants the gimbal to return to in the current attitude. Try to meet the basic idea of the user's expectations as much as possible, and establish a mapping relationship table between the control mode of the PTZ, the attitude angle of the handle part and the attitude angle of the clamping part, and the desired attitude angle.
  • Table 1 is a mapping relationship table between the control mode of the pan/tilt head, the attitude angle of the handle part, and the attitude angle of the clamping part, and the desired attitude angle.
  • the method for determining the desired attitude angle is specifically: determining the desired attitude angle label according to the current control mode of the pan/tilt, the current attitude angle of the handle and the current attitude angle of the clamping part, that is, obtaining the first control mode corresponding to the current control mode of the pan/tilt.
  • the posture angle corresponding to the determined desired posture angle label is taken as the expected posture angle of the gimbal, that is, the mapping relationship table is queried to obtain the expected posture angle corresponding to the expected posture angle label, and The obtained desired attitude angle is used as the desired attitude angle of the gimbal.
  • the desired attitude angle label and the mapping relationship table the desired attitude angle of the pan/tilt can be quickly determined, which indirectly improves the centering speed.
  • the splicing mode of the first label, the second label and the third label can be set based on actual conditions, which is not specifically limited in this application.
  • it can be spliced in the order of the first label, the second label and the third label. For example, if the first label is 01, the second label is 101, and the third label is 011, the desired posture angle label obtained by splicing is 01101011.
  • step S101 includes sub-step S1014 to sub-step S1016.
  • the handheld pan/tilt has stored the combination posture code corresponding to the handle part and the clamping part, and the mapping relationship table with the desired attitude angle.
  • the control mode of the handheld pan/tilt has a corresponding relationship with the mapping relationship table, that is, different control modes correspond to different mappings. Relational tables. According to the current control mode, the handheld PTZ obtains the combined posture code corresponding to the handle part and the clamping part, and the mapping relationship table with the expected posture angle.
  • the handheld PTZ obtains the current attitude angle of the handle and the current attitude angle of the clamping part, and based on the current attitude angle of the handle and the current attitude angle of the clamping part, determines the corresponding combined attitude code, that is, obtains the current attitude of the handle.
  • the first posture code corresponding to the posture angle, and the second posture code corresponding to the current posture angle of the clamping part; the first posture code and the second posture code are spliced to obtain the spliced posture code, and the spliced posture
  • the code is used as a combined posture code.
  • the splicing method of the first posture code and the second posture code can be set based on actual conditions, which is not specifically limited in this application.
  • the second posture code and the first posture code are spliced in the order, for example, if the first posture code is 11 and the second posture code is 10, the combined posture code obtained by splicing is 1011.
  • mapping relationship table use the desired posture angle corresponding to the determined combined posture code as the target posture angle of the pan/tilt.
  • the mapping relationship table is queried, the desired attitude angle corresponding to the combined attitude code is acquired, and the acquired desired attitude angle is used as the target attitude angle of the pan/tilt.
  • the control mode Take the control mode as the unit, store the combined posture code corresponding to the handle part and the clamping part, and the mapping relationship table with the desired posture angle, which is convenient for quickly querying the mapping relation table based on the control mode, and accurately determine the target posture angle of the pan/tilt for subsequent accuracy Control the PTZ back to center safely.
  • S102 Determine the attitude deviation value of the pan/tilt head according to the target attitude angle and the current attitude angle of the clamping part, and generate a corresponding centering control instruction according to the attitude deviation value.
  • the handheld pan/tilt After determining the target attitude angle of the pan/tilt, the handheld pan/tilt determines the attitude deviation value of the pan/tilt based on the target attitude angle and the current attitude angle of the clamping part, and generates a corresponding centering control command according to the attitude deviation value. Specifically, calculate the difference between the target attitude angle and the current attitude angle of the clamping part, and use the difference between the target attitude angle and the current attitude angle of the clamping part as the attitude deviation value of the pan/tilt; obtain the pre-stored attitude deviation value And query the mapping relationship table to obtain the centering speed corresponding to the attitude deviation value, and based on the centering speed, generate the corresponding centering control command. It should be noted that the above-mentioned mapping relationship table between the attitude deviation value and the centering speed can be set based on actual conditions, which is not specifically limited in this application.
  • the handheld pan/tilt executes the centering control instruction to control the centering of the pan/tilt, that is, the handheld pan/tilt determines the motor to be rotated based on the centering control instruction, and according to the centering speed in the centering control instruction, the speed is uniform.
  • the motor is controlled to rotate.
  • the rotation of the motor drives the clamping part to rotate, thereby changing the attitude angle of the clamping part.
  • the attitude angle of the clamping part after returning to the center is the target attitude angle, hold the pan/tilt to complete the return.
  • the pan/tilt can be controlled to return to the center without tremor, which greatly improves the user experience.
  • the centering speed in the centering control instruction can be updated, and the motor can be controlled to rotate according to the updated centering speed, and the pan/tilt back can be controlled at a variable speed.
  • the centering deviation value of the pan/tilt head determines the centering deviation value of the pan/tilt head according to the target attitude angle and the attitude angle of the pan/tilt head after centering at predetermined intervals; determine whether the centering deviation value is It is greater than the preset threshold.
  • the centering control command will be updated according to the deviation value of the centering, and the updated centering control command will be executed to control the centering of the pan/tilt; If the deviation value is less than or equal to the preset threshold, it is determined that the posture angle of the clamping part after centering is the target posture angle, and the pan/tilt is controlled to end the centering.
  • the rotating motor can be accelerated while ensuring stability, which can increase the centering speed, reduce user waiting time, and greatly improve user experience.
  • the update method of the centering control command can be: the handheld PTZ obtains the mapping relationship table between the centering deviation value and the centering speed; according to the mapping relationship table, the centering speed corresponding to the centering deviation value is taken as the cloud
  • the centering speed of the platform is to query the mapping table, obtain the centering speed corresponding to the deviation value of the centering, and use the obtained centering speed as the centering speed of the gimbal; update the centering speed according to the centering speed of the gimbal
  • the centering control command is about to update the centering speed in the centering control command to the centering speed of the pan/tilt. It should be noted that the greater the centering deviation value, the higher the centering speed, and the smaller the centering deviation value, the lower the centering speed.
  • the speed threshold is the maximum value that the return speed can reach under the condition that the return center is stable, which can be obtained through a large number of experiments. By setting the maximum value that can be reached by the centering speed, it is possible to prevent the gimbal from being damaged or unstable due to the high speed during the centering process, and improve the accuracy and safety of the centering.
  • the centering duration of the pan/tilt is recorded, and it is determined whether the centering duration is greater than a preset time threshold. If the centering duration is greater than the preset time threshold, Time threshold, control the PTZ to end and return to center. It should be noted that the above-mentioned time threshold can be set based on actual conditions, which is not specifically limited in this application. By setting the time threshold of the centering duration, the centering can be forced to end when the centering duration exceeds the time threshold, preventing problems such as damage to the pan/tilt due to timeout of centering, and improving the accuracy of centering.
  • the control command of the handheld pan/tilt is the ZXYX control command, that is, the handheld pan/tilt performs an additional X-axis rotation based on the traditional ZXY sequence, which is recorded as ROLL2, and the ZXYX control command is YAW, ROLL , PITCH and ROLL2, ROLL2 is used for horizontal and vertical shooting control, ROLL2 is 0 degree in horizontal shooting state, and 90 degree in vertical shooting state. Since ROLL2 is the last X-rotation, it will not affect the normal ROLL, PITCH, YAW commands. The difference between horizontal and vertical shooting is only whether ROLL2 control is required, so when controlling the pan/tilt back to the center, there is no need to shoot horizontally and vertically. Perform differentiated control. It can simplify the control logic of returning to center, greatly improving the speed of returning to center, and effectively improving user experience.
  • FIG. 5 is a schematic diagram of the process of controlling the switching mode and centering of the PTZ in an embodiment of this application.
  • the gimbal when the gimbal is turned on, it automatically enters the joint angle control mode to determine the shooting mode of the gimbal.
  • a pan/tilt return instruction determines whether a pan/tilt return instruction is received. If a pan/tilt return instruction is received, select the desired attitude angle for return based on the control mode, the current attitude angle of the handle and the current attitude angle of the camera, and Make the difference between the desired attitude angle and the camera's current attitude angle to obtain the attitude angle deviation; determine whether the attitude angle deviation meets the end condition, that is, determine whether the attitude angle deviation is less than the set deviation threshold, if the attitude angle deviation is less than the set If the attitude angle deviation is greater than the set deviation threshold, the control command will be generated according to the attitude angle deviation, and based on the control command, the pan/tilt will be controlled to return to center; During the centering process, determine whether the centering operation has timed out. If the centering operation does not time out, continue to control the pan-tilt to center. If the centering operation times out, the centering operation is forced to end and the pan-tilt operates normally.
  • the PTZ control method provided in the above embodiment can accurately determine the PTZ attitude angle when the centering is completed through the current control mode of the PTZ, the current attitude angle of the handle part and the current attitude angle of the clamping part, and then based on this
  • the attitude angle and the current attitude angle of the clamping part can generate a control command for controlling the centering of the gimbal and execute the control command, so that the gimbal can perform the centering function smoothly and without tremor in any posture, which can effectively reduce
  • the pan/tilt can be controlled accurately and safely for problems such as throwing, hitting the upper limit, or crashing the system.
  • FIG. 6 is a schematic flowchart of steps of another pan/tilt control method according to an embodiment of the present application.
  • the pan-tilt control method includes steps S201 to S204.
  • the handheld pan/tilt is a pan/tilt with a non-orthogonal structure.
  • the handheld pan/tilt is equipped with a center control key, and the user can control the pan/tilt to return to center by triggering the center control key.
  • the hand-held pan/tilt detects the user's triggering operation of the center control key, and when the user's triggering operation of the center control key is detected, the user's trigger operation of the center control key is acquired.
  • the center control key includes at least one of the following: press control key, joystick control key, slide control key, and click control key
  • the trigger operation includes at least one of the following: press operation, joystick operation, sliding Operation and click operation.
  • the above preset trigger operation and the setting position of the center control key can be set based on actual conditions, and this application does not specifically limit this.
  • the central control key is set on the handle of the pan-tilt.
  • the center control key is also used to control the handheld pan/tilt to switch between horizontal and vertical shooting modes; and/or the center control key is also used to control the handheld pan/tilt to turn on and/or shut down.
  • the center control key By setting different control functions for the central control key, one key can be used for multiple controls, reducing the number of control keys, facilitating the user to control the PTZ, and greatly improving the user experience.
  • S202 Generate a pan/tilt centering instruction corresponding to the trigger operation according to the acquired user's trigger operation on the centering control key, where the pan/tilt centering instruction is used to control the handheld pan/tilt to center.
  • the hand-held pan/tilt includes a handle part, a clamping part and at least one set of shaft assembly.
  • the shaft assembly includes a motor and a shaft arm.
  • the motor is connected to the shaft arm.
  • the motor is used to drive the shaft arm to rotate.
  • the clamping part is connected, the clamping part rotates with the rotation of the shaft arm, and the clamping part is used to install a smart phone or a SLR camera and other imaging equipment.
  • the handheld pan/tilt generates a pan/tilt centering instruction corresponding to the trigger operation according to the trigger operation.
  • the pan/tilt centering instruction is used to control the handheld pan/tilt centering, that is, when the user triggers the center control key
  • obtain the current control mode of the handheld gimbal, the current attitude angle of the handle and the current attitude angle of the clamping part determine according to the current control mode of the handheld pan/tilt, the current attitude angle of the handle and the current attitude angle of the clamping part
  • the target attitude angle of the handheld gimbal, the target attitude angle is the attitude angle of the handheld gimbal when the centering is completed; according to the target attitude angle and the current attitude angle of the clamping part, the corresponding pan/tilt return instruction is generated.
  • the method for determining the target attitude angle of the handheld gimbal may be: acquiring the control mode of the handheld gimbal, the attitude angle of the handle part, and the attitude angle of the clamping part, and the mapping relationship table formed by the desired attitude angle.
  • the control mode of the stage, the attitude angle of the handle part and the attitude angle of the clamping part have a corresponding relationship with the expected attitude angle; according to the mapping relationship table and the current control mode of the handheld pan/tilt, the current attitude angle of the handle and the clamping part Determine the desired attitude angle of the handheld gimbal, and use the desired attitude angle as the target attitude angle of the handheld gimbal.
  • the handheld cloud can be quickly and accurately determined based on the current attitude angle and mode of the handheld gimbal
  • the posture angle after returning to center facilitates the subsequent generation of accurate and safe pan/tilt returning instructions to improve the accuracy and safety of returning to center.
  • the way of generating the PTZ centering instruction may be: determining the attitude deviation value of the handheld PTZ based on the target attitude angle and the current attitude angle of the clamping part, that is, calculating the angle difference between the target attitude angle and the current attitude angle The angle difference is used as the attitude deviation value of the handheld gimbal; according to the attitude deviation value, the return speed of the handheld gimbal is determined, that is, the mapping relationship table between the prestored attitude deviation value and the return speed is obtained, and Query the mapping table to obtain the centering speed corresponding to the attitude deviation value, and use the centering speed as the centering speed of the handheld gimbal; generate the corresponding PTZ centering instruction according to the centering speed of the handheld gimbal , The PTZ centering instruction includes the centering speed of the handheld PTZ and the attitude angle of the handheld PTZ when the centering is completed.
  • S203 Control the handheld pan/tilt to return to center according to the pan/tilt centering instruction.
  • control the handheld gimbal to center according to the pan/tilt centering instruction that is, the handheld pan/tilt obtains the target attitude angle and the target attitude angle of the handheld gimbal when centering is completed from the pan/tilt centering instruction.
  • Centering speed, and according to the centering speed control the handheld gimbal back to center at a constant speed until the attitude angle of the handheld gimbal after returning to center is the target attitude angle.
  • the centering speed in the centering instruction of the pan/tilt may be updated, and the motor can be controlled to rotate according to the updated centering speed, and the cloud can be controlled at a variable speed.
  • the angle difference between the target attitude angle and the attitude angle of the gimbal after return is calculated at an interval preset time; it is determined whether the angle difference is greater than The preset angle threshold, if the angle difference is greater than the preset angle threshold, update the pan/tilt centering command according to the angle difference, and control the handheld pan/tilt to center according to the updated pan/tilt centering command; if If the angle difference is less than or equal to the preset angle threshold, the pan/tilt is controlled to end and return to center.
  • the above-mentioned angle threshold can be set based on actual conditions, which is not specifically limited in this application.
  • the pan/tilt control method provided in the foregoing embodiment can facilitate the user to control the handheld pan/tilt to return to center by setting the center control key, which 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 300 includes a clamping portion 301, a handle portion 302, and at least one set of shaft assembly 303.
  • the shaft assembly 303 includes a motor 3031 and a shaft arm 3032.
  • the motor 3031 and the shaft arm 3032 Is connected to drive the shaft arm 3032 to rotate, the shaft arm 3032 is connected to the clamping portion 301, and the clamping portion 301 rotates with the rotation of the shaft arm 3032; and further includes one or A plurality of processors 304, at least one of the processors 304 is configured to communicate with the motor 3031.
  • the processor 304 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 memory 304 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) disk, an optical disk, a U disk, or a mobile hard disk.
  • the one or more processors work individually or together to implement the following steps:
  • the centering control instruction is executed to control the pan/tilt head to center until the posture angle of the clamping part after the centering is the target posture angle.
  • the one or more processors realize that before determining the target attitude angle of the pan/tilt head according to the current control mode of the pan/tilt head, the current attitude angle of the handle part, and the current attitude angle of the clamping part, it is also used to realize :
  • the pan/tilt centering instruction is used to control the pan/tilt centering
  • the current control mode of the PTZ, the current attitude angle of the handle part and the current attitude angle of the clamping part are acquired.
  • the one or more processors implement the pan/tilt centering instruction, they are used to implement:
  • the one or more processors implement the pan/tilt centering instruction, they are used to implement:
  • the pan/tilt centering instruction is acquired .
  • the pan/tilt is provided with a centering control key; when the one or more processors implement the pan/tilt centering instruction, it is used to achieve:
  • the pan/tilt centering instruction is acquired.
  • the center control key includes at least one of the following: a press control key, a joystick control key, a slide control key, and a click control key; and/or the trigger operation includes at least one of the following: press operation, shake Stick operation, sliding operation and click operation.
  • the one or more processors determine the target attitude angle of the pan/tilt head according to the current control mode of the pan/tilt head, the current attitude angle of the handle part, and the current attitude angle of the clamping part, it is used to achieve:
  • the current control mode of the pan/tilt determines the desired attitude angle of the pan/tilt head, and set the The desired attitude angle is used as the target attitude angle.
  • the one or more processors can determine according to the mapping relationship table, the current control mode of the pan/tilt, the current attitude angle of the handle and the current attitude angle of the clamping part When the desired attitude angle of the PTZ is used to realize:
  • the determined posture angle corresponding to the desired posture angle tag is used as the expected posture angle of the pan/tilt head.
  • the one or more processors determine the target attitude angle of the pan/tilt head according to the current control mode of the pan/tilt head, the current attitude angle of the handle part, and the current attitude angle of the clamping part, it is used to achieve:
  • the combined attitude code corresponding to the handle part and the clamping part is obtained, and the mapping relationship table with the desired attitude angle is obtained.
  • the control mode of the pan/tilt and the mapping relationship table have Correspondence;
  • the desired attitude angle corresponding to the determined combined attitude code is taken as the target attitude angle of the pan/tilt head.
  • the one or more processors can determine the current attitude angle of the handle part and the current attitude angle of the clamping part according to the current attitude angle of the handle part and the current attitude angle of the clamping part.
  • the combined attitude code corresponding to the attitude angle is used to realize:
  • the first pose code and the second pose code are spliced to obtain a spliced pose code, and the spliced pose code is used as a combined pose code.
  • the one or more processors determine the attitude deviation value of the pan/tilt head according to the target attitude angle and the current attitude angle of the clamping part, it is used to realize:
  • the one or more processors implement the centering control instruction to control the pan-tilt to return to center until the posture angle of the clamping part after the centering is the target posture angle To achieve:
  • centering deviation value is greater than the preset threshold value, updating the centering control instruction according to the centering deviation value, and executing the updated centering control instruction to control the pan/tilt to return to center;
  • centering deviation value is less than or equal to the preset threshold, determining the posture angle of the clamping part after centering is the target posture angle, and controlling the pan/tilt head to end centering.
  • the one or more processors implement updating the centering control instruction according to the centering deviation value, it is used to implement:
  • the centering control instruction is updated according to the centering speed of the pan/tilt.
  • the one or more processors update the centering control instruction according to the centering speed of the pan/tilt, it is also used to achieve:
  • the centering control command is updated according to the centering speed of the pan/tilt head.
  • the one or more processors are further used to implement:
  • the pan/tilt is controlled to end the centering.
  • the clamping part is provided with an inertial measurement unit, the current attitude angle of the clamping part is determined by the set inertial measurement unit, and the current attitude angle of the handle is based on the current attitude angle of the clamping part determine.
  • both the clamping portion and the handle portion are provided with an inertial measurement unit, and the current attitude angle of the clamping portion and the current attitude angle of the handle portion are determined by the inertial measurement unit provided.
  • 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 head 400 includes a center control key 401 and one or more processors 402, wherein at least one of the processors 402 is configured to communicate with the center control key 401.
  • 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
  • the one or more processors work individually or together to implement the following steps:
  • pan/tilt centering instruction corresponding to the trigger operation according to the acquired user's triggering operation on the centering control key, where the pan/tilt centering instruction is used to control the centering of the pan/tilt;
  • the center control key includes at least one of the following: a press control key, a joystick control key, a slide control key, and a click control key; and/or,
  • the trigger operation includes at least one of the following: a pressing operation, a rocker operation, a sliding operation, and a click operation; and/or,
  • the center control key is also used to control the handheld pan/tilt to switch between horizontal and vertical shooting modes; and/or,
  • the center control key is also used to control the handheld pan/tilt to turn on and/or turn off.
  • the PTZ is a PTZ with a non-orthogonal structure.
  • the one or more processors when the one or more processors generate a pan/tilt center return instruction corresponding to the trigger operation according to the acquired user's trigger operation on the center control key, it is used to achieve:
  • the current attitude angle of the handle and the current attitude angle of the clamping part is determined, and the target attitude angle is that of the pan/tilt head when the centering is completed Attitude angle
  • the one or more processors when the one or more processors generate a corresponding pan/tilt centering instruction according to the target attitude angle and the current attitude angle of the clamping part, it is used to achieve:
  • attitude deviation value determine the centering speed of the handheld pan/tilt head, and generate a corresponding pan/tilt centering instruction according to the centering speed of the handheld 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Studio Devices (AREA)
  • Accessories Of Cameras (AREA)
  • User Interface Of Digital Computer (AREA)

Abstract

一种云台控制方法、云台及计算机可读存储介质，其中该方法包括：根据云台的当前控制模式、手柄部的当前姿态角和装夹部的当前姿态角，确定云台的目标姿态角(S101)；根据所述目标姿态角和所述装夹部的当前姿态角，确定所述云台的姿态偏差值，并根据所述姿态偏差值生成对应的回中控制指令(S102)；执行所述回中控制指令，以控制所述云台回中，直至回中后的所述装夹部的姿态角为所述目标姿态角(S103)。该方法能够准确安全的控制云台回中。

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
人们可以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拍摄稳定器，例如手持云台上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，在手持云台的工作过程中，为了便于用户使用手持云台，通常需要控制手持云台回到姿态零位，即控制手持云台回中，然而，传统的控制手持云台回中的方法，难以准确安全的控制手持云台回中。
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，旨在准确安全的控制云台回中。
第一方面，本申请提供了一种云台控制方法，包括：
根据云台的当前控制模式、手柄部的当前姿态角和装夹部的当前姿态角，确定所述云台的目标姿态角，所述目标姿态角为所述云台在回中完成时的姿态角；
根据所述目标姿态角和所述装夹部的当前姿态角，确定所述云台的姿态偏差值，并根据所述姿态偏差值生成对应的回中控制指令；
执行所述回中控制指令，以控制所述云台回中，直至回中后的所述装夹部的姿态角为所述目标姿态角。
第二方面，本申请还提供一种云台控制方法，用于手持云台，所述手持云 台设置有回中控键；所述方法包括：
获取用户对所述回中控键的触发操作；
根据获取到的用户对所述回中控键的触发操作，生成与所述触发操作对应的云台回中指令，所述云台回中指令用于控制所述手持云台回中；
根据所述云台回中指令，控制所述手持云台回中。
第三方面，本申请还提供了一种云台，所述云台包括装夹部、手柄部和至少一组轴组件，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，所述轴臂与所述装夹部相连接，所述装夹部随着所述轴臂转动而转动；以及还包括一个或多个处理器，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：
根据云台的当前控制模式、手柄部的当前姿态角和装夹部的当前姿态角，确定所述云台的目标姿态角，所述目标姿态角为所述云台在回中完成时的姿态角；
根据所述目标姿态角和所述装夹部的当前姿态角，确定所述云台的姿态偏差值，并根据所述姿态偏差值生成对应的回中控制指令；
执行所述回中控制指令，以控制所述云台回中，直至回中后的所述装夹部的姿态角为所述目标姿态角。
第四方面，本申请还提供了一种云台，所述云台包括回中控键，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回中控键通讯连接；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：
获取用户对所述回中控键的触发操作；
根据获取到的用户对所述回中控键的触发操作，生成与所述触发操作对应的云台回中指令，所述云台回中指令用于控制所述云台回中；
根据所述云台回中指令，控制所述云台回中。
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，通过云台的当前控制模式、手柄部的当前姿态角和装夹部的当前姿态角，可以准确的确定云台在回中完成时的姿态角，然后基于该姿态角和装夹部的当前姿态 角，可以生成用于控制云台回中的控制指令，并执行该控制指令，使得云台可以任意姿态下平稳无震颤感的执行回中功能，可以有效的减少云台乱甩、撞上限位或者系统崩溃等问题，能够准确安全的控制云台回中。
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手持云台的一结构示意图；
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为图2中云台控制方法的一子步骤示意流程图；
图4为图2中云台控制方法的另一子步骤示意流程图；
图5为本申请实施例中控制云台切换模式与回中的流程示意图；
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，以调整云台的姿态，例如，控制云台回中。该云台控制方法在控制云台回中时，能够解决云台在复杂姿态组合下的回中问题，充分考虑了最短路径、机械限位以及一些会影响回中功能的限制因素，保证了在任何姿态组合下都能够正常完成回中功能，整个过程流畅顺滑，无震颤感，极大的提升了用户体验。
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和回中控键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。回中控键105用于控制手持云台100回中，回中控键105还用于控制手持云台100开机或关机，回中控键105还用于控制手持云台100的模式切换，如手电筒模式、悬挂模式、横拍模式和竖拍模式等的切换，回中控键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。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，用于控制手持云台准确安全的回中。
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、根据云台的当前控制模式、手柄部的当前姿态角和装夹部的当前姿态角，确定所述云台的目标姿态角。
其中，手持云台为非正交结构的云台，该手持云台包括手柄部、装夹部和至少一组轴组件，该轴组件包括电机以及轴臂，该电机与该轴臂相连接，该电机用于驱动轴臂转动，轴臂与装夹部相连接，装夹部随着轴臂转动而转动，该装夹部用于安装智能手机或单反相机等摄像设备。
具体地，手持云台根据当前控制模式、手柄部的当前姿态角和装夹部的当前姿态角，确定手持云台的目标姿态角，该目标姿态角为云台在回中完成时的姿态角。其中，该装夹部设置有惯性测量单元，该装夹部的当前姿态角可以通 过设置的惯性测量单元确定，该手柄部的当前姿态角基于装夹部的当前姿态角确定，或者，该装夹部和手柄部均设置一惯性测量单元，该装夹部的当前姿态角和手柄部的当前姿态角可以通过各自设置的惯性测量单元确定。通过在装夹部设置惯性测量单元，而手柄部不设置惯性测量单元，可以减少器件成本，也可以得到准确的装夹部和手柄部的姿态角，而通过在装夹部和手柄部均设置惯性测量单元，不需要通过复杂的计算得到手柄部的姿态角，可以快速的获取装夹部和手柄部的姿态角。
在一实施例中，手持云台实时或以间隔预设时间获取云台回中指令，该云台回中指令用于控制云台回中；当获取到云台回中指令，则根据该云台回中指令，获取手持云台的当前控制模式、手柄部的当前姿态角和装夹部的当前姿态角。通过实时或定时检测获取云台回中指令，可以及时准确的获取云台回中指令，便于后续及时准确的控制云台回中。
具体地，从该云台回中指令中获取控制模式标签，并将该控制模式标签对应的控制模式作为手持云台的当前控制模式；获取惯性测量单元在当前时刻输出的姿态角，并将惯性测量单元在当前时刻输出的姿态角作为装夹部的当前姿态角；获取编码器在当前时刻输出的关节角数据，并基于该关节角数据和装夹部的当前姿态角反算手柄部的当前姿态角。通过在装夹部设置惯性测量单元，而手柄部不设置惯性测量单元，可以减少器件成本，也可以得到准确的装夹部和手柄部的姿态角。
在一实施例中，从该云台回中指令中获取控制模式标签，并将该控制模式标签对应的控制模式作为手持云台的当前控制模式；获取第一惯性测量单元在当前时刻输出的姿态角以及第二惯性测量单元在当前时刻输出的姿态角；将第一惯性测量单元在当前时刻输出的姿态角作为装夹部的当前姿态角，以及将第二惯性测量单元在当前时刻输出的姿态角作为手柄部的当前姿态角。通过在装夹部和手柄部均设置惯性测量单元，不需要通过复杂的计算得到手柄部的姿态角，可以快速的获取装夹部和手柄部的姿态角。
在一实施例中，手持云台对手柄部的姿态角的变化过程进行检测，若检测到手柄部的姿态角变化过程满足预设手柄姿态角变化方式，则自动触发云台回中指令，并获取该云台回中指令。或者手持云台对手柄部的姿态角的变化过程进行检测，若检测到手柄部的姿态角变化过程满足预设手柄姿态角变化方式， 且装夹部的姿态角跟随手柄部的姿态角变化过程而变化，则自动触发云台回中指令，并获取该云台回中指令。需要说明的是，上述预设手柄姿态角变化方式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，手柄姿态角变化方式为中框电机的关节角的移动超过40度。
在一实施例中，手持云台设置有回中控键，用户可通过该回中控键手动触发云台回中指令，具体地，获取用户对该回中控键的触发操作，若用户对该回中控键的触发操作满足预设触发操作，则触发云台回中指令，并获取该云台回中指令。其中，该回中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，和/或该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。需要说明的是，上述预设触发操作和回中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，该回中控键设置于云台的手柄部。通过设置回中控键，方便用户一键控制手持云台回中，提高回中控制的便利性，有效的提高了用户体验。
在一实施例中，如图3所示，步骤S101包括子步骤S1011至子步骤S1013。
S1011、获取所述云台的控制模式、所述手柄部的姿态角以及所述装夹部的姿态角，与期望姿态角形成的映射关系表。
其中，手持云台中存储有云台的控制模式、手柄部的姿态角以及装夹部的姿态角，与期望姿态角形成的映射关系表，云台的控制模式、手柄部的姿态角以及装夹部的姿态角，与期望姿态角具有对应关系。期望姿态角为期望手持云台在回中完成时的姿态角。
S1012、获取所述云台的当前控制模式、手柄部的当前姿态角和装夹部的当前姿态角。
具体地，手持云台获取当前控制模式，并通过惯性测量单元获取装夹部的当前姿态角；获取编码器输出的关节角数据，并基于装夹部的当前姿态角和该关节角数据反算手柄部的当前姿态角；或者通过分别设置在装夹部和手柄部的惯性测量单元获取装夹部的当前姿态角和手柄部的当前姿态角。
S1013、根据所述映射关系表、以及所述云台的当前控制模式、所述手柄部的当前姿态角和所述装夹部的当前姿态角，确定所述云台的期望姿态角，并将所述期望姿态角作为所述目标姿态角。
具体地，查询该映射关系表，获取云台的当前控制模式、手柄部的当前姿 态角和装夹部的当前姿态角，对应的期望姿态角，并将获取到的期望姿态角作为云台的目标姿态角。通过设置云台的控制模式、手柄部的姿态角以及装夹部的姿态角，与期望姿态角形成的映射关系表，可以基于云台的当前姿态角和模式，快速准确的确定云台回中后的姿态角，便于后续控制云台回中。需要说明的是，云台的控制模式、手柄部的姿态角以及装夹部的姿态角，与期望姿态角形成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，根据手持部的重力方向，将手持部的姿态划分为正置、倒置、左倾90度、右倾90度、前倾90度和后倾90度，总计六种状态，而将装夹部的姿态划分为正置、倒置、前倾90度和后倾90度，总计四种状态。需要说明但是，这是在不考虑ROLL轴旋转的情况下划分的，ROLL轴主要和横竖拍切换有关。在忽略关节角限位的情况下，手持部和装夹部可以有24种组合姿态，将这24种组合下的回中控制进行分类讨论，即可保证功能的正确性。控制模式还分成了正常、上手电筒、下手电筒、左竖拍、右竖拍总计五种控制模式，在不同的控制模式下也会有不同的处理。实际这24种组合姿态下的控制，有一部分是通用的，因此基于能回到姿态零位的时候尽可能回到姿态零位，同时考虑用户在当前姿态下希望云台回到怎样的姿态，尽量符合用户的期望的基本思想，建立云台的控制模式、手柄部的姿态角以及装夹部的姿态角，与期望姿态角之间的映射关系表。
可选地，表1为云台的控制模式、手柄部的姿态角以及装夹部的姿态角，与期望姿态角之间的一映射关系表。
表1
Figure PCTCN2019100337-appb-000001
Figure PCTCN2019100337-appb-000002
其中，期望姿态角的确定方式具体为：根据云台的当前控制模式、手柄部的当前姿态角和装夹部的当前姿态角，确定期望姿态角标签，即获取云台的当前控制模式对应的第一标签、手柄部的当前姿态角对应的第二标签和装夹部的当前姿态角对应的第三标签，并对第一标签、第二标签和第三标签进行拼接，且将拼接得到的标签作为期望姿态角标签；根据映射关系表，将确定的期望姿态角标签对应的姿态角作为该云台的期望姿态角，即查询该映射关系表，获取该期望姿态角标签对应的期望姿态角，并获取到的期望姿态角作为云台的期望姿态角。通过期望姿态角标签和映射关系表，可以快速的确定云台的期望姿态角，间接的提高回中速度。
需要说明的是，第一标签、第二标签和第三标签的拼接方式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，可按照第一标签、第二标签和第三标签的顺序拼接。例如，设第一标签为01，第二标签为101，第三标签为011，则拼接得到的期望姿态角标签为01101011。
在一实施例中，如图4所示，步骤S101包括子步骤S1014至子步骤S1016。
S1014、根据所述云台的当前控制模式，获取所述手柄部和所述装夹部对应的组合姿态码，与期望姿态角的映射关系表。
其中，手持云台中存储有手柄部和装夹部对应的组合姿态码，与期望姿态角的映射关系表，手持云台的控制模式与该映射关系表具有对应关系，即不同 控制模式对应不同的映射关系表。手持云台根据当前控制模式，获取手柄部和装夹部对应的组合姿态码，与期望姿态角的映射关系表。
S1015、根据所述手柄部的当前姿态角和所述装夹部的当前姿态角，确定所述手柄部的当前姿态角和所述装夹部的当前姿态角对应的组合姿态码。
具体地，手持云台获取手柄部的当前姿态角和装夹部的当前姿态角，并基于手柄部的当前姿态角和装夹部的当前姿态角，确定对应的组合姿态码，即获取手柄部的当前姿态角对应的第一姿态码，以及获取装夹部的当前姿态角对应的第二姿态码；将第一姿态码与第二姿态码进行拼接，得到拼接的姿态码，并将拼接得到的姿态码作为组合姿态码。需要说明的是，第一姿态码和第二姿态码的拼接方式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，按照第二姿态码和第一姿态码的顺序拼接，例如，设第一姿态码为11，第二姿态码为10，则拼接得到的组合姿态码为1011。
S1016、根据所述映射关系表，将确定的组合姿态码对应的期望姿态角作为所述云台的目标姿态角。
具体地，查询该映射关系表，获取该组合姿态码对应的期望姿态角，并将获取到的期望姿态角作为该云台的目标姿态角。以控制模式为单位，存储手柄部和装夹部对应的组合姿态码，与期望姿态角的映射关系表，便于基于控制模式快速查询映射关系表，准确的确定云台的目标姿态角，便于后续准确安全的控制云台回中。
S102、根据所述目标姿态角和所述装夹部的当前姿态角，确定所述云台的姿态偏差值，并根据所述姿态偏差值生成对应的回中控制指令。
在确定云台的目标姿态角之后，手持云台根据该目标姿态角和装夹部的当前姿态角，确定云台的姿态偏差值，并根据姿态偏差值生成对应的回中控制指令。具体地，计算该目标姿态角与装夹部的当前姿态角的差值，并将目标姿态角与装夹部的当前姿态角的差值作为云台的姿态偏差值；获取预存的姿态偏差值与回中速度之间的映射关系表，并查询该映射关系表，获取该姿态偏差值对应的回中速度，且基于该回中速度，生成对应的回中控制指令。需要说明的是，上述姿态偏差值与回中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。
S103、执行所述回中控制指令，以控制所述云台回中，直至回中后的所述装夹部的姿态角为所述目标姿态角。
具体地，手持云台执行该回中控制指令，以控制云台回中，即手持云台基于该回中控制指令确定待旋转的电机，并按照该回中控制指令中的回中速度，匀速的控制该电机进行旋转，电机旋转的同时带动装夹部旋转，从而改变装夹部的姿态角，在回中后的装夹部的姿态角为目标姿态角时，手持云台完成回中。通过匀速控制电机进行旋转，可以平稳无震颤感的控制云台回中，极大的提高了用户体验。
在一实施例中，在控制云台回中的过程中，可以对该回中控制指令中的回中速度进行更新，并按照更新后的回中速度控制电机旋转，可以变速的控制云台回中，具体地，在控制云台回中的过程中，以间隔预设时间根据目标姿态角和回中后云台的姿态角，确定云台的回中偏差值；确定该回中偏差值是否大于预设阈值，如果该回中偏差值大于预设阈值，则根据该回中偏差值更新该回中控制指令，并执行更新后的回中控制指令，以控制云台回中；如果回中偏差值小于或等于预设阈值，则确定回中后的装夹部的姿态角为目标姿态角，并控制云台结束回中。通过间隔一段时间更新中控制指令中的回中速度，可以在保证平稳的情况下，加速旋转电机，可以提高回中的速度，减少用户等待时间，极大的提高了用户体验。
其中，回中控制指令的更新方式可以为：手持云台获取预存的回中偏差值与回中速度之间的映射关系表；根据映射关系表，将回中偏差值对应的回中速度作为云台的回中速度，即查询该映射关系表，获取该回中偏差值对应的回中速度，并将获取到的回中速度作为云台的回中速度；根据云台的回中速度更新回中控制指令，即将回中控制指令中的回中速度更新为云台的回中速度。需要说明的是，回中偏差值越大，则回中速度越高，回中偏差值越小，则回中速度越低。
在具体实施中，在更新回中控制指令之前，确定云台的回中速度是否小于预设的速度阈值，如果云台的回中速度小于预设的速度阈值，则根据云台的回中速度更新回中控制指令。需要说明的是，该速度阈值为在保证回中平稳的情况下，回中速度能够达到的最大值，可以通过大量的实验得到。通过设置回中速度能够达到的最大值，可以防止回中过程中，由于速度较高导致云台损坏或不平稳的问题，提高回中的准确性和安全性。
在一实施例中，手持云台在回中的过程中，记录云台的回中持续时间，并确定该回中持续时间是否大于预设的时间阈值，如果该回中持续时间大于预设 的时间阈值，则控制云台结束回中。需要说明的是，上述时间阈值可基于实际情况进行设置，本申请对此不作具体限定。通过设置回中持续时间的时间阈值，能够在回中持续时间超过该时间阈值时，强制结束回中，防止由于回中超时导致云台损坏等问题，可以提高回中的准确性。
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饶X轴旋转，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度，竖拍状态下为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，横拍与竖拍的区别仅在于是否需要进行ROLL2的控制，故控制云台回中时，不需要对横竖拍进行区分控制。可以简化回中控制逻辑，极大的提高回中速度，有效的提高用户体验。
请参阅图5，图5为本申请实施例中控制云台切换模式与回中的流程示意图。如图5所示，云台开机，自动进入关节角控制模式，确定云台的拍摄模式，如果需要控制云台处于横拍模式，则将ROLL2的角度调整为0度，即控制所有电机的关节角至0度，如果需要控制云台处于竖拍模式，则将ROLL2的角度调整为90度，即控制内框电机的关节角至90度，控制中框电机和外框电机的关节角至0度；当云台处于一种拍摄模式后，将当前姿态作为姿态控制模式下的初始姿态，云台进入姿态控制模式，并正常运行；
在正常运行过程中，确定是否收到云台回中指令，如果收到云台回中指令，则基于控制模式、手柄的当前姿态角和相机的当前姿态角选择回中的期望姿态角，并将期望姿态角与相机的当前姿态角做差，得到姿态角偏差；确定该姿态角偏差否满足结束条件，即确定该姿态角偏差是否小于设定的偏差阈值，如果该姿态角偏差小于设定的偏差阈值，则结束回中，云台正常运行，如果该姿态角偏差大于设定的偏差阈值，则根据该姿态角偏差，生成控制指令，并基于该控制指令，控制云台回中；在回中过程中，确定回中操作是否超时，如果回中操作没超时，则继续控制云台回中，如果回中操作超时，则强制结束回中，云台正常运行。
上述实施例提供的云台控制方法，通过云台的当前控制模式、手柄部的当前姿态角和装夹部的当前姿态角，可以准确的确定云台在回中完成时的姿态角，然后基于该姿态角和装夹部的当前姿态角，可以生成用于控制云台回中的控制指令，并执行该控制指令，使得云台可以任意姿态下平稳无震颤感的执行回中功能，可以有效的减少云台乱甩、撞上限位或者系统崩溃等问题，能够准确安 全的控制云台回中。
请参阅图6，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。
具体地，如图6所示，该云台控制方法包括步骤S201至S204。
S201、获取用户对所述回中控键的触发操作。
手持云台为非正交结构的云台，手持云台设置有回中控键，用户可通过对该回中控键的触发操作控制云台回中。手持云台检测用户对该回中控键的触发操作，当检测到用户对该回中控键的触发操作时，获取用户对该回中控键的触发操作。其中，该回中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，和/或该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。需要说明的是，上述预设触发操作和回中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，该回中控键设置于云台的手柄。
在一实施例中，该回中控键还用于控制手持云台进行横竖拍模式切换；和/或，回中控键还用于控制手持云台进行开机和/或关机。通过给回中控键设置不同的控制功能，可以一键多控，减少控键数量，方便用户控制云台，极大的提高了用户体验。
S202、根据获取到的用户对所述回中控键的触发操作，生成与所述触发操作对应的云台回中指令，所述云台回中指令用于控制所述手持云台回中。
其中，该手持云台包括手柄部、装夹部和至少一组轴组件，该轴组件包括电机以及轴臂，该电机与该轴臂相连接，该电机用于驱动轴臂转动，轴臂与装夹部相连接，装夹部随着轴臂转动而转动，该装夹部用于安装智能手机或单反相机等摄像设备。
具体地，手持云台根据该触发操作，生成与该触发操作对应的云台回中指令，云台回中指令用于控制手持云台回中，即当获取到用户对回中控键的触发操作时，获取手持云台的当前控制模式、手柄部的当前姿态角和装夹部的当前姿态角；根据手持云台的当前控制模式、手柄部的当前姿态角和装夹部的当前姿态角，确定手持云台的目标姿态角，目标姿态角为手持云台在回中完成时的姿态角；根据目标姿态角和装夹部的当前姿态角，生成对应的云台回中指令。
其中，手持云台的目标姿态角的确定方式可以为：获取手持云台的控制模式、手柄部的姿态角以及装夹部的姿态角，与期望姿态角形成的映射关系表， 其中，手持云台的控制模式、手柄部的姿态角以及装夹部的姿态角，与期望姿态角具有对应关系；根据该映射关系表、以及手持云台的当前控制模式、手柄部的当前姿态角和装夹部的当前姿态角，确定手持云台的期望姿态角，并将该期望姿态角作为手持云台的目标姿态角。通过设置手持云台的控制模式、手柄部的姿态角以及装夹部的姿态角，与期望姿态角形成的映射关系表，可以基于手持云台的当前姿态角和模式，快速准确的确定手持云台回中后的姿态角，便于后续生成准确安全的云台回中指令，提高回中的准确性和安全性。
在一实施例中，云台回中指令的生成方式可以为：根据目标姿态角和装夹部的当前姿态角，确定手持云台的姿态偏差值，即计算目标姿态角与当前姿态角的角度差值，并将该角度差值作为手持云台的姿态偏差值；根据姿态偏差值，确定手持云台的回中速度，即获取预存的姿态偏差值与回中速度之间的映射关系表，并查询该映射关系表，获取该姿态偏差值对应的回中速度，且将该回中速度作为手持云台的回中速度；根据该手持云台的回中速度，生成对应的云台回中指令，该云台回中指令包括手持云台的回中速度和手持云台在回中完成时的姿态角。需要说明的是，姿态偏差值越大，则回中速度越高，而姿态偏差值越小，则回中速度越低。通过姿态偏差值确定回中速度，并生成该回中速度对应的云台回中指令，可以动态的基于姿态偏差值，调整回中速度，便于快速的控制云台回中，减少用户等待时间，提高了用户体验。
S203、根据所述云台回中指令，控制所述手持云台回中。
在生成云台回中指令后，根据该云台回中指令，控制手持云台回中，即手持云台从该云台回中指令中获取手持云台在回中完成时的目标姿态角和回中速度，并按照该回中速度，匀速的控制手持云台回中，直到回中后的手持云台的姿态角为该目标姿态角。通过匀速控制云台回中，可以平稳无震颤感的控制云台回中，极大的提高了用户体验。
在一实施例中，在控制手持云台回中的过程中，可以对该云台回中指令中的回中速度进行更新，并按照更新后的回中速度控制电机旋转，可以变速的控制云台回中，具体地，在控制手持云台回中的过程中，以间隔预设时间计算目标姿态角和回中后云台的姿态角之间的角度差值；确定该角度差值是否大于预设的角度阈值，如果角度差值大于预设的角度阈值，则根据该角度差值更新该云台回中指令，并根据更新后的云台回中指令，控制手持云台回中；如果角度差值小于或等于预设的角度阈值，则控制云台结束回中。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。通过间隔一段时间更新中控制指令中的回中速度，可以在保证平稳的情况下，加速控制云台回中，可以提高回中的速度，减少用户等待时间，极大的提高了用户体验。
上述实施例提供的云台控制方法，通过设置回中控键，可以方便用户控制手持云台回中，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300包括装夹部301、手柄部302和至少一组轴组件303，所述轴组件303包括电机3031以及轴臂3032，所述电机3031与所述轴臂3032相连接，用于驱动所述轴臂3032转动，所述轴臂3032与所述装夹部301相连接，所述装夹部301随着所述轴臂3032转动而转动；以及还包括一个或多个处理器304，至少一个所述处理器304用于与所述电机3031通讯连接。
具体地，处理器304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。
具体地，存储器304可以是Flash芯片、只读存储器(ROM，Read-Only Memory)磁盘、光盘、U盘或移动硬盘等。
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：
根据云台的当前控制模式、手柄部的当前姿态角和装夹部的当前姿态角，确定所述云台的目标姿态角，所述目标姿态角为所述云台在回中完成时的姿态角；
根据所述目标姿态角和所述装夹部的当前姿态角，确定所述云台的姿态偏差值，并根据所述姿态偏差值生成对应的回中控制指令；
执行所述回中控制指令，以控制所述云台回中，直至回中后的所述装夹部的姿态角为所述目标姿态角。
可选地，所述一个或多个处理器实现根据云台的当前控制模式、手柄部的当前姿态角和装夹部的当前姿态角，确定所述云台的目标姿态角之前，还用于实现：
获取云台回中指令，所述云台回中指令用于控制所述云台回中；
根据所述云台回中指令，获取所述云台的当前控制模式、手柄部的当前姿态角和装夹部的当前姿态角。
可选地，所述一个或多个处理器实现获取云台回中指令时，用于实现：
若所述手柄部的姿态角变化过程满足预设手柄姿态角变化方式，则获取所述云台回中指令。
可选地，所述一个或多个处理器实现获取云台回中指令时，用于实现：
若所述手柄部的姿态角变化过程满足预设手柄姿态角变化方式，且所述装夹部的姿态角跟随所述手柄部的姿态角变化过程而变化，则获取所述云台回中指令。
可选地，所述云台设有回中控键；所述一个或多个处理器实现获取云台回中指令时，用于实现：
若获取到的所述回中控键的触发操作满足预设触发操作，则获取所述云台回中指令。
可选地，所述回中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；和/或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，所述一个或多个处理器实现根据云台的当前控制模式、手柄部的当前姿态角和装夹部的当前姿态角，确定所述云台的目标姿态角时，用于实现：
获取所述云台的控制模式、所述手柄部的姿态角以及所述装夹部的姿态角，与期望姿态角形成的映射关系表，其中，所述云台的控制模式、所述手柄部的姿态角以及所述装夹部的姿态角，与期望姿态角具有对应关系；
获取所述云台的当前控制模式、手柄部的当前姿态角和装夹部的当前姿态角；
根据所述映射关系表、以及所述云台的当前控制模式、所述手柄部的当前姿态角和所述装夹部的当前姿态角，确定所述云台的期望姿态角，并将所述期望姿态角作为所述目标姿态角。
可选地，所述一个或多个处理器实现根据所述映射关系表、以及所述云台的当前控制模式、所述手柄部的当前姿态角和所述装夹部的当前姿态角，确定所述云台的期望姿态角时，用于实现：
根据所述云台的当前控制模式、所述手柄部的当前姿态角和所述装夹部的当前姿态角，确定期望姿态角标签；
根据所述映射关系表，将确定的所述期望姿态角标签对应的姿态角作为所述云台的期望姿态角。
可选地，所述一个或多个处理器实现根据云台的当前控制模式、手柄部的当前姿态角和装夹部的当前姿态角，确定所述云台的目标姿态角时，用于实现：
根据所述云台的当前控制模式，获取所述手柄部和所述装夹部对应的组合姿态码，与期望姿态角的映射关系表，所述云台的控制模式与所述映射关系表具有对应关系；
根据所述手柄部的当前姿态角和所述装夹部的当前姿态角，确定所述手柄部的当前姿态角和所述装夹部的当前姿态角对应的组合姿态码；
根据所述映射关系表，将确定的组合姿态码对应的期望姿态角作为所述云台的目标姿态角。
可选地，所述一个或多个处理器实现根据所述手柄部的当前姿态角和所述装夹部的当前姿态角，确定所述手柄部的当前姿态角和所述装夹部的当前姿态角对应的组合姿态码时，用于实现：
获取所述手柄部的当前姿态角对应的第一姿态码，以及获取所述装夹部的当前姿态角对应的第二姿态码；
将所述第一姿态码与所述第二姿态码进行拼接，得到拼接的姿态码，并将拼接得到的姿态码作为组合姿态码。
可选地，所述一个或多个处理器实现根据所述目标姿态角和所述装夹部的当前姿态角，确定所述云台的姿态偏差值时，用于实现：
计算所述目标姿态角与所述装夹部的当前姿态角的差值，并将所述目标姿态角与所述装夹部的当前姿态角的差值作为所述云台的姿态偏差值。
可选地，所述一个或多个处理器实现执行所述回中控制指令，以控制所述云台回中，直至回中后的所述装夹部的姿态角为所述目标姿态角时，用于实现：
在控制所述云台回中的过程中，以间隔预设时间根据所述目标姿态角和回中后云台的姿态角，确定所述云台的回中偏差值；
确定所述回中偏差值是否大于预设阈值；
若所述回中偏差值大于预设阈值，则根据所述回中偏差值更新所述回中控制指令，并执行更新后的回中控制指令，以控制所述云台回中；
若所述回中偏差值小于或等于预设阈值，则确定回中后的所述装夹部的姿态角为所述目标姿态角，并控制所述云台结束回中。
可选地，所述一个或多个处理器实现根据所述回中偏差值更新所述回中控制指令时，用于实现：
获取预存的回中偏差值与回中速度之间的映射关系表；
根据所述映射关系表，将所述回中偏差值对应的回中速度作为所述云台的回中速度；
根据所述云台的回中速度更新所述回中控制指令。
可选地，所述一个或多个处理器实现根据所述云台的回中速度更新所述回中控制指令之前，还用于实现：
确定所述云台的回中速度是否小于预设的速度阈值；
若所述云台的回中速度小于预设的速度阈值，则根据所述云台的回中速度更新所述回中控制指令。
可选地，所述一个或多个处理器还用于实现：
当控制所述云台回中时，记录所述云台的回中持续时间，并确定所述回中持续时间是否大于预设的时间阈值；
若所述回中持续时间大于预设的时间阈值，则控制所述云台结束回中。
可选地，所述装夹部设置有惯性测量单元，所述装夹部的当前姿态角通过设置的惯性测量单元确定，所述手柄部的当前姿态角基于所述装夹部的当前姿态角确定。
可选地，所述装夹部和手柄部均设置有一惯性测量单元，所述装夹部的当前姿态角和所述手柄部的当前姿态角通过设置的惯性测量单元确定。
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种云台的结构示意性框图。
如图8所示，该云台400包括回中控键401，以及一个或多个处理器402，其中，至少一个所述处理器402用于与所述回中控键401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单独地或共同地工作，用于实现如下步骤：
获取用户对所述回中控键的触发操作；
根据获取到的用户对所述回中控键的触发操作，生成与所述触发操作对应的云台回中指令，所述云台回中指令用于控制所述云台回中；
根据所述云台回中指令，控制所述云台回中。
可选地，所述回中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；和/或，
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；和/或，
所述回中控键还用于控制所述手持云台进行横竖拍模式切换；和/或，
所述回中控键还用于控制所述手持云台进行开机和/或关机。
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根据获取到的用户对所述回中控键的触发操作，生成与所述触发操作对应的云台回中指令时，用于实现：
当获取到用户对所述回中控键的触发操作时，获取所述云台的当前控制模式、手柄部的当前姿态角和装夹部的当前姿态角；
根据所述云台的当前控制模式、手柄部的当前姿态角和装夹部的当前姿态角，确定所述云台的目标姿态角，所述目标姿态角为所述云台在回中完成时的姿态角；
根据所述目标姿态角和所述装夹部的当前姿态角，生成对应的云台回中指令。
可选地，所述一个或多个处理器实现根据所述目标姿态角和所述装夹部的当前姿态角，生成对应的云台回中指令时，用于实现：
根据所述目标姿态角和所述装夹部的当前姿态角，确定所述云台的姿态偏差值；
根据所述姿态偏差值，确定所述手持云台的回中速度，并根据所述手持云台的回中速度，生成对应的云台回中指令。
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：
    根据云台的当前控制模式、手柄部的当前姿态角和装夹部的当前姿态角，确定所述云台的目标姿态角，所述目标姿态角为所述云台在回中完成时的姿态角；
    根据所述目标姿态角和所述装夹部的当前姿态角，确定所述云台的姿态偏差值，并根据所述姿态偏差值生成对应的回中控制指令；
    执行所述回中控制指令，以控制所述云台回中，直至回中后的所述装夹部的姿态角为所述目标姿态角。
  2. 根据权利要求1所述的云台控制方法，其特征在于，所述根据云台的当前控制模式、手柄部的当前姿态角和装夹部的当前姿态角，确定所述云台的目标姿态角之前，还包括：
    获取云台回中指令，所述云台回中指令用于控制所述云台回中；
    根据所述云台回中指令，获取所述云台的当前控制模式、手柄部的当前姿态角和装夹部的当前姿态角。
  3. 根据权利要求2所述的云台控制方法，其特征在于，所述获取云台回中指令，包括：
    若所述手柄部的姿态角变化过程满足预设手柄姿态角变化方式，则获取所述云台回中指令。
  4. 根据权利要求3所述的云台控制方法，其特征在于，所述获取所述云台回中指令，包括：
    若所述手柄部的姿态角变化过程满足预设手柄姿态角变化方式，且所述装夹部的姿态角跟随所述手柄部的姿态角变化过程而变化，则获取所述云台回中指令。
  5. 根据权利要求2所述的云台控制方法，其特征在于，所述云台设有回中控键；所述获取所述云台回中指令，包括：
    若获取到的所述回中控键的触发操作满足预设触发操作，则获取所述云台回中指令。
  6. 根据权利要求5所述的云台控制方法，其特征在于，所述回中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；和/或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。
  7. 根据权利要求1-6中任一项所述的云台控制方法，其特征在于，所述根据云台的当前控制模式、手柄部的当前姿态角和装夹部的当前姿态角，确定所述云台的目标姿态角，包括：
    获取所述云台的控制模式、所述手柄部的姿态角以及所述装夹部的姿态角，与期望姿态角形成的映射关系表，其中，所述云台的控制模式、所述手柄部的姿态角以及所述装夹部的姿态角，与期望姿态角具有对应关系；
    获取所述云台的当前控制模式、手柄部的当前姿态角和装夹部的当前姿态角；
    根据所述映射关系表、以及所述云台的当前控制模式、所述手柄部的当前姿态角和所述装夹部的当前姿态角，确定所述云台的期望姿态角，并将所述期望姿态角作为所述目标姿态角。
  8. 根据权利要求7所述的云台控制方法，其特征在于，所述根据所述映射关系表、以及所述云台的当前控制模式、所述手柄部的当前姿态角和所述装夹部的当前姿态角，确定所述云台的期望姿态角，包括：
    根据所述云台的当前控制模式、所述手柄部的当前姿态角和所述装夹部的当前姿态角，确定期望姿态角标签；
    根据所述映射关系表，将确定的所述期望姿态角标签对应的姿态角作为所述云台的期望姿态角。
  9. 根据权利要求1-6中任一项所述的方法，其特征在于，所述根据云台的当前控制模式、手柄部的当前姿态角和装夹部的当前姿态角，确定所述云台的目标姿态角，包括：
    根据所述云台的当前控制模式，获取所述手柄部和所述装夹部对应的组合姿态码，与期望姿态角的映射关系表，所述云台的控制模式与所述映射关系表具有对应关系；
    根据所述手柄部的当前姿态角和所述装夹部的当前姿态角，确定所述手柄部的当前姿态角和所述装夹部的当前姿态角对应的组合姿态码；
    根据所述映射关系表，将确定的组合姿态码对应的期望姿态角作为所述云台的目标姿态角。
  10. 根据权利要求9所述的云台控制方法，其特征在于，所述根据所述手柄部的当前姿态角和所述装夹部的当前姿态角，确定所述手柄部的当前姿态角和所述装夹部的当前姿态角对应的组合姿态码，包括：
    获取所述手柄部的当前姿态角对应的第一姿态码，以及获取所述装夹部的 当前姿态角对应的第二姿态码；
    将所述第一姿态码与所述第二姿态码进行拼接，得到拼接的姿态码，并将拼接得到的姿态码作为组合姿态码。
  11. 根据权利要求1-6中任一项所述的云台控制方法，其特征在于，所述根据所述目标姿态角和所述装夹部的当前姿态角，确定所述云台的姿态偏差值，包括：
    计算所述目标姿态角与所述装夹部的当前姿态角的差值，并将所述目标姿态角与所述装夹部的当前姿态角的差值作为所述云台的姿态偏差值。
  12. 根据权利要求1-6中任一项所述的云台控制方法，其特征在于，所述执行所述回中控制指令，以控制所述云台回中，直至回中后的所述装夹部的姿态角为所述目标姿态角，包括：
    在控制所述云台回中的过程中，以间隔预设时间根据所述目标姿态角和回中后云台的姿态角，确定所述云台的回中偏差值；
    确定所述回中偏差值是否大于预设阈值；
    若所述回中偏差值大于预设阈值，则根据所述回中偏差值更新所述回中控制指令，并执行更新后的回中控制指令，以控制所述云台回中；
    若所述回中偏差值小于或等于预设阈值，则确定回中后的所述装夹部的姿态角为所述目标姿态角，并控制所述云台结束回中。
  13. 根据权利要求12所述的云台控制方法，其特征在于，所述根据所述回中偏差值更新所述回中控制指令，包括：
    获取预存的回中偏差值与回中速度之间的映射关系表；
    根据所述映射关系表，将所述回中偏差值对应的回中速度作为所述云台的回中速度；
    根据所述云台的回中速度更新所述回中控制指令。
  14. 根据权利要求13所述的云台控制方法，其特征在于，所述根据所述云台的回中速度更新所述回中控制指令之前，还包括：
    确定所述云台的回中速度是否小于预设的速度阈值；
    若所述云台的回中速度小于预设的速度阈值，则根据所述云台的回中速度更新所述回中控制指令。
  15. 根据权利要求1-6中任一项所述的云台控制方法，其特征在于，所述云台控制方法，还包括：
    当控制所述云台回中时，记录所述云台的回中持续时间，并确定所述回中 持续时间是否大于预设的时间阈值；
    若所述回中持续时间大于预设的时间阈值，则控制所述云台结束回中。
  16. 根据权利要求1-6中任一项所述的云台控制方法，其特征在于，所述装夹部设置有惯性测量单元，所述装夹部的当前姿态角通过设置的惯性测量单元确定，所述手柄部的当前姿态角基于所述装夹部的当前姿态角确定。
  17. 根据权利要求16所述的云台控制方法，其特征在于，所述装夹部和手柄部均设置有一惯性测量单元，所述装夹部的当前姿态角和所述手柄部的当前姿态角通过设置的惯性测量单元确定。
  18. 根据权利要求1-6中任一项所述的云台控制方法，其特征在于，所述云台为非正交结构的云台。
  19. 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回中控键；所述方法包括：
    获取用户对所述回中控键的触发操作；
    根据获取到的用户对所述回中控键的触发操作，生成与所述触发操作对应的云台回中指令，所述云台回中指令用于控制所述手持云台回中；
    根据所述云台回中指令，控制所述手持云台回中。
  20. 根据权利要求19所述的云台控制方法，其特征在于，所述回中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；和/或，
    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；和/或，
    所述回中控键还用于控制所述手持云台进行横竖拍模式切换；和/或，
    所述回中控键还用于控制所述手持云台进行开机和/或关机。
  21. 根据权利要求19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。
  22. 根据权利要求19-21中任一项所述的云台控制方法，其特征在于，所述根据获取到的用户对所述回中控键的触发操作，生成与所述触发操作对应的云台回中指令，包括：
    当获取到用户对所述回中控键的触发操作时，获取所述手持云台的当前控制模式、手柄部的当前姿态角和装夹部的当前姿态角；
    根据所述手持云台的当前控制模式、手柄部的当前姿态角和装夹部的当前姿态角，确定所述手持云台的目标姿态角，所述目标姿态角为所述手持云台在回中完成时的姿态角；
    根据所述目标姿态角和所述装夹部的当前姿态角，生成对应的云台回中指令。
  23. 根据权利要求22所述的云台控制方法，其特征在于，所述根据所述目标姿态角和所述装夹部的当前姿态角，生成对应的云台回中指令，包括：
    根据所述目标姿态角和所述装夹部的当前姿态角，确定所述手持云台的姿态偏差值；
    根据所述姿态偏差值，确定所述手持云台的回中速度，并根据所述手持云台的回中速度，生成对应的云台回中指令。
  24. 一种云台，其特征在于，所述云台包括装夹部、手柄部和至少一组轴组件，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，所述轴臂与所述装夹部相连接，所述装夹部随着所述轴臂转动而转动；以及还包括一个或多个处理器，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：
    根据云台的当前控制模式、手柄部的当前姿态角和装夹部的当前姿态角，确定所述云台的目标姿态角，所述目标姿态角为所述云台在回中完成时的姿态角；
    根据所述目标姿态角和所述装夹部的当前姿态角，确定所述云台的姿态偏差值，并根据所述姿态偏差值生成对应的回中控制指令；
    执行所述回中控制指令，以控制所述云台回中，直至回中后的所述装夹部的姿态角为所述目标姿态角。
  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根据云台的当前控制模式、手柄部的当前姿态角和装夹部的当前姿态角，确定所述云台的目标姿态角之前，还用于实现：
    获取云台回中指令，所述云台回中指令用于控制所述云台回中；
    根据所述云台回中指令，获取所述云台的当前控制模式、手柄部的当前姿态角和装夹部的当前姿态角。
  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获取云台回中指令时，用于实现：
    若所述手柄部的姿态角变化过程满足预设手柄姿态角变化方式，则获取所述云台回中指令。
  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 现获取云台回中指令时，用于实现：
    若所述手柄部的姿态角变化过程满足预设手柄姿态角变化方式，且所述装夹部的姿态角跟随所述手柄部的姿态角变化过程而变化，则获取所述云台回中指令。
  28. 根据权利要求25所述的云台，其特征在于，所述云台设有回中控键；所述一个或多个处理器实现获取云台回中指令时，用于实现：
    若获取到的所述回中控键的触发操作满足预设触发操作，则获取所述云台回中指令。
  29. 根据权利要求28所述的云台，其特征在于，所述回中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；和/或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。
  30. 根据权利要求24-29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根据云台的当前控制模式、手柄部的当前姿态角和装夹部的当前姿态角，确定所述云台的目标姿态角时，用于实现：
    获取所述云台的控制模式、所述手柄部的姿态角以及所述装夹部的姿态角，与期望姿态角形成的映射关系表，其中，所述云台的控制模式、所述手柄部的姿态角以及所述装夹部的姿态角，与期望姿态角具有对应关系；
    获取所述云台的当前控制模式、手柄部的当前姿态角和装夹部的当前姿态角；
    根据所述映射关系表、以及所述云台的当前控制模式、所述手柄部的当前姿态角和所述装夹部的当前姿态角，确定所述云台的期望姿态角，并将所述期望姿态角作为所述目标姿态角。
  31. 根据权利要求30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映射关系表、以及所述云台的当前控制模式、所述手柄部的当前姿态角和所述装夹部的当前姿态角，确定所述云台的期望姿态角时，用于实现：
    根据所述云台的当前控制模式、所述手柄部的当前姿态角和所述装夹部的当前姿态角，确定期望姿态角标签；
    根据所述映射关系表，将确定的所述期望姿态角标签对应的姿态角作为所述云台的期望姿态角。
  32. 根据权利要求24-29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根据云台的当前控制模式、手柄部的当前姿态角和装夹部的当前姿态角，确定所述云台的目标姿态角时，用于实现：
    根据所述云台的当前控制模式，获取所述手柄部和所述装夹部对应的组合姿态码，与期望姿态角的映射关系表，所述云台的控制模式与所述映射关系表具有对应关系；
    根据所述手柄部的当前姿态角和所述装夹部的当前姿态角，确定所述手柄部的当前姿态角和所述装夹部的当前姿态角对应的组合姿态码；
    根据所述映射关系表，将确定的组合姿态码对应的期望姿态角作为所述云台的目标姿态角。
  33. 根据权利要求32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手柄部的当前姿态角和所述装夹部的当前姿态角，确定所述手柄部的当前姿态角和所述装夹部的当前姿态角对应的组合姿态码时，用于实现：
    获取所述手柄部的当前姿态角对应的第一姿态码，以及获取所述装夹部的当前姿态角对应的第二姿态码；
    将所述第一姿态码与所述第二姿态码进行拼接，得到拼接的姿态码，并将拼接得到的姿态码作为组合姿态码。
  34. 根据权利要求24-29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根据所述目标姿态角和所述装夹部的当前姿态角，确定所述云台的姿态偏差值时，用于实现：
    计算所述目标姿态角与所述装夹部的当前姿态角的差值，并将所述目标姿态角与所述装夹部的当前姿态角的差值作为所述云台的姿态偏差值。
  35. 根据权利要求24-29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执行所述回中控制指令，以控制所述云台回中，直至回中后的所述装夹部的姿态角为所述目标姿态角时，用于实现：
    在控制所述云台回中的过程中，以间隔预设时间根据所述目标姿态角和回中后云台的姿态角，确定所述云台的回中偏差值；
    确定所述回中偏差值是否大于预设阈值；
    若所述回中偏差值大于预设阈值，则根据所述回中偏差值更新所述回中控制指令，并执行更新后的回中控制指令，以控制所述云台回中；
    若所述回中偏差值小于或等于预设阈值，则确定回中后的所述装夹部的姿态角为所述目标姿态角，并控制所述云台结束回中。
  36. 根据权利要求35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回中偏差值更新所述回中控制指令时，用于实现：
    获取预存的回中偏差值与回中速度之间的映射关系表；
    根据所述映射关系表，将所述回中偏差值对应的回中速度作为所述云台的回中速度；
    根据所述云台的回中速度更新所述回中控制指令。
  37. 根据权利要求36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回中速度更新所述回中控制指令之前，还用于实现：
    确定所述云台的回中速度是否小于预设的速度阈值；
    若所述云台的回中速度小于预设的速度阈值，则根据所述云台的回中速度更新所述回中控制指令。
  38. 根据权利要求24-29中任一项所述的云台，其特征在于，所述一个或多个处理器还用于实现：
    当控制所述云台回中时，记录所述云台的回中持续时间，并确定所述回中持续时间是否大于预设的时间阈值；
    若所述回中持续时间大于预设的时间阈值，则控制所述云台结束回中。
  39. 根据权利要求24-29中任一项所述的云台，其特征在于，所述装夹部设置有惯性测量单元，所述装夹部的当前姿态角通过设置的惯性测量单元确定，所述手柄部的当前姿态角基于所述装夹部的当前姿态角确定。
  40. 根据权利要求39所述的云台，其特征在于，所述装夹部和手柄部均设置有一惯性测量单元，所述装夹部的当前姿态角和所述手柄部的当前姿态角通过设置的惯性测量单元确定。
  41. 根据权利要求24-29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。
  42. 一种云台，其特征在于，所述云台包括回中控键，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回中控键通讯连接；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：
    获取用户对所述回中控键的触发操作；
    根据获取到的用户对所述回中控键的触发操作，生成与所述触发操作对应的云台回中指令，所述云台回中指令用于控制所述云台回中；
    根据所述云台回中指令，控制所述云台回中。
  43. 根据权利要求42所述的云台，其特征在于，所述回中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；和/或，
    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；和/或，
    所述回中控键还用于控制所述手持云台进行横竖拍模式切换；和/或，
    所述回中控键还用于控制所述手持云台进行开机和/或关机。
  44. 根据权利要求42所述的云台，其特征在于，所述云台为非正交结构的云台。
  45. 根据权利要求42-44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根据获取到的用户对所述回中控键的触发操作，生成与所述触发操作对应的云台回中指令时，用于实现：
    当获取到用户对所述回中控键的触发操作时，获取所述云台的当前控制模式、手柄部的当前姿态角和装夹部的当前姿态角；
    根据所述云台的当前控制模式、手柄部的当前姿态角和装夹部的当前姿态角，确定所述云台的目标姿态角，所述目标姿态角为所述云台在回中完成时的姿态角；
    根据所述目标姿态角和所述装夹部的当前姿态角，生成对应的云台回中指令。
  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目标姿态角和所述装夹部的当前姿态角，生成对应的云台回中指令时，用于实现：
    根据所述目标姿态角和所述装夹部的当前姿态角，确定所述云台的姿态偏差值；
    根据所述姿态偏差值，确定所述手持云台的回中速度，并根据所述手持云台的回中速度，生成对应的云台回中指令。
  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。
PCT/CN2019/100337 2019-08-13 2019-08-13 云台控制方法、云台及计算机可读存储介质 WO2021026753A1 (zh)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN201980033540.0A CN112219178A (zh) 2019-08-13 2019-08-13 云台控制方法、云台及计算机可读存储介质
PCT/CN2019/100337 WO2021026753A1 (zh) 2019-08-13 2019-08-13 云台控制方法、云台及计算机可读存储介质
US17/669,371 US20220166910A1 (en) 2019-08-13 2022-02-11 Gimbal control method, gimbal and computer readable storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2019/100337 WO2021026753A1 (zh) 2019-08-13 2019-08-13 云台控制方法、云台及计算机可读存储介质

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US17/669,371 Continuation US20220166910A1 (en) 2019-08-13 2022-02-11 Gimbal control method, gimbal and computer readable storage medium

Publications (1)

Publication Number Publication Date
WO2021026753A1 true WO2021026753A1 (zh) 2021-02-18

Family

ID=74059515

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/100337 WO2021026753A1 (zh) 2019-08-13 2019-08-13 云台控制方法、云台及计算机可读存储介质

Country Status (3)

Country Link
US (1) US20220166910A1 (zh)
CN (1) CN112219178A (zh)
WO (1) WO2021026753A1 (zh)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4071406A1 (en) * 2021-04-09 2022-10-12 TRUMPF Medizin Systeme GmbH + Co. KG Yoke for a suspension system for a medical lamp, suspension system and system of a medical lamp body and a suspension system
USD995614S1 (en) * 2021-07-02 2023-08-15 Winners' Sun Plastic & Electronic (Shenzhen) Co., Ltd. Support stick
CN113721450A (zh) * 2021-08-05 2021-11-30 杭州海康威视数字技术股份有限公司 一种终端设备及其控制方法和装置
TWI795987B (zh) * 2021-11-08 2023-03-11 致伸科技股份有限公司 雲台裝置
USD1025189S1 (en) * 2022-12-19 2024-04-30 Arashi Vision Inc. Gimbal
CN115877872A (zh) * 2023-03-03 2023-03-31 中国人民解放军军事科学院国防科技创新研究院 一种基于无人机载体使用的天线云台综合控制方法及系统

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105090695A (zh) * 2015-09-29 2015-11-25 深圳市大疆创新科技有限公司 手柄云台及其控制方法
CN106200692A (zh) * 2016-08-11 2016-12-07 零度智控（北京）智能科技有限公司 地面云台控制方法、装置及地面云台
CN106412446A (zh) * 2016-11-30 2017-02-15 极翼机器人(上海)有限公司 一种增稳设备
US20170160625A1 (en) * 2015-12-08 2017-06-08 Mark Kenneth Bright Camera mounting apparatus using shape-retaining deformable material
CN108323191A (zh) * 2018-02-11 2018-07-24 深圳市大疆创新科技有限公司 云台及其控制方法、无人机

Family Cites Families (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005115897A (ja) * 2003-10-07 2005-04-28 Open Vr Co Ltd ３次元イメージ生成装置及び３次元イメージ生成方法
CN2777880Y (zh) * 2004-01-15 2006-05-03 英保达股份有限公司 影像角度自动调整系统
US20110007157A1 (en) * 2009-03-17 2011-01-13 Stephen Sekelsky Mechanical stabilization and automated positional corrections for stationary or mobile surveillance systems
US8861947B2 (en) * 2013-03-15 2014-10-14 Freefly Systems, Inc. Method and system for correcting camera pointing angle in an actively stabilized system to compensate for translational movements
WO2015101822A1 (en) * 2014-01-02 2015-07-09 Mastortech Limited Camera stabilisation mounting
CN105991924A (zh) * 2015-03-04 2016-10-05 珠海金山办公软件有限公司 一种拍摄辅助方法和装置
CN104811642A (zh) * 2015-04-24 2015-07-29 段然 一种带双云台的胸戴式摄录系统及其控制方法
WO2017041302A1 (en) * 2015-09-11 2017-03-16 SZ DJI Technology Co., Ltd. Stabilizing platform
CN113364987B (zh) * 2015-12-22 2023-04-07 深圳市大疆灵眸科技有限公司 拍摄设备及其控制方法、装置
CN105554391B (zh) * 2015-12-31 2019-05-14 广州广电运通金融电子股份有限公司 摄像头的控制方法及装置、金融设备终端
US20190049823A1 (en) * 2016-03-31 2019-02-14 Ninebot (Beijing) Tech Co., Ltd. Ground moving device, stabilizer, mount, and robot head
EP3236311B1 (en) * 2016-04-20 2019-08-07 Guilin Feiyu Technology Corporation Ltd. Stable and controllable shooting apparatus
JP6737528B2 (ja) * 2016-06-13 2020-08-12 三菱電機株式会社 監視カメラ制御装置
US10254632B2 (en) * 2016-12-29 2019-04-09 Haoxiang Electric Energy (Kunshan) Co., Ltd. Handheld stand for shooting and method for adjusting center of gravity thereof
CN206370881U (zh) * 2017-01-17 2017-08-01 庄展佳 手持拍摄稳定器
CN108427407B (zh) * 2017-02-13 2021-03-05 昊翔电能运动科技(昆山)有限公司 云台控制方法、云台控制系统及云台设备
CN110312913A (zh) * 2017-03-24 2019-10-08 深圳市大疆灵眸科技有限公司 用于自适应云台的方法和系统
CN206734647U (zh) * 2017-04-20 2017-12-12 无锡职业技术学院 一种无人机超声波测高云台
CN108513637B (zh) * 2017-04-21 2021-10-01 深圳市大疆创新科技有限公司 云台及云台控制方法
CN110546587B (zh) * 2017-04-21 2023-11-10 深圳市大疆灵眸科技有限公司 用于稳定有效载荷的方法和设备
CN206988781U (zh) * 2017-05-08 2018-02-09 深圳火星探索科技有限公司 一种手持云台
CN207200854U (zh) * 2017-09-19 2018-04-06 深圳市大疆创新科技有限公司 便携式手柄
CN107920206A (zh) * 2017-12-08 2018-04-17 上海与德科技有限公司 一种拍摄方法、拍摄装置及终端
WO2019127137A1 (zh) * 2017-12-27 2019-07-04 深圳市大疆创新科技有限公司 切换云台工作模式的方法、控制器和图像增稳设备
US11372318B2 (en) * 2018-05-29 2022-06-28 Kevin Albert Thomas Camera gimbal
US20200068292A1 (en) * 2018-08-21 2020-02-27 Gopro, Inc. Audio Enhancements In Devices Using Motors
WO2020062163A1 (zh) * 2018-09-29 2020-04-02 深圳市大疆创新科技有限公司 云台的控制方法及手持云台、手持设备

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105090695A (zh) * 2015-09-29 2015-11-25 深圳市大疆创新科技有限公司 手柄云台及其控制方法
US20170160625A1 (en) * 2015-12-08 2017-06-08 Mark Kenneth Bright Camera mounting apparatus using shape-retaining deformable material
CN106200692A (zh) * 2016-08-11 2016-12-07 零度智控（北京）智能科技有限公司 地面云台控制方法、装置及地面云台
CN106412446A (zh) * 2016-11-30 2017-02-15 极翼机器人(上海)有限公司 一种增稳设备
CN108323191A (zh) * 2018-02-11 2018-07-24 深圳市大疆创新科技有限公司 云台及其控制方法、无人机

Also Published As

Publication number Publication date
US20220166910A1 (en) 2022-05-26
CN112219178A (zh) 2021-01-12

Similar Documents

Publication Publication Date Title
WO2021026753A1 (zh) 云台控制方法、云台及计算机可读存储介质
WO2021026752A1 (zh) 云台控制方法、云台及计算机可读存储介质
WO2019227384A1 (zh) 一种云台控制方法及云台
CN111279113B (zh) 手持云台控制方法和手持云台
WO2018019290A1 (zh) 一种云台控制方法和装置、存储介质
WO2017067199A1 (zh) 一种跟踪拍摄的方法、移动终端和系统
WO2018120012A1 (zh) 云台控制方法、装置及云台
WO2020107292A1 (zh) 云台的控制方法、云台、移动平台和计算机可读存储介质
WO2019100249A1 (zh) 云台的控制方法、云台以及无人飞行器
WO2019134117A1 (zh) 云台控制方法、云台和机器可读存储介质
WO2020051831A1 (zh) 手持云台的控制方法及手持云台、手持设备
WO2021026789A1 (zh) 基于手持云台的拍摄方法、手持云台及存储介质
US20210018138A1 (en) Gimbal mode switching method, device, mobile platform and storage medium
WO2020062281A1 (zh) 云台的控制方法、云台、可移动平台及可读存储介质
WO2021026790A1 (zh) 手持云台、云台控制方法及计算机可读存储介质
WO2022061537A1 (zh) 控制方法、手持云台、系统及计算机可读存储介质
WO2020042064A1 (zh) 云台的控制方法与装置、云台系统和无人机
WO2021134644A1 (zh) 云台的控制方法和云台
WO2018191971A1 (zh) 一种云台的控制方法以及云台
TWI524211B (zh) 電子裝置及其顯示角度調整方法
US20120287160A1 (en) Display device and rotation method of same
WO2020000423A1 (zh) 云台的控制方法、云台、飞行器和计算机可读存储介质
WO2021026748A1 (zh) 拍摄检测方法、装置、云台、系统及存储介质
WO2019148348A1 (zh) 云台控制方法和装置
WO2021026784A1 (zh) 跟随拍摄、云台控制方法、拍摄装置、手持云台和拍摄系统

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19941088

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19941088

Country of ref document: EP

Kind code of ref document: A1