WO2022061536A1 - 手持云台的控制方法、手持云台及计算机可读存储介质 - Google Patents

手持云台的控制方法、手持云台及计算机可读存储介质 Download PDF

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Publication number
WO2022061536A1
WO2022061536A1 PCT/CN2020/116895 CN2020116895W WO2022061536A1 WO 2022061536 A1 WO2022061536 A1 WO 2022061536A1 CN 2020116895 W CN2020116895 W CN 2020116895W WO 2022061536 A1 WO2022061536 A1 WO 2022061536A1
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WO
WIPO (PCT)
Prior art keywords
handheld
control
user
pan
response
Prior art date
Application number
PCT/CN2020/116895
Other languages
English (en)
French (fr)
Inventor
林荣华
苏铁
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/CN2020/116895 priority Critical patent/WO2022061536A1/zh
Priority to CN202080007465.3A priority patent/CN113272757A/zh
Publication of WO2022061536A1 publication Critical patent/WO2022061536A1/zh

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    • 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
    • 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
    • F16M11/08—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a vertical axis, e.g. panoramic heads
    • 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
    • F16M11/18—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
    • 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

Definitions

  • the present application relates to the technical field of PTZ control, and in particular, to a control method for a handheld PTZ, a handheld PTZ, and a computer-readable storage medium.
  • the handheld gimbal brings great convenience to the use of shooting equipment. People can easily and easily take pictures with stable images and smooth zooming in various scenes and various sports modes. At present, there are more and more functions and application scenarios supported by the handheld gimbal. For this reason, it is necessary to set more operation buttons on the handheld gimbal to realize the functions and application scenarios supported by the handheld gimbal. Too many buttons can easily lead to accidental touches, and it is inconvenient for users to control the handheld gimbal, resulting in poor user experience.
  • embodiments of the present application provide a method for controlling a handheld PTZ, a handheld PTZ, and a computer-readable storage medium, which aim to improve the control convenience of the handheld PTZ and improve user experience.
  • an embodiment of the present application provides a control method for a handheld pan/tilt head, the handheld pan/tilt head includes a handle part, a pan/tilt head, a display device and a first operation part arranged on the handle part, the pan/tilt head used for For carrying a photographing device, the handheld platform is used for communication and connection with the photographing device, and the method includes:
  • a control instruction is generated according to the identified function menu options, and the handheld pan/tilt head is controlled according to the control instruction.
  • an embodiment of the present application further provides a handheld pan/tilt
  • the handheld pan/tilt includes a handle part, a pan/tilt mounted on the handle part, a display device and a first operation part, the pan/tilt is used for for carrying a photographing device, the hand-held pan/tilt is used for communication and connection with the photographing device, and the hand-held pan/tilt also includes a processor and a memory;
  • the memory is used to store computer programs
  • the processor is configured to execute the computer program and implement the following steps when executing the computer program:
  • a control instruction is generated according to the identified function menu options, and the handheld pan/tilt head is controlled according to the control instruction.
  • embodiments of the present application further provide a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the above-mentioned The steps of the control method of the hand-held gimbal.
  • Embodiments of the present application provide a method for controlling a handheld PTZ, a handheld PTZ, and a computer-readable storage medium.
  • a function menu selection page is displayed through a display device, so that the handheld PTZ can respond to a user's rotational operation of the first operating component.
  • the corresponding function menu option is identified on the function menu selection page, and a control instruction can be generated according to the identified function menu option in response to the user's pressing operation on the first operating component, and the handheld pan/tilt can be controlled according to the control instruction, which is convenient for Users can use the functions of the handheld PTZ and use the handheld PTZ in different application scenarios, which greatly improves the control convenience of the handheld PTZ and improves the user experience.
  • FIG. 1 is a schematic structural diagram of a handheld pan/tilt for implementing the control method provided by an embodiment of the present application
  • FIG. 2 is a schematic flowchart of steps of a control method for a handheld PTZ provided by an embodiment of the present application
  • FIG. 3 is a schematic diagram of a main menu selection page displayed by a display device in an embodiment of the present application.
  • FIG. 4 is a schematic diagram of a function menu selection page of a joystick displayed by a display device in an embodiment of the present application
  • FIG. 5 is a schematic diagram of a function menu selection page of a second operating component displayed by a display device in an embodiment of the present application
  • FIG. 6 is a schematic diagram of a working mode selection page displayed by a display device in an embodiment of the present application.
  • FIG. 7 is a schematic diagram of a function menu selection page of a first operating component displayed by a display device in an embodiment of the present application
  • FIG. 8 is another schematic diagram of a function menu selection page of a joystick displayed by a display device in an embodiment of the present application.
  • FIG. 9 is another schematic diagram of a function menu selection page of a joystick displayed by a display device in an embodiment of the present application.
  • FIG. 10 is another schematic diagram of a function menu selection page of a joystick displayed by a display device in an embodiment of the present application
  • FIG. 11 is another schematic diagram of a working mode selection page displayed by a display device in an embodiment of the present application.
  • FIG. 12 is another schematic diagram of a function menu selection page of a first operating component displayed by a display device in an embodiment of the present application
  • FIG. 13 is a schematic diagram of a parameter adjustment page displayed by a display device in an embodiment of the present application.
  • FIG. 14 is a schematic block diagram of the structure of a handheld cloud platform provided by an embodiment of the present application.
  • the handheld gimbal brings great convenience to the use of shooting equipment. People can easily and easily take pictures with stable images and smooth zooming in various scenes and various sports modes. At present, there are more and more functions and application scenarios supported by the handheld gimbal. For this reason, it is necessary to set more operation buttons on the handheld gimbal to realize the functions and application scenarios supported by the handheld gimbal. Too many buttons can easily lead to accidental touches, and it is inconvenient for users to control the handheld gimbal, resulting in poor user experience.
  • the embodiments of the present application provide a control method of a handheld PTZ, a handheld PTZ, and a computer-readable storage medium, and a function menu selection page is displayed through a display device, so that the handheld PTZ can respond to a user's first operation.
  • the rotation operation of the component, the corresponding function menu option is identified on the function menu selection page, and the control command can be generated according to the identified function menu option in response to the user's pressing operation on the first operating component, and the handheld control command can be controlled according to the control command.
  • the PTZ is convenient for users to use the functions of the handheld PTZ and use the handheld PTZ in different application scenarios, which greatly improves the control convenience of the handheld PTZ and improves the user experience.
  • FIG. 1 is a schematic structural diagram of a handheld pan/tilt head implementing the control method provided by an embodiment of the present application.
  • the handheld pan/tilt in the embodiment of the present application will be described below with reference to FIG. 1 .
  • the handheld pan/tilt 100 includes a handle portion 101 , a pan/tilt 102 disposed on the handle portion 101 , a display device 103 and a first operation component 104 .
  • the pan/tilt 102 is used for carrying a photographing device 200 , and the photographing device 200 may It is provided integrally with the PTZ 102 , and can also be externally connected to the PTZ 102 .
  • the photographing device 200 may be a smartphone, or a camera, such as a single-lens reflex camera, or a camera.
  • the handheld platform 100 can carry the photographing device 200 for fixing the photographing device 200 and changing the height, inclination and/or direction of the photographing device 200, or for stably keeping the photographing device 200 in a certain posture and controlling the photographing device 200 to shoot.
  • the display device 103 can be used to display the function menu selection page of the handheld pan/tilt, so that the user can select the function menu options in the function menu selection page through the first operation part 104, which is convenient for the user to use the functions of the handheld pan/tilt and in different Using the handheld PTZ in the same application scenario greatly improves the control convenience of the handheld PTZ and improves the user experience. Specifically: in response to the user's rotating operation on the first operating part 104, identifying the corresponding function menu option on the function menu selection page; in response to the user's pressing operation 104 on the first operating part, generating a control according to the identified function menu option instructions, and control the handheld pan/tilt according to the control instructions.
  • the first operating component is a dial key.
  • the handheld pan/tilt 100 is used for communication connection with the photographing device 200 , and the handheld pan/tilt 100 may be connected to the photographing device 200 through a control line, such as a shutter cable.
  • a control line such as a shutter cable.
  • the type of the shutter release cable is not limited here, for example, the shutter release cable may be a Universal Serial Bus (Universal Serial Bus, USB).
  • the handheld gimbal 100 can also be connected to the photographing device 200 in a wireless manner. communication connection between.
  • the pan/tilt 102 includes three-axis motors, and the three-axis motors are respectively a pitch (pitch) axis motor 1021, a translation (yaw) axis motor 1022 and a roll (roll) axis motor (not shown in FIG. 1 ).
  • the shaft motor is used to adjust the balance posture of the photographing device 200 mounted on the gimbal 102 so as to photograph a stable and smooth picture.
  • the PTZ 102 is also provided with an inertial measurement unit (Inertial measurement unit, IMU), which can be, for example, at least one of an accelerometer or a gyroscope, which can be used to measure the attitude and acceleration of the PTZ 102, so as to measure the attitude and acceleration according to the attitude Adjust the posture of the gimbal 102 .
  • IMU inertial measurement unit
  • the handle portion 101 is also provided with an inertial measurement unit (Inertial measurement unit, IMU), for example including at least one of an accelerometer or a gyroscope, which can be used to measure the attitude and acceleration of the handle portion 101, etc., In order to adjust the posture of the pan/tilt head 102 according to the posture of the handle part 101 and the posture of the pan/tilt head 102 .
  • IMU inertial measurement unit
  • the display device 103 and the first operating member 104 are provided on different sides of the handle portion 101 .
  • the first operating member 104 is provided on the side of the handle portion 101 adjacent to the display device 103 .
  • the display device 103 is provided on the front surface of the handle portion 101
  • the first operating member 104 is provided on the left side surface of the handle portion 101 adjacent to the display device 103 .
  • the handheld pan/tilt 100 further includes a first control part 105 disposed on the handle part 101.
  • the first control part 105 includes a back button 1051 and a power button 1052.
  • the back button 1051 is used for For controlling the handheld gimbal to roll back the function menu selection page currently displayed on the display device 103 to change the function menu selection page currently displayed on the display device 103
  • the power button 1052 is used to control the handheld gimbal to sleep, wake up the handheld gimbal, turn on or shut down.
  • the first control part 105 is provided on the side surface of the handle part 101 adjacent to the display device 103 , and the first operating member 104 and the first control part 105 are provided on different side surfaces of the handle part 101 .
  • the first operating member 104 is provided on the first side surface of the handle portion 101
  • the first control portion 105 is provided on the second side surface of the handle portion 101
  • the first side surface is opposite to the second side surface.
  • the display device 103 is provided on the front of the handle portion 101
  • the first operating member 104 is provided on the left side of the handle portion 101 adjacent to the display device 103
  • the first control portion 105 is provided on the handle portion 101 on the right side adjacent to the display device 103 .
  • the first control part 105 By arranging the first control part 105 on the side of the handle part 101 adjacent to the display device 103, and the first operating part 104 and the first control part 105 on different sides of the handle part 101, it is convenient for the user to pass the first operating part 104 and the first control unit 105 control the handheld pan/tilt, so as to improve the control convenience of the handheld pan/tilt.
  • the handheld pan/tilt 100 further includes a second control unit 106 disposed on the handle portion 101 .
  • the second control unit 106 includes a shooting button 1061 , a mode switching button 1062 and a joystick 1063 , and a shooting button.
  • the control mode of the part 104 and/or the second operation part corresponds to a set of control parameters
  • the control parameters include the pan/tilt 102, the joystick 1063, the first operation part 104 and the second operation At least one of the control parameters of the component (not shown in the figure).
  • control button By setting the shooting button, it is convenient to control the shooting device to shoot, and by setting the mode switching button, it is convenient for the user to switch the pan/tilt 102, the joystick 1063, the first operating part 104 and/or the second operating part (not shown in the figure). ) control mode, by setting the joystick 1063, it is convenient for the user to control the movement of the PTZ 102 to change the posture of the photographing device 200.
  • the control parameters of the gimbal 102 include at least one of the controlled state, speed, dead zone, sensitivity and smoothness of each axis motor of the gimbal 102
  • the control parameters of the joystick 1063 include the speed and sensitivity of the joystick 1063 . and at least one of smoothness
  • the control parameter of the first operating member 104 includes at least one of the speed of the first operating member 104 and the rotational damping
  • the control parameter of the second operating member includes the speed of the second operating member and the rotational damping.
  • At least one of the rotation damping, the control mode of the pan/tilt head 102, the joystick 1063, the first operating part 104 and/or the second operating part can be set by the user, and then the user can switch the mode through the mode
  • the button 1062 switches the control mode of the pan/tilt head 102, the joystick 1063, the first operation part 104 and/or the second operation part.
  • the mode switch button 1062 is also used to control the handheld pan/tilt 100 to start or exit the motion mode. If the handheld pan/tilt 100 is in the motion mode, the pan/tilt 102 follows at a preset speed, for example, at the maximum speed of the three axes of the pan/tilt.
  • the mode switch button 1062 is also used to control the hand-held pan/tilt to be in the horizontal mode or the vertical mode. When the hand-held pan/tilt 100 is in the horizontal mode, the joint angles of the motors of each axis of the pan/tilt 102 are 0°, while the hand-held pan/tilt 100 is in the horizontal shooting mode.
  • the mode switch button 1062 is also used to control the start or Exit the surround shooting mode, when the handheld gimbal 100 is in the surround shooting mode, the shooting device 200 can rotate around the target axis by a preset angle, or the joystick can control the target motor of the gimbal to rotate, so that the shooting device can rotate around the target axis.
  • the preset angle is 90°, 180°, or 360°, etc.
  • the target axis can be any one of the roll axis, the pitch axis, and the translation axis.
  • the target axis is the roll axis.
  • the second control part 106 and the display device 103 are arranged on the same side of the handle part 101 , as shown in FIG.
  • the first control portion 105 is provided on the right side of the handle portion 101 adjacent to the display device 103 .
  • the handheld pan/tilt also includes a third control part (not shown in FIG. 1 ) arranged on the handheld part.
  • the third control part, the first operation part 104 and the display device 103 are arranged on different sides of the handle part 101 .
  • the first display device 103 and the second control part 106 are provided on the front of the handle part 101, and the first operating member 104 is provided on the handle
  • the first control portion 105 is provided on the right side of the handle portion 101 adjacent to the display device 103
  • the third control portion is provided on the back of the handle portion 101 .
  • the third control part includes a follow-up control button and a second operation part.
  • the follow-up control button is used to control the handheld pan/tilt 100 to start or exit the follow mode.
  • the pan/tilt 102 can automatically move to make the camera shoot.
  • the angle of the device 200 changes with the position of the target object or the handle part 101;
  • the follow-up control button is also used to control the handheld pan/tilt 100 to start or exit the lock mode.
  • the handheld pan/tilt 100 is in the lock mode, the The posture remains unchanged; the follow control button is also used to control the pan/tilt 102 to return to the center or to control the handheld pan/tilt 100 to be in a self-timer attitude.
  • the lens of the photographing device 200 is oriented in the same direction as the display device 103; the second operating component is used to control the photographing device 200 to adjust the focus, for example, to control the photographing device 200 to zoom, and for example, To control the photographing device 200 to follow focus, optionally, the second operation component is a dial button.
  • the handheld pan/tilt 100 includes a processor, and the processor is used to process input control instructions, or send and receive signals.
  • the processor may be provided inside the handle portion 101 .
  • the processor may be a central processing unit (Central Processing Unit, CPU), and the processor may also be other general-purpose processors, digital signal processors (Digital Signal Processors, DSP), application specific integrated circuits (application specific integrated circuits) circuit, ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • a general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. It can be understood that the handheld gimbal in FIG. 1 and the above-mentioned naming of the components of the handheld gimbal are only for the purpose of identification, and therefore do not limit the embodiments of the present application.
  • the control method of the handheld PTZ provided by the embodiment of the present application will be described in detail with reference to the handheld PTZ in FIG. 1 .
  • the handheld pan/tilt in FIG. 1 is only used to explain the parameter adaptation method provided by the embodiment of the present application, but does not constitute a limitation on the application scenario of the control method of the hand-held pan/tilt provided by the embodiment of the present application.
  • FIG. 2 is a schematic flowchart of steps of a control method for a handheld gimbal provided by an embodiment of the present application.
  • the control method of the handheld pan/tilt head includes steps S101 to S103.
  • the function menu selection page displayed by the display device includes the main menu selection page, the function menu selection page of the joystick, the function menu selection page of the first operation part, the function menu selection page of the second operation part and the working mode selection page.
  • the main menu selection page includes a joystick control option, a first operating component option, a second operating component option, a working mode option, and a shooting parameter selection option
  • the joystick control option corresponds to the function menu selection page of the joystick
  • the first operation part option corresponds to the function menu selection page of the first operation part
  • the second operation part option corresponds to the function menu selection page of the second operation part
  • the work mode option corresponds to the work mode selection page.
  • the display device displays a main menu selection page of the handheld pan/tilt head
  • the main menu selection page displays “joystick control”, “working mode”, “first operation part” and “first operation part”. Two operating parts" and other options.
  • the function menu selection page of the joystick includes a joystick speed option and a joystick smoothing option.
  • the joystick speed option the user can set the speed of the joystick.
  • the joystick smoothing option the user can set the speed of the joystick. smoothness.
  • the display device displays a joystick function menu selection page
  • the joystick function menu selection page displays options such as “joystick speed” and “joystick smoothing”.
  • the function menu selection page of the second operating component includes a follow focus option, a zoom option and a follow focus motor option.
  • the user can control the photographing device to perform follow focus through the second operating component
  • the user can control the photographing device to zoom through the second operating part
  • the user can control the follow focus motor mounted on the optical assembly of the photographing device through the second operating part
  • the optical assembly can be a zoom ring or a follow focus ring.
  • the display device displays a function menu selection page of the second operation component, and the function menu selection page of the second operation component displays “follow focus”, “zoom” and “follow focus motor”, etc. options.
  • the function menu selection page of the working mode selection page includes sports mode options, follow mode options, lock mode options, sleep mode options, and surround shooting mode options.
  • sports mode option When the user selects the sports mode option, the handheld gimbal enters the sports mode.
  • follow mode option When the user selects the follow mode option, the handheld gimbal enters the follow mode, when the user selects the lock mode, the handheld gimbal enters the lock mode, when the user selects the sleep mode option, the handheld gimbal enters the sleep mode, when the user selects the surround shooting mode option, Hold the gimbal to enter surround shooting mode.
  • the display device displays a working mode selection page, and the working mode selection page displays “Sport Mode”, “Follow Mode”, “Lock Mode”, “Sleep Mode” and “Surround Shooting Mode”. and other options.
  • the function menu selection page of the first operating component includes shutter options, sensitivity options, aperture options and follow focus options.
  • the user can adjust the shutter speed of the photographing device through the first operating component.
  • Value when the user selects the sensitivity option, the user can adjust the value of the sensitivity of the photographing device through the first operating part; after the user selects the aperture option, the user can adjust the value of the aperture of the photographing device through the first operating part , after the user selects the follow focus option, the user can adjust the value of the follow focus parameter of the photographing device through the first operating component.
  • the display device displays a function menu selection page of the first operating component
  • the function menu selection page of the first operating component displays “shutter”, “sensitivity”, “aperture” and “follow-up”. Focus” and other options.
  • the manner of identifying the function menu option selected by the user may be set based on the actual situation, which is not specifically limited in this embodiment of the present application.
  • the function menu option selected by the component for another example, by displaying a check icon on the function menu option selected by the user to identify the function menu option selected by the user through the first operation component, and for another example, by displaying a check icon on the function menu option selected by the user.
  • the manner in which the tick icon and the rectangular frame are displayed identifies the function menu option selected by the user through the first operating member.
  • the option of “the first operation part” is selected by a rectangular frame
  • the option of “identifying the first operation part” is the function menu option selected by the user through the first operation part.
  • a check icon is displayed on the option of "Working Mode”
  • the option of "Working Mode” is a function menu option selected by the user through the first operation part.
  • a check icon and a rectangular frame are displayed on the option of "joystick control”
  • the option of "joystick control” is a function menu option selected by the user through the first operation part.
  • the user's pressing operation on the first operating component includes any one of a short pressing operation, a long pressing operation, a double-clicking operation and a triple-clicking operation.
  • the identified function menu option is “working mode”, and at this time, in response to the user’s pressing operation on the first operating component, the handheld PTZ generates a function for controlling the display device to display the working mode selection page.
  • Control instruction and control the display device to display the working mode selection page based on the control instruction.
  • the displayed working mode selection page can be as shown in Figure 6.
  • the user can select the working mode of the handheld pan/tilt through the first operating component, as shown in Figure 11
  • the user selects the working mode option of the handheld pan/tilt as "motion mode" through the first operating component, and after the user presses the first operating component, the handheld pan/tilt generates a motion mode entry instruction, and enters the instruction according to the motion mode Control the handheld gimbal to enter sports mode.
  • the display device is controlled to display the parameter adjustment page of the photographing device according to the control instruction, wherein the parameter device page displays the current value of the target photographing parameter of the photographing device; in response to the user's rotation of the first operating member operation, update the current value of the target shooting parameter displayed on the parameter adjustment page; in response to the user's pressing operation on the first operating component, generate a parameter adjustment instruction according to the updated value of the target shooting parameter; send the A parameter adjustment instruction, so that the shooting device adjusts the value of the target shooting parameter according to the parameter adjustment instruction.
  • the identified function menu option is “sensitivity”.
  • the handheld pan/tilt in response to the user’s pressing operation on the first operating part, the handheld pan/tilt generates a parameter adjustment for controlling the display sensitivity of the display device.
  • the control command of the page, and according to the control command, the display device is controlled to display the parameter adjustment page of the sensitivity.
  • the current value of the sensitivity of the photographing device is 150.
  • the hand-held pan-tilt head further includes a first control part arranged on the handle part, the first control part includes a back button, and the back button is used to back the function menu selection page currently displayed on the display device, to change the function menu selection page currently displayed on the display device.
  • the function menu selection page currently displayed on the display device is reverted to change the function menu selection page currently displayed by the display device.
  • the pressing operation of the back button by the user includes any one of a short pressing operation, a long pressing operation, a double-clicking operation and a triple-clicking operation on the backing button by the user.
  • the function menu selection page currently displayed by the display device is the function menu selection page of the joystick as shown in FIG. 4 .
  • the page displayed by the display device is as shown in FIG. 4 .
  • the function menu selection page of the joystick is changed to the main menu page as shown in Figure 3.
  • the first control part further includes a power button, and the power button is used to control the handheld gimbal to sleep, wake up, turn on or off.
  • the handheld PTZ in response to the user's first pressing operation on the power button, the handheld PTZ is controlled to sleep or wake up; or in response to the user's second pressing operation on the power button, the handheld PTZ is controlled to be turned on or off, wherein, The first pressing operation is different from the second pressing operation.
  • the first pressing operation includes any one of a short-pressing operation, a long-pressing operation, a double-clicking operation and a triple-clicking operation
  • the second pressing operation includes a short-pressing operation, a long-pressing operation, and a double-clicking operation.
  • the first pressing operation is a short pressing operation
  • the second pressing operation is a long pressing operation
  • the first pressing operation is a long pressing operation
  • the second pressing operation is a short pressing operation operate.
  • the first control part is provided on the side surface of the handle part adjacent to the display device, and the first operating member and the first control part are provided on different side surfaces of the handle part.
  • the first operating member is provided on the first side surface of the handle portion
  • the first control portion is provided on the second side surface of the handle portion
  • the first side surface is opposite to the second side surface.
  • the hand-held pan/tilt head further includes a second control part disposed on the handle part, the second control part and the display device are disposed on the same side of the handle part, the second control part includes a shooting button, the shooting button is used to control the The recording device starts recording, stops recording, takes a picture, or focuses.
  • the shooting device in response to the user's first pressing operation on the shooting button, the shooting device is controlled to start recording or stop recording; or in response to the user's second pressing operation on the shooting button, the shooting device is controlled to take pictures; or in response to the user pressing the shooting button.
  • the third pressing operation controls the focus of the photographing device.
  • the first pressing operation, the second pressing operation and the third pressing operation of the user on the shooting button are different, the first pressing operation of the user on the shooting button is a short pressing operation, and the second pressing operation of the user on the shooting button is a long pressing operation
  • the third pressing operation by the user on the shooting button is a half-pressing operation.
  • the half-pressing operation refers to the operation of releasing the shooting button after the user presses the shooting button so that the position of the shooting button submerged in the pressing hole reaches half.
  • the second control part further includes a mode switch button and a joystick
  • the joystick is used to control the movement of the gimbal
  • the mode switch key is used to control the hand-held gimbal to switch the gimbal, the joystick, the first operating part and/or the Or the control mode of the second operating component, also used to control the handheld gimbal to start or exit the sports mode, also used to control the handheld gimbal to be in the horizontal mode or vertical mode, and also used to control the handheld gimbal to start or exit the surround shooting model.
  • the mode switching button it is convenient for the user to switch the control mode of each control button and the switching between the working modes of the handheld PTZ, thereby improving the control convenience of the handheld PTZ.
  • the handheld pan/tilt head in response to the user's first pressing operation on the mode switching button, the handheld pan/tilt head is controlled to switch the control mode of the pan/tilt head, the joystick, the first operating part and/or the second operating part, wherein the control mode is associated with a group of Corresponding to the control parameters, the control parameters include at least one of the control parameters of the pan/tilt, the joystick, the first operating part and the second operating part.
  • the handheld gimbal in response to the second pressing operation of the mode switching button by the user, the handheld gimbal is controlled to start or exit the motion mode.
  • the gimbal follows at a preset speed, for example, at the maximum speed of the three axes of the gimbal.
  • the handheld gimbal in response to the third pressing operation of the mode switching key by the user, the handheld gimbal is controlled to be in a horizontal shooting mode or a vertical shooting mode.
  • the joint angles of the motors of each axis of the gimbal are 0°
  • the joint angles of the pan and tilt axis motors of the gimbal are 0°. 0°
  • the joint angle of the roll axis motor is 90°.
  • the camera mounted on the gimbal is a smartphone
  • the smartphone when the handheld gimbal is in the horizontal shooting mode, the smartphone is in the horizontal screen state
  • the handheld gimbal is in the vertical shooting mode the smartphone is in the vertical shooting state.
  • the handheld gimbal in response to the user's fourth pressing operation on the mode switching key, the handheld gimbal is controlled to start or exit the surround shooting mode.
  • the shooting device can rotate around the target axis by a preset angle, the preset angle is 90°, 180° or 360°, etc.
  • the target axis can be the roll axis, the pitch axis and the pan axis. Any of , optional, and the target axis is the roll axis.
  • the first pressing operation, the second pressing operation, the third pressing operation and the fourth pressing operation of the user on the mode switching button are different.
  • the second pressing operation of the button is a long pressing operation
  • the third pressing operation of the mode switching button by the user is a double-clicking operation
  • the fourth pressing operation of the mode switching button by the user is a triple-clicking operation.
  • control parameters of the gimbal include at least one of the controlled state, speed, dead zone, sensitivity and smoothness of each axis motor of the gimbal
  • control parameters of the joystick include the speed, sensitivity and smoothness of the joystick.
  • At least one of the control parameters of the first operating member includes at least one of the speed and rotational damping of the first operating member
  • the control parameters of the second operating member include at least one of the speed and rotational damping of the second operating member.
  • the control mode of the pan/tilt, joystick, the first operating part and/or the second operating part can be set by the user, and then the user can switch the pan/tilt, joystick, Control mode of an operating member and/or a second operating member.
  • the second control part and the display device are arranged on the same side of the handle part, the first operation part and the display device are arranged on different sides of the handle part, for example, the second control part and the display device are arranged on the front of the handle part, the first The operation member is arranged on the left side of the handle portion adjacent to the display device, and the first control portion is arranged on the right side of the handle portion adjacent to the display device.
  • the target motor of the gimbal when the handheld gimbal is in the surround shooting mode, in response to the user's manipulation of the joystick, the target motor of the gimbal is controlled to rotate, so that the shooting device rotates around the target axis.
  • the handheld gimbal when the handheld gimbal is in the surround shooting mode, the user is supported to control the movement of the gimbal through the joystick, so that the user can control the rotation angle of the shooting device around the target axis according to his own needs, which is convenient for the user to control the handheld gimbal, and can shoot to meet the user's needs. screen.
  • the handheld pan/tilt head further includes a third control part arranged on the handheld part, the third control part, the first operating part and the display device are arranged on different sides of the handle part, and the third control part is arranged on the handle part
  • the first display device and the second control part are arranged on the front of the handle part
  • the first operating part is arranged on the left side of the handle part adjacent to the display device
  • the first control part is arranged on the handle part.
  • the third control portion is arranged on the back of the handle portion.
  • the third control part, the first operating part and the display device By arranging the third control part, the first operating part and the display device on different sides of the handle part, it is convenient for the user to control the handheld pan/tilt based on the third control part, the first operating part and the display device, and the control convenience of the handheld pan/tilt is improved. .
  • the third control part includes a follow-up control button and a second operation part
  • the follow-up control button is used to control the handheld pan/tilt to start or exit the follow mode, and is also used to control the handheld pan/tilt to start or exit the lock mode, and also It is used to control the gimbal to return to the center or to control the handheld gimbal to be in a self-portrait posture
  • the second operation part is used to control the photographing device to adjust the focus.
  • the handheld pan/tilt head in response to the user's first pressing operation on the follow control key, the handheld pan/tilt head is controlled to start or exit the follow mode. Further, when the handheld pan/tilt is connected to the target identification device, in response to the user's first trigger operation on the follow control button, the handheld pan/tilt is controlled to start the follow mode. Wherein, when the handheld gimbal is in the follow mode, the gimbal can automatically move so that the angle of the shooting device changes with the position of the target object or the handle.
  • the target recognition device includes any one of the shooting device and the TOF sensor.
  • the handheld pan/tilt head is controlled to start or exit the lock mode.
  • the posture of the photographing device remains unchanged, which can ensure that the image of the photographing device remains unchanged and is convenient for the user to photograph.
  • the pan/tilt head is controlled to return to the center.
  • the handheld gimbal is controlled to be in a self-portrait attitude.
  • the lens of the shooting device is oriented in the same direction as the display device. After the gimbal returns to the center, the joint angles of the motors of each axis of the gimbal return to the initial joint angle.
  • the first pressing operation, the second pressing operation, the third pressing operation and the fourth pressing operation of the user on the following control button are different.
  • the user's first pressing operation on the following control button is a short pressing operation
  • the second pressing operation of the button is a long-pressing operation
  • the third pressing operation of the user on the follow-up control button is a double-click operation
  • the fourth pressing operation of the user on the follow-up control button is a triple-click operation.
  • the target motor of the gimbal when the handheld gimbal is in the surround shooting mode and the shooting device rotates around the target axis, in response to the third pressing operation of the follow control button by the user, the target motor of the gimbal is controlled to stop rotating, so that the shooting device stops rotating. Stop the rotation of the target axis, and control the gimbal to return to the center; or when the handheld gimbal is in the surround shooting mode and the shooting device rotates around the target axis, in response to the user's fourth pressing operation on the follow control button, control the target of the gimbal The motor stops rotating, so that the shooting device stops rotating around the target axis, and controls the handheld gimbal to be in a self-portrait posture.
  • the photographing device in response to a user's rotational operation of the second operating member, the photographing device is controlled to adjust the focus.
  • the second operation component is a dial button.
  • a rotation parameter of the second operating member is obtained, and the focusing control amount input by the second operating member is determined according to the rotating parameter;
  • a focusing control instruction is sent, and a focusing control instruction is sent to the photographing device, so that the photographing device can perform focusing control based on the focusing control amount in the focusing control instruction.
  • the control method of the hand-held PTZ displays a function menu selection page through the display device, so that the hand-held PTZ can identify the corresponding function menu on the function menu selection page in response to the user's rotational operation of the first operating component. option, can also respond to the user's pressing operation on the first operating part, generate a control command according to the identified function menu option, and control the hand-held pan/tilt according to the control command, which is convenient for the user to use the function of the hand-held pan/tilt and in different application scenarios.
  • the use of the handheld PTZ under the hood greatly improves the control convenience of the handheld PTZ and improves the user experience.
  • FIG. 14 is a schematic block diagram of the structure of a handheld gimbal provided by an embodiment of the present application.
  • the handheld pan/tilt 300 includes a handle part, a pan/tilt 301 disposed on the handle part, a display device 302 and a first operation part 303 , the handheld pan/tilt 300 further includes a processor 304 and a memory 305 , and the pan/tilt 301 , the display device 302 and the first operation part 303, the processor 304 and the memory 305 are connected through a bus 306, for example, an I2C (Inter-integrated Circuit) bus.
  • the pan/tilt 301 is used for carrying a photographing device
  • the handheld pan/tilt 300 is used for communicating with the photographing device.
  • the processor 304 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU), or 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 305 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, a mobile hard disk, and the like.
  • ROM Read-Only Memory
  • the memory 305 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, a mobile hard disk, and the like.
  • the processor 304 is used for running the computer program stored in the memory 305, and implements the following steps when executing the computer program:
  • a control instruction is generated according to the identified function menu options, and the handheld pan/tilt head is controlled according to the control instruction.
  • the display device and the first operating member are provided on different sides of the handle portion.
  • the first operating member is disposed on a side surface of the handle portion adjacent to the display device.
  • the processor when the processor controls the handheld pan/tilt according to the control instruction, the processor is configured to:
  • the display device is controlled to display the parameter adjustment page of the photographing device according to the control instruction, wherein the parameter device page displays the current value of the target photographing parameter of the photographing device.
  • the processor is further configured to implement the following steps:
  • the parameter adjustment instruction is sent to the photographing device, so that the photographing device adjusts the value of the target photographing parameter according to the parameter adjustment instruction.
  • the hand-held pan/tilt head further includes a first control portion disposed on the handle portion, the first control portion includes a back button, and the processor is further configured to implement the following steps:
  • the function menu selection page currently displayed by the display device is reverted to change the function menu selection page currently displayed by the display device.
  • the first control unit further includes a power button
  • the processor is further configured to implement the following steps:
  • control the handheld PTZ In response to the user's first pressing operation on the power button, control the handheld PTZ to sleep or wake up the handheld PTZ; or
  • the handheld gimbal In response to a second pressing operation of the power button by the user, the handheld gimbal is controlled to be turned on or off, wherein the first pressing operation is different from the second pressing operation.
  • the first control part is provided on the side surface of the handle part adjacent to the display device, and the first operating member and the first control part are provided on different sides of the handle part. side.
  • the handheld pan/tilt head further includes a second control part arranged on the handle part, the second control part and the display device are arranged on the same side of the handle part, and the second control part is arranged on the same side of the handle part.
  • the part includes a shooting button, and the processor is also used to implement the following steps:
  • control the shooting device In response to the user's first pressing operation on the shooting button, control the shooting device to start recording or stop recording; or
  • the shooting device In response to a second pressing operation of the shooting button by the user, the shooting device is controlled to take a picture; or
  • the shooting device In response to a third pressing operation of the shooting button by the user, the shooting device is controlled to focus.
  • the second control part further includes a mode switch button and a joystick
  • the handheld pan/tilt head further includes a second operating component arranged on the handle part
  • the processor is further configured to implement the following steps: :
  • controlling the handheld pan/tilt head to switch the control modes of the pan/tilt head, the joystick, the first operating part and/or the second operating part;
  • control mode corresponds to a set of control parameters
  • control parameters include at least one of the control parameters of the pan/tilt, the joystick, the first operating part and the second operating part.
  • the processor is further configured to implement the following steps:
  • the handheld gimbal In response to the third pressing operation of the mode switching button by the user, the handheld gimbal is controlled to be in a horizontal shooting mode or a vertical shooting mode; or
  • the handheld gimbal In response to the fourth pressing operation of the mode switching button by the user, the handheld gimbal is controlled to start or exit the surround shooting mode, wherein when the handheld gimbal is in the surround shooting mode, the shooting device can rotate around the target axis preset angle.
  • the processor is further configured to implement the following steps:
  • the target motor of the pan/tilt head is controlled to rotate, so that the shooting device rotates around the target axis.
  • the handheld pan/tilt head further includes a third control part provided on the handle part, and the third control part, the first operating part and the display device are provided on the handle part.
  • the third control part includes a follow-up control button, and the processor is further configured to implement the following steps:
  • control the handheld pan/tilt In response to the user's first pressing operation on the following control button, control the handheld pan/tilt to start or exit the following mode; or
  • the handheld gimbal In response to the user's fourth pressing operation on the following control button, the handheld gimbal is controlled to be in a self-portrait attitude, wherein when the handheld gimbal is in a self-portrait attitude, the lens of the photographing device is oriented toward the direction of the display device. the same direction.
  • the processor realizes that in response to the first pressing operation of the following control button by the user, when controlling the handheld pan/tilt to start the following mode, it is used to realize:
  • the handheld PTZ When the handheld PTZ is connected to the target identification device, in response to the user's first triggering operation on the following control button, the handheld PTZ is controlled to start the following mode.
  • the target identification device includes any one of a photographing device and a TOF sensor.
  • the processor is further configured to implement the following steps:
  • the target motor of the gimbal is controlled to stop rotating, so that the target motor of the gimbal is controlled to stop rotating.
  • the photographing device stops rotating around the target axis, and controls the pan/tilt to return to the center; or
  • the target motor of the gimbal is controlled to stop rotating, so that the The photographing device stops rotating around the target axis, and controls the handheld gimbal to be in a self-portrait posture.
  • the third control unit further includes a second operation component
  • the processor is further configured to implement the following steps:
  • the photographing apparatus In response to a user's rotational operation of the second operation member, the photographing apparatus is controlled to perform focusing.
  • Embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and the computer program includes program instructions, and the processor executes the program instructions to realize the provision of the above embodiments.
  • the computer-readable storage medium may be an internal storage unit of the handheld pan/tilt described in any of the foregoing embodiments, such as a hard disk or a memory of the handheld pan/tilt.
  • the computer-readable storage medium can also be an external storage device of the handheld PTZ, such as a plug-in hard disk equipped on the handheld PTZ, a smart memory card (Smart Media Card, SMC), a Secure Digital (Secure Digital) , SD) card, flash memory card (Flash Card), etc.

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Abstract

一种手持云台的控制方法、手持云台及计算机可读存储介质，该方法包括：显示功能菜单选择页面(S101)；响应于用户对第一操作部件(104)的转动操作，标识对应的功能菜单选项(S102)；响应于用户对第一操作部件(104)的按压操作，根据标识的功能菜单选项生成控制指令，并根据控制指令控制手持云台(S103)。提高了手持云台的控制便利性。

Description

手持云台的控制方法、手持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技术领域，尤其涉及一种手持云台的控制方法、手持云台及计算机可读存储介质。
背景技术
手持云台给拍摄设备的使用带来了极大的便利，人们可以在各种场景、各种运动模式下简单轻松地拍出图像稳定和变焦流畅的画面。目前，手持云台支持的功能和应用场景越来越多，对此需要在手持云台上设置较多的操作按键来实现手持云台支持的功能和应用场景，然而在有限的手柄上布置过多的按键，容易导致误触，也不方便用户控制手持云台，用户体验不好。
发明内容
基于此，本申请实施例提供了一种手持云台的控制方法、手持云台及计算机可读存储介质，旨在提高手持云台的控制便利性，提高用户体验。
第一方面，本申请实施例提供了一种手持云台的控制方法，所述手持云台包括手柄部和设于手柄部上的云台、显示装置和第一操作部件，所述云台用于搭载拍摄设备，所述手持云台用于与所述拍摄设备通信连接，所述方法包括：
通过所述显示装置显示功能菜单选择页面，其中，所述功能菜单选择页面包括多个功能菜单选项；
响应于用户对所述第一操作部件的转动操作，在所述功能菜单选择页面上标识对应的功能菜单选项；
响应于用户对所述第一操作部件的按压操作，根据标识的功能菜单选项生成控制指令，并根据所述控制指令控制所述手持云台。
第二方面，本申请实施例还提供了一种手持云台，所述手持云台包括手柄部、设于所述手柄部上的云台、显示装置和第一操作部件，所述云台用于搭载拍摄设备，所述手持云台用于与所述拍摄设备通信连接，所述手持云台还包括处理器和存储器；
所述存储器用于存储计算机程序；
所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，实现 如下步骤：
通过所述显示装置显示功能菜单选择页面，其中，所述功能菜单选择页面包括多个功能菜单选项；
响应于用户对所述第一操作部件的转动操作，在所述功能菜单选择页面上标识对应的功能菜单选项；
响应于用户对所述第一操作部件的按压操作，根据标识的功能菜单选项生成控制指令，并根据所述控制指令控制所述手持云台。
第三方面，本申请实施例还提供了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，所述计算机程序被处理器执行时使所述处理器实现如上所述的手持云台的控制方法的步骤。
本申请实施例提供了一种手持云台的控制方法、手持云台及计算机可读存储介质，通过显示装置显示功能菜单选择页面，使得手持云台能够响应于用户对第一操作部件的转动操作，在该功能菜单选择页面上标识对应的功能菜单选项，还能够响应于用户对第一操作部件的按压操作，根据标识的功能菜单选项生成控制指令，并根据该控制指令控制手持云台，便于用户使用手持云台的功能和在不同的应用场景下使用手持云台，极大的提高了手持云台的控制便利性，提高了用户体验。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本申请。
附图说明
为了更清楚地说明本申请实施例技术方案，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是实施本申请实施例提供的控制方法的手持云台的结构示意图；
图2是本申请实施例提供的一种手持云台的控制方法的步骤示意流程图；
图3是本申请实施例中显示装置显示的主菜单选择页面的一示意图；
图4是本申请实施例中显示装置显示的摇杆的功能菜单选择页面的一示意图；
图5是本申请实施例中显示装置显示的第二操作部件的功能菜单选择页面的一示意图；
图6是本申请实施例中显示装置显示的工作模式选择页面的一示意图；
图7是本申请实施例中显示装置显示的第一操作部件的功能菜单选择页面的一示意图；
图8是本申请实施例中显示装置显示的摇杆的功能菜单选择页面的另一示意图；
图9是本申请实施例中显示装置显示的摇杆的功能菜单选择页面的另一示意图；
图10是本申请实施例中显示装置显示的摇杆的功能菜单选择页面的另一示意图；
图11是本申请实施例中显示装置显示的工作模式选择页面的另一示意图；
图12是本申请实施例中显示装置显示的第一操作部件的功能菜单选择页面的另一示意图；
图13是本申请实施例中显示装置显示的参数调整页面的一示意图；
图14是本申请实施例提供的一种手持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。
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。
手持云台给拍摄设备的使用带来了极大的便利，人们可以在各种场景、各种运动模式下简单轻松地拍出图像稳定和变焦流畅的画面。目前，手持云台支持的功能和应用场景越来越多，对此需要在手持云台上设置较多的操作按键来实现手持云台支持的功能和应用场景，然而在有限的手柄上布置过多的按键，容易导致误触，也不方便用户控制手持云台，用户体验不好。
为解决上述问题，本申请实施例提供一种手持云台的控制方法、手持云台及计算机可读存储介质，通过显示装置显示功能菜单选择页面，使得手持云台 能够响应于用户对第一操作部件的转动操作，在该功能菜单选择页面上标识对应的功能菜单选项，还能够响应于用户对第一操作部件的按压操作，根据标识的功能菜单选项生成控制指令，并根据该控制指令控制手持云台，便于用户使用手持云台的功能和在不同的应用场景下使用手持云台，极大的提高了手持云台的控制便利性，提高了用户体验。
请参阅图1，图1是实施本申请实施例提供的控制方法的手持云台的结构示意图。以下将结合图1，对本申请实施例中的手持云台进行说明。
如图1所示，手持云台100包括手柄部101、设于手柄部101上的云台102、显示装置103和第一操作部件104，云台102用于搭载拍摄设备200，拍摄设备200可以与云台102一体设置，也可以外接于云台102。示例性的，拍摄设备200可以为智能手机，也可以为相机，例如为单反相机，还可以为摄像头。手持云台100可以承载拍摄设备200，用于固定拍摄设备200以及改变拍摄设备200的高度、倾角和/或方向，或者用于将拍摄设备200稳定地保持在某一姿态上，并控制拍摄设备200进行拍摄。
其中，该显示装置103可以用于显示手持云台的功能菜单选择页面，使得用户能够通过第一操作部件104选择功能菜单选择页面中的功能菜单选项，便于用户使用手持云台的功能和在不同的应用场景下使用手持云台，极大的提高了手持云台的控制便利性，提高了用户体验。具体为：响应于用户对第一操作部件104的转动操作，在功能菜单选择页面上标识对应的功能菜单选项，响应于用户对第一操作部件的按压操作104，根据标识的功能菜单选项生成控制指令，并根据控制指令控制手持云台。可选的，第一操作部件为拨轮键。
其中，手持云台100用于与拍摄设备200通信连接，手持云台100可以通过控制线与拍摄设备200连接，该控制线例如为快门线。此处不限定快门线的种类，例如，该快门线可以是通用串行总线(Universal Serial Bus，USB)。手持云台100也可以通过无线的方式与拍摄设备200连接，例如，通过手持云台100内置的第一蓝牙模块与拍摄设备200内置的第二蓝牙模块，建立手持云台100与拍摄设备200之间的通信连接。
其中，云台102包括三轴电机，三轴电机分别为俯仰(pitch)轴电机1021、平移(yaw)轴电机1022和横滚(roll)轴电机(图1中未示出)，所述三轴电机用于调整搭载于云台102上的拍摄设备200的平衡姿态，以便拍摄稳定流畅的画面。
其中，云台102上还设置有惯性测量单元(Inertial measurement unit，IMU)， 可例如为加速度计或陀螺仪中的至少一种，可以用于测量云台102的姿态和加速度等，以便根据姿态调整云台102的姿态。在一实施例中，手柄部101上也设置有惯性测量单元(Inertial measurement unit，IMU)，例如包括加速度计或陀螺仪中的至少一种，可以用于测量手柄部101的姿态和加速度等，以便根据手柄部101的姿态和云台102的姿态调整云台102的姿态。
其中，显示装置103和第一操作部件104设于手柄部101的不同侧面，可选的，第一操作部件104设于手柄部101上与显示装置103相邻的侧面。如图1所示，显示装置103设于手柄部101的正面，第一操作部件104设于手柄部101上与显示装置103相邻的左侧面。
示例性的，如图1所示，手持云台100还包括设于手柄部101上的第一控制部105，第一控制部105包括回退按键1051和电源按键1052，该回退按键1051用于控制手持云台对显示装置103当前显示的功能菜单选择页面进行回退，以改变显示装置103当前显示的功能菜单选择页面，电源按键1052用于控制手持云台休眠、唤醒手持云台、开机或关机。
其中，第一控制部105设于手柄部101上与显示装置103相邻的侧面，第一操作部件104和第一控制部105设于手柄部101的不同侧面。可选的，第一操作部件104设于手柄部101的第一侧面，第一控制部105设于手柄部101的第二侧面，且第一侧面与第二侧面相对。例如，如图1所示，显示装置103设于手柄部101的正面，第一操作部件104设于手柄部101上与显示装置103相邻的左侧面，第一控制部105设于手柄部101上与显示装置103相邻的右侧面。通过将第一控制部105设于手柄部101上与显示装置103相邻的侧面，且第一操作部件104和第一控制部105设于手柄部101的不同侧面，便于用户通过第一操作部件104和第一控制部105控制手持云台，提高手持云台的控制便利性。
示例性的，如图1所示，手持云台100还包括设于手柄部101上的第二控制部106，第二控制部106包括拍摄按键1061、模式切换按键1062和摇杆1063，拍摄按键1061用于控制拍摄设备200开始录像、停止录像、拍照或对焦，摇杆1063用于控制云台102运动，模式切换按键1062用于控制手持云台切换云台102、摇杆1063、第一操作部件104和/或第二操作部件(图中未示出)的控制模式，控制模式与一组控制参数对应，该控制参数包括云台102、摇杆1063、第一操作部件104和第二操作部件(图中未示出)的控制参数中的至少一项。
通过设置拍摄按键，便于用于控制拍摄设备进行拍摄，而通过设置模式切换按键，便于用户切换云台102、摇杆1063、第一操作部件104和/或第二操作 部件(图中未示出)的控制模式，通过设置摇杆1063，便于用户控制云台102运动，以改变拍摄设备200的姿态。
其中，云台102的控制参数包括云台102的各轴电机的受控状态、速度、死区、灵敏度和平滑度中的至少一项，摇杆1063的控制参数包括摇杆1063的速度、灵敏度和平滑度中的至少一项，述第一操作部件104的控制参数包括第一操作部件104的速度和转动阻尼中的至少一项，第二操作部件的控制参数包括第二操作部件的速度和转动阻尼中的至少一项，云台102、摇杆1063、第一操作部件104和/或第二操作部件(图中未示出)的控制模式可由用户自行设置后，然后由用户通过模式切换按键1062切换云台102、摇杆1063、第一操作部件104和/或第二操作部件的控制模式。
其中，模式切换按键1062还用于控制手持云台100启动或退出运动模式，若手持云台100处于运动模式，则云台102以预设速度跟随，比如以云台的三轴的最大速度跟随；模式切换按键1062还用于控制手持云台处于横拍模式或竖拍模式，手持云台100处于横拍模式时，云台102的各轴电机的关节角均为0°，而手持云台100处于竖拍模式时，云台102的平移轴电机和俯仰轴电机的关节角均为0°，横滚轴电机的关节角为90°；模式切换按键1062还用于控制手持云台启动或者退出环绕拍摄模式，手持云台100处于环绕拍摄模式时，拍摄设备200能够饶目标轴旋转预设角度，或者摇杆能够控制云台的目标电机转动，使得拍摄设备能够饶目标轴旋转。其中，预设角度为90°、180°或360°等，目标轴可以为横滚轴、俯仰轴和平移轴中的任一项，可选的，目标轴为横滚轴。通过设置模式切换按键，便于用户切换手持云台100的工作模式。
其中，第二控制部106和显示装置103设于手柄部101的同一侧面，如图1所示，第二控制部106和显示装置103设于手柄部101的正面，第一操作部件104设于手柄部101上与显示装置103相邻的左侧面，第一控制部105设于手柄部101上与显示装置103相邻的右侧面。
其中，手持云台还包括设于手持部的第三控制部(图1未示出)，第三控制部、第一操作部件104和显示装置103设于手柄部101的不同侧面，第三控制部设于手柄部101上与显示装置103相对的侧面，例如，如图1所示，第一显示装置103和第二控制部106设于手柄部101的正面，第一操作部件104设于手柄部101上与显示装置103相邻的左侧面，第一控制部105设于手柄部101上与显示装置103相邻的右侧面，第三控制部设于手柄部101的背面。
其中，第三控制部包括跟随控制按键和第二操作部件，该跟随控制按键用 于控制手持云台100启动或退出跟随模式，手持云台100处于跟随模式时，云台102能够自动运动使得拍摄设备200的角度随着目标对象或手柄部101的位置变化而发生变化；该跟随控制按键还用于控制手持云台100启动或者退出锁定模式，手持云台100处于锁定模式时，拍摄设备200的姿态保持不变；跟随控制按键还用于控制云台102回中或控制手持云台100处于自拍姿态，云台102回中后，云台102的各轴电机的关节角回到初始关节角，手持云台100处于自拍姿态时，拍摄设备200的镜头朝向与显示装置103的方向一致；该第二操作部件用于控制拍摄设备200进行调焦，例如，控制拍摄设备200进行变焦，又例如，控制拍摄设备200进行跟焦，可选的，第二操作部件为拨轮键。
通过设置跟随控制按键，便于用户快速的控制手持云台启动或退出跟随模式、锁定模式、回中或处于自拍姿态，通过设置第二操作部件，便于用户控制拍摄设备进行调焦。
其中，手持云台100包括处理器，处理器用于对输入的控制指令进行处理，或者收发信号等。处理器可以设置在手柄部101的内部。可选地，该处理器可以是中央处理单元(Central Processing Unit，CPU)，该处理器还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(application specific integrated circuit，ASIC)、现场可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。可以理解的，图1中的手持云台以及上述对于手持云台各部件的命名仅仅出于标识的目的，并不因此对本申请实施例进行限制。
以下，将结合图1中的手持云台对本申请实施例提供的手持云台的控制方法进行详细介绍。需知，图1中的手持云台仅用于解释本申请实施例提供的参数自适应方法，但并不构成对本申请实施例提供的手持云台的控制方法应用场景的限定。
请参阅图2，图2是本申请实施例提供的一种手持云台的控制方法的步骤示意流程图。
如图2所示，该手持云台的控制方法包括步骤S101至步骤S103。
S101、通过所述显示装置显示功能菜单选择页面，其中，所述功能菜单选择页面包括多个功能菜单选项。
其中，显示装置显示的功能菜单选择页面包括主菜单选择页面、摇杆的功能菜单选择页面、第一操作部件的功能菜单选择页面、第二操作部件的功能菜 单选择页面和工作模式选择页面。
在一实施例中，主菜单选择页面包括摇杆控制选项、第一操作部件选项、第二操作部件选项、工作模式选项和拍摄参数选择选项，摇杆控制选项与摇杆的功能菜单选择页面对应，第一操作部件选项与第一操作部件的功能菜单选择页面对应，第二操作部件选项与第二操作部件的功能菜单选择页面，工作模式选项与工作模式选择页面对应。示例性的，如图3所示，显示装置显示有手持云台的主菜单选择页面，该主菜单选择页面显示有“摇杆控制”、“工作模式”、“第一操作部件”和“第二操作部件”等选项。
在一实施例中，摇杆的功能菜单选择页面包括摇杆速度选项、摇杆平滑选项，通过摇杆速度选项，用户可以设置摇杆的速度，通过摇杆平滑选项，用户可以设置摇杆的平滑度。示例性的，如图4所示，显示装置显示有摇杆的功能菜单选择页面，摇杆的功能菜单选择页面显示有“摇杆速度”和“摇杆平滑”等选项。
在一实施例中，第二操作部件的功能菜单选择页面包括跟焦选项、变焦选项和跟焦电机选项，当用户选择跟焦选项时，用户可以通过第二操作部件控制拍摄设备进行跟焦，当用户选择变焦选项时，用户可以通过第二操作部件控制拍摄设备进行变焦，当用户选择跟焦电机选项时，用户可以通过第二操作部件控制搭载于拍摄设备的光学组件上的跟焦电机，光学组件可以为变焦环或跟焦环。示例性的，如图5所示，显示装置显示有第二操作部件的功能菜单选择页面，第二操作部件的功能菜单选择页面显示有“跟焦”、“变焦”和“跟焦电机”等选项。
在一实施例中，工作模式选择页面的功能菜单选择页面包括运动模式选项、跟随模式选项、锁定模式选项、休眠模式选项和环绕拍摄模式选项，当用户选择运动模式选项，手持云台进入运动模式，当用户选择跟随模式选项，手持云台进入跟随模式，当用户选择锁定模式，手持云台进入锁定模式，当用户选择休眠模式选项，手持云台进入休眠模式，当用户选择环绕拍摄模式选项，手持云台进入环绕拍摄模式。示例性的，如图6所示，显示装置显示有工作模式选择页面，工作模式选择页面显示有“运动模式”、“跟随模式”、“锁定模式”、“休眠模式”和“环绕拍摄模式”等选项。
在一实施例中，第一操作部件的功能菜单选择页面包括快门选项、感光度选项、光圈选项和跟焦选项，当用户选择快门选项后，用户可以通过第一操作部件调整拍摄设备的快门的取值，当用户选择感光度选项后，用户可以通过第 一操作部件调整拍摄设备的感光度的取值，当用户选择光圈选项后，用户可以通过第一操作部件调整拍摄设备的光圈的取值，当用户选择跟焦选项后，用户可以通过第一操作部件调整拍摄设备的跟焦参数的取值。示例性的，如图7所示，显示装置显示有第一操作部件的功能菜单选择页面，第一操作部件的功能菜单选择页面显示有“快门”、“感光度”、“光圈”和“跟焦”等选项。
S102、响应于用户对所述第一操作部件的转动操作，在所述功能菜单选择页面上标识对应的功能菜单选项。
其中，标识用户选择的功能菜单选项的方式可基于实际情况进行设置，本申请实施例对此不做具体限定，例如，通过在用户选择的功能菜单选项上显示矩形框来标识用户通过第一操作部件选择的功能菜单选项，又例如，通过在用户选择的功能菜单选项上显示勾选图标的方式标识用户通过第一操作部件选择的功能菜单选项，再例如，通过在用户选择的功能菜单选项上显示勾选图标和矩形框的方式标识用户通过第一操作部件选择的功能菜单选项。
示例性的，例如，如图8所示，“第一操作部件”的选项被矩形框所框选，则标识第一操作部件”的选项为用户通过第一操作部件选择的功能菜单选项。又例如，如图9所示，“工作模式”的选项上显示有勾选图标，则“工作模式”的选项为用户通过第一操作部件选择的功能菜单选项。再例如，如图10所示，“摇杆控制”的选项上显示有勾选图标和矩形框，则“摇杆控制”的选项为用户通过第一操作部件选择的功能菜单选项。
S103、响应于用户对所述第一操作部件的按压操作，根据标识的功能菜单选项生成控制指令，并根据所述控制指令控制所述手持云台。
其中，用户对第一操作部件的按压操作包括短按操作、长按操作、双击操作和三击操作中的任一项。
示例性的，如图9所示，标识的功能菜单选项为“工作模式”，此时响应于用户对第一操作部件的按压操作，手持云台生成用于控制显示装置显示工作模式选择页面的控制指令，并基于该控制指令控制显示装置显示工作模式选择页面，显示的工作模式选择页面可以如图6所示，此时用户可以通过第一操作部件选择手持云台的工作模式，如图11所示，用户通过第一操作部件选择手持云台的工作模式选项为“运动模式”，当用户对第一操作部件进行按压后，手持云台生成运动模式进入指令，并根据该运动模式进入指令控制手持云台进入运动模式。
在一实施例中，根据该控制指令控制显示装置显示拍摄设备的参数调节页 面，其中，该参数设备页面显示有拍摄设备的目标拍摄参数的当前取值；响应于用户对第一操作部件的转动操作，更新参数调节页面显示的目标拍摄参数的当前取值；响应于用户对第一操作部件的按压操作，根据目标拍摄参数的更新后的取值，生成参数调节指令；向拍摄设备发送所述参数调节指令，以使拍摄设备根据参数调节指令调节目标拍摄参数的取值。通过显示参数调节页面，使得用户能够通过第一操作部件调整拍摄设备的拍摄参数的取值。
示例性的，如图12所示，标识的功能菜单选项为“感光度”，此时响应于用户对第一操作部件的按压操作，手持云台生成用于控制显示装置显示感光度的参数调节页面的控制指令，并根据该控制指令控制显示装置显示感光度的参数调节页面。如图13所示，拍摄设备的感光度的当前取值为150。
在一实施例中，手持云台还包括设于手柄部的第一控制部，第一控制部包括回退按键，该回退按键用于对显示装置当前显示的功能菜单选择页面进行回退，以改变显示装置当前显示的功能菜单选择页面。示例性的，响应于用户对回退按键的按压操作，对显示装置当前显示的功能菜单选择页面进行回退，以改变显示装置当前显示的功能菜单选择页面。通过设置回退按键，便于用户控制显示装置回退显示的页面，便于用户控制手持云台。
其中，用户对回退按键的按压操作包括用户对回退按键的短按操作、长按操作、双击操作和三击操作中的任一项。例如，显示装置当前显示的功能菜单选择页面为如图4所示的摇杆的功能菜单选择页面，当检测到用户对回退按键的按压操作时，显示装置显示的页面由如图4所示的摇杆的功能菜单选择页面改变为如图3所示的主菜单页面。
在一实施例中，第一控制部还包括电源按键，该电源按键用于控制手持云台休眠、唤醒手持云台、开机或关机。示例性的，响应于用户对电源按键的第一按压操作，控制手持云台休眠或者唤醒手持云台；或者响应于用户对电源按键的第二按压操作，控制手持云台开机或者关机，其中，第一按压操作与第二按压操作不同，第一按压操作包括短按操作、长按操作、双击操作和三击操作中的任一项，第二按压操作包括短按操作、长按操作、双击操作和三击操作中的任一项，例如，第一按压操作为短按操作、第二按压操作为长按操作，又例如，第一按压操作为长按操作，第二按压操作为短按操作。
在一实施例中，第一控制部设于手柄部上与显示装置相邻的侧面，第一操作部件和所述第一控制部设于所述手柄部的不同侧面。可选的，第一操作部件设于手柄部的第一侧面，第一控制部设于手柄部的第二侧面，且第一侧面与第 二侧面相对。通过将第一控制部设于手柄部上与显示装置相邻的侧面，且第一操作部件和第一控制部设于手柄部的不同侧面，便于用户通过第一操作部件和第一控制部控制手持云台，提高手持云台的控制便利性。
在一实施例中，手持云台还包括设于手柄部的第二控制部，第二控制部和显示装置设于手柄部的同一侧面，第二控制部包括拍摄按键，该拍摄按键用于控制拍摄设备开始录像、停止录像、拍照或对焦。示例性的，响应于用户对拍摄按键的第一按压操作，控制拍摄设备开始录像或者停止录像；或者响应于用户对拍摄按键的第二按压操作，控制拍摄设备拍照；或者响应于用户对拍摄按键的第三按压操作，控制拍摄设备对焦。通过设置拍摄按键，便于用户通过拍摄按键控制拍摄设备拍摄。
其中，用户对拍摄按键的第一按压操作、第二按压操作和第三按压操作不同，用户对拍摄按键的第一按压操作为短按操作，用户对拍摄按键的第二按压操作为长按操作，用户对拍摄按键的第三按压操作为半按操作，半按操作是指用户按压拍摄按键，使得拍摄按键没入按压孔内的位置达到一半后，松开拍摄按键的操作。
在一实施例中，第二控制部还包括模式切换按键和摇杆，摇杆用于控制云台运动，模式切换按键用于控制手持云台切换云台、摇杆、第一操作部件和/或第二操作部件的控制模式、还用于控制手持云台启动或退出运动模式、还用于控制手持云台处于横拍模式或竖拍模式，还用于控制手持云台启动或者退出环绕拍摄模式。通过设置模式切换按键，便于用户切换各控制键的控制模式以及手持云台的工作模式之间的切换，提高手持云台的控制便利性。
示例性的，响应于用户对模式切换按键的第一按压操作，控制手持云台切换云台、摇杆、第一操作部件和/或第二操作部件的控制模式，其中，控制模式与一组控制参数对应，控制参数包括所述云台、摇杆、第一操作部件和第二操作部件的控制参数中的至少一项。
或者，响应于用户对模式切换按键的第二按压操作，控制手持云台启动或退出运动模式。其中，若手持云台处于运动模式，则云台以预设速度跟随，比如以云台的三轴的最大速度跟随。
或者，响应于用户对模式切换按键的第三按压操作，控制手持云台处于横拍模式或竖拍模式。其中，手持云台处于横拍模式时，云台的各轴电机的关节角均为0°，而手持云台处于竖拍模式时，云台的平移轴电机和俯仰轴电机的关节角均为0°，横滚轴电机的关节角为90°。可以理解的是，在云台搭载的拍摄 设备为智能手机，手持云台处于横拍模式时，智能手机处于横屏状态，而手持云台处于竖拍模式时，智能手机处于竖拍状态。
或者，响应于用户对模式切换按键的第四按压操作，控制手持云台启动或者退出环绕拍摄模式。其中，手持云台处于环绕拍摄模式时，拍摄设备能够饶目标轴旋转预设角度，预设角度为90°、180°或360°等，目标轴可以为横滚轴、俯仰轴和平移轴中的任一项，可选的，目标轴为横滚轴。
其中，用户对模式切换按键的第一按压操作、第二按压操作、第三按压操作和第四按压操作不同，例如，用户对模式切换按键的第一按压操作为短按操作、用户对模式切换按键的第二按压操作为长按操作、用户对模式切换按键的第三按压操作为双击操作，用户对模式切换按键的第四按压操作为三击操作。
其中，云台的控制参数包括云台的各轴电机的受控状态、速度、死区、灵敏度和平滑度中的至少一项，摇杆的控制参数包括摇杆的速度、灵敏度和平滑度中的至少一项，述第一操作部件的控制参数包括第一操作部件的速度和转动阻尼中的至少一项，第二操作部件的控制参数包括第二操作部件的速度和转动阻尼中的至少一项，云台、摇杆、第一操作部件和/或第二操作部件(图中未示出)的控制模式可由用户自行设置后，然后由用户通过模式切换按键切换云台、摇杆、第一操作部件和/或第二操作部件的控制模式。
其中，第二控制部和显示装置设于手柄部的同一侧面，第一操作部件和显示装置设于手柄部的不同侧面，例如，第二控制部和显示装置设于手柄部的正面，第一操作部件设于手柄部上与显示装置相邻的左侧面，第一控制部设于手柄部上与显示装置相邻的右侧面。通过将第二控制部和显示装置设于手柄部的同一侧面，第一操作部件和显示装置设于手柄部的不同侧面，便于用户通过第二控制部和第一操作部件控制手持云台，提高手持云台的控制便利性。
在一实施例中，在手持云台处于环绕拍摄模式时，响应于用户对摇杆的打杆操作，控制云台的目标电机转动，使得拍摄设备饶目标轴旋转。通过手持云台处于环绕拍摄模式时，支持用户通过摇杆控制云台运动，使得用户能够按照自己的需求控制拍摄设备饶目标轴旋转的角度，便于用户控制手持云台，能够拍摄得到符合用户需求的画面。
在一实施例中，手持云台还包括设于手持部的第三控制部，第三控制部、第一操作部件和显示装置设于手柄部的不同侧面，第三控制部设于手柄部上与显示装置相对的侧面，例如，第一显示装置和第二控制部设于手柄部的正面，第一操作部件设于手柄部上与显示装置相邻的左侧面，第一控制部设于手柄部 上与显示装置相邻的右侧面，第三控制部设于手柄部的背面。通过将第三控制部、第一操作部件和显示装置设于手柄部的不同侧面，便于用户基于第三控制部、第一操作部件和显示装置控制手持云台，提高手持云台的控制便利性。
在一实施例中，第三控制部包括跟随控制按键和第二操作部件，该跟随控制按键用于控制手持云台启动或退出跟随模式，还用于控制手持云台启动或者退出锁定模式，还用于控制云台回中或控制手持云台处于自拍姿态，第二操作部件用于控制拍摄设备进行调焦。
示例性的，响应于用户对跟随控制按键的第一按压操作，控制手持云台启动或者退出跟随模式。进一步地，在手持云台与目标识别装置连接时，响应于用户对跟随控制按键的第一触发操作，控制手持云台启动跟随模式。其中，手持云台处于跟随模式时，云台能够自动运动使得拍摄设备的角度随着目标对象或手柄部的位置变化而发生变化，目标识别装置包括拍摄设备和TOF传感器中的任一项。
或者，响应于用户对跟随控制按键的第二按压操作，控制手持云台启动或者退出锁定模式。其中，手持云台处于锁定模式时，拍摄设备的姿态保持不变，能够保证拍摄设备的画面保持不变，便于用户拍摄。
或者，响应于用户对跟随控制按键的第三按压操作，控制云台回中。或者，响应于用户对跟随控制按键的第四按压操作，控制手持云台处于自拍姿态。其中，手持云台处于自拍姿态时，拍摄设备的镜头朝向与显示装置的方向一致，云台回中后，云台的各轴电机的关节角回到初始关节角。
其中，用户对跟随控制按键的第一按压操作、第二按压操作、第三按压操作和第四按压操作不同，例如，用户对跟随控制按键的第一按压操作为短按操作，用户对跟随控制按键的第二按压操作为长按操作，用户对跟随控制按键的第三按压操作为双击操作，用户对跟随控制按键的第四按压操作为三击操作。
在一实施例中，在手持云台处于环绕拍摄模式，且拍摄设备饶目标轴旋转时，响应于用户对跟随控制按键的第三按压操作，控制云台的目标电机停止转动，以使拍摄设备停止饶目标轴旋转，并控制云台回中；或者在手持云台处于环绕拍摄模式，且拍摄设备饶目标轴旋转时，响应于用户对跟随控制按键的第四按压操作，控制云台的目标电机停止转动，以使拍摄设备停止饶目标轴旋转，并控制手持云台处于自拍姿态。
示例性的，响应于用户对第二操作部件的转动操作，控制拍摄设备进行调焦。例如，控制拍摄设备进行变焦，又例如，控制拍摄设备进行跟焦，可选的， 第二操作部件为拨轮键。
在一实施例中，响应于用户对第二操作部件的转动操作，获取第二操作部件的转动参数，并根据转动参数确定第二操作部件输入的调焦控制量；根据该调焦控制量生成调焦控制指令，并向拍摄设备发送调焦控制指令，以供拍摄设备基于该调焦控制指令中的调焦控制量进行调焦控制。
上述实施例提供的手持云台的控制方法，通过显示装置显示功能菜单选择页面，使得手持云台能够响应于用户对第一操作部件的转动操作，在该功能菜单选择页面上标识对应的功能菜单选项，还能够响应于用户对第一操作部件的按压操作，根据标识的功能菜单选项生成控制指令，并根据该控制指令控制手持云台，便于用户使用手持云台的功能和在不同的应用场景下使用手持云台，极大的提高了手持云台的控制便利性，提高了用户体验。
请参阅图14，图14是本申请实施例提供的一种手持云台的结构示意性框图。
如图14所示，手持云台300包括手柄部、设于手柄部上的云台301、显示装置302和第一操作部件303，手持云台300还包括处理器304和存储器305，云台301、显示装置302和第一操作部件303、处理器304和存储器305通过总线306连接，该总线306比如为I2C(Inter-integrated Circuit)总线。其中，云台301用于搭载拍摄设备，手持云台300用于与拍摄设备通信连接。
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305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，所述处理器304用于运行存储在存储器305中的计算机程序，并在执行所述计算机程序时实现如下步骤：
通过所述显示装置显示功能菜单选择页面，其中，所述功能菜单选择页面包括多个功能菜单选项；
响应于用户对所述第一操作部件的转动操作，在所述功能菜单选择页面上标识对应的功能菜单选项；
响应于用户对所述第一操作部件的按压操作，根据标识的功能菜单选项生成控制指令，并根据所述控制指令控制所述手持云台。
在一实施例中，所述显示装置和所述第一操作部件设于所述手柄部的不同 侧面。
在一实施例中，所述第一操作部件设于所述手柄部上与所述显示装置相邻的侧面。
在一实施例中，所述处理器实现根据所述控制指令控制所述手持云台时，用于实现：
根据所述控制指令控制所述显示装置显示所述拍摄设备的参数调节页面，其中，所述参数设备页面显示有所述拍摄设备的目标拍摄参数的当前取值。
在一实施例中，所述处理器还用于实现以下步骤：
响应于用户对所述第一操作部件的转动操作，更新所述参数调节页面显示的所述目标拍摄参数的当前取值；
响应于用户对所述第一操作部件的按压操作，根据所述目标拍摄参数的更新后的取值，生成参数调节指令；
向所述拍摄设备发送所述参数调节指令，以使所述拍摄设备根据所述参数调节指令调节所述目标拍摄参数的取值。
在一实施例中，所述手持云台还包括设于所述手柄部的第一控制部，所述第一控制部包括回退按键，所述处理器还用于实现以下步骤：
响应于用户对所述回退按键的按压操作，对所述显示装置当前显示的功能菜单选择页面进行回退，以改变所述显示装置当前显示的功能菜单选择页面。
在一实施例中，所述第一控制部还包括电源按键，所述处理器还用于实现以下步骤：
响应于用户对所述电源按键的第一按压操作，控制所述手持云台休眠或者唤醒所述手持云台；或者
响应于用户对所述电源按键的第二按压操作，控制所述手持云台开机或者关机，其中，所述第一按压操作与所述第二按压操作不同。
在一实施例中，所述第一控制部设于所述手柄部上与所述显示装置相邻的侧面，所述第一操作部件和所述第一控制部设于所述手柄部的不同侧面。
在一实施例中，述手持云台还包括设于所述手柄部的第二控制部，所述第二控制部和所述显示装置设于所述手柄部的同一侧面，所述第二控制部包括拍摄按键，所述处理器还用于实现以下步骤：
响应于用户对所述拍摄按键的第一按压操作，控制所述拍摄设备开始录像或者停止录像；或者
响应于用户对所述拍摄按键的第二按压操作，控制所述拍摄设备拍照；或 者
响应于用户对所述拍摄按键的第三按压操作，控制所述拍摄设备对焦。
在一实施例中，所述第二控制部还包括模式切换按键和摇杆，所述手持云台还包括设于所述手柄部的第二操作部件，所述处理器还用于实现以下步骤：
响应于用户对模式切换按键的第一按压操作，控制所述手持云台切换所述云台、摇杆、第一操作部件和/或第二操作部件的控制模式；
其中，所述控制模式与一组控制参数对应，所述控制参数包括所述云台、摇杆、第一操作部件和第二操作部件的控制参数中的至少一项。
在一实施例中，所述处理器还用于实现以下步骤：
响应于用户对所述模式切换按键的第二按压操作，控制所述手持云台启动或退出运动模式；或者
响应于用户对所述模式切换按键的第三按压操作，控制所述手持云台处于横拍模式或竖拍模式；或者
响应于用户对所述模式切换按键的第四按压操作，控制所述手持云台启动或者退出环绕拍摄模式，其中，所述手持云台处于环绕拍摄模式时，所述拍摄设备能够饶目标轴旋转预设角度。
在一实施例中，所述处理器还用于实现以下步骤：
在所述手持云台处于所述环绕拍摄模式时，响应于用户对所述摇杆的打杆操作，控制所述云台的目标电机转动，使得所述拍摄设备饶目标轴旋转。
在一实施例中，所述手持云台还包括设于所述手柄部的第三控制部，所述第三控制部、所述第一操作部件和所述显示装置设于所述手柄部的不同侧面，所述第三控制部包括跟随控制按键，所述处理器还用于实现以下步骤：
响应于用户对所述跟随控制按键的第一按压操作，控制所述手持云台启动或者退出跟随模式；或者
响应于用户对所述跟随控制按键的第二按压操作，控制所述手持云台启动或者退出锁定模式；或者
响应于用户对所述跟随控制按键的第三按压操作，控制所述云台回中；
或者
响应于用户对所述跟随控制按键的第四按压操作，控制所述手持云台处于自拍姿态，其中，所述手持云台处于自拍姿态时，所述拍摄设备的镜头朝向与所述显示装置的方向一致。
在一实施例中，所述处理器实现响应于用户对所述跟随控制按键的第一按 压操作，控制所述手持云台启动跟随模式时，用于实现：
在所述手持云台与目标识别装置连接时，响应于用户对所述跟随控制按键的第一触发操作，控制所述手持云台启动跟随模式。
在一实施例中，所述目标识别装置包括拍摄设备和TOF传感器中的任一项。
在一实施例中，所述处理器还用于实现以下步骤：
在所述手持云台处于环绕拍摄模式，且所述拍摄设备饶目标轴旋转时，响应于用户对所述跟随控制按键的第三按压操作，控制所述云台的目标电机停止转动，以使所述拍摄设备停止饶目标轴旋转，并控制所述云台回中；或者
在所述手持云台处于环绕拍摄模式，且所述拍摄设备饶目标轴旋转时，响应于用户对所述跟随控制按键的第四按压操作，控制所述云台的目标电机停止转动，以使所述拍摄设备停止饶目标轴旋转，并控制所述手持云台处于自拍姿态。
在一实施例中，所述第三控制部还包括第二操作部件，所述处理器还用于实现以下步骤：
响应于用户对所述第二操作部件的转动操作，控制所述拍摄设备进行调焦。
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，上述描述的手持云台的具体工作过程，可以参考前述手持云台的控制方法实施例中的对应过程，在此不再赘述。
本申请实施例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手持云台的控制方法的步骤。
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手持云台的内部存储单元，例如所述手持云台的硬盘或内存。所述计算机可读存储介质也可以是所述手持云台的外部存储设备，例如所述手持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 (35)

  1. 一种手持云台的控制方法，其特征在于，所述手持云台包括手柄部和设于手柄部上的云台、显示装置和第一操作部件，所述云台用于搭载拍摄设备，所述手持云台用于与所述拍摄设备通信连接，所述方法包括：
    通过所述显示装置显示功能菜单选择页面，其中，所述功能菜单选择页面包括多个功能菜单选项；
    响应于用户对所述第一操作部件的转动操作，在所述功能菜单选择页面上标识对应的功能菜单选项；
    响应于用户对所述第一操作部件的按压操作，根据标识的功能菜单选项生成控制指令，并根据所述控制指令控制所述手持云台。
  2. 根据权利要求1所述的手持云台的控制方法，其特征在于，所述显示装置和所述第一操作部件设于所述手柄部的不同侧面。
  3. 根据权利要求2所述的手持云台的控制方法，其特征在于，所述第一操作部件设于所述手柄部上与所述显示装置相邻的侧面。
  4. 根据权利要求1所述的手持云台的控制方法，其特征在于，所述根据所述控制指令控制所述手持云台，包括：
    根据所述控制指令控制所述显示装置显示所述拍摄设备的参数调节页面，其中，所述参数设备页面显示有所述拍摄设备的目标拍摄参数的当前取值。
  5. 根据权利要求4所述的手持云台的控制方法，其特征在于，所述方法还包括：
    响应于用户对所述第一操作部件的转动操作，更新所述参数调节页面显示的所述目标拍摄参数的当前取值；
    响应于用户对所述第一操作部件的按压操作，根据所述目标拍摄参数的更新后的取值，生成参数调节指令；
    向所述拍摄设备发送所述参数调节指令，以使所述拍摄设备根据所述参数调节指令调节所述目标拍摄参数的取值。
  6. 根据权利要求1所述的手持云台的控制方法，其特征在于，所述手持云台还包括设于所述手柄部的第一控制部，所述第一控制部包括回退按键，所述方法还包括：
    响应于用户对所述回退按键的按压操作，对所述显示装置当前显示的功能 菜单选择页面进行回退，以改变所述显示装置当前显示的功能菜单选择页面。
  7. 根据权利要求6所述的手持云台的控制方法，其特征在于，所述第一控制部还包括电源按键，所述方法还包括：
    响应于用户对所述电源按键的第一按压操作，控制所述手持云台休眠或者唤醒所述手持云台；或者
    响应于用户对所述电源按键的第二按压操作，控制所述手持云台开机或者关机，其中，所述第一按压操作与所述第二按压操作不同。
  8. 根据权利要求6所述的手持云台的控制方法，其特征在于，所述第一控制部设于所述手柄部上与所述显示装置相邻的侧面，所述第一操作部件和所述第一控制部设于所述手柄部的不同侧面。
  9. 根据权利要求1-8中任一项所述的手持云台的控制方法，其特征在于，所述手持云台还包括设于所述手柄部的第二控制部，所述第二控制部和所述显示装置设于所述手柄部的同一侧面，所述第二控制部包括拍摄按键，所述方法还包括：
    响应于用户对所述拍摄按键的第一按压操作，控制所述拍摄设备开始录像或者停止录像；或者
    响应于用户对所述拍摄按键的第二按压操作，控制所述拍摄设备拍照；或者
    响应于用户对所述拍摄按键的第三按压操作，控制所述拍摄设备对焦。
  10. 根据权利要求9所述的手持云台的控制方法，其特征在于，所述第二控制部还包括模式切换按键和摇杆，所述手持云台还包括设于所述手柄部的第二操作部件，所述方法还包括：
    响应于用户对模式切换按键的第一按压操作，控制所述手持云台切换所述云台、摇杆、第一操作部件和/或第二操作部件的控制模式；
    其中，所述控制模式与一组控制参数对应，所述控制参数包括所述云台、摇杆、第一操作部件和第二操作部件的控制参数中的至少一项。
  11. 根据权利要求10所述的手持云台的控制方法，其特征在于，所述方法还包括：
    响应于用户对所述模式切换按键的第二按压操作，控制所述手持云台启动或退出运动模式；或者
    响应于用户对所述模式切换按键的第三按压操作，控制所述手持云台处于横拍模式或竖拍模式；或者
    响应于用户对所述模式切换按键的第四按压操作，控制所述手持云台启动或者退出环绕拍摄模式，其中，所述手持云台处于环绕拍摄模式时，所述拍摄设备能够饶目标轴旋转预设角度。
  12. 根据权利要求10所述的手持云台的控制方法，其特征在于，所述方法还包括：
    在所述手持云台处于环绕拍摄模式时，响应于用户对所述摇杆的打杆操作，控制所述云台的目标电机转动，使得所述拍摄设备饶目标轴旋转。
  13. 根据权利要求1-8中任一项所述的手持云台的控制方法，其特征在于，所述手持云台还包括设于所述手柄部的第三控制部，所述第三控制部、所述第一操作部件和所述显示装置设于所述手柄部的不同侧面，所述第三控制部包括跟随控制按键，所述方法还包括：
    响应于用户对所述跟随控制按键的第一按压操作，控制所述手持云台启动或者退出跟随模式；或者
    响应于用户对所述跟随控制按键的第二按压操作，控制所述手持云台启动或者退出锁定模式；或者
    响应于用户对所述跟随控制按键的第三按压操作，控制所述云台回中；
    或者
    响应于用户对所述跟随控制按键的第四按压操作，控制所述手持云台处于自拍姿态，其中，所述手持云台处于自拍姿态时，所述拍摄设备的镜头朝向与所述显示装置的方向一致。
  14. 根据权利要求13所述的手持云台的控制方法，其特征在于，所述响应于用户对所述跟随控制按键的第一按压操作，控制所述手持云台启动跟随模式，包括：
    在所述手持云台与目标识别装置连接时，响应于用户对所述跟随控制按键的第一触发操作，控制所述手持云台启动跟随模式。
  15. 根据权利要求14所述的手持云台的控制方法，其特征在于，所述目标识别装置包括拍摄设备和TOF传感器中的任一项。
  16. 根据权利要求13所述的手持云台的控制方法，其特征在于，所述方法还包括：
    在所述手持云台处于环绕拍摄模式，且所述拍摄设备饶目标轴旋转时，响应于用户对所述跟随控制按键的第三按压操作，控制所述云台的目标电机停止转动，以使所述拍摄设备停止饶目标轴旋转，并控制所述云台回中；或者
    在所述手持云台处于环绕拍摄模式，且所述拍摄设备饶目标轴旋转时，响应于用户对所述跟随控制按键的第四按压操作，控制所述云台的目标电机停止转动，以使所述拍摄设备停止饶目标轴旋转，并控制所述手持云台处于自拍姿态。
  17. 根据权利要求13所述的手持云台的控制方法，其特征在于，所述第三控制部还包括第二操作部件，所述方法还包括：
    响应于用户对所述第二操作部件的转动操作，控制所述拍摄设备进行调焦。
  18. 一种手持云台，其特征在于，所述手持云台包括手柄部、设于所述手柄部上的云台、显示装置和第一操作部件，所述云台用于搭载拍摄设备，所述手持云台用于与所述拍摄设备通信连接，所述手持云台还包括处理器和存储器；
    所述存储器用于存储计算机程序；
    所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，实现如下步骤：
    通过所述显示装置显示功能菜单选择页面，其中，所述功能菜单选择页面包括多个功能菜单选项；
    响应于用户对所述第一操作部件的转动操作，在所述功能菜单选择页面上标识对应的功能菜单选项；
    响应于用户对所述第一操作部件的按压操作，根据标识的功能菜单选项生成控制指令，并根据所述控制指令控制所述手持云台。
  19. 根据权利要求18所述的手持云台，其特征在于，所述显示装置和所述第一操作部件设于所述手柄部的不同侧面。
  20. 根据权利要求19所述的手持云台，其特征在于，所述第一操作部件设于所述手柄部上与所述显示装置相邻的侧面。
  21. 根据权利要求18所述的手持云台，其特征在于，所述处理器实现根据所述控制指令控制所述手持云台时，用于实现：
    根据所述控制指令控制所述显示装置显示所述拍摄设备的参数调节页面，其中，所述参数设备页面显示有所述拍摄设备的目标拍摄参数的当前取值。
  22. 根据权利要求21所述的手持云台，其特征在于，所述处理器还用于实现以下步骤：
    响应于用户对所述第一操作部件的转动操作，更新所述参数调节页面显示的所述目标拍摄参数的当前取值；
    响应于用户对所述第一操作部件的按压操作，根据所述目标拍摄参数的更 新后的取值，生成参数调节指令；
    向所述拍摄设备发送所述参数调节指令，以使所述拍摄设备根据所述参数调节指令调节所述目标拍摄参数的取值。
  23. 根据权利要求18所述的手持云台，其特征在于，所述手持云台还包括设于所述手柄部的第一控制部，所述第一控制部包括回退按键，所述处理器还用于实现以下步骤：
    响应于用户对所述回退按键的按压操作，对所述显示装置当前显示的功能菜单选择页面进行回退，以改变所述显示装置当前显示的功能菜单选择页面。
  24. 根据权利要求23所述的手持云台，其特征在于，所述第一控制部还包括电源按键，所述处理器还用于实现以下步骤：
    响应于用户对所述电源按键的第一按压操作，控制所述手持云台休眠或者唤醒所述手持云台；或者
    响应于用户对所述电源按键的第二按压操作，控制所述手持云台开机或者关机，其中，所述第一按压操作与所述第二按压操作不同。
  25. 根据权利要求23所述的手持云台，其特征在于，所述第一控制部设于所述手柄部上与所述显示装置相邻的侧面，所述第一操作部件和所述第一控制部设于所述手柄部的不同侧面。
  26. 根据权利要求18-25中任一项所述的手持云台，其特征在于，述手持云台还包括设于所述手柄部的第二控制部，所述第二控制部和所述显示装置设于所述手柄部的同一侧面，所述第二控制部包括拍摄按键，所述处理器还用于实现以下步骤：
    响应于用户对所述拍摄按键的第一按压操作，控制所述拍摄设备开始录像或者停止录像；或者
    响应于用户对所述拍摄按键的第二按压操作，控制所述拍摄设备拍照；或者
    响应于用户对所述拍摄按键的第三按压操作，控制所述拍摄设备对焦。
  27. 根据权利要求26所述的手持云台，其特征在于，所述第二控制部还包括模式切换按键和摇杆，所述手持云台还包括设于所述手柄部的第二操作部件，所述处理器还用于实现以下步骤：
    响应于用户对模式切换按键的第一按压操作，控制所述手持云台切换所述云台、摇杆、第一操作部件和/或第二操作部件的控制模式；
    其中，所述控制模式与一组控制参数对应，所述控制参数包括所述云台、 摇杆、第一操作部件和第二操作部件的控制参数中的至少一项。
  28. 根据权利要求27所述的手持云台，其特征在于，所述处理器还用于实现以下步骤：
    响应于用户对所述模式切换按键的第二按压操作，控制所述手持云台启动或退出运动模式；或者
    响应于用户对所述模式切换按键的第三按压操作，控制所述手持云台处于横拍模式或竖拍模式；或者
    响应于用户对所述模式切换按键的第四按压操作，控制所述手持云台启动或者退出环绕拍摄模式，其中，所述手持云台处于环绕拍摄模式时，所述拍摄设备能够饶目标轴旋转预设角度。
  29. 根据权利要求28所述的手持云台，其特征在于，所述处理器还用于实现以下步骤：
    在所述手持云台处于所述环绕拍摄模式时，响应于用户对所述摇杆的打杆操作，控制所述云台的目标电机转动，使得所述拍摄设备饶目标轴旋转。
  30. 根据权利要求18-25中任一项所述的手持云台，其特征在于，所述手持云台还包括设于所述手柄部的第三控制部，所述第三控制部、所述第一操作部件和所述显示装置设于所述手柄部的不同侧面，所述第三控制部包括跟随控制按键，所述处理器还用于实现以下步骤：
    响应于用户对所述跟随控制按键的第一按压操作，控制所述手持云台启动或者退出跟随模式；或者
    响应于用户对所述跟随控制按键的第二按压操作，控制所述手持云台启动或者退出锁定模式；或者
    响应于用户对所述跟随控制按键的第三按压操作，控制所述云台回中；
    或者
    响应于用户对所述跟随控制按键的第四按压操作，控制所述手持云台处于自拍姿态，其中，所述手持云台处于自拍姿态时，所述拍摄设备的镜头朝向与所述显示装置的方向一致。
  31. 根据权利要求30所述的手持云台，其特征在于，所述处理器实现响应于用户对所述跟随控制按键的第一按压操作，控制所述手持云台启动跟随模式时，用于实现：
    在所述手持云台与目标识别装置连接时，响应于用户对所述跟随控制按键的第一触发操作，控制所述手持云台启动跟随模式。
  32. 根据权利要求31所述的手持云台，其特征在于，所述目标识别装置包括拍摄设备和TOF传感器中的任一项。
  33. 根据权利要求30所述的手持云台，其特征在于，所述处理器还用于实现以下步骤：
    在所述手持云台处于环绕拍摄模式，且所述拍摄设备饶目标轴旋转时，响应于用户对所述跟随控制按键的第三按压操作，控制所述云台的目标电机停止转动，以使所述拍摄设备停止饶目标轴旋转，并控制所述云台回中；或者
    在所述手持云台处于环绕拍摄模式，且所述拍摄设备饶目标轴旋转时，响应于用户对所述跟随控制按键的第四按压操作，控制所述云台的目标电机停止转动，以使所述拍摄设备停止饶目标轴旋转，并控制所述手持云台处于自拍姿态。
  34. 根据权利要求30所述的手持云台，其特征在于，所述第三控制部还包括第二操作部件，所述处理器还用于实现以下步骤：
    响应于用户对所述第二操作部件的转动操作，控制所述拍摄设备进行调焦。
  35. 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1-17中任一项所述的手持云台的控制方法的步骤。
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