WO2023201655A1 - 增稳系统、云台上的拍摄设备的增稳方法及可移动平台 - Google Patents

增稳系统、云台上的拍摄设备的增稳方法及可移动平台 Download PDF

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Publication number
WO2023201655A1
WO2023201655A1 PCT/CN2022/088286 CN2022088286W WO2023201655A1 WO 2023201655 A1 WO2023201655 A1 WO 2023201655A1 CN 2022088286 W CN2022088286 W CN 2022088286W WO 2023201655 A1 WO2023201655 A1 WO 2023201655A1
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WIPO (PCT)
Prior art keywords
actuator
attitude
image sensor
compensate
drive
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PCT/CN2022/088286
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English (en)
French (fr)
Inventor
蒋毅
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to PCT/CN2022/088286 priority Critical patent/WO2023201655A1/zh
Priority to CN202280047365.2A priority patent/CN117616222A/zh
Publication of WO2023201655A1 publication Critical patent/WO2023201655A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • 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

Definitions

  • the present application relates to the field of image stabilization technology, and more specifically, to a stabilization system, a stabilization method for a shooting device on a gimbal, and a movable platform.
  • a drone In recent years, drones have developed rapidly and have been used in many fields such as agriculture, surveying, monitoring, and detection. For example, a drone carries a camera through a gimbal to perform aerial photography tasks.
  • the vibration frequency of drones is relatively high, often greater than 100Hz, and even can reach 300Hz. Due to its mechanical characteristics and feedback control principle, the traditional three-axis gimbal has difficulty in suppressing disturbances above 100Hz. Therefore, under telephoto shooting requirements, the impact of high frequencies will be particularly obvious, causing water ripples to appear in the captured images.
  • Embodiments of the present application provide a stabilization system, a stabilization method for shooting equipment on a pan-tilt platform, and a movable platform.
  • the stabilization system in the embodiment of the present application includes a gimbal, a shooting device, and a processor.
  • the pan/tilt is provided with an inertial measurement unit, and the inertial measurement unit is used to detect the current attitude of the pan/tilt.
  • the shooting equipment is mounted on the cloud platform and is provided with actuators and optical components.
  • the processor is configured to obtain a posture difference according to a first target posture preset by the shooting device and the current posture.
  • the actuator is used to drive the optical element to move according to the attitude difference to compensate for the photographing device.
  • the method for stabilizing a shooting device on a pan-tilt platform in an embodiment of the present application includes: detecting the current posture of the pan-tilt platform; obtaining the posture difference according to the first target posture preset by the photography equipment and the current posture; and based on the The attitude difference controls the actuator in the photographing device to drive the movement of the optical element of the photographing device to compensate for the photographing device.
  • the movable platform in the embodiment of the present application includes a movable platform body and a stabilization system.
  • the stabilization system includes the gimbal, shooting equipment and processor.
  • the pan/tilt is provided with an inertial measurement unit, and the inertial measurement unit is used to detect the current attitude of the pan/tilt.
  • the shooting equipment is mounted on the cloud platform and is provided with actuators and optical components.
  • the processor is configured to obtain a posture difference according to a first target posture preset by the shooting device and the current posture.
  • the actuator is used to drive the optical element to move according to the attitude difference to compensate for the photographing device.
  • the stabilization system, the stabilization method of the shooting equipment on the pan and tilt platform and the movable platform of the embodiments of the present application control the actuator to drive the shooting equipment through the attitude difference between the current attitude of the pan and tilt and the first target attitude of the shooting equipment.
  • Figure 1 is a schematic flowchart of a method for stabilizing a shooting device on a pan-tilt platform in some embodiments of the present application
  • Figure 2 is a schematic structural diagram of a stabilization system according to certain embodiments of the present application.
  • Figure 3 is a schematic plan view of a movable platform according to certain embodiments of the present application.
  • Figures 4 to 6 are schematic flow charts of stabilization methods for shooting equipment on a pan-tilt platform in some embodiments of the present application
  • Figures 7 and 8 are schematic scene views of the stabilization method of the shooting equipment on the pan-tilt platform in some embodiments of the present application;
  • Figures 9 to 11 are schematic flow charts of stabilization methods for shooting equipment on a pan-tilt platform in some embodiments of the present application.
  • Figures 12 to 14 are schematic scene diagrams of a stabilization method for a shooting device on a pan-tilt platform in some embodiments of the present application;
  • Figures 15 to 17 are schematic flow charts of methods for stabilizing shooting equipment on a pan-tilt platform in some embodiments of the present application.
  • Figures 18 to 20 are schematic scene diagrams of a method for stabilizing a shooting device on a pan-tilt platform in some embodiments of the present application.
  • embodiments of the present application provide a method for stabilizing the shooting equipment 20 on the pan/tilt 10.
  • This stabilization method includes steps:
  • the stabilization system 100 includes a pan/tilt 10 , a shooting device 20 and a processor 30 .
  • the stabilization method of the shooting device 20 on the pan/tilt 10 according to the embodiment of the present application can be applied to the stabilization system 100 .
  • the pan/tilt 10 is provided with an inertial measurement unit 11 .
  • the photography equipment 20 is mounted on the pan/tilt 10 and is provided with an actuator 21 and an optical element 22 .
  • the inertial measurement unit 11 is used to perform step 01, the processor 30 is used to perform step 03, and the processor 30 is also used to control the actuator 21 to perform step 05.
  • the inertial measurement unit 11 detects the current posture of the pan/tilt 10 .
  • the processor 30 is configured to obtain the attitude difference according to the first target attitude preset by the shooting device 20 and the current attitude.
  • the processor 30 is also used to control the actuator 21 in the photographing device 20 to drive the movement of the optical element 22 of the photographing device 20 according to the attitude difference to compensate the photographing device 20 .
  • an embodiment of the present application also provides a movable platform 1000.
  • the movable platform 1000 includes a movable platform body 300 and a stabilization system 100 .
  • the stabilization system 100 is mounted on the movable platform body 300 .
  • the movable platform 1000 can be a movable device such as a drone, an unmanned vehicle, or an unmanned ship.
  • the embodiment of this application is only explained by taking the movable platform 1000 as a drone as an example.
  • the specific details of the movable platform 1000 Other structures are also within the protection scope of this application.
  • photography can be carried out through the shooting device 20.
  • the motor on the pan/tilt 10 will work to stabilize the shooting device 20, so that the image captured by the shooting device 20 clear.
  • the posture of the pan/tilt 10 needs to be adjusted so that the pitch axis rotates to 50.5°.
  • the vibration of the movable platform body 300 itself is transmitted to the pan/tilt 10
  • the pan/tilt 10 will be stabilized after being stabilized. , can only achieve the attitude of the tilt axis rotating to 50°, then the image captured by the shooting device 20 will have the water ripple problem mentioned in the background art.
  • the inertial measurement unit 11 in the stabilization system 100 of the present application can detect the posture of the pan/tilt 10 in real time, that is, the current posture of the pan/tilt 10.
  • the current posture of the pan/tilt 10 may be the posture after the pan/tilt 10 stabilizes the shooting device 20 , for example, the posture of the pan/tilt 10 when the tilt axis rotates to 50°.
  • the processor 30 uses the pan/tilt 10 to initially stabilize the shooting device 20, the processor 30 can detect the real-time posture of the pan/tilt 10 (the posture before stabilization). After detecting the real-time posture, the pan/tilt 10 can stabilize the camera.
  • the device 20 performs stabilization so that the pan/tilt 10 and the shooting device 20 are in a stabilized posture.
  • the posture at this time is called the current posture.
  • the processor 30 can adjust the pan/tilt 10 according to the preset second target posture and the real-time posture of the pan/tilt 10 to initially stabilize the shooting device 100 .
  • the processor 30 can calculate the difference between the real-time attitude before initial stabilization and the second target attitude. Adjust the corresponding motor on the pan/tilt 10 so that the tilt axis of the pan/tilt 10 rotates to 50°, thereby achieving preliminary stabilization of the camera 20 by the pan/tilt 10.
  • the attitude of the pan/tilt 10 is the stabilization. the current posture of the back.
  • the processor 30 can obtain the posture difference between the first target posture and the current posture based on the first target posture and the current posture (posture after stabilization) preset by the shooting device 20 .
  • the preset first target posture is a preset desired posture.
  • the first target posture is to enable the shooting device 20 to clearly image (the clarity is greater than the predetermined definition.
  • the predetermined definition can be artificially set based on experience values or processed by processing.
  • the attitude that the gimbal 10 should be in when the device 30 is automatically set according to historical usage records). For example, the attitude of the gimbal 10 when the tilt axis rotates to 50.5°.
  • the shooting device 20 can perform preliminary stabilization through the movement of the motor of the pan/tilt 10 to ensure the quality of the captured images or videos to a certain extent.
  • the photographing device 20 may be a traditional straight-cylinder photographing device (the optical path propagating to the image sensor is approximately a straight line), or it may be a periscope photographing device (the optical path propagating to the image sensor has a turn).
  • the processor 30 can control the actuator 21 in the shooting device 20 to drive the optical element 22 of the shooting device 20 to move according to the attitude difference to compensate for shooting.
  • Equipment 20 the angle of the pan/tilt 10 when it reaches the current posture after initial stabilization is greater than the angle compensated by the optical element 22 controlled according to the posture difference.
  • the angle compensated by the optical element 22 is smaller than the minimum angle that can be compensated by each motor of the axis arm of the pan/tilt 10 .
  • the traditional stabilization method even if the attitude difference is obtained, the attitude difference and the closed-loop control logic of the gimbal are mostly used, and then the gimbal is finely adjusted to achieve the first target attitude.
  • this stabilization method does not allow the gimbal to reach the first target attitude.
  • the precision of fine-tuning control is high, and the hardware requirements for the gimbal are also high.
  • the adjustment tolerance needs to be very small, and the feedback time is also long. Long-term feedback is very undesirable for shooting, especially Shooting during exercise will bring about other problems that affect unclear imaging.
  • the processor 30 compares the current posture of the gimbal 10 with the first target posture to obtain the posture difference, and then uses the posture difference to feed back the internal structure of the shooting device 20 that needs to be adjusted.
  • the method that is, changing the object of adjustment to the shooting device 20 itself is more straightforward and does not require the pan/tilt 10 with higher hardware requirements.
  • the shooting device 20 uses a higher-precision actuator inside, and the adjustment itself The higher the accuracy, the more accurate the adjustment is, and the feedback time of the adjustment is reduced, thereby ensuring that after compensating the shooting device 20, the shooting device 20 can shoot a more stable and clear image or video.
  • the optical element 22 of the photographing device 20 may be a reflector, an image sensor, a lens group, etc. of the photographing device 20. Therefore, the actuator 21 may drive the movement of the mirror of the shooting device 20 to compensate for the shooting device 20 , may drive the image sensor of the shooting device 20 to compensate for the shooting device 20 , or may drive the lens group of the shooting device 20 to compensate for the motion of the shooting device 20 . Photography equipment20. In addition, the actuator 21 may also drive two or more movements of the mirror, image sensor and lens group to compensate for the shooting device 20 .
  • the stabilization system 100, the stabilization method of the shooting device 20 on the pan/tilt 10 and the movable platform 1000 in the embodiment of the present application control the position difference between the current posture of the pan/tilt 10 and the first target posture of the shooting device 20.
  • the actuator 21 drives the optical element 22 of the photographing device 20 to move to compensate the photographing device 20 . Therefore, it can be ensured that when the vibration frequency of the movable platform 1000 is high, the attitude error of the pan/tilt 10 due to performance limitations will be compensated by the movement of the optical element 22 inside the shooting device 20, thereby ensuring the imaging quality of the shooting device 20 , thereby ensuring the imaging quality of the movable platform 1000.
  • step 01: detecting the current posture of the pan/tilt 10 may include the steps:
  • pan/tilt 10 After the pan/tilt 10 initially stabilizes the shooting device 20, detect the current attitude of the pan/tilt 10.
  • the inertial measurement unit 11 is used to perform step 011. That is, the inertial measurement unit 11 is used to detect the current posture of the pan/tilt 10 after the pan/tilt 10 initially stabilizes the shooting device 20 .
  • the processor 30 can also perform preliminary stabilization of the shooting device 20 through the pan/tilt 10. In this way, the vibration of the shooting device 20 due to the movable platform 1000 can be reduced in advance. This causes water ripples to appear on the shot.
  • the initial stabilization of the pan/tilt 10 to the shooting device 20 (in the above example, it can enable the pan/tilt 10 to reach a position in which the pitch axis rotates to 50°), which can be understood as the balance of the pan/tilt 10 to the shooting device 20
  • the imaging quality of the photographing device 20 can be improved to a considerable extent by roughly adjusting the picture fluctuation caused by the vibration of the movable platform 1000 .
  • the processor 30 controls the actuator 21 to drive the movement of the optical element 22 of the shooting device 20 through the attitude difference, and can use the movement of the optical element 22 inside the shooting device 20 to compare
  • the photographing device 20 is precisely compensated to ensure that the imaging quality of the photographing device 20 is high.
  • step 05 Control the actuator 21 in the shooting device 20 to drive the movement of the optical element 22 of the shooting device 20 according to the attitude difference to compensate for the shooting device. 20, may include steps:
  • Step 051 Control the first actuator 211 to drive the movement of the mirror 221 according to the attitude difference to compensate for the shooting device 20, and also includes the steps:
  • the first actuator 211 is controlled to drive the mirror 221 to reversely deflect at the same angle on the axis to compensate for the shooting.
  • Equipment 20 When the attitude difference indicates that the current attitude of the shooting device 20 is deflected by an angle on an axis relative to the first target attitude, the first actuator 211 is controlled to drive the mirror 221 to reversely deflect at the same angle on the axis to compensate for the shooting. Equipment 20.
  • the processor 30 is used to control the actuator 21 to perform step 051 and step 0511. That is, the processor 30 is used to control the first actuator 211 to drive the movement of the mirror 221 according to the attitude difference to compensate the shooting device 20; and when the attitude difference indicates that the current attitude of the shooting device 20 is deflected on one axis relative to the first target attitude. angle, the first actuator 211 is controlled to drive the mirror 221 to deflect reversely at the same angle on the axis to compensate for the photographing device 20 .
  • the optical element 22 may include a mirror 221 and an image sensor 222.
  • the reflector 221 is used to reflect external light toward the image sensor 222.
  • the image sensor 222 is used to receive the light and convert the optical signal into an electrical signal to obtain an image.
  • the actuator 21 may include a first actuator 211 , and the first actuator 211 is used to drive the mirror 221 to move. That is, the processor 30 can drive the mirror 221 to move by controlling the first actuator 211, thereby compensating the shooting device 20.
  • the attitude difference indicates is: after the gimbal 10 stabilizes the shooting device 20, the attitude difference between the current attitude of the gimbal 10 (equal to the current attitude of the shooting device 20) and the first target attitude of the shooting device 20.
  • the attitude difference may indicate the angle of deflection of the current attitude of the shooting device 20 on one axis relative to the first target attitude.
  • the axis may include a yaw axis (such as the Z axis perpendicular to the XY plane shown in Figure 7) and a pitch axis (such as the X axis shown in Figure 7).
  • the processor 30 controls the first actuator 211 to drive the reflection.
  • the mirror 221 is deflected by minus 0.5° on the Z-axis to compensate for the shooting device 20, and vice versa (that is, if the attitude difference indicates that the current attitude of the shooting device 20 is deflected by an angle of negative 0.5° on the Z-axis relative to the first target attitude, The processor 30 then controls the first actuator 211 to drive the mirror 221 to deflect on the Z-axis by plus 0.5°).
  • the processor 30 controls the first actuator 211 to drive the mirror 221 on the X-axis.
  • the deflection is minus 0.5° to compensate for the shooting device 20 and vice versa.
  • the shooting device 20 will deflect as a whole by 2 times the angle ⁇ . angle.
  • the shooting device 20 is not in the first target attitude (the difference between the current attitude and the first target attitude is fed back to the yaw axis Z, there is still a difference of 0.5°), due to the movement of the reflector 221, the shooting device 20 is not in the first target attitude.
  • the difference between the current posture of 20 and the first target posture is compensated so that the focus still falls on the position where the image sensor 222 should fall (when the shooting device 20 is in the first target posture, the focus should fall on the position on the image sensor 222 ), thereby making the imaging quality of the captured image or video higher, thereby ensuring that the imaging quality of the movable platform 1000 is higher.
  • the first actuator 211 includes a piezoelectric actuator 21, such as a piezoelectric ceramic actuator 21. That is, the processor 30 can drive the movement of the mirror 221 through a piezoelectric actuator to compensate for the photographing device 20 . In this way, on the one hand, a higher system bandwidth can be achieved to meet the vibration stabilization requirements of hundreds of Hertz level, that is, it has excellent suppression performance for high-frequency disturbances; on the other hand, the piezoelectric actuator 21 has its own There is a self-locking device and the structure is relatively simple. There is no need to use an additional locking mechanism to reduce manufacturing costs.
  • step 05 Control the actuator 21 in the photographing device 20 to drive the movement of the optical element 22 of the photographing device 20 according to the attitude difference to compensate for the photographing device. 20, may include steps:
  • Step 052 Control the second actuator 212 to drive the image sensor 222 to move according to the attitude difference to compensate for the shooting device 20, which may include the steps:
  • the processor 30 is used to control the actuator 21 to perform step 052, step 0521 and step 0523. That is, the processor 30 is used to control the second actuator 212 to drive the image sensor 222 to move according to the attitude difference to compensate for the shooting device 20; to control the second actuator 212 to drive the image sensor 222 to translate a distance in a direction perpendicular to the optical axis. , to compensate the photographing device 20; and control the second actuator 212 to drive the image sensor 222 to deflect reversely at the same angle on the roll axis to compensate the photographing device 20.
  • the optical element 22 includes a reflecting mirror 221 and an image sensor 222.
  • the reflector 221 is used to reflect external light toward the image sensor 222.
  • the image sensor 222 is used to receive the light and convert the optical signal into an electrical signal to obtain an image.
  • the actuator 21 may include a second actuator 212 , and the second actuator 212 is used to drive the image sensor 222 to move. That is, the processor 30 can drive the image sensor 222 to move by controlling the second actuator 212, thereby compensating the shooting device 20.
  • the attitude difference indicates is: after the gimbal 10 stabilizes the shooting device 20, the attitude difference between the current attitude of the gimbal 10 (equal to the current attitude of the shooting device 20) and the first target attitude of the shooting device 20.
  • the attitude difference may indicate the deflection angle of the current posture of the photographing device 20 on one axis relative to the first target posture.
  • the axis may include a yaw axis (Z axis as shown in Figure 12), a pitch axis (X axis as shown in Figure 12) and a roll axis (Y axis as shown in Figure 12).
  • the attitude difference indicates that the current attitude of the shooting device 20 is deflected by an angle on the yaw axis (Z axis) or the pitch axis (X axis) relative to the first target attitude
  • Z axis the yaw axis
  • X axis the pitch axis
  • the processor 30 may control the second actuator 212 to drive the image sensor 222 to move perpendicular to the optical axis. in the direction (which can also be understood as in the YZ plane) by a distance to compensate for the shooting device 20 .
  • the optical element 22 also includes a lens group 223 .
  • the second actuator 212 drives the image sensor 222 to translate in a direction perpendicular to the optical axis by a distance related to the focal length and deflection angle of the lens group 223 .
  • the focal length, ⁇ , of the group 223 is the deflection angle of the photographing device 20 on the yaw axis (Z-axis) or the pitch axis (X-axis) relative to the first target posture.
  • the processor 30 may control the second actuator 212 to drive the image sensor. 222 deflects reversely at the same angle on the roll axis to compensate for the shooting device 20 .
  • the process controls the second actuator 212 to drive the image sensor 222 to deflect by negative 0.5° on the Y-axis (reverse deflection of 0.5° around the Y-axis) to compensate for the photographing device 20 .
  • the shooting device 20 is not in the first target attitude during the shooting process, due to the movement of the image sensor 222, the attitude difference between the current attitude of the shooting device 20 and the first target attitude is compensated, so that the focus still falls on the image.
  • the position where the sensor 222 should fall (the position where the focus should fall on the image sensor 222 when the shooting device 20 is in the first target posture), so that the imaging quality of the captured image or video is higher, thereby ensuring that the movable platform 1000 The imaging quality is higher.
  • the second actuator 212 may include a voice coil motor. In this way, on the one hand, it can ensure that the response speed of the second actuator 212 is faster and the sensitivity is higher; on the other hand, it can also ensure that the positioning accuracy of the second actuator 212 is high, thereby ensuring that the stabilization effect of the shooting device 20 is better.
  • the imaging quality is higher to ensure the imaging quality of the movable platform 1000; on the other hand, the second actuator 212 can be ensured to have a longer service life to improve the user experience.
  • the second actuator 212 can also be disposed at the bottom of the image sensor 222 to drive the image sensor 222 to move.
  • step 05 Control the actuator 21 in the photographing device 20 to drive the movement of the optical element 22 of the photographing device 20 according to the attitude difference to compensate for the photographing device. 20. It may also include steps:
  • Step 053 Control the third actuator 213 to drive the lens group 223 to move according to the attitude difference to compensate for the shooting device 20, which may include the steps:
  • the processor 30 is used to control the actuator 21 to perform step 052, step 0531 and step 0533. That is, the processor 30 is used to control the third actuator 213 to drive the lens group 223 to move according to the attitude difference to compensate the shooting device 20; to control the third actuator 213 to drive the lens group 223 to move in a direction perpendicular to the optical axis (Y-axis direction). direction (that is, in the XZ plane) to compensate for the shooting device 20; and control the third actuator 213 to drive the lens group 223 to reversely deflect at the same angle on the roll axis (Y-axis) to compensate for the shooting device. 20.
  • the optical element 22 includes a lens group 223 and an image sensor 222.
  • the lens group 223 is used to guide external light to the image sensor 222.
  • the image sensor 222 is used to receive the light and convert the optical signal into an electrical signal to obtain an image.
  • the actuator 21 may include a third actuator 213 , and the third actuator 213 is used to drive the lens group 223 to move. That is, the processor 30 can control the third actuator 213 to drive the lens group 223 to move, thereby compensating the shooting device 20 .
  • the attitude difference indicates is: after the gimbal 10 stabilizes the shooting device 20, the attitude difference between the current attitude of the gimbal 10 (equal to the current attitude of the shooting device 20) and the first target attitude of the shooting device 20.
  • the attitude difference may indicate the angle of deflection of the current posture of the photographing device 20 on one axis relative to the first target posture.
  • the axis may include a yaw axis (Z axis as shown in Figure 18), a pitch axis (X axis as shown in Figure 18) and a roll axis (Y axis as shown in Figure 18).
  • the attitude difference is the deflection angle of the current attitude of the shooting device 20 on the yaw axis or the pitch axis relative to the first target attitude (ie, the rotation angle ⁇ around the yaw axis or the pitch axis), according to FIG. 18 It can be seen that in order for the focus to still fall on the image sensor 222 at the same position where the focus falls when the shooting device 20 is in the first target posture, the position of the lens group 223 or the image sensor 222 must be changed.
  • the processor 30 may control the third actuator 213 to drive the lens group 223 perpendicular to the optical axis. Translate a distance in the direction (in the XZ plane) to compensate for the shooting device 20. As shown in FIG. 18 , the distance by which the third actuator 213 drives the lens group 223 to translate in a direction perpendicular to the optical axis (that is, in the XZ plane) is related to the focal length and angle of the lens group 223 . Please refer to FIG. 18 .
  • the processor 30 may control the third axis.
  • the actuator 213 drives the lens group 223 to reversely deflect at the same angle on the roll axis to compensate for the photographing device 20 .
  • the processor 30 can The third actuator 213 is controlled to drive the lens group 223 to deflect 0.5° on the Y-axis (reverse deflection 0.5° around the Y-axis) to compensate for the photographing device 20 .
  • the shooting device 20 does not have the first target posture during the shooting process, due to the movement of the lens group 223, the attitude difference between the current posture of the shooting device 20 and the first target posture is compensated, so that the focus still falls on the image sensor. 222 should fall (the position where the focus should fall on the image sensor 222 when the shooting device 20 is in the first target posture), so that the imaging quality of the captured image or video is higher to ensure the stability of the movable platform 1000 The imaging quality is higher.
  • the third actuator 213 may include a voice coil motor. In this way, on the one hand, it can ensure that the third actuator 213 has a faster response speed and higher sensitivity; on the other hand, it can also ensure that the positioning accuracy of the third actuator 213 is high, thereby ensuring that the stabilization effect of the shooting device 20 is better. Well, the imaging quality is higher to ensure the imaging quality of the movable platform 1000; on the other hand, the third actuator 213 can be ensured to have a longer service life to improve the user experience.
  • the actuator 21 in the shooting device 20 is controlled according to the attitude difference to drive the movement of the optical element 22 of the shooting device 20 to compensate the shooting device 20. You can also Includes steps:
  • the second actuator 212 is controlled to drive the image sensor 222 to move according to the attitude difference to compensate the photographing device 20 .
  • controlling the second actuator 212 to drive the image sensor 222 to move according to the attitude difference to compensate for the shooting device 20 may include the steps:
  • Control the second actuator 212 to drive the image sensor 222 to translate a distance in a direction perpendicular to the optical axis to compensate the shooting device 20;
  • the second actuator 212 is controlled to drive the image sensor 222 to reversely deflect at the same angle on the roll axis to compensate for the photographing device 20 .
  • the specific compensation method is the same as the previous method 0521 and method 0523, and will not be described again here.
  • the shooting device 20 does not have a first target posture during the shooting process, due to the movement of the image sensor 222, the difference in the current posture of the shooting device 20 relative to the first target posture is compensated, so that the focus still falls on the image.
  • the position where the sensor 222 should fall (the position where the focus should fall on the image sensor 222 when the shooting device 20 is in the first target posture), so that the imaging quality of the captured image or video is higher to ensure that the movable platform 1000 The imaging quality is higher.

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Abstract

一种增稳系统(100)、增稳方法及可移动平台(3000)。拍摄设备(20)搭载在云台(10)上，并设有致动器(21)及光学元件(22)。处理器(30)用于根据拍摄设备(20)预设的第一目标姿态与当前姿态获取姿态差。致动器(21)用于根据姿态差驱动光学元件(22)运动以补偿拍摄设备(20)。

Description

增稳系统、云台上的拍摄设备的增稳方法及可移动平台 技术领域
本申请涉及图像稳定技术领域，更具体而言，涉及一种增稳系统、云台上的拍摄设备的增稳方法及可移动平台。
背景技术
近年来，无人机的发展迅速，已经应用于诸如农业、勘察、监控、探测等多个领域。例如，无人机通过云台搭载相机，以执行航拍任务。
另外，在无人机领域，无人机的振动频率较高，往往大于100Hz，更有甚者可以达到300Hz。传统三轴云台，由于其机构特性以及反馈控制原理，导致其扰动抑制性能在100Hz以上难以有抑制作用。因此，在长焦的拍摄需求下，高频的影响会尤为明显，导致拍摄的图像会呈现水波纹。
发明内容
本申请实施方式提供一种增稳系统、云台上的拍摄设备的增稳方法及可移动平台。
本申请实施方式的增稳系统包括云台、拍摄设备及处理器。云台设有惯性测量单元，所述惯性测量单元用于检测所述云台的当前姿态。拍摄设备搭载在所述云台上，并设有致动器及光学元件。处理器用于根据所述拍摄设备预设的第一目标姿态与所述当前姿态获取姿态差。所述致动器用于根据所述姿态差驱动所述光学元件运动以补偿所述拍摄设备。
本申请实施方式的云台上的拍摄设备的增稳方法包括：检测所述云台的当前姿态；根据所述拍摄设备预设的第一目标姿态与所述当前姿态获取姿态差；及根据所述姿态差控制所述拍摄设备中的致动器驱动所述拍摄设备的光学元件运动以补偿所述拍摄设备。
本申请实施方式的可移动平台包括可移动平台本体及增稳系统。增稳系统包括云台、拍摄设备及处理器。云台设有惯性测量单元，所述惯性测量单元用于检测所述云台的当前姿态。拍摄设备搭载在所述云台上，并设有致动器及光学元件。处理器用于根据所述拍摄设备预设的第一目标姿态与所述当前姿态获取姿态差。所述致动器用于根据所述姿态差驱动所述光学元件运动以补偿所述拍摄设备。
本申请实施方式的增稳系统、云台上的拍摄设备的增稳方法及可移动平台，通过 云台的当前姿态和拍摄设备的第一目标姿态的姿态差，控制致动器驱动拍摄设备的光学元件运动，以补偿拍摄设备。由此，可保证可移动平台振动频率较高时，云台因性能限制带来的姿态误差，并不会对拍摄设备造成影像，从而保证拍摄设备的成像质量，以保证可移动平台的成像质量。
本申请的实施方式的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本申请的实施方式的实践了解到。
附图说明
本申请的上述和/或附加的方面和优点从结合下面附图对实施方式的描述中将变得明显和容易理解，其中：
图1是本申请某些实施方式的云台上的拍摄设备的增稳方法的流程示意图；
图2是本申请某些实施方式的增稳系统的结构示意图；
图3是本申请某些实施方式的可移动平台的平面结构示意图；
图4至图6是本申请某些实施方式的云台上的拍摄设备的增稳方法的流程示意图；
图7和图8是本申请某些实施方式的云台上的拍摄设备的增稳方法的场景示意图；
图9至图11是本申请某些实施方式的云台上的拍摄设备的增稳方法的流程示意图；
图12至图14是本申请某些实施方式的云台上的拍摄设备的增稳方法的场景示意图；
图15至图17是本申请某些实施方式的云台上的拍摄设备的增稳方法的流程示意图；
图18至图20是本申请某些实施方式的云台上的拍摄设备的增稳方法的场景示意图。
具体实施方式
下面详细描述本申请的实施方式，实施方式的示例在附图中示出，其中，相同或类似的标号自始至终表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施方式是示例性的，仅用于解释本申请的实施方式，而不能理解为对本申请的实施方式的限制。
请参阅图1和图2，本申请实施方式提供一种云台10上的拍摄设备20的增稳方 法。该增稳方法包括步骤：
01：检测云台10的当前姿态；
03：根据拍摄设备20预设的第一目标姿态与当前姿态获取姿态差；
05：根据姿态差控制拍摄设备20中的致动器21驱动拍摄设备20的光学元件22运动以补偿拍摄设备20。
请参阅图2，本申请实施方式提供一种增稳系统100。增稳系统100包括云台10、拍摄设备20及处理器30。本申请实施方式的云台10上的拍摄设备20的增稳方法可应用于增稳系统100。云台10设有惯性测量单元11。拍摄设备20搭载在云台10上，并设有致动器21及光学元件22。其中，惯性测量单元11用于执行步骤01，处理器30用于执行步骤03，处理器30还用于控制致动器21执行步骤05。即，惯性测量单元11检测云台10的当前姿态。处理器30用于根据拍摄设备20预设的第一目标姿态与当前姿态获取姿态差。处理器30还用于根据姿态差控制拍摄设备20中的致动器21驱动拍摄设备20的光学元件22运动以补偿拍摄设备20。
请参阅图3，本申请实施方式还提供一种可移动平台1000。可移动平台1000包括可移动平台本体300和增稳系统100。增稳系统100搭载在可移动平台本体300上。其中，可移动平台1000可以是无人机、无人车、无人船等可以移动的设备，本申请实施方式仅以可移动平台1000是无人机为例进行说明，可移动平台1000的具体为其他结构的也在本申请的保护范围内。
具体地，在可移动平台1000工作过程中，可以通过拍摄设备20进行摄像，此时，云台10上的电机就会工作，以对拍摄设备20进行增稳，从而使得拍摄设备20拍摄的图像清晰。例如，为了对拍摄设备20进行增稳，需要调整云台10的姿态使得仰俯轴转动到50.5°，但是由于可移动平台本体300本身的振动传递到云台10，使得云台10增稳后，只能达到仰俯轴转动到50°的姿态，那么拍摄设备20拍摄的图像便会有背景技术中提及的水波纹的问题。
为了解决这个问题，本申请的增稳系统100中的惯性测量单元11可实时的检测云台10的姿态，即，云台10的当前姿态。其中，云台10的当前姿态可以是云台10对拍摄设备20进行增稳后的姿态，例如仰俯轴转动到50°时云台10所处的姿态。而处理器30利用云台10对拍摄设备20进行初步增稳时，处理器30可检测云台10的实时姿态(增稳前的姿态)，在检测出实时姿态后，云台10可对拍摄设备20进行增稳，以使云台10和拍摄设备20一起处于增稳后的姿态，此时的姿态被称为当前姿态。
具体地，处理器30可根据云台10预设的第二目标姿态和实时姿态，调整云台10，以对拍摄设备100进行初步增稳。如，假设第二目标姿态为调整仰俯轴转动到50°时 云台10所处的姿态，如此，处理器30便可根据初步增稳前的实时姿态与第二目标姿态之间的差值调整云台10上对应的电机，以使云台10的仰俯轴转动到50°，从而实现云台10对拍摄设备20的初步增稳，此时云台10所处的姿态即为增稳后的当前姿态。
接下来，处理器30便可根据拍摄设备20预设的第一目标姿态与当前姿态(增稳后的姿态)，以获取第一目标姿态和当前姿态的姿态差。其中，预设的第一目标姿态是预先设定的期望的姿态，第一目标姿态为使拍摄设备20清晰成像(清晰度大于预定清晰度，预定清晰度可依据经验值来人为设置或由处理器30根据历史使用记录自动设置)时，云台10应该所处的姿态。例如，仰俯轴转动到50.5°时云台10所处的姿态。尽管拍摄设备20可通过云台10的电机的运动，对拍摄设备20进行初步增稳，以在一定程度上保证拍摄图像或拍摄视频的质量。但云台10仍可能未处于第一目标姿态，那么就需要计算出当前姿态与第一目标姿态的差距，即二者之间的姿态差(本申请例子中姿态差为50.5°-50°＝0.5°)，后续才可以根据该姿态差来补偿拍摄设备20。其中，拍摄设备20可以是传统的直筒式拍摄设备(光路传播至影像传感器大致为直线)，也可以是潜望式拍摄设备(光路传播至影像传感器有转折)。
最后，在处理器30获取得到第一目标姿态和当前姿态的姿态差后，处理器30便可根据姿态差控制拍摄设备20中的致动器21驱动拍摄设备20的光学元件22运动以补偿拍摄设备20。其中，云台10在达到当前姿态所经过的初步增稳时的角度大于根据姿态差控制光学元件22所补偿的角度。更进一步而言，利用光学元件22所补偿的角度小于云台10的轴臂各电机所能补偿角度的最小值。
传统的增稳方法中，即便获取到姿态差，多是利用姿态差以及云台的闭环控制逻辑，再对云台进行精细调整，使其达到第一目标姿态，然而，这种增稳方法对精调控制精准度要求较高，对云台的硬件要求也较高，例如调整公差需要做到很小，反馈时间也较长，长时间的反馈对于拍摄而言是非常不可取的，尤其是在运动过程中的拍摄，会带来其他影响成像不清晰的问题。
对比来看，本申请的增稳方法中，处理器30通过将云台10的当前姿态与第一目标姿态进行比对得到姿态差，再利用姿态差反馈出拍摄设备20所需要调整的内部结构及方式，即，将调整的对象变为拍摄设备20本身，更为直截了当，无需较高硬件要求的云台10，同时，拍摄设备20内部采用的是精度较高的致动器，本身的调整精度就高，不仅能够保证调整的精确性，更能减少调整的反馈时间，从而保证在补偿拍摄设备20后，拍摄设备20能够拍摄出较为稳定且清晰的图像或视频。
其中，拍摄设备20的光学元件22可以是拍摄设备20的反射镜、影像传感器和 透镜组等。因此，致动器21可以是驱动拍摄设备20的反射镜运动以补偿拍摄设备20，也可以是驱动拍摄设备20的影像传感器以补偿拍摄设备20，还可以是驱动拍摄设备20的透镜组以补偿拍摄设备20。此外，致动器21还可以是驱动反射镜、影像传感器和透镜组中的两个或多个运动以补偿拍摄设备20。
本申请实施方式的增稳系统100、云台10上的拍摄设备20的增稳方法和可移动平台1000，通过云台10的当前姿态和拍摄设备20的第一目标姿态的姿态差，以控制致动器21驱动拍摄设备20的光学元件22运动，来补偿拍摄设备20。由此，可保证可移动平台1000振动频率较高时，云台10因性能限制带来的姿态误差，由拍摄设备20自己内部的光学元件22运动以得到补偿，从而保证拍摄设备20的成像质量，进而保证可移动平台1000的成像质量。
请参阅图2至图4，在某些实施方式中，步骤01：检测云台10的当前姿态，可包括步骤：
011：在云台10对拍摄设备20进行初步增稳后，检测云台10的当前姿态。
在某些实施方式中，惯性测量单元11用于执行步骤011。即，惯性测量单元11用于在云台10对拍摄设备20进行初步增稳后，检测云台10的当前姿态。
具体地，在获取云台10的当前姿态前，处理器30还可先通过云台10对拍摄设备20进行初步增稳，如此，便可先一步地降低拍摄设备20因可移动平台1000振动，导致拍摄画面出现水波纹的影响。
更具体地，云台10对拍摄设备20的初步增稳(以前述例子而言，可使得云台10能达到仰俯轴转动到50°的姿态)，可以理解为云台10对拍摄设备20因可移动平台1000振动导致的画面波动的粗调节，通过该过程可在相当程度上提高拍摄设备20的成像质量。
如此，在获取得到云台10的当前姿态后，处理器30在通过姿态差控制致动器21驱动拍摄设备20的光学元件22运动，便可利用拍摄设备20自己内部的光学元件22运动来较为精细的对拍摄设备20进行补偿，从而保证拍摄设备20的成像质量较高。
请参阅图2、图3、图5至图7，在某些实施方式中，步骤05：根据姿态差控制拍摄设备20中的致动器21驱动拍摄设备20的光学元件22运动以补偿拍摄设备20，可包括步骤：
051：根据姿态差控制第一致动器211驱动反射镜221运动以补偿拍摄设备20。
具体地，步骤051：根据姿态差控制第一致动器211驱动反射镜221运动以补偿拍摄设备20，还包括步骤：
0511：当姿态差表明拍摄设备20的当前姿态相对第一目标姿态在一个轴上偏转 一角度，则控制第一致动器211驱动反射镜221在该轴上反向偏转同一角度，以补偿拍摄设备20。
在某些实施方式中，处理器30用于控制致动器21执行步骤051和步骤0511。即，处理器30用于根据姿态差控制第一致动器211驱动反射镜221运动以补偿拍摄设备20；及当姿态差表明拍摄设备20的当前姿态相对第一目标姿态在一个轴上偏转一角度，则控制第一致动器211驱动反射镜221在该轴上反向偏转同一角度，以补偿拍摄设备20。
具体地，根据上述可知，光学元件22可包括反射镜221和影像传感器222。反射镜221用于将外界光线朝向影像传感器222反射，影像传感器222用于接收光线，并将光信号转换为电信号，以获取图像。
请结合图7，致动器21可包括有第一致动器211，第一致动器211用于驱动反射镜221运动。即，处理器30可通过控制第一致动器211，驱动反射镜221运动，从而补偿拍摄设备20。
更具体地，在处理器30得到第一目标姿态与云台10的当前姿态的姿态差后，根据上述可知，云台10先一步对拍摄设备20已进行了初步增稳，因此，姿态差表明的是：云台10在对拍摄设备20进行增稳后，云台10的当前姿态(等同于拍摄设备20的当前姿态)与拍摄设备20的第一目标姿态之间的姿态差。
因此，在第一致动器211驱动反射镜221运动以补偿拍摄设备20时，姿态差可表明拍摄设备20的当前姿态相对第一目标姿态在一个轴上偏转的角度。其中，该轴可包括偏航轴(如垂直于图7所示的XY平面的Z轴)和俯仰轴(如图7所示的X轴)。需要说明的是，本申请中拍摄设备20搭载在可移动平台本体300上时，入光方向沿横滚轴Y的方向，图7、图8、图12-图14及图18均为俯视可移动平台1000所观察到，且机头朝向Y方向。
如图7所示，若姿态差表明拍摄设备20的当前姿态相对第一目标姿态在Z轴上偏转的角度为正0.5°，此时，处理器30便再控制第一致动器211驱动反射镜221在Z轴上偏转负0.5°，以补偿拍摄设备20，反之亦然(即，若姿态差表明拍摄设备20的当前姿态相对第一目标姿态在Z轴上偏转的角度为负0.5°，处理器30便再控制第一致动器211驱动反射镜221在Z轴上偏转正0.5°)。若姿态差表明拍摄设备20的当前姿态相对第一目标姿态在X轴上偏转的角度为正0.5°，此时，处理器30便再控制第一致动器211驱动反射镜221在X轴上偏转负0.5°，以补偿拍摄设备20，反之亦然。
更具体地，在一个例子中，请结合图7和图8，当处理器30控制第一致动器211驱动反射镜221在Z轴翻转θ角度后，拍摄设备20则整体偏转2倍的θ角度。
如此，拍摄设备20虽然没有处于第一目标姿态(当前姿态与第一目标姿态的差值反馈到偏航轴Z上仍有0.5°的差值)，但由于反射镜221的运动，对拍摄设备20的当前姿态相对第一目标姿态的姿态差进行了补偿，使得焦点仍然落在影像传感器222应该落到的位置(拍摄设备20处于第一目标姿态时，焦点应该落在影像传感器222上的位置)，从而使得拍摄出的图像或视频的成像质量较高，进而保证可移动平台1000的成像质量较高。
其中，第一致动器211包括压电式致动器21，如压电陶瓷致动器21。即，处理器30可通过压电式致动器来驱动反射镜221运动，以补偿拍摄设备20。如此，一方面，可实现更高的系统带宽，以满足振动为百赫兹级别的增稳要求，即对高频率的扰动具有优秀的抑制性能；另一方面，压电式致动器21自带有自锁装置，且结构较为简单，不需要使用额外的锁定机构，以减少制造成本。
请参阅图2、图3、图9至图11，在某些实施方式中，步骤05：根据姿态差控制拍摄设备20中的致动器21驱动拍摄设备20的光学元件22运动以补偿拍摄设备20，可包括步骤：
052：根据姿态差控制第二致动器212驱动影像传感器222运动以补偿拍摄设备20。
具体地，步骤052：根据姿态差控制第二致动器212驱动影像传感器222运动以补偿拍摄设备20，可包括步骤：
0521：控制第二致动器212驱动影像传感器222在垂直于光轴的方向上平移一距离，以补偿拍摄设备20；
0523：控制第二致动器212驱动影像传感器222在横滚轴上反向偏转同一角度，以补偿拍摄设备20。
在某些实施方式中，处理器30用于控制致动器21执行步骤052、步骤0521和步骤0523。即，处理器30用于根据姿态差控制第二致动器212驱动影像传感器222运动以补偿拍摄设备20；控制第二致动器212驱动影像传感器222在垂直于光轴的方向上平移一距离，以补偿拍摄设备20；及控制第二致动器212驱动影像传感器222在横滚轴上反向偏转同一角度，以补偿拍摄设备20。
具体地，根据上述可知，光学元件22包括反射镜221和影像传感器222。反射镜221用于将外界光线朝向影像传感器222反射，影像传感器222用于接收光线，并将光信号转换为电信号，以获取图像。
请结合图12，致动器21可包括有第二致动器212，第二致动器212用于驱动影像传感器222运动。即，处理器30可通过控制第二致动器212，驱动影像传感器222 运动，从而补偿拍摄设备20。
更具体地，在处理器30得到第一目标姿态与云台10的当前姿态的姿态差后，根据上述可知，云台10先一步对拍摄设备20已进行了初步增稳，因此，姿态差表明的是：云台10在对拍摄设备20进行增稳后，云台10的当前姿态(等同于拍摄设备20的当前姿态)与拍摄设备20的第一目标姿态之间的姿态差。
因此，在第二致动器212驱动影像传感器222运动以补偿拍摄设备20时，姿态差可表明拍摄设备20的当前姿态相对第一目标姿态在一个轴上偏转的角度。其中，该轴可包括偏航轴(如图12所示的Z轴)、俯仰轴(如图12所示的X轴)和横滚轴(如图12所示的Y轴)。
在一个实施方式中，当姿态差表明拍摄设备20的当前姿态相对第一目标姿态在偏航轴(Z轴)或俯仰轴(X轴)上偏转一角度时，根据图12可以看出，要想使得焦点仍然落在影像传感器222上与拍摄设备20处于第一目标姿态时焦点所落的相同的位置，影像传感器222的位置必须发生改变。
因此，当姿态差表明拍摄设备20的当前姿态相对第一目标姿态在偏航轴或俯仰轴上偏转一角度时，处理器30可控制第二致动器212驱动影像传感器222在垂直于光轴的方向上(也可理解在YZ平面内)平移一距离，以补偿拍摄设备20。其中，如图11所示，光学元件22还包括透镜组223。第二致动器212驱动影像传感器222在垂直于光轴的方向上平移的距离与透镜组223的焦距及偏转的角度相关。请参阅图13，在一个例子中，第二致动器212驱动影像传感器222在垂直于光轴的方向上平移的距离x满足关系式：x＝f*tan(θ)，其中，f为透镜组223的焦距，θ为拍摄设备20相对第一目标姿态在偏航轴(Z轴)或俯仰轴(X轴)上偏转的角度。
在另一个实施方式中，当姿态差表明拍摄设备20的当前姿态相对第一目标姿态在横滚轴(Y轴)上偏转的角度时，处理器30可控制第二致动器212驱动影像传感器222在横滚轴上反向偏转同一个角度，以补偿拍摄设备20。
如图12所示，若姿态差表明拍摄设备20的当前姿态相对第一目标姿态在Y轴(横滚轴)上偏转的角度为0.5°(绕Y轴偏转了0.5°)，此时，处理器30便再控制第二致动器212驱动影像传感器222在Y轴上偏转负0.5°(绕Y轴反向偏转0.5°)，以补偿拍摄设备20。
如此，拍摄设备20在拍摄过程中虽然没有处于第一目标姿态，但由于影像传感器222的运动，对拍摄设备20的当前姿态相对第一目标姿态的姿态差进行了补偿，使得焦点仍然落在影像传感器222应该落到的位置(拍摄设备20处于第一目标姿态时，焦点应该落在影像传感器222上的位置)，从而使得拍摄出的图像或视频的成像 质量较高，进而保证可移动平台1000的成像质量较高。
其中，第二致动器212可包括音圈马达。如此，一方面可保证第二致动器212的响应速度较快，灵敏度较高；又一方面，还可保证第二致动器212的定位精度高，从而保证拍摄设备20的增稳效果较好，成像质量较高，以保证可移动平台1000的成像质量；还一方面，可保证第二致动器212的使用寿命较长，以提高用户的使用体验。
此外，请结合图14，当拍摄设备20为直筒式镜头时，第二致动器212还可设置在影像传感器222的底部，以驱动影像传感器222运动。
请参阅图2、图3、图15至图17，在某些实施方式中，步骤05：根据姿态差控制拍摄设备20中的致动器21驱动拍摄设备20的光学元件22运动以补偿拍摄设备20，还可包括步骤：
053：根据姿态差控制第三致动器213驱动透镜组223运动以补偿拍摄设备20。
具体地，步骤053：根据姿态差控制第三致动器213驱动透镜组223运动以补偿拍摄设备20，可包括步骤：
0531：控制第三致动器213驱动透镜组223在垂直于光轴的方向上平移一距离，以补偿拍摄设备20；
0533：控制第三致动器213驱动透镜组223在横滚轴上反向偏转同一角度，以补偿拍摄设备20。
在某些实施方式中，处理器30用于控制致动器21执行步骤052、步骤0531和步骤0533。即，处理器30用于根据姿态差控制第三致动器213驱动透镜组223运动以补偿拍摄设备20；控制第三致动器213驱动透镜组223在垂直于光轴(Y轴方向)的方向上(也即XZ平面内)平移一距离，以补偿拍摄设备20；及控制第三致动器213驱动透镜组223在横滚轴(Y轴)上反向偏转同一角度，以补偿拍摄设备20。
具体地，光学元件22包括透镜组223和影像传感器222。透镜组223用于将外界光线引导至影像传感器222，影像传感器222用于接收光线，并将光信号转换为电信号，以获取图像。
请结合图18，致动器21可包括有第三致动器213，第三致动器213用于驱动透镜组223运动。即，处理器30可通过控制第三致动器213，以驱动透镜组223运动，从而补偿拍摄设备20。
更具体地，在处理器30得到第一目标姿态与云台10的当前姿态的姿态差后，根据上述可知，云台10先一步对拍摄设备20已进行了初步增稳，因此，姿态差表明的是：云台10在对拍摄设备20进行增稳后，云台10的当前姿态(等同于拍摄设备20的当前姿态)与拍摄设备20的第一目标姿态之间的姿态差。
因此，在第三致动器213驱动透镜组223运动以补偿拍摄设备20时，姿态差可表明拍摄设备20的当前姿态相对第一目标姿态在一个轴上偏转的角度。其中，该轴可包括偏航轴(如图18所示的Z轴)、俯仰轴(如图18所示的X轴)和横滚轴(如图18所示的Y轴)。
在一个实施方式中，当姿态差为拍摄设备20的当前姿态相对第一目标姿态在偏航轴或俯仰轴上偏转的角度(即绕偏航轴或俯仰轴转动角度θ)时，根据图18可以看出，要想使得焦点仍然落在影像传感器222上与拍摄设备20处于第一目标姿态时焦点所落的相同的位置，透镜组223或影像传感器222的位置必须发生改变。
因此，当姿态差表明拍摄设备20的当前姿态相对第一目标姿态在偏航轴或俯仰轴上偏转的角度时，处理器30可控制第三致动器213驱动透镜组223在垂直于光轴的方向上(XZ平面内)平移一距离，以补偿拍摄设备20。其中，如图18所示，第三致动器213驱动透镜组223在垂直于光轴的方向上(也即XZ平面内)平移的距离与透镜组223的焦距及角度相关。请结合图18，在一个例子中，第三致动器213驱动透镜组223在垂直于光轴的方向上平移的距离x满足关系式：x＝Ky＝K*f*tan(θ)，其中，f为透镜组223的焦距，θ为拍摄设备20相对第一目标姿态在偏航轴(Z轴)或俯仰轴(X轴)上偏转的角度，K为镜片组223移动位移量，映射到影像传感器222的成像位移量。
在另一个实施方式中，如图18所示，当姿态差表明拍摄设备20的当前姿态相对第一目标姿态在横滚轴(Y轴)上偏转的角度时，处理器30可控制第三致动器213驱动透镜组223在横滚轴上反向偏转同一个角度，以补偿拍摄设备20。
例如，若姿态差表明拍摄设备20的当前姿态相对第一目标姿态在Y轴(横滚轴)上偏转的角度为0.5°(绕Y轴偏转了0.5°)，此时，处理器30便可控制第三致动器213驱动透镜组223在Y轴上偏转0.5°(绕Y轴反向偏转0.5°)，以补偿拍摄设备20。
如此，拍摄设备20在拍摄过程中虽然没有第一目标姿态，但由于透镜组223的运动，对拍摄设备20的当前姿态相对第一目标姿态的姿态差进行了补偿，使得焦点仍然落在影像传感器222应该落到的位置(拍摄设备20处于第一目标姿态时，焦点应该落在影像传感器222上的位置)，从而使得拍摄出的图像或视频的成像质量较高，以保证可移动平台1000的成像质量较高。
其中，第三致动器213可包括音圈马达。如此，一方面可保证第三致动器213的响应速度较快，灵敏度较高；又一方面，还可保证第三致动器213的定位精度高，从而保证拍摄设备20的增稳效果较好，成像质量较高，以保证可移动平台1000的成像质量；还一方面，可保证第三致动器213的使用寿命较长，以提高用户的使用体验。
此外，请结合图18和图20，当拍摄设备20为直筒式镜头时，根据姿态差控制拍摄设备20中的致动器21驱动拍摄设备20的光学元件22运动以补偿拍摄设备20，还可包括步骤：
根据姿态差控制第二致动器212驱动影像传感器222运动以补偿拍摄设备20。
具体地，根据姿态差控制第二致动器212驱动影像传感器222运动以补偿拍摄设备20，可包括步骤：
控制第二致动器212驱动影像传感器222在垂直于光轴的方向上平移一距离，以补偿拍摄设备20；
控制第二致动器212驱动影像传感器222在横滚轴上反向偏转同一角度，以补偿拍摄设备20。
具体地补偿方式与前文方法0521和方法0523相同，在此不在赘述。同样地，拍摄设备20在拍摄过程中虽然没有第一目标姿态，但由于影像传感器222的运动，对拍摄设备20的当前姿态相对第一目标姿态的姿态差进行了补偿，使得焦点仍然落在影像传感器222应该落到的位置(拍摄设备20处于第一目标姿态时，焦点应该落在影像传感器222上的位置)，从而使得拍摄出的图像或视频的成像质量较高，以保证可移动平台1000的成像质量较高。
在本说明书的描述中，参考术语“某些实施方式”、“一个例子中”、“示例地”等的描述意指结合实施方式或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施方式或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施方式或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施方式或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
流程图中或在此以其他方式描述的任何过程或方法描述可以被理解为，表示包括一个或更多个用于实现特定逻辑功能或过程的步骤的可执行指令的代码的模块、片段或部分，并且本申请的优选实施方式的范围包括另外的实现，其中可以不按所示出或讨论的顺序，包括根据所涉及的功能按基本同时的方式或按相反的顺序，来执行功能，这应被本申请的实施例所属技术领域的技术人员所理解。
尽管上面已经示出和描述了本申请的实施方式，可以理解的是，上述实施方式是示例性的，不能理解为对本申请的限制，本领域的普通技术人员在本申请的范围内可以对上述实施方式进行变化、修改、替换和变型。

Claims (37)

  1. 一种增稳系统，其特征在于，包括：
    云台，设有惯性测量单元，所述惯性测量单元用于检测所述云台的当前姿态；
    拍摄设备，搭载在所述云台上，并设有致动器及光学元件；及
    处理器，用于根据所述拍摄设备预设的第一目标姿态与所述当前姿态获取姿态差；其中：
    所述致动器用于根据所述姿态差驱动所述光学元件运动以补偿所述拍摄设备。
  2. 根据权利要求1所述的增稳系统，其特征在于，所述云台对所述拍摄设备进行初步增稳。
  3. 根据权利要求1所述的增稳系统，其特征在于，所述惯性测量单元用于检测所述云台的实时姿态；所述云台用于根据所述云台预设的第二目标姿态和所述当前姿态调整所述云台，以对所述拍摄设备进行初步增稳。
  4. 根据权利要求1所述的增稳系统，其特征在于，所述惯性测量单元还用于在所述云台对所述拍摄设备进行初步增稳后，检测所述云台的当前姿态。
  5. 根据权利要求1所述的增稳系统，其特征在于，所述光学元件包括反射镜和影像传感器，所述反射镜用于将外界光线朝所述影像传感器反射，所述影像传感器用于接收光线，并将光信号转换为电信号以获取图像；所述致动器包括用于驱动所述反射镜运动的第一致动器，所述第一致动器用于根据所述姿态差驱动所述反射镜运动以补偿所述拍摄设备。
  6. 根据权利要求5所述的增稳系统，其特征在于，所述第一致动器包括压电式致动器。
  7. 根据权利要求5所述的增稳系统，其特征在于，当所述姿态差表明所述拍摄设备的当前姿态相对所述第一目标姿态在一个轴上偏转一角度，所述第一致动器还用于驱动所述反射镜在该轴上反向偏转同一角度，以补偿所述拍摄设备。
  8. 根据权利要求7所述的增稳系统，其特征在于，所述轴包括偏航轴和俯仰轴。
  9. 根据权利要求1所述的增稳系统，其特征在于，所述光学元件包括反射镜和影像传感器，所述反射镜用于将外界光线朝所述影像传感器反射，所述影像传感器用于接收光线，并将光信号转换为电信号以获取图像；所述致动器包括用于驱动所述影像传感器运动的第二致动器，所述第二致动器还用于根据所述姿态差驱动所述影像传感器运动以补偿所述拍摄设备。
  10. 根据权利要求9所述的增稳系统，其特征在于，所述第二致动器包括音圈马 达。
  11. 根据权利要求9所述的增稳系统，其特征在于，当所述姿态差表明所述拍摄设备的当前姿态相对所述第一目标姿态在偏航轴或仰俯轴上偏转一角度，所述第二致动器还用于驱动所述影像传感器在垂直于光轴的方向上平移一距离，以补偿所述拍摄设备。
  12. 根据权利要求11所述的增稳系统，其特征在于，所述光学元件还包括透镜组，所述距离与所述透镜组的焦距及所述角度相关。
  13. 根据权利要求9所述的增稳系统，其特征在于，当所述姿态差表明所述拍摄设备的当前姿态相对所述第一目标姿态在横滚轴上偏转一角度，所述第二致动器还用于驱动所述影像传感器在横滚轴上反向偏转同一角度，以补偿所述拍摄设备。
  14. 根据权利要求1所述的增稳系统，其特征在于，所述光学元件包括透镜组和影像传感器，所述透镜组用于将外界光线导引至所述影像传感器，所述影像传感器用于接收光线，并将光信号转换为电信号以获取图像；所述致动器包括用于驱动所述透镜组运动的第三致动器，所述第三致动器还用于根据所述姿态差驱动所述透镜组运动以补偿所述拍摄设备。
  15. 根据权利要求14所述的增稳系统，其特征在于，所述第三致动器包括音圈马达。
  16. 根据权利要求14所述的增稳系统，其特征在于，当所述姿态差表明所述拍摄设备的当前姿态相对所述第一目标姿态在偏航轴或仰俯轴上偏转一角度，所述第三致动器还用于驱动所述透镜组在垂直于光轴的方向上平移一距离，以补偿所述拍摄设备。
  17. 根据权利要求16所述的增稳系统，其特征在于，所述距离与所述透镜组的焦距及所述角度相关。
  18. 根据权利要求14所述的增稳系统，其特征在于，当所述姿态差表明所述拍摄设备的当前姿态相对所述第一目标姿态在横滚轴上偏转一角度，所述第三致动器还用于驱动所述透镜组在横滚轴上反向偏转同一角度，以补偿所述拍摄设备。
  19. 一种云台上的拍摄设备的增稳方法，其特征在于，包括：
    检测所述云台的当前姿态；
    根据所述拍摄设备预设的第一目标姿态与所述当前姿态获取姿态差；及
    根据所述姿态差控制所述拍摄设备中的致动器驱动所述拍摄设备的光学元件运动以补偿所述拍摄设备。
  20. 根据权利要求19所述的增稳方法，其特征在于，还包括：
    利用所述云台对所述拍摄设备进行初步增稳，所述初步增稳的角度大于所述姿态差对应的角度。
  21. 根据权利要求20所述的增稳方法，其特征在于，所述通过所述云台对所述拍摄设备进行初步增稳，包括：检测所述云台的实时姿态；及根据所述云台预设的第二目标姿态和所述实时姿态调整所述云台，以对所述拍摄设备进行初步增稳。
  22. 根据权利要求19所述的增稳方法，其特征在于，所述检测所述云台的当前姿态，包括：
    在所述云台对所述拍摄设备进行初步增稳后，检测所述云台的当前姿态。
  23. 根据权利要求19所述的增稳方法，其特征在于，所述光学元件包括反射镜和影像传感器，所述反射镜用于将外界光线朝所述影像传感器反射，所述影像传感器用于接收光线，并将光信号转换为电信号以获取图像；所述致动器包括用于驱动所述反射镜运动的第一致动器；
    所述根据所述姿态差控制所述拍摄设备中的致动器驱动所述拍摄设备的光学元件运动以补偿所述拍摄设备，包括：
    根据所述姿态差控制所述第一致动器驱动所述反射镜运动以补偿所述拍摄设备。
  24. 根据权利要求23所述的增稳方法，其特征在于，所述第一致动器包括压电式致动器。
  25. 根据权利要求23所述的增稳方法，其特征在于，所述根据所述姿态差控制所述第一致动器驱动所述反射镜运动以补偿所述拍摄设备，包括：
    当所述姿态差表明所述拍摄设备的当前姿态相对所述第一目标姿态在一个轴上偏转一角度，则控制所述第一致动器驱动所述反射镜在该轴上反向偏转同一角度，以补偿所述拍摄设备。
  26. 根据权利要求25所述的增稳方法，其特征在于，所述轴包括偏航轴和俯仰轴。
  27. 根据权利要求19所述的增稳方法，其特征在于，所述光学元件包括反射镜和影像传感器，所述反射镜用于将外界光线朝所述影像传感器反射，所述影像传感器用于接收光线，并将光信号转换为电信号以获取图像；所述致动器包括用于驱动所述影像传感器运动的第二致动器；
    所述根据所述姿态差控制所述拍摄设备中的致动器驱动所述拍摄设备的光学元件运动以补偿所述拍摄设备，包括：
    根据所述姿态差控制所述第二致动器驱动所述影像传感器运动以补偿所述拍摄设备。
  28. 根据权利要求27所述的增稳方法，其特征在于，所述第二致动器包括音圈马 达。
  29. 根据权利要求27所述的增稳方法，其特征在于，当所述姿态差表明所述拍摄设备的当前姿态相对所述第一目标姿态在偏航轴或仰俯轴上偏转一角度，所述根据所述姿态差控制所述第二致动器驱动所述影像传感器运动以补偿所述拍摄设备，包括：
    控制所述第二致动器驱动所述影像传感器在垂直于光轴的方向上平移一距离，以补偿所述拍摄设备。
  30. 根据权利要求29所述的增稳方法，其特征在于，所述光学元件还包括透镜组，所述距离与所述透镜组的焦距及所述角度相关。
  31. 根据权利要求27所述的增稳方法，其特征在于，当所述姿态差表明所述拍摄设备的当前姿态相对所述第一目标姿态在横滚轴上偏转一角度，所述根据所述姿态差控制所述第二致动器驱动所述影像传感器运动以补偿所述拍摄设备，包括：
    控制所述第二致动器驱动所述影像传感器在横滚轴上反向偏转同一角度，以补偿所述拍摄设备。
  32. 根据权利要求19所述的增稳方法，其特征在于，所述光学元件包括透镜组和影像传感器，所述透镜组用于将外界光线导引至所述影像传感器，所述影像传感器用于接收光线，并将光信号转换为电信号以获取图像；所述致动器包括用于驱动所述透镜组运动的第三致动器；
    所述根据所述姿态差控制所述拍摄设备中的致动器驱动所述拍摄设备的光学元件运动以补偿所述拍摄设备，包括：
    根据所述姿态差控制所述第三致动器驱动所述透镜组运动以补偿所述拍摄设备。
  33. 根据权利要求32所述的增稳方法，其特征在于，所述第三致动器包括音圈马达。
  34. 根据权利要求32所述的增稳方法，其特征在于，当所述姿态差表明所述拍摄设备的当前姿态相对所述第一目标姿态在偏航轴或仰俯轴上偏转一角度，所述根据所述姿态差控制所述第三致动器驱动所述透镜组运动以补偿所述拍摄设备，包括：
    控制所述第三致动器驱动所述透镜组在垂直于光轴的方向上平移一距离，以补偿所述拍摄设备。
  35. 根据权利要求34所述的增稳方法，其特征在于，所述距离与所述透镜组的焦距及所述角度相关。
  36. 根据权利要求32所述的增稳方法，其特征在于，当所述姿态差表明所述拍摄设备的当前姿态相对所述第一目标姿态在横滚轴上偏转一角度，所述根据所述姿态差控制所述第三致动器驱动所述透镜组运动以补偿所述拍摄设备，包括：
    控制所述第三致动器驱动所述透镜组在横滚轴上反向偏转同一角度，以补偿所述拍摄设备。
  37. 一种可移动平台，其特征在于，包括：可移动平台本体；及权利要求1-18任意一项所述的增稳系统，所述增稳系统搭载在所述可移动平台本体上。
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