WO2019127137A1 - 切换云台工作模式的方法、控制器和图像增稳设备 - Google Patents

切换云台工作模式的方法、控制器和图像增稳设备 Download PDF

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Publication number
WO2019127137A1
WO2019127137A1 PCT/CN2017/119113 CN2017119113W WO2019127137A1 WO 2019127137 A1 WO2019127137 A1 WO 2019127137A1 CN 2017119113 W CN2017119113 W CN 2017119113W WO 2019127137 A1 WO2019127137 A1 WO 2019127137A1
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WO
WIPO (PCT)
Prior art keywords
pan
tilt
posture
mode
working mode
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/CN2017/119113
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English (en)
French (fr)
Inventor
刘帅
苏铁
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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 SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to PCT/CN2017/119113 priority Critical patent/WO2019127137A1/zh
Priority to JP2020528032A priority patent/JP7000646B2/ja
Priority to KR1020197033664A priority patent/KR102387819B1/ko
Priority to CN202110408255.1A priority patent/CN113086228A/zh
Priority to CN201780022451.7A priority patent/CN109071034B/zh
Priority to EP17936206.6A priority patent/EP3734395A4/en
Publication of WO2019127137A1 publication Critical patent/WO2019127137A1/zh
Priority to US16/889,369 priority patent/US20200293046A1/en
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
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/043—Allowing translations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • 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
    • F16M11/043—Allowing translations
    • F16M11/048—Allowing translations adapted to forward-backward translation movement
    • 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
    • F16M11/16—Details concerning attachment of head-supporting legs, with or without actuation of locking members thereof
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
    • F16M11/2035—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction
    • F16M11/2042—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction constituted of several dependent joints
    • F16M11/205—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction constituted of several dependent joints the axis of rotation intersecting in a single point, e.g. gimbals
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2085—Undercarriages with or without wheels comprising means allowing sideward adjustment, i.e. left-right translation of the head relatively to the undercarriage
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2092—Undercarriages with or without wheels comprising means allowing depth adjustment, i.e. forward-backward translation of the head relatively to the undercarriage
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/24—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
    • 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
    • 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
    • F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G03B15/006—Apparatus mounted on flying objects
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera accessories
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F16M2200/044—Balancing means for balancing rotational movement of the undercarriage

Definitions

  • the present application relates to the field of aircraft, and in particular, to a method, a controller, and an image stabilization device for switching a pan/tilt mode of operation.
  • UAV Unmanned Aerial Vehicle
  • UAV Unmanned Aerial Vehicle
  • UAV plant protection UAV aviation
  • UAV forest fire monitoring etc.
  • civilization is also the future development of UAV.
  • aerial photography usually requires a pan/tilt head based on three-axis pan/tilt technology, and a shooting device is set on the pan/tilt.
  • the three-axis pan/tilt technology is a technique for achieving automatic stabilization and coordination by controlling the pitch angle, the yaw angle, and the roll angle.
  • Handheld gimbal is an important direction in the development of anti-shake. It shifts the three-axis pan/tilt technology to the handheld shooting field, enabling automatic and stable balance during shooting.
  • the camera is clamped on the handheld pan/tilt, and the handheld pan/tilt can automatically adjust with the user's movements, always keeping the camera at a stable and balanced angle, and making the captured image as stable as possible.
  • the existing pan/tilt can be equipped with a shooting device to shoot in the sky, or a shooting device can be mounted on the car for shooting, or a handheld device can be mounted for handheld shooting.
  • the PTZ can have multiple working modes.
  • the lock mode that is, the mode in which the head of the gimbal remains unchanged regardless of how the base moves during shooting
  • the following mode that is, the pan/tilt tracking base moves during shooting
  • the return mode ie, the gimbal
  • the yaw direction is aligned with the pedestal, and the pitch of the gimbal is returned to the horizontal.
  • the application provides a method, a controller and an image stabilization device for switching the working mode of the pan/tilt, which can avoid the phenomenon that the picture taken by the camera mounted on the PTZ is shaken or stuck when the pan/tilt mode is switched.
  • a method for switching a pan/tilt mode of operation comprising: determining that the pan-tilt needs to be switched from a first working mode to a second working mode; acquiring a measurement posture of the pan-tilt, and according to the Determining a posture to determine a desired posture of the pan/tilt; controlling the pan/tilt to switch from the first working mode to the second working mode while maintaining the desired posture unchanged.
  • a controller in a second aspect, includes: the controller includes: a processing unit, configured to: determine that the pan/tilt needs to be switched from a first working mode to a second working mode; and acquiring the pan/tilt Measuring a posture, and determining a desired attitude of the pan/tilt according to the measured attitude; controlling the pan/tilt to switch from the first working mode to the second working mode while maintaining the desired posture unchanged .
  • the controller also includes a transceiver unit for communicating with the pan/tilt. For example, the transceiver unit receives the attitude information sent by the pan/tilt to enable the processing unit to acquire the measurement posture of the pan/tilt based thereon. For another example, the transceiver unit sends a control signal to the pan/tilt under the instruction of the processing unit to control the pan/tilt to switch from the first working mode to the second state while maintaining the desired posture. Operating mode.
  • a controller including a processor and a memory, wherein the memory stores computer instructions, and when the processor executes the computer instructions, the processor causes the processor to perform the following steps: determining The pan/tilt needs to be switched from the first working mode to the second working mode; acquiring the measuring posture of the pan-tilt, and determining a desired posture of the pan-tilt according to the measuring posture; controlling the pan-tilt to maintain the In the case where the desired posture is unchanged, the first operational mode is switched to the second operational mode.
  • an image stabilization device includes: a cloud platform, including a first working mode and a second working mode, and the current working mode of the pan/tilt is the first working mode.
  • a measuring component configured to acquire a measurement posture of the pan/tilt head, and send the measurement posture to the controller; and a controller, configured to determine that the cloud platform needs to be switched from the first working mode to the first a second working mode; acquiring the measurement posture from the measuring component, and determining a desired posture of the pan/tilt; controlling the pan/tilt to switch from the first working mode while maintaining the desired posture unchanged To the second mode of operation.
  • a chip comprising a processing module and a communication interface, the processing module is configured to control the communication interface to communicate with an external, and the processing module is further configured to implement the method provided by the first aspect.
  • a sixth aspect a computer readable storage medium having stored thereon a computer program, the computer program being executed by a computer to cause the computer to implement the method of the first aspect or any of the possible implementations of the first aspect .
  • the computer may be the above-mentioned ** device.
  • a computer program product comprising instructions, which when executed by a computer, causes the computer to implement the method provided by the first aspect.
  • the present invention can realize seamless switching of different working modes of the gimbal by controlling the gimbal to switch from the first working mode to the second working mode while maintaining the desired posture.
  • This seamless switching can avoid switching.
  • the camera equipment mounted on the pan/tilt rotates, which makes it easy for the user to realize the transition of different shooting states to capture the effect of a mirror. Therefore, the method of the embodiment of the present application can solve the problem that the picture captured by the camera mounted on the head is jittery or jammed during the mode switching of the pan/tilt existing in the prior art.
  • Figure 1 is a schematic view of the structure of a gimbal.
  • Figure 2 is a schematic diagram of the working principle of the gimbal.
  • FIG. 3 is a schematic flowchart of a method for switching a pan/tilt working mode according to an embodiment of the present application.
  • FIG. 5 and FIG. 6 are schematic diagrams showing the switching of the pan/tilt from the lock mode to the follow mode in the embodiment of the present application.
  • FIG. 7 is a schematic block diagram of a controller of an embodiment of the present application.
  • FIG. 8 is another schematic block diagram of a controller of an embodiment of the present application.
  • FIG. 9 is a schematic block diagram of an image stabilization device according to an embodiment of the present application.
  • the pan/tilt lock mode means that during the shooting, the yaw angle of the gimbal (yaw angle) does not change with the movement of the pedestal, and it is usually used in the scene of aerial photography or car shooting.
  • the pan-tilt follow mode means that during the shooting process, the gimbal tracks the movement of the pedestal.
  • the yaw angle of the gimbal changes with the rotation of the pedestal, which is usually used in a scene of hand-held shooting.
  • the pan-tilt mode refers to aligning the yaw direction of the gimbal with the yaw direction of the pedestal and returning the gimbal to the horizontal in the pitch direction (pitch direction).
  • FIG. 1 is a schematic diagram of a three-axis pan/tilt head to which the method of the embodiment of the present application is applied.
  • the three-axis pan/tilt has a three-degree-of-freedom electric turntable including an inner frame 7, a middle frame 8, an outer frame 5, and a pan-tilt base 4.
  • an outer frame 5 is mounted on the pan/tilt base 4, and a middle frame 8 is mounted on the outer frame 5, and an inner frame 7 is mounted on the middle frame 8.
  • the rotating shaft of the outer frame 5 has a yaw shaft motor 3; the rotating shaft of the middle frame 8 is located on the outer frame 5, and the rotating shaft of the middle frame 8 has a roll axis motor 2; the rotating shaft of the inner frame 7 has a pitch axis motor 1.
  • the rotation axes of the outer frame 5, the middle frame 8 and the inner frame 7 are spatially perpendicular to each other and intersect at one point.
  • a camera fixing mechanism 6 on the inner frame 7, the inside of which includes an inertial measuring element such as a gyroscope.
  • the camera 9 can be mounted in the camera fixing mechanism 6.
  • the operation of the pitch shaft motor 1 causes the inner frame 7 to rotate, so that the camera 9 shifts in the pitch direction.
  • the inner frame 7 can also be referred to as a pitch axis arm (pitch axis arm).
  • the operation of the roll axis motor 2 causes the middle frame 8 to rotate, so that the camera 9 is offset in the roll direction.
  • the middle frame 8 can also be referred to as a roll axis arm (roll axis arm).
  • the operation of the yaw shaft motor 3 causes the outer shaft 5 to rotate, so that the camera 9 is shifted in the horizontal direction.
  • the outer frame 5 can also be referred to as a horizontal axis arm or a yaw axis arm (yaw axis arm).
  • the direction or orientation of the gimbal refers to the orientation of the imaging device (such as the camera 9 in FIG. 1) mounted on the gimbal, that is, the orientation of the inner frame of the gimbal.
  • the pedestals referred to herein refer to the pedestal base.
  • FIG. 2 is a schematic diagram of the working principle of the gimbal.
  • the pan/tilt head is used as a feedback device by an inertial measurement element (for example, an inertial measurement element located in the camera fixing mechanism 6 shown in Fig. 1), and the three-axis motor is used as an output element to form a closed loop control system.
  • the control quantity in the closed-loop control system is the attitude of the gimbal, that is, given a target attitude, the feedback attitude is controlled to achieve the measurement attitude infinitely close to the target attitude.
  • the workflow of the reclosing control system is as follows.
  • the value of the joystick output from the remote control and the torque of the motor determine the target attitude of the gimbal.
  • the integrator integrates the angular velocity of the gyroscope (inertial measurement element) on the gimbal to obtain the measurement attitude of the gimbal.
  • the deviation between the target attitude and the measurement attitude is input to the controller, and the controller controls the operation of the three-axis motor (the pitch axis motor, the roll axis motor 2 and the yaw axis motor 3 shown in FIG. 1) according to the input deviation,
  • the operation of the shaft motor causes the corresponding shaft arm to output a torque, thereby changing the attitude of the gimbal.
  • the measurement attitude of the gimbal is constantly approaching the target word posture.
  • the PTZ also adds many new features, such as lock mode, follow mode and back mode.
  • lock mode the orientation of the gimbal remains unchanged regardless of the movement of the gimbal base.
  • follow mode the pan/tilt moves with the gimbal base.
  • return mode the yaw direction of the gimbal and the pedestal of the gimbal return to the horizontal direction in the pitch direction.
  • orientation of the gimbal or the orientation of the gimbal referred to herein refers to the orientation of the inner frame of the gimbal.
  • the user's shooting needs are getting higher and higher.
  • the user is required to achieve a mirror when shooting.
  • the so-called one mirror means that the picture is not interrupted during the shooting process, whether the camera is mounted on the plane, mounted on the car, or mounted on the handheld ring, you can switch any of them in these shooting scenes.
  • the pan/tilt and the camera are always in working state, so that the picture taken is continuously uninterrupted, and no picture suddenly appears jittery or jammed.
  • the aerial camera when performing aerial photography, it mainly works in the lock mode; when performing handheld shooting, it mainly works in the following mode.
  • the PTZ When it is necessary to switch between these two modes, the PTZ will re-find the following center point of the PTZ base. In this process, the orientation of the camera equipment mounted on the PTZ will rotate, causing the picture to rotate. The scene before the mode switching, so it is impossible to capture the effect of a mirror, which can not meet the user's shooting needs.
  • the present application provides a method, a controller, and an image stabilization device for switching a pan/tilt working mode, which can prevent a picture taken by a camera mounted on a gimbal from being shaken or stuck when switching a pan/tilt mode. phenomenon.
  • FIG. 3 is a schematic flowchart of a method 300 for switching a pan/tilt working mode according to an embodiment of the present application.
  • Method 300 can be performed by a controller that controls the pan/tilt. As shown in FIG. 3, method 300 includes the following steps.
  • the first mode of operation and the second mode of operation represent two different modes of operation of the gimbal.
  • the first working mode is a pan/tilt lock mode
  • the second working mode is a follow mode or a back mode.
  • the first working mode is a following mode
  • the second working mode is a PTZ lock mode or a Back mode.
  • the controller that controls the gimbal can adaptively determine whether to switch the working mode of the gimbal, or the controller can determine whether to perform the switching of the working mode of the gimbal according to the user instruction. This is not limited.
  • the measurement posture of the gimbal is acquired based on the measurement data of the inertial measurement element (such as the inertial measurement element included in the camera fixing mechanism 6 shown in FIG. 1) mounted on the gimbal.
  • the inertial measurement unit is a gyroscope
  • the measurement attitude of the gimbal can be obtained by integrating the angular velocity of the gyroscope.
  • the desired posture of the pan/tilt is determined according to the measured posture and the rocker value of the remote controller.
  • the gimbal is a gimbal on an unmanned aerial vehicle.
  • the process of determining the desired posture of the gimbal is as follows: 1) When the gimbal is initialized, the gimbal is aligned with the unmanned aerial vehicle. Specifically, the pitch angle of the gimbal is zero, the roll angle of the gimbal is zero, and the yaw of the gimbal is The angle is equal to the yaw angle of the UAV. 2) Obtain the angular velocity of the rocker input of the remote controller, and integrate the angular velocity to obtain an angle, which represents the user-defined pan/tilt attitude. 3) Determine the desired attitude of the gimbal according to the measurement attitude of the gimbal and the user-defined attitude of the gimbal.
  • the pan/tilt is a handheld pan/tilt.
  • the process of determining the desired posture of the gimbal is as follows: 1) When the gimbal is initialized, the gimbal is aligned with the handle. Specifically, the pitch angle of the gimbal is zero, the roll angle of the gimbal is zero, and the yaw angle of the gimbal is equal to The yaw angle of the handle. 2) Obtain the angular velocity of the rocker input of the remote controller, and integrate the angular velocity to obtain an angle, which represents the user-defined pan/tilt attitude. 3) Determine the desired attitude of the gimbal according to the measurement attitude of the gimbal and the user-defined attitude of the gimbal.
  • the joystick input of the remote control is the result of the user manipulating the remote control. Therefore, it can be considered that the pan/tilt attitude represented by the rocker value of the remote controller is a user-defined pan/tilt attitude.
  • the user defines the gimbal attitude by manipulating the remote controller, which is in principle defined with reference to the current measurement attitude of the gimbal, that is, ideally,
  • the pan/tilt attitude represented by the joystick value of the remote controller ie, the user-defined pan/tilt attitude
  • the pan/tilt attitude indicated by the rocker value of the remote controller ie, the user-defined pan/tilt attitude
  • the measurement attitude of the PTZ is determined as the desired attitude of the PTZ.
  • the measurement attitude of the PTZ is consistent with the user-defined PTZ attitude
  • the user-defined PTZ attitude can be determined as the desired attitude of the PTZ.
  • control pan/tilt is switched from the first working mode to the second working mode, and during the switching process, the control pan/tilt remains in the desired posture.
  • the orientation of the inner frame of the gimbal does not change.
  • the method of the embodiment of the present application can solve the problem that the picture captured by the camera mounted on the head is jittery or jammed during the mode switching of the pan/tilt existing in the prior art.
  • seamless switching of different working modes of the gimbal mentioned in this paper refers to that the orientation of the inner frame of the gimbal is unchanged during the switching process of the gimbal.
  • the controller controlling the pan/tilt may determine, by adaptive determination, that the pan/tilt needs to be switched from the first working mode to the second working mode.
  • the pan/tilt is mounted on the unmanned aerial vehicle.
  • the controller controlling the pan/tilt determines that the pan/tilt needs to be switched from the first working mode to the second working mode according to the flight control data.
  • the flight control data includes flight state information such as latitude and longitude data, altitude data, or attitude data. It should be understood that the flight control data can provide a position and direction reference for the aerial photography.
  • step S310 specifically includes: determining that the pan/tilt needs to be the first work if the flight control data corresponds to the unmanned aerial vehicle stopping the paddle The mode is switched to the second working mode.
  • the flight control data corresponds to the flight state information when the UAV is stopped, it is determined that the pan/tilt needs to perform the switching of the working mode.
  • step S310 specifically includes: determining, when the unmanned aerial vehicle stops transmitting the flight control data, that the pan/tilt needs to be switched by the first working mode. To the second working mode.
  • the controller controlling the pan/tilt may further determine, by the user instruction, that the pan/tilt needs to be switched from the first working mode to the second working mode.
  • step S310 specifically includes: receiving a working mode switching instruction; determining, according to the working mode switching instruction, that the pan/tilt needs to be switched from the first working mode to the second working mode.
  • receiving the working mode switching instruction includes: receiving the working mode switching instruction sent by the remote controller or the controller.
  • the user sends a working mode switching instruction through the remote controller or the controller, and after the controller controlling the pan/tilt receives the working mode switching instruction, triggers the switching process of the working mode, such as executing S320 and S330 in the above embodiment.
  • receiving the working mode switching instruction includes: receiving the working mode switching instruction sent by the terminal device by using an application (Application, APP).
  • Application Application, APP
  • the user sends a working mode switching instruction through the APP installed on the terminal device, and after the controller controlling the pan/tilt receives the working mode switching instruction, triggers the switching process of the working mode, such as executing S320 and S330 in the above embodiment.
  • step S330 the pan/tilt is controlled to switch from the first working mode to the second working mode while maintaining the desired posture.
  • the corresponding control commands are generated differently depending on the mode of operation. The following describes different switching scenarios as an example.
  • Switching scene 1 Switching from PTZ lock mode to follow mode.
  • the first working mode is a PTZ lock mode
  • the second working mode is a PTZ following mode
  • Step S330 specifically includes: controlling the PTZ to maintain the desired posture and When the return is not performed, the pan/tilt lock mode is switched to the follow mode.
  • the pan/tilt when the pan/tilt needs to switch between the pan/tilt lock mode and the follow mode, the pan/tilt will re-find the following center point of the pan/tilt base, in the process, the pan/tilt will be left in the process.
  • the camera device rotates, causing the screen to rotate, and it is impossible to align the scene before the mode is switched, so that it is impossible to capture the effect of a mirror, and thus the user's shooting needs cannot be satisfied.
  • the pan/tilt lock mode is switched to the following mode, so that the gimbal can be better guaranteed.
  • the seamless switching between the pan/tilt mode and the follow mode can avoid the rotation of the camera device mounted on the pan/tilt during the mode switching process. Therefore, the user can capture the effect of a mirror to meet the user's shooting needs. .
  • the difference between the pedestal attitude and the gimbal attitude may change.
  • the difference between the pedestal attitude and the gimbal attitude may include the following three parts: the part that generates the speed integral, the part that pushes the command (push command), and the part that the base rotates purely. If it is necessary to switch from the PTZ lock mode to the PTZ follow mode, in order to ensure that the PTZ does not move, it is necessary to find the purely rotating part of the base.
  • the purely rotating portion of the pedestal produces an angle equal to the yaw Euler angle of the current mid-frame attitude of the gimbal minus the yaw Euler angle of the current pedestal attitude of the gimbal, minus the angle produced by the velocity integral portion, and then subtracts The angle produced by the push command section.
  • the middle frame posture refers to the posture of the middle frame 8
  • the pedestal posture refers to the posture of the pan-tilt base 4.
  • step S330 the pan/tilt is controlled to switch to the following mode by the pan/tilt lock mode, and the following steps are performed. S331-S333.
  • the middle frame posture corresponding to the measurement posture indicates the middle frame posture of the current pan/tilt.
  • the pedestal posture corresponding to the measurement posture indicates the pedestal posture of the current pan/tilt.
  • the method for determining the angular offset value of the pan-tilt in the pan-tilt mode may be: a yaw Euler angle corresponding to the middle frame posture corresponding to the measurement posture and a yaw of the base posture corresponding to the measurement posture The difference between the Euler angles determines the angular offset of the gimbal in the pan/tilt lock mode.
  • the method for determining an angular offset value of the pan-tilt in the pan-tilt lock mode may further be: an attitude angle of the middle frame posture corresponding to the measurement posture in other coordinate systems.
  • the difference between the attitude angles of the pedestal postures corresponding to the measurement postures in the other coordinate systems determines the angular offset value of the pan/tilt head in the pan-tilt lock mode.
  • the other coordinate systems mentioned herein may be other possible coordinate systems other than the Euler coordinate system, which is not limited by the embodiment of the present invention.
  • the transformation posture of the middle frame posture corresponding to the desired posture to the pedestal posture corresponding to the measurement posture is obtained according to the pedestal posture corresponding to the measurement posture corresponding to the middle frame posture corresponding to the desired posture; and then the transformation posture is changed from the pedestal posture corresponding to the measurement posture; The angle offset value is subtracted, and the angle difference between the mid-frame attitude corresponding to the desired attitude and the pedestal attitude corresponding to the measurement attitude in the Euler coordinate system is obtained.
  • This embodiment can realize seamless switching of the pan/tilt from the lock mode to the follow mode.
  • step S330 the pan/tilt is controlled to switch to the following mode by the pan-tilt lock mode, in the case that the desired posture is unchanged and not returned, including step S334. —S336. :
  • the transformation posture of the middle frame posture corresponding to the desired posture to the pedestal posture corresponding to the measurement posture is obtained according to the pedestal posture corresponding to the measurement posture corresponding to the middle frame posture corresponding to the desired posture; and then the transformation posture is changed from the pedestal posture corresponding to the measurement posture; The angle offset value is subtracted, and the angle difference between the mid-frame attitude corresponding to the desired attitude and the pedestal attitude corresponding to the measurement attitude in the Euler coordinate system is obtained.
  • This embodiment can realize seamless switching of the pan/tilt from the lock mode to the follow mode.
  • the working mode switching method in the switching scene one described above can be applied to switching from aerial photography to handheld shooting, or switching from the vehicle shooting to the handheld shooting application scene.
  • FIG. 4 to FIG. 6 are schematic diagrams of the pan/tilt switching from the lock mode to the follow mode.
  • the pan/tilt works in an aerial state, and its working mode is a lock mode.
  • the pan/tilt is in the working mode switching process, that is, switching from the lock mode to the follow mode.
  • the pan/tilt has switched to the follow mode for handheld photography.
  • the method of the embodiment of the present application can be used to complete the switching of the pan/tilt from the lock mode to the follow mode.
  • the embodiment can realize the seamless switching of the pan/tilt head from the pan-tilt lock mode to the follow-up mode, thereby achieving seamless switching of the pan-tilt from aerial photography to handheld, or from car to hand, and improving user satisfaction.
  • Switch scenario 2 Switch from the following mode to PTZ lock mode.
  • the current working mode of the pan/tilt is a follow mode
  • the method 300 further includes: determining the cloud according to a middle frame posture corresponding to the measurement posture of the pan/tilt and a base posture corresponding to the measurement posture.
  • the angle offset value of the stage in the pan/tilt lock mode subtracting the angle generated by the speed integral command portion of the pan/tilt in the following mode and the angle generated by pushing the push command portion based on the angle offset value Obtaining the angle at which the pedestal is purely rotated in the following mode; recording the angle at which the pedestal is purely rotated; and when the pan/tilt needs to switch to the lock mode, generating a lock based on the recorded angle of pure rotation of the pedestal Header command.
  • pan/tilt when the pan/tilt receives the lock command, it will switch from the follow mode to the lock mode.
  • switching scene 2 can be applied to the following application scenarios: switching from hand-held shooting to aerial photography, or switching from hand-held shooting to vehicle shooting.
  • the embodiment can realize seamless switching of the pan/tilt from the following mode to the pan/tilt lock mode, thereby achieving seamless switching of the pan/tilt from hand-held to aerial photography, or from hand-held to car-shooting, thereby improving user satisfaction.
  • Switch scene 3 Switch from the following mode or PTZ lock mode to the return mode.
  • the first working mode is a PTZ lock mode or a follow mode
  • the second working mode is a back mode
  • the step S330 specifically includes the following steps S337 and S338.
  • the yaw Euler angle of the pedestal posture corresponding to the measurement posture is compared with the yaw Euler angle of the middle frame posture corresponding to the desired posture, and the return speed is obtained.
  • the command portion other than the speed integral command portion includes a push command portion, a follow command portion, and a base pure rotating portion.
  • the speed integral command portion causes a difference between the yaw Euler angle of the middle frame posture corresponding to the desired posture and the yaw Euler angle of the base posture corresponding to the desired posture in a preset range.
  • the yaw Euler angle of the yaw attitude corresponding to the pedestal posture corresponding to the measurement posture is compared with the yaw Euler angle of the middle frame posture corresponding to the desired posture, and the pedestal posture corresponding to the measurement posture is obtained during the process of obtaining the intermediate speed
  • the difference between the yaw Euler angle of the yaw Euler angle and the middle frame posture corresponding to the desired posture is within the preset range, it is considered that the completion is returned, and the currently obtained returning speed is integrated to obtain the speed integral command portion, and at the same time , clear the push command part, the follow command part and the pure rotation part of the base.
  • the preset range involved in this embodiment may be an empirical value.
  • This embodiment can implement seamless switching from the lock mode to the back mode, or can seamlessly switch from the follow mode to the back mode, thereby improving user satisfaction.
  • the follow mode or the lock mode can be turned on. For example, after the pan/tilt is finished, if it needs to enter the follow mode, the follow mode is turned on. Or, after the pan/tilt is finished, if it needs to enter the lock mode, the lock mode is turned on.
  • the method of the embodiment of the present application can solve the problem that the picture captured by the camera mounted on the head is jittery or jammed during the mode switching of the pan/tilt existing in the prior art.
  • FIG. 7 is a schematic block diagram of a controller 700 implemented in the present application for controlling a pan/tilt. As shown in FIG. 7, the controller 700 includes:
  • the processing unit 710 is configured to: determine that the PTZ needs to be switched from the first working mode to the second working mode; acquire the measurement posture of the PTZ, and determine a desired posture of the PTZ according to the measurement posture; and control the PTZ to maintain When the desired posture is unchanged, the first operating mode is switched to the second operating mode.
  • the controller 700 further includes a transceiver unit 720 for communicating with the pan/tilt.
  • the transceiver unit 720 receives the attitude information transmitted by the pan/tilt to enable the processing unit 710 to acquire the measurement posture of the pan/tilt based thereon.
  • the transceiver unit 720 sends a control signal to the pan/tilt under the instruction of the processing unit 710 to control the pan/tilt to switch from the first working mode to the second working mode while maintaining the desired posture. .
  • the processing unit 710 is specifically configured to determine, according to the flight control data, that the PTZ needs to be switched from the first working mode to the second working mode.
  • the processing unit 710 is specifically configured to: when the flight control data corresponds to the unmanned aircraft stopping, determine that the pan/tilt needs to be switched from the first working mode to the second working mode.
  • the processing unit 710 is specifically configured to: when the UAV stops transmitting the flight control data, determine that the PTZ needs to be switched from the first working mode to the second working mode.
  • the first working mode is a PTZ lock mode
  • the second working mode is a PTZ following mode
  • the processing unit 710 is specifically configured to: control the PTZ to maintain the desired posture. In the case where the change is made and the return is not made, the pan/tilt lock mode is switched to the follow mode.
  • the processing unit 710 is specifically configured to determine an angle of the pan-tilt in the pan-tilt lock mode according to the middle frame posture corresponding to the measurement posture and the base posture corresponding to the measurement posture. And determining, according to the middle frame posture corresponding to the desired posture, the pedestal posture corresponding to the measurement posture, and the angle offset value, determining a pedestal posture corresponding to the middle frame posture corresponding to the measurement posture.
  • the angular difference in the Euler coordinate system; the following speed is determined based on the angular difference, and the following speed is integrated to obtain a follow command.
  • the transceiver unit 720 is configured to send the follow command to the pan/tilt.
  • the processing unit 710 is specifically configured to determine, according to a difference between a translational yaw Euler angle of the middle frame posture corresponding to the measurement posture and a yaw Euler angle of the base posture corresponding to the measurement posture.
  • the angle offset value of the pan/tilt in the pan/tilt lock mode is specifically configured to determine, according to a difference between a translational yaw Euler angle of the middle frame posture corresponding to the measurement posture and a yaw Euler angle of the base posture corresponding to the measurement posture.
  • the processing unit 710 is specifically configured to: add an angle generated by the speed integral command portion of the pan-tilt in the pan-tilt lock mode and push the push command at an angle of pure rotation of the base. a partially generated angle, the angle offset value of the pan/tilt head in the pan/tilt lock mode is obtained; determining the middle frame attitude corresponding to the desired posture and the base posture corresponding to the measurement posture, and the angle offset value The middle frame posture corresponding to the desired posture is compared with the angle difference of the base posture corresponding to the measurement posture in the Euler coordinate system; the following speed is determined according to the angle difference, and the following speed is integrated to obtain a follow command.
  • the transceiver unit 720 is configured to send the follow command to the pan/tilt.
  • the current working mode of the pan/tilt is a following mode
  • the processing unit 710 is further configured to: determine the cloud according to the middle frame posture corresponding to the measurement posture and the base posture corresponding to the measurement posture.
  • the angle offset value of the stage in the pan/tilt lock mode subtracting the angle generated by the speed integral command portion of the pan/tilt in the following mode and the angle generated by pushing the push command portion based on the angle offset value Obtaining the angle at which the pedestal is purely rotated in the following mode; recording the angle at which the pedestal is purely rotated.
  • the first working mode is a PTZ lock mode or a follow mode
  • the second working mode is a back mode
  • the processing unit 710 is specifically configured to: the base corresponding to the measured posture
  • the attitude and the mid-frame attitude corresponding to the desired posture determine the return speed, integrate the intermediate speed to obtain the speed integral command portion, and clear the command portion other than the speed integral command portion.
  • the speed integral command portion causes a difference between a translational yaw Euler angle of the middle frame posture corresponding to the desired posture and a yaw Euler angle of the base posture corresponding to the desired posture at a preset Within the scope.
  • an embodiment of the present invention further provides a controller 800.
  • the controller 800 is a controller that controls the pan/tilt.
  • the controller 800 includes a processor 810 and a memory 820.
  • the memory 820 stores computer instructions.
  • the processor 810 executes the computer instructions, the processor 810 performs the following steps: determining the pan/tilt The first working mode needs to be switched to the second working mode; the measuring posture of the pan/tilt is acquired, and the desired posture of the pan/tilt is determined according to the measuring posture; and the pan/tilt is controlled to keep the desired posture unchanged, The first mode of operation switches to the second mode of operation.
  • the controller 800 also includes a transceiver 830 for communicating with the pan/tilt.
  • the transceiver 830 receives the attitude information transmitted by the pan/tilt to cause the processor 810 to acquire the measurement pose of the pan/tilt based thereon.
  • the transceiver 830 sends a control signal to the pan/tilt under the instruction of the processor 810 to control the pan/tilt to switch from the first working mode to the second working mode while maintaining the desired posture. .
  • the processor 810 is specifically configured to determine, according to the flight control data, that the PTZ needs to be switched from the first working mode to the second working mode.
  • the processor 810 is specifically configured to: when the flight control data corresponds to the unmanned aircraft stopping, determine that the pan/tilt needs to be switched from the first working mode to the second working mode.
  • the processor 810 is specifically configured to: when the UAV stops transmitting the flight control data, determine that the PTZ needs to be switched from the first working mode to the second working mode.
  • the first working mode is a PTZ lock mode
  • the second working mode is a PTZ following mode
  • the processor 810 is specifically configured to: control the PTZ to maintain the desired posture. In the case where the change is made and the return is not made, the pan/tilt lock mode is switched to the follow mode.
  • the processor 810 is configured to determine an angle of the pan-tilt in the pan-tilt lock mode according to the middle frame posture corresponding to the measurement posture and the base posture corresponding to the measurement posture. And determining, according to the middle frame posture corresponding to the desired posture, the pedestal posture corresponding to the measurement posture, and the angle offset value, determining a pedestal posture corresponding to the middle frame posture corresponding to the measurement posture.
  • the angular difference in the Euler coordinate system; the following speed is determined based on the angular difference, and the following speed is integrated to obtain a follow command.
  • the transceiver 830 is configured to send the follow command to the pan/tilt.
  • the processor 810 is specifically configured to: determine, according to a difference between a translational yaw Euler angle of the middle frame posture corresponding to the measurement posture and a yaw Euler angle of the base posture corresponding to the measurement posture, The angle offset value of the pan/tilt in the pan/tilt lock mode.
  • the processor 810 is specifically configured to: add an angle generated by the speed integral command portion of the pan/tilt in the pan-tilt lock mode and push the push command at an angle of pure rotation of the base. a partially generated angle, the angle offset value of the pan/tilt head in the pan/tilt lock mode is obtained; determining the middle frame attitude corresponding to the desired posture and the base posture corresponding to the measurement posture, and the angle offset value The middle frame posture corresponding to the desired posture is compared with the angle difference of the base posture corresponding to the measurement posture in the Euler coordinate system; the following speed is determined according to the angle difference, and the following speed is integrated to obtain a follow command.
  • the transceiver 830 is configured to send the follow command to the pan/tilt.
  • the current working mode of the pan/tilt is a following mode
  • the processor 810 is further configured to: determine the cloud according to the middle frame posture corresponding to the measurement posture and the base posture corresponding to the measurement posture.
  • the angle offset value of the stage in the pan/tilt lock mode subtracting the angle generated by the speed integral command portion of the pan/tilt in the following mode and the angle generated by pushing the push command portion based on the angle offset value Obtaining the angle at which the pedestal is purely rotated in the following mode; recording the angle at which the pedestal is purely rotated.
  • the first working mode is a PTZ lock mode or a follow mode
  • the second working mode is a back mode
  • the processor 810 is specifically configured to: the base corresponding to the measured posture
  • the attitude and the mid-frame attitude corresponding to the desired posture determine the return speed, integrate the intermediate speed to obtain the speed integral command portion, and clear the command portion other than the speed integral command portion.
  • the speed integral command portion causes a difference between a translational yaw Euler angle of the middle frame posture corresponding to the desired posture and a yaw Euler angle of the base posture corresponding to the desired posture at a preset Within the scope.
  • an embodiment of the present invention further provides an image stabilization device 900.
  • the image stabilization device 900 includes:
  • the cloud station 910 includes a first working mode and a second working mode, and the current working mode of the cloud platform 910 is the first working mode;
  • a measuring component 920 configured to acquire a measurement posture of the cloud platform, and send the measurement posture to the controller 930;
  • the controller 930 is configured to determine that the PTZ 910 needs to be switched from the first working mode to the second working mode; acquire the measurement posture from the measuring component 920, and determine a desired posture of the PTZ 910; and control the PTZ 910 switches from the first mode of operation to the second mode of operation while maintaining the desired posture.
  • the controller 930 is specifically configured to determine, according to the flight control data, that the PTZ needs to be switched from the first working mode to the second working mode.
  • the controller 930 is configured to: when the flight control data corresponds to the unmanned aircraft stopping, determine that the pan/tilt needs to be switched from the first working mode to the second Operating mode.
  • the controller 930 is specifically configured to: when the UAV stops transmitting the flight control data, determine that the PTZ needs to be switched from the first working mode to the second working mode. .
  • the first working mode is a pan/tilt lock mode
  • the second working mode is a pan-tilt following mode
  • the controller 930 is specifically configured to control the pan/tilt to maintain the desired posture In the case of no change and no return, the pan/tilt lock mode is switched to the follow mode.
  • the controller 930 is specifically configured to control, by the following manner, the pan/tilt head switch to the pan/tilt lock mode by maintaining the desired posture unchanged and not returning.
  • the controller 930 is specifically configured to determine, according to the manner, an angle offset value of the pan/tilt head in the pan-tilt lock mode: a translation of the middle-frame posture corresponding to the measurement gesture The difference between the yaw Euler angle and the yaw Euler angle of the pedestal posture corresponding to the measurement posture determines the angular offset value of the gimbal in the pan-tilt lock mode.
  • the controller 930 is specifically configured to control, by the following manner, the pan/tilt head switch to the pan/tilt lock mode by maintaining the desired posture unchanged and not returning.
  • the first working mode is a pan/tilt following mode
  • the controller 930 is further configured to:
  • the first working mode is a PTZ lock mode or a PTZ following mode
  • the second working mode is a back mode
  • the controller 930 is specifically configured to control, by the following manner, the pan/tilt to switch from the first working mode to the second working mode while maintaining the desired posture: a base posture corresponding to the measured posture and The mid-frame attitude corresponding to the desired posture determines the returning speed, integrates the intermediate speed, obtains the speed integral command portion, and clears the command portion other than the speed integral command portion.
  • the speed integral command portion causes a difference between a translational yaw Euler angle of the middle frame posture corresponding to the desired posture and a yaw Euler angle of the base posture corresponding to the desired posture at a preset Within the scope.
  • controller 930 in this embodiment may correspond to the controller 700 or the controller 800 provided by the above device embodiment.
  • processors mentioned in the embodiment of the present application may be a central processing unit (CPU), and may also be other general-purpose processors, digital signal processors (DSPs), and application specific integrated circuits ( Application Specific Integrated Circuit (ASIC), Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, etc.
  • the general purpose processor may be a microprocessor or the processor or any conventional processor or the like.
  • the memory referred to in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memory.
  • the non-volatile memory may be a read-only memory (ROM), a programmable read only memory (PROM), an erasable programmable read only memory (Erasable PROM, EPROM), or an electric Erase programmable read only memory (EEPROM) or flash memory.
  • the volatile memory can be a Random Access Memory (RAM) that acts as an external cache.
  • RAM Random Access Memory
  • many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (Synchronous DRAM). SDRAM), Double Data Rate SDRAM (DDR SDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), Synchronous Connection Dynamic Random Access Memory (Synchlink DRAM, SLDRAM) ) and direct memory bus random access memory (DR RAM).
  • processor is a general-purpose processor, DSP, ASIC, FPGA or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, the memory (storage module) is integrated in the processor.
  • memories described herein are intended to comprise, without being limited to, these and any other suitable types of memory.
  • the embodiment of the present application further provides a computer readable storage medium having stored thereon instructions for causing a computer to execute the methods of the foregoing method embodiments when the instructions are run on a computer.
  • the embodiment of the present application further provides a computing device, which includes the above computer readable storage medium.
  • Embodiments of the present application can be applied to the field of aircraft, especially drones.
  • a computer program product includes one or more computer instructions.
  • the computer can be a general purpose computer, a special purpose computer, a computer network, or other programmable device.
  • the computer instructions can be stored in a computer readable storage medium or transferred from one computer readable storage medium to another computer readable storage medium, for example, computer instructions can be wired from a website site, computer, server or data center (eg Coax, fiber, Digital Subscriber Line (DSL) or wireless (eg infrared, wireless, microwave, etc.) to another website, computer, server or data center.
  • the computer readable storage medium can be any available media that can be accessed by a computer or a data storage device such as a server, data center, or the like that includes one or more available media.
  • the usable medium may be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a high-density digital video disc (DVD)), or a semiconductor medium (for example, a solid state disk (SSD)). )Wait.
  • a magnetic medium for example, a floppy disk, a hard disk, a magnetic tape
  • an optical medium for example, a high-density digital video disc (DVD)
  • DVD high-density digital video disc
  • SSD solid state disk
  • the size of the sequence numbers of the foregoing processes does not mean the order of execution sequence, and the order of execution of each process should be determined by its function and internal logic, and should not be applied to the embodiment of the present application.
  • the implementation process constitutes any limitation.
  • B corresponding to A means that B is associated with A, and B can be determined according to A.
  • determining B from A does not mean that B is only determined based on A, and that B can also be determined based on A and/or other information.
  • the disclosed systems, devices, and methods may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of the unit is only a logical function division.
  • there may be another division manner for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

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Abstract

一种切换云台工作模式的方法、控制器和图像增稳设备，该方法包括：确定云台需要由第一工作模式切换至第二工作模式；获取云台的测量姿态，并根据测量姿态确定云台的期望姿态；控制云台在保持期望姿态不变的情况下，由第一工作模式切换至第二工作模式，可以避免在切换云台工作模式时云台上搭载的摄像设备发生转动，从而可以实现云台的不同拍摄状态的过渡，以拍摄出一镜到底的效果。

Description

切换云台工作模式的方法、控制器和图像增稳设备
版权申明
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技术领域
本申请涉及飞行器领域，尤其涉及一种切换云台工作模式的方法、控制器和图像增稳设备。
背景技术
随着飞行技术的发展，飞行器，例如，UAV(Unmanned Aerial Vehicle，无人驾驶飞机)，也称为无人机，已经从军用发展到越来越广泛的民用，例如，UAV植物保护、UAV航空拍摄、UAV森林火警监控等等，而民用化也是UAV未来发展的趋势。其中，航空拍摄通常要求飞机上搭载基于三轴云台技术的云台，并在云台上设置拍摄装置。三轴云台技术是通过对俯仰(pitch)角、平移(yaw)角和翻滚(roll)角的控制，实现自动稳定协调的技术。
手持云台是如今防抖领域发展的一个重要方向。其将三轴云台技术转移到手持拍摄领域中，可以实现拍摄过程中的自动稳定平衡。将拍摄装置夹在手持云台上，手持云台能够自动随着用户的动作做出调整，始终将拍摄装置保持在稳定平衡的角度上，尽可能使得拍摄出的画面稳定。
为了适应越来越高的拍摄需求，现有的云台可以搭载拍摄装置在天上进行飞行拍摄，也可以搭载拍摄装置安装在车上进行拍摄，还可以搭载拍摄装置进行手持拍摄。为实现上述拍摄需求，云台可以具有多种工作模式。例如，锁头模式，即在拍摄时，不论基座如何运动，云台的朝向保持不变的模式；跟随模式，即在拍摄时，云台跟踪基座进行运动；回中模式，即云台的yaw方向与基座对齐，云台的pitch方向回到水平。现有的云台在这几个工作模式下进行切换时，云台搭载的拍摄装置所拍摄的画面会出现中断、抖动或卡 顿等现象。
发明内容
本申请提供了一种切换云台工作模式的方法、控制器和图像增稳设备，可以避免在切换云台模式时使云台搭载的拍摄装置所拍摄的画面出现抖动或卡顿等现象。
第一方面，提供一种切换云台工作模式的方法，所述方法包括：确定所述云台需要由第一工作模式切换至第二工作模式；获取所述云台的测量姿态，并根据所述测量姿态确定所述云台的期望姿态；控制所述云台在保持所述期望姿态不变的情况下，由所述第一工作模式切换至所述第二工作模式。
第二方面，提供一种控制器，所述控制器包括：该控制器包括：处理单元用于，确定所述云台需要由第一工作模式切换至第二工作模式；获取所述云台的测量姿态，并根据所述测量姿态确定所述云台的期望姿态；控制所述云台在保持所述期望姿态不变的情况下，由所述第一工作模式切换至所述第二工作模式。该控制器还包括收发单元，用于与云台进行通信。例如，收发单元接收云台发送的姿态信息，以使处理单元基于此获取云台的测量姿态。再例如，收发单元在处理单元的指示下，向云台发送控制信号，以控制所述云台在保持所述期望姿态不变的情况下，由所述第一工作模式切换至所述第二工作模式。
第三方面，提供一种控制器，所述控制器包括处理器和存储器，所述存储器中存储有计算机指令，所述处理器执行所述计算机指令时，使得所述处理器执行以下步骤：确定所述云台需要由第一工作模式切换至第二工作模式；获取所述云台的测量姿态，并根据所述测量姿态确定所述云台的期望姿态；控制所述云台在保持所述期望姿态不变的情况下，由所述第一工作模式切换至所述第二工作模式。
第四方面，提供一种图像增稳设备，所述图像增稳设备包括：云台，包括第一工作模式与第二工作模式，且所述云台的当前工作模式为所述第一工作模式；测量部件，用于获取所述云台的测量姿态，并向所述控制器发送所述测量姿态；控制器，用于确定所述云台需要由所述第一工作模式切换至所述第二工作模式；从所述测量部件获取所述测量姿态，并确定所述云台的期望姿态；控制所述云台在保持所述期望姿态不变的情况下，由所述第一工作 模式切换至所述第二工作模式。
第五方面，提供一种芯片，所述芯片包括处理模块与通信接口，所述处理模块用于控制所述通信接口与外部进行通信，所述处理模块还用于实现第一方面提供的方法。
第六方面，提供一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被计算机执行时使得所述计算机实现第一方面或第一方面的任一可能的实现方式中的方法。具体地，所述计算机可以为上述**设备。
第七方面，提供一种包含指令的计算机程序产品，所述指令被计算机执行时使得所述计算机实现第一方面提供的方法。
本申请通过控制云台在保持期望姿态不变的情况下，由第一工作模式切换至第二工作模式，可以实现云台的不同工作模式的无缝切换，这种无缝切换可以避免在切换云台模式时云台上搭载的摄像设备发生转动，从而可以使用户容易实现不同拍摄状态的过渡，以拍摄出一镜到底的效果。因此，本申请实施例的方法可以解决现有技术中存在的云台在模式切换时，云台搭载的拍摄装置所拍摄的画面出现抖动或卡顿等现象的问题。
附图说明
图1是云台的结构示意图。
图2是云台的工作原理的示意图。
图3是本申请实施例的切换云台工作模式的方法的示意性流程图。
图4、图5与图6是本申请实施例中云台由锁头模式切换到跟随模式的示意图。
图7是本申请实施例的控制器的示意性框图。
图8是本申请实施例的控制器的另一示意性框图。
图9是本申请实施例的图像增稳设备的示意性框图。
具体实施方式
下面将结合附图，对本申请实施例中的技术方案进行描述。
除非另有定义，本文所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。本文中在本申请的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本申请。
首先介绍本申请实施例涉及的相关技术及概念。
云台锁头模式是指在拍摄过程中，云台的偏航角(yaw角)不随基座的运动而改变，其通常使用在航拍或车拍的场景下。
云台跟随模式是指在拍摄过程中，云台跟踪基座运动，云台的yaw角随着基座的转动而变化，其通常使用在手持拍摄的场景下。
云台回中模式是指将云台的yaw方向与基座的yaw方向对齐，将云台在俯仰方向(pitch方向)上回到水平。
图1是应用本申请实施例的方法的一种三轴云台的示意图。如图1所示，三轴云台具有三自由度电动转台，该三自由度电动转台包括内框7、中框8、外框5和云台基座4。具体地，在云台基座4上装有外框5，外框5上装有中框8，中框8上装有内框7。外框5的转轴上具有yaw轴电机3；中框8的转轴位于外框5上，中框8的转轴上具有roll轴电机2；内框7的转轴上具有pitch轴电机1。其中，外框5、中框8和内框7的转轴在空间上相互垂直，且交于一点。
如图1中所示，在内框7上具有摄相机固定机构6，其内部包括惯性测量元件，例如陀螺仪。摄像机9可以安装在摄相机固定机构6中。
pitch轴电机1的运行会带动内框7转动，使得摄像机9进行俯仰方向的偏移。内框7也可称为俯仰轴轴臂(pitch轴轴臂)。roll轴电机2的运行会带动中框8转动，使得摄像机9进行翻滚方向的偏移。中框8也可称为翻滚轴轴臂(roll轴轴臂)。yaw轴电机3的运行会带动外轴5转动，使得摄像机9进行水平方向的偏移。外框5也可称为水平轴轴臂或偏航轴轴臂(yaw轴轴臂)。
应理解，云台的方向或朝向，指的是，云台上搭载的摄像设备(如图1中的摄像机9)的朝向，即云台的内框的朝向。
本文中提及的基座均指的是云台基座。
图2为云台的工作原理的示意图。如图2所示，云台通过惯性测量元件(例如位于图1中所示的摄像机固定机构6中的惯性测量元件)作为反馈器件，三轴电机作为输出元件，形成闭环控制系统。该闭环控制系统中的控制量是云台的姿态，即给定一个目标姿态，通过反馈控制以实现测量姿态无限接近目标姿态。
具体地，该闭关控制系统的工作流程如下。遥控器输出的摇杆数值与电 机的扭矩决定云台的目标姿态。积分器对云台上的陀螺仪(惯性测量元件)的角速度进行积分得到云台的测量姿态。将目标姿态与测量姿态的偏差输入到控制器中，控制器根据输入的偏差控制三轴电机(如图1中所示的pitch轴电机、roll轴电机2与yaw轴电机3)的运行，三轴电机的运行会使得对应的轴臂输出力矩，从而使云台的姿态发生改变。通过这种闭环控制，使得云台的测量姿态不断接近目标字姿态。
目前，为了适应人们的拍摄需求，云台也增加很多新功能，如锁头模式、跟随模式和回中模式。在锁头模式下，不管云台基座怎么动，云台的朝向不变。在跟随模式下，云台跟随云台基座运动。在回中模式下，云台的yaw方向与云台基座对其，在pitch方向上回到水平。应理解，本文中提及的云台的方向或云台的朝向均指的是云台的内框的朝向。
随着拍摄技术的发展，用户的拍摄需求越来越高，例如，用户在拍摄时要求实现一镜到底。所谓一镜到底是指拍摄过程中画面没有中断，无论摄像机安装在飞机上拍摄，或是安装在车上拍摄，或是安装在手持环上拍摄，在这几个拍摄场景中可以进行任意切换，云台和摄影机始终处于工作状态，使得拍摄的画面连续无中断，且无画面突然出现抖动或者出现卡顿等情况。
目前，云台在进行航拍时，主要工作在锁头模式；在进行手持拍摄时，主要工作在跟随模式。在需要在这两个模式之间切换时，云台会去重新寻找云台基座的跟随中心点，在这个过程中，云台上搭载的摄像设备的朝向会转动，导致画面转动，无法对准模式切换前的场景，因此无法拍摄出一镜到底的效果，从而无法满足用户的拍摄需求。
针对上述问题，本申请提出一种切换云台工作模式的方法、控制器和图像增稳设备，可以避免在切换云台模式时使云台搭载的拍摄装置所拍摄的画面出现抖动或卡顿等现象。
图3是本申请实施例的切换云台工作模式的方法300的示意性流程图。方法300可以由控制云台的控制器执行。如图3所示，方法300包括如下步骤。
S310，确定该云台需要由第一工作模式切换至第二工作模式。
第一工作模式与该第二工作模式表示云台的两种不同的工作模式。例如，该第一工作模式为云台锁头模式，该第二工作模式为跟随模式或回中模式。或者，该第一工作模式为跟随模式，该第二工作模式为云台锁头模式或 回中模式。
具体地，控制云台的控制器可以自适应判断是否要进行云台的工作模式的切换，或者，控制器可以根据用户指令来判断是否要进行云台的工作模式的切换，本申请实施例对此不作限定。
S320，获取该云台的测量姿态，并根据该测量姿态确定该云台的期望姿态。
具体地，根据云台上搭载的惯性测量元件(如图1中所示的摄相机固定机构6内部包括的惯性测量元件)的测量数据，获取云台的测量姿态。例如，该惯性测量单元为陀螺仪，则可以通过对陀螺仪的角速度作积分，得到云台的测量姿态。
具体地，根据该测量姿态与遥控器的摇杆数值，确定该云台的期望姿态。
作为一个示例，该云台为无人飞行器上的云台。确定该云台的期望姿态的流程如下：1)云台初始化的时候，云台与无人飞行器对齐，具体地，云台的pitch角为零，云台的roll角为零，云台的yaw角等于无人飞行器的yaw角。2)获取遥控器的摇杆输入的角速度，对该角速度进行积分，得到角度，该角度表示用户定义的云台姿态。3)根据云台的测量姿态与用户定义的云台姿态，确定该云台的期望姿态。
作为另一个示例，该云台为手持云台。确定该云台的期望姿态的流程如下：1)云台初始化的时候，云台与手柄对齐，具体地，云台的pitch角为零，云台的roll角为零，云台的yaw角等于手柄的yaw角。2)获取遥控器的摇杆输入的角速度，对该角速度进行积分，得到角度，该角度表示用户定义的云台姿态。3)根据云台的测量姿态与用户定义的云台姿态，确定该云台的期望姿态。
应理解，遥控器的摇杆输入是用户操控遥控器的结果。所以，可以认为遥控器的摇杆数值表示的云台姿态为用户定义的云台姿态。
还应理解，为了尽可能保证云台在模式切换过程中不发生转动，用户在通过操控遥控器定义云台姿态时，原则上是参考云台当前的测量姿态来定义的，即理想情况下，遥控器的摇杆数值所表示的云台姿态(即用户定义的云台姿态)与云台的测量姿态是相同的。但是，实际情况中，由于各种原因，可能会出现遥控器的摇杆数值所表示的云台姿态(即用户定义的云台姿态)与云台的测量姿态不一致。当云台的测量姿态与用户定义的云台姿态不一致 时，将云台的测量姿态确定为云台的期望姿态。当云台的测量姿态与用户定义的云台姿态一致时，可以将用户定义的云台姿态确定为云台的期望姿态。
S330，控制该云台在保持该期望姿态不变的情况下，由该第一工作模式切换至该第二工作模式。
具体地，控制云台由第一工作模式切换至第二工作模式，且在切换过程中，控制云台一直保持在期望姿态下。换句话说，云台在工作模式切换过程中，云台的内框的朝向不发生变化。
本申请实施例通过控制云台在保持期望姿态不变的情况下，由第一工作模式切换至第二工作模式，可以实现云台的不同工作模式的无缝切换，这种无缝切换可以避免在切换云台模式时云台上搭载的摄像设备发生转动，从而可以使用户容易实现不同拍摄状态的过渡，以拍摄出一镜到底的效果。因此，本申请实施例的方法可以解决现有技术中存在的云台在模式切换时，云台搭载的拍摄装置所拍摄的画面出现抖动或卡顿等现象的问题。
需要说明的是，本文中提及的云台的不同工作模式的无缝切换，指的是，云台在不同工作模式切换过程中，云台的内框的朝向不变。
具体地，在步骤S310中，控制云台的控制器可以通过自适应判断确定该云台需要由第一工作模式切换至第二工作模式。
例如，云台搭载在无人飞行器上，在S310中，控制云台的控制器根据飞控数据确定该云台需要由该第一工作模式切换至该第二工作模式。
具体地，飞控数据包括经纬度数据、高度数据或姿态数据等飞行状态信息。应理解，飞控数据可为航拍提供位置及方向参考。
可选地，作为一种实现方式，云台搭载在无人飞行器上，步骤S310具体包括：在该飞控数据对应于无人飞行器停桨的情况下，确定该云台需要由该第一工作模式切换至该第二工作模式。
具体地，当该飞控数据对应的是无人飞行器停桨时的飞行状态信息时，确定这时云台需要进行工作模式的切换。
可选地，作为另一种实现方式，云台搭载在无人飞行器上，步骤S310具体包括：在无人飞行器停止传输飞控数据的情况下，确定该云台需要由该第一工作模式切换至该第二工作模式。
具体地，当检测到无人飞行器停止传输飞控数据时，确定云台要进行工作模式的切换。
具体地，在步骤S310中，控制云台的控制器还可以通过用户指令确定该云台需要由第一工作模式切换至第二工作模式。
可选地，在一些实施例中，步骤S310具体包括：接收工作模式切换指令；根据该工作模式切换指令确定该云台需要由第一工作模式切换至第二工作模式。
作为一种可选实现方式，接收工作模式切换指令，包括：接收遥控器或手柄发送的该工作模式切换指令。
例如，用户通过遥控器或手柄发出工作模式切换指令，控制云台的控制器接收到该工作模式切换指令后，就触发工作模式的切换流程，如执行上面实施例中的S320和S330。
作为另一种可选实现方式，接收工作模式切换指令，包括：接收终端设备通过应用程序(Application，APP)发送的该工作模式切换指令。
例如，用户通过终端设备上安装的APP发出工作模式切换指令，控制云台的控制器接收到该工作模式切换指令后，就触发工作模式的切换流程，如执行上面实施例中的S320和S330。、
具体地，在步骤S330中，控制该云台在保持该期望姿态不变的情况下，由该第一工作模式切换至该第二工作模式。随着工作模式的不同，对应的控制命令的生成方式也不同。下文以不同的切换场景为例进行描述。
切换场景一：由云台锁头模式切换为跟随模式。
可选地，在一些实施例中，该第一工作模式为云台锁头模式，该第二工作模式为云台跟随模式；步骤S330具体包括：控制该云台在保持该期望姿态不变并且不进行回中的情况下，由该云台锁头模式切换至该跟随模式。
现有技术中，当云台需要在云台锁头模式与跟随模式之间切换时，云台会去重新寻找云台基座的跟随中心点，在这个过程中，会导致云台上待在的摄像设备转动，导致画面转动，无法对准模式切换前的场景，因此无法拍摄出一镜到底的效果，从而无法满足用户的拍摄需求。
而在本申请实施例中，通过控制该云台在保持该期望姿态不变并且不进行回中的情况下，由该云台锁头模式切换至该跟随模式，可以较好地保证云台从云台锁头模式到跟随模式的无缝切换，从而可以避免在模式切换过程中云台上搭载的摄像设备发生转动，因此，可以实现用户拍摄出一镜到底的效果，以满足用户的拍摄需求。
由于在云台锁头模式下，在拍摄过程中，云台的yaw方向不随云台基座的运动而改变。因此，在云台锁头模式下，基座姿态与云台姿态的差值可能发生变化。基座姿态与云台姿态的差值可能包括如下三部分：产生速度积分的部分、推动命令(push命令)的部分、基座纯转动的部分。如果需要由云台锁头模式切换至云台跟随模式，为了保证云台不动，则需要求出基座纯转动的部分来。
基座纯转动的部分产生的角度等于云台当前的中框姿态的yaw欧拉角减去云台当前的基座姿态的yaw欧拉角，再减去速度积分部分产生的角度，再减去push命令部分产生的角度。
以图1所示的三轴云台为例，中框姿态指的是中框8的姿态，基座姿态指的是云台基座4的姿态。
可选地，作为一种实现方式，步骤S330，控制该云台在保持该期望姿态不变并且不进行回中的情况下，由该云台锁头模式切换至该跟随模式，具体包括如下步骤S331—S333。
S331，根该云台的测量姿态对应的中框姿态和该测量姿态对应的基座姿态，确定该云台在该云台锁头模式下的角度偏置值。
测量姿态对应的中框姿态表示是的当前云台的中框姿态。测量姿态对应的基座姿态表示的是当前云台的基座姿态。
具体地，确定云台在该云台锁头模式下的角度偏置值的方法具体可以为：根据该测量姿态对应的中框姿态的yaw欧拉角和该测量姿态对应的基座姿态的yaw欧拉角的差，确定该云台在该云台锁头模式下的角度偏置值。
可选地，在一些实施例中，确定云台在该云台锁头模式下的角度偏置值的方法还可以为：根据该测量姿态对应的中框姿态在其他坐标系下的姿态角与该测量姿态对应的基座姿态在该其他坐标系下的姿态角的差，确定该云台在该云台锁头模式下的角度偏置值。这里提及的其他坐标系可以为除欧拉坐标系之外的其他可行的坐标系，本发明实施例对此不作限定。
S332，根据该期望姿态对应的中框姿态和该测量姿态对应的基座姿态、以及该角度偏置值，确定该期望姿态对应的中框姿态相比于该测量姿态对应的基座姿态在欧拉坐标系中的角度差。
具体地，根据该期望姿态对应的中框姿态与该测量姿态对应的基座姿态，求得该期望姿态对应的中框姿态到该测量姿态对应的基座姿态的变换姿 态；然后从这变换姿态中减去该角度偏置值，获得该期望姿态对应的中框姿态相比于该测量姿态对应的基座姿态在欧拉坐标系中的角度差。
S333，根据该角度差确定跟随速度，对该跟随速度进行积分得到跟随命令(follow命令)。
应理解，云台接收到该follow命令，则会由锁头模式切换到跟随模式。
本实施例可以实现云台由锁头模式到跟随模式的无缝切换。
可选地，作为另一种实现方式，步骤S330，控制该云台在保持该期望姿态不变并且不进行回中的情况下，由该云台锁头模式切换至该跟随模式，包括步骤S334—S336。：
S334，在基座纯转动的角度上加上该云台在该云台锁头模式下的速度积分命令部分产生的角度和推动push命令部分产生的角度，得到该云台在该云台锁头模式下的角度偏置值。
S335，根据该期望姿态对应的中框姿态和该测量姿态对应的基座姿态、以及该角度偏置值，确定该期望姿态对应的中框姿态相比于该测量姿态对应的基座姿态在欧拉坐标系中的角度差。
具体地，根据该期望姿态对应的中框姿态与该测量姿态对应的基座姿态，求得该期望姿态对应的中框姿态到该测量姿态对应的基座姿态的变换姿态；然后从这变换姿态中减去该角度偏置值，获得该期望姿态对应的中框姿态相比于该测量姿态对应的基座姿态在欧拉坐标系中的角度差。
S336，根据该角度差确定跟随速度，对该跟随速度进行积分得到跟随follow命令。
应理解，云台接收到该follow命令，则会由锁头模式切换到跟随模式。
本实施例可以实现云台由锁头模式到跟随模式的无缝切换。
应理解，云台在进行航拍或车拍时，主要工作在云台锁头模式；在进行手持拍摄时，主要工作在跟随模式。因此，上文描述的切换场景一中的工作模式切换方法可以适用于从航拍切换到手持拍摄，或者从车拍切换到手持拍摄的应用场景。
具体地，图4至图6为云台从锁头模式切换到跟随模式的示意图。在图4中，云台工作在航拍状态下，其工作模式为锁头模式。在图5中，云台处于工作模式切换过程中，即从锁头模式往跟随模式上去切换。在图6中，云台已经切换到跟随模式，用于手持拍摄。在图6所示的场景中，可以采用本 申请实施例的方法完成云台从锁头模式到跟随模式的切换。
因此，本实施例可以实现云台从云台锁头模式到跟随模式的无缝切换，从而可以实现云台从航拍到手持，或者从车拍到手持的无缝切换，提高用户满意度。
切换场景二：由跟随模式切换为云台锁头模式。
可选地，在一些实施例中，云台的当前工作模式为跟随模式，该方法300还包括：根据云台的测量姿态对应的中框姿态和该测量姿态对应的基座姿态，确定该云台在该云台锁头模式下的角度偏置值；在该角度偏置值的基础上减去该云台在该跟随模式下的速度积分命令部分产生的角度和推动push命令部分产生的角度，得到该云台在该跟随模式下基座纯转动的角度；记录该基座纯转动的角度；当云台需要切换至锁头模式时，基于所记录的基座纯转动的角度，生成锁头命令。
应理解，云台接收到该锁头命令，则会由跟随模式切换到锁头模式。
还应理解，该切换场景二可以适用于如下应用场景：从手持拍摄切换到航拍，或者从手持拍摄切换到车拍。
因此，本实施例可以实现云台从跟随模式到云台锁头模式的无缝切换，从而可以实现云台从手持到航拍，或者从手持到车拍的无缝切换，提高用户满意度。
切换场景三：由跟随模式或云台锁头模式切换到回中模式。
可选地，在一些实施例中，该第一工作模式为云台锁头模式或跟随模式，该第二工作模式为回中模式；步骤S330具体包括如下步骤S337与S338。
S337，根据该测量姿态对应的基座姿态和该期望姿态对应的中框姿态，确定回中速度。
具体地，对测量姿态对应的基座姿态的yaw欧拉角与期望姿态对应的中框姿态的yaw欧拉角求差，得到回中速度。
S338，对该回中速度进行积分得到速度积分命令部分，并将除该速度积分命令部分以外的其他命令部分清零。
具体地，除该速度积分命令部分以外的其他命令部分包括：push命令部分、follow命令部分和基座纯转动部分。
可选地，在本实施例中，该速度积分命令部分使得该期望姿态对应的中框姿态的yaw欧拉角和该期望姿态对应的基座姿态的yaw欧拉角的差在预 设的范围内。
具体地，在对测量姿态对应的基座姿态的yaw欧拉角与期望姿态对应的中框姿态的yaw欧拉角求差，获得回中速度的过程中，当测量姿态对应的基座姿态的yaw欧拉角与期望姿态对应的中框姿态的yaw欧拉角的差值在预设的范围内时，认为完成回中，并对当前获得的回中速度进行积分得到速度积分命令部分，同时，将push命令部分、follow命令部分和基座纯转动部分清零。
本实施例中涉及的预设的范围可以是经验值。
本实施例可以实现锁头模式到回中模式的无缝切换，或者，可以实现跟随模式到回中模式的无缝切换，从而可以提高用户满意度。
应理解，当云台完成回中后，可以开启跟随模式或锁头模式。例如，云台完成回中后，如果需要进入跟随模式，则开启跟随模式。或者，云台完成回中后，如果需要进入锁头模式，则开启锁头模式。
上述可知，本申请实施例通过控制云台在保持期望姿态不变的情况下，由第一工作模式切换至第二工作模式，可以实现云台的不同工作模式的无缝切换，这种无缝切换可以避免在切换云台模式时云台上搭载的摄像设备发生转动，从而可以使用户容易实现不同拍摄状态的过渡，以拍摄出一镜到底的效果。因此，本申请实施例的方法可以解决现有技术中存在的云台在模式切换时，云台搭载的拍摄装置所拍摄的画面出现抖动或卡顿等现象的问题。
上文描述了本申请的方法实施例，下文将描述本申请的装置实施例。应理解，装置实施例的描述与方法实施例的描述相互对应，因此，未详细描述的内容可以参见前面方法实施例，为了简洁，这里不再赘述。
图7是本申请实施的控制器700的示意性框图，该控制器700用于控制云台。如图7所示，该控制器700包括：
处理单元710用于，确定该云台需要由第一工作模式切换至第二工作模式；获取该云台的测量姿态，并根据该测量姿态确定该云台的期望姿态；控制该云台在保持该期望姿态不变的情况下，由该第一工作模式切换至该第二工作模式。
应理解，该控制器700还包括收发单元720，用于与云台进行通信。例如，收发单元720接收云台发送的姿态信息，以使处理单元710基于此获取 云台的测量姿态。再例如，收发单元720在处理单元710的指示下，向云台发送控制信号，以控制该云台在保持该期望姿态不变的情况下，由该第一工作模式切换至该第二工作模式。
可选地，在一些实施例中，处理单元710具体用于，根据飞控数据确定该云台需要由该第一工作模式切换至该第二工作模式。
可选地，在一些实施例中，处理单元710具体用于：在该飞控数据对应于无人飞行器停桨的情况下，确定该云台需要由该第一工作模式切换至该第二工作模式。
可选地，在一些实施例中，处理单元710具体用于：在无人飞行器停止传输该飞控数据的情况下，确定该云台需要由该第一工作模式切换至该第二工作模式。
可选地，在一些实施例中，该第一工作模式为云台锁头模式，该第二工作模式为云台跟随模式；处理单元710具体用于：控制该云台在保持该期望姿态不变并且不进行回中的情况下，由该云台锁头模式切换至该跟随模式。
可选地，在一些实施例中，处理单元710具体用于：根据该测量姿态对应的中框姿态和该测量姿态对应的基座姿态，确定该云台在该云台锁头模式下的角度偏置值；根据该期望姿态对应的中框姿态和该测量姿态对应的基座姿态、以及该角度偏置值，确定该期望姿态对应的中框姿态相比于该测量姿态对应的基座姿态在欧拉坐标系中的角度差；根据该角度差确定跟随速度，对该跟随速度进行积分得到跟随follow命令。收发单元720用于向云台发送该follow命令。
可选地，在一些实施例中，处理单元710具体用于：根据该测量姿态对应的中框姿态的平移yaw欧拉角和该测量姿态对应的基座姿态的yaw欧拉角的差，确定该云台在该云台锁头模式下的角度偏置值。
可选地，在一些实施例中，处理单元710具体用于：在基座纯转动的角度上加上该云台在该云台锁头模式下的速度积分命令部分产生的角度和推动push命令部分产生的角度，得到该云台在该云台锁头模式下的角度偏置值；根据该期望姿态对应的中框姿态和该测量姿态对应的基座姿态、以及该角度偏置值，确定该期望姿态对应的中框姿态相比于该测量姿态对应的基座姿态在欧拉坐标系中的角度差；根据该角度差确定跟随速度，对该跟随速度进行积分得到跟随follow命令。收发单元720用于向云台发送该follow命令。
可选地，在一些实施例中，该云台的当前工作模式为跟随模式，处理单元710还用于：根据该测量姿态对应的中框姿态和该测量姿态对应的基座姿态，确定该云台在该云台锁头模式下的角度偏置值；在该角度偏置值的基础上减去该云台在该跟随模式下的速度积分命令部分产生的角度和推动push命令部分产生的角度，得到该云台在该跟随模式下基座纯转动的角度；记录该基座纯转动的角度。
可选地，在一些实施例中，该第一工作模式为云台锁头模式或跟随模式，该第二工作模式为回中模式；处理单元710具体用于：根据该测量姿态对应的基座姿态和该期望姿态对应的中框姿态，确定回中速度，对该回中速度进行积分得到速度积分命令部分，并将除该速度积分命令部分以外的其他命令部分清零。
可选地，在一些实施例中，该速度积分命令部分使得该期望姿态对应的中框姿态的平移yaw欧拉角和该期望姿态对应的基座姿态的yaw欧拉角的差在预设的范围内。
如图8所示，本发明实施例还提供一种控制器800。该控制器800为控制云台的控制器。如图8所示，该控制器800包括处理器810和存储器820，该存储器820中存储有计算机指令，该处理器810执行该计算机指令时，使得该处理器810执行以下步骤：确定该云台需要由第一工作模式切换至第二工作模式；获取该云台的测量姿态，并根据该测量姿态确定该云台的期望姿态；控制该云台在保持该期望姿态不变的情况下，由该第一工作模式切换至该第二工作模式。
如图8所示，控制器800还包括收发器830，用于与云台进行通信。例如，收发器830接收云台发送的姿态信息，以使处理器810基于此获取云台的测量姿态。再例如，收发器830在处理器810的指示下，向云台发送控制信号，以控制该云台在保持该期望姿态不变的情况下，由该第一工作模式切换至该第二工作模式。
可选地，在一些实施例中，处理器810具体用于，根据飞控数据确定该云台需要由该第一工作模式切换至该第二工作模式。
可选地，在一些实施例中，处理器810具体用于：在该飞控数据对应于无人飞行器停桨的情况下，确定该云台需要由该第一工作模式切换至该第二工作模式。
可选地，在一些实施例中，处理器810具体用于：在无人飞行器停止传输该飞控数据的情况下，确定该云台需要由该第一工作模式切换至该第二工作模式。
可选地，在一些实施例中，该第一工作模式为云台锁头模式，该第二工作模式为云台跟随模式；处理器810具体用于：控制该云台在保持该期望姿态不变并且不进行回中的情况下，由该云台锁头模式切换至该跟随模式。
可选地，在一些实施例中，处理器810具体用于：根据该测量姿态对应的中框姿态和该测量姿态对应的基座姿态，确定该云台在该云台锁头模式下的角度偏置值；根据该期望姿态对应的中框姿态和该测量姿态对应的基座姿态、以及该角度偏置值，确定该期望姿态对应的中框姿态相比于该测量姿态对应的基座姿态在欧拉坐标系中的角度差；根据该角度差确定跟随速度，对该跟随速度进行积分得到跟随follow命令。收发器830用于向云台发送该follow命令。
可选地，在一些实施例中，处理器810具体用于：根据该测量姿态对应的中框姿态的平移yaw欧拉角和该测量姿态对应的基座姿态的yaw欧拉角的差，确定该云台在该云台锁头模式下的角度偏置值。
可选地，在一些实施例中，处理器810具体用于：在基座纯转动的角度上加上该云台在该云台锁头模式下的速度积分命令部分产生的角度和推动push命令部分产生的角度，得到该云台在该云台锁头模式下的角度偏置值；根据该期望姿态对应的中框姿态和该测量姿态对应的基座姿态、以及该角度偏置值，确定该期望姿态对应的中框姿态相比于该测量姿态对应的基座姿态在欧拉坐标系中的角度差；根据该角度差确定跟随速度，对该跟随速度进行积分得到跟随follow命令。收发器830用于向云台发送该follow命令。
可选地，在一些实施例中，该云台的当前工作模式为跟随模式，处理器810还用于：根据该测量姿态对应的中框姿态和该测量姿态对应的基座姿态，确定该云台在该云台锁头模式下的角度偏置值；在该角度偏置值的基础上减去该云台在该跟随模式下的速度积分命令部分产生的角度和推动push命令部分产生的角度，得到该云台在该跟随模式下基座纯转动的角度；记录该基座纯转动的角度。
可选地，在一些实施例中，该第一工作模式为云台锁头模式或跟随模式，该第二工作模式为回中模式；处理器810具体用于：根据该测量姿态对应的 基座姿态和该期望姿态对应的中框姿态，确定回中速度，对该回中速度进行积分得到速度积分命令部分，并将除该速度积分命令部分以外的其他命令部分清零。
可选地，在一些实施例中，该速度积分命令部分使得该期望姿态对应的中框姿态的平移yaw欧拉角和该期望姿态对应的基座姿态的yaw欧拉角的差在预设的范围内。
如图9所示，本发明实施例还提供一种图像增稳设备900。图像增稳设备900包括：
云台910，包括第一工作模式与第二工作模式，且该云台910的当前工作模式为该第一工作模式；
测量部件920，用于获取该云台的测量姿态，并向该控制器930发送该测量姿态；
控制器930，用于确定该云台910需要由该第一工作模式切换至该第二工作模式；从该测量部件920获取该测量姿态，并确定该云台910的期望姿态；控制该云台910在保持该期望姿态不变的情况下，由该第一工作模式切换至该第二工作模式。
可选地，在一些实施例中，该控制器930具体用于，根据飞控数据确定该云台需要由该第一工作模式切换至该第二工作模式。
可选地，在一些实施例中，该控制器930具体用于，在该飞控数据对应于无人飞行器停桨的情况下，确定该云台需要由该第一工作模式切换至该第二工作模式。
可选地，在一些实施例中，该控制器930具体用于，在无人飞行器停止传输该飞控数据的情况下，确定该云台需要由该第一工作模式切换至该第二工作模式。
可选地，在一些实施例中，该第一工作模式为云台锁头模式，该第二工作模式为云台跟随模式；该控制器930具体用于，控制该云台在保持该期望姿态不变并且不进行回中的情况下，由该云台锁头模式切换至该跟随模式。
可选地，在一些实施例中，该控制器930具体用于，通过如下方式控制该云台在保持该期望姿态不变并且不进行回中的情况下，由该云台锁头模式切换至该云台跟随模式：
根据该测量姿态对应的中框姿态和该测量姿态对应的基座姿态，确定该 云台在该云台锁头模式下的角度偏置值；根据该期望姿态对应的中框姿态和该测量姿态对应的基座姿态、以及该角度偏置值，确定该期望姿态对应的中框姿态相比于该测量姿态对应的基座姿态在欧拉坐标系中的角度差；根据该角度差确定跟随速度，对该跟随速度进行积分得到跟随follow命令。
可选地，在一些实施例中，该控制器930具体用于，通过如下方式确定该云台在该云台锁头模式下的角度偏置值：根据该测量姿态对应的中框姿态的平移yaw欧拉角和该测量姿态对应的基座姿态的yaw欧拉角的差，确定该云台在该云台锁头模式下的角度偏置值。
可选地，在一些实施例中，该控制器930具体用于，通过如下方式控制该云台在保持该期望姿态不变并且不进行回中的情况下，由该云台锁头模式切换至该跟随模式：
在该云台的基座纯转动的角度上加上该云台在该云台锁头模式下的速度积分命令部分产生的角度和推动push命令部分产生的角度，得到该云台在该云台锁头模式下的角度偏置值；根据该期望姿态对应的中框姿态和该测量姿态对应的基座姿态、以及该角度偏置值，确定该期望姿态对应的中框姿态相比于该测量姿态对应的基座姿态在欧拉坐标系中的角度差；根据该角度差确定跟随速度，对该跟随速度进行积分得到跟随follow命令。
可选地，在一些实施例中，该第一工作模式为云台跟随模式，该控制器930还用于，
根据该测量姿态对应的中框姿态和该测量姿态对应的基座姿态，确定该云台在该云台锁头模式下的角度偏置值；在该角度偏置值的基础上减去该云台在该跟随模式下的速度积分命令部分产生的角度和推动push命令部分产生的角度，得到该云台在该跟随模式下基座纯转动的角度；记录该基座纯转动的角度。
可选地，在一些实施例中，该第一工作模式为云台锁头模式或云台跟随模式，该第二工作模式为回中模式；
该控制器930具体用于，通过如下方式控制该云台在保持该期望姿态不变的情况下，由该第一工作模式切换至该第二工作模式：根据该测量姿态对应的基座姿态和该期望姿态对应的中框姿态，确定回中速度，对该回中速度进行积分得到速度积分命令部分，并将除该速度积分命令部分以外的其他命令部分清零。
可选地，在一些实施例中，该速度积分命令部分使得该期望姿态对应的中框姿态的平移yaw欧拉角和该期望姿态对应的基座姿态的yaw欧拉角的差在预设的范围内。
应理解，本实施例中的控制器930可以对应于上文装置实施例提供的控制器700或控制器800。
应理解，本申请实施例中提及的处理器可以是中央处理单元(Central Processing Unit，CPU)，还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(Field Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
还应理解，本申请实施例中提及的存储器可以是易失性存储器或非易失性存储器，或可包括易失性和非易失性存储器两者。其中，非易失性存储器可以是只读存储器(Read-Only Memory，ROM)、可编程只读存储器(Programmable ROM，PROM)、可擦除可编程只读存储器(Erasable PROM，EPROM)、电可擦除可编程只读存储器(Electrically EPROM，EEPROM)或闪存。易失性存储器可以是随机存取存储器(Random Access Memory，RAM)，其用作外部高速缓存。通过示例性但不是限制性说明，许多形式的RAM可用，例如静态随机存取存储器(Static RAM，SRAM)、动态随机存取存储器(Dynamic RAM，DRAM)、同步动态随机存取存储器(Synchronous DRAM，SDRAM)、双倍数据速率同步动态随机存取存储器(Double Data Rate SDRAM，DDR SDRAM)、增强型同步动态随机存取存储器(Enhanced SDRAM，ESDRAM)、同步连接动态随机存取存储器(Synchlink DRAM，SLDRAM)和直接内存总线随机存取存储器(Direct Rambus RAM，DR RAM)。
需要说明的是，当处理器为通用处理器、DSP、ASIC、FPGA或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件时，存储器(存储模块)集成在处理器中。
应注意，本文描述的存储器旨在包括但不限于这些和任意其它适合类型的存储器。
本申请实施例还提供一种计算机可读存储介质，其上存储有指令，当指 令在计算机上运行时，使得计算机执行上述各方法实施例的方法。
本申请实施例还提供一种计算设备，该计算设备包括上述计算机可读存储介质。
本申请实施例可以应用在飞行器，尤其是无人机领域。
在上述实施例中，可以全部或部分地通过软件、硬件、固件或者其任意组合来实现。当使用软件实现时，可以全部或部分地以计算机程序产品的形式实现。计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行计算机指令时，全部或部分地产生按照本申请实施例的流程或功能。计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。计算机指令可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一个计算机可读存储介质传输，例如，计算机指令可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴电缆、光纤、数字用户线(Digital Subscriber Line，DSL))或无线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。计算机可读存储介质可以是计算机能够存取的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。可用介质可以是磁性介质(例如，软盘、硬盘、磁带)、光介质(例如，高密度数字视频光盘(Digital Video Disc，DVD))、或者半导体介质(例如，固态硬盘(Solid State Disk，SSD))等。
应理解，本申请各实施例均是以总位宽为16位(bit)为例进行说明的，本申请各实施例可以适用于其他的位宽。
应理解，说明书通篇中提到的“一个实施例”或“一实施例”意味着与实施例有关的特定特征、结构或特性包括在本申请的至少一个实施例中。因此，在整个说明书各处出现的“在一个实施例中”或“在一实施例中”未必一定指相同的实施例。此外，这些特定的特征、结构或特性可以任意适合的方式结合在一个或多个实施例中。
应理解，在本申请的各种实施例中，上述各过程的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本申请实施例的实施过程构成任何限定。
应理解，在本申请实施例中，“与A相应的B”表示B与A相关联，根据A可以确定B。但还应理解，根据A确定B并不意味着仅仅根据A确定 B，还可以根据A和/或其它信息确定B。
应理解，本文中术语“和/或”，仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
在本申请所提供的几个实施例中，应该理解到，所揭露的系统、装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。
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，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请 的保护范围应以所述权利要求的保护范围为准。

Claims (35)

  1. 一种切换云台工作模式的方法，其特征在于，包括：
    确定所述云台需要由第一工作模式切换至第二工作模式；
    获取所述云台的测量姿态，并根据所述测量姿态确定所述云台的期望姿态；
    控制所述云台在保持所述期望姿态不变的情况下，由所述第一工作模式切换至所述第二工作模式。
  2. 根据权利要求1所述的方法，其特征在于，所述确定所述云台需要由第一工作模式切换至第二工作模式，包括：
    根据飞控数据确定所述云台需要由所述第一工作模式切换至所述第二工作模式。
  3. 根据权利要求2所述的方法，其特征在于，所述根据飞控数据确定所述云台需要由所述第一工作模式切换至所述第二工作模式，包括：
    在所述飞控数据对应于无人飞行器停桨的情况下，确定所述云台需要由所述第一工作模式切换至所述第二工作模式。
  4. 根据权利要求2所述的方法，其特征在于，所述根据飞控数据确定所述云台需要由所述第一工作模式切换至所述第二工作模式，包括：
    在无人飞行器停止传输所述飞控数据的情况下，确定所述云台需要由所述第一工作模式切换至所述第二工作模式。
  5. 根据权利要求1至4中任一项所述的方法，其特征在于，所述第一工作模式为云台锁头模式，所述第二工作模式为云台跟随模式；
    所述控制所述云台在保持所述期望姿态不变的情况下，由所述第一工作模式切换至所述第二工作模式，包括：
    控制所述云台在保持所述期望姿态不变并且不进行回中的情况下，由所述云台锁头模式切换至所述跟随模式。
  6. 根据权利要求5所述的方法，其特征在于，控制所述云台在保持所述期望姿态不变并且不进行回中的情况下，由所述云台锁头模式切换至所述跟随模式，包括：
    根据所述测量姿态对应的中框姿态和所述测量姿态对应的基座姿态，确定所述云台在所述云台锁头模式下的角度偏置值；
    根据所述期望姿态对应的中框姿态和所述测量姿态对应的基座姿态、以 及所述角度偏置值，确定所述期望姿态对应的中框姿态相比于所述测量姿态对应的基座姿态在欧拉坐标系中的角度差；
    根据所述角度差确定跟随速度，对所述跟随速度进行积分得到跟随follow命令。
  7. 根据权利要求6所述的方法，其特征在于，所述根据所述测量姿态对应的中框姿态和所述测量姿态对应的基座姿态，确定所述云台在所述云台锁头模式下的角度偏置值，包括：
    根据所述测量姿态对应的中框姿态的平移yaw欧拉角和所述测量姿态对应的基座姿态的yaw欧拉角的差，确定所述云台在所述云台锁头模式下的角度偏置值。
  8. 根据权利要求5所述的方法，其特征在于，控制所述云台在保持所述期望姿态不变并且不进行回中的情况下，由所述云台锁头模式切换至所述跟随模式，包括：
    在基座纯转动的角度上加上所述云台在所述云台锁头模式下的速度积分命令部分产生的角度和推动push命令部分产生的角度，得到所述云台在所述云台锁头模式下的角度偏置值；
    根据所述期望姿态对应的中框姿态和所述测量姿态对应的基座姿态、以及所述角度偏置值，确定所述期望姿态对应的中框姿态相比于所述测量姿态对应的基座姿态在欧拉坐标系中的角度差；
    根据所述角度差确定跟随速度，对所述跟随速度进行积分得到跟随follow命令。
  9. 根据权利要求5至8中任一项所述的方法，其特征在于，所述云台的当前工作模式为跟随模式，所述方法还包括：
    根据所述测量姿态对应的中框姿态和所述测量姿态对应的基座姿态，确定所述云台在所述云台锁头模式下的角度偏置值；
    在所述角度偏置值的基础上减去所述云台在所述跟随模式下的速度积分命令部分产生的角度和推动push命令部分产生的角度，得到所述云台在所述跟随模式下基座纯转动的角度；
    记录所述基座纯转动的角度。
  10. 根据权利要求1至4中任一项所述的方法，其特征在于，所述第一工作模式为云台锁头模式或跟随模式，所述第二工作模式为回中模式；
    所述控制所述云台在保持所述期望姿态不变的情况下，由所述第一工作模式切换至所述第二工作模式，包括：
    根据所述测量姿态对应的基座姿态和所述期望姿态对应的中框姿态，确定回中速度，对所述回中速度进行积分得到速度积分命令部分，并将除所述速度积分命令部分以外的其他命令部分清零。
  11. 根据权利要求10所述的方法，其特征在于，所述速度积分命令部分使得所述期望姿态对应的中框姿态的平移yaw欧拉角和所述期望姿态对应的基座姿态的yaw欧拉角的差在预设的范围内。
  12. 一种控制器，其特征在于，包括处理器和存储器，所述存储器中存储有计算机指令，所述处理器执行所述计算机指令时，使得所述处理器执行以下步骤：
    确定所述云台需要由第一工作模式切换至第二工作模式；
    获取所述云台的测量姿态，并根据所述测量姿态确定所述云台的期望姿态；
    控制所述云台在保持所述期望姿态不变的情况下，由所述第一工作模式切换至所述第二工作模式。
  13. 根据权利要求12所述的控制器，其特征在于，所述处理器具体用于：根据飞控数据确定所述云台需要由所述第一工作模式切换至所述第二工作模式。
  14. 根据权利要求13所述的控制器，其特征在于，所述处理器具体用于：在所述飞控数据对应于无人飞行器停桨的情况下，确定所述云台需要由所述第一工作模式切换至所述第二工作模式。
  15. 根据权利要求13所述的控制器，其特征在于，所述处理器具体用于：在无人飞行器停止传输所述飞控数据的情况下，确定所述云台需要由所述第一工作模式切换至所述第二工作模式。
  16. 根据权利要求12至15中任一项所述的控制器，其特征在于，所述第一工作模式为云台锁头模式，所述第二工作模式为云台跟随模式；
    所述处理器具体用于：控制所述云台在保持所述期望姿态不变并且不进行回中的情况下，由所述云台锁头模式切换至所述跟随模式。
  17. 根据权利要求16所述的控制器，其特征在于，所述处理器具体用于通过如下步骤，控制所述云台在保持所述期望姿态不变并且不进行回中的情 况下，由所述云台锁头模式切换至所述跟随模式：
    根据所述测量姿态对应的中框姿态和所述测量姿态对应的基座姿态，确定所述云台在所述云台锁头模式下的角度偏置值；
    根据所述期望姿态对应的中框姿态和所述测量姿态对应的基座姿态、以及所述角度偏置值，确定所述期望姿态对应的中框姿态相比于所述测量姿态对应的基座姿态在欧拉坐标系中的角度差；
    根据所述角度差确定跟随速度，对所述跟随速度进行积分得到跟随follow命令。
  18. 根据权利要求17所述的控制器，其特征在于，所述处理器具体用于，根据所述测量姿态对应的中框姿态的平移yaw欧拉角和所述测量姿态对应的基座姿态的yaw欧拉角的差，确定所述云台在所述云台锁头模式下的角度偏置值。
  19. 根据权利要求16所述的控制器，其特征在于，所述处理器具体用于通过如下步骤，控制所述云台在保持所述期望姿态不变并且不进行回中的情况下，由所述云台锁头模式切换至所述跟随模式：
    在基座纯转动的角度上加上所述云台在所述云台锁头模式下的速度积分命令部分产生的角度和推动push命令部分产生的角度，得到所述云台在所述云台锁头模式下的角度偏置值；
    根据所述期望姿态对应的中框姿态和所述测量姿态对应的基座姿态、以及所述角度偏置值，确定所述期望姿态对应的中框姿态相比于所述测量姿态对应的基座姿态在欧拉坐标系中的角度差；
    根据所述角度差确定跟随速度，对所述跟随速度进行积分得到跟随follow命令。
  20. 根据权利要求16至19中任一项所述的控制器，其特征在于，所述云台的当前工作模式为跟随模式，所述处理器还用于：
    根据所述测量姿态对应的中框姿态和所述测量姿态对应的基座姿态，确定所述云台在所述云台锁头模式下的角度偏置值；
    在所述角度偏置值的基础上减去所述云台在所述跟随模式下的速度积分命令部分产生的角度和推动push命令部分产生的角度，得到所述云台在所述跟随模式下基座纯转动的角度；
    记录所述基座纯转动的角度。
  21. 根据权利要求12至15中任一项所述的控制器，其特征在于，所述第一工作模式为云台锁头模式或跟随模式，所述第二工作模式为回中模式；
    所述处理器具体用于通过如下步骤，控制所述云台在保持所述期望姿态不变的情况下，由所述第一工作模式切换至所述第二工作模式：
    根据所述测量姿态对应的基座姿态和所述期望姿态对应的中框姿态，确定回中速度，对所述回中速度进行积分得到速度积分命令部分，并将除所述速度积分命令部分以外的其他命令部分清零。
  22. 根据权利要求21所述的控制器，其特征在于，所述速度积分命令部分使得所述期望姿态对应的中框姿态的平移yaw欧拉角和所述期望姿态对应的基座姿态的yaw欧拉角的差在预设的范围内。
  23. 一种图像增稳设备，其特征在于，包括：
    云台，包括第一工作模式与第二工作模式，且所述云台的当前工作模式为所述第一工作模式；
    测量部件，用于获取所述云台的测量姿态，并向所述控制器发送所述测量姿态；
    控制器，用于确定所述云台需要由所述第一工作模式切换至所述第二工作模式；从所述测量部件获取所述测量姿态，并确定所述云台的期望姿态；控制所述云台在保持所述期望姿态不变的情况下，由所述第一工作模式切换至所述第二工作模式。
  24. 根据权利要求23所述的图像增稳设备，其特征在于，所述控制器具体用于，根据飞控数据确定所述云台需要由所述第一工作模式切换至所述第二工作模式。
  25. 根据权利要求24所述的图像增稳设备，其特征在于，所述控制器具体用于，在所述飞控数据对应于无人飞行器停桨的情况下，确定所述云台需要由所述第一工作模式切换至所述第二工作模式。
  26. 根据权利要求24所述的图像增稳设备，其特征在于，所述控制器具体用于，在无人飞行器停止传输所述飞控数据的情况下，确定所述云台需要由所述第一工作模式切换至所述第二工作模式。
  27. 根据权利要求23至26中任一项所述的图像增稳设备，其特征在于，所述第一工作模式为云台锁头模式，所述第二工作模式为云台跟随模式；
    所述控制器具体用于，控制所述云台在保持所述期望姿态不变并且不进 行回中的情况下，由所述云台锁头模式切换至所述跟随模式。
  28. 根据权利要求27所述的图像增稳设备，其特征在于，所述控制器具体用于，通过如下方式控制所述云台在保持所述期望姿态不变并且不进行回中的情况下，由所述云台锁头模式切换至所述云台跟随模式：
    根据所述测量姿态对应的中框姿态和所述测量姿态对应的基座姿态，确定所述云台在所述云台锁头模式下的角度偏置值；
    根据所述期望姿态对应的中框姿态和所述测量姿态对应的基座姿态、以及所述角度偏置值，确定所述期望姿态对应的中框姿态相比于所述测量姿态对应的基座姿态在欧拉坐标系中的角度差；
    根据所述角度差确定跟随速度，对所述跟随速度进行积分得到跟随follow命令。
  29. 根据权利要求28所述的图像增稳设备，其特征在于，所述控制器具体用于，通过如下方式确定所述云台在所述云台锁头模式下的角度偏置值：
    根据所述测量姿态对应的中框姿态的平移yaw欧拉角和所述测量姿态对应的基座姿态的yaw欧拉角的差，确定所述云台在所述云台锁头模式下的角度偏置值。
  30. 根据权利要求27所述的图像增稳设备，其特征在于，所述控制器具体用于，通过如下方式控制所述云台在保持所述期望姿态不变并且不进行回中的情况下，由所述云台锁头模式切换至所述跟随模式：
    在所述云台的基座纯转动的角度上加上所述云台在所述云台锁头模式下的速度积分命令部分产生的角度和推动push命令部分产生的角度，得到所述云台在所述云台锁头模式下的角度偏置值；
    根据所述期望姿态对应的中框姿态和所述测量姿态对应的基座姿态、以及所述角度偏置值，确定所述期望姿态对应的中框姿态相比于所述测量姿态对应的基座姿态在欧拉坐标系中的角度差；
    根据所述角度差确定跟随速度，对所述跟随速度进行积分得到跟随follow命令。
  31. 根据权利要求27至30中任一项所述的图像增稳设备，其特征在于，所述第一工作模式为云台跟随模式，所述控制器还用于，
    根据所述测量姿态对应的中框姿态和所述测量姿态对应的基座姿态，确定所述云台在所述云台锁头模式下的角度偏置值；
    在所述角度偏置值的基础上减去所述云台在所述跟随模式下的速度积分命令部分产生的角度和推动push命令部分产生的角度，得到所述云台在所述跟随模式下基座纯转动的角度；
    记录所述基座纯转动的角度。
  32. 根据权利要求23至26中任一项所述的图像增稳设备，其特征在于，所述第一工作模式为云台锁头模式或云台跟随模式，所述第二工作模式为回中模式；
    所述控制器具体用于，通过如下方式控制所述云台在保持所述期望姿态不变的情况下，由所述第一工作模式切换至所述第二工作模式：
    根据所述测量姿态对应的基座姿态和所述期望姿态对应的中框姿态，确定回中速度，对所述回中速度进行积分得到速度积分命令部分，并将除所述速度积分命令部分以外的其他命令部分清零。
  33. 根据权利要求32所述的图像增稳设备，其特征在于，所述速度积分命令部分使得所述期望姿态对应的中框姿态的平移yaw欧拉角和所述期望姿态对应的基座姿态的yaw欧拉角的差在预设的范围内。
  34. 一种计算机存储介质，其特征在于，其上存储有计算机程序，所述计算机程序被计算机执行时使得，所述计算机执行如权利要求1至11中任一项所述的方法。
  35. 一种包含指令的计算机程序产品，其特征在于，所述指令被计算机执行时使得计算机执行如权利要求1至11中任一项所述的方法。
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