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WO2021051302A1 - 手持云台及其控制方法 - Google Patents

手持云台及其控制方法 Download PDF

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Publication number
WO2021051302A1
WO2021051302A1 PCT/CN2019/106403 CN2019106403W WO2021051302A1 WO 2021051302 A1 WO2021051302 A1 WO 2021051302A1 CN 2019106403 W CN2019106403 W CN 2019106403W WO 2021051302 A1 WO2021051302 A1 WO 2021051302A1
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WO
WIPO (PCT)
Prior art keywords
shooting mode
tilt
mode
pan
vertical
Prior art date
Application number
PCT/CN2019/106403
Other languages
English (en)
French (fr)
Inventor
刘帅
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201980032880.1A priority Critical patent/CN112166280B/zh
Priority to PCT/CN2019/106403 priority patent/WO2021051302A1/zh
Publication of WO2021051302A1 publication Critical patent/WO2021051302A1/zh

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/04—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or holding steady relative to, a person, e.g. by chains, e.g. rifle butt or pistol grip supports, supports attached to the chest or head
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21L—LIGHTING DEVICES OR SYSTEMS THEREOF, BEING PORTABLE OR SPECIALLY ADAPTED FOR TRANSPORTATION
    • F21L4/00—Electric lighting devices with self-contained electric batteries or cells
    • F21L4/02—Electric lighting devices with self-contained electric batteries or cells characterised by the provision of two or more light sources
    • F21L4/022—Pocket lamps
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
    • F21V33/00—Structural combinations of lighting devices with other articles, not otherwise provided for
    • F21V33/0004—Personal or domestic articles
    • F21V33/0052—Audio or video equipment, e.g. televisions, telephones, cameras or computers; Remote control devices therefor
    • 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

Definitions

  • the invention relates to the field of pan-tilt, in particular to a handheld pan-tilt and a control method thereof.
  • each axis of the handheld gimbal When the multi-axis handheld gimbal is in follow mode, you can set each axis of the handheld gimbal to free mode or follow mode. Among them, in the free mode, the handle of the handheld gimbal moves, and the corresponding axis does not rotate, and the corresponding axis can be used for stabilization; in the follow mode, the corresponding axis moves with the movement of the handheld gimbal. For example, for a three-axis gimbal, the normal mode is set to follow mode for pitch axis and yaw axis, and free mode for roll axis.
  • the flashlight mode and the vertical shooting mode of the handheld pan/tilt cannot be switched between, which cannot meet the user's needs for horizontal and vertical shooting.
  • the handheld gimbal includes an outer frame, a middle frame, and an inner frame.
  • the outer frame rotates around the roll axis
  • the middle frame rotates around the yaw axis
  • the inner frame rotates around the pitch axis
  • the outer frame is used to increase stability.
  • the handheld gimbal When the position relationship between the handle and the pan/tilt is switched from the position relationship corresponding to the flashlight mode to the position relationship corresponding to the vertical mode, the handheld gimbal still defaults to the outer frame for stabilization, which causes the handheld gimbal to fail to switch directly from the flashlight mode to the vertical mode. Shooting mode.
  • the outer frame rotates around the pitch axis
  • the middle frame rotates around the roll axis
  • the inner frame rotates around the yaw axis
  • the outer frame is used to follow.
  • the invention provides a handheld pan/tilt and a control method thereof.
  • the present invention is implemented through the following technical solutions:
  • a method for controlling a handheld pan/tilt head including a handle and a pan/tilt mounted on the handle, and the method includes:
  • the first shooting mode includes one of a flashlight mode and a vertical shooting mode
  • the second shooting mode includes the other of the flashlight mode and the vertical shooting mode
  • a handheld PTZ includes:
  • the first shooting mode includes one of a flashlight mode and a vertical shooting mode
  • the second shooting mode includes the other of the flashlight mode and the vertical shooting mode
  • the present invention controls the direct switching of the hand-held pan/tilt between the flashlight mode and the vertical shooting mode through the user's trigger, which meets the user's needs for flashlight shooting and vertical shooting.
  • Figure 1A is a perspective view of a handheld pan/tilt in an embodiment of the present invention.
  • Figure 1B is a perspective view of the handheld PTZ shown in Figure 1A when it is placed upright;
  • FIG. 2 is a method flowchart of a method for controlling a handheld PTZ in an embodiment of the present invention
  • Figure 3A is a perspective view of the handheld pan/tilt shown in Figure 1A in flashlight mode;
  • Fig. 3B is a perspective view of the handheld pan/tilt shown in Fig. 1A in the flashlight mode;
  • Fig. 3C is a perspective view of the hand-held pan/tilt shown in Fig. 1A in a left vertical shooting mode;
  • Fig. 3D is a perspective view of the handheld PTZ shown in Fig. 1A in a right vertical shooting mode
  • FIG. 4 is a method flowchart of a method for controlling a handheld PTZ in another embodiment of the present invention.
  • FIG. 5 is a method flowchart of a method for controlling a handheld PTZ in another embodiment of the present invention.
  • 6A is a positional relationship between the vertical direction and the coordinate system of the outer frame in an embodiment of the present invention.
  • 6B is the position relationship between the vertical direction and the coordinate system of the outer frame when the position relationship shown in 6A is switched to the second shooting mode as the left vertical shooting mode;
  • 6C is the position relationship between the vertical direction and the coordinate system of the outer frame when the position relationship shown in 6A is switched to the second shooting mode being the right vertical shooting mode;
  • 6D is the position relationship between the vertical direction and the coordinate system of the outer frame when the position relationship shown in 6A is switched to the second shooting mode as the flashlight mode;
  • 6E is the position relationship between the vertical direction and the coordinate system of the outer frame when the position relationship shown in 6A is switched to the second shooting mode as the flashlight mode;
  • Fig. 7 is a structural block diagram of a handheld pan/tilt in an embodiment of the present invention.
  • the default outer frame of the handheld PTZ is used for stabilization, but the actual vertical The outer frame in the shooting mode is used to follow, causing the handheld gimbal to fail to switch from the flashlight mode to the vertical mode; and the position relationship between the handle of the handheld gimbal and the gimbal is switched from the position relationship corresponding to the vertical mode to the flashlight mode
  • the handheld gimbal cannot be switched from the vertical mode to the flashlight mode.
  • the flashlight mode and the vertical shooting mode of the existing handheld gimbal cannot be switched between, and cannot meet the needs of users for flashlight shooting and vertical shooting.
  • the present invention controls the direct switching of the hand-held pan/tilt between the flashlight mode and the vertical shooting mode through the user's trigger, which meets the user's needs for flashlight shooting and vertical shooting.
  • the handheld pan/tilt head of the embodiment of the present invention may include a handle 1 and a pan/tilt 2 provided on the handle 1.
  • the pan/tilt 2 is used to mount the camera 3 to stabilize the camera 3.
  • the pan/tilt 2 in this embodiment may be a two-axis pan/tilt or a three-axis pan/tilt.
  • the pan/tilt 2 is a three-axis pan/tilt.
  • the pan/tilt 2 may include an outer frame 21, a middle frame 22, and an inner frame.
  • the outer frame 21 is configured to rotate around a first preset direction
  • the middle frame 22 is configured to rotate around a second preset direction
  • the inner frame is configured to rotate around a third preset direction
  • the inner frame is used for carrying shooting Device 3.
  • the outer frame 21 rotates around the first preset direction
  • the middle frame 22 and the inner frame are driven to rotate around the first preset direction, thereby driving the photographing device 3 to rotate around the first preset direction.
  • the inner frame When the middle frame 22 rotates around the second preset direction, the inner frame is driven to rotate in the second preset direction, thereby driving the camera 3 to rotate around the second preset direction.
  • the inner frame rotates around the third preset direction, which drives the camera 3 to rotate around the third preset direction.
  • the pan/tilt 2 is a two-axis pan/tilt, and the pan/tilt 2 may include an outer frame 21 and an inner frame.
  • the outer frame 21 is configured to rotate around a first preset direction
  • the inner frame is configured to rotate around a second preset direction or a third preset direction.
  • the outer frame 21 rotates around the first preset direction
  • the inner frame is driven to rotate around the first preset direction, thereby driving the photographing device 3 to rotate around the first preset direction.
  • the inner frame rotates around the second preset direction or the third preset direction, and accordingly drives the camera 3 to rotate around the second preset direction or the third preset direction.
  • the first preset direction, the second preset direction, and the third preset direction are determined according to the configuration of the pan/tilt 2.
  • the pan/tilt head 2 is a three-axis pan/tilt head
  • the outer frame 21 is configured to rotate around the yaw axis
  • the middle frame 22 is configured to rotate around the roll axis
  • the inner frame is configured to rotate around the roll axis. It is configured to rotate around the pitch axis.
  • the outer frame 21 includes a yaw axis arm and is driven by a yaw axis motor
  • the middle frame 22 includes a roll axis arm and is driven by a roll axis motor
  • the inner frame includes a pitch axis arm and is driven by a pitch axis. motor driven.
  • the handheld pan/tilt also includes a screen 4 and buttons (not shown) provided on the front of the handle 1.
  • the screen 4 faces the user, and the lens of the shooting device 3 faces away from the user, as shown in FIG. 1B, which is a state diagram of the handheld PTZ placed upright.
  • X, Y, and Z respectively correspond to the X-axis, Y-axis, and Z-axis directions in the world coordinate system.
  • the body coordinate system of the handheld gimbal is x1y1z1, where the x1 axis direction points to the front of the handle 1, the y1 axis direction points to the left side of the handle 1, and the z1 axis direction points to the handle 1 above.
  • Fig. 2 is a method flowchart of a method for controlling a handheld PTZ in an embodiment of the present invention.
  • the method for controlling a handheld PTZ in this embodiment may include the following steps:
  • the handheld pan/tilt includes a control part provided on the handle 1, and the switching instruction is generated by the user triggering the control part.
  • the control part may include keys, buttons, knobs or a combination of the above.
  • the control unit may include one or more.
  • the switching instruction is generated by the user operating an external device and sent by the external device.
  • the external device can communicate with the handheld pan/tilt.
  • the external device may include mobile terminals such as mobile phones and tablet computers, or a fixed terminal, and may also be a remote control or other devices capable of communicating with the handheld pan/tilt.
  • the flashlight mode may include an upper flashlight mode (as shown in FIG. 3A, exemplarily, which may be formed by tilting backward 90 degrees from FIG. 1B) and/or a lower flashlight mode (as shown in FIG. 3B, exemplarily, which may be formed by 1B is formed by tilting forward 90 degrees), the vertical shooting mode may include a left vertical shooting mode (as shown in FIG. 3C, for example, it may be formed by tilting 90 degrees to the left in FIG. 1B) and/or a right vertical shooting mode ( As shown in Fig. 3D, for example, it can be formed by tilting 90 degrees to the right from Fig. 1B).
  • an upper flashlight mode as shown in FIG. 3A, exemplarily, which may be formed by tilting backward 90 degrees from FIG. 1B
  • a lower flashlight mode as shown in FIG. 3B, exemplarily, which may be formed by 1B is formed by tilting forward 90 degrees
  • the vertical shooting mode may include a left vertical shooting mode (as shown in FIG. 3C,
  • the photographing device when the handheld pan/tilt is in the flashlight mode, the photographing device may adopt the first orientation to capture images, and when the handheld pan/tilt is in the vertical shooting mode, the photographing device may adopt the second orientation to capture images.
  • the first orientation is substantially perpendicular to the second orientation.
  • the first orientation may be a horizontal orientation
  • the second orientation may be a vertical orientation.
  • the switching instruction is used to instruct the handheld pan/tilt to switch from the flashlight mode to multiple vertical shooting modes
  • the vertical shooting mode includes left vertical shooting mode and right vertical shooting mode.
  • the switching instruction is used to instruct the handheld gimbal to switch from flashlight mode to left vertical shooting mode, or to instruct the handheld gimbal to switch to flashlight mode Switch to the right vertical shooting mode.
  • the switching instruction indicates that the switching instruction includes a first switching instruction for instructing the handheld pan/tilt to switch from flashlight mode to left vertical mode; or a first switching instruction for instructing the handheld pan/tilt to switch from flashlight mode to right vertical mode. 2. Switching instructions.
  • the first switching instruction and the second switching instruction may be preset or input by the user.
  • the control unit includes a first button and a second button.
  • the first button When the user triggers the first button, the first button generates the first switching instruction; when the user triggers the second button When, the second button generates a second switching instruction.
  • the control part includes a knob. When the knob is returned to the center, the knob is in a non-triggered state. The user can move the knob upwards to the first trigger position or downwards to the second trigger position (relative to the center position of the knob). ).
  • the knob When the user pushes the knob to move up to the first trigger position, the knob generates a first switching instruction; when the user pushes the knob to move down to the second trigger position, the knob generates a second switch instruction. Understandably, the control unit may also be of other types.
  • the switching instruction only instructs the handheld pan/tilt to switch from the flashlight mode to the vertical shooting mode, but does not indicate which vertical shooting mode to switch to.
  • the handheld pan/tilt acquires the switching instruction, it needs to further determine which vertical shooting mode to switch to. For example, in the process of controlling the handheld pan/tilt to switch from the flashlight mode to the vertical shooting mode (that is, the process of executing step S202), it is possible to further decide which vertical shooting mode to switch to according to the size of the motion path.
  • the motion path can be determined according to the joint angle and/or the attitude angle of the pan/tilt rotation.
  • the realization process of controlling the switching of the handheld PTZ from the flashlight mode to the vertical mode may include: determining the first movement path of the handheld PTZ from the flashlight mode to the left vertical mode and the handheld PTZ from the flashlight mode to the right vertical mode.
  • the second motion path of the shooting mode controlling the handheld pan/tilt to switch from the flashlight mode to the shooting mode corresponding to the smaller of the first motion path and the second motion path.
  • the first motion path is determined by the joint angle and/or attitude angle of the pan/tilt 2 corresponding to the hand-held pan/tilt being switched from flashlight mode to the left vertical mode
  • the second motion path is determined by the hand-held pan/tilt being switched from flashlight mode to The joint angle and/or attitude angle of the pan/tilt 2 corresponding to the right vertical shooting mode is determined.
  • the switching instruction is used to instruct the handheld pan/tilt to switch from the vertical shooting mode to multiple flashlight modes
  • the flashlight mode includes the upper flashlight mode and the lower flashlight mode.
  • the switching instruction is used to instruct the handheld gimbal to switch from the vertical mode to the upper flashlight mode, or to instruct the handheld gimbal to switch from the vertical mode to the lower flashlight mode.
  • the switching instruction includes a third switching instruction for instructing the handheld pan/tilt to switch from the vertical mode to the upper flashlight mode; or a fourth switching instruction for instructing the handheld pan/tilt to switch from the vertical mode to the lower flashlight mode.
  • the third switching instruction and the fourth switching instruction may be preset or input by the user.
  • the control section includes a third button and a fourth button.
  • the third button When the user triggers the third button, the third button generates a third switching instruction; when the user triggers the fourth button When, the fourth button generates a fourth switching instruction.
  • the control part includes a knob. When the knob is returned to the center, the knob is in a non-triggered state. The user can move the knob to the left to the third trigger position or to the right to the fourth trigger position (relative to the center of the knob). position).
  • the knob When the user pushes the knob to move up to the third trigger position, the knob generates a third switching instruction; when the user pushes the knob to move down to the fourth trigger position, the knob generates a fourth switch instruction. Understandably, the control unit may also be of other types.
  • the switching instruction only instructs the handheld pan/tilt to switch from the vertical shooting mode to the flashlight mode, but does not indicate which flashlight mode to switch to.
  • the handheld pan/tilt acquires the switching instruction, it needs to further determine which flashlight mode to switch to. For example, in the process of controlling the handheld pan/tilt to switch from the vertical mode to the flashlight mode (that is, the process of executing step S202), it is possible to further decide which flashlight mode to switch to according to the size of the motion path.
  • the realization process of controlling the switching of the handheld gimbal from the vertical mode to the flashlight mode may include: determining the third movement path of the handheld gimbal from the vertical mode to the upper flashlight mode and the handheld gimbal from the vertical mode to the lower flashlight.
  • the fourth motion path of the mode control the handheld pan/tilt to switch from the vertical shooting mode to the shooting mode corresponding to the smaller of the third motion path and the fourth motion path.
  • the third motion path is determined by the joint angle and/or attitude angle of the pan/tilt 2 corresponding to the hand-held gimbal switch from vertical mode to flashlight mode
  • the fourth motion path is determined by the hand-held gimbal switch from vertical mode to The joint angle and/or posture angle of the pan/tilt 2 corresponding to the flashlight mode is determined.
  • S202 Control the handheld pan/tilt to switch from the first shooting mode to the second shooting mode.
  • the implementation process of controlling the hand-held pan/tilt head to switch from the first shooting mode to the second shooting mode may include the following steps:
  • S401 According to the second shooting mode, determine the first positional relationship between the vertical direction and the first specific plane in the coordinate system of the camera 3 mounted on the pan/tilt 2; where the first specific plane is based on the coordinate system of the camera 3
  • the first axis direction and the second axis direction in are formed, and when the camera 3 is placed upright, the first axis direction and the second axis direction are orthogonal to the vertical direction;
  • the vertical direction can be defined according to requirements.
  • the vertical direction when the handheld pan/tilt head is placed upright, the vertical direction is the Z-axis direction in the world coordinate system, that is, the vertical direction is the gravity direction.
  • the vertical direction when the handheld pan/tilt is placed upright, the vertical direction is the opposite direction of the Z-axis direction in the world coordinate system. In this embodiment, when the handheld pan/tilt is placed upright, the vertical direction is the Z-axis direction in the world coordinate system.
  • the first axis direction and the second axis direction can also be defined according to requirements.
  • the first axis direction points to the front of the camera 3 (that is, the orientation of the lens)
  • the second axis direction points to the left side of the camera 3.
  • the first axis direction and the second axis direction can also be other directions, for example, the first axis direction points to the rear of the camera 3, the second axis direction points to the left side of the camera 3, or the first axis direction points to the camera device At the back of 3, the second axis direction points to the right side of the camera 3, etc., which can be specifically set as required.
  • the first positional relationship is: the first specific plane is substantially parallel to the vertical direction. It should be noted that, in the embodiment of the present invention, substantially parallel means that the difference between the angle between the first specific plane and the vertical direction and 0 degrees is within the allowable angular error range.
  • the first positional relationship is: the first specific plane is approximately parallel to the vertical direction; when the handheld pan/tilt is switched to vertical After shooting mode, that is, when the handheld PTZ is in vertical shooting mode, the first positional relationship includes: the first specific plane is approximately parallel to the vertical direction, or the first specific plane and the vertical direction are at a certain angle, which can be set according to actual needs.
  • the first positional relationship when the handheld PTZ is in the vertical mode that is, when the handheld PTZ is in the vertical mode, the user can customize the first positional relationship.
  • the first positional relationship is: the first specific plane is substantially perpendicular to the vertical direction. It should be noted that, in the embodiment of the present invention, substantially vertical means that the difference between the angle between the first specific plane and the vertical direction and 90 degrees is within the allowable angular error range.
  • the first positional relationship is: the first specific plane is substantially perpendicular to the vertical direction; when the handheld pan/tilt is switched to the flashlight After the mode, that is, when the handheld pan/tilt is in the flashlight mode, the first positional relationship includes: the first specific plane is substantially perpendicular to the vertical direction, or the first specific plane and the vertical direction are at other angles, or the first specific plane and the vertical The straight direction is roughly parallel, and the first position relationship when the handheld pan/tilt is in the flashlight mode is specifically set as needed, that is, when the handheld pan/tilt is in the flashlight mode, the user can customize the first position relationship.
  • the satisfaction of the first positional relationship may be achieved during the mode switching, and after the mode switching is completed, the user can adjust the first positional relationship by controlling the rotation of the pan-tilt 2.
  • S402 Control the rotation of the pan-tilt 2 so that the handheld pan-tilt is switched to the second shooting mode, and the photographing device 3 meets the first positional relationship;
  • the rotation of the pan/tilt 2 can be controlled in different ways, so that the handheld pan/tilt is switched to the second shooting mode, and the shooting device 3 satisfies the first positional relationship. As shown in FIG. 5, it is a kind of control the rotation of the pan/tilt 2 to The handheld pan/tilt is switched to the second shooting mode, and the shooting device 3 satisfies the realization of the first position relationship.
  • the pan/tilt 2 includes an outer frame 21 connected with the handle 1, and the outer frame 21 is configured to rotate around a first preset direction.
  • the specific steps include:
  • S501 Determine the target joint angle of the outer frame 21 according to the second shooting mode
  • the process of determining the target joint angle of the outer frame 21 may include the following steps:
  • the second shooting mode determine the second positional relationship between the vertical direction and the second specific plane in the coordinate system of the outer frame 21; wherein, the second specific plane is the second specific plane based on the coordinate system of the outer frame 21
  • the three-axis direction and the fourth-axis direction are formed, and when the handheld pan/tilt is placed upright, the third-axis direction and the fourth-axis direction are orthogonal to the vertical direction.
  • the third axis direction and the fourth axis direction can be defined according to requirements.
  • the third axis direction points to the front of the outer frame 21, and the fourth axis direction points to the outside The left side of the frame 21.
  • the third axis direction and the fourth axis direction can also be other directions, for example, the third axis direction points to the rear of the outer frame 21, the second axis direction points to the left side of the outer frame 21, or the first axis direction points to the outer frame At the rear of 21, the second axis direction points to the right side of the outer frame 21, etc., which can be specifically set as required.
  • the coordinate system of the outer frame 21 of the handheld gimbal is x2y2, where the third axis direction is the x2 axis direction, the fourth axis direction is the y2 axis direction, and the x2 axis direction It points to the front of the outer frame 21, and the y2 axis direction points to the left side of the outer frame 21; it can be understood that the arrangement of the coordinate system of the outer frame 21 is not limited to this.
  • the second positional relationship may include: the projection of the vertical direction on the second specific plane is located on the axis corresponding to the third axis direction, or the projection of the vertical direction on the second specific plane is located on the axis corresponding to the fourth axis direction. It is worth mentioning that whether the projection of the vertical direction on the second specific plane is on the axis corresponding to the third axis direction or the axis corresponding to the fourth axis direction depends on how to define the first coordinate system of the outer frame 21 Three-axis direction and fourth-axis direction.
  • the second positional relationship when the second shooting mode is the vertical shooting mode, the second positional relationship includes: the projection of the vertical direction on the second specific plane is located on the axis corresponding to the fourth axis direction; when the second shooting mode is the flashlight In the mode, the second position relationship includes: the projection of the vertical direction on the second specific plane is located on the axis corresponding to the third axis direction.
  • the direction relationship between the projection of the vertical direction on the second specific plane and the direction of the fourth axis needs to be further determined according to the definition of the vertical direction and the fourth axis direction. .
  • the vertical shooting mode includes a left vertical shooting mode.
  • the second shooting mode is the left vertical shooting mode
  • the second positional relationship corresponding to the left vertical shooting mode is: the vertical direction is in the second specific
  • the projection on the plane is the same as the direction of the fourth axis.
  • the vertical direction is defined as the Z-axis direction in the world coordinate system
  • the fourth axis direction is defined as the y2-axis direction as shown in FIG. 1B.
  • the vertical direction is defined as the opposite direction of the Z-axis direction in the world coordinate system
  • the fourth axis direction is defined as the y2-axis direction
  • the vertical direction is defined as the Z-axis direction in the world coordinate system.
  • the second positional relationship corresponding to the left vertical shooting mode is: the projection of the vertical direction on the second specific plane is opposite to the direction of the fourth axis direction.
  • the second positional relationship corresponding to the right vertical shooting mode is: the projection of the vertical direction on the second specific plane is opposite to the direction of the fourth axis.
  • the vertical direction is defined as the Z-axis direction in the world coordinate system
  • the fourth axis direction is defined as the y2-axis direction as shown in FIG. 1B. It can be understood that when the vertical direction is defined as the opposite direction of the Z-axis direction in the world coordinate system, the fourth axis direction is defined as the y2-axis direction, or the vertical direction is defined as the Z-axis direction in the world coordinate system.
  • the second positional relationship corresponding to the right vertical shooting mode is: the projection of the vertical direction on the second specific plane is the same as the direction of the fourth axis direction.
  • the direction relationship between the projection of the vertical direction on the second specific plane and the third axis direction needs to be further determined according to the definition of the vertical direction and the third axis direction.
  • the flashlight mode includes a flashlight mode.
  • the second shooting mode is the flashlight mode
  • the projection of the vertical direction on the second specific plane is opposite to the direction of the third axis.
  • the vertical direction is defined as the Z-axis direction in the world coordinate system
  • the third axis direction is defined as the x2-axis direction as shown in FIG. 1B. It is understandable that when the vertical direction is defined as the opposite direction of the Z-axis direction in the world coordinate system, the third axis direction is defined as the x2-axis direction, or the vertical direction is defined as the Z-axis direction in the world coordinate system.
  • the axis direction is defined as the opposite direction of the x2 axis direction
  • the second positional relationship corresponding to the upper flashlight mode is: the projection of the vertical direction on the second specific plane is the same as the direction of the third axis direction.
  • the flashlight mode includes the down flashlight mode.
  • the second shooting mode is the down flashlight mode
  • the projection of the vertical direction on the second specific plane is the same as the direction of the third axis.
  • the vertical direction is defined as the Z-axis direction in the world coordinate system
  • the third axis direction is defined as the x2-axis direction as shown in FIG. 1B. It is understandable that when the vertical direction is defined as the opposite direction of the Z-axis direction in the world coordinate system, the third axis direction is defined as the x2-axis direction, or the vertical direction is defined as the Z-axis direction in the world coordinate system.
  • the axis direction is defined as the opposite direction of the x2 axis direction
  • the second positional relationship corresponding to the flashlight mode is: the projection of the vertical direction on the second specific plane is opposite to the direction of the third axis direction.
  • the target joint angle is determined according to the first angle between the projection of the vertical direction on the second specific plane and the third axis direction, or the second angle between the projection of the vertical direction on the second specific plane and the fourth axis direction.
  • the included angle is determined. As shown in FIG. 6A, the projection of the vertical direction on the second specific plane is: Z1, the first included angle is: ⁇ 1, and the second included angle is: ⁇ 2.
  • the rotation direction from the third axis direction to the fourth axis direction is defined as the positive direction
  • the rotation direction from the fourth axis direction to the third axis direction is defined as In the negative direction
  • the joint angle of the outer frame of the gimbal 2 shown in Fig. 1B is defined as 0 degrees
  • the third axis x2 of the coordinate system of the outer frame 21 points to the outer frame 21
  • the front of, which points to the user, the fourth axis y2 points to the left side of the outer frame 21, and the second specific plane is the plane formed by x2 and y2.
  • the vertical direction is the direction of gravity, that is, the same direction as the Z-axis direction of the world coordinate system.
  • the rotation area of the outer frame 21 can be divided into a forward rotation area (i.e., a counterclockwise rotation based on x2) and a reversal area (i.e., a clockwise rotation based on x2).
  • x2 can be used as the dividing line of the joint angle of the outer frame 21 at 0 degrees, rotating counterclockwise, ⁇ is greater than 0, otherwise, it is less than 0.
  • the vertical shooting mode includes a right vertical shooting mode.
  • the target joint angle is: the sum of 90 degrees and the first angle, or 180 degrees minus The difference obtained by going to the second included angle.
  • the second positional relationship is: the projection Z1 of the gravity direction on the plane formed by x2 and y2 is opposite to the direction of the fourth axis direction y2. Referring to FIG. 6B, assuming that the second shooting mode is the right vertical shooting mode, the positional relationship between Z1 and x2 and y2 is as shown in the figure.
  • the vertical shooting mode includes a left vertical shooting mode
  • the target joint angle is: the inverse of the difference obtained by subtracting the first angle from 90 degrees, or , The opposite of the second angle.
  • the second positional relationship is: the projection Z1 of the gravity direction on the plane formed by x2 and y2 is the same as the direction of the fourth axis direction y2. Referring to FIG. 6C, assuming that the second shooting mode is the left vertical shooting mode, the positional relationship between Z1 and x2 and y2 is as shown in the figure.
  • the flashlight mode includes the flashlight mode.
  • the target joint angle is: 180 degrees minus the opposite of the difference obtained by subtracting the first angle, or 90 degrees The opposite of the sum of the second included angle.
  • the second positional relationship is: the projection Z1 of the direction of gravity on the plane formed by x2 and y2 is opposite to the direction of the third axis direction x2. Referring to FIG. 6D, assuming that the second shooting mode is the flashlight mode, the positional relationship between Z1 and x2 and y2 is as shown in the figure.
  • the flashlight mode includes a flashlight mode.
  • the target joint angle is: the first angle, or the difference obtained by subtracting the second angle from 90 degrees.
  • the second positional relationship is: the projection Z1 of the direction of gravity on the plane formed by x2 and y2 is opposite to the direction of the third axis direction x2.
  • the positional relationship between Z1, x2, and y2 is as shown in the figure.
  • controlling the outer frame 21 to rotate to the target joint angle is to control the corresponding motor to rotate to the target joint angle.
  • controlling the outer frame 21 to rotate to the target joint angle may specifically include: acquiring the real-time joint angle of the outer frame 21; when the difference between the real-time joint angle and the target joint angle is less than the preset difference, determining that the outer frame 21 rotates to the target Joint angle.
  • the preset difference value can be set as required, for example, it can be 0.1 degree, 0.2 degree, 0.3 degree, 0.4 degree, 0.5 degree or others. In this embodiment, the preset difference is less than 1 degree.
  • the pan/tilt head 2 further includes a middle frame 22 connected to the outer frame 21 and an inner frame connected to the middle frame 22.
  • the inner frame is used to carry the camera 3, and the middle frame 22 is configured to surround the second preset Direction rotation, the inner frame is configured to rotate around the third preset direction; while controlling the outer frame 21 to rotate to the target joint angle, the joint angle of the middle frame 22 is also controlled to the first preset angle, and the joint angle of the inner frame is controlled Is the second preset angle.
  • the first preset angle is the joint angle of the middle frame 22 when the hand-held pan-tilt obtains the switching instruction.
  • the second preset angle is the joint angle of the inner frame when the hand-held pan/tilt obtains the switching instruction.
  • the joint angles of the middle frame 22 and the inner frame are always locked at the joint angles of the middle frame 22 and the inner frame when the handheld pan/tilt obtains the switching instruction.
  • the first preset angle and the second preset angle are set as required.
  • the first preset angle is 0 degrees
  • the second preset angle is 0 degrees.
  • the joint angle of the middle frame 22 and the inner frame is locked at 0 degrees.
  • the pan/tilt head 2 further includes an inner frame connected to the outer frame 21, the inner frame is used to carry the camera 3, and the inner frame is configured to rotate around the second preset direction or the third preset direction; While the outer frame 21 is rotated to the target joint angle, the joint angle of the inner frame is also controlled to be the third preset angle.
  • the third preset angle is the joint angle of the inner frame when the hand-held pan/tilt obtains the switching instruction.
  • the joint angle of the inner frame is always locked at the joint angle of the inner frame when the hand-held pan/tilt head obtains the switching instruction.
  • the third preset angle is set as required. For example, the third preset angle is 0 degrees, and the joint angle of the inner frame is locked at 0 degrees during the process of rotating the outer frame 21 to the target joint angle.
  • the outer frame 21 is controlled to rotate to the target joint angle, the joint angle of the middle frame 22 and the inner frame is locked, or the outer frame 21 is controlled to rotate to the target joint angle, locking the joint angle of the inner frame can be called joint angle closed-loop control .
  • S503 Instruct the handheld pan/tilt to switch to the second photographing mode, and control the pan/tilt 2 to rotate to the target posture corresponding to the second photographing mode, so that the photographing device 3 satisfies the first positional relationship.
  • the handheld pan/tilt head generates an instruction for instructing the handheld pan/tilt head to switch to the second shooting mode, so that the handheld pan/tilt head enters the second shooting mode.
  • the two steps of instructing the handheld pan/tilt to switch to the second shooting mode and controlling the pan/tilt to rotate to the target posture corresponding to the second shooting mode can be performed simultaneously or in a sequence.
  • the description of the first positional relationship can refer to the relevant part of the above-mentioned embodiment, which will not be repeated here.
  • the target posture corresponding to the second shooting mode and the pan-tilt posture when the camera 3 satisfies the first positional relationship.
  • the current posture of the pan/tilt head 2 may not meet the first positional relationship of the second shooting mode. Taking a three-axis pan/tilt head as an example, it may be necessary to further correct another one.
  • the posture of the frame is controlled so that the posture of the pan-tilt 2 can satisfy the first positional relationship.
  • the configuration of the pan/tilt 2 will change. Take the pan/tilt 2 as a three-axis pan/tilt as an example. As shown in FIG. 1B, when the handheld gimbal is placed upright, the outer frame 21 is configured to rotate around the yaw axis, the middle frame 22 is configured to rotate around the roll axis, and the inner frame is configured to rotate around the pitch axis.
  • the outer frame 21 when the second shooting mode is the flashlight mode (upper flashlight mode or lower flashlight mode), the outer frame 21 is configured to rotate around the roll axis, and the middle frame 22 is configured to rotate around the yaw direction , The inner frame is configured to rotate around the pitch axis.
  • the second shooting mode when the second shooting mode is the vertical shooting mode (left vertical shooting mode or right vertical shooting mode), the outer frame 21 is configured to rotate around the pitch axis, and the middle frame 22 is configured to rotate around the horizontal The roller rotates, and the inner frame is configured to rotate about the yaw axis.
  • the pan/tilt 2 when the second shooting mode is the vertical shooting mode or the flashlight mode, the pan/tilt 2 is configured to be able to rotate around the roll axis and the pitch axis.
  • the pan/tilt head 2 when the second shooting mode is the vertical shooting mode, the pan/tilt head 2 is configured to be able to rotate around the roll axis and the pitch axis.
  • the frame 22 is configured to rotate around the roll axis; when the second shooting mode is the flashlight mode, the inner frame is configured to rotate around the pitch axis.
  • controlling the pan/tilt 2 to rotate to the target posture corresponding to the second shooting mode specifically includes: determining the pose component of the pan/tilt 2 corresponding to the target axis according to the second shooting mode; and according to the pose component of the target axis
  • the pan/tilt 2 is controlled so that the pan/tilt 2 rotates to the target posture corresponding to the second shooting mode.
  • the target axis is the tilt axis
  • the target axis is the roll axis
  • the outer frame 21 is configured to rotate around the yaw axis
  • the middle frame 22 is configured to rotate around the roll axis
  • the inner frame is configured to rotate around the pitch axis.
  • controlling the posture component of the roll axis is to control the Euler angle corresponding to the roll axis in the posture of the PTZ 2 to be 90 degrees or -90 degrees, that is, control Rotation of the middle frame 22.
  • the attitude closed-loop control is carried out, that is, the pan/tilt 2 is controlled according to the attitude component of the vertical mode corresponding to the roll axis, that is, only the attitude of the middle frame 22 is controlled, and the outer frame
  • the postures of the outer frame 21 and the inner frame remain unchanged at the end of the joint angle closed loop, so that the pan-tilt 2 can satisfy the first positional relationship corresponding to the vertical shooting mode.
  • the posture changes of the outer frame 21 and the inner frame caused by the posture closed loop are compensated in the posture closed loop. Specifically, after the posture adjustment of the center frame 22 is completed, the postures of the outer frame 21 and the inner frame are fine-tuned, so that the pan/tilt 2 Satisfy the first positional relationship corresponding to the vertical shooting mode.
  • the camera 3 is configured to be placed horizontally, for example, to capture images in a horizontal orientation.
  • the Euler angle range for example, when the desired shooting mode is the vertical shooting mode, the Euler angle corresponding to the roll axis in the posture of the pan/tilt 2 can be controlled to be -90 degrees or 90 degrees.
  • controlling the attitude component of the pitch axis is to control the Euler angle corresponding to the pitch axis in the attitude of the pan-tilt 2 to be 0 degrees, 180 degrees or -180 degrees, that is, to control the rotation of the inner frame.
  • the closed-loop attitude control is performed, that is, the PTZ 2 is controlled according to the attitude component of the flashlight mode corresponding to the pitch axis, that is, only the attitude of the inner frame is controlled, and the middle frame 22 and The posture of the outer frame 21 is maintained as the postures of the middle frame 22 and the inner frame at the end of the joint angle closed loop, so that the pan/tilt head 2 can satisfy the first positional relationship corresponding to the flashlight mode.
  • the posture changes of the middle frame 22 and the outer frame 21 caused by the posture closed loop are compensated in the posture closed loop. Specifically, after the posture adjustment of the inner frame is finished, the postures of the middle frame 22 and the outer frame 21 are fine-tuned, thereby So that the PTZ 2 meets the first position relationship corresponding to the flashlight mode.
  • the camera 3 when the Euler angle corresponding to the pitch axis in the attitude of the pan-tilt 2 is 0 degrees, the camera 3 is configured to be placed horizontally, for example, to capture images in a horizontal orientation.
  • the Euler angle range for example, when the desired shooting mode is the flashlight mode, the Euler angle corresponding to the roll axis in the posture of the pan/tilt 2 can be controlled to be 0 degrees, 180 degrees or -180 degrees.
  • the movement path is: the target joint angle of the outer frame 21 determined according to the second shooting mode and the posture component (Euler angle) of the target axis of the pan/tilt 2 determined according to the second shooting mode. ) It is determined that in this embodiment, the motion path is the path rotated according to the target joint angle of the outer frame 21 determined in the second shooting mode and the posture component of the pan/tilt 2 corresponding to the target axis determined in the second shooting mode. The sum of the paths.
  • step S402 that is, controlling the rotation of the pan/tilt head 2 so that the handheld pan/tilt head is switched to the second shooting mode and the shooting device 3 satisfies the first positional relationship may be implemented based on the attitude closed-loop control.
  • the pan/tilt 2 is controlled to rotate, so that the handheld pan/tilt is switched to the second shooting mode, and the camera 3 meets the specific requirements of the first positional relationship. It includes: controlling the posture component of the pan/tilt 2 corresponding to the roll axis to be 90 degrees or -90 degrees, so that the handheld pan/tilt is switched to the second shooting mode, and the shooting device 3 meets the first positional relationship.
  • the attitude of the outer frame 21 is controlled first, that is, the attitude component of the pan-tilt 2 corresponding to the roll axis is controlled to be 90 degrees or -90 degrees, and then the handheld pan-tilt is instructed to enter the second photography mode , And then control the posture of the middle frame 22, that is, control the posture component of the pan/tilt 2 corresponding to the roll axis to be 90 degrees or -90 degrees.
  • the posture component of the control PTZ 2 corresponding to the roll axis is 90 degrees
  • the control PTZ 2 corresponds to the roll
  • the posture component of the axis is -90 degrees.
  • controlling the pan/tilt 2 to rotate so that the handheld pan/tilt is switched to the second shooting mode, and the shooting device 3 satisfies the first positional relationship specifically includes : Control the attitude component of the PTZ 2 corresponding to the pitch axis to 0 degree, 180 degrees or -180 degrees, so that the handheld PTZ is switched to the second shooting mode, and the shooting device 3 satisfies the first positional relationship.
  • the attitude of the outer frame 21 is controlled first, that is, the attitude component corresponding to the pitch axis of the PTZ 2 is controlled to be 0 degrees, 180 degrees or -180 degrees, and then the handheld PTZ is instructed to enter the second
  • the attitude of the inner frame is controlled, that is, the attitude component of the tilt axis corresponding to the PTZ 2 is controlled to be 0 degrees, 180 degrees or -180 degrees.
  • the attitude component of the tilt axis corresponding to the control gimbal 2 is 0 degrees; when the second shooting mode is the flashlight down mode, the attitude of the gimbal 2 corresponding to the tilt axis is controlled
  • the component is 180 degrees or -180 degrees.
  • the motion path is determined according to the attitude component (Euler angle) of the pan-tilt 2 corresponding to the pitch axis.
  • the motion path is a path rotated according to the attitude component of the pan-tilt 2 corresponding to the pitch axis.
  • the gimbal 2 adopts a rotating structure with a mechanical limit for the rotation of the outer frame 21 in a range greater than 360 degrees.
  • the rotation area of the outer frame 21 of the gimbal 2 includes forward rotation.
  • the gimbal yaw joint angle in the forward rotation area and the gimbal yaw joint angle in the reverse area can both be greater than 180 degrees and less than 360 degrees, and the maximum yaw joint angle in the forward rotation area and the reverse area Mechanical limits are set at the maximum yaw joint angle of the rotation area, so that the yaw joint angle of the gimbal in the rotation area of the outer frame 21 of the gimbal 2 is greater than 360 degrees.
  • the pan-tilt 2 may not be able to rotate to the target Euler angle.
  • the pan/tilt 2 includes an outer frame 21 connected to the handle 1, and the outer frame 21 is configured to rotate around a first preset direction;
  • the control method of the handheld pan/tilt also includes: controlling the pan/tilt 2 During the rotation, obtain the real-time joint angle of the outer frame 21; if the real-time joint angle is the limit angle of the PTZ 2, control the PTZ 2 to rotate in the direction opposite to the current rotation direction of the PTZ 2, so that The handheld pan/tilt is switched to the second shooting mode, and the shooting device 3 satisfies the first positional relationship.
  • an embodiment of the present invention also provides a handheld pan/tilt.
  • the handheld pan/tilt may include a handle 1, a pan/tilt 2 and a controller 5.
  • the pan/tilt 2 is used to mount the camera 3, and the pan/tilt 2 is arranged on the handle 1.
  • the controller 5 is arranged in the handle 1.
  • the controller 5 is arranged in the handle 1.
  • the controller 5 is configured to: when the pan/tilt 2 is in the follow mode, obtain a switching instruction input by the user for instructing the handheld pan/tilt to switch from the first shooting mode to the second photography mode; The shooting mode is switched to the second shooting mode; wherein, the first shooting mode includes one of the flashlight mode and the vertical shooting mode, and the second shooting mode includes the other of the flashlight mode and the vertical shooting mode.
  • the controller 5 in this embodiment may be a central processing unit (CPU).
  • the controller 5 may further include a hardware chip.
  • the above-mentioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof.
  • the above-mentioned PLD may be a complex programmable logic device (complex programmable logic device, CPLD), a field-programmable gate array (FPGA), a general array logic (generic array logic, GAL) or any combination thereof.
  • the embodiment of the present invention also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of the method for controlling the handheld pan/tilt head of the foregoing embodiment are realized.
  • the computer-readable storage medium may be the internal storage unit of the handheld pan/tilt head described in any of the foregoing embodiments, such as a hard disk or a memory.
  • the computer-readable storage medium may also be an external storage device of a handheld PTZ, such as a plug-in hard disk, a smart media card (SMC), an SD card, and a flash card (Flash Card) equipped on the device. Wait.
  • the computer-readable storage medium may also include both an internal storage unit of the handheld pan-tilt and an external storage device.
  • the computer-readable storage medium is used to store the computer program and other programs and data required by the handheld pan/tilt head, and can also be used to temporarily store data that has been output or will be output.
  • the program can be stored in a computer readable storage medium, and the program can be stored in a computer readable storage medium. During execution, it may include the procedures of the above-mentioned method embodiments.
  • the storage medium may be a magnetic disk, an optical disc, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM), etc.

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Abstract

一种手持云台及其控制方法，该手持云台包括手柄(1)和设置于手柄(1)上的云台(2)，其控制方法包括：在云台(2)处于跟随模式下，获取用户输入的用于指示手持云台由第一拍摄模式切换至第二拍摄模式的切换指令；控制手持云台由第一拍摄模式切换至第二拍摄模式；其中，第一拍摄模式包括手电筒模式和竖拍模式中的一个，第二拍摄模式包括手电筒模式和竖拍模式中的另一个。该控制方法通过用户触发控制手持云台在手电筒模式和竖拍模式间的直接切换，满足了用户对手电筒拍和竖拍的需求。

Description

手持云台及其控制方法 技术领域
本发明涉及云台领域，尤其涉及一种手持云台及其控制方法。
背景技术
当多轴手持云台处于跟随模式时，可以将手持云台的各个轴设置为free模式或follow模式。其中，在free模式下，手持云台的手柄运动，对应轴不转动，对应轴能够用于增稳；在follow模式下，对应轴跟随手持云台的运动而运动。例如，对于三轴云台，常规模式设置为：俯仰轴、偏航轴为follow模式，横滚轴为free模式。
相关技术中，手持云台的手电筒模式和竖拍模式不能之间切换，无法满足用户对横拍和竖拍的需求。以手持云台为三轴云台为例，手持云台包括外框架、中框架和内框架。在手电筒模式下，外框架绕横滚轴转动，中框架绕偏航轴转动，内框架绕俯仰轴转动，外框架用于增稳。当手柄和云台的位置关系由手电筒模式对应的位置关系切换成竖拍模式对应的位置关系时，手持云台仍然默认外框架用于增稳，导致手持云台无法从手电筒模式直接切换至竖拍模式。
在竖拍模式下，外框架绕俯仰轴转动，中框架绕横滚轴转动，内框架绕偏航轴转动，外框架用于跟随。当手柄和云台的位置关系由竖拍模式对应的位置关系切换成手电筒模式对应的位置关系时，手持云台仍然默认外框架用于跟随，导致手持云台无法从竖拍模式切换至手电筒模式。
发明内容
本发明提供一种手持云台及其控制方法。
具体地，本发明是通过如下技术方案实现的：
根据本发明的第一方面，提供一种手持云台的控制方法，所述手持云台包括手柄和设置于所述手柄上的云台，所述方法包括：
在所述云台处于跟随模式下，获取用户输入的用于指示所述手持云台由第一拍摄模式切换至第二拍摄模式的切换指令；
控制所述手持云台由所述第一拍摄模式切换至所述第二拍摄模式；
其中，所述第一拍摄模式包括手电筒模式和竖拍模式中的一个，所述第二拍摄模式包括所述手电筒模式和所述竖拍模式中的另一个。
根据本发明的第二方面，提供一种手持云台，所述手持云台包括：
手柄；
设置于所述手柄上的云台，所述云台用于搭载拍摄装置；和
设于手柄的控制器，所述控制器用于：
在所述云台处于跟随模式下，获取用户输入的用于指示所述手持云台由第一拍摄模式切换至第二拍摄模式的切换指令；
控制所述手持云台由所述第一拍摄模式切换至所述第二拍摄模式；
其中，所述第一拍摄模式包括手电筒模式和竖拍模式中的一个，所述第二拍摄模式包括所述手电筒模式和所述竖拍模式中的另一个。
由以上本发明实施例提供的技术方案可见，本发明通过用户触发控制手持云台在手电筒模式和竖拍模式的直接切换，满足了用户对手电筒拍和竖拍的需求。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1A是本发明一实施例中的手持云台的立体图；
图1B是图1A所示的手持云台正立放置时的立体图；
图2是本发明一实施例中的手持云台的控制方法的方法流程图；
图3A是图1A所示的手持云台处于上手电筒模式的立体图；
图3B是图1A所示的手持云台处于下手电筒模式的立体图；
图3C是图1A所示的手持云台处于左竖拍模式的立体图；
图3D是图1A所示的手持云台处于右竖拍模式的立体图；
图4是本发明另一实施例中的手持云台的控制方法的方法流程图；
图5是本发明又一实施例中的手持云台的控制方法的方法流程图；
图6A是本发明一实施例中竖直方向与外框架的坐标系的位置关系；
图6B是将6A所示的位置关系切换至第二拍摄模式为左竖拍模式时的竖直方向与外框架的坐标系的位置关系；
图6C是将6A所示的位置关系切换至第二拍摄模式为右竖拍模式时的竖直方向与外框架的坐标系的位置关系；
图6D是将6A所示的位置关系切换至第二拍摄模式为上手电筒模式时的竖直方向与外框架的坐标系的位置关系；
图6E是将6A所示的位置关系切换至第二拍摄模式为下手电筒模式时的竖直方向与外框架的坐标系的位置关系；
图7是本发明一实施例中的手持云台的结构框图。
附图标记：1：手柄；2：云台；21：外框架；22：中框架；3：拍摄装置；4：屏幕；5：控制器。
具体实施方式
相关技术中，在手持云台的手柄和云台的位置关系由手电筒模式对应的位置关系切换成竖拍模式对应的位置关系时，由于手持云台默认外框架用于增稳，而实际的竖拍模式下的外框架用于跟随，导致手持云台无法从手电筒模式切换成竖拍模式；并且，在手持云台的手柄和云台的位置关系由竖拍模式对应的位置关系切换成手电筒模式对应的位置关系时，由于手持云台默认外框架用于跟随，而实际的手电筒模式下的外框架用于增稳，导致手持云台无法从竖拍模式切换成手电筒模式。现有的手持云台的手电筒模式和竖拍模式不能之间切换，无法满足用户对手电筒拍和竖拍的需求。
对于此，本发明通过用户触发控制手持云台在手电筒模式和竖拍模式的直接切换，满足了用户对手电筒拍和竖拍的需求。
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，在不冲突的情况下，下述的实施例及实施方式中的特征可以相互组合。
结合图1A和图1B，本发明实施例的手持云台可包括手柄1和设置于手柄1上的云台2，该云台2用于搭载拍摄装置3，以对拍摄装置3进行增稳。本实施例的云台2可为两轴云台或三轴云台。
在一实施例中，云台2为三轴云台，结合图1A和图1B，该云台2可包括外框架21、中框架22和内框架。其中，外框架21被配置为绕第一预设方向转动，中框架22被配置为绕第二预设方向转动，内框架被配置为绕第三预设方向转动，且内框架用于搭载拍摄装置3。具体的，外框架21绕第一预设方向转动时，带动中框架22和内框架绕第一预设方向转动，从而带动拍摄装置3绕第一预设方向转动。中框架22绕第二预设方向转动时，带动内框架在第二预设方向转动，从而带动拍摄装置3绕第二预设方向转动。内框架绕第三预设方向转动，带动拍摄装置3绕第三预设方向转动。
在一实施例中，云台2为两轴云台，该云台2可包括外框架21和内框架。其中，外框架21被配置为绕第一预设方向转动，内框架被配置为绕第二预设方向或第三预设 方向转动。具体的，外框架21绕第一预设方向转动时，带动内框架绕第一预设方向转动，从而带动拍摄装置3绕第一预设方向转动。内框架绕第二预设方向或第三预设方向转动，相应地带动拍摄装置3绕第二预设方向或第三预设方向转动。
上述实施例中，第一预设方向、第二预设方向和第三预设方向根据云台2的构型确定。例如，如图1A和图1B所示实施例中，云台2为三轴云台，外框架21被配置为绕偏航轴转动，中框架22被配置为绕横滚轴转动，内框架被配置为绕俯仰轴转动。其中，外框架21包括偏航轴轴臂，且由偏航轴电机驱动，中框架22包括横滚轴轴臂，且由横滚轴电机驱动，内框架包括俯仰轴轴臂，且由俯仰轴电机驱动。
本实施例中，结合图1A和图1B，手持云台还包括设于手柄1正面的屏幕4和按键(未标出)等。手持云台正立放置时，屏幕4朝向用户，拍摄装置3的镜头背对用户，如图1B所示，为手持云台正立放置的状态图。图1A和图1B中，X、Y、Z分别对应为世界坐标系中的X轴、Y轴、Z轴方向。如图1B所示，手持云台正立放置时，手持云台的机体坐标系为x1y1z1，其中，x1轴方向指向手柄1的前方，y1轴方向指向手柄1的左侧，z1轴方向指向手柄1的上方。
以下实施例将对本实施例的手持云台的控制方法进行说明。
图2是本发明一实施例中的手持云台的控制方法的方法流程图。参见图2，本实施例的手持云台的控制方法可包括如下步骤：
S201：在云台2处于跟随模式下，获取用户输入的用于指示手持云台由第一拍摄模式切换至第二拍摄模式的切换指令；其中，第一拍摄模式包括手电筒模式和竖拍模式中的一个，第二拍摄模式包括手电筒模式和竖拍模式中的另一个；
其中，在云台2处于跟随模式下，若手柄1的姿态产生变化，则云台2的姿态会跟随手柄1的姿态变化而变化。
用户输入切换指令的方式可以包括多种，例如，在其中一些实施例中，手持云台包括设于手柄1上的控制部，切换指令由用户触发控制部产生。该控制部可以包括按键、按钮、旋钮或上述组合。控制部可以包括一个，也可以包括多个。
在另一些实施例中，切换指令由用户操作外部设备产生，并由外部设备发送。该外部设备能够与手持云台进行通信，外部设备可以包括手机、平板电脑等可移动终端，也可以为固定终端，还可以为遥控器或其他能够与手持云台进行通信的装置。
手电筒模式可以包括上手电筒模式(如图3A所示，示例性的，可以由图1B往后倾倒90度后形成)和/或下手电筒模式(如图3B所示，示例性的，可以由图1B往前倾倒90度后形成)，竖拍模式可以包括左竖拍模式(如图3C所示，示例性的，可以由图1B往左倾倒90度后形成)和/或右竖拍模式(如图3D所示，示例性的，可以由图1B往右倾倒90度后形成)。
可以理解，在手持云台处于手电筒模式时，拍摄装置可以采取第一取向捕捉图像，在手持云台处于竖拍模式时，拍摄装置可以采取第二取向捕捉图像。其中，第一取向与第二取向大致垂直。其中，第一取向可以为水平取向，第二取向可以为竖直取向。
当第一拍摄模式为手电筒模式，第二拍摄模式为竖拍模式，且竖拍模式包括多种时，在一些实施例中，切换指令用于指示手持云台由手电筒模式切换至多种竖拍模式中特定的拍摄模式，例如，竖拍模式包括左竖拍模式和右竖拍模式，切换指令用于指示手持云台由手电筒模式切换至左竖拍模式，或者用于指示手持云台由手电筒模式切换至右竖拍模式。本实施例中，切换指令指示切换指令包括用于指示手持云台由手电筒模式切换至左竖拍模式的第一切换指令；或用于指示手持云台由手电筒模式切换至右竖拍模式的第二切换指令。
第一切换指令和第二切换指令可以是预设的，也可以是用户输入的。
以切换指令由用户触发控制部产生为例，可选地，控制部包括第一按键和第二按键，当用户触发第一按键时，第一按键产生第一切换指令；当用户触发第二按键时，第二按键产生第二切换指令。可选地，控制部包括一个旋钮，当旋钮回中时，旋钮处于非触发状态，用户可以掰动旋钮向上运动至第一触发位置或向下运动至第二触发位置(相对旋钮的回中位置)。当用户掰动旋钮向上运动至第一触发位置时，旋钮产生第一切换指令；当用户掰动旋钮向下运动至第二触发位置时，旋钮产生第二切换指令。可以理解地，控制部还可以为其他类型。
在另一些实施例中，切换指令仅指示手持云台由手电筒模式切换至竖拍模式，但并未指示是切换至哪一种竖拍模式。本实施例中，手持云台在获取切换指令后，需要进一步判断是切换至哪一种竖拍模式。例如，可以在控制手持云台由手电筒模式切换至竖拍模式的过程(即执行步骤S202的过程)中根据运动路径大小进一步决定切换至哪一种竖拍模式。其中，运动路径可以根据云台转动的关节角和/或姿态角的大小确定。
具体地，控制手持云台由手电筒模式切换至竖拍模式的实现过程可以包括：确定手持云台由手电筒模式切换至左竖拍模式的第一运动路径以及手持云台由手电筒模式切换至右竖拍模式的第二运动路径；控制手持云台由手电筒模式切换至第一运动路径和第二运动路径中较小者对应的拍摄模式。采用较小运动路径方式，能够更加快速地控制手持云台由手电筒模式切换至竖拍模式，且降低了手持云台的能耗。其中，第一运动路径为根据手持云台由手电筒模式切换至左竖拍模式对应的云台2转动的关节角和/或姿态角确定，第二运动路径为根据手持云台由手电筒模式切换至右竖拍模式对应的云台2转动的关节角和/或姿态角确定。
当第一拍摄模式为竖拍模式，第二拍摄模式为手电筒模式，且手电筒模式包括多种时，在一些实施例中，切换指令用于指示手持云台由竖拍模式切换至多种手电筒模式中特定的拍摄模式，例如，手电筒模式包括上手电筒模式和下手电筒模式，切换指 令用于指示手持云台由竖拍模式切换至上手电筒模式，或者用于指示手持云台由竖拍模式切换至下手电筒模式。本实施例中，切换指令包括用于指示手持云台由竖拍模式切换至上手电筒模式的第三切换指令；或用于指示手持云台由竖拍模式切换至下手电筒模式的第四切换指令。
第三切换指令和第四切换指令可以是预设的，也可以是用户输入的。
以切换指令由用户触发控制部产生为例，可选地，控制部包括第三按键和第四按键，当用户触发第三按键时，第三按键产生第三切换指令；当用户触发第四按键时，第四按键产生第四切换指令。可选地，控制部包括一个旋钮，当旋钮回中时，旋钮处于非触发状态，用户可以掰动旋钮向左运动至第三触发位置或向右运动至第四触发位置(相对旋钮的回中位置)。当用户掰动旋钮向上运动至第三触发位置时，旋钮产生第三切换指令；当用户掰动旋钮向下运动至第四触发位置时，旋钮产生第四切换指令。可以理解地，控制部还可以为其他类型。
在另一些实施例中，切换指令仅指示手持云台由竖拍模式切换至手电筒模式，但并未指示是切换至哪一种手电筒模式。本实施例中，手持云台在获取切换指令后，需要进一步判断是切换至哪一种手电筒模式。例如，可以在控制手持云台由竖拍模式切换至手电筒模式的过程(即执行步骤S202的过程)中根据运动路径大小进一步决定切换至哪一种手电筒模式。
具体地，控制手持云台由竖拍模式切换至手电筒模式的实现过程可以包括：确定手持云台由竖拍模式切换至上手电筒模式的第三运动路径以及手持云台由竖拍模式切换至下手电筒模式的第四运动路径；控制手持云台由竖拍模式切换至第三运动路径和第四运动路径中较小者对应的拍摄模式。采用较小运动路径方式，能够更加快速地控制手持云台由竖拍模式切换至手电筒模式，且降低了手持云台的能耗。其中，第三运动路径为根据手持云台由竖拍模式切换至上手电筒模式对应的云台2转动的关节角和/或姿态角确定，第四运动路径为根据手持云台由竖拍模式切换至下手电筒模式对应的云台2转动的关节角和/或姿态角确定。
S202：控制手持云台由第一拍摄模式切换至第二拍摄模式。
请参见图4，控制手持云台由第一拍摄模式切换至第二拍摄模式的实现过程可以包括如下步骤：
S401：根据第二拍摄模式，确定竖直方向与云台2搭载的拍摄装置3的坐标系中的第一特定平面的第一位置关系；其中，第一特定平面为基于拍摄装置3的坐标系中的第一轴方向、第二轴方向形成，在拍摄装置3正立放置时，第一轴方向、第二轴方向与竖直方向正交；
竖直方向可以根据需求进行定义，例如，在一些实施例中，在手持云台正立放置时，竖直方向为世界坐标系中的Z轴方向，即竖直方向为重力方向。在另一些实施例 中，在手持云台正立放置时，竖直方向为世界坐标系中的Z轴方向的相反方向。本实施例中，在手持云台正立放置时，竖直方向为世界坐标系中的Z轴方向。
第一轴方向、第二轴方向也可以根据需求进行定义，例如，在其中一实施例中，在拍摄装置3正立放置时，第一轴方向指向拍摄装置3的前方(即镜头的朝向)，第二轴方向指向拍摄装置3的左侧。可以理解，第一轴方向、第二轴方向也可为其他指向，如第一轴方向指向拍摄装置3的后方，第二轴方向指向拍摄装置3的左侧，或者第一轴方向指向拍摄装置3的后方，第二轴方向指向拍摄装置3的右侧等等，具体可以根据需要进行设置。
当第一拍摄模式为手电筒模式、第二拍摄模式为竖拍模式时，第一位置关系为：第一特定平面与竖直方向大致平行。需要说明的是，本发明实施例中，大致平行是指第一特定平面与竖直方向的夹角与0度的差值在允许的角度误差范围内。可以理解的是，本发明实施例中，在手持云台由手电筒模式切换至竖拍模式瞬间，第一位置关系为：第一特定平面与竖直方向大致平行；当手持云台在切换至竖拍模式后，即手持云台处于竖拍模式时，第一位置关系包括：第一特定平面与竖直方向大致平行、或者第一特定平面与竖直方向呈一定夹角，具体根据需要进行设置手持云台处于竖拍模式时的第一位置关系，即手持云台处于竖拍模式时，用户可以对第一位置关系进行自定义。
当第一拍摄模式为竖拍模式、第二拍摄模式为手电筒模式时，第一位置关系为：第一特定平面与竖直方向大致垂直。需要说明的是，本发明实施例中，大致垂直是指第一特定平面与竖直方向的夹角与90度的差值在允许的角度误差范围内。可以理解的是，本发明实施例中，在手持云台由竖拍模式切换至手电筒模式瞬间，第一位置关系为：第一特定平面与竖直方向大致垂直；当手持云台在切换至手电筒模式后，即手持云台处于手电筒模式时，第一位置关系包括：第一特定平面与竖直方向大致垂直、或者第一特定平面与竖直方向呈其他夹角、或者第一特定平面与竖直方向大致平行，具体根据需要进行设置手持云台处于手电筒模式时的第一位置关系，即手持云台处于手电筒模式时，用户可以对第一位置关系进行自定义。
可以理解，第一位置关系的满足可以是在模式切换时实现，而在模式切换完成后，用户可以通过控制云台2的转动而调整第一位置关系。
S402：控制云台2转动，以使得手持云台切换至第二拍摄模式，且拍摄装置3满足第一位置关系；
可以采用不同的方式实现控制云台2转动，以使得手持云台切换至第二拍摄模式，且拍摄装置3满足第一位置关系，如图5所示，为一种控制云台2转动，以使得手持云台切换至第二拍摄模式，且拍摄装置3满足第一位置关系的实现方式。
具体地，云台2包括与手柄1连接的外框架21，外框架21被配置为绕第一预设方向转动。请参见图5，在控制云台2转动，以使得手持云台切换至第二拍摄模式， 且拍摄装置3满足第一位置关系时，具体包括：
S501：根据第二拍摄模式，确定外框架21的目标关节角；
在一些实施例中，根据第二拍摄模式，确定外框架21的目标关节角的实现过程可以包括如下步骤：
(1)、根据第二拍摄模式，确定竖直方向与外框架21的坐标系中的第二特定平面的第二位置关系；其中，第二特定平面为基于外框架21的坐标系中的第三轴方向、第四轴方向形成，且在手持云台正立放置时，第三轴方向、第四轴方向与竖直方向正交。
第三轴方向、第四轴方向可根据需求进行定义，例如，在其中一实施例中，在手持云台正立放置时，第三轴方向指向外框架21的前方，第四轴方向指向外框架21的左侧。可以理解，第三轴方向、第四轴方向也可为其他指向，如第三轴方向指向外框架21的后方，第二轴方向指向外框架21的左侧，或者第一轴方向指向外框架21的后方，第二轴方向指向外框架21的右侧等等，具体可以根据需要进行设置。
如图1B所示，手持云台正立放置时，手持云台的外框架21的坐标系为x2y2，其中，第三轴方向为x2轴方向，第四轴方向为y2轴方向，x2轴方向指向外框架21的前方，y2轴方向指向外框架21的左侧；可以理解的是，外框架21的坐标系的设置方式不限于此。
第二位置关系可以包括：竖直方向在第二特定平面上的投影位于第三轴方向对应的轴线上，或竖直方向在第二特定平面上的投影位于第四轴方向对应的轴线上。值得一提的是，竖直方向在第二特定平面上的投影是位于第三轴方向对应的轴线上，还是位于第四轴方向对应的轴线上，在于如何定义外框架21的坐标系中第三轴方向和第四轴方向。
本实施例中，当第二拍摄模式为竖拍模式时，第二位置关系包括：竖直方向在第二特定平面上的投影位于第四轴方向对应的轴线上；当第二拍摄模式为手电筒模式时，第二位置关系包括：竖直方向在第二特定平面上的投影位于第三轴方向对应的轴线上。
当竖拍模式包括左竖拍模式和右竖拍模式时，竖直方向在第二特定平面上的投影与第四轴方向的指向关系具体需要根据竖直方向以及第四轴方向的定义进一步确定。
可选地，在一些实施例中，竖拍模式包括左竖拍模式，当第二拍摄模式为左竖拍模式时，左竖拍模式对应的第二位置关系为：竖直方向在第二特定平面上的投影与第四轴方向的指向相同。本实施例中，竖直方向定义为世界坐标系中的Z轴方向，且第四轴方向定义为如图1B所示的y2轴方向。可以理解的是，当竖直方向定义为世界坐标系中的Z轴方向的相反方向，第四轴方向定义为y2轴方向，或者竖直方向定义为世界坐标系中的Z轴方向，第四轴方向定义为y2轴方向的相反方向时，左竖拍模式对应 的第二位置关系为：竖直方向在第二特定平面上的投影与第四轴方向的指向相反。
在另一些实施例中，当第二拍摄模式为右竖拍模式时，右竖拍模式对应的第二位置关系为：竖直方向在第二特定平面上的投影与第四轴方向的指向相反。本实施例中，竖直方向定义为世界坐标系中的Z轴方向，且第四轴方向定义为如图1B所示的y2轴方向。可以理解的是，当竖直方向定义为世界坐标系中的Z轴方向的相反方向，第四轴方向定义为y2轴方向，或者竖直方向定义为世界坐标系中的Z轴方向，第四轴方向定义为y2轴方向的相反方向时，右竖拍模式对应的第二位置关系为：竖直方向在第二特定平面上的投影与第四轴方向的指向相同。
当手电筒模式包括上手电筒模式和下手电筒模式时，竖直方向在第二特定平面上的投影与第三轴方向的指向关系具体需要根据竖直方向以及第三轴方向的定义进一步确定。
可选地，在一些实施例中，手电筒模式包括上手电筒模式，当第二拍摄模式为上手电筒模式时，竖直方向在第二特定平面上的投影与第三轴方向的指向相反。本实施例中，竖直方向定义为世界坐标系中的Z轴方向，且第三轴方向定义为如图1B所示的x2轴方向。可以理解的是，当竖直方向定义为世界坐标系中的Z轴方向的相反方向，第三轴方向定义为x2轴方向，或者竖直方向定义为世界坐标系中的Z轴方向，第三轴方向定义为x2轴方向的相反方向时，上手电筒模式对应的第二位置关系为：竖直方向在第二特定平面上的投影与第三轴方向的指向相同。
手电筒模式包括下手电筒模式，当第二拍摄模式为下手电筒模式时，竖直方向在第二特定平面上的投影与第三轴方向的指向相同。本实施例中，竖直方向定义为世界坐标系中的Z轴方向，且第三轴方向定义为如图1B所示的x2轴方向。可以理解的是，当竖直方向定义为世界坐标系中的Z轴方向的相反方向，第三轴方向定义为x2轴方向，或者竖直方向定义为世界坐标系中的Z轴方向，第三轴方向定义为x2轴方向的相反方向时，下手电筒模式对应的第二位置关系为：竖直方向在第二特定平面上的投影与第三轴方向的指向相反。
(2)、根据第二位置关系确定外框架21的目标关节角；
以下将详细说明如何根据第二位置关系确定外框架21的目标关节角。
目标关节角为：根据竖直方向在第二特定平面上的投影与第三轴方向的第一夹角确定，或根据竖直方向在第二特定平面上的投影与第四轴方向的第二夹角确定。如图6A所示，竖直方向在第二特定平面上的投影为：Z1，第一夹角为：θ1，第二夹角为：θ2。
本发明实施例中，将第三轴方向至第四轴方向的转动方向(如，逆时针)定义为正方向，第四轴方向至第三轴方向的转动方向(如，顺时针)定义为负方向，以图1B所示手持云台放置位置为例，定义图1B所示的云台2的外框架关节角为0度，外框 架21的坐标系的第三轴向x2指向外框架21的前方，即指向用户，第四轴向y2指向外框架21的左侧，第二特定平面即为x2和y2形成的平面。竖直方向为重力方向，即与世界坐标系Z轴方向相同的方向。另外，以图6A的坐标系为例，外框架21的转动区域可以分为正转区域(即以x2为准，逆时针转动)和反转区域(即以x2为准，顺时针转动)，其中，x2可以作为外框架21的关节角0度的分界线，逆时针转动，θ大于0，反之，则是小于0。
可选地，在一些实施例中，竖拍模式包括右竖拍模式，当第二拍摄模式为右竖拍模式时，目标关节角为：90度与第一夹角之和，或180度减去第二夹角获得的差值。本实施例中，第二位置关系为：重力方向在x2和y2形成的平面上的投影Z1与第四轴方向y2的指向相反。参见图6B，假设第二拍摄模式为右竖拍模式时，Z1与x2、y2的位置关系如图所示。此时，为满足第二位置关系，需要控制外框架21转动，使得y2与Z1重合，且y2指向与Z1指向相反。故目标关节角α＝(90度+θ1)＝(180度-θ2)，需要控制外框架21沿着逆时针转动(90度+θ1)的角度大小。
在另一些实施例中，竖拍模式包括左竖拍模式，当第二拍摄模式为左竖拍模式时，目标关节角为：90度减去第一夹角获得的差值的相反数，或，第二夹角的相反数。本实施例中，第二位置关系为：重力方向在x2和y2形成的平面上的投影Z1与第四轴方向y2的指向相同。参见图6C，假设第二拍摄模式为左竖拍模式时，Z1与x2、y2的位置关系如图所示。此时，为满足第二位置关系，需要控制外框架21转动，使得y2与Z1重合，且y2指向与Z1指向相同。故目标关节角α＝-(90度-θ1)＝-θ2，需要控制外框架21沿着顺时针转动(90度-θ1)的角度大小。
在另一些实施例中，手电筒模式包括上手电筒模式，当第二拍摄模式为上手电筒模式时，目标关节角为：180度减去第一夹角获得的差值的相反数，或，90度与第二夹角之和的相反数。本实施例中，第二位置关系为：重力方向在x2和y2形成的平面上的投影Z1与第三轴方向x2的指向相反。参见图6D，假设第二拍摄模式为上手电筒模式时，Z1与x2、y2的位置关系如图所示。此时，为满足第二位置关系，需要控制外框架21转动，使得x2与Z1重合，且x2指向与Z1指向相反。故目标关节角α＝-(180-θ1)＝-(90度+θ2)，需要控制外框架21沿着顺时针转动(180-θ1)的角度大小。
在另一些实施例中，手电筒模式包括下手电筒模式，当第二拍摄模式为下手电筒模式时，目标关节角为：第一夹角，或，90度减去第二夹角获得的差值。第二位置关系为：重力方向在x2和y2形成的平面上的投影Z1与第三轴方向x2的指向相反。本实施例中，参见图6E，假设第二拍摄模式为上手电筒模式时，Z1与x2、y2的位置关系如图所示。此时，为满足第二位置关系，需要控制外框架21转动，使得x2与Z1重合，且x2指向与Z1指向相同。故目标关节角α＝θ1＝(90度-θ2)，需要控制外框架21沿着逆时针转动θ1的角度大小。
S502：控制外框架21转动至目标关节角；
本实施例中，控制外框架21转动至目标关节角即控制对应的电机转动至目标关节角。
实际中，由于控制精度、机械设计精度等因素，外框架21实际转动的角度可能与目标关节角存在微小偏差，本实施例中，当外框架21实际转动的角度与目标关节角的差值较小时，认为外框架21已经转动至目标关节角。具体地，控制外框架21转动至目标关节角具体可以包括：获取外框架21的实时关节角；当实时关节角与目标关节角的差值小于预设差值时，确定外框架21转动至目标关节角。该预设差值可以根据需要设定，例如，可以为0.1度、0.2度、0.3度、0.4度、0.5度或其他。本实施例中，预设差值小于1度。
在一些实施例中，云台2还包括与外框架21连接的中框架22以及与中框架22连接的内框架，内框架用于搭载拍摄装置3，中框架22被配置为绕第二预设方向转动，内框架被配置为绕第三预设方向转动；控制外框架21转动至目标关节角的同时，还控制中框架22的关节角为第一预设角度，并控制内框架的关节角为第二预设角度。可选的，第一预设角度为手持云台获取到切换指令时，中框架22的关节角。第二预设角度为手持云台获取到切换指令时，内框架的关节角。本实施例中，在转动外框架21至目标关节角的过程中，中框架22和内框架的关节角始终锁定在手持云台获取到切换指令时中框架22和内框架的关节角大小。可选的，第一预设角度、第二预设角度根据需要设定，如第一预设角度为0度，第二预设角度为0度，在转动外框架21至目标关节角的过程中，中框架22和内框架的关节角锁定在0度。
在另一些实施例中，云台2还包括与外框架21连接的内框架，内框架用于搭载拍摄装置3，内框架被配置为绕第二预设方向或第三预设方向转动；控制外框架21转动至目标关节角的同时，还控制内框架的关节角为第三预设角度。可选的，第三预设角度为手持云台获取到切换指令时，内框架的关节角。本实施例中，在转动外框架21至目标关节角的过程中，内框架的关节角始终锁定在手持云台获取到切换指令时内框架的关节角大小。可选的，第三预设角度根据需要设定，如第三预设角度为0度，在转动外框架21至目标关节角的过程中，内框架的关节角锁定在0度。
上述实施例中，控制外框架21转动至目标关节角，锁定中框架22和内框架的关节角，或者控制外框架21转动至目标关节角，锁定内框架的关节角可称作关节角闭环控制。
S503：指示手持云台切换至第二拍摄模式，并控制云台2转动至第二拍摄模式对应的目标姿态，以使得拍摄装置3满足第一位置关系。
本实施例中，手持云台产生用于指示手持云台切换至第二拍摄模式的指令，使得手持云台进入第二拍摄模式。
其中，指示手持云台切换至第二拍摄模式和控制云台转动至第二拍摄模式对应的目标姿态这两个步骤可以同时进行，也可以按照先后顺序进行。
第一位置关系的说明可参见上述实施例的相关部分，此处不再赘述。第二拍摄模式对应的目标姿态及为拍摄装置3满足第一位置关系时的云台姿态。
本实施例中，在控制外框架21转动至目标关节角之后，云台2的当前姿态可能不满足第二拍摄模式的第一位置关系，以三轴云台为例，可能需要进一步对另外一个框架的姿态进行控制，使得云台2的姿态能够满足第一位置关系。
本实施例中，手电筒模式和竖拍模式下，云台2的构型会产生变化，以云台2为三轴云台为例。如图1B所示，手持云台正立放置时，外框架21被配置为绕偏航轴转动，中框架22被配置为绕横滚轴转动，内框架被配置为绕俯仰轴转动。
如图3A和3B所示，当第二拍摄模式为手电筒模式(上手电筒模式或下手电筒模式)时，外框架21被配置为绕横滚轴转动，中框架22被配置为绕偏航方向转动，内框架被配置为绕俯仰轴转动。如图3C和图3D所示，当第二拍摄模式为竖拍模式(左竖拍模式或右竖拍模式)时，外框架21被配置为绕俯仰轴转动，中框架22被配置为绕横滚轴向转动，内框架被配置为绕偏航轴转动。
本实施例中，当第二拍摄模式为竖拍模式或手电筒模式时，云台2被配置为能够绕横滚轴、俯仰轴转动，具体地，当第二拍摄模式为竖拍模式时，中框架22被配置为绕横滚轴转动；当第二拍摄模式为手电筒模式时，内框架被配置为绕俯仰轴转动。为使得云台2满足第一位置关系，控制云台2转动至第二拍摄模式对应的目标姿态具体包括：根据第二拍摄模式确定云台2对应目标轴的姿态分量；根据目标轴的姿态分量对云台2进行控制，以使得云台2转动至第二拍摄模式对应的目标姿态。其中，第二拍摄模式为手电筒模式时，目标轴为俯仰轴，第二拍摄模式为竖拍模式时，目标轴为横滚轴
如云台2为三轴云台，外框架21被配置为绕偏航轴转动，中框架22被配置为绕横滚轴转动，内框架被配置为绕俯仰轴转动。以图1B为例，假设在图1B所示的云台姿态下，云台2的姿态中对应横滚轴的欧拉角为0度。
本实施例中，当第二拍摄模式为竖拍模式时，控制横滚轴的姿态分量即是控制云台2的姿态中对应横滚轴的欧拉角为90度或-90度，即控制中框架22的转动。在对外框架21进行关节角闭环控制结束后，再进行姿态闭环控制，即根据竖拍模式对应横滚轴的姿态分量对云台2进行控制，即仅对中框架22姿态进行控制，而外框架21和内框架的姿态保持为关节角闭环结束时外框架21和内框架的姿态不变，从而能够使得云台2满足竖拍模式对应的第一位置关系。而由姿态闭环引起的外框架21和内框架的姿态改变，则以姿态闭环进行补偿，具体是在对中框架22姿态调整结束后，对外框架21和内框架的姿态进行微调，从而使得云台2满足竖拍模式对应的第一位置关系。
其中，云台2的姿态中对应横滚轴的欧拉角为0度时，拍摄装置3被配置为水平放置，例如水平取向捕捉图像。根据欧拉角角度范围的设置，示例性的，在期望拍摄模式为竖拍模式时，可以控制云台2的姿态中对应横滚轴的欧拉角为-90度或90度。
当第二拍摄模式为手电筒模式时，控制俯仰轴的姿态分量即是控制云台2的姿态中对应俯仰轴的欧拉角为0度、180度或-180度，即控制内框架的转动。在对外框架21进行关节角闭环控制结束后，再进行姿态闭环控制，即根据手电筒模式对应俯仰轴的姿态分量对云台2进行控制，即仅对内框架的姿态进行控制，而中框架22和外框架21的姿态保持为关节角闭环结束时中框架22和内框架的姿态不变，从而能够使得云台2满足手电筒模式对应的第一位置关系。而由姿态闭环引起的中框架22和外框架21的姿态改变，则以姿态闭环进行补偿，具体是在对内框架的姿态调整结束后，对中框架22和外框架21的姿态进行微调，从而使得云台2满足手电筒模式对应的第一位置关系。
其中，云台2的姿态中对应俯仰轴的欧拉角为0度时，拍摄装置3被配置为水平放置，例如水平取向捕捉图像。根据欧拉角角度范围的设置，示例性的，在期望拍摄模式为手电筒模式时，可以控制云台2的姿态中对应横滚轴的欧拉角为0度、180度或-180度。
上述实现步骤S402的实施例中，运动路径为：根据第二拍摄模式所确定的外框架21的目标关节角与根据第二拍摄模式所确定的云台2对应目标轴的姿态分量(欧拉角)确定，本实施例中，运动路径为依据第二拍摄模式所确定的外框架21的目标关节角所转动的路径与根据第二拍摄模式所确定的云台2对应目标轴的姿态分量所转动的路径之和。
另外一种实现步骤S402，即控制云台2转动，以使得手持云台切换至第二拍摄模式，且拍摄装置3满足第一位置关系的方式可以基于姿态闭环控制实现。
具体地，当第一拍摄模式为手电筒模式、第二拍摄模式为竖拍模式时，控制云台2转动，以使得手持云台切换至第二拍摄模式，且拍摄装置3满足第一位置关系具体包括：控制云台2对应横滚轴的姿态分量为90度或-90度，以使得手持云台切换至第二拍摄模式，且拍摄装置3满足第一位置关系。本实施例中，在第一拍摄模式下，先控制外框架21的姿态，即控制云台2对应横滚轴的姿态分量为90度或-90度，然后指示手持云台进入第二拍摄模式，再控制中框架22的姿态，即控制云台2对应横滚轴的姿态分量为90度或-90度。示例性的，当第二拍摄模式为左竖拍模式时，控制云台2对应横滚轴的姿态分量为90度；当第二拍摄模式为由竖拍模式时，控制云台2对应横滚轴的姿态分量为-90度。
当第一拍摄模式为竖拍模式、第二拍摄模式为手电筒拍模式时，控制云台2转动，以使得述手持云台切换至第二拍摄模式，且拍摄装置3满足第一位置关系具体包括： 控制云台2对应俯仰轴的姿态分量为0度、180度或-180度，以使得手持云台切换至第二拍摄模式，且拍摄装置3满足第一位置关系。本实施例中，在第一拍摄模式下，先控制外框架21的姿态，即控制云台2对应俯仰轴的姿态分量为0度、180度或-180度，然后指示手持云台进入第二拍摄模式，再控制内框架的姿态，即控制云台2对应俯仰轴的姿态分量为0度、180度或-180度。示例性的，当第二拍摄模式为上手电筒模式时，控制云台2对应俯仰轴的姿态分量为0度；当第二拍摄模式为由下手电筒模式时，控制云台2对应俯仰轴的姿态分量为180度或-180度。
在基于姿态闭环控制实现步骤S402的实施例中，运动路径为：根据云台2对应俯仰轴的姿态分量(欧拉角)确定。本实施例中，运动路径为依据云台2对应俯仰轴的姿态分量所转动的路径。
示例性的，为了在偏航方向实现360度拍摄，云台2针对外框架21的转动会采用大于360度范围带机械限位的旋转结构，云台2的外框架21的转动区域包括正转区域和反转区域，正转区域的云台偏航关节角和反转区域的云台偏航关节角均可以大于180度并小于360度，并在正转区域的最大偏航关节角和反转区域的最大偏航关节角处分别设置机械限位，使得云台2的外框架21的转动区域的云台偏航关节角大于360度。在基于姿态闭环控制实现步骤S402的实施例中，由于存在机械限位，可能导致云台2无法转动至目标欧拉角。对于此，本实施例中，云台2包括与手柄1连接的外框架21，外框架21被配置为绕第一预设方向转动；所述手持云台的控制方法还包括：在控制云台2转动的过程中，获取外框架21的实时关节角；若实时关节角为云台2的限位角，则控制云台2沿着与云台2的当前转动方向相反的方向转动，以使得述手持云台切换至第二拍摄模式，且拍摄装置3满足第一位置关系。
结合图1A至图1B以及图7，本发明实施例还提供一种手持云台，该手持云台可以包括手柄1、云台2和控制器5。其中，云台2用于搭载拍摄装置3，并且，云台2设置于所述手柄1上。控制器5设于手柄1，可选的，控制器5设于手柄1内。
具体的，控制器5用于：在云台2处于跟随模式下，获取用户输入的用于指示手持云台由第一拍摄模式切换至第二拍摄模式的切换指令；控制手持云台由第一拍摄模式切换至第二拍摄模式；其中，第一拍摄模式包括手电筒模式和竖拍模式中的一个，第二拍摄模式包括手电筒模式和竖拍模式中的另一个。
控制器5的实现过程和工作原理可参见上述实施例的手持云台的控制方法的描述，此处不再赘述。
本实施例的控制器5可以是中央处理器(central processing unit，CPU)。控制器5还可以进一步包括硬件芯片。上述硬件芯片可以是专用集成电路(application-specific integrated circuit，ASIC)，可编程逻辑器件(programmable logic device，PLD)或其组合。上述PLD可以是复杂可编程逻辑器件(complex programmable logic device， CPLD)，现场可编程逻辑门阵列(field-programmable gate array，FPGA)，通用阵列逻辑(generic array logic，GAL)或其任意组合。
此外，本发明实施例还提供一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现上述实施例的手持云台的控制方法的步骤。
所述计算机可读存储介质可以是前述任一实施例所述的手持云台的内部存储单元，例如硬盘或内存。所述计算机可读存储介质也可以是手持云台的外部存储设备，例如所述设备上配备的插接式硬盘、智能存储卡(Smart Media Card，SMC)、SD卡、闪存卡(Flash Card)等。进一步的，所述计算机可读存储介质还可以既包括手持云台的内部存储单元也包括外部存储设备。所述计算机可读存储介质用于存储所述计算机程序以及所述手持云台所需的其他程序和数据，还可以用于暂时地存储已经输出或者将要输出的数据。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于一计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory，ROM)或随机存储记忆体(Random Access Memory，RAM)等。
以上所揭露的仅为本发明部分实施例而已，当然不能以此来限定本发明之权利范围，因此依本发明权利要求所作的等同变化，仍属本发明所涵盖的范围。

Claims (58)

  1. 一种手持云台的控制方法，其特征在于，所述手持云台包括手柄和设置于所述手柄上的云台，所述方法包括：
    在所述云台处于跟随模式下，获取用户输入的用于指示所述手持云台由第一拍摄模式切换至第二拍摄模式的切换指令；
    控制所述手持云台由所述第一拍摄模式切换至所述第二拍摄模式；
    其中，所述第一拍摄模式包括手电筒模式和竖拍模式中的一个，所述第二拍摄模式包括所述手电筒模式和所述竖拍模式中的另一个。
  2. 根据权利要求1所述的方法，其特征在于，所述手持云台包括：设于所述手柄上的控制部，所述切换指令由用户触发所述控制部产生；或者
    所述切换指令由用户操作外部设备产生，并由所述外部设备发送。
  3. 根据权利要求1所述的方法，其特征在于，所述控制所述手持云台由所述第一拍摄模式切换至所述第二拍摄模式，包括：
    根据所述第二拍摄模式，确定竖直方向与所述云台搭载的拍摄装置的坐标系中的第一特定平面的第一位置关系；
    控制所述云台转动，以使得所述手持云台切换至所述第二拍摄模式，且所述拍摄装置满足所述第一位置关系；
    其中，所述第一特定平面为基于所述拍摄装置的坐标系中的第一轴方向、第二轴方向形成，在所述拍摄装置正立放置时，所述第一轴方向、第二轴方向与所述竖直方向正交。
  4. 根据权利要求3所述的方法，其特征在于，所述云台包括与所述手柄连接的外框架，所述外框架被配置为绕第一预设方向转动；
    所述控制所述云台转动，以使得所述手持云台切换至所述第二拍摄模式，且所述拍摄装置满足所述第一位置关系，包括：
    根据所述第二拍摄模式，确定所述外框架的目标关节角；
    控制所述外框架转动至所述目标关节角；
    指示所述手持云台切换至所述第二拍摄模式，并控制所述云台转动至所述第二拍摄模式对应的目标姿态，以使得所述拍摄装置满足所述第一位置关系。
  5. 根据权利要求4所述的方法，其特征在于，所述根据所述第二拍摄模式，确定所述外框架的目标关节角，包括：
    根据所述第二拍摄模式，确定所述竖直方向与所述外框架的坐标系中的第二特定平面的第二位置关系；
    根据所述第二位置关系确定所述外框架的目标关节角；
    其中，所述第二特定平面为基于所述外框架的坐标系中的第三轴方向、第四轴方向形成，且在所述手持云台正立放置时，所述第三轴方向、所述第四轴方向与所述竖直方向正交。
  6. 根据权利要求5所述的方法，其特征在于，所述第二位置关系包括：所述竖直方向在所述第二特定平面上的投影位于所述第三轴方向对应的轴线上，或，所述竖直方向在所述第二特定平面上的投影位于所述第四轴方向对应的轴线上。
  7. 根据权利要求6所述的方法，其特征在于，所述竖拍模式包括左竖拍模式，当所述第二拍摄模式为所述左竖拍模式时，所述竖直方向在所述第二特定平面上的投影与所述第四轴方向的指向相同。
  8. 根据权利要求6所述的方法，其特征在于，所述竖拍模式包括右竖拍模式，当所述第二拍摄模式为所述右竖拍模式时，所述竖直方向在所述第二特定平面上的投影与所述第四轴方向的指向相反。
  9. 根据权利要求6所述的方法，其特征在于，所述手电筒模式包括上手电筒模式，当所述第二拍摄模式为所述上手电筒模式时，所述竖直方向在所述第二特定平面上的投影与所述第三轴方向的指向相反。
  10. 根据权利要求6所述的方法，其特征在于，所述手电筒模式包括下手电筒模式，当所述第二拍摄模式为所述下手电筒模式时，所述竖直方向在所述第二特定平面上的投影与所述第三轴方向的指向相同。
  11. 根据权利要求5所述的方法，其特征在于，所述目标关节角为：根据所述竖直方向在所述第二特定平面上的投影与所述第三轴方向的第一夹角确定，或，根据所述竖直方向在所述第二特定平面上的投影与所述第四轴方向的第二夹角确定。
  12. 根据权利要求11所述的方法，其特征在于，所述竖拍模式包括右竖拍模式，当所述第二拍摄模式为所述右竖拍模式时，所述目标关节角为：90度与所述第一夹角之和，或，180度减去所述第二夹角获得的差值。
  13. 根据权利要求11所述的方法，其特征在于，所述竖拍模式包括左竖拍模式，当所述第二拍摄模式为所述左竖拍模式时，所述目标关节角为：90度减去所述第一夹角获得的差值的相反数，或，所述第二夹角的相反数。
  14. 根据权利要求11所述的方法，其特征在于，所述手电筒模式包括上手电筒模式，当所述第二拍摄模式为所述上手电筒模式时，所述目标关节角为：180度减去所述第一夹角获得的差值的相反数，或，90度与所述第二夹角之和的相反数。
  15. 根据权利要求11所述的方法，其特征在于，所述手电筒模式包括下手电筒模式，当所述第二拍摄模式为所述下手电筒模式时，所述目标关节角为：所述第一夹角，或，90度减去所述第二夹角获得的差值。
  16. 根据权利要求5所述的方法，其特征在于，所述云台还包括与所述外框架连接的中框架以及与所述中框架连接的内框架，所述内框架用于搭载拍摄装置，所述中框架被配置为绕第二预设方向转动，所述内框架被配置为绕第三预设方向转动；
    所述控制所述外框架转动至所述目标关节角的同时，还包括：
    控制所述中框架的关节角为第一预设角度，并控制所述内框架的关节角为第二预设角度。
  17. 根据权利要求5所述的方法，其特征在于，所述云台还包括与所述外框架连接的内框架，所述内框架用于搭载拍摄装置，所述内框架被配置为绕第二预设方向或第三预设方向转动；
    所述控制所述外框架转动至所述目标关节角的同时，还包括：
    控制所述内框架的关节角为第三预设角度。
  18. 根据权利要求5所述的方法，其特征在于，所述控制所述云台转动至所述第二拍摄模式对应的目标姿态，包括：
    根据所述第二拍摄模式确定所述云台对应目标轴的姿态分量；
    根据所述目标轴的姿态分量对所述云台进行控制，以使得所述云台转动至所述第二拍摄模式对应的目标姿态；
    其中，所述第二拍摄模式为所述手电筒模式时，所述目标轴为俯仰轴，所述第二拍摄模式为所述竖拍模式时，所述目标轴为横滚轴。
  19. 根据权利要求4所述的方法，其特征在于，所述控制所述外框架转动至所述目标关节角，包括：
    获取所述外框架的实时关节角；
    当所述实时关节角与所述目标关节角的差值小于预设差值时，确定所述外框架转动至所述目标关节角。
  20. 根据权利要求3所述的方法，其特征在于，当所述第一拍摄模式为所述手电筒模式、所述第二拍摄模式为所述竖拍模式时，所述控制所述云台转动，以使得所述手持云台切换至所述第二拍摄模式，且所述拍摄装置满足所述第一位置关系，包括：
    控制所述云台对应横滚轴的姿态分量为90度或-90度，以使得所述手持云台切换至所述第二拍摄模式，且所述拍摄装置满足所述第一位置关系。
  21. 根据权利要求3所述的方法，其特征在于，当所述第一拍摄模式为所述竖拍模式、所述第二拍摄模式为所述手电筒拍模式时，所述控制所述云台转动，以使得述手持云台切换至所述第二拍摄模式，且所述拍摄装置满足所述第一位置关系，包括：
    控制所述云台对应俯仰轴的姿态分量为0度、180度或-180度，以使得所述手持云台切换至所述第二拍摄模式，且所述拍摄装置满足所述第一位置关系。
  22. 根据权利要求20或21所述的方法，其特征在于，所述云台包括与所述手柄连接的外框架，所述外框架被配置为绕第一预设方向转动；所述方法还包括：
    在控制所述云台转动的过程中，获取所述外框架的实时关节角；
    若所述实时关节角为所述云台的限位角，则控制所述云台沿着与所述云台的当前转动方向相反的方向转动，以使得述手持云台切换至所述第二拍摄模式，且所述拍摄装置满足所述第一位置关系。
  23. 根据权利要求3至22中任一项所述的方法，其特征在于，当所述第一拍摄模式为所述手电筒模式、所述第二拍摄模式为所述竖拍模式时，所述第一位置关系为：所述第一特定平面与所述竖直方向大致平行。
  24. 根据权利要求3至22中任一项所述的方法，其特征在于，当所述第一拍摄模式为所述竖拍模式、所述第二拍摄模式为所述手电筒模式时，所述第一位置关系为：所述第一特定平面与所述竖直方向大致垂直。
  25. 根据权利要求3所述的方法，其特征在于，在所述手持云台正立放置时，所述竖直方向为世界坐标系中的Z轴方向。
  26. 根据权利要求1所述的方法，其特征在于，所述竖拍模式包括左竖拍模式和右竖拍模式；
    所述切换指令包括用于指示所述手持云台由所述手电筒模式切换至所述左竖拍模式的第一切换指令；或
    用于指示所述手持云台由所述手电筒模式切换至所述右竖拍模式的第二切换指令。
  27. 根据权利要求1所述的方法，其特征在于，所述手电筒模式包括上手电筒模式和下手电筒模式；
    所述切换指令包括用于指示所述手持云台由所述竖拍模式切换至所述上手电筒模式的第三切换指令；或
    用于指示所述手持云台由所述竖拍模式切换至所述下手电筒模式的第四切换指令。
  28. 根据权利要求1所述的方法，其特征在于，所述竖拍模式包括左竖拍模式和右竖拍模式；
    当所述第一拍摄模式为所述手电筒模式、所述第二拍摄模式为所述竖拍模式时，所述控制所述手持云台由所述第一拍摄模式切换至所述第二拍摄模式，包括：
    确定所述手持云台由所述手电筒模式切换至所述左竖拍模式的第一运动路径以及所述手持云台由所述手电筒模式切换至所述右竖拍模式的第二运动路径；
    控制所述手持云台由所述手电筒模式切换至所述第一运动路径和所述第二运动路径中较小者对应的拍摄模式。
  29. 根据权利要求1所述的方法，其特征在于，所述竖拍模式包括上手电筒模式和下手电筒模式；
    当所述第一拍摄模式为所述竖拍模式、所述第二拍摄模式为所述手电筒模式时，所述控制所述手持云台由所述第一拍摄模式切换至所述第二拍摄模式，包括：
    确定所述手持云台由所述竖拍模式切换至所述上手电筒模式的第三运动路径以及所述手持云台由所述竖拍模式切换至所述下手电筒模式的第四运动路径；
    控制所述手持云台由所述竖拍模式切换至所述第三运动路径和所述第四运动路径中较小者对应的拍摄模式。
  30. 一种手持云台，其特征在于，所述手持云台包括：
    手柄；
    设置于所述手柄上的云台，所述云台用于搭载拍摄装置；和
    设于手柄的控制器，所述控制器用于：
    在所述云台处于跟随模式下，获取用户输入的用于指示所述手持云台由第一拍摄模式切换至第二拍摄模式的切换指令；
    控制所述手持云台由所述第一拍摄模式切换至所述第二拍摄模式；
    其中，所述第一拍摄模式包括手电筒模式和竖拍模式中的一个，所述第二拍摄模式包括所述手电筒模式和所述竖拍模式中的另一个。
  31. 根据权利要求30所述的手持云台，其特征在于，所述手持云台包括：设于所述手柄上的控制部，所述切换指令由用户触发所述控制部产生；或者
    所述切换指令由用户操作外部设备产生，并由所述外部设备发送。
  32. 根据权利要求30所述的手持云台，其特征在于，所述控制器在控制所述手持云台由所述第一拍摄模式切换至所述第二拍摄模式时，具体用于：
    根据所述第二拍摄模式，确定竖直方向与所述云台搭载的拍摄装置的坐标系中的第一特定平面的第一位置关系；
    控制所述云台转动，以使得所述手持云台切换至所述第二拍摄模式，且所述拍摄装置满足所述第一位置关系；
    其中，所述第一特定平面为基于所述拍摄装置的坐标系中的第一轴方向、第二轴方向形成，在所述拍摄装置正立放置时，所述第一轴方向、第二轴方向与所述竖直方向正交。
  33. 根据权利要求32所述的手持云台，其特征在于，所述云台包括与所述手柄连接的外框架，所述外框架被配置为绕第一预设方向转动；
    所述控制器在控制所述云台转动，以使得所述手持云台切换至所述第二拍摄模式，且所述拍摄装置满足所述第一位置关系时，具体用于：
    根据所述第二拍摄模式，确定所述外框架的目标关节角；
    控制所述外框架转动至所述目标关节角；
    指示所述手持云台切换至所述第二拍摄模式，并控制所述云台转动至所述第二拍摄模式对应的目标姿态，以使得所述拍摄装置满足所述第一位置关系。
  34. 根据权利要求33所述的手持云台，其特征在于，所述控制器在根据所述第二拍摄模式，确定所述外框架的目标关节角时，具体用于：
    根据所述第二拍摄模式，确定所述竖直方向与所述外框架的坐标系中的第二特定平面的第二位置关系；
    根据所述第二位置关系确定所述外框架的目标关节角；
    其中，所述第二特定平面为基于所述外框架的坐标系中的第三轴方向、第四轴方向形成，且在所述手持云台正立放置时，所述第三轴方向、所述第四轴方向与所述竖直方向正交。
  35. 根据权利要求34所述的手持云台，其特征在于，所述第二位置关系包括：所述竖直方向在所述第二特定平面上的投影位于所述第三轴方向对应的轴线上，或，所 述竖直方向在所述第二特定平面上的投影位于所述第四轴方向对应的轴线上。
  36. 根据权利要求35所述的手持云台，其特征在于，所述竖拍模式包括左竖拍模式，当所述第二拍摄模式为所述左竖拍模式时，所述竖直方向在所述第二特定平面上的投影与所述第四轴方向的指向相同。
  37. 根据权利要求35所述的手持云台，其特征在于，所述竖拍模式包括右竖拍模式，当所述第二拍摄模式为所述右竖拍模式时，所述竖直方向在所述第二特定平面上的投影与所述第四轴方向的指向相反。
  38. 根据权利要求35所述的手持云台，其特征在于，所述手电筒模式包括上手电筒模式，当所述第二拍摄模式为所述上手电筒模式时，所述竖直方向在所述第二特定平面上的投影与所述第三轴方向的指向相反。
  39. 根据权利要求35所述的手持云台，其特征在于，所述手电筒模式包括下手电筒模式，当所述第二拍摄模式为所述下手电筒模式时，所述竖直方向在所述第二特定平面上的投影与所述第三轴方向的指向相同。
  40. 根据权利要求34所述的手持云台，其特征在于，所述目标关节角为：根据所述竖直方向在所述第二特定平面上的投影与所述第三轴方向的第一夹角确定，或，根据所述竖直方向在所述第二特定平面上的投影与所述第四轴方向的第二夹角确定。
  41. 根据权利要求40所述的手持云台，其特征在于，所述竖拍模式包括右竖拍模式，当所述第二拍摄模式为所述右竖拍模式时，所述目标关节角为：90度与所述第一夹角之和，或，180度减去所述第二夹角获得的差值。
  42. 根据权利要求40所述的手持云台，其特征在于，所述竖拍模式包括左竖拍模式，当所述第二拍摄模式为所述左竖拍模式时，所述目标关节角为：90度减去所述第一夹角获得的差值的相反数，或，所述第二夹角的相反数。
  43. 根据权利要求40所述的手持云台，其特征在于，所述手电筒模式包括上手电筒模式，当所述第二拍摄模式为所述上手电筒模式时，所述目标关节角为：180度减去所述第一夹角获得的差值的相反数，或，90度与所述第二夹角之和的相反数。
  44. 根据权利要求40所述的手持云台，其特征在于，所述手电筒模式包括下手电筒模式，当所述第二拍摄模式为所述下手电筒模式时，所述目标关节角为：所述第一夹角，或，90度减去所述第二夹角获得的差值。
  45. 根据权利要求34所述的手持云台，其特征在于，所述云台还包括与所述外框架连接的中框架以及与所述中框架连接的内框架，所述内框架用于搭载拍摄装置，所述中框架被配置为绕第二预设方向转动，所述内框架被配置为绕第三预设方向转动；
    所述控制器在控制所述外框架转动至所述目标关节角的同时，还用于：
    控制所述中框架的关节角为第一预设角度，并控制所述内框架的关节角为第二预设角度。
  46. 根据权利要求34所述的手持云台，其特征在于，所述云台还包括与所述外框架连接的内框架，所述内框架用于搭载拍摄装置，所述内框架被配置为绕第二预设方 向或第三预设方向转动；
    所述控制器在控制所述外框架转动至所述目标关节角的同时，还用于：
    控制所述内框架的关节角为第三预设角度。
  47. 根据权利要求34所述的手持云台，其特征在于，所述控制器在控制所述云台转动至所述第二拍摄模式对应的目标姿态时，具体用于：
    根据所述第二拍摄模式确定所述云台对应目标轴的姿态分量；
    根据所述目标轴的姿态分量对所述云台进行控制，以使得所述云台转动至所述第二拍摄模式对应的目标姿态；
    其中，所述第二拍摄模式为所述手电筒模式时，所述目标轴为俯仰轴，所述第二拍摄模式为所述竖拍模式时，所述目标轴为横滚轴。
  48. 根据权利要求33所述的手持云台，其特征在于，所述控制器在控制所述外框架转动至所述目标关节角时，具体用于：
    获取所述外框架的实时关节角；
    当所述实时关节角与所述目标关节角的差值小于预设差值时，确定所述外框架转动至所述目标关节角。
  49. 根据权利要求32所述的手持云台，其特征在于，当所述第一拍摄模式为所述手电筒模式、所述第二拍摄模式为所述竖拍模式时，所述控制器在控制所述云台转动，以使得所述手持云台切换至所述第二拍摄模式，且所述拍摄装置满足所述第一位置关系时，具体用于：
    控制所述云台对应横滚轴的姿态分量为90度或-90度，以使得所述手持云台切换至所述第二拍摄模式，且所述拍摄装置满足所述第一位置关系。
  50. 根据权利要求32所述的手持云台，其特征在于，当所述第一拍摄模式为所述竖拍模式、所述第二拍摄模式为所述手电筒拍模式时，所述控制器在控制所述云台转动，以使得述手持云台切换至所述第二拍摄模式，且所述拍摄装置满足所述第一位置关系时，具体用于：
    控制所述云台对应俯仰轴的姿态分量为0度、180度或-180度，以使得所述手持云台切换至所述第二拍摄模式，且所述拍摄装置满足所述第一位置关系。
  51. 根据权利要求49或50所述的手持云台，其特征在于，所述云台包括与所述手柄连接的外框架，所述外框架被配置为绕第一预设方向转动；所述控制器还用于：
    在控制所述云台转动的过程中，获取所述外框架的实时关节角；
    若所述实时关节角为所述云台的限位角，则控制所述云台沿着与所述云台的当前转动方向相反的方向转动，以使得述手持云台切换至所述第二拍摄模式，且所述拍摄装置满足所述第一位置关系。
  52. 根据权利要求32至51中任一项所述的手持云台，其特征在于，当所述第一拍摄模式为所述手电筒模式、所述第二拍摄模式为所述竖拍模式时，所述第一位置关系为：所述第一特定平面与所述竖直方向大致平行。
  53. 根据权利要求32至51中任一项所述的手持云台，其特征在于，当所述第一拍摄模式为所述竖拍模式、所述第二拍摄模式为所述手电筒模式时，所述第一位置关系为：所述第一特定平面与所述竖直方向大致垂直。
  54. 根据权利要求32所述的手持云台，其特征在于，在所述手持云台正立放置时，所述竖直方向为世界坐标系中的Z轴方向。
  55. 根据权利要求30所述的手持云台，其特征在于，所述竖拍模式包括左竖拍模式和右竖拍模式；
    所述切换指令包括用于指示所述手持云台由所述手电筒模式切换至所述左竖拍模式的第一切换指令；或
    用于指示所述手持云台由所述手电筒模式切换至所述右竖拍模式的第二切换指令。
  56. 根据权利要求30所述的手持云台，其特征在于，所述手电筒模式包括上手电筒模式和下手电筒模式；
    所述切换指令包括用于指示所述手持云台由所述竖拍模式切换至所述上手电筒模式的第三切换指令；或
    用于指示所述手持云台由所述竖拍模式切换至所述下手电筒模式的第四切换指令。
  57. 根据权利要求30所述的手持云台，其特征在于，所述竖拍模式包括左竖拍模式和右竖拍模式；
    当所述第一拍摄模式为所述手电筒模式、所述第二拍摄模式为所述竖拍模式时，所述控制器在控制所述手持云台由所述第一拍摄模式切换至所述第二拍摄模式时，具体用于：
    确定所述手持云台由所述手电筒模式切换至所述左竖拍模式的第一运动路径以及所述手持云台由所述手电筒模式切换至所述右竖拍模式的第二运动路径；
    控制所述手持云台由所述手电筒模式切换至所述第一运动路径和所述第二运动路径中较小者对应的拍摄模式。
  58. 根据权利要求30所述的手持云台，其特征在于，所述竖拍模式包括上手电筒模式和下手电筒模式；
    当所述第一拍摄模式为所述竖拍模式、所述第二拍摄模式为所述手电筒模式时，所述控制器在控制所述手持云台由所述第一拍摄模式切换至所述第二拍摄模式时，具体用于：
    确定所述手持云台由所述竖拍模式切换至所述上手电筒模式的第三运动路径以及所述手持云台由所述竖拍模式切换至所述下手电筒模式的第四运动路径；
    控制所述手持云台由所述竖拍模式切换至所述第三运动路径和所述第四运动路径中较小者对应的拍摄模式。
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