CN108769531A - Control method, control device and the wearable device of the shooting angle of filming apparatus - Google Patents

Control method, control device and the wearable device of the shooting angle of filming apparatus Download PDF

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Publication number
CN108769531A
CN108769531A CN201810643646.XA CN201810643646A CN108769531A CN 108769531 A CN108769531 A CN 108769531A CN 201810643646 A CN201810643646 A CN 201810643646A CN 108769531 A CN108769531 A CN 108769531A
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China
Prior art keywords
wearable device
filming apparatus
angle
shooting
quaternary number
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CN201810643646.XA
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CN108769531B (en
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冯银华
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Shenzhen Autel Intelligent Aviation Technology Co Ltd
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Shenzhen Autel Intelligent Aviation Technology Co Ltd
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Priority to CN201810643646.XA priority Critical patent/CN108769531B/en
Publication of CN108769531A publication Critical patent/CN108769531A/en
Priority to PCT/CN2019/090953 priority patent/WO2019242553A1/en
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Studio Devices (AREA)

Abstract

The present embodiments relate to image taking technology fields, disclose a kind of method, control device and the wearable device of the shooting angle of control filming apparatus.Wherein, this method is applied to remote controler, and remote controler is connected with filming apparatus and wearable device respectively, and wearable device shows that the image captured by the filming apparatus, this method include：During wearable device moves, the acceleration of wearable device is obtained；According to the acceleration of wearable device, the attitude parameter of wearable device is obtained；Obtain the information of shooting angles of filming apparatus；According to the information of shooting angles of the attitude parameter of wearable device and filming apparatus, shooting angle regulating command is generated, shooting angle regulating command is used to adjust the shooting angle of filming apparatus；According to shooting angle regulating command, the shooting angle of filming apparatus is controlled.By the method for the shooting angle of the control filming apparatus, human body temperature type control may be implemented, improve user experience.

Description

Control method, control device and the wearable device of the shooting angle of filming apparatus
Technical field
The present embodiments relate to image taking technology field more particularly to a kind of shooting angle of control filming apparatus The control device and wearable device of method, the shooting angle of filming apparatus.
Background technology
With the development of science and technology filming apparatus, such as unmanned vehicle (the Unmanned Aer i a l with shooting function Veh i c l e, UAV), also referred to as unmanned plane is more and more widely used.Unmanned plane is that one kind is in rapid development New concept equipment, with small, low cost, it is easy to use, require operational environment that low, battlefield survival is stronger etc. Advantage.Unmanned plane carries multiclass image collecting device, such as camera, video camera by holder, user can be made to see nothing in real time Video, image or picture of man-machine shooting etc..Wherein, it in order to obtain image, video, image or the picture of different visual angles, needs It is realized by controlling or regulating the shooting angle of the filming apparatus such as aircraft.
Generally use following two modes control or regulate the shooting angle of filming apparatus at present：1, by stirring remote control Pulley (the left representation number of degrees are smaller and smaller, right increasing, and p itch axis range -90 is spent to 0 degree) on device controls or regulates The shooting angle of filming apparatus；2, by adjusting the terminal interface progress bar of terminal device manually or being manually entered specific angle Value controls or regulates the shooting angle of filming apparatus.
In realizing process of the present invention, inventor has found that at least there are the following problems in the related technology：It needs by manual The pulley on remote controler is stirred, alternatively, adjusting the terminal interface progress bar of terminal device manually or being manually entered specific angle Mode adjust the shooting angle of filming apparatus and cannot achieve body to obtain image, video, image or the picture of different visual angles Sense formula controls, poor user experience.
Invention content
The present application embodiment provides a kind of method, the shooting angle of filming apparatus of the shooting angle of control filming apparatus Human body temperature type control may be implemented in the control device and wearable device of degree, improves user experience.
The embodiment of the invention discloses following technical solutions：
In a first aspect, an embodiment of the present invention provides a kind of method of the shooting angle of control filming apparatus, remote controler, institute It states remote controler to be respectively connected with the filming apparatus and wearable device, the wearable device shows that the filming apparatus is clapped The image taken the photograph, the method includes：
During the wearable device moves, the acceleration of the wearable device is obtained；
According to the acceleration of the wearable device, the attitude parameter of the wearable device is obtained；
Obtain the information of shooting angles of the filming apparatus；
According to the information of shooting angles of the attitude parameter of the wearable device and the filming apparatus, shooting angle is generated Regulating command is spent, the shooting angle regulating command is used to adjust the shooting angle of the filming apparatus；
According to the shooting angle regulating command, the shooting angle of the filming apparatus is controlled.
In some embodiments, the attitude parameter of the wearable device includes the attitude angle of wearable device；
The acceleration according to the wearable device obtains the attitude parameter of the wearable device, including：
The acceleration of the wearable device is converted into the first quaternary number；
According to the first quaternary number, preset second quaternary number and preset third quaternary number, obtain described to wear Wear the attitude angle of equipment, the preset second quaternary number is used to indicate that the z-axis around the wearable device coordinate system to rotate the The quaternary number of one predetermined angle, the preset third quaternary number are used to indicate that the x-axis around the wearable device coordinate system to be revolved Turn the quaternary number of the second predetermined angle.
In some embodiments, described according to the first quaternary number, preset second quaternary number and preset third Quaternary number obtains the attitude angle of the wearable device, including：
After the preset second quaternary number is carried out multiplication cross operation with the preset third quaternary number, the four or four is obtained First number；
According to the 4th quaternary number and the first quaternary number, the attitude angle of the wearable device is obtained.
In some embodiments, the attitude parameter of the wearable device is obtained according to the acceleration of the wearable device Calculation formula be：
Wherein, (θ, ψ, φ) is expressed as the attitude angle of the wearable device, and θ is expressed as the posture of the wearable device Pitch angle in angle, φ are expressed as the roll angle in the attitude angle of the wearable device, and ψ is expressed as the wearable device Yaw angle in attitude angle；(X, Y, Z) is expressed as the acceleration of the wearable device；(Q, X, Y, Z) is expressed as the first quaternary Number meets：PI is expressed as pi.
In some embodiments, the filming apparatus is equipped on holder；
It is described according to the attitude parameter of the wearable device and the information of shooting angles of the filming apparatus, generate and clap Angular adjustment instruction is taken the photograph, including：
According to the attitude angle of the wearable device and the information of shooting angles of the filming apparatus, shooting angle is generated Regulating command；
It is described that the shooting angle of the filming apparatus is controlled according to the shooting angle regulating command, including：
According to the shooting angle regulating command, the angle of the holder is adjusted, to adjust the shooting of the filming apparatus Angle.
In some embodiments, the attitude parameter of the wearable device further includes the angular speed of wearable device, described Method further includes；
According to the angular speed of the wearable device, angular speed regulating command is generated, the angular speed regulating command is used for Adjust the angular speed of the shooting of the filming apparatus；
According to the angular speed regulating command, the angular speed of the holder is adjusted, to adjust the shooting of the filming apparatus Angular speed.
In some embodiments, the method further includes：
The azimuth information of filming apparatus described in real-time display on the wearable device.
In some embodiments, the wearable device is provided with accelerometer, the acceleration of the wearable device by The accelerometer collects.
Second aspect, an embodiment of the present invention provides a kind of control device of the shooting angle of filming apparatus, the controls Device is connected with the filming apparatus and wearable device respectively, and the wearable device is shown captured by the filming apparatus Image, described device include：
Acceleration acquisition module, for during the wearable device moves, obtaining the wearable device Acceleration；
Attitude parameter determining module obtains the wearable device for the acceleration according to the wearable device Attitude parameter；
Information of shooting angles acquisition module, the information of shooting angles for obtaining the filming apparatus；
Shooting angle regulating command generation module is used for the attitude parameter according to the wearable device and the shooting The information of shooting angles of device generates shooting angle regulating command, and the shooting angle regulating command is for adjusting the shooting The shooting angle of device；
Shooting angle adjustment module, for according to the shooting angle regulating command, controlling the shooting of the filming apparatus Angle.
In some embodiments, the attitude parameter of the wearable device includes the attitude angle of wearable device；
The attitude parameter determining module is specifically used for：
The acceleration of the wearable device is converted into the first quaternary number；
According to the first quaternary number, preset second quaternary number and preset third quaternary number, obtain described to wear Wear the attitude angle of equipment, the preset second quaternary number is used to indicate that the z-axis around the wearable device coordinate system to rotate the The quaternary number of one predetermined angle, the preset third quaternary number are used to indicate that the x-axis around the wearable device coordinate system to be revolved Turn the quaternary number of the second predetermined angle.
In some embodiments, the attitude parameter determining module is according to the first quaternary number, preset second quaternary Several and preset third quaternary number, obtains the attitude angle of the wearable device, including：
After the preset second quaternary number is carried out multiplication cross operation with the preset third quaternary number, the four or four is obtained First number；
According to the 4th quaternary number and the first quaternary number, the attitude angle of the wearable device is obtained.
In some embodiments, the attitude parameter determining module obtains described according to the acceleration of the wearable device The calculation formula of the attitude parameter of wearable device is：
Wherein, (θ, ψ, φ) is expressed as the attitude angle of the wearable device, and θ is expressed as the posture of the wearable device Pitch angle in angle, φ are expressed as the roll angle in the attitude angle of the wearable device, and ψ is expressed as the wearable device Yaw angle in attitude angle；(X, Y, Z) is expressed as the acceleration of the wearable device；(Q, X, Y, Z) is expressed as the first quaternary Number meets：PI is expressed as pi.
In some embodiments, the filming apparatus is equipped on holder；
The shooting angle regulating command generation module is specifically used for：
According to the attitude angle of the wearable device and the information of shooting angles of the filming apparatus, shooting angle is generated Regulating command；
The shooting angle adjustment module is specifically used for：
According to the shooting angle regulating command, the angle of the holder is adjusted, to adjust the shooting of the filming apparatus Angle.
In some embodiments, the attitude parameter of the wearable device further includes the angular speed of wearable device, described Device further includes；
Angular speed regulating command generation module generates angular speed and adjusts for the angular speed according to the wearable device Instruction, the angular speed regulating command are used to adjust the angular speed of the shooting of the filming apparatus；
Angular speed adjustment module, for according to the angular speed regulating command, adjusting the angular speed of the holder, to adjust The angular speed of the shooting of the filming apparatus.
In some embodiments, described device further includes：
Azimuth information display module, the orientation letter for filming apparatus described in the real-time display on the wearable device Breath.
In some embodiments, the wearable device is provided with accelerometer, the acceleration of the wearable device by The accelerometer collects.
The third aspect, an embodiment of the present invention provides a kind of remote controler, the shooting angle for controlling filming apparatus, packet It includes：
At least one processor；And
The memory being connect at least one processor communication；Wherein,
The memory is stored with the instruction that can be executed by least one processor, and described instruction is by described at least one A processor executes, so that at least one processor is able to carry out the shooting angle of control filming apparatus as described above Method.
Fourth aspect, an embodiment of the present invention provides a kind of camera systems, including：Filming apparatus, remote control as described above Device and wearable device, the remote controler are connected with the filming apparatus and the wearable device respectively, the remote controler Shooting angle for controlling the filming apparatus.
In some embodiments, the filming apparatus includes camera, the unmanned vehicle with shooting function or has The fixing device of shooting function.
5th aspect, an embodiment of the present invention provides a kind of computer program product, the computer program product includes The computer program being stored on non-volatile computer readable storage medium storing program for executing, the computer program include program instruction, when When described program instruction is computer-executed, the computer is made to execute the shooting angle of control filming apparatus as described above Method.
6th aspect, the embodiment of the present invention additionally provide a kind of non-volatile computer readable storage medium storing program for executing, the calculating Machine readable storage medium storing program for executing is stored with computer executable instructions, and the computer executable instructions are as above for making computer execute The method of the shooting angle of the control filming apparatus.
The embodiment of the present invention, by the information of shooting angles of the attitude parameter of wearable device and the filming apparatus come The shooting angle for adjusting filming apparatus avoids the need for the pulley on manual toggle remote controler to realize human body temperature type control, or Person, the terminal interface progress bar for adjusting terminal device manually or the mode for being manually entered specific angle adjust the bat of filming apparatus Angle is taken the photograph, user experience is effectively improved.
Description of the drawings
One or more embodiments are illustrated by the picture in corresponding attached drawing, these exemplary theorys The bright restriction not constituted to embodiment, the element with same reference numbers label is expressed as similar element in attached drawing, removes Non- to have special statement, composition does not limit the figure in attached drawing.
Fig. 1 is a kind of application environment of the method for the shooting angle of control filming apparatus provided in an embodiment of the present invention Schematic diagram；
Fig. 2 is the schematic diagram of VR equipment provided in an embodiment of the present invention；
Fig. 3 is a kind of flow diagram of the method for the shooting angle of control filming apparatus provided in an embodiment of the present invention；
Fig. 4 is the flow signal of the method for the shooting angle of another control filming apparatus provided in an embodiment of the present invention Figure；
Fig. 5 is a kind of schematic diagram of the shooting angle control device of filming apparatus provided in an embodiment of the present invention；
Fig. 6 is a kind of hardware architecture diagram of remote controler provided in an embodiment of the present invention；
Fig. 7 is a kind of schematic diagram of camera system provided in an embodiment of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention is described, and shows So, described embodiments are some of the embodiments of the present invention, instead of all the embodiments.Based on the implementation in the present invention Example, the every other embodiment that those of ordinary skill in the art are obtained without creative efforts belong to The scope of protection of the invention.
In addition, as long as technical characteristic involved in the various embodiments of the present invention described below is each other not Conflict is constituted to can be combined with each other.
Fig. 1 is the signal of the one of which application environment of the method for the shooting angle of control filming apparatus provided by the invention Figure.Wherein, which includes：Filming apparatus 10, wearable device 20, remote controler 30 and user's (not shown).
The filming apparatus 10 is used to shoot image (or video, image or picture) etc., and extremely by captured image transmitting Wearable device 20, to show the image captured by filming apparatus 10 on the wearable device 20.Remote controler 30 respectively with Filming apparatus 10 and wearable device are connected.Remote controler 30 is used to control the shooting angle of filming apparatus 10.Specifically, working as user When wearing the wearable device 20, the movement of the wearable device 20 is driven by the movement of user, and passes through wearable device 20 acceleration collects the acceleration of wearable device；Then, wearable device 20 passes the acceleration of wearable device Remote controler 30 is transported to, so that remote controler 30 is according to the acceleration of wearable device, obtains the attitude parameter of wearable device, and The information of shooting angles of filming apparatus is transmitted to remote controler 30 by filming apparatus 10, so that remote controler 30 is according to wearable device The information of shooting angles of attitude parameter and filming apparatus generates shooting angle regulating command, to which remote controler 30 is according to the shooting Angular adjustment instructs to control the shooting angle of filming apparatus 10, to realize that human body temperature type controls the shooting angle of filming apparatus 10 Degree.
Wherein, filming apparatus 10 can be the equipment of any suitable shooting function, for example, the filming apparatus 10 can wrap Include camera, the unmanned vehicle with shooting function or the fixing device etc. with shooting function.Below to the present invention's Description uses example of the unmanned plane (UnmannedAer i a l Veh i c l e, UAV) as filming apparatus 10.UAV be by Remote control equipment or self-contained program's control device manipulate, the not man-carrying aircraft with mission payload.The various types of UAV of the UAV, example Such as, which can be rotor craft (rotorcraft), for example, passing through air-driven more rotors by multiple pushing meanss Aircraft, the embodiment of the present invention are not limited to this, and UAV can also be other types of UAV or movable fixture.
UAV includes but not limited to：Fuselage, flight control system, holder, image collecting device, figure transmission module etc..Wherein, Flight control system is set in fuselage, and holder is installed on fuselage, and image collecting device is equipped on holder.Flight control system System can be coupled with holder, image collecting device, figure transmission module, to realize communication.
One or more horns that fuselage may include centre frame and be connect with centre frame, one or more horns are in spoke Shape is penetrated from centre frame to extend.
Flight control system has the ability that the flight of UAV and task are monitored and are manipulated, including sending out unmanned plane Penetrate and recycle one group of equipment of control.Flight control system is used to control the flight of UAV, for example, can be according to attitude parameter control The flight of UAV processed.It is understood that flight control system can received from miscellaneous equipment send attitude parameter and itself Information of shooting angles, according to the attitude parameter and itself information of shooting angles generate shooting angle regulating command with right UAV is controlled；Or the shooting angle of miscellaneous equipment transmission generated with information of shooting angles according to attitude parameter can be received Regulating command is spent to control UAV.
Holder is used for carrying image harvester.Horizontal stage electric machine is provided on holder, flight control system can control cloud Platform, the specific movement (such as rotating speed) for controlling horizontal stage electric machine, to adjust UAV shooting angle.Wherein, horizontal stage electric machine can be brushless Motor, it is possibility to have brush motor.It will also be appreciated that holder can be located at the top of fuselage, the bottom of fuselage can also be located at Portion.
Image collecting device can be the device that camera, shooting mobile phone or video camera etc. are used to acquire image, and image is adopted Acquisition means can be communicated with flight control system, and be shot under the control of flight control system.For example, flight control system The filming frequency of system control image collecting device shooting image, namely interior shooting how many times per unit time.Alternatively, flight control The shooting angle that system passes through cradle head control image collecting device.
Figure transmission module is used to the picture real-time stabilization captured by the day in the air UAV in state of flight being transmitted to ground Wireless image transmission remote control reception equipment, such as remote controler 30.
It is understood that the above-mentioned name for each component parts of UAV is only the purpose for mark, and should not be understood For the limitation to the embodiment of the present invention.
It should be noted that when filming apparatus can be independent camera, or the phase being equipped on unmanned vehicle Machine namely the filming apparatus can be with a component parts of unmanned vehicle.
Wherein, wearable device 20 can be any suitable equipment that can be dressed.For example, wearable device 20 is void Quasi- reality (Vi rtua l Rea l ity, VR) equipment 20a, intelligent glasses, VR equipment 20a, which is one kind, to be provided to the user The equipment that immersion is felt.The following description of this invention uses VR equipment 20a as the example of wearable device 20.VR equipment The realtime graphic (or video, image or picture) that filming apparatus 10 transmits can be moved to by optical system and be put at a distance by 20a Greatly, almost the field range full of people allows user to reach and places oneself in the midst of feeling therein to generate feeling of immersion.
Referring to FIG. 2, VR equipment 20a includes：Display device 201 and intelligent terminal 202.The intelligent terminal 202 with it is aobvious Showing device 201 connects.
Display device 201 can be various suitable VR aobvious, such as VR glasses, VR eyeshades, the VR helmets or other wear-types Show equipment.Display device 201 is used to show the image captured by filming apparatus 10, and provides a kind of immersion sense to the user Feel.The displaying principle of display device 201 is substantially：Right and left eyes screen shows that the image of right and left eyes, human eye obtain this band respectively Three-dimensional sense is generated in brain after discrepant information, to provide a kind of immersion feeling to the user.
It is provided with interface in display device 201, so that intelligent terminal 202 is connect with display device 201.Specifically, display It is provided with USB interface on device 201, the image captured by filming apparatus 10 received with intelligent terminal 202 is shown in display On device 201.
It is understood that above-mentioned display device 201 can be worn on any suitable position of user's head, as long as can be with Make the image captured by filming apparatus 10 in the visual range of user, that is, the embodiment of the present invention is to display device 201 positions worn simultaneously are not particularly limited.
Intelligent terminal 202 can be any suitable terminal device, such as mobile phone, Small-scale Flat.Below to the present invention's Description uses mobile phone as the example of intelligent terminal 202.It may be provided with various mobile phone sensors in mobile phone.Mobile phone sensor is hand The component incuded by chip on machine, such as distance value, temperature value, brightness value and pressure value.The mobile phone sensor includes But it is not limited to：Accelerometer, gyroscope, magnetometric sensor, mode sensor, pressure sensor, compass etc..Wherein, VR is set Standby 20a can be by the data transmission acquired by mobile phone sensor to remote controler 30, so that remote controler 30 is obtained according to the data The attitude parameter of VR equipment 20a, and then adjust the shooting angle of filming apparatus 10.For example, obtaining VR equipment by accelerometer The acceleration of VR equipment 20a in 20a motion processes, and the acceleration of VR equipment 20a is transmitted to remote controler 30.
It should be noted that VR equipment 20a can be the VR equipment of integral type, can also be the VR equipment of separate type, Namely mobile end shows equipment.Wherein, the VR equipment of integral type refers to VR aobvious equipment for having independent processor, is had solely The function that vertical operation, the function of outputting and inputting namely above-mentioned intelligent terminal 202 are realized can be integrated in the place of VR equipment It manages on device.It with above-mentioned display device 201 is that can detach and independently realize that it refers to above-mentioned intelligent terminal 202 that mobile end, which shows equipment, Itself function.
Wherein, which can be any suitable remote control equipment.Remote controler 30 is by ground (warship) face or flat in the air The aircraft that remote control unit on platform passes through the control flight of onboard flight control system.The remote controler 30 respectively with filming apparatus 10 And wearable device 20 communicates to connect.Remote controler 30 is the main body of the method for the shooting angle for executing above-mentioned control filming apparatus, Namely remote controler 30 is used to control the shooting angle of filming apparatus 10.Wherein, remote controler 30 is according to the shooting angle regulating command Shooting angle to control filming apparatus 10 is specially：Mould is passed by the figure on the figure transmission module and filming apparatus 10 of remote controler 30 Block realizes the communication with filming apparatus 10, the shooting angle regulating command for controlling shooting angle is transmitted from remote controler 30 To filming apparatus 10, for example, filming apparatus 10 is by taking above-mentioned UAV as an example, remote controler 30 is by the shooting angle for controlling shooting angle Degree regulating command is transmitted to the figure transmission module of the UAV, and figure transmission module connects the flight control system of UAV, and flight control system connects Electric tune is connect, then electricity adjusts the horizontal stage electric machine lead-out wire for being connected to holder, the rotating speed of motor processed is regulated and controled by electricity, to adjust UAV Shooting angle.
Usually during filming apparatus 10 is shot, filming apparatus 10 and wearable device 20 have it is certain away from From especially for the shooting of some high-altitudes, filming apparatus 10 and the usually distance of wearable device 20 are farther out, remote in order to realize The shooting angle for controlling filming apparatus 10 needs the control that the shooting angle of filming apparatus 10 is carried out by the remote controler 30.
Below in conjunction with the accompanying drawings, the embodiment of the present invention is further elaborated.
Embodiment 1：
Fig. 3 is a kind of flow diagram of the method for the shooting angle of control filming apparatus provided in an embodiment of the present invention. This method is suitable for being adjusted the shooting angle of various filming apparatus, such as unmanned vehicle, camera.This method can be by each Kind remote control equipment executes, such as remote controler.The remote controler is connected with filming apparatus and wearable device respectively, the wearable device It is wearable in user's head, which shows the image captured by the filming apparatus.The wearable device can be The various equipment that can be dressed, such as VR equipment.
With reference to Fig. 3, the method for the shooting angle of the control filming apparatus includes：
301：During the wearable device moves, the acceleration of the wearable device is obtained.
Wherein, intelligent terminal, such as mobile phone are provided in wearable device.Due to carrying various mobile phone sensings in mobile phone Device, such as accelerometer, gyroscope, magnetometric sensor, compass.Therefore, wearable device is worn in user, is transported on its head When the dynamic movement for driving wearable device, the exercise data of wearable device can be acquired by mobile phone sensor.Specifically, described The acceleration of wearable device is collected by the accelerometer.
Wherein, remote controler obtains the acceleration of the wearable device and specifically includes：Reception is acquired by accelerometer The wearable device acceleration arrived.The acceleration of the wearable device can be 3-axis acceleration namely wearable device coordinate Acceleration (X, Y, Z) on three change in coordinate axis direction of system.
302：According to the acceleration of the wearable device, the attitude parameter of the wearable device is obtained.
Wherein, the attitude parameter of the wearable device includes the attitude angle of wearable device.
In order to avoid solving appearance gimbal lock (Gimbal Lock) phenomenon during attitude angle, ensure the steady of data It is qualitative, the acceleration acquired (X, Y, Z) is converted into quaternary number.Wherein, generate gimbal lock phenomenon basic reason be, Spin matrix carries out successively, it is assumed that first surrounds x-axis and rotates, then rotated around y-axis, finally surrounds z-axis and rotate, this is resulted in Object is the x-axis rotation around the coordinate system of oneself in fact, rather than the x-axis of inertial system rotates.Performance is exactly, in an Euler Under angle (x1, y1, z1), change the value of x1, the x-axis for the coordinate system that object can surround object oneself is rotated, rather than the world The x-axis of inertial system is rotated, finally, when the x-axis of object is rotated to overlapped with the z-axis of inertial system when, the x1 of Ou Lajiao and Z1 rotation results are just all the same, are also just lost a dimension, this is gimbal lock phenomenon.Three are indicated using three amounts Gimbal lock phenomenon this problem can all occur in the system of the direction of dimension space, and being described by quaternary number can be effective Avoid gimbal lock phenomenon.
Specifically, acceleration of the remote controler according to the wearable device, obtains the attitude parameter of the wearable device, Including：The acceleration of the wearable device is converted into the first quaternary number；According to the first quaternary number, the preset 2nd 4 First number and preset third quaternary number, obtain the attitude angle of the wearable device, and the preset second quaternary number is used for Indicate the quaternary number of z-axis the first predetermined angle of rotation around the wearable device coordinate system, the preset third quaternary number Quaternary number for indicating x-axis the second predetermined angle of rotation around the wearable device coordinate system.
Further, remote controler is according to the first quaternary number, preset second quaternary number and preset third quaternary Number, obtains the attitude angle of the wearable device, including：By the preset second quaternary number and the preset third quaternary After number carries out multiplication cross operation, the 4th quaternary number is obtained；According to the 4th quaternary number and the first quaternary number, obtain it is described can The attitude angle of wearable device.
The detailed process that above-mentioned remote controler calculates the attitude angle of wearable device is：
1, the acceleration (X, Y, Z) of the wearable device acquired by accelerometer is converted into the first quaternary number W =(W0,W1,W2,W3)=(Q, X, Y, Z).Wherein,W1=X, W2=Y, W3=X.
2, by preset second quaternary number ROT1With preset third quaternary number ROT2After carrying out multiplication cross operation, the 4th is obtained Quaternary number ROT.Wherein, the 4th quaternary number ROT is perpendicular to ROT1And ROT2Composition face.The preset second quaternary number ROT1For The quaternary number for indicating z-axis the first predetermined angle of rotation around the wearable device coordinate system, for example, preset second quaternary number ROT1Quaternary number for indicating the z-axis rotation 90 around the wearable device coordinate system, the then preset second quaternary number ROT1 Expression formula be：ROT1=(cos (PI/4), 0,0 ,-sin (PI/4)).Wherein, PI is expressed as pi.Specifically, PI= 3.14159265358979323846.The preset third quaternary number ROT2For indicating around the wearable device coordinate system X-axis rotates the quaternary number of the second predetermined angle, for example, the preset third quaternary number ROT2For indicating wearable to set around described The x-axis of standby coordinate system rotates 90 quaternary number, then the preset third quaternary number ROT2Expression formula be：ROT2=(cos (PI/ 4),-sin(PI/4),0,0).Since the 4th quaternary number ROT is by preset second quaternary number ROT1With the preset third Quaternary number ROT2Carry out what multiplication cross operation obtained, then the expression formula of the 4th quaternary number ROT is：In order to Improve computational accuracy, preset second quaternary number ROT1With preset third quaternary number ROT2It is floating point type data.
3, Q and the 4th quaternary number ROT obtain for indicating after the quaternary number that multiplication cross obtains is normalized The quaternary number of the attitude angle of wearable device, then quaternary number and attitude angle based on the attitude angle for being used to indicate wearable device Transfer equation obtains the attitude angle (θ, ψ, φ) of wearable device.Wherein, normalization refers to a kind of dimensionless processing means, So that the absolute value of physical system numerical value is become certain relative value relationship, calculated with simplifying, reduces magnitude.Normalized does not influence The value of the attitude angle finally calculated is intended merely to simplify calculating, reduces magnitude.
Specifically, the calculating for obtaining the attitude parameter of the wearable device according to the acceleration of the wearable device is public Formula is：
In formula, (θ, ψ, φ) is expressed as the attitude angle of the wearable device, and θ is expressed as the posture of the wearable device Pitch angle in angle, φ are expressed as the roll angle in the attitude angle of the wearable device, and ψ is expressed as the wearable device Yaw angle in attitude angle；(X, Y, Z) is expressed as the acceleration of the wearable device；(Q, X, Y, Z) is expressed as the first quaternary Number meets：PI is expressed as pi.
By the above-mentioned means, remote controler can obtain the appearance of the wearable device according to the acceleration of wearable device State parameter, wherein the attitude parameter is attitude angle.On the one hand aforesaid way can ensure the stabilization of data to avoid gimbal lock Property；On the other hand, the space hold of the data of calculating process is small small compared to orthogonal matrix, wherein and matrix needs to store 9 numbers, And this calculation only needs 4 numbers, effectively reduces the space hold of data, improves arithmetic speed.
It should be noted that the shooting angle generally for filming apparatus is mainly adjustment to pitch angle and roll angle, Namely in some embodiments, if to the control of shooting angle it is of less demanding in the case of, can be between with above-mentioned preset Second quaternary number ROT1The fuselage of attitude angle is carried out instead of above-mentioned 4th quaternary number, namely directly by Q and preset second quaternary Number ROT1Obtained after the quaternary number that multiplication cross obtains is normalized four of the attitude angle for indicating wearable device First number, then the quaternary number based on the attitude angle for being used to indicate wearable device and attitude angle transfer equation, obtain wearable set Standby attitude angle (θ, ψ, φ).
The attitude parameter of the wearable device further includes the angular speed of wearable device.Wherein, remote controler is according to The acceleration of wearable device obtains the angular speed of the wearable device, may include：According to adding for the wearable device Speed obtains the attitude angle of the wearable device；According to the attitude angle of the wearable device, the wearable device is obtained Angular speed.Specifically, the attitude angle of wearable device can be obtained based on above-mentioned calculation, then in conjunction with differential side The attitude angle of wearable device is carried out differential and obtains the angular speed of wearable device by journey.
303：Obtain the information of shooting angles of the filming apparatus.
Wherein, the information of shooting angles of the filming apparatus is the current information of shooting angles of filming apparatus, such as filming apparatus Current angle.
304：According to the information of shooting angles of the attitude parameter of the wearable device and the filming apparatus, generates and clap Take the photograph angular adjustment instruction.
Wherein, the shooting angle regulating command is used to adjust the shooting angle of the filming apparatus.
Since the attitude parameter of the wearable device includes the attitude angle of wearable device, remote controler is according to The information of shooting angles of the attitude parameter of wearable device and the filming apparatus generates shooting angle regulating command, specifically Including：According to the attitude angle of the wearable device and the information of shooting angles of the filming apparatus, shooting angle tune is generated Section instruction.Remote controler needs to obtain the information of shooting angles of filming apparatus and the attitude parameter of wearable device, ability in advance Determine the shooting angle for the filming apparatus for finally needing to adjust.For example, information of shooting angles namely the shooting of the filming apparatus The current angle of device is (θ1,ψ1,φ1)；The attitude parameter of wearable device namely the attitude angle of wearable device are (θ2,ψ2, φ2)；Then according to (θ1,ψ1,φ1) and (θ2,ψ2,φ2) can obtain, filming apparatus needs the angle adjusted, to according to the need The angle to be adjusted generates shooting angle regulating command, to adjust the shooting angle of the filming apparatus.
305：According to the shooting angle regulating command, the shooting angle of the filming apparatus is controlled.
Wherein, the filming apparatus is equipped on holder.Remote control controls the bat according to the shooting angle regulating command The shooting angle for taking the photograph device, specifically includes：According to the shooting angle regulating command, the angle of the holder is adjusted, with adjustment The shooting angle of the filming apparatus.
It will be believed according to the shooting angle of the attitude parameter of the wearable device and the filming apparatus by remote controler The shooting angle regulating command that breath generates is transmitted to the flight control system of filming apparatus, to adjust for carrying filming apparatus Holder angle, to obtain the shooting image of different visual angles, to realize human body temperature type control filming apparatus shooting angle, keep away Exempt from artificial manual trigger action, the shooting visual angle of filming apparatus is controlled automatically according to the head movement of user, while wearable Equipment displays for a user the image captured by filming apparatus, which can be VR equipment, and user is made to obtain the visual angles 3D, Improve the experience of user's immersion.
It should be noted that in embodiments of the present invention, those of ordinary skill in the art are according to the ... of the embodiment of the present invention to retouch It states it is appreciated that in different embodiments, in the case of no contradiction, the step 301-305 can have different execution suitable Sequence is performed simultaneously for example, first carrying out step 303 and executing step 301 or step 303 again with step 301.
In embodiments of the present invention, believed by the shooting angle of the attitude parameter of wearable device and the filming apparatus It ceases to adjust the shooting angle of filming apparatus, to realize human body temperature type control, avoids the need for the pulley on manual toggle remote controler, Alternatively, the manual terminal interface progress bar for adjusting terminal device or the mode for being manually entered specific angle adjust filming apparatus Shooting angle effectively improves user experience；Meanwhile the wearable device can be VR equipment, and user is made to obtain the visual angles 3D, improve User's immersion is experienced.
Embodiment 2：
Fig. 4 is the flow signal of the method for another shooting angle for controlling filming apparatus provided in an embodiment of the present invention Figure.This method is suitable for being adjusted the shooting angle of various filming apparatus, such as unmanned vehicle, camera.This method can It is executed by various remote control equipments, such as remote controler.The remote controler is connected with filming apparatus and wearable device respectively, this is wearable Equipment is wearable in user's head, which shows the image captured by the filming apparatus.The wearable device can Think the various equipment that can be dressed, such as VR equipment.
With reference to Fig. 4, the method for the shooting angle of the control filming apparatus includes：
401：During the wearable device moves, the acceleration of the wearable device is obtained.
402：According to the acceleration of the wearable device, the attitude parameter of the wearable device is obtained.
403：Obtain the information of shooting angles of the filming apparatus.
404：According to the information of shooting angles of the attitude parameter of the wearable device and the filming apparatus, generates and clap Take the photograph angular adjustment instruction.
405：According to the shooting angle regulating command, the shooting angle of the filming apparatus is controlled.
It should be noted that above-mentioned steps 401-405 respectively with the shooting angle of control filming apparatus as shown in Figure 3 Step 301-305 technical characteristics having the same in method, therefore, specific implementation mode can refer to above-described embodiment It describes in step 301-305, just repeats no more in the present embodiment accordingly.
406：According to the angular speed of the wearable device, angular speed regulating command, the angular speed regulating command are generated Angular speed for the shooting for adjusting the filming apparatus.
407：According to the angular speed regulating command, the angular speed of the holder is adjusted, to adjust the filming apparatus The angular speed of shooting.
Attitude parameter based on the wearable device further includes：The angular speed of wearable device.Therefore, remote controler may be used also With the angular speed regulating command generated according to the angular speed of wearable device, the angular speed for the holder for carrying filming apparatus is adjusted, To adjust the angular speed of the shooting of filming apparatus, to realize that human body temperature type controls the angular speed of the shooting of filming apparatus, people is avoided For manual trigger action, the angular speed of the shooting of filming apparatus is controlled automatically according to the head movement of user, is further increased User's immersion is experienced.
In some embodiments, the method for the shooting angle of the control filming apparatus further includes：It wearable is set according to described Standby movement velocity generates movement velocity regulating command, and the movement velocity regulating command is for adjusting the filming apparatus Movement velocity；According to the movement velocity regulating command, the movement velocity of filming apparatus is adjusted, it is heavy to further increase user Immersion is experienced.
408：The azimuth information of filming apparatus described in real-time display on the wearable device.
Since the mobile phone sensor of wearable device can also include compass, therefore, in order to be better understood by shooting dress Location information where setting, remote controler, can also be in wearable devices during adjusting the shooting angle of filming apparatus The azimuth information of real-time display filming apparatus on display interface, such as it is currently located orientation and the current deflection number of degrees.
In embodiments of the present invention, those of ordinary skill in the art, description according to the ... of the embodiment of the present invention are appreciated that In different embodiments, in the case of no contradiction, the step 401-408, which can have, different executes sequence.For example, first carrying out Step 408 executes step 406 etc. again.
In embodiments of the present invention, believed by the shooting angle of the attitude parameter of wearable device and the filming apparatus It ceases to adjust the shooting angle of filming apparatus, to realize human body temperature type control, avoids the need for the pulley on manual toggle remote controler, Alternatively, the manual terminal interface progress bar for adjusting terminal device or the mode for being manually entered specific angle adjust filming apparatus Shooting angle effectively improves user experience；Meanwhile the wearable device can be VR equipment, and user is made to obtain the visual angles 3D, improve User's immersion is experienced.Further, it is also possible to the azimuth information of real-time display filming apparatus, to be better understood by filming apparatus institute Location information.
Embodiment 3：
Fig. 5 is a kind of control device schematic diagram of the shooting angle of filming apparatus provided in an embodiment of the present invention.Wherein, should The control device 50 (abbreviation control device) of the shooting angle of filming apparatus is configured in various remote control equipments, such as remote controler Deng.The control device 50 is connected with filming apparatus and wearable device respectively, and the wearable device is wearable in user's head, should Wearable device shows the image captured by the filming apparatus.The wearable device can be the various equipment that can be dressed, Such as VR equipment.
With reference to Fig. 5, the control device 50 includes：Acceleration acquisition module 501, attitude parameter determining module 502, shooting Angle information acquisition module 503, shooting angle regulating command generation module 504, shooting angle adjustment module 505, angular speed tune Save directive generation module 506, angular speed adjustment module 507 and azimuth information display module 508.
Specifically, acceleration acquisition module 501 is used for during the wearable device moves, can be worn described in acquisition Wear the acceleration of equipment.
Wherein, intelligent terminal, such as mobile phone are provided in wearable device.Due to carrying various mobile phone sensings in mobile phone Device, such as accelerometer, gyroscope, magnetometric sensor, compass.Therefore, wearable device is worn in user, is transported on its head When the dynamic movement for driving wearable device, the exercise data of wearable device can be acquired by mobile phone sensor.Specifically, described The acceleration of wearable device is collected by the accelerometer.
Wherein, acceleration acquisition module 501 is specifically used for：Reception is added by the wearable device that accelerometer collects Speed.The acceleration can be the acceleration on three change in coordinate axis direction of 3-axis acceleration namely wearable device coordinate system (X,Y,Z)。
Specifically, attitude parameter determining module 502 is used for according to the acceleration of the wearable device, obtain described to wear Wear the attitude parameter of equipment.
Wherein, the attitude parameter of the wearable device includes the attitude angle of wearable device.
Attitude parameter determining module 502 is specifically used for：The acceleration of the wearable device is converted into the first quaternary number； According to the first quaternary number, preset second quaternary number and preset third quaternary number, the wearable device is obtained Attitude angle, the preset second quaternary number are used to indicate that the z-axis around the wearable device coordinate system to rotate the first preset angle The quaternary number of degree, it is pre- that the preset third quaternary number is used to indicate that the x-axis around the wearable device coordinate system to rotate second If the quaternary number of angle.
Further, attitude parameter determining module 502 is according to the first quaternary number, preset second quaternary number and pre- If third quaternary number, obtain the attitude angle of the wearable device, including：By the preset second quaternary number with it is described pre- If third quaternary number carry out multiplication cross operation after, obtain the 4th quaternary number；According to the 4th quaternary number and first quaternary Number, obtains the attitude angle of the wearable device.
Specifically, attitude parameter determining module 502 obtains described wearable set according to the acceleration of the wearable device The calculation formula of standby attitude parameter is：
In formula, (θ, ψ, φ) is expressed as the attitude angle of the wearable device, and θ is expressed as the posture of the wearable device Pitch angle in angle, φ are expressed as the roll angle in the attitude angle of the wearable device, and ψ is expressed as the wearable device Yaw angle in attitude angle；(X, Y, Z) is expressed as the acceleration of the wearable device；(Q, X, Y, Z) is expressed as the first quaternary Number meets：PI is expressed as pi.
By the above-mentioned means, attitude parameter determining module 502 can according to the acceleration of wearable device, obtain it is described can The attitude parameter of wearable device, wherein the attitude parameter is attitude angle.On the one hand aforesaid way can be protected to avoid gimbal lock Demonstrate,prove the stability of data；On the other hand, the space hold of the data of calculating process is small small compared to orthogonal matrix, wherein matrix needs 9 numbers are stored, and this calculation only needs 4 numbers, effectively reduces the space hold of data, improves arithmetic speed.
It should be noted that the shooting angle generally for filming apparatus is mainly adjustment to pitch angle and roll angle, Namely in some embodiments, if to the control of shooting angle it is of less demanding in the case of, can be between with above-mentioned preset Second quaternary number replaces the fuselage of above-mentioned 4th quaternary number progress attitude angle, namely directly by Q and preset second quaternary number ROT1Obtained after the quaternary number that multiplication cross obtains is normalized the quaternary of the attitude angle for indicating wearable device Number, then the quaternary number based on the attitude angle for being used to indicate wearable device and attitude angle transfer equation, obtain wearable device Attitude angle (θ, ψ, φ).
The attitude parameter of the wearable device further includes the angular speed of wearable device.Wherein, attitude parameter determines mould Block 502 obtains the angular speed of the wearable device, may include according to the acceleration of the wearable device：According to described The acceleration of wearable device obtains the attitude angle of the wearable device；According to the attitude angle of the wearable device, obtain The angular speed of the wearable device.Specifically, attitude parameter determining module 502 can obtain wearing based on above-mentioned calculation The attitude angle of equipment is worn, then in conjunction with the differential equation, the attitude angle of wearable device is subjected to differential and obtains wearable device Angular speed.
Specifically, information of shooting angles acquisition module 503 is used to obtain the information of shooting angles of the filming apparatus.Its In, the information of shooting angles of the filming apparatus is the current information of shooting angles of filming apparatus, the current angle such as filming apparatus.
Specifically, attitude parameter and institute of the shooting angle regulating command generation module 504 according to the wearable device The information of shooting angles of filming apparatus is stated, shooting angle regulating command is generated.Wherein, the shooting angle regulating command is for adjusting Save the shooting angle of the filming apparatus.
Since the attitude parameter of the wearable device includes the attitude angle of wearable device, shooting angle adjusting refers to Generation module 504 is enabled to be specifically used for：Believed according to the attitude angle of the wearable device and the shooting angle of the filming apparatus Breath generates shooting angle regulating command.Shooting angle regulating command generation module 504 needs to obtain the shooting of filming apparatus in advance The attitude parameter of angle information and wearable device just can determine that the shooting angle for the filming apparatus for finally needing to adjust.
Shooting angle adjustment module 505 is used to, according to the shooting angle regulating command, control the bat of the filming apparatus Take the photograph angle.
Wherein, the filming apparatus is equipped on holder.Shooting angle adjustment module 505 is specifically used for：According to the bat Angular adjustment instruction is taken the photograph, the angle of the holder is adjusted, to adjust the shooting angle of the filming apparatus.
The shooting angle for being generated shooting angle regulating command generation module 504 by shooting angle adjustment module 505 Regulating command is transmitted to the flight control system of filming apparatus, to adjust the angle of the holder for carrying filming apparatus, with The shooting image for obtaining different visual angles avoids artificial triggering manually to realize that human body temperature type controls the shooting angle of filming apparatus Operation, the shooting visual angle of filming apparatus is controlled automatically according to the head movement of user, while wearable device displays for a user Image captured by filming apparatus, the wearable device can be VR equipment, so that user is obtained the visual angles 3D, improve user's immersion Experience.
Specifically, angular speed regulating command generation module 506 is used for the angular speed according to the wearable device, angle is generated Speed regulating command, the angular speed regulating command are used to adjust the angular speed of the shooting of the filming apparatus.
Specifically, angular speed adjustment module 507 is used to adjust the angle speed of the holder according to the angular speed regulating command Degree, to adjust the angular speed of the shooting of the filming apparatus.
Attitude parameter based on the wearable device further includes：The angular speed of wearable device.Therefore, angular speed is adjusted The angular speed regulating command that module 507 can also be generated according to angular speed regulating command generation module 506 adjusts and carries shooting The angular speed of the holder of device, to adjust the angular speed of the shooting of filming apparatus, to realize that human body temperature type controls filming apparatus The angular speed of shooting avoids artificial manual trigger action, the shooting of filming apparatus is controlled automatically according to the head movement of user Angular speed, further increase user's immersion experience.
In some embodiments, which further includes：Movement velocity regulating command generation module, for according to institute The movement velocity of wearable device is stated, movement velocity regulating command is generated, the movement velocity regulating command is described for adjusting The movement velocity of filming apparatus；Movement velocity adjustment module, for according to the movement velocity regulating command, adjusting filming apparatus Movement velocity, so as to further increase user's immersion experience.
Specifically, azimuth information display module 508 is used on the wearable device filming apparatus described in real-time display Azimuth information.
Since the mobile phone sensor of wearable device can also include compass, therefore, in order to be better understood by shooting dress Location information where setting can also lead to during shooting angle adjustment module 505 adjusts the shooting angle of filming apparatus The azimuth information for crossing the real-time display filming apparatus on the display interface of wearable device of azimuth information display module 508, such as works as Preceding place orientation and the current deflection number of degrees etc..
It should be noted that in embodiments of the present invention, the control device 50 can perform any means embodiment and be carried The method of the shooting angle of the control filming apparatus of confession, has the corresponding function module of execution method and advantageous effect.It is not controlling The technical detail of detailed description in the embodiment of device 50 processed, reference can be made to the bat for the control filming apparatus that embodiment of the method is provided The method for taking the photograph angle.
Embodiment 4：
Fig. 6 is remote controler hardware architecture diagram provided in an embodiment of the present invention, as shown in fig. 6, the remote controler 60 wraps It includes：
One or more processors 601 and memory 602, in Fig. 6 by taking a processor 601 as an example.
Processor 601 can be connected with memory 602 by bus or other modes, to be connected by bus in Fig. 6 For.
Memory 602 is used as a kind of non-volatile computer readable storage medium storing program for executing, can be used for storing non-volatile software journey Sequence, non-volatile computer executable program and module, such as the shooting angle of the control filming apparatus in the embodiment of the present invention The corresponding program instruction/module of method (for example, attached acceleration acquisition module 501 shown in fig. 5, attitude parameter determining module 502, information of shooting angles acquisition module 503, shooting angle regulating command generation module 504, shooting angle adjustment module 505, Angular speed regulating command generation module 506, angular speed adjustment module 507 and azimuth information display module 508).Processor 601 By running non-volatile software program, instruction and the module of storage in the memory 602, to execute each of remote controler 60 Kind application of function and data processing, that is, the method for realizing the shooting angle of the control filming apparatus of the method embodiment.
Memory 602 may include storing program area and storage data field, wherein storing program area can store operation system System, the required application program of at least one function；Storage data field, which can be stored, uses created data according to remote controler 60 Deng.In addition, memory 602 may include high-speed random access memory, can also include nonvolatile memory, for example, at least One disk memory, flush memory device or other non-volatile solid state memory parts.In some embodiments, memory 602 Optional includes the memory remotely located relative to processor 601, these remote memories can pass through network connection to remote control Device 60.The embodiment of the network includes but not limited to internet, intranet, LAN, mobile radio communication and combinations thereof.
One or more of modules are stored in the memory 602, when by one or more of processors 601 execute when, execute in any means embodiment control filming apparatus shooting angle method, for example, execute with Method and step 401 in Fig. 4 of upper description realizes the function of the 501-508 modules in Fig. 5 to step 408.
The method that the remote controler 60 can perform the shooting angle for the control filming apparatus that any means embodiment is provided, Have the corresponding function module of execution method and advantageous effect.The technical detail of detailed description not in remote control embodiment, can Referring to the method for the shooting angle for controlling filming apparatus that any means embodiment is provided.
An embodiment of the present invention provides a kind of computer program product, the computer program product is non-easy including being stored in Computer program on the property lost computer readable storage medium, the computer program includes program instruction, when described program refers to When order is computer-executed, the computer is made to execute the shooting angle for controlling filming apparatus in any means embodiment Method realize the 501-508 modules in Fig. 5 for example, executing method and step 401 in Fig. 4 described above to step 408 Function.
An embodiment of the present invention provides a kind of non-volatile computer readable storage medium storing program for executing, the computer-readable storage mediums Matter is stored with computer executable instructions, and the computer executable instructions are implemented for making computer execute any means The method of the shooting angle of control filming apparatus in example, for example, executing method and step 401 in Fig. 4 described above to step Rapid 408, realize the function of the 501-508 modules in Fig. 5.
Embodiment 5：
Fig. 7 is the schematic diagram of camera system provided in an embodiment of the present invention, as shown in fig. 7, the camera system 70 includes： Filming apparatus 701, remote controler as described above 60 and wearable device 702, the remote controler 60 are filled with the shooting respectively It sets 701 with the wearable device 702 to be connected, the remote controler 60 is used to control the shooting angle of the filming apparatus 701.Institute Wearable device 702 is stated for showing the image captured by the filming apparatus 701.
Wherein, the filming apparatus 701 is including camera, the unmanned vehicle with shooting function or with shooting function Fixing device.The wearable device 702 can be VR equipment etc..
It should be noted that the apparatus embodiments described above are merely exemplary, wherein described be used as separation unit The module that part illustrates may or may not be physically separated, and the component shown as module can be or also may be used Not to be physical module, you can be located at a place, or may be distributed on multiple network modules.It can be according to reality Need select some or all of module therein to achieve the purpose of the solution of this embodiment.
By the description of above embodiment, those of ordinary skill in the art can be understood that each embodiment can borrow Help software that the mode of general hardware platform is added to realize, naturally it is also possible to pass through hardware.Those of ordinary skill in the art can manage All or part of flow in the solution realization embodiment method is can be by the relevant hardware of computer program instructions come complete At the program can be stored in computer read/write memory medium, and the program is when being executed, it may include such as each method Embodiment flow.Wherein, the storage medium can be magnetic disc, CD, read-only memory (Read-On l y Memory, ROM) or random access memory (RandomAccessMemory, RAM) etc..
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；At this It under the thinking of invention, can also be combined between the technical characteristic in above example or different embodiment, step can be with It is realized with random order, and there are many other variations of different aspect present invention as described above, for simplicity, they do not have Have and is provided in details；Although the present invention is described in detail referring to the foregoing embodiments, the ordinary skill people of this field Member should understand that：It still can be with technical scheme described in the above embodiments is modified, or to which part skill Art feature carries out equivalent replacement；And these modifications or replacements, each reality of the present invention that it does not separate the essence of the corresponding technical solution Apply the range of a technical solution.

Claims (19)

1. it is a kind of control filming apparatus shooting angle method, be applied to remote controler, the remote controler respectively with the shooting Device is connected with wearable device, and the wearable device shows the image captured by the filming apparatus, which is characterized in that institute The method of stating includes：
During the wearable device moves, the acceleration of the wearable device is obtained；
According to the acceleration of the wearable device, the attitude parameter of the wearable device is obtained；
Obtain the information of shooting angles of the filming apparatus；
According to the information of shooting angles of the attitude parameter of the wearable device and the filming apparatus, shooting angle tune is generated Section instruction, the shooting angle regulating command are used to adjust the shooting angle of the filming apparatus；
According to the shooting angle regulating command, the shooting angle of the filming apparatus is controlled.
2. according to the method described in claim 1, it is characterized in that, the attitude parameter of the wearable device includes wearable sets Standby attitude angle；
The acceleration according to the wearable device obtains the attitude parameter of the wearable device, including：
The acceleration of the wearable device is converted into the first quaternary number；
According to the first quaternary number, preset second quaternary number and preset third quaternary number, described wearable set is obtained Standby attitude angle, it is pre- that the preset second quaternary number is used to indicate that the z-axis around the wearable device coordinate system to rotate first If the quaternary number of angle, the preset third quaternary number is used to indicate that the x-axis around the wearable device coordinate system to rotate the The quaternary number of two predetermined angles.
3. according to the method described in claim 2, it is characterized in that, described according to the first quaternary number, the preset 2nd 4 First number and preset third quaternary number, obtain the attitude angle of the wearable device, including：
After the preset second quaternary number is carried out multiplication cross operation with the preset third quaternary number, the 4th quaternary is obtained Number；
According to the 4th quaternary number and the first quaternary number, the attitude angle of the wearable device is obtained.
4. according to the method in claim 2 or 3, which is characterized in that obtain institute according to the acceleration of the wearable device The calculation formula for stating the attitude parameter of wearable device is：
Wherein, (θ, ψ, φ) is expressed as the attitude angle of the wearable device, and θ is expressed as in the attitude angle of the wearable device Pitch angle, φ is expressed as the roll angle in the attitude angle of the wearable device, and ψ is expressed as the posture of the wearable device Yaw angle in angle；(X, Y, Z) is expressed as the acceleration of the wearable device；(Q, X, Y, Z) is expressed as the first quaternary number, full Foot：PI is expressed as pi.
5. according to the method described in claim 2, it is characterized in that, the filming apparatus is equipped on holder；
It is described according to the attitude parameter of the wearable device and the information of shooting angles of the filming apparatus, generate shooting angle Regulating command is spent, including：
According to the attitude angle of the wearable device and the information of shooting angles of the filming apparatus, generates shooting angle and adjust Instruction；
It is described that the shooting angle of the filming apparatus is controlled according to the shooting angle regulating command, including：
According to the shooting angle regulating command, the angle of the holder is adjusted, to adjust the shooting angle of the filming apparatus.
6. according to the method described in claim 5, it is characterized in that, the attitude parameter of the wearable device further includes wearable The angular speed of equipment, the method further include：
According to the angular speed of the wearable device, angular speed regulating command is generated, the angular speed regulating command is for adjusting The angular speed of the shooting of the filming apparatus；
According to the angular speed regulating command, the angular speed of the holder is adjusted, to adjust the angle of the shooting of the filming apparatus Speed.
7. according to the method described in claim 1, it is characterized in that, the method further includes：
The azimuth information of filming apparatus described in real-time display on the wearable device.
8. according to the method described in claim 1, the wearable device is provided with accelerometer, which is characterized in that it is described can The acceleration of wearable device is collected by the accelerometer.
9. a kind of control device of the shooting angle of filming apparatus, the control device respectively with the filming apparatus and wearable Equipment is connected, and the wearable device shows the image captured by the filming apparatus, which is characterized in that the control device packet It includes：
Acceleration acquisition module, for during the wearable device moves, obtaining the acceleration of the wearable device Degree；
Attitude parameter determining module obtains the posture of the wearable device for the acceleration according to the wearable device Parameter；
Information of shooting angles acquisition module, the information of shooting angles for obtaining the filming apparatus；
Shooting angle regulating command generation module is used for the attitude parameter according to the wearable device and the filming apparatus Information of shooting angles, generate shooting angle regulating command, the shooting angle regulating command is for adjusting the filming apparatus Shooting angle；
Shooting angle adjustment module, for according to the shooting angle regulating command, controlling the shooting angle of the filming apparatus.
10. device according to claim 9, which is characterized in that the attitude parameter of the wearable device includes wearable The attitude angle of equipment；
The attitude parameter determining module is specifically used for：
The acceleration of the wearable device is converted into the first quaternary number；
According to the first quaternary number, preset second quaternary number and preset third quaternary number, described wearable set is obtained Standby attitude angle, it is pre- that the preset second quaternary number is used to indicate that the z-axis around the wearable device coordinate system to rotate first If the quaternary number of angle, the preset third quaternary number is used to indicate that the x-axis around the wearable device coordinate system to rotate the The quaternary number of two predetermined angles.
11. device according to claim 10, which is characterized in that the attitude parameter determining module is according to the described 1st First number, preset second quaternary number and preset third quaternary number, obtain the attitude angle of the wearable device, including：
After the preset second quaternary number is carried out multiplication cross operation with the preset third quaternary number, the 4th quaternary is obtained Number；
According to the 4th quaternary number and the first quaternary number, the attitude angle of the wearable device is obtained.
12. device according to claim 9 or 10, which is characterized in that the attitude parameter determining module can according to The calculation formula that the acceleration of wearable device obtains the attitude parameter of the wearable device is：
Wherein, (θ, ψ, φ) is expressed as the attitude angle of the wearable device, and θ is expressed as in the attitude angle of the wearable device Pitch angle, φ is expressed as the roll angle in the attitude angle of the wearable device, and ψ is expressed as the posture of the wearable device Yaw angle in angle；(X, Y, Z) is expressed as the acceleration of the wearable device；(Q, X, Y, Z) is expressed as the first quaternary number, full Foot：PI is expressed as pi.
13. device according to claim 10, which is characterized in that the filming apparatus is equipped on holder；
The shooting angle regulating command generation module is specifically used for：
According to the attitude angle of the wearable device and the information of shooting angles of the filming apparatus, generates shooting angle and adjust Instruction；
The shooting angle adjustment module is specifically used for：
According to the shooting angle regulating command, the angle of the holder is adjusted, to adjust the shooting angle of the filming apparatus.
14. device according to claim 13, which is characterized in that the attitude parameter of the wearable device further includes that can wear The angular speed of equipment is worn, described device further includes：
Angular speed regulating command generation module generates angular speed regulating command for the angular speed according to the wearable device, The angular speed regulating command is used to adjust the angular speed of the shooting of the filming apparatus；
Angular speed adjustment module, for according to the angular speed regulating command, the angular speed of the holder being adjusted, described in adjusting The angular speed of the shooting of filming apparatus.
15. device according to claim 9, which is characterized in that described device further includes：
Azimuth information display module, the azimuth information for filming apparatus described in the real-time display on the wearable device.
16. device according to claim 9, the wearable device is provided with accelerometer, which is characterized in that it is described can The acceleration of wearable device is collected by the accelerometer.
17. a kind of remote controler, the shooting angle for controlling filming apparatus, which is characterized in that including：
At least one processor；And
The memory being connect at least one processor communication；Wherein,
The memory is stored with the instruction that can be executed by least one processor, and described instruction is by least one place It manages device to execute, so that at least one processor is able to carry out any one of them method of claim 1-8.
18. a kind of camera system, which is characterized in that including filming apparatus, remote controler as claimed in claim 17 and can wear Equipment is worn, the remote controler is connected with the filming apparatus and the wearable device respectively, and the remote controler is for controlling institute State the shooting angle of filming apparatus.
19. camera system according to claim 18, which is characterized in that the filming apparatus includes camera, has shooting The unmanned vehicle of function or fixing device with shooting function.
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