CN109154836A - Control method, control equipment and the holder of holder - Google Patents
Control method, control equipment and the holder of holder Download PDFInfo
- Publication number
- CN109154836A CN109154836A CN201780028068.2A CN201780028068A CN109154836A CN 109154836 A CN109154836 A CN 109154836A CN 201780028068 A CN201780028068 A CN 201780028068A CN 109154836 A CN109154836 A CN 109154836A
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- holder
- angle
- rolled round
- parameters information
- rotational parameters
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
- G05D3/20—Control of position or direction using feedback using a digital comparing device
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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
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Accessories Of Cameras (AREA)
- Rehabilitation Tools (AREA)
- Telephone Set Structure (AREA)
- Studio Devices (AREA)
Abstract
Disclose a kind of control method of holder (30), comprising: obtain the rotational parameters information of at least one rolled round (21,22);Rotational parameters information is sent to holder (30), so that holder (30) adjusts the posture of holder (30) according to rotational parameters information.This method obtains at least one rolled round (21 thereon by control equipment (20), 22) rotational parameters information, and by rolled round (21, 22) rotational parameters information is sent to holder (30), so that holder (30) is according to rolled round (21, 22) posture of rotational parameters information adjustment holder (30), due to rolled round (21, 22) angular speed or angle value accurately can be controlled or be calculated, then according to rolled round (21, 22) when angular speed or angle value adjusts the posture of holder (30), the control precision of holder (30) posture can be improved.Also disclose a kind of control equipment and holder (30).
Description
Technical field
The present embodiments relate to unmanned plane field more particularly to a kind of control methods of holder, control equipment and holder.
Background technique
When capture apparatus is mounted in hand-held holder in the prior art, the picture that hand-held holder can be such that capture apparatus shoots is steady
Fixed, in addition, hand-held holder is provided with three spindle motors, three spindle motors are used to control the attitude angle such as course angle of capture apparatus, bow
The elevation angle, roll angle.
Gesture stability can be carried out according to user demand by holding holder in the prior art, but according to the appearance of user demand realization
It is lower that state controls precision.
Summary of the invention
The embodiment of the present invention provides the control method, control equipment and holder of a kind of holder, to improve the control of holder posture
Precision processed.
The first aspect of the embodiment of the present invention is to provide a kind of control method of holder, is applied to control equipment, the control
Control equipment is provided at least one rolled round, which comprises
Obtain the rotational parameters information of at least one rolled round;
The rotational parameters information is sent to holder, so that the holder adjusts the cloud according to the rotational parameters information
The posture of platform.
The second aspect of the embodiment of the present invention is to provide a kind of control method of holder, is applied to control equipment, the control
Control equipment is provided at least one rolled round, which comprises
In memory by the history rotational parameters information storage of at least one rolled round;
The history rotational parameters information of at least one rolled round of the storage is sent to the holder, so that the holder
The posture of the holder is adjusted according to the history rotational parameters information of at least one rolled round.
The third aspect of the embodiment of the present invention is to provide a kind of control method of holder, is applied to holder, the method packet
It includes:
The rotational parameters information of at least one rolled round in the control equipment that receiving control apparatus is sent;
The posture of the holder is adjusted according to the rotational parameters information.
The fourth aspect of the embodiment of the present invention is to provide a kind of control method of holder, is applied to holder, the method packet
It includes:
Receive the history rotational parameters information of at least one rolled round in the control equipment that the control equipment is sent;
The posture of the holder is adjusted according to the history rotational parameters information of at least one rolled round.
5th aspect of the embodiment of the present invention is to provide a kind of control equipment, includes: at least applied to rolled round control equipment
One rolled round, processor, communication interface;
The processor is used to obtain the rotational parameters information of at least one rolled round;
The communication interface is used to send the rotational parameters information to holder, so that the holder is joined according to the rotation
Number information adjusts the posture of the holder.
6th aspect of the embodiment of the present invention is to provide a kind of control equipment, is applied to rolled round and controls equipment, comprising: at least
One rolled round, communication interface, processor;
The processor is used for the history rotational parameters information storage of at least one rolled round in memory;
The communication interface is used to for the history rotational parameters information of at least one rolled round of the storage being sent to described
Holder, so that the holder adjusts the posture of the holder according to the history rotational parameters information of at least one rolled round.
7th aspect of the embodiment of the present invention is to provide a kind of holder, comprising: communication interface, processor;
The rotation ginseng of at least one rolled round in the control equipment that the communication interface is sent for receiving control apparatus
Number information;
The processor is used to adjust the posture of the holder according to the rotational parameters information.
The eighth aspect of the embodiment of the present invention is to provide a kind of holder, comprising: communication interface, processor;
At least one rolled round goes through in the control equipment of the communication interface for receiving the control equipment transmission
History rotational parameters information;
The processor is used to adjust the appearance of the holder according to the history rotational parameters information of at least one rolled round
State.
Control method, control equipment and the holder of holder provided in this embodiment, are obtained thereon at least by control equipment
The rotational parameters information of one rolled round, and the rotational parameters information of rolled round is sent to holder, so that holder turns according to rolled round
The posture of dynamic parameter information adjustment holder, since the angular speed or angle value of rolled round can be accurately controlled or calculate, then basis
When the posture of angular speed or angle value the adjustment holder of rolled round, the control precision of holder posture can be improved.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are some embodiments of the invention, for this
For the those of ordinary skill of field, without any creative labor, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is the flow chart of the control method of holder provided in an embodiment of the present invention;
Fig. 2 is the structural schematic diagram of control equipment provided in an embodiment of the present invention;
Fig. 3 is the structural schematic diagram of holder provided in an embodiment of the present invention;
Fig. 4 be another embodiment of the present invention provides holder control method flow chart;
Fig. 5 be another embodiment of the present invention provides holder control method flow chart;
Fig. 6 is the schematic diagram of three axis of holder provided in an embodiment of the present invention;
Fig. 7 is the schematic diagram of the pitch angle of holder provided in an embodiment of the present invention;
Fig. 8 is the schematic diagram of the pitch angle of holder provided in an embodiment of the present invention;
Fig. 9 is the schematic diagram of the yaw angle of holder provided in an embodiment of the present invention;
Figure 10 is the schematic diagram of the yaw angle of holder provided in an embodiment of the present invention;
Figure 11 be another embodiment of the present invention provides holder control method flow chart;
Figure 12 be another embodiment of the present invention provides holder control method flow chart;
Figure 13 be another embodiment of the present invention provides holder control method flow chart;
Figure 14 be another embodiment of the present invention provides holder control method flow chart;
Figure 15 be another embodiment of the present invention provides holder control method flow chart;
Figure 16 be another embodiment of the present invention provides holder control method flow chart;
Figure 17 be another embodiment of the present invention provides holder control method flow chart;
Figure 18 is the flow chart of the control method of holder provided in an embodiment of the present invention;
Figure 19 be another embodiment of the present invention provides holder control method flow chart;
Figure 20 be another embodiment of the present invention provides holder control method flow chart;
Figure 21 be another embodiment of the present invention provides holder control method flow chart;
Figure 22 be another embodiment of the present invention provides holder control method flow chart;
Figure 23 be another embodiment of the present invention provides holder control method flow chart;
Figure 24 be another embodiment of the present invention provides holder control method flow chart;
Figure 25 be another embodiment of the present invention provides holder control method flow chart;
Figure 26 is the structure chart of control equipment provided in an embodiment of the present invention;
Figure 27 is the structure chart of holder provided in an embodiment of the present invention.
Appended drawing reference:
20- controls equipment 21- rolled round 22- rolled round
23- monitor 24- angle adjusting mechanism 25-GCU screen
26- battery 30- holder 31-Pitch spindle motor
32-Roll spindle motor 33-Yaw spindle motor 34- holder pedestal
35-Yaw axis armshaft 36- video camera fixed mechanism 37-Pitch axis armshaft
38-Roll axis armshaft 39- video camera 60- holder
260- controls at least one rolled round of equipment 261- 262- processor
263- communication interface 270- holder
271- communication interface 272- processor
Specific embodiment
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 clearly retouched
It states, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the present invention
In embodiment, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
It should be noted that it can be directly on another component when component is referred to as " being fixed on " another component
Or there may also be components placed in the middle.When a component is considered as " connection " another component, it, which can be, is directly connected to
To another component or it may be simultaneously present component placed in the middle.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more phases
Any and all combinations of the listed item of pass.
With reference to the accompanying drawing, it elaborates to some embodiments of the present invention.In the absence of conflict, following
Feature in embodiment and embodiment can be combined with each other.
The embodiment of the present invention provides a kind of control method of holder.Fig. 1 is the control of holder provided in an embodiment of the present invention
The flow chart of method.In the present embodiment, holder specifically can be hand-held holder, wherein the holder can for two axle The Cloud Terraces or
Three axis holder of person.As shown in Figure 1, the method in the present embodiment, may include:
Step S101, the rotational parameters information of at least one rolled round described in acquisition.
The control method of holder described in the present embodiment is applied to control equipment, and the control equipment is provided at least one
Rolled round.Fig. 2 is the structural schematic diagram of control equipment provided in an embodiment of the present invention.As indicated with 2, control equipment 20 specifically can be
Rolled round controls equipment, and optionally, there are two rolled round such as rolled rounds 21 and rolled round 22 for the setting of control equipment 20, only schematic herein
Illustrate, do not limit the number of rolled round in control equipment, in other embodiments, control equipment 20 is also provided with three and shakes
Wheel.In addition, control equipment 20 further includes monitor 23, angle adjusting mechanism 24, GCU screen 25 and battery 26.
In the present embodiment, control equipment 20 can control the posture of holder, and Fig. 3 is holder provided in an embodiment of the present invention
Structural schematic diagram.As shown in figure 3, holder 30 includes Pitch spindle motor 31, Roll spindle motor 32, Yaw spindle motor 33, holder
Pedestal 34, Yaw axis armshaft 35, video camera fixed mechanism 36, Pitch axis armshaft 37, Roll axis armshaft 38, video camera 39, wherein
It include inertial measurement component (Inertial Measurement Unit, abbreviation IMU) in video camera fixed mechanism 36, IMU is used for
Detect the posture of video camera 39.
As shown in Fig. 2, user can control the posture of holder 30 by the rolled round of rotation control equipment 20, for example, with
Family can rotate counterclockwise or clockwise rolled round 21, the rolled round that can also rotate counterclockwise or clockwise 22.User can individually turn
Shake wheel 21 or rolled round 22, rolled round 21 and rolled round 22 can also be rotated simultaneously.Rolled round 21 can be used for controlling holder 30 yaw angle,
Rolled round 22 can be used for controlling the pitch angle of holder 30;Alternatively, rolled round 21 can be used for controlling the pitch angle of holder 30, rolled round 22 can be used
In the yaw angle of control holder 30, only schematically illustrates herein, do not limit the specific appearance of the controllable holder of each rolled round
State angle.
Specifically, control equipment 20 can obtain the rotational parameters information of rolled round 21, optional when user rotates rolled round 21
, the rotational parameters information includes following at least one: angle value, angular speed.That is, when user rotates rolled round 21
When, control equipment 20 can obtain the real-time angular value of angle value such as rolled round 21 of the rolled round 21 in rotation, also available to shake
The real-time angular speed of angular speed such as rolled round 21 of the wheel 21 in rotation.Similarly, when user rotates rolled round 22, equipment 20 is controlled
The rotational parameters information of rolled round 22 can be obtained.When user rotates rolled round 21 and rolled round 22 simultaneously, control equipment 20 can obtain simultaneously
Take the rotational parameters information of rolled round 21 and the rotational parameters information of rolled round 22.
Without loss of generality, there are three rolled rounds for setting in the control equipment for controlling holder, and three rolled rounds are for controlling
Three rolled rounds are denoted as the first rolled round, the second rolled round, third rolled round, the first rolled round can be used for herein by the posture of holder respectively
The yaw angle of holder is controlled, the second rolled round can be used for controlling the pitch angle of holder, third rolled round can be used for controlling the roll of holder
Angle only schematically illustrates herein, does not limit the specific attitude angle of the controllable holder of each rolled round.
The rotational parameters information of at least one rolled round described in the acquisition, including following at least one: obtain the first rolled round
Rotational parameters information;Obtain the rotational parameters information of the second rolled round;Obtain the rotational parameters information of third rolled round.
In the present embodiment, the rotational parameters information of at least one rolled round described in the acquisition, comprising: obtain angle sensor
The measured value of device output, the rotational parameters information of the distant wheel is determined according to the measured value.For example, control equipment 20 is also set up
There are one or more angular transducers, angular transducer can be used for detecting the angle value of rolled round, further, according to the angle of rolled round
The rotation time of angle value and rolled round can determine the angular speed of rolled round.The present embodiment does not limit pair of angular transducer and rolled round
It should be related to and connection relationship.Optionally, each rolled round is corresponding with an angular transducer, i.e. an angular transducer is detectable
The angle value of one rolled round.In other embodiments, an angular transducer also can detect the angle value of multiple rolled rounds.
Optionally, the angular transducer includes one of photoelectric encoder, Hall sensor, potentiometer or a variety of.
By taking photoelectric encoder as an example, 5000 linear light photoelectric coders are specifically can be used as angular transducer, by microcontroller in the present embodiment
After unit (Micro controller Unit, MCU) carries out frequency multiplication acquisition, 20000 lines can be reached, so that photoelectric encoder
Resolution ratio can reach 360 degree/20000=0.018 degree.
In addition, angular transducer may be replaced by angular-rate sensor, at least one rolled round described in the acquisition turns
Dynamic parameter information, comprising: the measured value for obtaining angular-rate sensor output determines the rotation of the distant wheel according to the measured value
Parameter information.For example, control equipment 20 is additionally provided with one or more angular-rate sensors, angular-rate sensor can be used for detecting
The angular speed of rolled round further can determine the angle value of rolled round according to the angular speed of rolled round and the rotation time of rolled round.
The corresponding relationship and connection relationship of the present embodiment unlimited fixed angular speed sensor and rolled round.Optionally, each rolled round is corresponding with
The angular speed that one angular-rate sensor, i.e. an angular-rate sensor can detect a rolled round.In other embodiments, one
Angular-rate sensor also can detect the angular speed of multiple rolled rounds.
Step S102, the rotational parameters information is sent to holder, so that the holder is according to the rotational parameters information
Adjust the posture of the holder.
S101 can obtain the rotational parameters information of at least one rolled round, rotational parameters information to control equipment through the above steps
Including angle value and/or angular speed.Optionally, control equipment is smoothed the rotational parameters information of the rolled round got
Rotational parameters information after obtaining smoothing processing, and the rotational parameters information after smoothing processing is sent to holder.Holder according to
Rotational parameters information after smoothing processing adjusts the posture of the holder.Wire transmission mode or wireless can be used by controlling equipment
Communication mode to holder send smoothing processing after rotational parameters information.In the present embodiment, control equipment using 2.4G and
5.8G radiofrequency signal carries out data transmission, and data transmission distance can reach 1000 meters, strong antijamming capability.
Specifically, described send the rotational parameters information to holder, so that the holder is believed according to the rotational parameters
Breath adjusts the posture of the holder, including following at least one: the rotational parameters information of first rolled round is sent to holder, with
The holder is set to adjust the yaw angle of the holder according to the rotational parameters information of first rolled round;Described the is sent to holder
The rotational parameters information of two rolled rounds, so that the holder adjusts the holder according to the rotational parameters information of second rolled round
Pitch angle;The rotational parameters information of the third rolled round is sent to holder, so that the holder turns according to the third rolled round
Dynamic parameter information adjusts the roll angle of the holder.
Without loss of generality, there are three rolled rounds for setting in the control equipment for controlling holder, and three rolled rounds are for controlling
Three rolled rounds are denoted as the first rolled round, the second rolled round, third rolled round, the first rolled round can be used for herein by the posture of holder respectively
The yaw angle of holder is controlled, the second rolled round can be used for controlling the pitch angle of holder, third rolled round can be used for controlling the roll of holder
Angle.Optionally, when holder receives the rotational parameters information for the first rolled round that control equipment is sent, holder is according to described first
The rotational parameters information of rolled round adjusts the yaw angle of the holder.When holder receives turning for the second rolled round that control equipment is sent
When dynamic parameter information, holder adjusts the pitch angle of the holder according to the rotational parameters information of second rolled round.When holder connects
When receiving the rotational parameters information for the third rolled round that control equipment is sent, holder is according to the rotational parameters information of the third rolled round
Adjust the roll angle of the holder.
As shown in Fig. 2, for example, rolled round 21 can be used for controlling the yaw angle of holder 30, rolled round 22 can be used for controlling holder 30
Pitch angle.When the rotational parameters information of the rolled round 21 after holder 30 receives smoothing processing, holder 30 is according to rolled round 21
The yaw angle of rotational parameters information adjustment holder 30.The rotational parameters information of rolled round 22 after holder 30 receives smoothing processing
When, holder 30 adjusts the pitch angle of holder 30 according to the rotational parameters information of rolled round 22.Below to control equipment 20 to holder 30
The rotational parameters information of rolled round 21 after sending smoothing processing, so that holder 30 adjusts cloud according to the rotational parameters information of rolled round 21
For the yaw angle of platform 30, the process that control equipment 20 controls holder 30 is introduced in detailed annotation.
Specifically, control equipment 20 supports two kinds of control models: a kind of control model is speed control mode, another kind control
Molding formula is position control mode.
Under speed control mode, the angular speed of the rolled round 21 after control equipment 20 sends smoothing processing to holder 30, cloud
After platform 30 receives the angular speed of rolled round 21, the angular speed of rolled round 21 is integrated to obtain the angle value of rolled round 21, further
, holder 30 is using the angle value of calculated rolled round 21 as the target value of the yaw angle of holder 30, and holder 30 is according to yaw angle
Target value and actual value difference carry out feedback control so that the actual value of the yaw angle of holder 30 be equal to the target value, from
And realize control of the control equipment 20 to holder 30.
Under position control mode, control equipment 20 sends the angle value of rolled round 21 to holder 30, and holder 30, which receives, to be shaken
It after the angle value of wheel 21, is smoothed according to angle value of the preset smoothness to rolled round 21, further, holder 30 will
Target value of the angle value of rolled round 21 after smoothing processing as the yaw angle of holder 30, holder 30 is according to the target value of yaw angle
Feedback control is carried out with the difference of actual value, so that the actual value of the yaw angle of holder 30 is equal to the target value, to realize
Control control of the equipment 20 to holder 30.
It should be noted that the repeatable accuracy of rolled round control is high under position control mode, after holder is controlled by rolled round,
Initial point can be returned to.For example, the attitude angle of holder is denoted as initial attitude angle when rolled round 21 and rolled round 22 are in initial position, it is false
If rolled round 22 is motionless, user rotates rolled round 21, then the yaw angle of holder will change, if user rotates counterclockwise rolled round 21,
Make 5 circle of rotation counterclockwise of rolled round 21, then rotates clockwise rolled round 21, rolled round 21 is made to rotate clockwise 5 circles, then rolled round 21 can return
Attitude angle to initial position, while holder can also be restored to initial attitude angle, i.e., no backhaul is poor.
The present embodiment obtains the rotational parameters information of at least one rolled round thereon by control equipment, and by the rotation of rolled round
Parameter information is sent to holder, so that holder adjusts the posture of holder according to the rotational parameters information of rolled round, due to the angle of rolled round
Speed or angle value can be accurately controlled or calculate, then when adjusting the posture of holder according to the angular speed of rolled round or angle value,
The control precision of holder posture can be improved.
The embodiment of the present invention provides a kind of control method of holder.Fig. 4 be another embodiment of the present invention provides holder
The flow chart of control method.As shown in figure 4, on the basis of embodiment shown in Fig. 1, method in the present embodiment can also be wrapped
It includes:
Step S401, in memory by the history rotational parameters information storage of at least one rolled round.
In the present embodiment, when controlling at least one rolled round in equipment in rotation, control equipment can also record this
The history rotational parameters information of at least one rolled round, specifically, the history rotational parameters information of at least one rolled round is stored
Into the memory such as Flash flash memory of control equipment.Optionally, the historical measurements storage that photoelectric encoder exports is arrived
In Flash flash memory, that is to say, that the historical point view value for the rolled round for detecting photoelectric encoder is stored into Flash flash memory.
Specifically, the history rotational parameters information storage by least one rolled round is in memory, comprising: detection is used
The storage at family operates;When detecting storage operation, the history rotational parameters information of at least one rolled round is stored in
In reservoir.
In the present embodiment, it controls and is provided with track recording button or key in equipment, when user needs to record holder
When motion profile or rotational trajectory, user clicks track and records button or key, clicks track when control equipment checks user
When recording button or key, starts the rotational parameters information of the rolled round rotated on memory control apparatus, after a period of time, obtain
The history rotational parameters information of at least one rolled round.Optionally, control equipment stores going through for the first rolled round in historical time section
The historical point view value of history angle value, the historical point view value of the second rolled round and third rolled round, wherein the first rolled round can be used for controlling
The yaw angle of holder processed, the second rolled round can be used for controlling the pitch angle of holder, third rolled round can be used for controlling the roll angle of holder.
Step S402, the history rotational parameters information of at least one rolled round of the storage is sent to the holder, with
The holder is set to adjust the posture of the holder according to the history rotational parameters information of at least one rolled round.
It is also provided with trace playback button or key in control equipment, when user needs to play back the motion profile of holder
Or when rotational trajectory, user clicks trace playback button or key, at this point, at least one rolled round that control equipment is stored
History rotational parameters information is sent to holder, and holder is according to the history rotational parameters information such as historical point view of at least one rolled round
Value, determines the history posture of holder, and the current pose of the history pose adjustment holder according to holder, to realize holder
Track playback function.
Optionally, the historical point view value of the first rolled round for being stored of control equipment, the historical point view value of the second rolled round, with
And the historical point view value of third rolled round is sent to holder.Holder determines going through for holder according to the historical point view value of the first rolled round
History yaw angle;According to the historical point view value of the second rolled round, the history pitch angle of holder is determined;According to the history angle of third rolled round
Angle value determines the history roll angle of holder, further adjusts the practical yaw angle of holder, according to history according to history yaw angle
Pitch angle adjusts the practical pitch angle of holder, adjusts the practical roll angle of holder according to history roll angle.
The present embodiment passes through the history rotational parameters information of at least one rolled round on memory control apparatus, and the history is turned
Dynamic parameter information is sent to holder, so that history pose adjustment cloud of the holder according to the corresponding holder of history rotational parameters information
The current pose of platform realizes the track playback function of holder.
The embodiment of the present invention provides a kind of control method of holder.Fig. 5 be another embodiment of the present invention provides holder
The flow chart of control method.As shown in figure 5, on the basis of the above embodiments, the method in the present embodiment can also include:
Step S501, operation is arranged in the limit for detecting user.
As shown in Figure 6, it is assumed that X-axis indicates that the roll axis of holder 60, Y-axis indicate that the pitch axis of holder 60, Z axis indicate holder
60 yaw axis.When holder 60 is rotated using roll axis as shaft, the roll angle of holder 60 changes;When holder 60 is with pitching
When axis is that shaft rotates, the pitch angle of holder 60 changes;When holder 60 using yaw axis as shaft rotate when, holder 60 it is inclined
Boat angle changes.
In the present embodiment, holder can also be arranged with one or more in yaw axis, pitch axis, roll axis in control equipment
A axis is limit angle when shaft rotates.Without loss of generality, it is assumed that there are three rolled round, three rolled rounds for setting in control equipment
It is denoted as the first rolled round, the second rolled round, third rolled round respectively, the first rolled round can be used for controlling the yaw angle of holder, and the second rolled round can
For controlling the pitch angle of holder, third rolled round can be used for controlling the roll angle of holder.When user rotates one in three rolled rounds
When a or multiple rolled rounds, holder will be rotated by shaft of one or more axis in yaw axis, pitch axis, roll axis.Optionally,
User simultaneously rotate three rolled rounds, holder simultaneously using yaw axis, pitch axis, roll axis be shaft rotation, when cloud platform rotation to certain
When one posture, user clicks the limit button or key in control equipment, and expression carries out limit setting to the attitude angle of unmanned plane.
Step S502, when detecting the limit setting operation, limit angle setting instruction is sent to be arranged to holder
The limit angle that holder is rotated using one or more axis as shaft.
When control equipment, which checks user, clicks limit button or key, limit angle setting is sent to holder and is instructed,
The limit angle that instruction setting holder is rotated using one or more axis as shaft is arranged according to the limit angle for holder.In this reality
It applies in example, the limit angle setting instruction that control equipment is sent to holder includes the case where following several possible:
A kind of possible situation is: only control holder records the posture of current time holder for limit angle setting instruction
Angle, and the limit angle that holder is rotated using one or more axis as shaft is determined according to the attitude angle of current time holder.
Specifically, described send limit angle setting instruction so that holder is arranged using one or more axis as shaft to holder
The limit angle of rotation, comprising: send limit angle setting instruction to holder to indicate the holder by current holder with one
Or multiple axis are that the angle that shaft rotates is determined as the corresponding limit angle around one or more pivot axis.
For example, user rotates three rolled rounds simultaneously, holder is rotated using yaw axis, pitch axis, roll axis as shaft simultaneously, when
When cloud platform rotation is to a certain posture, user clicks the limit button or key in control equipment, and control equipment sends to holder and limits
The setting instruction of parallactic angle degree records the yaw angle of current time holder, pitch angle, roll angle to indicate holder, and by current time
The yaw angle of holder is determined as the limit angle that holder is rotated using yaw axis as shaft, by the pitch angle of current time holder
It is determined as the limit angle that holder is rotated using pitch axis as shaft, and the roll angle of current time holder is determined as cloud
The limit angle that platform is rotated using roll axis as shaft.
User continues while rotating three rolled rounds, and holder is rotated using yaw axis, pitch axis, roll axis as shaft simultaneously, when
When cloud platform rotation is to another posture, user again taps on the limit button or key in control equipment, controls equipment again to cloud
Platform sends limit angle setting instruction to indicate that holder records the yaw angle of current time holder, pitch angle, roll angle, and will
The yaw angle of current time holder is determined as another limit angle that holder is rotated using yaw axis as shaft, by current time cloud
The pitch angle of platform is determined as another limit angle that holder is rotated using pitch axis as shaft, and by the cross of current time holder
Roll angle is determined as another limit angle that holder is rotated using roll axis as shaft.
Optionally, user can also only rotate a rolled round in three rolled rounds, and setting holder is being to turn with an axis
The limit angle of axis.Limit button or key in control equipment may include pitching limit button or key, roll limit by
Button or key and yaw limit button or key.
Operation is arranged in the limit of the detection user, comprising: detects the pitching limit setting operation of user;It is described to holder
Send the angle that limit angle setting instruction is rotated current holder using one or more axis to indicate the holder as shaft
It is determined as the corresponding limit angle around one or more pivot axis, comprising: described to send pitching limit angle to holder
Degree setting instruction is to indicate that current holder is determined as using the angle that pitch axis is rotated as shaft with pitch axis by the holder
For the limit angle of shaft rotation.
For example, the second rolled round can be used for controlling the pitch angle of holder, when user only rotates the second rolled round, holder is with pitch axis
I.e. Y-axis is shaft rotation, and when cloud platform rotation is to when pitch attitude as shown in Figure 7, user clicks the pitching limit in control equipment
Position button or key, control equipment send pitching limit to holder according to clicking operation of the user to pitching limit button or key
Angle setting instruction, to indicate that holder records the pitch angle α of current time holder, and by the pitch angle α of current time holder
It is determined as the limit angle that holder is rotated using pitch axis as shaft.User continues to rotate the second rolled round, and holder continues to bow
Axis is faced upward as shaft rotation, when cloud platform rotation is to when pitch attitude as shown in Figure 8, user again taps on the pitching in control equipment
Limit button or key, control equipment send out the operation that again taps on of pitching limit button or key to holder according to user again
Pitching limit angle setting instruction is sent, to indicate that holder records the pitch angle β of current time holder again, and by current time
The pitch angle β of holder is determined as another limit angle that holder is rotated using pitch axis as shaft.
Alternatively, operation is arranged in the limit of the detection user, comprising: detect the yaw limit setting operation of user;It is described
Limit angle setting instruction is sent to indicate that the holder rotates current holder by shaft of one or more axis to holder
Angle be determined as the corresponding limit angle around one or more pivot axis, comprising: it is described to holder send yaw
Angle setting instruction is limited to indicate that current holder is determined as using the angle that yaw axes are rotated as shaft with inclined by the holder
The axis that navigates is the limit angle that shaft rotates.
For example, the first rolled round can be used for controlling the yaw angle of holder, when user only rotates the first rolled round, holder is with yaw axis
I.e. Z axis be shaft rotation, when cloud platform rotation arrive yaw-position as shown in Figure 9 when, user click control equipment on yaw limit
Position button or key, control equipment send yaw limit to holder according to clicking operation of the user to yaw limit button or key
Angle setting instruction, to indicate that holder records the yaw angle γ of current time holder, and by the yaw angle of current time holder
γ is determined as the limit angle that holder is rotated using yaw axis as shaft.User continues to rotate the first rolled round, holder continue with
Yaw axis be shaft rotation, when cloud platform rotation arrive yaw-position as shown in Figure 10 when, user again tap on controls equipment on
Limit button or key are yawed, control equipment operates to holder again yaw limit button or again tapping on for key according to user
Secondary transmission yaw limit angle setting instruction, to indicate that holder records the yaw angle θ of current time holder again, and will be current
The yaw angle θ of moment holder is determined as another limit angle that holder is rotated using yaw axis as shaft.
Alternatively possible situation is: including the angle value of rolled round in limit angle setting instruction, holder is according to limit angle
The angle value of rolled round determines the maximal angle value that holder can rotate in degree setting instruction.For example, user only rotates three rolled rounds
In a rolled round, it is assumed that the rolled round is used to control the pitch angle of holder, and when user rotates the rolled round, holder is with pitch axis
Shaft rotation, it is assumed that when rolled round is located at initial angle, holder is in initial pitch attitude, when rolled round is turned to a mesh by user
When marking angle, user clicks the pitching limit button or key in control equipment, and control equipment presses pitching limit according to user
The clicking operation of button or key sends pitching limit angle setting instruction to holder, includes in pitching limit angle setting instruction
The current angle value of rolled round, such as rolled round have rotated clockwise 360 degree from initial angle, and the current angle value of rolled round is positive 360
Degree.The holder angle value current according to the rolled round determines the limit angle that holder is rotated using pitch axis as shaft.User
The rolled round is continued to rotate, when rolled round is turned to another target angle by user, user again taps on bowing in control equipment
Limit button or key are faced upward, control equipment sends pitching limit angle setting instruction to holder again, and pitching limit angle is set
Setting includes the current angle value of rolled round in instruction, such as rolled round has rotated counterclockwise minus 360 degree from positive 360 degree, and rolled round is currently
Angle value is negative 360 degree, the holder angle value current according to the rolled round, and it is another to determine that holder is rotated using pitch axis as shaft
A limit angle.When controlling the angle value for the rolled round that equipment is sent to holder greater than positive 360 degree or less than minus 360 degree, holder
Pitch angle can only turn to the limit angle close with the angle value.
In the present embodiment, the method also includes: detect user releasing limit operation;When detecting releasing limit
When bit manipulation, is sent to holder and release the rotation limit that limit instruction is rotated using one or more axis as shaft to release holder
Position.
For example, being additionally provided with limit releasing button or key in control equipment, the limit in equipment is controlled when the user clicks
When releasing button or key, control equipment sends to holder according to clicking operation of the user to limit releasing button or key and releases
Limit instruction, the rotary spacing rotated using one or more axis as shaft using releasing holder.
Operation is arranged by the limit that control equipment detects user in the present embodiment, and sends limit angle setting to holder and refer to
The limit angle rotated using one or more axis as shaft so that holder is arranged is enabled, the limit function to the attitude angle of holder is realized
Energy.
The embodiment of the present invention provides a kind of control method of holder.Figure 11 be another embodiment of the present invention provides holder
The flow chart of control method.Figure 12 be another embodiment of the present invention provides holder control method flow chart.
As shown in figure 11, on the basis of the above embodiments, the method in the present embodiment can also include:
Step S1101, the emergent stopping operation of user is detected.
Step S1102, when detecting emergent stopping operation, emergent stopping instruction is sent so that holder is tight to holder
Emergency stop is stopped.
Optionally, it controls in equipment and is additionally provided with emergency stop button or key, needed when user has found cloud platform rotation extremely
When wanting holder emergent stopping, the emergency stop button or key in control equipment can be clicked, control equipment will be according to user couple
The clicking operation of emergency stop button or key to holder send emergent stopping instruction, holder using motor current joint angle into
Row closed-loop control, so that holder emergent stopping.
As shown in figure 12, on the basis of the above embodiments, the method in the present embodiment can also include:
Step S1201, the holder parameter configuration operation of user is detected.
Step S1202, according to the holder parameter configuration operation detected, holder configuration parameter is determined.
In the present embodiment, user can also configure the parameter of holder by controlling equipment, for example, in control equipment
It is provided with parameter configuration button or key, control equipment can be determined according to clicking operation of the user to parameter configuration button or key
Holder configuration parameter out.Optionally, the holder configuration parameter include one of dead band value, angular speed multiplying power, smoothness or
It is a variety of.
Step S1203, the holder configuration parameter is sent to the holder.
Further, control equipment by one of holder configuration parameter such as dead band value, angular speed multiplying power, smoothness or
It is a variety of to be sent to holder.
When holder receives dead band value, dead band value is stored.In the present embodiment, dead band value can be an angle
Angle value is also possible to a magnitude of angular velocity.When holder receives the angular speed for the rolled round that control equipment sends over, compare control
The angular speed for the rolled round that control equipment sends over and the size of dead band value.If the angular speed for the rolled round that control equipment sends over
Less than dead band value, then holder is not responding to control of the control equipment to holder.If the angle speed for the rolled round that control equipment sends over
Degree is greater than dead band value, then the angular speed for controlling the rolled round that equipment sends over is subtracted dead band value and obtains a speed difference by holder
Value, is further integrated the speed difference to obtain the targeted attitude of holder, and adjust cloud according to the targeted attitude of holder
The practical posture of platform.When holder receives the angle value for the rolled round that control equipment sends over, compares control equipment and be transmitted across
The angle value for the rolled round come and the size of dead band value.If the angle value for the rolled round that control equipment sends over is less than dead band value,
Then holder is not responding to control of the control equipment to holder.If the angle value for the rolled round that control equipment sends over is greater than dead zone
Value, then the angle value for controlling the rolled round that equipment sends over is subtracted dead band value and obtains an angle difference by holder, further will
Targeted attitude of the angle difference as holder, and adjust according to the targeted attitude of holder the practical posture of holder.
When holder receives angular speed multiplying power, angular speed multiplying power is stored.When holder receives control equipment hair
When the angular speed for the rolled round brought, the angular speed of rolled round that equipment sends over will be controlled multiplied by the angular speed multiplying power, and right
The angular speed of rolled round is integrated the targeted attitude to determine holder multiplied by the value after the angular speed multiplying power, further according to cloud
The targeted attitude of platform adjusts the practical posture of holder.
When holder receives smoothness, smoothness is stored.When holder receives what control equipment sended over
When the angular speed of rolled round, according to pre-selection storage smoothness the angular speed of rolled round is filtered, and to filtering processing after
Angular speed integrated the targeted attitude to determine holder, the reality of holder is further adjusted according to the targeted attitude of holder
Border posture.
The present embodiment detects the emergent stopping operation of user by control equipment, and is grasped according to the emergent stopping detected
Make, sends emergent stopping instruction so that holder emergent stopping, avoids holder from continuing to rotate when there is anomalous rotation to holder;Separately
Outside, control equipment can also send holder configuration parameter to holder, and holder can when adjusting holder posture according to holder configuration parameter
Improve the control precision to holder.
The embodiment of the present invention provides a kind of control method of holder.Figure 13 be another embodiment of the present invention provides holder
The flow chart of control method.The control method of holder described in the present embodiment is applied to control equipment, the control equipment setting
There is at least one rolled round.As shown in figure 13, the method in the present embodiment may include:
Step S1301, in memory by the history rotational parameters information storage of at least one rolled round.
Specifically, the history rotational parameters information storage by least one rolled round is in memory, comprising: detection is used
The storage at family operates;When detecting storage operation, the history rotational parameters information of at least one rolled round is stored in
In reservoir.
Step S1302, the history rotational parameters information of at least one rolled round of the storage is sent to the holder, with
The holder is set to adjust the posture of the holder according to the history rotational parameters information of at least one rolled round.
The concrete principle and implementation of the control method of holder provided in an embodiment of the present invention are and embodiment illustrated in fig. 4
Similar, details are not described herein again.
The present embodiment passes through the history rotational parameters information of at least one rolled round on memory control apparatus, and the history is turned
Dynamic parameter information is sent to holder, so that history pose adjustment cloud of the holder according to the corresponding holder of history rotational parameters information
The current pose of platform realizes the track playback function of holder.
The embodiment of the present invention provides a kind of control method of holder.Figure 14 be another embodiment of the present invention provides holder
The flow chart of control method.As shown in figure 14, on the basis of the above embodiments, the method in the present embodiment can also include:
Step S1401, the rotational parameters information of at least one rolled round described in acquisition.
Optionally, the rotational parameters information includes following at least one: angle value, angular speed.
The rotational parameters information of at least one rolled round described in the acquisition, including following at least one: obtain the first rolled round
Rotational parameters information;Obtain the rotational parameters information of the second rolled round;Obtain the rotational parameters information of third rolled round.
Step S1402, the rotational parameters information is sent to holder, so that the holder is according to the rotational parameters information
Adjust the posture of the holder.
It is described to send the rotational parameters information to holder, so that the holder adjusts institute according to the rotational parameters information
The posture for stating holder, including following at least one: the rotational parameters information of first rolled round is sent to holder, so that the cloud
Platform adjusts the yaw angle of the holder according to the rotational parameters information of first rolled round;Second rolled round is sent to holder
Rotational parameters information, so that the holder adjusts the pitch angle of the holder according to the rotational parameters information of second rolled round;
The rotational parameters information of the third rolled round is sent to holder, so that the holder is believed according to the rotational parameters of the third rolled round
Breath adjusts the roll angle of the holder.
The concrete principle and implementation of the control method of holder provided in an embodiment of the present invention are and embodiment illustrated in fig. 1
Similar, details are not described herein again.
The present embodiment obtains the rotational parameters information of at least one rolled round thereon by control equipment, and by the rotation of rolled round
Parameter information is sent to holder, so that holder adjusts the posture of holder according to the rotational parameters information of rolled round, due to the angle of rolled round
Speed or angle value can be accurately controlled or calculate, then when adjusting the posture of holder according to the angular speed of rolled round or angle value,
The control precision of holder posture can be improved.
The embodiment of the present invention provides a kind of control method of holder.Figure 15 be another embodiment of the present invention provides holder
The flow chart of control method.As shown in figure 15, on the basis of the above embodiments, the method in the present embodiment can also include:
Step S1501, operation is arranged in the limit for detecting user.
Step S1502, when detecting the limit setting operation, limit angle setting instruction is sent to be arranged to holder
The limit angle that holder is rotated using one or more axis as shaft.
Optionally, described to send limit angle setting instruction so that holder is arranged using one or more axis as shaft to holder
The limit angle of rotation, comprising: send limit angle setting instruction to holder to indicate the holder by current holder with one
Or multiple axis are that the angle that shaft rotates is determined as the corresponding limit angle around one or more pivot axis.
Specifically, operation is arranged in the limit of the detection user, comprising: detect the yaw limit setting operation of user;Institute
It states to holder and sends limit angle setting instruction to indicate that the holder turns current holder by shaft of one or more axis
Dynamic angle is determined as the corresponding limit angle around one or more pivot axis, comprising: sends yaw limit to holder
Parallactic angle degree setting instruction is to indicate that current holder is determined as by the angle that shaft rotates of yaw axes to yaw by the holder
Axis is the limit angle of shaft rotation.
Alternatively, operation is arranged in the limit of the detection user, comprising: detect the pitching limit setting operation of user;It is described
Limit angle setting instruction is sent to indicate that the holder rotates current holder by shaft of one or more axis to holder
Angle be determined as the corresponding limit angle around one or more pivot axis, comprising: to holder send pitching limit
Angle setting instruction is to indicate that current holder is determined as using the angle that pitch axis is rotated as shaft with pitch axis by the holder
Line is the limit angle of shaft rotation.
In addition, the method also includes: detect the releasing limit operation of user;It is operated when detecting that the releasing limits
When, it is sent to holder and releases the rotary spacing that limit instruction is rotated using one or more axis as shaft to release holder.
The concrete principle and implementation of the control method of holder provided in an embodiment of the present invention are and embodiment illustrated in fig. 5
Similar, details are not described herein again.
Operation is arranged by the limit that control equipment detects user in the present embodiment, and sends limit angle setting to holder and refer to
The limit angle rotated using one or more axis as shaft so that holder is arranged is enabled, the limit function to the attitude angle of holder is realized
Energy.
The embodiment of the present invention provides a kind of control method of holder.Figure 16 be another embodiment of the present invention provides holder
The flow chart of control method.Figure 17 be another embodiment of the present invention provides holder control method flow chart.
As shown in figure 16, on the basis of the above embodiments, the method in the present embodiment can also include:
Step S1601, the emergent stopping operation of user is detected.
Step S1602, when detecting emergent stopping operation, emergent stopping instruction is sent so that holder is tight to holder
Emergency stop is stopped.
As shown in figure 17, on the basis of the above embodiments, the method in the present embodiment can also include:
Step S1701, the holder parameter configuration operation of user is detected.
Step S1702, according to the holder parameter configuration operation detected, holder configuration parameter is determined.
Step S1703, the holder configuration parameter is sent to the holder.
Optionally, the holder configuration parameter includes one of dead band value, angular speed multiplying power, smoothness or a variety of.
The concrete principle and implementation of the control method of holder provided in an embodiment of the present invention with Figure 11 and Figure 12 institute
Show that embodiment is similar, details are not described herein again.
The present embodiment detects the emergent stopping operation of user by control equipment, and is grasped according to the emergent stopping detected
Make, sends emergent stopping instruction so that holder emergent stopping, avoids holder from continuing to rotate when there is anomalous rotation to holder;Separately
Outside, control equipment can also send holder configuration parameter to holder, and holder can when adjusting holder posture according to holder configuration parameter
Improve the control precision to holder.
The embodiment of the present invention provides a kind of control method of holder.Figure 18 is the control of holder provided in an embodiment of the present invention
The flow chart of method.The control method of holder described in the present embodiment is applied to holder.As shown in figure 18, the side in the present embodiment
Method may include:
Step S1801, receiving control apparatus send the control equipment at least one rolled round rotational parameters information.
Optionally, the rotational parameters information includes following at least one: angle value, angular speed.
The rotational parameters information of at least one rolled round in the control equipment that the receiving control apparatus is sent, including such as
Lower at least one: the rotational parameters information for the first rolled round that receiving control apparatus is sent;The second of receiving control apparatus transmission shakes
The rotational parameters information of wheel;The rotational parameters information for the third rolled round that receiving control apparatus is sent.
Step S1802, the posture of the holder is adjusted according to the rotational parameters information.
The posture that the holder is adjusted according to the rotational parameters information, including following at least one: according to described
The rotational parameters information of first rolled round adjusts the yaw angle of the holder;It is adjusted according to the rotational parameters information of second rolled round
The pitch angle of the holder;The roll angle of the holder is adjusted according to the rotational parameters information of the third rolled round.
The concrete principle and implementation of the control method of holder provided in an embodiment of the present invention are and embodiment illustrated in fig. 1
Similar, details are not described herein again.
The rotational parameters information at least one rolled round that the present embodiment is sent by holder receiving control apparatus, and according to shaking
The posture of the rotational parameters information adjustment holder of wheel, since the angular speed or angle value of rolled round can be accurately controlled or calculate,
When then according to the posture of the angular speed of rolled round or angle value adjustment holder, the control precision of holder posture can be improved.
The embodiment of the present invention provides a kind of control method of holder.Figure 19 be another embodiment of the present invention provides holder
The flow chart of control method.As shown in figure 19, on the basis of embodiment illustrated in fig. 18, method in the present embodiment can be with
Include:
Step S1901, the history rotational parameters information at least one rolled round that the control equipment is sent is received.
Step S1902, the posture of the holder is adjusted according to the history rotational parameters information of at least one rolled round.
The concrete principle and implementation of the control method of holder provided in an embodiment of the present invention are and embodiment illustrated in fig. 4
Similar, details are not described herein again.
The history rotational parameters information at least one rolled round that the present embodiment is sent by holder receiving control apparatus, and root
According to the current pose of the history pose adjustment holder of the corresponding holder of history rotational parameters information, the track for realizing holder is returned
Playing function.
The embodiment of the present invention provides a kind of control method of holder.Figure 20 be another embodiment of the present invention provides holder
The flow chart of control method.As shown in figure 20, on the basis of Figure 18 or embodiment illustrated in fig. 19, method in the present embodiment,
Can also include:
Step S2001, instruction is arranged in the limit angle that receiving control apparatus is sent.
Step S2002, the limit rotated using one or more axis as shaft according to the limit angle setting instruction setting
Parallactic angle degree.
The limit angle rotated using one or more axis as shaft according to the limit angle setting instruction setting,
It include: the angle that rotates current holder as shaft using one or more axis when receiving limit angle setting instruction
Degree is determined as the corresponding limit angle around one or more pivot axis.
Optionally, instruction is arranged in the limit angle that the receiving control apparatus is sent, comprising: what receiving control apparatus was sent
Yaw limit angle setting instruction;It is described to be determined as corresponding to by the angle that shaft rotates of one or more axis by current holder
The limit angle around one or more pivot axis, comprising: the angle for rotating current holder as shaft using yaw axes
Degree is determined as the limit angle rotated using yaw axes as shaft.
Alternatively, instruction is arranged in the limit angle that the receiving control apparatus is sent, comprising: what receiving control apparatus was sent bows
Face upward limit angle setting instruction;It is described current holder is determined as using one or more axis as the angle that shaft rotates it is corresponding
Around the limit angle of one or more pivot axis, comprising: the angle for rotating current holder as shaft using pitch axis
It is determined as the limit angle rotated using pitch axis as shaft.
Optionally, the method also includes the releasings that: receiving control apparatus is sent to limit instruction;It is limited according to the releasing
Instruction releases the rotary spacing that holder is rotated using one or more axis as shaft.
The concrete principle and implementation of the control method of holder provided in an embodiment of the present invention are and embodiment illustrated in fig. 5
Similar, details are not described herein again.
The limit angle setting instruction that the present embodiment is sent by holder receiving control apparatus, and according to the limit angle
The limit angle that instruction setting is rotated using one or more axis as shaft is set, realizes control equipment to the attitude angle of holder
Limit function.
The embodiment of the present invention provides a kind of control method of holder.Figure 21 be another embodiment of the present invention provides holder
The flow chart of control method.As shown in figure 21, on the basis of the above embodiments, the method in the present embodiment can also include:
Step S2101, the emergent stopping instruction that receiving control apparatus is sent.
Step S2102, it is instructed according to the emergent stopping, controls holder emergent stopping.
In addition, the method also includes: the holder configuration parameter that receiving control apparatus is sent.
Optionally, the holder configuration parameter includes one of dead band value, angular speed multiplying power, smoothness or a variety of.
The concrete principle and implementation of the control method of holder provided in an embodiment of the present invention are implemented with shown in Figure 11
Example is similar, and details are not described herein again.
The present embodiment is instructed by the emergent stopping that holder receiving control apparatus is sent, and is referred to according to the emergent stopping
It enables, controls holder emergent stopping, holder is avoided to continue to rotate when there is anomalous rotation;In addition, holder can also receive control
The control essence to holder can be improved in the holder configuration parameter that equipment is sent, holder when adjusting holder posture according to holder configuration parameter
Degree.
The embodiment of the present invention provides a kind of control method of holder.Figure 22 be another embodiment of the present invention provides holder
The flow chart of control method.The control method of holder described in the present embodiment is applied to holder.As shown in figure 22, in the present embodiment
Method, may include:
Step S2201, the history rotation of at least one rolled round in the control equipment that the control equipment is sent is received
Parameter information.
Step S2202, the posture of the holder is adjusted according to the history rotational parameters information of at least one rolled round.
The concrete principle and implementation of the control method of holder provided in an embodiment of the present invention are and embodiment illustrated in fig. 4
Similar, details are not described herein again.
The present embodiment is received at least one rolled round in the control equipment that the control equipment is sent by holder and gone through
History rotational parameters information, and the current appearance of the history pose adjustment holder according to the corresponding holder of history rotational parameters information
State realizes the track playback function of holder.
The embodiment of the present invention provides a kind of control method of holder.Figure 23 be another embodiment of the present invention provides holder
The flow chart of control method.As shown in figure 23, on the basis of embodiment illustrated in fig. 22, method in the present embodiment can be with
Include:
Step S2301, receiving control apparatus send the control equipment at least one rolled round rotational parameters information.
Optionally, the rotational parameters information includes following at least one: angle value, angular speed.
The rotational parameters information of at least one rolled round in the control equipment that the receiving control apparatus is sent, including such as
Lower at least one: the rotational parameters information of the first rolled round in the control equipment that receiving control apparatus is sent;Control is received to set
The rotational parameters information of second rolled round in the control equipment that preparation is sent;In the control equipment that receiving control apparatus is sent
The rotational parameters information of third rolled round.
Step S2302, the posture of the holder is adjusted according to the rotational parameters information.
The posture that the holder is adjusted according to the rotational parameters information, including following at least one: according to described
The rotational parameters information of first rolled round adjusts the yaw angle of the holder;It is adjusted according to the rotational parameters information of second rolled round
The pitch angle of the holder;The roll angle of the holder is adjusted according to the rotational parameters information of the third rolled round.
The concrete principle and implementation of the control method of holder provided in an embodiment of the present invention are and embodiment illustrated in fig. 1
Similar, details are not described herein again.
The rotation of at least one rolled round is joined in the control equipment that the present embodiment is sent by holder receiving control apparatus
Number information, and adjust according to the rotational parameters information posture of the holder, since the angular speed or angle value of rolled round can be with
It is accurately controlled or calculates, then when adjusting the posture of holder according to the angular speed of rolled round or angle value, holder posture can be improved
Control precision.
The embodiment of the present invention provides a kind of control method of holder.Figure 24 be another embodiment of the present invention provides holder
The flow chart of control method.As shown in figure 24, on the basis of Figure 22 or embodiment illustrated in fig. 23, method in the present embodiment,
Can also include:
Step S2401, instruction is arranged in the limit angle that receiving control apparatus is sent.
Step S2402, the limit rotated using one or more axis as shaft according to the limit angle setting instruction setting
Parallactic angle degree.
The limit angle rotated using one or more axis as shaft according to the limit angle setting instruction setting,
It include: the angle that rotates current holder as shaft using one or more axis when receiving limit angle setting instruction
Degree is determined as the corresponding limit angle around one or more pivot axis.
Optionally, instruction is arranged in the limit angle that the receiving control apparatus is sent, comprising: what receiving control apparatus was sent
Yaw limit angle setting instruction;It is described to be determined as corresponding to by the angle that shaft rotates of one or more axis by current holder
The limit angle around one or more pivot axis, comprising: the angle for rotating current holder as shaft using yaw axes
Degree is determined as the limit angle rotated using yaw axes as shaft.
Alternatively, instruction is arranged in the limit angle that the receiving control apparatus is sent, comprising: what receiving control apparatus was sent bows
Face upward limit angle setting instruction;It is described current holder is determined as using one or more axis as the angle that shaft rotates it is corresponding
Around the limit angle of one or more pivot axis, comprising: the angle for rotating current holder as shaft using pitch axis
It is determined as the limit angle rotated using pitch axis as shaft.
In addition, the method also includes: the releasing that receiving control apparatus is sent limits instruction, is referred to according to releasing limit
It enables, releases the rotary spacing that holder is rotated using one or more axis as shaft.
The concrete principle and implementation of the control method of holder provided in an embodiment of the present invention are and embodiment illustrated in fig. 5
Similar, details are not described herein again.
The limit angle setting instruction that the present embodiment is sent by holder receiving control apparatus, and according to the limit angle
The limit angle that instruction setting is rotated using one or more axis as shaft is set, the limit function to the attitude angle of holder is realized
Energy.
The embodiment of the present invention provides a kind of control method of holder.Figure 25 be another embodiment of the present invention provides holder
The flow chart of control method.As shown in figure 25, on the basis of the above embodiments, the method in the present embodiment can also include:
Step S2501, the emergent stopping instruction that receiving control apparatus is sent.
Step S2502, it is instructed according to the emergent stopping, controls holder emergent stopping.
In addition, the method also includes: the holder configuration parameter that receiving control apparatus is sent.Optionally, the cloud
Platform configuration parameter includes one of dead band value, angular speed multiplying power, smoothness or a variety of.
The concrete principle and implementation of the control method of holder provided in an embodiment of the present invention are implemented with shown in Figure 11
Example is similar, and details are not described herein again.
The present embodiment is instructed by the emergent stopping that holder receiving control apparatus is sent, and is referred to according to the emergent stopping
It enables, controls holder emergent stopping, holder is avoided to continue to rotate when there is anomalous rotation;In addition, holder can also receive control
The control essence to holder can be improved in the holder configuration parameter that equipment is sent, holder when adjusting holder posture according to holder configuration parameter
Degree.
The embodiment of the present invention provides a kind of control equipment.The Application of control device controls equipment in rolled round.Figure 26 is this hair
The structure chart for the control equipment that bright embodiment provides, as shown in figure 26, control equipment 260 include: at least one rolled round 261, place
Manage device 262, communication interface 263.Wherein, processor 262 is used to obtain the rotational parameters information of at least one rolled round 261;Communication
Interface 263 is used to send the rotational parameters information to holder, so that the holder adjusts institute according to the rotational parameters information
State the posture of holder.
Optionally, the rotational parameters information includes following at least one: angle value, angular speed.
Optionally, when processor 262 obtains the rotational parameters information of at least one rolled round 261, it is specifically used for as follows at least
It is a kind of: to obtain the rotational parameters information of the first rolled round;Obtain the rotational parameters information of the second rolled round;Obtain the rotation of third rolled round
Parameter information.
Optionally, communication interface 263 sends the rotational parameters information to holder, so that the holder is according to the rotation
When parameter information adjusts the posture of the holder, it is specifically used for following at least one: sends turning for first rolled round to holder
Dynamic parameter information, so that the holder adjusts the yaw angle of the holder according to the rotational parameters information of first rolled round;To
Holder sends the rotational parameters information of second rolled round, so that rotational parameters information of the holder according to second rolled round
Adjust the pitch angle of the holder;The rotational parameters information of the third rolled round is sent to holder, so that the holder is according to institute
The rotational parameters information for stating third rolled round adjusts the roll angle of the holder.
Optionally, processor 262 is also used to the history rotational parameters information of at least one rolled round 261 being stored in memory
In, optionally, memory can be the memory on processor piece, the memory being also possible to outside processor piece.Communication interface
263 are also used to the history rotational parameters information of at least one rolled round 261 of the storage being sent to the holder, so that described
Holder adjusts the posture of the holder according to the history rotational parameters information of at least one rolled round 261.
Optionally, processor 262 is also used to: detecting the storage operation of user;When detecting storage operation, processing
Device 262 stores the history rotational parameters information of at least one rolled round 261 in memory.
Optionally, processor 262 is also used to: detecting the limit setting operation of user;It is grasped when detecting that the limit is arranged
When making, communication interface 263 sends limit angle setting instruction to holder and is turned so that holder is arranged by shaft of one or more axis
Dynamic limit angle.
Optionally, communication interface 263 sends limit angle setting instruction to holder holder is arranged with one or more axis
When line is the limit angle of shaft rotation, it is specifically used for: sends limit angle setting instruction to holder to indicate that the holder will
Current holder is determined as corresponding around one or more pivot axis using one or more axis as the angle that shaft rotates
Limit angle.
Optionally, when operation is arranged in the limit that processor 262 detects user, it is specifically used for: detects the yaw limit of user
Setting operation;Communication interface 263 sends limit angle setting instruction to holder to indicate the holder by current holder with one
Or multiple axis be shaft rotation angle be determined as it is corresponding around the limit angle of one or more pivot axis when, tool
Body is used for: sending yaw limit angle setting instruction to indicate the holder by current holder using yaw axes as shaft to holder
The angle of rotation is determined as the limit angle rotated using yaw axes as shaft.
Optionally, when operation is arranged in the limit that processor 262 detects user, it is specifically used for: detects the pitching limit of user
Setting operation;Communication interface 263 sends limit angle setting instruction to holder to indicate the holder by current holder with one
Or multiple axis be shaft rotation angle be determined as it is corresponding around the limit angle of one or more pivot axis when, tool
Body is used for: sending pitching limit angle setting instruction to indicate the holder by current holder using pitch axis as shaft to holder
The angle of rotation is determined as the limit angle rotated using pitch axis as shaft.
Optionally, processor 262 is also used to: detecting the releasing limit operation of user;It is grasped when detecting that the releasing limits
When making, communication interface 263 is sent to holder releases what limit instruction was rotated using one or more axis as shaft to release holder
Rotary spacing.
Optionally, processor 262 is also used to: detecting the emergent stopping operation of user;When detecting emergent stopping behaviour
When making, communication interface 263 sends emergent stopping instruction so that holder emergent stopping to holder.
Optionally, processor 262 is also used to: detecting the holder parameter configuration operation of user;According to the cloud detected
The operation of platform parameter configuration, determines holder configuration parameter;Communication interface 263 is also used to send the holder configuration ginseng to the holder
Number.
Optionally, the holder configuration parameter includes one of dead band value, angular speed multiplying power, smoothness or a variety of.
Optionally, when processor 262 obtains the rotational parameters information of at least one rolled round 261, it is specifically used for: obtains angle speed
The measured value for spending sensor output, the rotational parameters information of the distant wheel is determined according to the measured value.
Optionally, the angular transducer includes one of photoelectric encoder, Hall sensor, potentiometer or a variety of.
It is provided in an embodiment of the present invention control equipment concrete principle and implementation with Fig. 1-embodiment illustrated in fig. 12
Similar, details are not described herein again.
The present embodiment obtains the rotational parameters information of at least one rolled round thereon by control equipment, and by the rotation of rolled round
Parameter information is sent to holder, so that holder adjusts the posture of holder according to the rotational parameters information of rolled round, due to the angle of rolled round
Speed or angle value can be accurately controlled or calculate, then when adjusting the posture of holder according to the angular speed of rolled round or angle value,
The control precision of holder posture can be improved;By the history rotational parameters information of at least one rolled round on memory control apparatus, and
The history rotational parameters information is sent to holder, so that history of the holder according to the corresponding holder of history rotational parameters information
The current pose of pose adjustment holder realizes the track playback function of holder;It is set by the limit that control equipment detects user
Operation is set, and sends the limit that limit angle setting instruction is rotated using one or more axis as shaft so that holder is arranged to holder
Angle realizes the limit function to the attitude angle of holder;It is operated by the emergent stopping that control equipment detects user, and according to
The emergent stopping operation detected sends emergent stopping to holder and instructs so that holder emergent stopping, avoids holder different in appearance
Often continued to rotate when rotation;In addition, control equipment can also send holder configuration parameter to holder, holder is configured according to holder joins
The control precision to holder can be improved when number adjustment holder posture.
The embodiment of the present invention provides a kind of control equipment.The Application of control device controls equipment in rolled round.Figure 26 is this hair
The structure chart for the control equipment that bright embodiment provides.As shown in figure 26, control equipment 260 provided in this embodiment includes: at least
One rolled round 261, processor 262, communication interface 263;Wherein, processor 262 is used to turn the history of at least one rolled round 261
In memory, optionally, memory can be the memory on processor piece, be also possible to processor for dynamic parameter information storage
Memory outside piece.Communication interface 263 is used to send the history rotational parameters information of at least one rolled round 261 of the storage
To the holder, so that the holder adjusts the appearance of the holder according to the history rotational parameters information of at least one rolled round 261
State.
Optionally, processor 262 is also used to detect the storage operation of user;When detecting storage operation, processing
Device 262 stores the history rotational parameters information of at least one rolled round 261 in memory.
Optionally, processor 262 is also used to: obtaining the rotational parameters information of at least one rolled round 261;Communication interface 263
It is also used to send the rotational parameters information to holder, so that the holder adjusts the holder according to the rotational parameters information
Posture.
Optionally, the rotational parameters information includes following at least one: angle value, angular speed.
Optionally, when processor 262 obtains the rotational parameters information of at least one rolled round 261, it is specifically used for as follows at least
It is a kind of: to obtain the rotational parameters information of the first rolled round;Obtain the rotational parameters information of the second rolled round;Obtain the rotation of third rolled round
Parameter information.
Optionally, communication interface 263 sends the rotational parameters information to holder, so that the holder is according to the rotation
When parameter information adjusts the posture of the holder, it is specifically used for following at least one: sends turning for first rolled round to holder
Dynamic parameter information, so that the holder adjusts the yaw angle of the holder according to the rotational parameters information of first rolled round;To
Holder sends the rotational parameters information of second rolled round, so that rotational parameters information of the holder according to second rolled round
Adjust the pitch angle of the holder;The rotational parameters information of the third rolled round is sent to holder, so that the holder is according to institute
The rotational parameters information for stating third rolled round adjusts the roll angle of the holder.
Optionally, processor 262 is also used to: detecting the limit setting operation of user;It is grasped when detecting that the limit is arranged
When making, communication interface 263 sends limit angle setting instruction to holder and is turned so that holder is arranged by shaft of one or more axis
Dynamic limit angle.
Optionally, communication interface 263 sends limit angle setting instruction to holder holder is arranged with one or more axis
When line is the limit angle of shaft rotation, it is specifically used for: sends limit angle setting instruction to holder to indicate that the holder will
Current holder is determined as corresponding around one or more pivot axis using one or more axis as the angle that shaft rotates
Limit angle.
Optionally, when operation is arranged in the limit that processor 262 detects user, it is specifically used for: detects the yaw limit of user
Setting operation;Communication interface 263 sends limit angle setting instruction to holder to indicate the holder by current holder with one
Or multiple axis be shaft rotation angle be determined as it is corresponding around the limit angle of one or more pivot axis when, tool
Body is used for: sending yaw limit angle setting instruction to indicate the holder by current holder using yaw axes as shaft to holder
The angle of rotation is determined as the limit angle rotated using yaw axes as shaft.
Optionally, when operation is arranged in the limit that processor 262 detects user, it is specifically used for: detects the pitching limit of user
Setting operation;Communication interface 263 sends limit angle setting instruction to holder to indicate the holder by current holder with one
Or multiple axis be shaft rotation angle be determined as it is corresponding around the limit angle of one or more pivot axis when, tool
Body is used for: sending pitching limit angle setting instruction to indicate the holder by current holder using pitch axis as shaft to holder
The angle of rotation is determined as the limit angle rotated using pitch axis as shaft.
Optionally, processor 262 is also used to: detecting the releasing limit operation of user;It is grasped when detecting that the releasing limits
When making, communication interface 263 is sent to holder releases what limit instruction was rotated using one or more axis as shaft to release holder
Rotary spacing.
Optionally, processor 262 is also used to: detecting the emergent stopping operation of user;When detecting emergent stopping behaviour
When making, communication interface 263 sends emergent stopping instruction so that holder emergent stopping to holder.
Optionally, processor 262 is also used to: detecting the holder parameter configuration operation of user;Processor 262 is also used to basis
The holder parameter configuration operation detected, determines holder configuration parameter;Communication interface 263 is also used to: being sent out to the holder
Send the holder configuration parameter.
Optionally, the holder configuration parameter includes one of dead band value, angular speed multiplying power, smoothness or a variety of.
It is provided in an embodiment of the present invention control equipment concrete principle and implementation with Figure 13-embodiment illustrated in fig. 17
Similar, details are not described herein again.
The present embodiment passes through the history rotational parameters information of at least one rolled round on memory control apparatus, and the history is turned
Dynamic parameter information is sent to holder, so that history pose adjustment cloud of the holder according to the corresponding holder of history rotational parameters information
The current pose of platform realizes the track playback function of holder;The rotation of at least one rolled round thereon is obtained by control equipment
Parameter information, and the rotational parameters information of rolled round is sent to holder, so that holder is adjusted according to the rotational parameters information of rolled round
The posture of holder, since the angular speed or angle value of rolled round can be accurately controlled or calculate, then according to the angular speed of rolled round or
When angle value adjusts the posture of holder, the control precision of holder posture can be improved;It is set by the limit that control equipment detects user
Operation is set, and sends the limit that limit angle setting instruction is rotated using one or more axis as shaft so that holder is arranged to holder
Angle realizes the limit function to the attitude angle of holder;It is operated by the emergent stopping that control equipment detects user, and according to
The emergent stopping operation detected sends emergent stopping to holder and instructs so that holder emergent stopping, avoids holder different in appearance
Often continued to rotate when rotation;In addition, control equipment can also send holder configuration parameter to holder, holder is configured according to holder joins
The control precision to holder can be improved when number adjustment holder posture.
The embodiment of the present invention provides a kind of holder.Figure 27 is the structure chart of holder provided in an embodiment of the present invention.In this reality
It applies in example, holder specifically can be hand-held holder.As shown in figure 27, holder 270 provided in this embodiment includes: communication interface
271, processor 272;Wherein, at least one shakes in the control equipment that communication interface 271 is sent for receiving control apparatus
The rotational parameters information of wheel;Processor 272 is used to adjust the posture of the holder according to the rotational parameters information.
Optionally, the rotational parameters information includes following at least one: angle value, angular speed.
Optionally, the rotation of at least one rolled round in the control equipment that 271 receiving control apparatus of communication interface is sent
When parameter information, it is specifically used for following at least one: the rotational parameters information for the first rolled round that receiving control apparatus is sent;It receives
Control the rotational parameters information for the second rolled round that equipment is sent;The rotational parameters letter for the third rolled round that receiving control apparatus is sent
Breath.
Optionally, when processor 272 adjusts the posture of the holder according to the rotational parameters information, it is specifically used for as follows
It is at least one: the yaw angle of the holder is adjusted according to the rotational parameters information of first rolled round;According to second rolled round
Rotational parameters information adjust the pitch angle of the holder;The holder is adjusted according to the rotational parameters information of the third rolled round
Roll angle.
Optionally, communication interface 271 is also used to: receiving the history at least one rolled round that the control equipment is sent
Rotational parameters information;Processor 272 is also used to: adjusting the cloud according to the history rotational parameters information of at least one rolled round
The posture of platform.
Communication interface 271 is also used to: instruction is arranged in the limit angle that receiving control apparatus is sent;Processor 272 is also used to:
The limit angle rotated using one or more axis as shaft according to the limit angle setting instruction setting.
Optionally, processor 272 is arranged instruction setting according to the limit angle and turns by shaft of one or more axis
When dynamic limit angle, be specifically used for: when communication interface 271 receives the limit angle setting instruction, processor 272 will
Current holder is determined as corresponding around one or more pivot axis using one or more axis as the angle that shaft rotates
Limit angle.
Optionally, when instruction is arranged in the limit angle that 271 receiving control apparatus of communication interface is sent, it is specifically used for: receives
Control the yaw limit angle setting instruction that equipment is sent;Processor 272 is by current holder using one or more axis as shaft
The angle of rotation be determined as it is corresponding around the limit angle of one or more pivot axis when, be specifically used for: by current cloud
The angle that platform is rotated by shaft of yaw axes is determined as the limit angle rotated by shaft of yaw axes.
When instruction is arranged in the limit angle that 271 receiving control apparatus of communication interface is sent, it is specifically used for: receiving control apparatus
The pitching limit angle setting instruction of transmission;The angle that processor 272 rotates current holder using one or more axis as shaft
Degree be determined as it is corresponding around the limit angle of one or more pivot axis when, be specifically used for: by current holder with pitching
Axis is that the angle of shaft rotation is determined as the limit angle rotated by shaft of pitch axis.
Optionally, communication interface 271 is also used to: the releasing that receiving control apparatus is sent limits instruction;Processor 272 is also used
In: it is limited and is instructed according to the releasing, release the rotary spacing that holder is rotated using one or more axis as shaft.
Optionally, communication interface 271 is also used to: the emergent stopping instruction that receiving control apparatus is sent;Processor 272 is also used
In: it is instructed according to the emergent stopping, controls holder emergent stopping.
Optionally, communication interface 271 is also used to: the holder configuration parameter that receiving control apparatus is sent.
Optionally, the holder configuration parameter includes one of dead band value, angular speed multiplying power, smoothness or a variety of.
The concrete principle and implementation of holder provided in an embodiment of the present invention with Figure 18-embodiment illustrated in fig. 21 class
Seemingly, details are not described herein again.
The rotational parameters information at least one rolled round that the present embodiment is sent by holder receiving control apparatus, and according to shaking
The posture of the rotational parameters information adjustment holder of wheel, since the angular speed or angle value of rolled round can be accurately controlled or calculate,
When then according to the posture of the angular speed of rolled round or angle value adjustment holder, the control precision of holder posture can be improved;Pass through holder
The history rotational parameters information at least one rolled round that receiving control apparatus is sent, and it is corresponding according to the history rotational parameters information
Holder history pose adjustment holder current pose, realize the track playback function of holder;It is received and is controlled by holder
Instruction is arranged in the limit angle that equipment is sent, and it is to turn that instruction setting, which is arranged, with one or more axis according to the limit angle
The limit angle of axis rotation realizes control equipment to the limit function of the attitude angle of holder;Pass through holder receiving control apparatus
The emergent stopping of transmission instructs, and is instructed according to the emergent stopping, controls holder emergent stopping, and holder is avoided exception occurring
It is continued to rotate when rotation;In addition, the holder configuration parameter that holder can be sent with receiving control apparatus, holder are configured according to holder
The control precision to holder can be improved in parameter when adjusting holder posture.
The embodiment of the present invention provides a kind of holder.Figure 27 is the structure chart of holder provided in an embodiment of the present invention.In this reality
It applies in example, holder specifically can be hand-held holder.As shown in figure 27, holder 270 provided in this embodiment includes: communication interface
271, processor 272;Wherein, communication interface 271 is used to receive at least one in the control equipment that the control equipment is sent
The history rotational parameters information of a rolled round;Processor 272 is used for the history rotational parameters information according at least one rolled round
Adjust the posture of the holder.
Optionally, communication interface 271 is also used to: at least one rolled round in the control equipment that receiving control apparatus is sent
Rotational parameters information;Processor 272 is also used to: the posture of the holder is adjusted according to the rotational parameters information.
Optionally, the rotational parameters information includes following at least one: angle value, angular speed.
Optionally, the rotation of at least one rolled round in the control equipment that 271 receiving control apparatus of communication interface is sent
When parameter information, be specifically used for following at least one: the first rolled round turns in the control equipment that receiving control apparatus is sent
Dynamic parameter information;The rotational parameters information of second rolled round in the control equipment that receiving control apparatus is sent;Control is received to set
The rotational parameters information of third rolled round in the control equipment that preparation is sent.
Optionally, when processor 272 adjusts the posture of the holder according to the rotational parameters information, it is specifically used for as follows
It is at least one: the yaw angle of the holder is adjusted according to the rotational parameters information of first rolled round;According to second rolled round
Rotational parameters information adjust the pitch angle of the holder;The holder is adjusted according to the rotational parameters information of the third rolled round
Roll angle.
Optionally, communication interface 271 is also used to: instruction is arranged in the limit angle that receiving control apparatus is sent;Processor 272
It is also used to: the limit angle rotated using one or more axis as shaft according to the limit angle setting instruction setting.
Optionally, processor 272 is arranged instruction setting according to the limit angle and turns by shaft of one or more axis
When dynamic limit angle, be specifically used for: when communication interface 271 receives the limit angle setting instruction, processor 272 will
Current holder is determined as corresponding around one or more pivot axis using one or more axis as the angle that shaft rotates
Limit angle.
Optionally, when instruction is arranged in the limit angle that 271 receiving control apparatus of communication interface is sent, it is specifically used for: receives
Control the yaw limit angle setting instruction that equipment is sent;Processor 272 is by current holder using one or more axis as shaft
The angle of rotation be determined as it is corresponding around the limit angle of one or more pivot axis when, be specifically used for: by current cloud
The angle that platform is rotated by shaft of yaw axes is determined as the limit angle rotated by shaft of yaw axes.
Optionally, when instruction is arranged in the limit angle that 271 receiving control apparatus of communication interface is sent, it is specifically used for: receives
Control the pitching limit angle setting instruction that equipment is sent;Processor 272 is by current holder using one or more axis as shaft
The angle of rotation be determined as it is corresponding around the limit angle of one or more pivot axis when, be specifically used for:
The angle that current holder is rotated by shaft of pitch axis is determined as to the limit rotated by shaft of pitch axis
Angle.
Optionally, communication interface 271 is also used to the releasing limit instruction of receiving control apparatus transmission;Processor 272 is also used
It is instructed in being limited according to the releasing, releases the rotary spacing that holder is rotated using one or more axis as shaft.
Optionally, communication interface 271 is also used to the emergent stopping instruction of receiving control apparatus transmission;Processor 272 is also used
It is instructed according to the emergent stopping, controls holder emergent stopping.
Optionally, communication interface 271 is also used to the holder configuration parameter of receiving control apparatus transmission.
Optionally, the holder configuration parameter includes one of dead band value, angular speed multiplying power, smoothness or a variety of.
The concrete principle and implementation of holder provided in an embodiment of the present invention with Figure 22-embodiment illustrated in fig. 25 class
Seemingly, details are not described herein again.
The present embodiment is received at least one rolled round in the control equipment that the control equipment is sent by holder and gone through
History rotational parameters information, and the current appearance of the history pose adjustment holder according to the corresponding holder of history rotational parameters information
State realizes the track playback function of holder;In the control equipment sent by holder receiving control apparatus at least one
The rotational parameters information of rolled round, and the posture of the holder is adjusted according to the rotational parameters information, due to the angular speed of rolled round
Or angle value can be accurately controlled or calculate, then when adjusting the posture of holder according to the angular speed of rolled round or angle value, can mention
The control precision of Goldwin Heights posture;The limit angle setting instruction sent by holder receiving control apparatus, and according to the limit
The limit angle that the setting instruction setting of parallactic angle degree is rotated using one or more axis as shaft, realizes to the attitude angle of holder
Limit function;The emergent stopping instruction sent by holder receiving control apparatus, and instructed according to the emergent stopping, control cloud
Platform emergent stopping, avoids holder from continuing to rotate when there is anomalous rotation;In addition, what holder can be sent with receiving control apparatus
The control precision to holder can be improved in holder configuration parameter, holder when adjusting holder posture according to holder configuration parameter.
In several embodiments provided by the present invention, it should be understood that disclosed device and method can pass through it
Its mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only
Only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components can be tied
Another system is closed or is desirably integrated into, or some features can be ignored or not executed.Another point, it is shown or discussed
Mutual coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or logical of device or unit
Letter connection can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of hardware adds SFU software functional unit.
The above-mentioned integrated unit being realized in the form of SFU software functional unit can store and computer-readable deposit at one
In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are used so that a computer
It is each that equipment (can be personal computer, server or the network equipment etc.) or processor (processor) execute the present invention
The part steps of embodiment the method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (Read-
Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic or disk etc. it is various
It can store the medium of program code.
Those skilled in the art can be understood that, for convenience and simplicity of description, only with above-mentioned each functional module
Division progress for example, in practical application, can according to need and above-mentioned function distribution is complete by different functional modules
At the internal structure of device being divided into different functional modules, to complete all or part of the functions described above.On
The specific work process for stating the device of description, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations;To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement;And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (112)
1. a kind of control method of holder is applied to control equipment, which is characterized in that the control equipment is provided at least one
Rolled round, which comprises
Obtain the rotational parameters information of at least one rolled round;
The rotational parameters information is sent to holder, so that the holder adjusts the holder according to the rotational parameters information
Posture.
2. the method according to claim 1, wherein the rotational parameters information includes following at least one:
Angle value, angular speed.
3. method according to claim 1 or 2, which is characterized in that the rotation of at least one rolled round described in the acquisition is joined
Number information, including following at least one:
Obtain the rotational parameters information of the first rolled round;
Obtain the rotational parameters information of the second rolled round;
Obtain the rotational parameters information of third rolled round.
4. according to the method described in claim 3, it is characterized in that, described send the rotational parameters information to holder, so that
The holder adjusts the posture of the holder according to the rotational parameters information, including following at least one:
The rotational parameters information of first rolled round is sent to holder, so that the holder is joined according to the rotation of first rolled round
Number information adjusts the yaw angle of the holder;
The rotational parameters information of second rolled round is sent to holder, so that the holder is joined according to the rotation of second rolled round
Number information adjusts the pitch angle of the holder;
The rotational parameters information of the third rolled round is sent to holder, so that the holder is joined according to the rotation of the third rolled round
Number information adjusts the roll angle of the holder.
5. method according to claim 1-4, which is characterized in that the method also includes:
In memory by the history rotational parameters information storage of at least one rolled round;
The history rotational parameters information of at least one rolled round of the storage is sent to the holder so that the holder according to
The history rotational parameters information of at least one rolled round adjusts the posture of the holder.
6. according to the method described in claim 5, it is characterized in that, the history rotational parameters information by least one rolled round
Storage is in memory, comprising:
Detect the storage operation of user;
When detecting storage operation, in memory by the history rotational parameters information storage of at least one rolled round.
7. method according to claim 1-6, which is characterized in that the method also includes:
Operation is arranged in the limit for detecting user;
When detecting the limit setting operation, limit angle setting instruction is sent so that holder is arranged with one or more to holder
A axis is the limit angle of shaft rotation.
8. the method according to the description of claim 7 is characterized in that described send limit angle setting instruction to holder to be arranged
The limit angle that holder is rotated using one or more axis as shaft, comprising:
Limit angle setting instruction is sent to indicate the holder by current holder using one or more axis as shaft to holder
The angle of rotation is determined as the corresponding limit angle around one or more pivot axis.
9. according to the method described in claim 8, it is characterized in that, operation is arranged in the limit of the detection user, comprising:
Detect the yaw limit setting operation of user;
It is described to be with one or more axis by current holder to indicate the holder to holder transmission limit angle setting instruction
The angle of shaft rotation is determined as the corresponding limit angle around one or more pivot axis, comprising:
It is described to holder send yaw limit angle setting instruction with indicate the holder by current holder with yaw axes be turn
The angle of axis rotation is determined as the limit angle rotated using yaw axes as shaft.
10. according to the method described in claim 8, it is characterized in that, operation is arranged in the limit of the detection user, comprising:
Detect the pitching limit setting operation of user;
It is described to be with one or more axis by current holder to indicate the holder to holder transmission limit angle setting instruction
The angle of shaft rotation is determined as the corresponding limit angle around one or more pivot axis, comprising:
It is described to holder send pitching limit angle setting instruction with indicate the holder by current holder with pitch axis be turn
The angle of axis rotation is determined as the limit angle rotated using pitch axis as shaft.
11. according to the described in any item methods of claim 7-10, which is characterized in that the method also includes:
The releasing for detecting user limits operation;
When detecting the releasing limit operation, is sent to holder and release limit instruction to release holder with one or more axis
Line is the rotary spacing of shaft rotation.
12. -11 described in any item methods according to claim 1, which is characterized in that the method also includes:
Detect the emergent stopping operation of user;
When detecting emergent stopping operation, emergent stopping instruction is sent so that holder emergent stopping to holder.
13. -12 described in any item methods according to claim 1, which is characterized in that the method also includes:
Detect the holder parameter configuration operation of user;
According to the holder parameter configuration operation detected, holder configuration parameter is determined;
The holder configuration parameter is sent to the holder.
14. according to the method for claim 13, which is characterized in that the holder configuration parameter includes dead band value, angular speed
One of multiplying power, smoothness are a variety of.
15. -14 described in any item methods according to claim 1, which is characterized in that at least one rolled round described in the acquisition
Rotational parameters information, comprising:
The measured value for obtaining angular transducer output, the rotational parameters information of distant wheel is determined according to the measured value.
16. according to the method for claim 15, which is characterized in that the angular transducer includes photoelectric encoder, Hall
One of sensor, potentiometer are a variety of.
17. a kind of control method of holder is applied to control equipment, which is characterized in that the control equipment is provided at least one
A rolled round, which comprises
In memory by the history rotational parameters information storage of at least one rolled round;
The history rotational parameters information of at least one rolled round of the storage is sent to the holder so that the holder according to
The history rotational parameters information of at least one rolled round adjusts the posture of the holder.
18. according to the method for claim 17, which is characterized in that the history rotational parameters by least one rolled round are believed
Breath storage is in memory, comprising:
Detect the storage operation of user;
When detecting storage operation, in memory by the history rotational parameters information storage of at least one rolled round.
19. method described in 7 or 18 according to claim 1, which is characterized in that the method also includes:
Obtain the rotational parameters information of at least one rolled round;
The rotational parameters information is sent to holder, so that the holder adjusts the holder according to the rotational parameters information
Posture.
20. the described in any item methods of 7-19 according to claim 1, which is characterized in that the rotational parameters information includes as follows
It is at least one:
Angle value, angular speed.
21. the described in any item methods of 7-20 according to claim 1, which is characterized in that obtain turning at least one rolled round
Dynamic parameter information, including following at least one:
Obtain the rotational parameters information of the first rolled round;
Obtain the rotational parameters information of the second rolled round;
Obtain the rotational parameters information of third rolled round.
22. according to the method for claim 21, which is characterized in that the rotational parameters information is sent to holder, so that institute
The posture that holder adjusts the holder according to the rotational parameters information is stated, including following at least one:
The rotational parameters information of first rolled round is sent to holder, so that the holder is joined according to the rotation of first rolled round
Number information adjusts the yaw angle of the holder;
The rotational parameters information of second rolled round is sent to holder, so that the holder is joined according to the rotation of second rolled round
Number information adjusts the pitch angle of the holder;
The rotational parameters information of the third rolled round is sent to holder, so that the holder is joined according to the rotation of the third rolled round
Number information adjusts the roll angle of the holder.
23. the described in any item methods of 7-22 according to claim 1, which is characterized in that the method also includes:
Operation is arranged in the limit for detecting user;
When detecting the limit setting operation, limit angle setting instruction is sent so that holder is arranged with one or more to holder
A axis is the limit angle of shaft rotation.
24. according to the method for claim 23, which is characterized in that described to send limit angle setting instruction to holder to set
Set the limit angle that holder is rotated using one or more axis as shaft, comprising:
Limit angle setting instruction is sent to indicate the holder by current holder using one or more axis as shaft to holder
The angle of rotation is determined as the corresponding limit angle around one or more pivot axis.
25. according to the method for claim 24, which is characterized in that operation is arranged in the limit of the detection user, comprising:
Detect the yaw limit setting operation of user;
It is described to be with one or more axis by current holder to indicate the holder to holder transmission limit angle setting instruction
The angle of shaft rotation is determined as the corresponding limit angle around one or more pivot axis, comprising:
Yaw limit angle setting instruction is sent to indicate that the holder turns current holder by shaft of yaw axes to holder
Dynamic angle is determined as the limit angle rotated using yaw axes as shaft.
26. according to the method for claim 24, which is characterized in that operation is arranged in the limit of the detection user, comprising:
Detect the pitching limit setting operation of user;
It is described to be with one or more axis by current holder to indicate the holder to holder transmission limit angle setting instruction
The angle of shaft rotation is determined as the corresponding limit angle around one or more pivot axis, comprising:
Pitching limit angle setting instruction is sent to indicate that the holder turns current holder by shaft of pitch axis to holder
Dynamic angle is determined as the limit angle rotated using pitch axis as shaft.
27. according to the described in any item methods of claim 23-26, which is characterized in that the method also includes:
The releasing for detecting user limits operation;
When detecting the releasing limit operation, is sent to holder and release limit instruction to release holder with one or more axis
Line is the rotary spacing of shaft rotation.
28. the described in any item methods of 7-27 according to claim 1, which is characterized in that the method also includes:
Detect the emergent stopping operation of user;
When detecting emergent stopping operation, emergent stopping instruction is sent so that holder emergent stopping to holder.
29. the described in any item methods of 7-28 according to claim 1, which is characterized in that the method also includes:
Detect the holder parameter configuration operation of user;
According to the holder parameter configuration operation detected, holder configuration parameter is determined;
The holder configuration parameter is sent to the holder.
30. according to the method for claim 29, which is characterized in that the holder configuration parameter includes dead band value, angular speed
One of multiplying power, smoothness are a variety of.
31. a kind of control method of holder is applied to holder, which is characterized in that the described method includes:
The rotational parameters information of at least one rolled round in the control equipment that receiving control apparatus is sent;
The posture of the holder is adjusted according to the rotational parameters information.
32. according to the method for claim 31, which is characterized in that the rotational parameters information includes following at least one:
Angle value, angular speed.
33. the method according to claim 31 or 32, which is characterized in that the control that the receiving control apparatus is sent
The rotational parameters information of at least one rolled round in equipment, including following at least one:
The rotational parameters information for the first rolled round that receiving control apparatus is sent;
The rotational parameters information for the second rolled round that receiving control apparatus is sent;
The rotational parameters information for the third rolled round that receiving control apparatus is sent.
34. according to the method for claim 33, which is characterized in that described to adjust the cloud according to the rotational parameters information
The posture of platform, including following at least one:
The yaw angle of the holder is adjusted according to the rotational parameters information of first rolled round;
The pitch angle of the holder is adjusted according to the rotational parameters information of second rolled round;
The roll angle of the holder is adjusted according to the rotational parameters information of the third rolled round.
35. according to the described in any item methods of claim 31-34, which is characterized in that the method also includes:
Receive the history rotational parameters information at least one rolled round that the control equipment is sent;
The posture of the holder is adjusted according to the history rotational parameters information of at least one rolled round.
36. according to the described in any item methods of claim 31-35, which is characterized in that the method also includes:
Instruction is arranged in the limit angle that receiving control apparatus is sent;
The limit angle rotated using one or more axis as shaft according to the limit angle setting instruction setting.
37. according to the method for claim 36, which is characterized in that it is described according to the limit angle setting instruction be arranged with
One or more axis are the limit angle of shaft rotation, comprising:
When receiving limit angle setting instruction, angle that current holder is rotated using one or more axis as shaft
It is determined as the corresponding limit angle around one or more pivot axis.
38. according to the method for claim 37, which is characterized in that the limit angle setting that the receiving control apparatus is sent
Instruction, comprising:
The yaw limit angle setting instruction that receiving control apparatus is sent;
It is described by current holder using one or more axis as the angle that shaft rotates be determined as it is corresponding around one or more turn
The limit angle of shaft line rotation, comprising:
The angle that current holder is rotated by shaft of yaw axes is determined as to the limit angle rotated by shaft of yaw axes.
39. according to the method for claim 37, which is characterized in that the limit angle setting that the receiving control apparatus is sent
Instruction, comprising:
The pitching limit angle setting instruction that receiving control apparatus is sent;
It is described by current holder using one or more axis as the angle that shaft rotates be determined as it is corresponding around one or more turn
The limit angle of shaft line rotation, comprising:
The angle that current holder is rotated by shaft of pitch axis is determined as to the limit angle rotated by shaft of pitch axis.
40. according to the described in any item methods of claim 36-39, which is characterized in that the method also includes:
The releasing that receiving control apparatus is sent limits instruction;
It is limited and is instructed according to the releasing, release the rotary spacing that holder is rotated using one or more axis as shaft.
41. according to the described in any item methods of claim 31-40, which is characterized in that the method also includes:
The emergent stopping instruction that receiving control apparatus is sent;
It is instructed according to the emergent stopping, controls holder emergent stopping.
42. according to the described in any item methods of claim 31-41, which is characterized in that the method also includes:
The holder configuration parameter that receiving control apparatus is sent.
43. according to the method for claim 42, which is characterized in that the holder configuration parameter includes dead band value, angular speed
One of multiplying power, smoothness are a variety of.
44. a kind of control method of holder is applied to holder, which is characterized in that the described method includes:
Receive the history rotational parameters information of at least one rolled round in the control equipment that the control equipment is sent;
The posture of the holder is adjusted according to the history rotational parameters information of at least one rolled round.
45. according to the method for claim 44, which is characterized in that the method also includes:
The rotational parameters information of at least one rolled round in the control equipment that receiving control apparatus is sent;
The posture of the holder is adjusted according to the rotational parameters information.
46. the method according to claim 44 or 45, which is characterized in that the rotational parameters information includes following at least one
Kind:
Angle value, angular speed.
47. the method according to claim 45 or 46, which is characterized in that the control that the receiving control apparatus is sent
The rotational parameters information of at least one rolled round in equipment, including following at least one:
The rotational parameters information of first rolled round in the control equipment that receiving control apparatus is sent;
The rotational parameters information of second rolled round in the control equipment that receiving control apparatus is sent;
The rotational parameters information of third rolled round in the control equipment that receiving control apparatus is sent.
48. according to the method for claim 47, which is characterized in that described to adjust the cloud according to the rotational parameters information
The posture of platform, including following at least one:
The yaw angle of the holder is adjusted according to the rotational parameters information of first rolled round;
The pitch angle of the holder is adjusted according to the rotational parameters information of second rolled round;
The roll angle of the holder is adjusted according to the rotational parameters information of the third rolled round.
49. according to the described in any item methods of claim 44-48, which is characterized in that the method also includes:
Instruction is arranged in the limit angle that receiving control apparatus is sent;
The limit angle rotated using one or more axis as shaft according to the limit angle setting instruction setting.
50. according to the method for claim 49, which is characterized in that it is described according to the limit angle setting instruction be arranged with
One or more axis are the limit angle of shaft rotation, comprising:
When receiving limit angle setting instruction, angle that current holder is rotated using one or more axis as shaft
It is determined as the corresponding limit angle around one or more pivot axis.
51. according to the method for claim 50, which is characterized in that the limit angle setting that the receiving control apparatus is sent
Instruction, comprising:
The yaw limit angle setting instruction that receiving control apparatus is sent;
It is described by current holder using one or more axis as the angle that shaft rotates be determined as it is corresponding around one or more turn
The limit angle of shaft line rotation, comprising:
The angle that current holder is rotated by shaft of yaw axes is determined as to the limit angle rotated by shaft of yaw axes.
52. according to the method for claim 50, which is characterized in that the limit angle setting that the receiving control apparatus is sent
Instruction, comprising:
The pitching limit angle setting instruction that receiving control apparatus is sent;
It is described by current holder using one or more axis as the angle that shaft rotates be determined as it is corresponding around one or more turn
The limit angle of shaft line rotation, comprising:
The angle that current holder is rotated by shaft of pitch axis is determined as to the limit angle rotated by shaft of pitch axis.
53. according to the described in any item methods of claim 49-52, which is characterized in that the method also includes:
The releasing that receiving control apparatus is sent limits instruction,
It is limited and is instructed according to the releasing, release the rotary spacing that holder is rotated using one or more axis as shaft.
54. according to the described in any item methods of claim 44-53, which is characterized in that the method also includes:
The emergent stopping instruction that receiving control apparatus is sent;
It is instructed according to the emergent stopping, controls holder emergent stopping.
55. according to the described in any item methods of claim 44-54, which is characterized in that the method also includes:
The holder configuration parameter that receiving control apparatus is sent.
56. method according to claim 55, which is characterized in that the holder configuration parameter includes dead band value, angular speed
One of multiplying power, smoothness are a variety of.
57. a kind of control equipment is applied to rolled round and controls equipment characterized by comprising at least one rolled round, is led to processor
Communication interface;
The processor is used to obtain the rotational parameters information of at least one rolled round;
The communication interface is used to send the rotational parameters information to holder, so that the holder is believed according to the rotational parameters
Breath adjusts the posture of the holder.
58. control equipment according to claim 57, which is characterized in that the rotational parameters information includes following at least one
Kind:
Angle value, angular speed.
59. the control equipment according to claim 57 or 58, which is characterized in that the processor obtain it is described at least one
When the rotational parameters information of rolled round, it is specifically used for following at least one:
Obtain the rotational parameters information of the first rolled round;
Obtain the rotational parameters information of the second rolled round;
Obtain the rotational parameters information of third rolled round.
60. control equipment according to claim 59, which is characterized in that the communication interface sends the rotation to holder
Parameter information, when so that the holder adjusting the posture of the holder according to the rotational parameters information, be specifically used for such as down toward
Few one kind:
The rotational parameters information of first rolled round is sent to holder, so that the holder is joined according to the rotation of first rolled round
Number information adjusts the yaw angle of the holder;
The rotational parameters information of second rolled round is sent to holder, so that the holder is joined according to the rotation of second rolled round
Number information adjusts the pitch angle of the holder;
The rotational parameters information of the third rolled round is sent to holder, so that the holder is joined according to the rotation of the third rolled round
Number information adjusts the roll angle of the holder.
61. according to the described in any item control equipment of claim 57-60, which is characterized in that the processor is also used to institute
State the history rotational parameters information storage of at least one rolled round in memory;The communication interface is also used to the storage
The history rotational parameters information of at least one rolled round is sent to the holder, so that the holder is according at least one described rolled round
History rotational parameters information adjust the posture of the holder.
62. control equipment according to claim 61, which is characterized in that the processor is also used to: detecting depositing for user
Storage operation;
When detecting storage operation, the processor stores the history rotational parameters information of at least one rolled round
In memory.
63. according to the described in any item control equipment of claim 57-62, which is characterized in that the processor is also used to: detection
Operation is arranged in the limit of user;
When detecting the limit setting operation, the communication interface sends limit angle setting instruction to holder cloud is arranged
The limit angle that platform is rotated using one or more axis as shaft.
64. control equipment according to claim 63, which is characterized in that the communication interface sends limit angle to holder
When instruction is set so that holder is arranged using one or more axis as the limit angle that shaft rotates, it is specifically used for:
Limit angle setting instruction is sent to indicate the holder by current holder using one or more axis as shaft to holder
The angle of rotation is determined as the corresponding limit angle around one or more pivot axis.
65. control equipment according to claim 64, which is characterized in that behaviour is arranged in the limit of the processor detection user
When making, it is specifically used for:
Detect the yaw limit setting operation of user;
The communication interface sends limit angle setting instruction to holder to indicate the holder by current holder with one or more
A axis be the angle of shaft rotation be determined as it is corresponding around the limit angle of one or more pivot axis when, it is specific to use
In:
Yaw limit angle setting instruction is sent to indicate that the holder turns current holder by shaft of yaw axes to holder
Dynamic angle is determined as the limit angle rotated using yaw axes as shaft.
66. control equipment according to claim 64, which is characterized in that behaviour is arranged in the limit of the processor detection user
When making, it is specifically used for:
Detect the pitching limit setting operation of user;
The communication interface sends limit angle setting instruction to holder to indicate the holder by current holder with one or more
A axis be the angle of shaft rotation be determined as it is corresponding around the limit angle of one or more pivot axis when, it is specific to use
In:
Pitching limit angle setting instruction is sent to indicate that the holder turns current holder by shaft of pitch axis to holder
Dynamic angle is determined as the limit angle rotated using pitch axis as shaft.
67. according to the described in any item control equipment of claim 63-66, which is characterized in that the processor is also used to: detection
The releasing of user limits operation;
When detecting releasing limit operation, the communication interface sent to holder release limit instruction with release holder with
One or more axis are the rotary spacing of shaft rotation.
68. according to the described in any item control equipment of claim 57-67, which is characterized in that the processor is also used to: detection
The emergent stopping of user operates;
When detecting emergent stopping operation, the communication interface sends emergent stopping instruction so that holder is urgent to holder
Stop.
69. according to the described in any item control equipment of claim 57-68, which is characterized in that the processor is also used to:
Detect the holder parameter configuration operation of user;
According to the holder parameter configuration operation detected, holder configuration parameter is determined;
The communication interface is also used to send the holder configuration parameter to the holder.
70. control equipment according to claim 69, which is characterized in that the holder configuration parameter includes dead band value, angle
One of speed multiplying power, smoothness are a variety of.
71. according to the described in any item control equipment of claim 57-70, which is characterized in that the processor acquisition is described extremely
When the rotational parameters information of a few rolled round, it is specifically used for:
The measured value for obtaining angular transducer output, the rotational parameters information of distant wheel is determined according to the measured value.
72. control equipment according to claim 71, which is characterized in that the angular transducer include photoelectric encoder,
One of Hall sensor, potentiometer are a variety of.
73. a kind of control equipment, be applied to rolled round and control equipment characterized by comprising at least one rolled round, communication interface,
Processor;
The processor is used for the history rotational parameters information storage of at least one rolled round in memory;
The communication interface is used to the history rotational parameters information of at least one rolled round of the storage being sent to holder, so that
The holder adjusts the posture of the holder according to the history rotational parameters information of at least one rolled round.
74. the control equipment according to claim 73, which is characterized in that
The processor is also used to detect the storage operation of user;
When detecting storage operation, the processor stores the history rotational parameters information of at least one rolled round
In memory.
75. the control equipment according to claim 73 or 74, which is characterized in that the processor is also used to: described in acquisition
The rotational parameters information of at least one rolled round;
The communication interface is also used to send the rotational parameters information to holder, so that the holder is according to the rotational parameters
Information adjusts the posture of the holder.
76. according to the described in any item control equipment of claim 73-75, which is characterized in that the rotational parameters information includes
It is following at least one:
Angle value, angular speed.
77. according to the described in any item control equipment of claim 73-76, which is characterized in that the processor acquisition is described extremely
When the rotational parameters information of a few rolled round, it is specifically used for following at least one:
Obtain the rotational parameters information of the first rolled round;
Obtain the rotational parameters information of the second rolled round;
Obtain the rotational parameters information of third rolled round.
78. the control equipment according to claim 77, which is characterized in that the communication interface sends the rotation to holder
Parameter information, when so that the holder adjusting the posture of the holder according to the rotational parameters information, be specifically used for such as down toward
Few one kind:
The rotational parameters information of first rolled round is sent to holder, so that the holder is joined according to the rotation of first rolled round
Number information adjusts the yaw angle of the holder;
The rotational parameters information of second rolled round is sent to holder, so that the holder is joined according to the rotation of second rolled round
Number information adjusts the pitch angle of the holder;
The rotational parameters information of the third rolled round is sent to holder, so that the holder is joined according to the rotation of the third rolled round
Number information adjusts the roll angle of the holder.
79. according to the described in any item control equipment of claim 73-78, which is characterized in that the processor is also used to: detection
Operation is arranged in the limit of user;
When detecting the limit setting operation, the communication interface sends limit angle setting instruction to holder cloud is arranged
The limit angle that platform is rotated using one or more axis as shaft.
80. the control equipment according to claim 79, which is characterized in that the communication interface sends limit angle to holder
When instruction is set so that holder is arranged using one or more axis as the limit angle that shaft rotates, it is specifically used for:
Limit angle setting instruction is sent to indicate the holder by current holder using one or more axis as shaft to holder
The angle of rotation is determined as the corresponding limit angle around one or more pivot axis.
81. the control equipment according to claim 80, which is characterized in that behaviour is arranged in the limit of the processor detection user
When making, it is specifically used for: detects the yaw limit setting operation of user;
The communication interface sends limit angle setting instruction to holder to indicate the holder by current holder with one or more
A axis be the angle of shaft rotation be determined as it is corresponding around the limit angle of one or more pivot axis when, it is specific to use
In:
Yaw limit angle setting instruction is sent to indicate that the holder turns current holder by shaft of yaw axes to holder
Dynamic angle is determined as the limit angle rotated using yaw axes as shaft.
82. the control equipment according to claim 80, which is characterized in that behaviour is arranged in the limit of the processor detection user
When making, it is specifically used for: detects the pitching limit setting operation of user;
The communication interface sends limit angle setting instruction to holder to indicate the holder by current holder with one or more
A axis be the angle of shaft rotation be determined as it is corresponding around the limit angle of one or more pivot axis when, it is specific to use
In:
Pitching limit angle setting instruction is sent to indicate that the holder turns current holder by shaft of pitch axis to holder
Dynamic angle is determined as the limit angle rotated using pitch axis as shaft.
83. according to the described in any item control equipment of claim 79-82, which is characterized in that the processor is also used to: detection
The releasing of user limits operation;
When detecting releasing limit operation, the communication interface sent to holder release limit instruction with release holder with
One or more axis are the rotary spacing of shaft rotation.
84. according to the described in any item control equipment of claim 73-83, which is characterized in that the processor is also used to: detection
The emergent stopping of user operates;
When detecting emergent stopping operation, the communication interface sends emergent stopping instruction so that holder is urgent to holder
Stop.
85. according to the described in any item control equipment of claim 73-84, which is characterized in that the processor is also used to: detection
The holder parameter configuration of user operates;
The processor is also used to determine holder configuration parameter according to the holder parameter configuration operation detected;
The communication interface is also used to: sending the holder configuration parameter to the holder.
86. the control equipment according to claim 85, which is characterized in that the holder configuration parameter includes dead band value, angle
One of speed multiplying power, smoothness are a variety of.
87. a kind of holder characterized by comprising communication interface, processor;
The rotational parameters letter of at least one rolled round in the control equipment that the communication interface is sent for receiving control apparatus
Breath;
The processor is used to adjust the posture of the holder according to the rotational parameters information.
88. the holder according to claim 87, which is characterized in that the rotational parameters information includes following at least one:
Angle value, angular speed.
89. the holder according to claim 87 or 88, which is characterized in that the communication interface receiving control apparatus was sent
In the control equipment when rotational parameters information of at least one rolled round, it is specifically used for following at least one:
The rotational parameters information for the first rolled round that receiving control apparatus is sent;
The rotational parameters information for the second rolled round that receiving control apparatus is sent;
The rotational parameters information for the third rolled round that receiving control apparatus is sent.
90. the holder according to claim 89, which is characterized in that the processor is adjusted according to the rotational parameters information
When the posture of the holder, it is specifically used for following at least one:
The yaw angle of the holder is adjusted according to the rotational parameters information of first rolled round;
The pitch angle of the holder is adjusted according to the rotational parameters information of second rolled round;
The roll angle of the holder is adjusted according to the rotational parameters information of the third rolled round.
91. according to the described in any item holders of claim 87-90, which is characterized in that the communication interface is also used to: receiving institute
State the history rotational parameters information at least one rolled round that control equipment is sent;
The processor is also used to: the appearance of the holder is adjusted according to the history rotational parameters information of at least one rolled round
State.
92. according to the described in any item holders of claim 87-91, which is characterized in that the communication interface is also used to: receiving control
Instruction is arranged in the limit angle that control equipment is sent;
The processor is also used to: being rotated using one or more axis as shaft according to the limit angle setting instruction setting
Limit angle.
93. the holder according to claim 92, which is characterized in that the processor is arranged according to the limit angle to be instructed
When being arranged using one or more axis as the limit angle that shaft rotates, it is specifically used for:
When the communication interface receives the limit angle setting instruction, the processor is by current holder with one or more
A axis is that the angle of shaft rotation is determined as the corresponding limit angle around one or more pivot axis.
94. the holder according to claim 93, which is characterized in that the limit that the communication interface receiving control apparatus is sent
When angle setting instruction, it is specifically used for:
The yaw limit angle setting instruction that receiving control apparatus is sent;
The processor by current holder using one or more axis as the angle that shaft rotates be determined as it is corresponding around one or
When the limit angle of multiple pivot axis, it is specifically used for:
The angle that current holder is rotated by shaft of yaw axes is determined as to the limit angle rotated by shaft of yaw axes.
95. the holder according to claim 93, which is characterized in that the limit that the communication interface receiving control apparatus is sent
When angle setting instruction, it is specifically used for:
The pitching limit angle setting instruction that receiving control apparatus is sent;
The processor by current holder using one or more axis as the angle that shaft rotates be determined as it is corresponding around one or
When the limit angle of multiple pivot axis, it is specifically used for:
The angle that current holder is rotated by shaft of pitch axis is determined as to the limit angle rotated by shaft of pitch axis.
96. according to the described in any item holders of claim 92-95, which is characterized in that the communication interface is also used to: receiving control
The releasing that control equipment is sent limits instruction;
The processor is also used to: being limited and is instructed according to the releasing, released holder and rotate by shaft of one or more axis
Rotary spacing.
97. according to the described in any item holders of claim 87-96, which is characterized in that the communication interface is also used to: receiving control
The emergent stopping instruction that control equipment is sent;
The processor is also used to: being instructed according to the emergent stopping, is controlled holder emergent stopping.
98. according to the described in any item holders of claim 87-97, which is characterized in that the communication interface is also used to: receiving control
The holder configuration parameter that control equipment is sent.
99. the holder according to claim 98, which is characterized in that the holder configuration parameter includes dead band value, angular speed
One of multiplying power, smoothness are a variety of.
100. a kind of holder characterized by comprising communication interface, processor;
The history of at least one rolled round rotates ginseng in the control equipment that the communication interface is sent for receiving control apparatus
Number information;
The processor is used to adjust the posture of the holder according to the history rotational parameters information of at least one rolled round.
101. holder described in 00 according to claim 1, which is characterized in that the communication interface is also used to: receiving control apparatus
The rotational parameters information of at least one rolled round in the control equipment sent;
The processor is also used to: the posture of the holder is adjusted according to the rotational parameters information.
102. holder described in 00 or 101 according to claim 1, which is characterized in that the rotational parameters information include it is following extremely
Few one kind:
Angle value, angular speed.
103. holder described in 01 or 102 according to claim 1, which is characterized in that the communication interface receiving control apparatus hair
In the control equipment sent when the rotational parameters information of at least one rolled round, it is specifically used for following at least one:
The rotational parameters information of first rolled round in the control equipment that receiving control apparatus is sent;
The rotational parameters information of second rolled round in the control equipment that receiving control apparatus is sent;
The rotational parameters information of third rolled round in the control equipment that receiving control apparatus is sent.
104. holder described in 03 according to claim 1, which is characterized in that the processor is according to the rotational parameters information tune
When the posture of the whole holder, it is specifically used for following at least one:
The yaw angle of the holder is adjusted according to the rotational parameters information of first rolled round;
The pitch angle of the holder is adjusted according to the rotational parameters information of second rolled round;
The roll angle of the holder is adjusted according to the rotational parameters information of the third rolled round.
105. the described in any item holders of 00-104 according to claim 1, which is characterized in that the communication interface is also used to: being connect
It receives the limit angle that control equipment is sent and instruction is set;
The processor is also used to: being rotated using one or more axis as shaft according to the limit angle setting instruction setting
Limit angle.
106. holder described in 05 according to claim 1, which is characterized in that the processor refers to according to limit angle setting
When enabling setting using one or more axis as the limit angle that shaft rotates, it is specifically used for:
When the communication interface receives the limit angle setting instruction, the processor is by current holder with one or more
A axis is that the angle of shaft rotation is determined as the corresponding limit angle around one or more pivot axis.
107. holder described in 06 according to claim 1, which is characterized in that the limit that the communication interface receiving control apparatus is sent
When the setting instruction of parallactic angle degree, it is specifically used for:
The yaw limit angle setting instruction that receiving control apparatus is sent;
The processor by current holder using one or more axis as the angle that shaft rotates be determined as it is corresponding around one or
When the limit angle of multiple pivot axis, it is specifically used for:
The angle that current holder is rotated by shaft of yaw axes is determined as to the limit angle rotated by shaft of yaw axes.
108. holder described in 06 according to claim 1, which is characterized in that the limit that the communication interface receiving control apparatus is sent
When the setting instruction of parallactic angle degree, it is specifically used for:
The pitching limit angle setting instruction that receiving control apparatus is sent;
The processor by current holder using one or more axis as the angle that shaft rotates be determined as it is corresponding around one or
When the limit angle of multiple pivot axis, it is specifically used for:
The angle that current holder is rotated by shaft of pitch axis is determined as to the limit angle rotated by shaft of pitch axis.
109. the described in any item holders of 05-108 according to claim 1, which is characterized in that the communication interface is also used to receive
It controls the releasing that equipment is sent and limits instruction;
The processor is also used to be limited according to the releasing and instruct, and releases what holder was rotated using one or more axis as shaft
Rotary spacing.
110. the described in any item holders of 05-109 according to claim 1, which is characterized in that the communication interface is also used to receive
Control the emergent stopping instruction that equipment is sent;
The processor is also used to be instructed according to the emergent stopping, controls holder emergent stopping.
111. the described in any item holders of 05-110 according to claim 1, which is characterized in that the communication interface is also used to receive
Control the holder configuration parameter that equipment is sent.
112. holder described in 11 according to claim 1, which is characterized in that the holder configuration parameter includes dead band value, angle speed
Spend one of multiplying power, smoothness or a variety of.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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PCT/CN2017/103508 WO2019061029A1 (en) | 2017-09-26 | 2017-09-26 | Method for controlling pan-tilt, control device, and pan-tilt |
Publications (1)
Publication Number | Publication Date |
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CN109154836A true CN109154836A (en) | 2019-01-04 |
Family
ID=64803464
Family Applications (1)
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CN201780028068.2A Pending CN109154836A (en) | 2017-09-26 | 2017-09-26 | Control method, control equipment and the holder of holder |
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CN (1) | CN109154836A (en) |
WO (1) | WO2019061029A1 (en) |
Families Citing this family (2)
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WO2020220169A1 (en) * | 2019-04-28 | 2020-11-05 | 深圳市大疆创新科技有限公司 | Gimbal control method and device, mobile platform, and storage medium |
CN114115364A (en) * | 2021-12-03 | 2022-03-01 | 重庆市亿飞智联科技有限公司 | Holder control method, holder control device, holder control equipment and storage medium |
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