WO2018129689A1 - Handheld cradle head and control method therefor - Google Patents

Handheld cradle head and control method therefor Download PDF

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Publication number
WO2018129689A1
WO2018129689A1 PCT/CN2017/070959 CN2017070959W WO2018129689A1 WO 2018129689 A1 WO2018129689 A1 WO 2018129689A1 CN 2017070959 W CN2017070959 W CN 2017070959W WO 2018129689 A1 WO2018129689 A1 WO 2018129689A1
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WO
WIPO (PCT)
Prior art keywords
handheld
tilt
power
pan
power button
Prior art date
Application number
PCT/CN2017/070959
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French (fr)
Chinese (zh)
Inventor
苏铁
潘立忠
Original Assignee
深圳市大疆灵眸科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆灵眸科技有限公司 filed Critical 深圳市大疆灵眸科技有限公司
Priority to CN201780000218.9A priority Critical patent/CN107094368B/en
Priority to PCT/CN2017/070959 priority patent/WO2018129689A1/en
Priority to CN201910403211.2A priority patent/CN110032127A/en
Publication of WO2018129689A1 publication Critical patent/WO2018129689A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/327—Testing of circuit interrupters, switches or circuit-breakers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0423—Input/output
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/25—Pc structure of the system
    • G05B2219/25257—Microcontroller

Definitions

  • the invention relates to the field of cloud platform technology, in particular to a handheld cloud platform and a control method thereof.
  • the handheld pan/tilt is a motion camera stabilizer that is compact and easy to carry. It can be equipped with small camera devices such as cameras, cameras, smartphones, etc., and can quickly and stably control the camera while shooting on the move.
  • the effect on the determined posture can also achieve an adaptive adjustment of the viewing angle of the photographing device during the movement.
  • the handheld pan/tilt has a power button.
  • the user can switch the working mode of the pan/tilt through the power button.
  • Power display such as short press the power button + long press to turn on/off the power of the pan/tilt, short press the power button to display the power of the pan/tilt.
  • the handheld PTZ when the handheld PTZ is powered off and the PTZ power mode is turned off, the power supply is not output to the outside.
  • the modules connected to it (focal, image transmission, etc.) will be powered off and will not work properly.
  • the PTZ When the PTZ is powered on again, it is connected to the power supply.
  • the connected focus, image transmission, etc. need to be recalibrated, frequency, etc., which is troublesome and the boot speed is slow.
  • the handheld cloud platform and the control method thereof are provided for solving the problem that the handheld cloud platform has a slow booting speed in the prior art, and can also save power when the handheld cloud platform is not used.
  • an embodiment of the present invention provides a handheld cloud platform including a power button, a pressure detecting device, and a controller, wherein the power button is electrically connected to the pressing detecting device, and the controller and the pressing detecting device Electrical connection
  • the power button is configured to receive a user input, and trigger the press detecting device according to the user input;
  • the pressing detecting device is configured to acquire an operating state of the power button according to a user input
  • the controller is configured to receive an operation state of the power button acquired by the press detecting device And controlling the handheld cloud platform to enter a corresponding working mode according to an operation state of the power button acquired by the pressing detecting device, where the working mode includes at least a sleep mode.
  • an embodiment of the present invention provides a method for controlling a handheld cloud platform, including:
  • the handheld cloud platform controlling the handheld cloud platform to enter a corresponding working mode according to an operation state of the power button acquired by the pressing detecting device, where the working mode includes at least a sleep mode.
  • the handheld pan/tilt head and the control method thereof are provided by the power button, the pressing detecting device and the controller.
  • the pressing detecting device is triggered according to the user input, and the pressing detecting device obtains the power according to the user input.
  • the operating state of the button is sent to the controller, and the controller controls the handheld pan/tilt to enter a corresponding working mode according to the operating state of the power button obtained by the pressing detecting device, and the working mode includes at least a sleep mode and a sleep mode.
  • each module connected to the motor (such as a follower, a picture transmission, etc.) can be powered up normally, so that when the motor is turned on again, the follower connected to the motor,
  • the picture transmission does not require recalibration, frequency operation, etc., the power-on speed is fast, and the motor can still save power when the motor is off.
  • FIG. 1 is a schematic structural view 1 of a handheld cloud platform provided by the present invention.
  • FIG. 2 is a schematic flowchart 1 of a control method of a handheld pan/tilt provided by the present invention.
  • the user by adding a working mode-sleep mode to the handheld cloud platform, the user can switch the working mode of the pan/tilt to the sleep mode through the power button, and hold the handheld mode in the sleep mode.
  • the motor of the gimbal is turned off, and the modules connected to the motor (such as the follower, the image transmission, etc.) can be powered up normally. In this case, when the motor is turned on again, the follower connected to the motor, the image transmission, etc. There is no need to recalibrate, frequency, etc., the boot speed is fast, and the motor can still save power when the motor is off.
  • FIG. 1 is a schematic structural diagram 1 of a handheld cloud platform provided by the present invention.
  • the handheld cloud platform includes a power button 11 , a press detecting device 12 , and a controller 13 .
  • the power button 11 is electrically connected to the pressing detecting device 12.
  • the controller 13 is electrically connected to the press detecting device 12.
  • the press detecting device 12 may be a pressure sensor or a single chip microcomputer, or may be other press detecting devices that can be used to detect whether the button is pressed, the length of time to be pressed, and/or the number of times to be pressed.
  • the power button 11 is for receiving user input and triggering the press detecting device 12 according to the user input.
  • the press detecting means 12 is for acquiring an operation state of the power button in accordance with a user input.
  • the user input includes a pressing mode and a duration. Accordingly, the operating state of the power button is determined by the pressing mode and the duration.
  • the operating state of the power button includes: short pressing + long pressing, short pressing once, short pressing twice, and the like.
  • the controller 13 is configured to receive an operation state of the power button acquired by the press detecting device 12 and control the handheld pan/tilt to enter a corresponding working mode according to the operating state of the power button acquired by the pressing detecting device 12.
  • the working mode includes at least a sleep mode.
  • the handheld cloud platform presets a correspondence between an operation state of the power button and a working mode
  • the working mode further includes: turning on/off the pan/tilt power mode and the pan/tilt power detection mode, where the correspondence may be pre-stored in the controller.
  • the controller 13 controls the pan/tilt to enter the corresponding working mode according to the operating state of the power button and the pre-stored correspondence.
  • the corresponding power on/off pan/tilt mode is entered. If the user presses the power button once, the cloud power detection mode is entered accordingly, and the current remaining power of the pan/tilt is detected and the current status is displayed. remaining battery.
  • the handheld pan/tilt further includes at least one bracket for supporting the camera device and at least one motor for driving the rotation of the bracket.
  • the motor of the handheld head In the sleep mode, the motor of the handheld head is turned off. The motor will not receive a current command.
  • Individual modules connected to the motor can be powered on normally, in this case, when the motor is turned on again, the follower and the image connected to the motor do not need to be recalibrated, frequency, etc. high speed.
  • the power button 11 and the press detecting device 12 are both disposed in one of the brackets.
  • the handheld pan/tilt of this embodiment further includes at least one operation panel.
  • the operation panel is disposed in one of the brackets, and the power button 11 and the press detecting device 12 are disposed on the operation panel. User-friendly operation is facilitated by the settings of the operation panel.
  • the handheld pan/tilt further includes at least one battery, and the power button 11 and the press detecting device 12 are both disposed within the battery.
  • the handheld pan/tilt of this embodiment further includes at least one electrical tone, each electrical tone corresponding to a power connection with a motor, and the handheld cloud platform in a sleep mode, and The electrical adjustment of the power connection of the motor can be powered on.
  • the handheld pan/tilt of this embodiment further includes at least one ESC, each ESC corresponding to a power connection with a motor, the handheld PTZ in a sleep mode, and the motor
  • the ESC of the power connection can be powered off.
  • the power button receives the user input
  • the press detecting device is triggered according to the user input
  • the pressing detecting device acquires the operating state of the power button according to the user input.
  • Sending the obtained operating state of the power button to the controller, and the controller controls the handheld cloud platform to enter a corresponding working mode according to the operating state of the power button obtained by the pressing detecting device, and the working mode includes at least a sleep mode, and the handheld mode in the sleep mode
  • the motor of the station is turned off, and the modules connected to the motor (such as the follower, the image transmission, etc.) can be powered up normally. In this case, when the motor is turned on again, the follower connected to the motor, the picture transmission, etc. Need to re-calibrate, frequency and other operations, the boot speed is fast, and the motor can still save power when the motor is off.
  • FIG. 2 is a schematic flowchart 1 of a control method of a handheld pan/tilt provided by the present invention.
  • the method in this embodiment can be used in the handheld cloud platform shown in FIG. 1 , wherein the handheld cloud platform includes a power button, a press detecting device, and a controller, and the power button
  • the controller is electrically connected to the press detecting device, and the controller is electrically connected to the press detecting device.
  • the executing body of the control method provided in this embodiment may be a controller.
  • the method in this embodiment may include:
  • the power button receives the user input and triggers the pressing detection device according to the user input, and the pressing detecting device acquires the operating state of the power button according to the user input, wherein the user input includes a pressing manner and a duration, and accordingly, the operating state of the power button is pressed.
  • the length of time determines, for example, the operating state of the power button includes: short press + long press, short press once, short press twice, and so on.
  • the working mode includes, for example, turning on/off the pan/tilt power mode and the pan/tilt power detecting mode, and the corresponding relationship between the operating state and the working mode of the power button is preset in the handheld pan/tilt, and the corresponding relationship may be pre-stored in the controller.
  • the corresponding working mode is the sleep mode when you press it twice.
  • the specific execution process may be: after receiving the user input, the power button triggers the pressing detection device according to the user input, and the pressing detecting device acquires the operating state of the power button according to the user input, and sends the obtained operating state of the power button to the controller to control
  • the controller controls the handheld cloud platform to enter a corresponding working mode according to the operating state of the power button obtained by the pressing detecting device. For example, if the operating state of the power button is short pressed twice, the sleep mode is entered correspondingly, and the handheld cloud platform is in the sleep mode, the handheld cloud
  • the motor of the station is turned off and the motor does not receive a current command.
  • Each module connected to the motor (such as the follower, image transmission, etc.) can be powered up normally.
  • the boot speed is fast. For example, if the user presses the power button for a short press and long press, the corresponding power on/off pan/tilt mode is entered. If the user presses the power button once, the cloud power detection mode is entered accordingly, and the current remaining power of the pan/tilt is detected and the current status is displayed. remaining battery.
  • the handheld pan/tilt further includes at least one bracket for supporting the camera device and at least one motor for driving the rotation of the bracket. In the sleep mode, the motor of the handheld head is turned off. .
  • the handheld pan/tilt of this embodiment further includes at least one electrical tone, each electrical tone corresponding to a power connection with a motor, and the handheld cloud platform in a sleep mode, and The electrical adjustment of the power connection of the motor can be powered on.
  • the handheld pan/tilt of this embodiment further includes at least one ESC.
  • Each ESC is electrically connected to a power supply of a motor. In the sleep mode, the ESC connected to the power supply of the motor can be powered off.
  • the above two implementation manners are two specific implementation manners of the sleep mode, and can be flexibly set in practical applications.
  • the control method of the handheld pan/tilt controls the operating state of the power button obtained by the pressing detecting device, and controls the handheld cloud platform to enter a corresponding working mode according to the operating state of the power button obtained by the pressing detecting device, and the working mode is at least In the sleep mode, in the sleep mode, the motor of the handheld pan/tilt is turned off, and each module connected to the motor (such as a follower, a picture transfer, etc.) can be powered on normally, so that when the motor is turned on again, the motor is turned on.
  • the connected follower, image transmission, etc. do not need to be recalibrated, frequency, etc., the boot speed is fast, and the motor can still save power when the motor is off.

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

Abstract

A handheld cradle head and a control method therefor, comprising a power button (11), a pressing and detecting device (12) and a controller (13). The power button (11) is used for receiving user input and triggering the pressing and detecting device (12); the pressing and detecting device (12) is used for obtaining the operating state of the power button (11) according to the user input; and the handheld controller (13) is used for receiving the operating state of the power button (11) that is obtained by the pressing and detecting device (12) and for controlling the handheld cradle head to enter a corresponding working mode according to the operating state of the power button (11), working modes at least comprising a sleep mode.

Description

手持云台及其控制方法Handheld pan/tilt and its control method 技术领域Technical field
本发明涉及云台技术领域，尤其涉及一种手持云台及其控制方法。The invention relates to the field of cloud platform technology, in particular to a handheld cloud platform and a control method thereof.
背景技术Background technique
手持云台是一种运动拍摄装置稳定器，体积小巧，携带方便，可以安装小型的拍摄装置，例如摄像机、照相机、智能手机等，并在移动中进行拍摄时能达到迅速稳定地控制拍摄装置保持在确定的姿态上的效果，还可实现在运动过程中对拍摄装置取景角度的自适应调整。The handheld pan/tilt is a motion camera stabilizer that is compact and easy to carry. It can be equipped with small camera devices such as cameras, cameras, smartphones, etc., and can quickly and stably control the camera while shooting on the move. The effect on the determined posture can also achieve an adaptive adjustment of the viewing angle of the photographing device during the movement.
现有的手持云台大部分都采用按键操控工作模式，手持云台上设有一电源按键，用户可通过电源按键切换云台的工作模式，一般有三种工作模式：开启/关闭云台电源和云台电量显示，比如将电源按键短按+长按为开启/关闭云台电源，将电源按键短按一下为云台电量显示。Most of the existing handheld pan/tilt adopts the button operation mode. The handheld pan/tilt has a power button. The user can switch the working mode of the pan/tilt through the power button. Generally, there are three working modes: turning on/off the pan/tilt power supply and the pan/tilt. Power display, such as short press the power button + long press to turn on/off the power of the pan/tilt, short press the power button to display the power of the pan/tilt.
但是，手持云台在关闭云台电源模式下，电源不对外输出，与其连接的各个模块(跟焦器、图传等)都会断电，不能正常工作，当云台再次开机时，与电源相连接的跟焦器、图传等需要进行重新校准、对频等操作，很麻烦，开机速度慢。However, when the handheld PTZ is powered off and the PTZ power mode is turned off, the power supply is not output to the outside. The modules connected to it (focal, image transmission, etc.) will be powered off and will not work properly. When the PTZ is powered on again, it is connected to the power supply. The connected focus, image transmission, etc. need to be recalibrated, frequency, etc., which is troublesome and the boot speed is slow.
发明内容Summary of the invention
本发明实施例提供的手持云台及其控制方法，用于解决现有技术中手持云台开机速度慢的问题，还可在手持云台不使用的时候省电。The handheld cloud platform and the control method thereof are provided for solving the problem that the handheld cloud platform has a slow booting speed in the prior art, and can also save power when the handheld cloud platform is not used.
第一方面，本发明实施例提供一种手持云台，包括电源按键、按压检测装置和控制器，所述电源按键与所述按压检测装置电性连接，所述控制器与所述按压检测装置电性连接；In a first aspect, an embodiment of the present invention provides a handheld cloud platform including a power button, a pressure detecting device, and a controller, wherein the power button is electrically connected to the pressing detecting device, and the controller and the pressing detecting device Electrical connection
所述电源按键用于接收用户输入，并根据所述用户输入触发所述按压检测装置；The power button is configured to receive a user input, and trigger the press detecting device according to the user input;
所述按压检测装置用于根据用户输入获取所述电源按键的操作状态；The pressing detecting device is configured to acquire an operating state of the power button according to a user input;
所述控制器用于接收所述按压检测装置获取的所述电源按键的操作状态 并根据所述按压检测装置获取的所述电源按键的操作状态控制所述手持云台进入相应的工作模式，所述工作模式至少包括休眠模式。The controller is configured to receive an operation state of the power button acquired by the press detecting device And controlling the handheld cloud platform to enter a corresponding working mode according to an operation state of the power button acquired by the pressing detecting device, where the working mode includes at least a sleep mode.
第二方面，本发明实施例提供一种手持云台的控制方法，包括：In a second aspect, an embodiment of the present invention provides a method for controlling a handheld cloud platform, including:
接收按压检测装置获取的电源按键的操作状态；Receiving an operation state of a power button acquired by the pressing detecting device;
根据所述按压检测装置获取的所述电源按键的操作状态控制所述手持云台进入相应的工作模式，所述工作模式至少包括休眠模式。And controlling the handheld cloud platform to enter a corresponding working mode according to an operation state of the power button acquired by the pressing detecting device, where the working mode includes at least a sleep mode.
本发明实施例提供的手持云台及其控制方法，通过设置电源按键、按压检测装置和控制器，电源按键接收到用户输入后，根据用户输入触发按压检测装置，按压检测装置根据用户输入获取电源按键的操作状态，将获取的电源按键的操作状态发送至控制器，控制器根据按压检测装置获取的电源按键的操作状态控制手持云台进入相应的工作模式，工作模式至少包括休眠模式，休眠模式下，手持云台的电机关闭，与电机连接的各个模块(如跟焦器、图传等)均能正常上电工作，这样的话，当电机再次开启时，与电机相连接的跟焦器、图传等不需要进行重新校准、对频等操作，开机速度快，且电机关闭状态下依然可以省电。The handheld pan/tilt head and the control method thereof are provided by the power button, the pressing detecting device and the controller. After the power button receives the user input, the pressing detecting device is triggered according to the user input, and the pressing detecting device obtains the power according to the user input. The operating state of the button is sent to the controller, and the controller controls the handheld pan/tilt to enter a corresponding working mode according to the operating state of the power button obtained by the pressing detecting device, and the working mode includes at least a sleep mode and a sleep mode. Next, the motor of the handheld gimbal is turned off, and each module connected to the motor (such as a follower, a picture transmission, etc.) can be powered up normally, so that when the motor is turned on again, the follower connected to the motor, The picture transmission does not require recalibration, frequency operation, etc., the power-on speed is fast, and the motor can still save power when the motor is off.
附图说明DRAWINGS
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief description of the drawings used in the embodiments or the prior art description will be briefly described below. Obviously, the drawings in the following description It is a certain embodiment of the present invention, and other drawings can be obtained from those skilled in the art without any inventive labor.
图1为本发明提供的手持云台的结构示意图一；1 is a schematic structural view 1 of a handheld cloud platform provided by the present invention;
图2为本发明提供的手持云台的控制方法流程示意图一。2 is a schematic flowchart 1 of a control method of a handheld pan/tilt provided by the present invention.
具体实施方式detailed description
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。 The technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. It is a partial embodiment of the invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.
本发明实施例所述的手持云台及其控制方法，通过对手持云台加入一种工作模式-休眠模式，用户可通过电源按键切换云台的工作模式至休眠模式，在休眠模式下，手持云台的电机关闭，与电机连接的各个模块(如跟焦器、图传等)均能正常上电工作，这样的话，当电机再次开启时，与电机相连接的跟焦器、图传等不需要进行重新校准、对频等操作，开机速度快，且电机关闭状态下依然可以省电。下面结合附图通过具体实施例，对本发明实施例提供的手持云台及其控制方法进行详细说明。According to the handheld cloud platform and the control method thereof according to the embodiment of the present invention, by adding a working mode-sleep mode to the handheld cloud platform, the user can switch the working mode of the pan/tilt to the sleep mode through the power button, and hold the handheld mode in the sleep mode. The motor of the gimbal is turned off, and the modules connected to the motor (such as the follower, the image transmission, etc.) can be powered up normally. In this case, when the motor is turned on again, the follower connected to the motor, the image transmission, etc. There is no need to recalibrate, frequency, etc., the boot speed is fast, and the motor can still save power when the motor is off. The handheld cloud platform and its control method provided by the embodiments of the present invention are described in detail below with reference to the accompanying drawings.
图1为本发明提供的手持云台的结构示意图一，请参照图1，该手持云台包括电源按键11、按压检测装置12和控制器13。电源按键11与按压检测装置12电性连接。控制器13与按压检测装置12电性连接。可选的，按压检测装置12可以是压力传感器，也可以是单片机，或者还可以是其他的可用于检测按键是否被按压、被按压的时长和/或被按压的次数的按压检测装置等。FIG. 1 is a schematic structural diagram 1 of a handheld cloud platform provided by the present invention. Referring to FIG. 1 , the handheld cloud platform includes a power button 11 , a press detecting device 12 , and a controller 13 . The power button 11 is electrically connected to the pressing detecting device 12. The controller 13 is electrically connected to the press detecting device 12. Alternatively, the press detecting device 12 may be a pressure sensor or a single chip microcomputer, or may be other press detecting devices that can be used to detect whether the button is pressed, the length of time to be pressed, and/or the number of times to be pressed.
其中，电源按键11用于接收用户输入，并根据用户输入触发按压检测装置12。按压检测装置12用于根据用户输入获取电源按键的操作状态。其中的用户输入包括按压方式和时长，相应地电源按键的操作状态由按压方式和时长决定，如电源按键的操作状态包括：短按+长按、短按一次、短按两次等等。控制器13用于接收按压检测装置12获取的电源按键的操作状态并根据按压检测装置12获取的电源按键的操作状态控制手持云台进入相应的工作模式。其中工作模式至少包括休眠模式。具体地，手持云台中预设设置有电源按键的操作状态和工作模式的对应关系，工作模式还包括开启/关闭云台电源模式和云台电量检测模式，该对应关系可以是预先存储在控制器13中，如短按+长按为开启/关闭云台电源模式，短按一次为云台电量检测模式，短按两次时对应的工作模式为休眠模式。控制器13接收到按压检测装置12获取的电源按键的操作状态后，根据电源按键的操作状态和预先存储的对应关系控制云台进入相应的工作模式。例如用户对电源按键短按+长按，则相应进入开启/关闭云台电源模式；又如用户对电源按键短按一次，则相应进入云台电量检测模式，检测云台当前剩余电量并显示当前剩余电量。The power button 11 is for receiving user input and triggering the press detecting device 12 according to the user input. The press detecting means 12 is for acquiring an operation state of the power button in accordance with a user input. The user input includes a pressing mode and a duration. Accordingly, the operating state of the power button is determined by the pressing mode and the duration. For example, the operating state of the power button includes: short pressing + long pressing, short pressing once, short pressing twice, and the like. The controller 13 is configured to receive an operation state of the power button acquired by the press detecting device 12 and control the handheld pan/tilt to enter a corresponding working mode according to the operating state of the power button acquired by the pressing detecting device 12. The working mode includes at least a sleep mode. Specifically, the handheld cloud platform presets a correspondence between an operation state of the power button and a working mode, and the working mode further includes: turning on/off the pan/tilt power mode and the pan/tilt power detection mode, where the correspondence may be pre-stored in the controller. In the 13th, if you press and hold long to turn on/off the PTZ power mode, press the PTZ power detection mode briefly. When the button is pressed twice, the corresponding working mode is the sleep mode. After receiving the operating state of the power button acquired by the pressing detecting device 12, the controller 13 controls the pan/tilt to enter the corresponding working mode according to the operating state of the power button and the pre-stored correspondence. For example, if the user presses the power button for a short press and long press, the corresponding power on/off pan/tilt mode is entered. If the user presses the power button once, the cloud power detection mode is entered accordingly, and the current remaining power of the pan/tilt is detected and the current status is displayed. remaining battery.
进一步地，在上述实施例的基础上，手持云台还包括至少一个用于支撑摄像装置的支架和至少一个用于驱动支架转动的电机，手持云台在休眠模式下，手持云台的电机关闭，电机不会收到电流指令。与电机连接的各个模块 (如跟焦器、图传等)均能正常上电工作，这样的话，当电机再次开启时，与电机相连接的跟焦器、图传等不需要进行重新校准、对频等操作，开机速度快。Further, based on the above embodiment, the handheld pan/tilt further includes at least one bracket for supporting the camera device and at least one motor for driving the rotation of the bracket. In the sleep mode, the motor of the handheld head is turned off. The motor will not receive a current command. Individual modules connected to the motor (such as the follower, image transmission, etc.) can be powered on normally, in this case, when the motor is turned on again, the follower and the image connected to the motor do not need to be recalibrated, frequency, etc. high speed.
在一些实施例中，电源按键11和按压检测装置12均设置于其中一支架内。本实施例的手持云台还包括至少一个操作面板，操作面板设置于其中一支架内，电源按键11和按压检测装置12均设置在操作面板上。通过操作面板的设置，便于用户操作。In some embodiments, the power button 11 and the press detecting device 12 are both disposed in one of the brackets. The handheld pan/tilt of this embodiment further includes at least one operation panel. The operation panel is disposed in one of the brackets, and the power button 11 and the press detecting device 12 are disposed on the operation panel. User-friendly operation is facilitated by the settings of the operation panel.
在一些实施例中，手持云台还包括至少一电池，电源按键11和按压检测装置12均设置电池内。In some embodiments, the handheld pan/tilt further includes at least one battery, and the power button 11 and the press detecting device 12 are both disposed within the battery.
进一步地，作为一种可选的实施方式，本实施例的手持云台还包括至少一个电调，每个电调对应于与一个电机的电源电性连接，手持云台在休眠模式下，与电机的电源连接的电调均能上电工作。Further, as an optional implementation manner, the handheld pan/tilt of this embodiment further includes at least one electrical tone, each electrical tone corresponding to a power connection with a motor, and the handheld cloud platform in a sleep mode, and The electrical adjustment of the power connection of the motor can be powered on.
作为另一种可选的实施方式，本实施例的手持云台还包括至少一个电调，每个电调对应于与一个电机的电源电性连接，手持云台在休眠模式下，与电机的电源连接的电调均能断电。As another optional implementation manner, the handheld pan/tilt of this embodiment further includes at least one ESC, each ESC corresponding to a power connection with a motor, the handheld PTZ in a sleep mode, and the motor The ESC of the power connection can be powered off.
本发明实施例提供的手持云台，通过设置电源按键、按压检测装置和控制器，电源按键接收到用户输入后，根据用户输入触发按压检测装置，按压检测装置根据用户输入获取电源按键的操作状态，将获取的电源按键的操作状态发送至控制器，控制器根据按压检测装置获取的电源按键的操作状态控制手持云台进入相应的工作模式，工作模式至少包括休眠模式，休眠模式下，手持云台的电机关闭，与电机连接的各个模块(如跟焦器、图传等)均能正常上电工作，这样的话，当电机再次开启时，与电机相连接的跟焦器、图传等不需要进行重新校准、对频等操作，开机速度快，且电机关闭状态下依然可以省电。According to the handheld cloud platform provided by the embodiment of the present invention, after the power button is received by the power button, the power button receives the user input, and the press detecting device is triggered according to the user input, and the pressing detecting device acquires the operating state of the power button according to the user input. Sending the obtained operating state of the power button to the controller, and the controller controls the handheld cloud platform to enter a corresponding working mode according to the operating state of the power button obtained by the pressing detecting device, and the working mode includes at least a sleep mode, and the handheld mode in the sleep mode The motor of the station is turned off, and the modules connected to the motor (such as the follower, the image transmission, etc.) can be powered up normally. In this case, when the motor is turned on again, the follower connected to the motor, the picture transmission, etc. Need to re-calibrate, frequency and other operations, the boot speed is fast, and the motor can still save power when the motor is off.
图2为本发明提供的手持云台的控制方法流程示意图一，本实施例的方法可用于上述图1所示的手持云台中，手持云台包括电源按键、按压检测装置和控制器，电源按键与按压检测装置电性连接，控制器与按压检测装置电性连接，本实施例提供的控制方法的执行主体可以为控制器。请参照图2，本实施例的方法可以包括：2 is a schematic flowchart 1 of a control method of a handheld pan/tilt provided by the present invention. The method in this embodiment can be used in the handheld cloud platform shown in FIG. 1 , wherein the handheld cloud platform includes a power button, a press detecting device, and a controller, and the power button The controller is electrically connected to the press detecting device, and the controller is electrically connected to the press detecting device. The executing body of the control method provided in this embodiment may be a controller. Referring to FIG. 2, the method in this embodiment may include:
S11、接收按压检测装置获取的电源按键的操作状态。 S11. Receive an operation state of a power button acquired by the press detecting device.
其中，电源按键接收用户输入，并根据用户输入触发按压检测装置，按压检测装置根据用户输入获取电源按键的操作状态，其中的用户输入包括按压方式和时长，相应地电源按键的操作状态由按压方式和时长决定，如电源按键的操作状态包括：短按+长按、短按一次、短按两次等等。The power button receives the user input and triggers the pressing detection device according to the user input, and the pressing detecting device acquires the operating state of the power button according to the user input, wherein the user input includes a pressing manner and a duration, and accordingly, the operating state of the power button is pressed. And the length of time determines, for example, the operating state of the power button includes: short press + long press, short press once, short press twice, and so on.
S12、根据按压检测装置获取的电源按键的操作状态控制手持云台进入相应的工作模式，工作模式至少包括休眠模式。S12. Control the handheld cloud platform to enter a corresponding working mode according to an operating state of the power button obtained by the pressing detecting device, and the working mode includes at least a sleep mode.
其中，工作模式例如还包括开启/关闭云台电源模式和云台电量检测模式，手持云台中预设设置有电源按键的操作状态和工作模式的对应关系，该对应关系可以是预先存储在控制器中，如短按+长按为开启/关闭云台电源模式，短按一次为云台电量检测模式，短按两次时对应的工作模式为休眠模式。接收到按压检测装置获取的电源按键的操作状态后，根据电源按键的操作状态和预先存储的对应关系控制云台进入相应的工作模式。The working mode includes, for example, turning on/off the pan/tilt power mode and the pan/tilt power detecting mode, and the corresponding relationship between the operating state and the working mode of the power button is preset in the handheld pan/tilt, and the corresponding relationship may be pre-stored in the controller. In the middle, if you press + long press to turn on/off the PTZ power mode, press the PTZ power detection mode briefly, and the corresponding working mode is the sleep mode when you press it twice. After receiving the operating state of the power button obtained by the pressing detecting device, the pan/tilt enters the corresponding working mode according to the operating state of the power button and the pre-stored correspondence.
具体的执行过程可以为：电源按键接收到用户输入后，根据用户输入触发按压检测装置，按压检测装置根据用户输入获取电源按键的操作状态，将获取的电源按键的操作状态发送至控制器，控制器根据按压检测装置获取的电源按键的操作状态控制手持云台进入相应的工作模式，例如电源按键的操作状态为短按两次，则相应进入休眠模式，手持云台在休眠模式下，手持云台的电机关闭，电机不会收到电流指令。与电机连接的各个模块(如跟焦器、图传等)均能正常上电工作，这样的话，当电机再次开启时，与电机相连接的跟焦器、图传等不需要进行重新校准、对频等操作，开机速度快。例如用户对电源按键短按+长按，则相应进入开启/关闭云台电源模式；又如用户对电源按键短按一次，则相应进入云台电量检测模式，检测云台当前剩余电量并显示当前剩余电量。The specific execution process may be: after receiving the user input, the power button triggers the pressing detection device according to the user input, and the pressing detecting device acquires the operating state of the power button according to the user input, and sends the obtained operating state of the power button to the controller to control The controller controls the handheld cloud platform to enter a corresponding working mode according to the operating state of the power button obtained by the pressing detecting device. For example, if the operating state of the power button is short pressed twice, the sleep mode is entered correspondingly, and the handheld cloud platform is in the sleep mode, the handheld cloud The motor of the station is turned off and the motor does not receive a current command. Each module connected to the motor (such as the follower, image transmission, etc.) can be powered up normally. In this case, when the motor is turned on again, the follower, the image transmission, etc. connected to the motor do not need to be recalibrated. For frequency and other operations, the boot speed is fast. For example, if the user presses the power button for a short press and long press, the corresponding power on/off pan/tilt mode is entered. If the user presses the power button once, the cloud power detection mode is entered accordingly, and the current remaining power of the pan/tilt is detected and the current status is displayed. remaining battery.
进一步地，在上述实施例的基础上，手持云台还包括至少一个用于支撑摄像装置的支架和至少一个用于驱动支架转动的电机，手持云台在休眠模式下，手持云台的电机关闭。Further, based on the above embodiment, the handheld pan/tilt further includes at least one bracket for supporting the camera device and at least one motor for driving the rotation of the bracket. In the sleep mode, the motor of the handheld head is turned off. .
进一步地，作为一种可选的实施方式，本实施例的手持云台还包括至少一个电调，每个电调对应于与一个电机的电源电性连接，手持云台在休眠模式下，与电机的电源连接的电调均能上电工作。Further, as an optional implementation manner, the handheld pan/tilt of this embodiment further includes at least one electrical tone, each electrical tone corresponding to a power connection with a motor, and the handheld cloud platform in a sleep mode, and The electrical adjustment of the power connection of the motor can be powered on.
作为另一种可选的实施方式，本实施例的手持云台还包括至少一个电调， 每个电调对应于与一个电机的电源电性连接，手持云台在休眠模式下，与电机的电源连接的电调均能断电。As another optional implementation manner, the handheld pan/tilt of this embodiment further includes at least one ESC. Each ESC is electrically connected to a power supply of a motor. In the sleep mode, the ESC connected to the power supply of the motor can be powered off.
上述两种实施方式为休眠模式的具体的两种实现方式，在实际应用中可灵活设置。The above two implementation manners are two specific implementation manners of the sleep mode, and can be flexibly set in practical applications.
本发明实施例提供的手持云台的控制方法，通过接收按压检测装置获取的电源按键的操作状态，根据按压检测装置获取的电源按键的操作状态控制手持云台进入相应的工作模式，工作模式至少包括休眠模式，休眠模式下，手持云台的电机关闭，与电机连接的各个模块(如跟焦器、图传等)均能正常上电工作，这样的话，当电机再次开启时，与电机相连接的跟焦器、图传等不需要进行重新校准、对频等操作，开机速度快，且电机关闭状态下依然可以省电。The control method of the handheld pan/tilt provided by the embodiment of the present invention controls the operating state of the power button obtained by the pressing detecting device, and controls the handheld cloud platform to enter a corresponding working mode according to the operating state of the power button obtained by the pressing detecting device, and the working mode is at least In the sleep mode, in the sleep mode, the motor of the handheld pan/tilt is turned off, and each module connected to the motor (such as a follower, a picture transfer, etc.) can be powered on normally, so that when the motor is turned on again, the motor is turned on. The connected follower, image transmission, etc. do not need to be recalibrated, frequency, etc., the boot speed is fast, and the motor can still save power when the motor is off.
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。 Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, and are not intended to be limiting; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that The technical solutions described in the foregoing embodiments may be modified, or some or all of the technical features may be equivalently replaced; and the modifications or substitutions do not deviate from the technical solutions of the embodiments of the present invention. range.

Claims (18)

  1. 一种手持云台，其特征在于，包括电源按键、按压检测装置和控制器，所述电源按键与所述按压检测装置电性连接，所述控制器与所述按压检测装置电性连接；A handheld pan/tilt head, comprising: a power button, a pressing detecting device and a controller, wherein the power button is electrically connected to the pressing detecting device, and the controller is electrically connected to the pressing detecting device;
    所述电源按键用于接收用户输入，并根据所述用户输入触发所述按压检测装置；The power button is configured to receive a user input, and trigger the press detecting device according to the user input;
    所述按压检测装置用于根据用户输入获取所述电源按键的操作状态；The pressing detecting device is configured to acquire an operating state of the power button according to a user input;
    所述控制器用于接收所述按压检测装置获取的所述电源按键的操作状态并根据所述按压检测装置获取的所述电源按键的操作状态控制所述手持云台进入相应的工作模式，所述工作模式至少包括休眠模式。The controller is configured to receive an operation state of the power button acquired by the press detecting device, and control the handheld pan/tilt to enter a corresponding working mode according to an operation state of the power button acquired by the press detecting device, The working mode includes at least a sleep mode.
  2. 如权利要求1所述的手持云台，其特征在于，所述用户输入包括按压方式和时长。The handheld pan/tilt head of claim 1 wherein said user input comprises a pressing mode and a duration.
  3. 如权利要求1所述的手持云台，其特征在于，所述电源按键的操作状态包括：短按+长按、短按一次、短按两次。The handheld pan/tilt head according to claim 1, wherein the operating state of the power button comprises: short press + long press, short press once, short press twice.
  4. 如权利要求3所述的手持云台，其特征在于，所述工作模式还包括开启/关闭云台电源模式和云台电量检测模式，短按+长按为开启/关闭云台电源模式，短按一次为云台电量检测模式。The handheld pan/tilt head according to claim 3, wherein the working mode further comprises: turning on/off the pan/tilt power mode and the pan/tilt power detecting mode, and short pressing + long pressing to turn on/off the pan/tilt power mode, short Press once for the PTZ power detection mode.
  5. 如权利要求3所述的手持云台，其特征在于，所述电源按键的操作状态为短按两次时对应的工作模式为休眠模式。The handheld pan/tilt head according to claim 3, wherein the operating state of the power button is a sleep mode when the short-pressing twice.
  6. 如权利要求1所述的手持云台，其特征在于，所述手持云台还包括至少一个用于支撑摄像装置的支架和至少一个用于驱动所述支架转动的电机，所述手持云台在休眠模式下，所述手持云台的电机关闭。The handheld pan/tilt head according to claim 1, wherein the handheld pan/tilt head further comprises at least one bracket for supporting the camera device and at least one motor for driving the rotation of the bracket, the handheld head is In the sleep mode, the motor of the handheld pan/tilt is turned off.
  7. 如权利要求6所述的手持云台，其特征在于，所述电源按键和所述按压检测装置均设置于其中一所述支架内。The handheld pan/tilt head according to claim 6, wherein the power button and the press detecting device are both disposed in one of the brackets.
  8. 如权利要求6所述的手持云台，其特征在于，所述手持云台还包括至少一个操作面板，所述操作面板设置于其中一所述支架内，所述电源按键和所述按压检测装置均设置在所述操作面板上。The handheld pan/tilt head according to claim 6, wherein the handheld pan/tilt head further comprises at least one operation panel, the operation panel is disposed in one of the brackets, the power button and the pressing detecting device Both are disposed on the operation panel.
  9. 如权利要求1所述的手持云台，其特征在于，所述手持云台还包括至少一电池，所述电源按键和所述按压检测装置均设置所述电池内。The handheld pan/tilt head according to claim 1, wherein the handheld pan/tilt head further comprises at least one battery, and the power button and the press detecting device are both disposed in the battery.
  10. 如权利要求1所述的手持云台，其特征在于，所述手持云台还包括 至少一个电调，每个电调对应于与一个所述电机的电源电性连接，所述手持云台在休眠模式下，与所述电机的电源连接的电调均能上电工作。The handheld pan/tilt head according to claim 1, wherein said handheld pan/tilt head further comprises At least one ESC, each ESC is electrically connected to a power source of the motor. In the sleep mode, the ESC connected to the power source of the motor can be powered on.
  11. 如权利要求1所述的手持云台，其特征在于，所述手持云台还包括至少一个电调，每个电调对应于与一个所述电机的电源电性连接，所述手持云台在休眠模式下，与所述电机的电源连接的电调均能断电。The handheld pan/tilt head according to claim 1, wherein the handheld pan/tilt head further comprises at least one electrical tone, each electrical tone corresponding to a power connection with a power source of the motor, wherein the handheld cloud platform is In the sleep mode, the ESC connected to the power supply of the motor can be powered off.
  12. 一种手持云台的控制方法，其特征在于，包括：A control method for a handheld pan/tilt, characterized in that it comprises:
    接收按压检测装置获取的电源按键的操作状态；Receiving an operation state of a power button acquired by the pressing detecting device;
    根据所述按压检测装置获取的所述电源按键的操作状态控制所述手持云台进入相应的工作模式，所述工作模式至少包括休眠模式。And controlling the handheld cloud platform to enter a corresponding working mode according to an operation state of the power button acquired by the pressing detecting device, where the working mode includes at least a sleep mode.
  13. 如权利要求12所述的方法，其特征在于，所述电源按键的操作状态包括：短按+长按、短按一次、短按两次。The method of claim 12, wherein the operating state of the power button comprises: short press + long press, short press once, short press twice.
  14. 如权利要求12所述的方法，其特征在于，所述工作模式还包括开启/关闭云台电源模式和云台电量检测模式，短按+长按为开启/关闭云台电源模式，短按一次为云台电量检测模式。The method according to claim 12, wherein the working mode further comprises: turning on/off the pan/tilt power mode and the pan/tilt power detecting mode, short pressing + long pressing to turn on/off the pan/tilt power mode, short pressing once It is the PTZ power detection mode.
  15. 如权利要求12所述的方法，其特征在于，所述电源按键的操作状态为短按两次时对应的工作模式为休眠模式。The method according to claim 12, wherein the operation state of the power button is a sleep mode when the short operation is performed twice.
  16. 如权利要求12所述的方法，其特征在于，所述手持云台还包括至少一个用于支撑摄像装置的支架和至少一个用于驱动所述支架转动的电机，所述手持云台在休眠模式下，所述手持云台的电机关闭。The method according to claim 12, wherein said handheld pan/tilt further comprises at least one bracket for supporting the camera device and at least one motor for driving rotation of said bracket, said handheld head in sleep mode Next, the motor of the handheld head is turned off.
  17. 如权利要求12所述的方法，其特征在于，所述手持云台还包括至少一个电调，每个电调对应于与一个所述电机的电源电性连接，所述手持云台在休眠模式下，与所述电机的电源连接的电调均能上电工作。The method of claim 12, wherein the handheld pan/tilt further comprises at least one electrical tone, each electrical tone corresponding to a power connection with a power source of the motor, the handheld cloud platform being in a sleep mode Next, the ESC connected to the power supply of the motor can be powered on.
  18. 如权利要求12所述的方法，其特征在于，所述手持云台还包括至少一个电调，每个电调对应于与一个所述电机的电源电性连接，所述手持云台在休眠模式下，与所述电机的电源连接的电调均能断电。 The method of claim 12, wherein the handheld pan/tilt further comprises at least one electrical tone, each electrical tone corresponding to a power connection with a power source of the motor, the handheld cloud platform being in a sleep mode Next, the ESC connected to the power supply of the motor can be powered off.
PCT/CN2017/070959 2017-01-12 2017-01-12 Handheld cradle head and control method therefor WO2018129689A1 (en)

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