WO2020107472A1 - Control method for handheld gimbal and handheld gimbal - Google Patents

Control method for handheld gimbal and handheld gimbal Download PDF

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Publication number
WO2020107472A1
WO2020107472A1 PCT/CN2018/118767 CN2018118767W WO2020107472A1 WO 2020107472 A1 WO2020107472 A1 WO 2020107472A1 CN 2018118767 W CN2018118767 W CN 2018118767W WO 2020107472 A1 WO2020107472 A1 WO 2020107472A1
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WO
WIPO (PCT)
Prior art keywords
handheld gimbal
preset
mode
rotating shaft
drive motor
Prior art date
Application number
PCT/CN2018/118767
Other languages
French (fr)
Chinese (zh)
Inventor
周长兴
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2018/118767 priority Critical patent/WO2020107472A1/en
Priority to CN201880042470.0A priority patent/CN110892188B/en
Publication of WO2020107472A1 publication Critical patent/WO2020107472A1/en

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/04—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or holding steady relative to, a person, e.g. by chains, e.g. rifle butt or pistol grip supports, supports attached to the chest or head
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • 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

Definitions

  • the embodiments of the present invention relate to the technical field of pan-tilt heads, and in particular, to a control method of a handheld pan-tilt head and a handheld pan-tilt head.
  • the handheld gimbal is a supporting device for carrying a photographing device (such as a mobile phone), and is used to adjust the motion state and position of the photographing device, so that the photographing device can take pictures and video stably.
  • a photographing device such as a mobile phone
  • the handheld gimbal can enter standby mode.
  • the technical solution disclosed in the Chinese invention patent application with the publication number CN108375992A and the invention titled "Control Method and Control Device for Hand-held PTZ” when the hand-held PTZ enters standby mode, all motor power will be disconnected. Since the motors of the handheld gimbal are all powered off in standby mode, all axes of the handheld gimbal can be moved, which results in inconvenience for users to hold the mobile phone during use and reduces the user experience.
  • Embodiments of the present invention provide a hand-held gimbal control method and hand-held gimbal, to solve the problem that the existing hand-held gimbal can be moved in various axes after entering the standby mode, resulting in inconvenience for the user to hold the phone during the use of the mobile phone , The problem of poor user experience.
  • an embodiment of the present invention provides a method for controlling a handheld gimbal, including:
  • the state includes working mode and standby mode.
  • the handheld gimbal includes a rotating shaft mechanism.
  • the rotating shaft mechanism includes a rotating shaft and a drive motor that drives the rotating shaft;
  • the handheld gimbal If the handheld gimbal satisfies the conditions for entering the standby mode, the handheld gimbal is put into the standby mode, and when the handheld gimbal enters the standby mode, the driving motor of the rotating shaft mechanism is controlled to enter a preset mode; wherein, in the preset mode, the driving motor Stay on power.
  • an embodiment of the present invention provides a method for controlling a handheld gimbal, including:
  • the handheld gimbal includes a rotating shaft mechanism, which includes a rotating shaft and a drive motor that drives the rotating shaft;
  • the handheld gimbal If the handheld gimbal is in working mode, obtain the current rotation angle of the rotating shaft mechanism and the status information of the drive motor;
  • the handheld gimbal According to the current rotation angle of the rotating shaft mechanism and the status information of the drive motor, it is determined whether the handheld gimbal satisfies the conditions for entering the standby mode.
  • an embodiment of the present invention provides a handheld cloud platform, including:
  • the rotating shaft mechanism includes a rotating shaft and a driving motor that drives the rotating shaft to rotate;
  • the processor is used to: obtain the current state of the handheld gimbal, including the working mode and the standby mode; if the handheld gimbal is currently in the working mode, determine whether the handheld gimbal satisfies the conditions for entering the standby mode; if the handheld gimbal meets the entering the standby mode Conditions, the handheld gimbal enters the standby mode, and when the handheld gimbal enters the standby mode, the drive motor that controls the rotating shaft mechanism enters a preset mode; wherein, in the preset mode, the drive motor remains uninterrupted.
  • an embodiment of the present invention provides a handheld gimbal, including:
  • the rotating shaft mechanism includes a rotating shaft and a driving motor that drives the rotating shaft to rotate;
  • the processor is used to:
  • an embodiment of the present invention provides a handheld gimbal, including:
  • the pan-tilt mechanism is connected to the handle mechanism.
  • the pan-tilt mechanism is used to carry the shooting equipment and can adjust the posture of the shooting equipment;
  • Drive motor and electronic governor used to control the drive motor, the clamping mechanism is used to clamp the shooting equipment;
  • Controller electrically connected with electronic governor
  • the controller controls the drive motor to enter the preset mode through the electronic governor; in the preset mode, the electronic governor keeps supplying power to the drive motor.
  • an embodiment of the present invention provides a handheld cloud platform, including:
  • the pan-tilt mechanism is connected to the handle mechanism.
  • the pan-tilt mechanism is used to carry the shooting equipment and can adjust the posture of the shooting equipment;
  • Drive motor and electronic governor for controlling the drive motor, the clamping mechanism is used to clamp the shooting equipment;
  • Controller electrically connected with electronic governor
  • the controller controls the drive motor to enter the preset mode through the electronic governor.
  • an embodiment of the present invention provides a control device (such as a chip, an integrated circuit, etc.) for a handheld cloud platform, including: a memory and a processor.
  • the memory is used to store the code for executing the control method of the handheld gimbal.
  • the processor is configured to call the code stored in the memory and execute the control method of the handheld cloud platform according to the embodiment of the present invention according to the first aspect or the second aspect.
  • an embodiment of the present invention provides a computer-readable storage medium.
  • the computer-readable storage medium stores a computer program.
  • the computer program includes at least one piece of code.
  • the at least one piece of code can be executed by a computer to control the computer to perform the first aspect or the first
  • the control method of the handheld gimbal according to an embodiment of the present invention.
  • an embodiment of the present invention provides a computer program.
  • the computer program When the computer program is executed by a computer, the computer program is used to implement the control method of the handheld cloud platform according to the embodiment of the first aspect or the second aspect of the present invention.
  • the control method of the handheld gimbal and the handheld gimbal obtained the current state of the handheld gimbal, and when the handheld gimbal is currently in the working mode and meets the conditions for entering the standby mode, the handheld gimbal is put into standby Mode, when the handheld gimbal enters the standby mode, the drive motor that controls the rotating shaft mechanism enters the preset mode.
  • the preset mode the drive motor keeps uninterrupted power, which realizes the switching of the handheld gimbal from the working mode to the standby mode.
  • the driving motor In the standby mode, the driving motor is kept powered on, which is convenient for the user to hold the mobile phone during use, and the user experience is improved. It solves the problem that the rotating shaft can move due to the power failure of the drive motor, which in turn causes the user to be inconvenient to hold while using the mobile phone.
  • FIG. 1 is a schematic structural diagram of a hand-held cloud platform applicable to an embodiment of the present invention
  • FIG. 2 is a flowchart of an embodiment of a method for controlling a hand-held cloud platform provided by the present invention
  • FIG. 3 is a flowchart of another embodiment of a method for controlling a hand-held cloud platform provided by the present invention.
  • FIG. 4 is a flowchart of another embodiment of a method for controlling a handheld cloud platform provided by the present invention.
  • FIG. 5 is a schematic structural diagram of an embodiment of a handheld cloud platform provided by the present invention.
  • FIG. 6 is a schematic structural diagram of yet another embodiment of a handheld cloud platform provided by the present invention.
  • FIG. 7 is a schematic structural diagram of another embodiment of a handheld cloud platform provided by the present invention.
  • FIG. 8 is a schematic structural diagram of another embodiment of a handheld cloud platform provided by the present invention.
  • first and second in the present invention only serve as identification, and cannot be understood as indicating or implying a sequence relationship, relative importance, or implicitly indicating the number of indicated technical features.
  • Multiple means two or more.
  • And/or describes the relationship of related objects, indicating that there can be three relationships, for example, A and/or B, which can indicate: there are three conditions: A exists alone, A and B exist at the same time, and B exists alone.
  • the character “/" generally indicates that the related object is a "or” relationship.
  • the control method of the handheld gimbal provided by the embodiment of the present invention can be applied to a single-axis handheld gimbal, a dual-axis handheld gimbal, a three-axis handheld gimbal, and the like.
  • a three-axis handheld gimbal is taken as an example for illustration.
  • FIG. 1 is a schematic structural diagram of a handheld cloud platform to which an embodiment of the present invention is applicable.
  • the handheld gimbal may include a handle mechanism 10 and a gimbal mechanism 20.
  • the handle mechanism 10 is connected to the gimbal mechanism 20.
  • the pan-tilt mechanism 20 may be used to carry the shooting device 9, and the shooting device 9 in this embodiment may be, for example, a camera, a video camera, a mobile phone, or the like.
  • control mechanism 11 may be provided on the handle mechanism 10, and the gimbal mechanism 20 is used to control the handheld gimbal. It should be noted that the number and implementation of the control buttons 11 are not limited in this embodiment.
  • the control button 11 may be, for example, a switch button, a mode switching button, or the like.
  • a battery for powering various components of the handheld gimbal may be installed inside the handle mechanism 10.
  • the gimbal mechanism 20 may include a pitch axis (Pitch axis) mechanism 21, a translation axis (Yaw axis) mechanism 22, and a roll axis (Roll axis) mechanism 23.
  • the pitch axis mechanism 21 includes a pitch axis rotation axis and a pitch axis drive motor;
  • the pan axis mechanism 22 includes a pan axis rotation axis and a pan axis drive motor;
  • the roll axis mechanism 23 includes a roll axis rotation axis and a roll axis drive motor.
  • the handheld gimbal may include a clamping mechanism 6 for fixing the shooting device 9.
  • the embodiment of the present invention does not limit the shape and position of the clamping mechanism 6.
  • an inertial measurement element may be provided in the clamping mechanism 6.
  • the inertial measurement element may be a gyroscope, an accelerometer, or the like.
  • FIG. 2 is a flowchart of an embodiment of a method for controlling a handheld cloud platform provided by the present invention. As shown in FIG. 2, the method of this embodiment may include:
  • the state includes a working mode and a standby mode.
  • the handheld gimbal includes a rotating shaft mechanism.
  • the rotating shaft mechanism includes a rotating shaft and a drive motor that drives the rotating shaft to rotate.
  • the handheld gimbal may be a single-axis handheld gimbal, and the rotating shaft mechanism may be a roll axis rotating shaft mechanism; in this embodiment, the handheld gimbal may also be a dual-axis handheld gimbal, and the rotating shaft mechanism may include a horizontal axis. Roller axis mechanism, and any one of pan axis axis mechanism and pitch axis axis mechanism; the handheld gimbal in this embodiment may also be a dual axis handheld gimbal, then the axis mechanism may include a roll axis axis mechanism, a pan axis Rotation axis mechanism and pitch axis rotation axis mechanism.
  • the handheld gimbal When the handheld gimbal is in working mode, if the mobile phone held by the handheld gimbal receives voice call information at this time, or the user needs to make a call, or the user needs to view the captured picture or video, the user can The control buttons on the gimbal, the application (APP) corresponding to the hand-held gimbal, or manually rotating the mobile phone as shown in FIG. 1 by 90 degrees to facilitate subsequent operations. To avoid damaging the motor of the handheld gimbal, the handheld gimbal can enter standby mode.
  • APP application
  • the handheld gimbal If the handheld gimbal satisfies the conditions for entering the standby mode, the handheld gimbal is put into the standby mode.
  • the driving motor of the rotating shaft mechanism is controlled to enter a preset mode; wherein, in the preset mode, The drive motor remains uninterrupted.
  • the drive motor when the handheld gimbal enters the standby mode, the drive motor enters a preset mode, and in the preset mode, the drive motor maintains a power-on state. Therefore, it will not cause the rotating shaft to be movable due to the power failure of the driving motor, which in turn will cause the user to be inconvenient to hold while using the mobile phone.
  • the driving motor remains powered on, and the user does not rotate the shaft arbitrarily during the use of the mobile phone, which is convenient for the user to hold the mobile phone during the use.
  • the control method of the handheld gimbal obtained by this embodiment obtains the current state of the handheld gimbal.
  • the handheld gimbal is currently in the working mode and meets the conditions for entering the standby mode, the handheld gimbal is put into the standby mode.
  • the drive motor that controls the shaft mechanism enters the preset mode.
  • the drive motor maintains constant power, which realizes the switching of the handheld gimbal from the working mode to the standby mode.
  • the standby mode the The driving motor keeps the power on, which is convenient for the user to hold the mobile phone during use, and improves the user experience. It solves the problem that the rotating shaft can move due to the power failure of the drive motor, which in turn causes the user to be inconvenient to hold while using the mobile phone.
  • the preset mode may include a positioning mode.
  • the drive motor provides a preset torque to the rotating shaft, and the rotating shaft is positioned at the preset position, thereby maintaining the state of the rotating shaft mechanism at the preset position.
  • the preset position in this embodiment may be a position that is convenient for the user to use the mobile phone, for example, a position that rotates the mobile phone clockwise as shown in FIG. 1 by 90 degrees, and the user only needs to hold the handle when making or receiving a call. It can be understood that, due to different usage habits of each user, the preset position may be set according to a user's control instruction.
  • the magnitude of the preset torque is determined according to the preset position.
  • the control method of the hand-held pan/tilt head provided in this embodiment is based on the foregoing embodiment, and provides a preset torque to the rotating shaft by driving the motor, positioning the rotating shaft at the preset position, thereby keeping the rotating shaft mechanism at the preset position , which further facilitates users' use of mobile phones in standby mode.
  • the preset mode includes a wake-up mode.
  • the drive motor In the wake-up mode, the drive motor is input with a current of a preset magnitude, so that the drive motor is maintained in a powered-on state.
  • the handheld gimbal By inputting a current of a preset size to the drive motor, and keeping the drive motor energized, the handheld gimbal can be quickly restored to the work mode during the process of switching from the standby mode to the work mode.
  • a mechanical locking mechanism is used to position the rotation axis mechanism of the handheld gimbal at a preset position.
  • a mechanical locking mechanism may be provided on the rotating shaft to position the rotating shaft mechanism at a preset position.
  • multiple mechanical locking mechanisms may be provided. It should be noted that this embodiment does not limit the implementation of the mechanical locking mechanism. When the lock needs to be released, it can be achieved by forcibly breaking the rotating shaft away from the preset position.
  • the preset mode may further include a heating mode, in which the drive motor is input A predetermined amount of current to heat the battery of the driving motor and/or the handheld gimbal.
  • the method provided in this embodiment may further include: acquiring the temperature value of the environment in which the handheld gimbal is located; if the temperature value is less than The preset temperature threshold value controls the driving motor of the handheld gimbal to enter the heating mode.
  • the preset temperature threshold in this embodiment may be obtained according to experimental measurements. In this embodiment, by acquiring the temperature value of the environment in which the handheld gimbal is located, only when the temperature value is less than the preset temperature threshold, the driving motor of the handheld gimbal is controlled to enter the heating mode.
  • the control method of the handheld gimbal determines whether to enter the heating mode according to the ambient temperature value, which further improves the battery utilization and extends the battery usage time.
  • the handheld gimbal is heated by inputting a preset current to the drive motor to avoid reducing the battery usage time due to the low temperature; when the handheld gimbal is used in a warm environment, it is not correct The battery is heated to save battery power, improve battery utilization, and delay battery life.
  • the rotation axis mechanism may be a pitch axis mechanism, a translation axis mechanism, or a roll axis mechanism.
  • the rotation axis mechanism may also be a plurality of pitch axis mechanism, translation axis mechanism and roll axis mechanism.
  • an implementation manner for determining whether the handheld gimbal satisfies the conditions for entering the standby mode may be:
  • the rotation angle of the rotation axis mechanism of the handheld gimbal and the status information of the driving motor it is determined whether the handheld gimbal satisfies the conditions for entering the standby mode.
  • the rotation angle of the rotating shaft mechanism may be very close to the preset position in the standby mode, so when only the rotation angle is used to determine whether the condition for entering the standby mode is satisfied, it is easy to cause misjudgment and cause the user Unnecessary troubles.
  • the rotation angle of the rotating shaft mechanism and the status information of the drive motor are used to comprehensively determine whether the hand-held gimbal satisfies the conditions for entering the standby mode, thereby avoiding the misjudgment that may be generated when the angle is used only to improve the accuracy of control.
  • an implementation manner for determining whether the handheld gimbal satisfies the condition of entering the standby mode may be: if the rotation angle of the rotation mechanism is greater than the preset angle Threshold, and the drive motor is in the locked state, it is determined that the handheld gimbal meets the conditions for entering the standby mode.
  • the preset angle threshold in this embodiment may be set according to the preset position or the position of the locking mechanism, for example, the preset angle threshold may be set to 85 degrees.
  • the drive motor When the handheld gimbal is in working mode, the drive motor will continue to output to maintain posture balance, so when the shaft mechanism is manually broken to 90 degrees, the drive motor will output torque in the opposite direction to maintain posture balance, but at this time the shaft The mechanism cannot actively return to the center because of the locking mechanism, causing the motor to stall.
  • the rotation angle of the rotating shaft mechanism is greater than the preset angle threshold and the driving motor is in the locked state, which can accurately describe that the user actively breaks the rotating shaft mechanism to a position of 90 degrees and expects to enter the standby mode.
  • an implementation manner for determining whether the handheld gimbal satisfies the conditions for entering the standby mode may be:
  • the rotation angle of the rotating shaft mechanism is greater than 85 degrees and less than 95 degrees, and the torque output by the drive motor is greater than a preset torque threshold, then it is determined that the handheld gimbal satisfies the condition for entering the standby mode.
  • an implementation manner for determining whether the handheld gimbal satisfies the conditions for entering the standby mode may be:
  • the driving motor of at least one rotating shaft mechanism may be controlled to enter a preset mode.
  • control method of the handheld gimbal may further include: if the handheld gimbal is currently in the standby mode, determining whether the handheld gimbal meets the conditions for entering the work mode; if the handheld gimbal meets the conditions for entering the work mode, then Put the handheld gimbal into working mode. Realized the switch from standby mode to working mode.
  • an implementation manner for determining whether the handheld gimbal satisfies the conditions for entering the working mode may be: if the rotation angle of the rotating shaft mechanism is less than or equal to a preset angle threshold and the driving motor does not block, determine that the handheld gimbal meets Conditions for entering the work mode.
  • the method provided in this embodiment may further include: if the rotation angle of the rotating shaft mechanism is less than or equal to a preset angle threshold, and the drive motor is in the locked state, determining that the handheld gimbal has failed.
  • the rotation angle of the shaft mechanism is less than or equal to the preset angle threshold, it can be determined that the user does not expect to enter the standby mode, and if the drive motor is blocked at this time, it can be determined that the handheld gimbal has failed. At this time, you can cut off the power of the motor and send a prompt message to the user. For example, the user can be prompted through the APP corresponding to the handheld gimbal.
  • an implementation manner for determining whether the handheld gimbal satisfies the conditions for entering the standby mode may be: if the mobile terminal connected to the handheld gimbal receives voice call information, rotate the rotation mechanism of the handheld gimbal to a preset Position and determine that the handheld gimbal satisfies the conditions for entering standby mode.
  • the handheld gimbal and the captured shooting device can be connected in a wired and/or wireless manner to communicate, and the handheld gimbal can obtain the access right to the mobile phone call in advance.
  • the handheld gimbal acquires the voice call information received by the connected mobile terminal, it can rotate the shaft mechanism of the handheld gimbal to a preset position and determine that the handheld gimbal satisfies the conditions for entering the standby mode.
  • the handheld gimbal may further include: if the remaining power of the handheld gimbal is less than a preset power threshold, controlling the handheld gimbal to enter the power saving mode.
  • the power supply of at least one of the following electronic devices of the handheld gimbal may be disconnected: a driving motor, an attitude sensor, and an electronic speed governor to save power.
  • FIG. 3 is a flowchart of another embodiment of a method for controlling a handheld cloud platform provided by the present invention.
  • the control method of the handheld cloud platform provided in this embodiment may include:
  • the handheld gimbal enters the work mode.
  • the mobile phone gimbal is powered on to enter the working mode, and the driving motor continuously outputs to maintain the posture balance.
  • the preset angle threshold in this embodiment may be set according to the locking angle of the locking mechanism, or may be set according to the user's usage habits, which is not limited in this embodiment.
  • the preset angle threshold in this embodiment may be set to 85 degrees, for example.
  • S303 is executed. If the rotation angle of the roll shaft rotation mechanism is less than or equal to 85 degrees, S301 is executed to continue to maintain the working mode.
  • the handheld gimbal enters the standby mode.
  • the roll shaft driving motor keeps the power on state, so as to avoid that the rotation shaft can move due to the power failure of the motor, which in turn causes the user to inconveniently hold during the use of the mobile phone.
  • the temperature value of the environment where the handheld gimbal is located can be obtained; if the temperature value is less than the preset temperature threshold, the drive motor is controlled to be input with a current of a preset size, thereby The motor and/or the battery of the handheld gimbal is heated to avoid reducing the battery life due to the low battery temperature of the device.
  • the handheld gimbal When the handheld gimbal is in the standby mode, it is determined whether the rotation angle of the roll shaft rotation mechanism is less than or equal to a preset angle threshold. When the rotation angle of the roll shaft rotation mechanism is less than or equal to the preset angle threshold, S306 is executed; otherwise, the standby mode is continued.
  • the motor power can be cut off and a prompt message can be sent to the user.
  • the user can be prompted through the APP corresponding to the handheld gimbal.
  • FIG. 4 is a flowchart of another embodiment of a method for controlling a handheld cloud platform provided by the present invention. As shown in FIG. 4, the method provided in this embodiment may include:
  • the handheld gimbal includes a rotating shaft mechanism, and the rotating shaft mechanism includes a rotating shaft and a driving motor that drives the rotating shaft to rotate.
  • S403. Determine, according to the current rotation angle of the rotating shaft mechanism and the status information of the driving motor, whether the handheld gimbal satisfies the conditions for entering the standby mode.
  • the control method of the handheld gimbal obtaineds the current rotation angle of the rotating shaft mechanism and the status information of the driving motor when the handheld gimbal is in the working mode, and comprehensively judges based on the current rotating angle of the rotating shaft mechanism and the status information of the driving motor Whether the hand-held gimbal satisfies the conditions for entering the standby mode, which avoids the misjudgment that may be generated when the angle is used for judgment, and improves the accuracy of control.
  • an implementation manner for determining whether the handheld gimbal satisfies the conditions for entering the standby mode may be:
  • an implementation manner for determining whether the handheld gimbal satisfies the conditions for entering the standby mode may be:
  • the handheld gimbal satisfies the condition for entering the standby mode.
  • an implementation manner for determining whether the handheld gimbal satisfies the conditions for entering the standby mode may be:
  • the handheld gimbal satisfies the condition for entering the standby mode.
  • the method provided in this embodiment may further include: acquiring the temperature value of the environment in which the handheld gimbal is located; if the temperature value is less than the preset temperature threshold, the control driving motor is input into a pre-set Set a large amount of current to heat the battery that drives the motor and/or the handheld gimbal. To avoid the battery temperature is too low and lead to reduce battery life.
  • the method provided in this embodiment may further include: driving the motor to provide a preset torque to the rotating shaft, and positioning the rotating shaft at a preset position, thereby keeping the rotating shaft mechanism at the preset position status.
  • driving the motor to provide a preset torque to the rotating shaft
  • positioning the rotating shaft at a preset position, thereby keeping the rotating shaft mechanism at the preset position status.
  • the method provided in this embodiment may further include: using a mechanical locking mechanism to position the rotation axis mechanism of the handheld gimbal at a preset position.
  • FIG. 5 is a schematic structural diagram of an embodiment of a handheld cloud platform provided by the present invention.
  • the handheld gimbal 500 provided in this embodiment may include: a rotating shaft mechanism 502 and a processor 501; the rotating shaft mechanism 502 may include a rotating shaft 5022 and a driving motor 5021 that drives the rotating shaft 5022 to rotate.
  • the processor 501 may be a central processing unit (Central Processing Unit, CPU), or other general-purpose processors, digital signal processors (Digital Signal Processors, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • the general-purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
  • the driving motor 5021 may be a DC motor or an AC motor.
  • the driving motor 5021 may be a brushless motor or a brushed motor.
  • the processor 501 may be used to: obtain the current state of the handheld gimbal 500, including the working mode and the standby mode; if the handheld gimbal 500 is currently in the working mode, determine whether the handheld gimbal 500 meets the conditions for entering the standby mode; When the gimbal 500 satisfies the conditions for entering the standby mode, the handheld gimbal 500 is put into the standby mode.
  • the drive motor 5021 of the rotating shaft mechanism 502 is controlled to enter the preset mode; wherein, in the preset mode , The drive motor 5021 keeps uninterrupted power.
  • the preset mode may include a positioning mode; the processor 501 may be used to control the drive motor to provide a preset torque to the rotating shaft in the positioning mode, positioning the rotating shaft at a preset position, so as to keep the rotating shaft mechanism at a predetermined position Set the status of the location.
  • the preset mode may include a wake-up mode; the processor 501 may be used to control the drive motor to be input with a current of a preset size in the wake-up mode, thereby keeping the drive motor in a powered-on state.
  • the processor 501 may be used to control the mechanical locking mechanism to position the rotation axis mechanism of the handheld gimbal at a preset position in the wake-up mode.
  • the preset mode may include a heating mode; the processor 501 may be used to, in the heating mode, control the drive motor to be input with a current of a preset magnitude to heat the drive motor and/or the battery of the handheld gimbal .
  • the processor 501 can also be used to obtain the temperature value of the environment in which the handheld gimbal is located; if the temperature value is less than a preset temperature threshold, the driving motor of the handheld gimbal is controlled to enter heating mode.
  • the rotation axis mechanism 502 may be a pitch axis mechanism, a translation axis mechanism, or a roll axis mechanism.
  • the processor 501 is used to determine whether the handheld gimbal satisfies the conditions for entering the standby mode, which may specifically include:
  • the rotation angle of the rotation axis mechanism of the handheld gimbal and the status information of the driving motor it is determined whether the handheld gimbal satisfies the conditions for entering the standby mode.
  • the processor 501 is used to determine whether the handheld gimbal satisfies the conditions for entering the standby mode according to the rotation angle of the rotation axis mechanism of the handheld gimbal and the status information of the driving motor, which may specifically include:
  • the processor 501 is used to determine whether the handheld gimbal satisfies the conditions for entering the standby mode according to the rotation angle of the rotation axis mechanism of the handheld gimbal and the status information of the driving motor, which may specifically include:
  • the processor 501 is used to determine whether the handheld gimbal satisfies the conditions for entering the standby mode according to the rotation angle of the rotation axis mechanism of the handheld gimbal and the status information of the driving motor, which may specifically include:
  • the processor 501 may be used to control the driving motor 5021 of at least one rotating shaft mechanism 502 to enter a preset mode when the handheld gimbal enters the standby mode.
  • the processor 501 may also be used to: if the handheld gimbal is currently in the standby mode, determine whether the handheld gimbal satisfies the conditions for entering the work mode; if the handheld gimbal meets the conditions for entering the work mode, enable the handheld gimbal Enter working mode.
  • the processor 501 is used to determine whether the handheld gimbal satisfies the conditions for entering the work mode, which may specifically include:
  • processor 501 can also be used for:
  • the processor 501 is used to determine whether the handheld gimbal satisfies the conditions for entering the standby mode, which may specifically include:
  • the shaft mechanism of the handheld gimbal is rotated to a preset position, and it is determined that the handheld gimbal satisfies the conditions for entering the standby mode.
  • the processor 501 may also be used to:
  • the handheld gimbal is controlled to enter the power saving mode.
  • the processor 501 is also used to: in the power saving mode, disconnect the power supply of at least one of the following electronic devices of the handheld gimbal: a driving motor, an attitude sensor, and an electronic governor.
  • FIG. 6 is a schematic structural diagram of yet another embodiment of a handheld cloud platform provided by the present invention.
  • the handheld gimbal 600 provided in this embodiment may include: a rotating shaft mechanism 602 and a processor 601; the rotating shaft mechanism 602 may include a rotating shaft 6022 and a driving motor 6021 that drives the rotating shaft 6022 to rotate.
  • the processor 601 may be a central processing unit (Central Processing Unit, CPU), or other general-purpose processors, digital signal processors (Digital Signal Processors, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • the general-purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
  • the driving motor 6021 may be a DC motor or an AC motor.
  • the driving motor 6021 may be a brushless motor or a brushed motor.
  • the processor 601 can be used to: determine whether the handheld gimbal 600 is in the working mode; if the handheld gimbal 600 is in the working mode, obtain the current rotation angle of the shaft mechanism 602 and the status information of the drive motor 6021; according to the current rotation angle of the shaft mechanism and The status information of the driving motor 6021 determines whether the handheld gimbal 600 satisfies the conditions for entering the standby mode.
  • the processor 601 is used to determine whether the handheld gimbal satisfies the conditions for entering the standby mode according to the current rotation angle of the shaft mechanism and the status information of the driving motor, which may specifically include:
  • the processor 601 is used to determine whether the handheld gimbal satisfies the conditions for entering the standby mode according to the current rotation angle of the shaft mechanism and the status information of the driving motor, which may specifically include:
  • the handheld gimbal satisfies the condition for entering the standby mode.
  • the processor 601 is used to determine whether the handheld gimbal satisfies the conditions for entering the standby mode according to the current rotation angle of the shaft mechanism and the status information of the driving motor, which may specifically include:
  • the handheld gimbal satisfies the condition for entering the standby mode.
  • the processor 601 may also be used to:
  • the drive motor is controlled to be input with a current of a preset size, thereby heating the drive motor and/or the battery of the handheld gimbal.
  • the processor 601 may also be used to:
  • the driving motor is controlled to provide a preset torque to the rotating shaft, and the rotating shaft is positioned at the preset position, thereby keeping the rotating shaft mechanism at the preset position.
  • the processor 601 may also be used to:
  • the mechanical locking mechanism is controlled to position the rotation axis mechanism of the hand-held gimbal at a preset position.
  • the handheld cloud platform 700 provided by this embodiment may include:
  • the pan-tilt mechanism 704 is connected to the handle mechanism 701.
  • the pan-tilt mechanism 704 is used to carry the shooting device and can adjust the posture of the shooting device;
  • 702 includes a rotating shaft 7022, a driving motor 7021 that drives the rotating shaft, and an electronic governor 7023 for controlling the driving motor, and a clamping mechanism 703 is used to clamp the shooting device;
  • the controller 705 is electrically connected to the electronic governor 7023;
  • the controller 705 controls the driving motor 7021 to enter the preset mode through the electronic governor 7023; in the preset mode, the electronic governor 7023 keeps supplying power to the driving motor 7021.
  • the shooting device in this embodiment may be, for example, a mobile phone, a camera, a video camera, or the like.
  • the handheld gimbal provided in this embodiment includes a handle mechanism, a gimbal mechanism and a controller connected to the handle mechanism, wherein the gimbal mechanism includes a rotating shaft mechanism and a clamping mechanism connected to the rotating shaft mechanism, and the rotating shaft mechanism includes a rotating shaft to drive the rotating shaft to rotate
  • the drive motor and the electronic governor used to control the drive motor, the clamping mechanism is used to clamp the shooting device.
  • the controller controls the electronic governor to keep supplying power to the drive motor, so that the drive motor remains powered on, which is convenient for the user to hold the shooting device such as a mobile phone during use.
  • User experience It solves the problem that the rotating shaft can move due to the power failure of the drive motor in the standby mode, which in turn causes the user to be inconvenient to hold during the use of the mobile phone.
  • the rotation axis mechanism 702 may be a pitch axis mechanism, a translation axis mechanism, or a roll axis mechanism.
  • the preset mode includes a wake-up mode, wherein, in the wake-up mode, the drive motor 7021 is input with a current of a preset magnitude, so that the drive motor 7021 remains in a power-on state.
  • the handheld gimbal 700 may further include a mechanical locking mechanism (not shown); in the wake-up mode, the mechanical locking mechanism positions the rotating shaft mechanism 702 of the handheld gimbal 700 at a preset position.
  • a mechanical locking mechanism (not shown); in the wake-up mode, the mechanical locking mechanism positions the rotating shaft mechanism 702 of the handheld gimbal 700 at a preset position.
  • the preset mode includes a positioning mode; wherein, in the positioning mode, the driving motor 7021 provides a preset torque to the rotating shaft 7022, and the rotating shaft 7022 is positioned at a preset position, thereby keeping the rotating shaft mechanism 702 at the preset position status;
  • the preset mode includes a heating mode; wherein, in the heating mode, a current of a preset magnitude is input to the driving motor 7021, so as to heat the driving motor 7021 and/or the power supply battery of the driving motor 7021.
  • the controller 705 controls the drive motor 7021 to enter the preset mode through the electronic governor 7023.
  • the controller 705 controls the drive motor 7021 to enter the fault protection mode through the electronic governor 7023.
  • the controller 705 controls the electronic governor 7023 to stop supplying power to the drive motor 7021.
  • the handheld gimbal 700 may further include a power management circuit (not shown in the figure), the power management circuit is electrically connected to the controller 705 and the electronic governor 7023, and the battery supplies the controller 705 and the electronics through the power management circuit, respectively The governor 7023 supplies power.
  • a power management circuit (not shown in the figure)
  • the power management circuit is electrically connected to the controller 705 and the electronic governor 7023, and the battery supplies the controller 705 and the electronics through the power management circuit, respectively
  • the governor 7023 supplies power.
  • the power management circuit stops supplying power to at least one of the following electronic components of the handheld gimbal: a driving motor, an attitude sensor, and an electronic governor.
  • FIG. 8 is a schematic structural diagram of another embodiment of a handheld cloud platform provided by the present invention.
  • the handheld cloud platform 800 provided by this embodiment may include:
  • the gimbal mechanism 804 is connected to the handle mechanism 801.
  • the gimbal mechanism 804 is used to carry the shooting equipment and can adjust the posture of the shooting equipment;
  • the gimbal mechanism 804 includes a rotating shaft mechanism 802 and a clamping mechanism 803 connected to the rotating shaft mechanism,
  • the rotating shaft mechanism 802 includes a rotating shaft 8022, a driving motor 8021 that drives the rotating shaft, and an electronic speed controller 8023 for controlling the driving motor, and a clamping mechanism 803 is used to clamp the shooting device;
  • the controller 805 is electrically connected to the electronic speed controller 8023;
  • the controller 805 controls the drive motor 8021 to enter the preset mode through the electronic governor 8023.
  • the shooting device in this embodiment may be, for example, a mobile phone, a camera, a video camera, or the like.
  • the handheld gimbal provided in this embodiment includes a handle mechanism, a gimbal mechanism and a controller connected to the handle mechanism, wherein the gimbal mechanism includes a rotating shaft mechanism and a clamping mechanism connected to the rotating shaft mechanism, and the rotating shaft mechanism includes a rotating shaft to drive the rotating shaft to rotate
  • the drive motor and the electronic governor used to control the drive motor, the clamping mechanism is used to clamp the shooting device, and the controller is electrically connected to the electronic governor.
  • the controller controls the drive motor to enter the preset mode through the electronic governor.
  • the handheld gimbal provided in this embodiment comprehensively judges whether the handheld gimbal satisfies the condition of entering the standby mode according to the current rotation angle of the rotating shaft mechanism and the status information of the drive motor, avoiding the misjudgment that may be generated when the angle is used for judgment, and improves Control accuracy.
  • the rotation axis mechanism 802 may be a pitch axis mechanism, a translation axis mechanism, or a roll axis mechanism.
  • the preset mode may include a wake-up mode.
  • the drive motor 8021 is input with a current of a preset magnitude, so that the drive motor 8021 maintains a power-on state.
  • the handheld gimbal 800 may further include a mechanical locking mechanism (not shown in the figure).
  • the mechanical locking mechanism positions the rotating shaft mechanism 802 of the handheld gimbal 800 at a preset position.
  • the preset mode includes a positioning mode; wherein, in the positioning mode, the driving motor 8021 provides a preset torque to the rotating shaft 8022, positioning the rotating shaft 8022 at a preset position, so that the rotating shaft mechanism 802 is maintained at the preset position status;
  • the preset mode includes a heating mode; wherein, in the heating mode, a current of a preset magnitude is input to the driving motor 8021, thereby heating the driving motor 8021 or the power supply battery of the driving motor 8021.
  • the controller 805 controls the drive motor 8021 to enter the fault protection mode through the electronic governor 8023.
  • the controller 805 controls the electronic governor 8023 to stop supplying power to the drive motor 8021.
  • the handheld gimbal 800 may include a power management circuit (not shown in the figure), the power management circuit is electrically connected to the controller 805 and the electronic speed regulator 8023, and the battery separately supplies the controller 805 and the electronic controller through the power management circuit Speed 8023 power supply.
  • a power management circuit (not shown in the figure)
  • the power management circuit is electrically connected to the controller 805 and the electronic speed regulator 8023, and the battery separately supplies the controller 805 and the electronic controller through the power management circuit Speed 8023 power supply.
  • the power management circuit stops supplying power to at least one of the following electronic components of the handheld gimbal: a driving motor, an attitude sensor, and an electronic governor.
  • the foregoing program may be stored in a computer-readable storage medium, and when the program is executed, It includes the steps of the above method embodiments; and the foregoing storage media include: read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disks or optical discs, etc., which can store program codes Medium.

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Abstract

Provided in the embodiments of the present invention are a control method for a handheld gimbal and the handheld gimbal. A current state of the handheld gimbal is acquired, when the handheld gimbal is currently in a working mode and a criterion for entering a standby mode is satisfied, the handheld gimbal is allowed to enter the standby mode, when the handheld gimbal enters the standby mode, a driving motor controlling a rotating shaft mechanism enters a preset mode, and in the preset mode, the driving motor remains powered on, thus implementing a switch of the handheld gimbal from the working mode to the standby mode, and with the driving motor remaining in a powered on state in the standby mode, it is convenient for a user to hold a mobile phone during use, thus enhancing user experience. Solved is the problem in which a rotating shaft becomes movable as a driving motor is powered off, which in turn makes it inconvenient for the user to hold a mobile phone during use.

Description

手持云台的控制方法及手持云台Control method of handheld gimbal and handheld gimbal 技术领域Technical field
本发明实施例涉及云台技术领域，尤其涉及一种手持云台的控制方法及手持云台。The embodiments of the present invention relate to the technical field of pan-tilt heads, and in particular, to a control method of a handheld pan-tilt head and a handheld pan-tilt head.
背景技术Background technique
随着智能移动终端的普及，越来越多的人开始使用手持云台进行摄影。手持云台是一种用于承载拍摄设备(例如手机)的支撑装置，用于调整拍摄设备的运动状态和位置，使得拍摄设备能够稳定地拍照和摄像。With the popularity of smart mobile terminals, more and more people are using handheld gimbals for photography. The handheld gimbal is a supporting device for carrying a photographing device (such as a mobile phone), and is used to adjust the motion state and position of the photographing device, so that the photographing device can take pictures and video stably.
用户使用手持云台承载手机进行拍照的过程中，当用户需要拨打、接听电话时，为了避免损坏手持云台的电机，手持云台可以进入待机模式。如公开号为CN108375992A，发明名称为《手持云台的控制方法和控制装置》的中国发明专利申请中所公开的技术方案，当手持云台进入待机模式后，将会断开所有电机电源。由于待机模式手持云台的电机全部断电，因此手持云台的各个轴都可以活动，导致用户在使用手机的过程中握持不便，降低了用户体验。In the process of taking pictures with the handheld gimbal carrying the mobile phone, when the user needs to make or receive a call, in order to avoid damaging the motor of the handheld gimbal, the handheld gimbal can enter standby mode. For example, the technical solution disclosed in the Chinese invention patent application with the publication number CN108375992A and the invention titled "Control Method and Control Device for Hand-held PTZ", when the hand-held PTZ enters standby mode, all motor power will be disconnected. Since the motors of the handheld gimbal are all powered off in standby mode, all axes of the handheld gimbal can be moved, which results in inconvenience for users to hold the mobile phone during use and reduces the user experience.
发明内容Summary of the invention
本发明实施例提供一种手持云台的控制方法及手持云台，用以解决现有手持云台在进入待机模式后，各个轴都可以活动而导致的用户在使用手机的过程中握持不便，用户体验差的问题。Embodiments of the present invention provide a hand-held gimbal control method and hand-held gimbal, to solve the problem that the existing hand-held gimbal can be moved in various axes after entering the standby mode, resulting in inconvenience for the user to hold the phone during the use of the mobile phone , The problem of poor user experience.
第一方面，本发明实施例提供一种手持云台的控制方法，包括：In a first aspect, an embodiment of the present invention provides a method for controlling a handheld gimbal, including:
获取手持云台当前的状态，状态包括工作模式和待机模式，手持云台包括转轴机构，转轴机构包括转轴以及带动转轴转动的驱动电机；Obtain the current state of the handheld gimbal. The state includes working mode and standby mode. The handheld gimbal includes a rotating shaft mechanism. The rotating shaft mechanism includes a rotating shaft and a drive motor that drives the rotating shaft;
若手持云台当前处于工作模式，则确定手持云台是否满足进入待机模式的条件；If the handheld gimbal is currently in working mode, determine whether the handheld gimbal satisfies the conditions for entering standby mode;
若手持云台满足进入待机模式的条件，则使手持云台进入待机模式，在手持云台进入待机模式时，控制转轴机构的驱动电机进入预设模式；其中， 在预设模式中，驱动电机保持不断电。If the handheld gimbal satisfies the conditions for entering the standby mode, the handheld gimbal is put into the standby mode, and when the handheld gimbal enters the standby mode, the driving motor of the rotating shaft mechanism is controlled to enter a preset mode; wherein, in the preset mode, the driving motor Stay on power.
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 gimbal, including:
确定手持云台是否处于工作模式，手持云台包括转轴机构，转轴机构包括转轴以及带动转轴转动的驱动电机；Determine whether the handheld gimbal is in working mode. The handheld gimbal includes a rotating shaft mechanism, which includes a rotating shaft and a drive motor that drives the rotating shaft;
若手持云台处于工作模式，则获取转轴机构当前转动角度以及驱动电机的状态信息；If the handheld gimbal is in working mode, obtain the current rotation angle of the rotating shaft mechanism and the status information of the drive motor;
根据转轴机构的当前转动角度以及驱动电机的状态信息，确定手持云台是否满足进入待机模式的条件。According to the current rotation angle of the rotating shaft mechanism and the status information of the drive motor, it is determined whether the handheld gimbal satisfies the conditions for entering the standby mode.
第三方面，本发明实施例提供一种手持云台，包括：In a third aspect, an embodiment of the present invention provides a handheld cloud platform, including:
转轴机构和处理器；Spindle mechanism and processor;
转轴机构包括转轴以及带动转轴转动的驱动电机；The rotating shaft mechanism includes a rotating shaft and a driving motor that drives the rotating shaft to rotate;
处理器用于：获取手持云台当前的状态，状态包括工作模式和待机模式；若手持云台当前处于工作模式，则确定手持云台是否满足进入待机模式的条件；若手持云台满足进入待机模式的条件，则使手持云台进入待机模式，在手持云台进入待机模式时，控制转轴机构的驱动电机进入预设模式；其中，在预设模式中，驱动电机保持不断电。The processor is used to: obtain the current state of the handheld gimbal, including the working mode and the standby mode; if the handheld gimbal is currently in the working mode, determine whether the handheld gimbal satisfies the conditions for entering the standby mode; if the handheld gimbal meets the entering the standby mode Conditions, the handheld gimbal enters the standby mode, and when the handheld gimbal enters the standby mode, the drive motor that controls the rotating shaft mechanism enters a preset mode; wherein, in the preset mode, the drive motor remains uninterrupted.
第四方面，本发明实施例提供一种手持云台，包括：According to a fourth aspect, an embodiment of the present invention provides a handheld gimbal, including:
转轴机构和处理器；Spindle mechanism and processor;
转轴机构包括转轴以及带动转轴转动的驱动电机；The rotating shaft mechanism includes a rotating shaft and a driving motor that drives the rotating shaft to rotate;
处理器用于：The processor is used to:
确定手持云台是否处于工作模式；若手持云台处于工作模式，则获取转轴机构当前转动角度以及驱动电机的状态信息；根据转轴机构的当前转动角度以及驱动电机的状态信息，确定手持云台是否满足进入待机模式的条件。Determine whether the handheld gimbal is in working mode; if the handheld gimbal is in working mode, obtain the current rotation angle of the shaft mechanism and the status information of the drive motor; determine whether the handheld gimbal is based on the current rotation angle of the shaft mechanism and the status information of the drive motor Meet the conditions to enter standby mode.
第五方面，本发明实施例提供一种手持云台，包括：According to a fifth aspect, an embodiment of the present invention provides a handheld gimbal, including:
手柄机构；Handle mechanism
云台机构，与手柄机构连接，云台机构用于承载拍摄设备，并且能够调节拍摄设备的姿态；云台机构包括转轴机构以及与转轴机构连接的夹持机构，转轴机构包括转轴、带动转轴转动的驱动电机、以及用于控制驱动电机的电子调速器，夹持机构用于夹持拍摄设备；The pan-tilt mechanism is connected to the handle mechanism. The pan-tilt mechanism is used to carry the shooting equipment and can adjust the posture of the shooting equipment; Drive motor and electronic governor used to control the drive motor, the clamping mechanism is used to clamp the shooting equipment;
控制器，与电子调速器电连接；Controller, electrically connected with electronic governor;
其中，在手持云台进入待机模式时，控制器通过电子调速器控制驱动电机进入预设模式；在预设模式中，电子调速器保持给驱动电机供电。Among them, when the handheld gimbal enters the standby mode, the controller controls the drive motor to enter the preset mode through the electronic governor; in the preset mode, the electronic governor keeps supplying power to the drive motor.
第六方面，本发明实施例提供一种手持云台，包括：According to a sixth aspect, an embodiment of the present invention provides a handheld cloud platform, including:
手柄机构；Handle mechanism
云台机构，与手柄机构连接，云台机构用于承载拍摄设备，并且能够调节拍摄设备的姿态；云台机构包括转轴机构以及与转轴机构连接的夹持机构，转轴机构包括转轴、带动转轴转动的驱动电机、以及用于控制驱动电机的电子调速器，夹持机构用于夹持拍摄设备；以及The pan-tilt mechanism is connected to the handle mechanism. The pan-tilt mechanism is used to carry the shooting equipment and can adjust the posture of the shooting equipment; Drive motor and electronic governor for controlling the drive motor, the clamping mechanism is used to clamp the shooting equipment; and
控制器，与电子调速器电连接；Controller, electrically connected with electronic governor;
其中，在转轴机构的当前转动角度大于预设角度阈值并且驱动电机处于堵转状态时，控制器通过电子调速器控制驱动电机进入预设模式。Wherein, when the current rotation angle of the rotating shaft mechanism is greater than the preset angle threshold and the drive motor is in the locked state, the controller controls the drive motor to enter the preset mode through the electronic governor.
第七方面，本发明实施例提供一种手持云台的控制装置(例如芯片、集成电路等)，包括：存储器和处理器。存储器，用于存储执行手持云台的控制方法的代码。处理器，用于调用存储器中存储的代码，执行如第一方面或者第二方面本发明实施例的手持云台的控制方法。According to a seventh aspect, an embodiment of the present invention provides a control device (such as a chip, an integrated circuit, etc.) for a handheld cloud platform, including: a memory and a processor. The memory is used to store the code for executing the control method of the handheld gimbal. The processor is configured to call the code stored in the memory and execute the control method of the handheld cloud platform according to the embodiment of the present invention according to the first aspect or the second aspect.
第八方面，本发明实施例提供一种计算机可读存储介质，计算机可读存储介质存储有计算机程序，计算机程序包含至少一段代码，至少一段代码可由计算机执行，以控制计算机执行第一方面或者第二方面本发明实施例的手持云台的控制方法。According to an eighth aspect, an embodiment of the present invention provides a computer-readable storage medium. The computer-readable storage medium stores a computer program. The computer program includes at least one piece of code. The at least one piece of code can be executed by a computer to control the computer to perform the first aspect or the first In the second aspect, the control method of the handheld gimbal according to an embodiment of the present invention.
第九方面，本发明实施例提供一种计算机程序，当计算机程序被计算机执行时，用于实现第一方面或者第二方面本发明实施例的手持云台的控制方法。According to a ninth aspect, an embodiment of the present invention provides a computer program. When the computer program is executed by a computer, the computer program is used to implement the control method of the handheld cloud platform according to the embodiment of the first aspect or the second aspect of the present invention.
本发明实施例提供的手持云台的控制方法及手持云台，通过获取手持云台当前的状态，当手持云台当前处于工作模式，且满足进入待机模式的条件时，使手持云台进入待机模式，在手持云台进入待机模式时，控制转轴机构的驱动电机进入预设模式，在预设模式中，驱动电机保持不断电，实现了手持云台从工作模式向待机模式的切换，且在待机模式中，使驱动电机保持通电状态，便于用户在使用过程中对手机的握持，提高了用户体验。解决了因驱动电机断电导致转轴可以活动，进而导致用户在使用手机的过程中握持不便的问题。The control method of the handheld gimbal and the handheld gimbal provided by the embodiments of the present invention obtain the current state of the handheld gimbal, and when the handheld gimbal is currently in the working mode and meets the conditions for entering the standby mode, the handheld gimbal is put into standby Mode, when the handheld gimbal enters the standby mode, the drive motor that controls the rotating shaft mechanism enters the preset mode. In the preset mode, the drive motor keeps uninterrupted power, which realizes the switching of the handheld gimbal from the working mode to the standby mode. In the standby mode, the driving motor is kept powered on, which is convenient for the user to hold the mobile phone during use, and the user experience is improved. It solves the problem that the rotating shaft can move due to the power failure of the drive motor, which in turn causes the user to be inconvenient to hold while using the mobile phone.
附图说明BRIEF DESCRIPTION
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 explain the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings used in the description of the embodiments or the prior art. Obviously, the drawings in the following description These are some embodiments of the present invention. For those of ordinary skill in the art, without paying any creative work, other drawings can be obtained based on these drawings.
图1为本发明实施例适用的手持云台的结构示意图；FIG. 1 is a schematic structural diagram of a hand-held cloud platform applicable to an embodiment of the present invention;
图2为本发明提供的手持云台的控制方法一实施例的流程图；2 is a flowchart of an embodiment of a method for controlling a hand-held cloud platform provided by the present invention;
图3为本发明提供的手持云台的控制方法又一实施例的流程图；3 is a flowchart of another embodiment of a method for controlling a hand-held cloud platform provided by the present invention;
图4为本发明提供的手持云台的控制方法另一实施例的流程图；4 is a flowchart of another embodiment of a method for controlling a handheld cloud platform provided by the present invention;
图5为本发明提供的手持云台一实施例的结构示意图；5 is a schematic structural diagram of an embodiment of a handheld cloud platform provided by the present invention;
图6为本发明提供的手持云台又一实施例的结构示意图；6 is a schematic structural diagram of yet another embodiment of a handheld cloud platform provided by the present invention;
图7为本发明提供的手持云台另一实施例的结构示意图；7 is a schematic structural diagram of another embodiment of a handheld cloud platform provided by the present invention;
图8为本发明提供的手持云台又一实施例的结构示意图。FIG. 8 is a schematic structural diagram of another embodiment of a handheld cloud platform 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作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。To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of the embodiments of the present invention, but not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without making creative efforts fall within the protection scope of the present invention.
本发明的说明书和权利要求书中的术语“包括”和“具有”以及它们任何变形，意图在于覆盖不排他的包含。例如包含了一系列步骤或单元的过程、方法、***、产品或设备没有限定于已列出的步骤或单元，而是可选地还包括没有列出的步骤或单元，或可选地还包括对于这些过程、方法、产品或设备固有的其它步骤或单元。The terms "including" and "having" and any variations thereof in the description and claims of the present invention are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally also includes Other steps or units inherent to these processes, methods, products or equipment.
本发明中的“第一”和“第二”只起标识作用，而不能理解为指示或暗示顺序关系、相对重要性或者隐含指明所指示的技术特征的数量。“多个”是指两个或两个以上。“和/或”，描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单 独存在B这三种情况。字符“/”一般表示前后关联对象是一种“或”的关系。The "first" and "second" in the present invention only serve as identification, and cannot be understood as indicating or implying a sequence relationship, relative importance, or implicitly indicating the number of indicated technical features. "Multiple" means two or more. "And/or" describes the relationship of related objects, indicating that there can be three relationships, for example, A and/or B, which can indicate: there are three conditions: A exists alone, A and B exist at the same time, and B exists alone. The character "/" generally indicates that the related object is a "or" relationship.
本发明的说明书中通篇提到的“一个实施例”或“一实施例”意味着与实施例有关的特定特征、结构或特性包括在本申请的至少一个实施例中。因此，在整个说明书各处出现的“在一个实施例中”或“在一实施例中”未必一定指相同的实施例。The reference to “one embodiment” or “one embodiment” throughout the specification of the present invention means that a particular feature, structure, or characteristic related to the embodiment is included in at least one embodiment of the present application. Therefore, “in one embodiment” or “in one embodiment” appearing throughout the specification does not necessarily refer to the same embodiment.
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。The following describes some embodiments of the present invention in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and the features in the embodiments can be combined with each other.
本发明实施例提供的手持云台的控制方法，可以应用于单轴手持云台、双轴手持云台、三轴手持云台等。示例性的，在本发明各个实施例中，以三轴手持云台为例进行示例性说明。The control method of the handheld gimbal provided by the embodiment of the present invention can be applied to a single-axis handheld gimbal, a dual-axis handheld gimbal, a three-axis handheld gimbal, and the like. Exemplarily, in various embodiments of the present invention, a three-axis handheld gimbal is taken as an example for illustration.
示例性的，图1为本发明实施例适用的手持云台的结构示意图。如图1所示，手持云台可以包括手柄机构10和云台机构20。手柄机构10与云台机构20连接。Exemplarily, FIG. 1 is a schematic structural diagram of a handheld cloud platform to which an embodiment of the present invention is applicable. As shown in FIG. 1, the handheld gimbal may include a handle mechanism 10 and a gimbal mechanism 20. The handle mechanism 10 is connected to the gimbal mechanism 20.
其中，云台机构20可以用于承载拍摄设备9，本实施例中的拍摄设备9例如可以是照相机、摄像机、手机等。The pan-tilt mechanism 20 may be used to carry the shooting device 9, and the shooting device 9 in this embodiment may be, for example, a camera, a video camera, a mobile phone, or the like.
其中，手柄机构10上可以设置控制按键11，云台机构20用于对手持云台进行控制。需要说明的是，本实施例对于控制按键11的数量和实现方式不做限定。例如，控制按键11例如可以为开关按键、模式切换按键等。手柄机构10内部可以安装有为手持云台的各个部件供电的电池。Among them, the control mechanism 11 may be provided on the handle mechanism 10, and the gimbal mechanism 20 is used to control the handheld gimbal. It should be noted that the number and implementation of the control buttons 11 are not limited in this embodiment. For example, the control button 11 may be, for example, a switch button, a mode switching button, or the like. A battery for powering various components of the handheld gimbal may be installed inside the handle mechanism 10.
其中，云台机构20可以包括俯仰轴(Pitch轴)机构21、平移轴(Yaw轴)机构22和横滚轴(Roll轴)机构23。俯仰轴机构21包括俯仰轴转轴和俯仰轴驱动电机；平移轴机构22包括平移轴转轴和平移轴驱动电机；横滚轴机构23包括横滚轴转轴和横滚轴驱动电机。The gimbal mechanism 20 may include a pitch axis (Pitch axis) mechanism 21, a translation axis (Yaw axis) mechanism 22, and a roll axis (Roll axis) mechanism 23. The pitch axis mechanism 21 includes a pitch axis rotation axis and a pitch axis drive motor; the pan axis mechanism 22 includes a pan axis rotation axis and a pan axis drive motor; and the roll axis mechanism 23 includes a roll axis rotation axis and a roll axis drive motor.
可选的，手持云台可以包括夹持机构6，用于固定拍摄设备9。本发明实施例对于夹持机构6的形状和位置不做限定。可选的，夹持机构6中可以设置惯性测量元件。可选的，惯性测量元件可以为陀螺仪、加速度计等。Optionally, the handheld gimbal may include a clamping mechanism 6 for fixing the shooting device 9. The embodiment of the present invention does not limit the shape and position of the clamping mechanism 6. Optionally, an inertial measurement element may be provided in the clamping mechanism 6. Optionally, the inertial measurement element may be a gyroscope, an accelerometer, or the like.
坐标系定义如图1所示，图1所示状态中，三个轴的角度定义为0°，角度的正方向根据右手螺旋定则确定。The definition of the coordinate system is shown in Figure 1. In the state shown in Figure 1, the angle of the three axes is defined as 0°, and the positive direction of the angle is determined according to the right-hand spiral rule.
图2为本发明提供的手持云台的控制方法一实施例的流程图。如图2所示，本实施例的方法可以包括：FIG. 2 is a flowchart of an embodiment of a method for controlling a handheld cloud platform provided by the present invention. As shown in FIG. 2, the method of this embodiment may include:
S201、获取手持云台当前的状态，状态包括工作模式和待机模式，手持云台包括转轴机构，转轴机构包括转轴以及带动转轴转动的驱动电机。S201. Obtain the current state of the handheld gimbal. The state includes a working mode and a standby mode. The handheld gimbal includes a rotating shaft mechanism. The rotating shaft mechanism includes a rotating shaft and a drive motor that drives the rotating shaft to rotate.
本实施例中的手持云台可以是单轴手持云台，则转轴机构可以为横滚轴转轴机构；本实施例中的手持云台也可以是双轴手持云台，则转轴机构可以包括横滚轴转轴机构，及平移轴转轴机构和俯仰轴转轴机构中的任意一个；本实施例中的手持云台也可以是双轴手持云台，则转轴机构可以包括横滚轴转轴机构、平移轴转轴机构和俯仰轴转轴机构。In this embodiment, the handheld gimbal may be a single-axis handheld gimbal, and the rotating shaft mechanism may be a roll axis rotating shaft mechanism; in this embodiment, the handheld gimbal may also be a dual-axis handheld gimbal, and the rotating shaft mechanism may include a horizontal axis. Roller axis mechanism, and any one of pan axis axis mechanism and pitch axis axis mechanism; the handheld gimbal in this embodiment may also be a dual axis handheld gimbal, then the axis mechanism may include a roll axis axis mechanism, a pan axis Rotation axis mechanism and pitch axis rotation axis mechanism.
S202、若手持云台当前处于工作模式，则确定手持云台是否满足进入待机模式的条件。S202. If the handheld gimbal is currently in the working mode, determine whether the handheld gimbal satisfies the condition for entering the standby mode.
当手持云台处于工作模式时，若此时手持云台所夹持的手机接收到语音来电信息，或者，用户需要拨打电话时，或者，用户需要查看所拍摄的图片或者视频时，用户可以通过手持云台上的控制按键、手持云台对应的应用程序(Application，APP)或者手动将如图1所示的手机旋转90度，以便于进行后续操作。此时为避免损坏手持云台的电机，手持云台可以进入待机模式。When the handheld gimbal is in working mode, if the mobile phone held by the handheld gimbal receives voice call information at this time, or the user needs to make a call, or the user needs to view the captured picture or video, the user can The control buttons on the gimbal, the application (APP) corresponding to the hand-held gimbal, or manually rotating the mobile phone as shown in FIG. 1 by 90 degrees to facilitate subsequent operations. To avoid damaging the motor of the handheld gimbal, the handheld gimbal can enter standby mode.
S203、若手持云台满足进入待机模式的条件，则使手持云台进入待机模式，在手持云台进入待机模式时，控制转轴机构的驱动电机进入预设模式；其中，在预设模式中，驱动电机保持不断电。S203. If the handheld gimbal satisfies the conditions for entering the standby mode, the handheld gimbal is put into the standby mode. When the handheld gimbal enters the standby mode, the driving motor of the rotating shaft mechanism is controlled to enter a preset mode; wherein, in the preset mode, The drive motor remains uninterrupted.
本实施例中，在手持云台进入待机模式时，驱动电机进入预设模式，在预设模式中，驱动电机保持通电状态。因此，不会因为驱动电机断电，而导致转轴可以活动，进而导致用户在使用手机的过程中握持不便。In this embodiment, when the handheld gimbal enters the standby mode, the drive motor enters a preset mode, and in the preset mode, the drive motor maintains a power-on state. Therefore, it will not cause the rotating shaft to be movable due to the power failure of the driving motor, which in turn will cause the user to be inconvenient to hold while using the mobile phone.
本实施例中，手持云台在进入待机模式后，驱动电机依然保持通电状态，用户在使用手机过程中，转轴不会任意转动，便于用户在使用过程中对手机的握持。In this embodiment, after the handheld gimbal enters the standby mode, the driving motor remains powered on, and the user does not rotate the shaft arbitrarily during the use of the mobile phone, which is convenient for the user to hold the mobile phone during the use.
本实施例提供的手持云台的控制方法，通过获取手持云台当前的状态，当手持云台当前处于工作模式，且满足进入待机模式的条件时，使手持云台进入待机模式，在手持云台进入待机模式时，控制转轴机构的驱动电机进入预设模式，在预设模式中，驱动电机保持不断电，实现了手持云台从工作模式向待机模式的切换，且在待机模式中，使驱动电机保持通电状态，便于用户在使用过程中对手机的握持，提高了用户体验。解决了因驱动电机断电导致转轴可以活动，进而导致用户在使用手机的过程中握持不便的问题。The control method of the handheld gimbal provided by this embodiment obtains the current state of the handheld gimbal. When the handheld gimbal is currently in the working mode and meets the conditions for entering the standby mode, the handheld gimbal is put into the standby mode. When the stage enters the standby mode, the drive motor that controls the shaft mechanism enters the preset mode. In the preset mode, the drive motor maintains constant power, which realizes the switching of the handheld gimbal from the working mode to the standby mode. In the standby mode, the The driving motor keeps the power on, which is convenient for the user to hold the mobile phone during use, and improves the user experience. It solves the problem that the rotating shaft can move due to the power failure of the drive motor, which in turn causes the user to be inconvenient to hold while using the mobile phone.
在一些实施例中，预设模式可以包括定位模式，在定位模式中，驱动电机提供一预设扭矩给转轴，将转轴定位在预设位置，从而使转轴机构保持在预设位置的状态。In some embodiments, the preset mode may include a positioning mode. In the positioning mode, the drive motor provides a preset torque to the rotating shaft, and the rotating shaft is positioned at the preset position, thereby maintaining the state of the rotating shaft mechanism at the preset position.
本实施例中的预设位置可以是便于用户使用手机的位置，例如可以是将如图1所示的手机顺时针旋转90度的位置，用户拨打或者接听电话时只需要握住手柄即可。可以理解的是，由于各个用户的使用习惯不同，该预设位置可以根据用户的控制指令进行设置。The preset position in this embodiment may be a position that is convenient for the user to use the mobile phone, for example, a position that rotates the mobile phone clockwise as shown in FIG. 1 by 90 degrees, and the user only needs to hold the handle when making or receiving a call. It can be understood that, due to different usage habits of each user, the preset position may be set according to a user's control instruction.
本实施例中预设扭矩的大小根据预设位置确定。In this embodiment, the magnitude of the preset torque is determined according to the preset position.
本实施例提供的手持云台的控制方法，在上述实施例的基础上，通过驱动电机提供一预设扭矩给转轴，将转轴定位在预设位置，从而使转轴机构保持在预设位置的状态，进一步方便了用户在待机模式对手机的使用。The control method of the hand-held pan/tilt head provided in this embodiment is based on the foregoing embodiment, and provides a preset torque to the rotating shaft by driving the motor, positioning the rotating shaft at the preset position, thereby keeping the rotating shaft mechanism at the preset position , Which further facilitates users' use of mobile phones in standby mode.
在一些实施例中，预设模式包括唤醒模式，在唤醒模式中，驱动电机被输入一预设大小的电流，从而使驱动电机保持通电状态。通过向驱动电机输入一预设大小的电流，使驱动电机保持通电状态，可以使手持云台在由待机模式向工作模式切换的过程中，快速恢复至工作模式。In some embodiments, the preset mode includes a wake-up mode. In the wake-up mode, the drive motor is input with a current of a preset magnitude, so that the drive motor is maintained in a powered-on state. By inputting a current of a preset size to the drive motor, and keeping the drive motor energized, the handheld gimbal can be quickly restored to the work mode during the process of switching from the standby mode to the work mode.
可选的，在唤醒模式时，使用机械锁止机构将手持云台的转轴机构定位在预设位置。可以在转轴上设置机械锁止机构，用于将转轴机构定位在预设位置。当转轴机构包括多个转轴时，可以设置多个机械锁止机构。需要说明的是，本实施例对于机械锁止机构的实现方式不做限制。当需要解除锁止时，可以通过用力将转轴掰离预设位置的方式实现。Optionally, in the wake-up mode, a mechanical locking mechanism is used to position the rotation axis mechanism of the handheld gimbal at a preset position. A mechanical locking mechanism may be provided on the rotating shaft to position the rotating shaft mechanism at a preset position. When the rotating shaft mechanism includes multiple rotating shafts, multiple mechanical locking mechanisms may be provided. It should be noted that this embodiment does not limit the implementation of the mechanical locking mechanism. When the lock needs to be released, it can be achieved by forcibly breaking the rotating shaft away from the preset position.
当电池的温度过低时，会降低电池使用的时间。因此，为了提高电池的使用时间，在上述任一实施例的基础上，本实施例提高的手持云台的控制方法中，预设模式还可以包括加热模式，在加热模式中，驱动电机被输入一预设大小的电流，从而对驱动电机和/或手持云台的电池进行加热。When the temperature of the battery is too low, it will reduce the battery usage time. Therefore, in order to improve the battery life, on the basis of any of the above embodiments, in the control method of the handheld gimbal improved in this embodiment, the preset mode may further include a heating mode, in which the drive motor is input A predetermined amount of current to heat the battery of the driving motor and/or the handheld gimbal.
可以理解的是，由于驱动电机中输入了一预设大小的电流，驱动电机的线圈上有持续电流流过，手持云台的电池中也有持续电流流过，可以给整个手持云台提供一个热源，可以对驱动电机和/或手持云台的电池等进行加热，从而可以避免因设备电池温度过低而降低电池的使用时间。Understandably, due to the input of a preset current into the drive motor, continuous current flows through the coil of the drive motor, and continuous current flows through the battery of the handheld gimbal, which can provide a heat source for the entire handheld gimbal. , You can heat the drive motor and/or the battery of the handheld gimbal, etc., so that you can avoid reducing the battery usage time because the device battery temperature is too low.
可选的，为了进一步提高电池利用率，延长电池的使用时间，在手持云台进入待机模式之后，本实施例提供的方法还可以包括：获取手持云台所处 环境的温度值；若温度值小于预设温度阈值，则控制手持云台的驱动电机进入加热模式。Optionally, in order to further improve battery utilization and extend battery life, after the handheld gimbal enters the standby mode, the method provided in this embodiment may further include: acquiring the temperature value of the environment in which the handheld gimbal is located; if the temperature value is less than The preset temperature threshold value controls the driving motor of the handheld gimbal to enter the heating mode.
本实施例中的预设温度阈值可以根据实验测量获取。本实施例中通过获取手持云台所处环境的温度值，仅当温度值小于预设温度阈值时，才控制手持云台的驱动电机进入加热模式。The preset temperature threshold in this embodiment may be obtained according to experimental measurements. In this embodiment, by acquiring the temperature value of the environment in which the handheld gimbal is located, only when the temperature value is less than the preset temperature threshold, the driving motor of the handheld gimbal is controlled to enter the heating mode.
本实施例提供的手持云台的控制方法，在上述实施例的基础上，根据环境温度值确定是否进入加热模式，进一步提高了电池利用了，延长了电池的使用时间。当手持云台在寒冷环境中使用时，通过对驱动电机输入一预设大小的电流，进行加热，避免因温度过低而降低电池的使用时间；当手持云台在温暖环境中使用时，不对电池进行加热，以节省电池电量，提高电池利用率，延迟电池的使用时间。The control method of the handheld gimbal provided in this embodiment, based on the above embodiment, determines whether to enter the heating mode according to the ambient temperature value, which further improves the battery utilization and extends the battery usage time. When the handheld gimbal is used in a cold environment, it is heated by inputting a preset current to the drive motor to avoid reducing the battery usage time due to the low temperature; when the handheld gimbal is used in a warm environment, it is not correct The battery is heated to save battery power, improve battery utilization, and delay battery life.
可选的，转轴机构可以为俯仰轴机构，平移轴机构，或者横滚轴机构。Optionally, the rotation axis mechanism may be a pitch axis mechanism, a translation axis mechanism, or a roll axis mechanism.
可选的，转轴机构还可以为俯仰轴机构，平移轴机构和横滚轴机构中的多个。Optionally, the rotation axis mechanism may also be a plurality of pitch axis mechanism, translation axis mechanism and roll axis mechanism.
在上述任一实施例的基础上，为了提高控制的准确性，本实施例提供的手持云台的控制方法中，确定手持云台是否满足进入待机模式的条件的一种实现方式可以是：On the basis of any of the above embodiments, in order to improve the accuracy of control, in the method for controlling a handheld gimbal provided in this embodiment, an implementation manner for determining whether the handheld gimbal satisfies the conditions for entering the standby mode may be:
根据手持云台的转轴机构的旋转角度和驱动电机的状态信息，确定手持云台是否满足进入待机模式的条件。According to the rotation angle of the rotation axis mechanism of the handheld gimbal and the status information of the driving motor, it is determined whether the handheld gimbal satisfies the conditions for entering the standby mode.
可以理解的是，在某些拍摄姿态，转轴机构的旋转角度可能非常接近待机模式中的预设位置，因此仅采用旋转角度确定是否满足进入待机模式的条件时，容易造成误判，给用户造成不必要的困扰。It can be understood that, in some shooting postures, the rotation angle of the rotating shaft mechanism may be very close to the preset position in the standby mode, so when only the rotation angle is used to determine whether the condition for entering the standby mode is satisfied, it is easy to cause misjudgment and cause the user Unnecessary troubles.
本实施例通过转轴机构的旋转角度和驱动电机的状态信息，综合判断手持云台是否满足进入待机模式的条件，避免了仅采用角度进行判断时可能产生的误判，提高了控制的准确性。In this embodiment, the rotation angle of the rotating shaft mechanism and the status information of the drive motor are used to comprehensively determine whether the hand-held gimbal satisfies the conditions for entering the standby mode, thereby avoiding the misjudgment that may be generated when the angle is used only to improve the accuracy of control.
可选的，根据手持云台的转轴机构的旋转角度和驱动电机的状态信息，确定手持云台是否满足进入待机模式的条件的一种实现方式可以是：若转轴机构的旋转角度大于预设角度阈值，且驱动电机处于堵转状态，则确定手持云台满足进入待机模式的条件。Optionally, according to the rotation angle of the rotation mechanism of the handheld gimbal and the status information of the drive motor, an implementation manner for determining whether the handheld gimbal satisfies the condition of entering the standby mode may be: if the rotation angle of the rotation mechanism is greater than the preset angle Threshold, and the drive motor is in the locked state, it is determined that the handheld gimbal meets the conditions for entering the standby mode.
本实施例中的预设角度阈值可以根据预设位置或者锁止机构的位置等进 行设置，例如预设角度阈值可以设置为85度。The preset angle threshold in this embodiment may be set according to the preset position or the position of the locking mechanism, for example, the preset angle threshold may be set to 85 degrees.
当手持云台处于工作模式时，驱动电机会持续输出以保持姿态平衡，所以当转轴机构被手动掰到90度的位置时，驱动电机会朝相反方向输出力矩以维持姿态平衡，但是此时转轴机构因为锁止机构而不能主动回正，造成电机堵转。When the handheld gimbal is in working mode, the drive motor will continue to output to maintain posture balance, so when the shaft mechanism is manually broken to 90 degrees, the drive motor will output torque in the opposite direction to maintain posture balance, but at this time the shaft The mechanism cannot actively return to the center because of the locking mechanism, causing the motor to stall.
本实施例通过转轴机构的旋转角度大于预设角度阈值和驱动电机处于堵转状态，可以准确的描述出用户主动将转轴机构掰到90度的位置，并期望进入待机模式。In this embodiment, the rotation angle of the rotating shaft mechanism is greater than the preset angle threshold and the driving motor is in the locked state, which can accurately describe that the user actively breaks the rotating shaft mechanism to a position of 90 degrees and expects to enter the standby mode.
可选的，根据手持云台的转轴机构的旋转角度和驱动电机的状态信息，确定手持云台是否满足进入待机模式的条件的一种实现方式可以是：Optionally, according to the rotation angle of the rotation axis mechanism of the handheld gimbal and the status information of the driving motor, an implementation manner for determining whether the handheld gimbal satisfies the conditions for entering the standby mode may be:
若转轴机构的旋转角度大于预设角度阈值，且驱动电机输出的力矩大于预设力矩阈值，则确定手持云台满足进入待机模式的条件。If the rotation angle of the rotating shaft mechanism is greater than the preset angle threshold, and the torque output by the drive motor is greater than the preset torque threshold, it is determined that the handheld gimbal satisfies the condition for entering the standby mode.
本实施例中例如可以设置转轴机构的旋转角度大于85度且小于95度，且驱动电机输出的力矩大于预设力矩阈值，则确定手持云台满足进入待机模式的条件。In this embodiment, for example, it can be set that the rotation angle of the rotating shaft mechanism is greater than 85 degrees and less than 95 degrees, and the torque output by the drive motor is greater than a preset torque threshold, then it is determined that the handheld gimbal satisfies the condition for entering the standby mode.
可选的，根据手持云台的转轴机构的旋转角度和驱动电机的状态信息，确定手持云台是否满足进入待机模式的条件的一种实现方式可以是：Optionally, according to the rotation angle of the rotation axis mechanism of the handheld gimbal and the status information of the driving motor, an implementation manner for determining whether the handheld gimbal satisfies the conditions for entering the standby mode may be:
若转轴机构旋转角度大于预设角度阈值，且驱动电机输出的电流大于预设电流阈值，则确定手持云台满足进入待机模式的条件。If the rotation angle of the shaft mechanism is greater than the preset angle threshold, and the current output by the drive motor is greater than the preset current threshold, it is determined that the handheld gimbal satisfies the condition for entering the standby mode.
可选的，转轴机构可以为多个，在手持云台进入待机模式时，可以控制至少一个转轴机构的驱动电机进入预设模式。Optionally, there may be multiple rotating shaft mechanisms. When the handheld gimbal enters the standby mode, the driving motor of at least one rotating shaft mechanism may be controlled to enter a preset mode.
在一些实施例中，手持云台的控制方法还可以包括：若手持云台当前处于待机模式，则确定手持云台是否满足进入工作模式的条件；若手持云台满足进入工作模式的条件，则使手持云台进入工作模式。实现了从待机模式向工作模式的切换。In some embodiments, the control method of the handheld gimbal may further include: if the handheld gimbal is currently in the standby mode, determining whether the handheld gimbal meets the conditions for entering the work mode; if the handheld gimbal meets the conditions for entering the work mode, then Put the handheld gimbal into working mode. Realized the switch from standby mode to working mode.
可选的，确定手持云台是否满足进入工作模式的条件的一种实现方式可以是：若转轴机构的旋转角度小于等于预设角度阈值，且驱动电机未发生堵转，则确定手持云台满足进入工作模式的条件。Optionally, an implementation manner for determining whether the handheld gimbal satisfies the conditions for entering the working mode may be: if the rotation angle of the rotating shaft mechanism is less than or equal to a preset angle threshold and the driving motor does not block, determine that the handheld gimbal meets Conditions for entering the work mode.
可选的，本实施例提供的方法还可以包括：若转轴机构旋转角度小于等于预设角度阈值，且驱动电机处于堵转状态，则确定手持云台发生故障。Optionally, the method provided in this embodiment may further include: if the rotation angle of the rotating shaft mechanism is less than or equal to a preset angle threshold, and the drive motor is in the locked state, determining that the handheld gimbal has failed.
当转轴机构旋转角度小于等于预设角度阈值时，可以判断用户并不期望进入待机模式，而此时如果驱动电机发生堵转，则可以确定手持云台发生了故障。此时，可以切断电机电源，并向用户发出提示信息。例如，可以通过手持云台对应的APP向用户进行提示。When the rotation angle of the shaft mechanism is less than or equal to the preset angle threshold, it can be determined that the user does not expect to enter the standby mode, and if the drive motor is blocked at this time, it can be determined that the handheld gimbal has failed. At this time, you can cut off the power of the motor and send a prompt message to the user. For example, the user can be prompted through the APP corresponding to the handheld gimbal.
可选的，确定手持云台是否满足进入待机模式的条件的一种实现方式可以是：若与手持云台连接的移动终端接收到语音来电信息，则将手持云台的转轴机构旋转至预设位置，并确定手持云台满足进入待机模式的条件。Optionally, an implementation manner for determining whether the handheld gimbal satisfies the conditions for entering the standby mode may be: if the mobile terminal connected to the handheld gimbal receives voice call information, rotate the rotation mechanism of the handheld gimbal to a preset Position and determine that the handheld gimbal satisfies the conditions for entering standby mode.
本实施例中，手持云台与所夹持的拍摄设备如手机，可以通过有线和/或无线的方式进行通信连接，手持云台可以预先获取访问手机通话的权限。当手持云台获取到与之连接的移动终端接收到语音来电信息，可以将手持云台的转轴机构旋转至预设位置，并确定手持云台满足进入待机模式的条件。In this embodiment, the handheld gimbal and the captured shooting device, such as a mobile phone, can be connected in a wired and/or wireless manner to communicate, and the handheld gimbal can obtain the access right to the mobile phone call in advance. When the handheld gimbal acquires the voice call information received by the connected mobile terminal, it can rotate the shaft mechanism of the handheld gimbal to a preset position and determine that the handheld gimbal satisfies the conditions for entering the standby mode.
可选的，为了进一步提高电池的使用时间，在手持云台进入待机模式之后，还可以包括：若手持云台的剩余电量小于预设电量阈值时，则控制手持云台进入省电模式。Optionally, in order to further improve the battery usage time, after the handheld gimbal enters the standby mode, it may further include: if the remaining power of the handheld gimbal is less than a preset power threshold, controlling the handheld gimbal to enter the power saving mode.
可选的，在省电模式，可以断开手持云台的如下至少一种电子器件的供电：驱动电机，姿态传感器和电子调速器，以节省电量。Optionally, in the power saving mode, the power supply of at least one of the following electronic devices of the handheld gimbal may be disconnected: a driving motor, an attitude sensor, and an electronic speed governor to save power.
在上述实施例的基础上，本实施例对上述实施例进行结合提供一个具体的实施例对本发明提供的手持云台的控制方法进行说明。本实施例中转轴机构以横滚轴转轴机构为例进行说明，坐标系的定义以及角度的正方向参考图1所示。图3为本发明提供的手持云台的控制方法又一实施例的流程图。如图3所示，本实施例提供的手持云台的控制方法可以包括：Based on the above embodiments, this embodiment combines the above embodiments to provide a specific embodiment to describe the control method of the hand-held cloud platform provided by the present invention. In this embodiment, the rotating shaft mechanism is described using the rolling shaft rotating shaft mechanism as an example. For the definition of the coordinate system and the positive direction of the angle, refer to FIG. 1. FIG. 3 is a flowchart of another embodiment of a method for controlling a handheld cloud platform provided by the present invention. As shown in FIG. 3, the control method of the handheld cloud platform provided in this embodiment may include:
S301、手持云台进入工作模式。S301. The handheld gimbal enters the work mode.
例如，手机云台开机上电进入工作模式，驱动电机持续输出以保持姿态平衡。For example, the mobile phone gimbal is powered on to enter the working mode, and the driving motor continuously outputs to maintain the posture balance.
S302、判断横滚轴转轴机构的旋转角度是否大于预设角度阈值。S302. Determine whether the rotation angle of the roll shaft rotation mechanism is greater than a preset angle threshold.
本实施例中的预设角度阈值可以根据锁止机构的锁定角度进行设置，也可以根据用户的使用习惯进行设置，本实施例对此不做限制。The preset angle threshold in this embodiment may be set according to the locking angle of the locking mechanism, or may be set according to the user's usage habits, which is not limited in this embodiment.
本实施例中的预设角度阈值例如可以设置为85度。当横滚轴转轴机构的旋转角度大于85度时，或者，当横滚轴转轴机构的旋转角度大于85度且小于95度时，则执行S303。若横滚轴转轴机构的旋转角度小于等于85度时， 则执行S301，继续保持工作模式。The preset angle threshold in this embodiment may be set to 85 degrees, for example. When the rotation angle of the roll shaft rotation mechanism is greater than 85 degrees, or when the rotation angle of the roll shaft rotation mechanism is greater than 85 degrees and less than 95 degrees, S303 is executed. If the rotation angle of the roll shaft rotation mechanism is less than or equal to 85 degrees, S301 is executed to continue to maintain the working mode.
S303、判断横滚轴驱动电机是否处于堵转状态。S303. Determine whether the roll shaft drive motor is in a locked state.
本实施例中可以根据横滚轴驱动电机的输出力矩或者输出电流，判断横滚轴驱动电机是否处于堵转状态。例如，当横滚轴驱动电机输出的力矩大于预设力矩阈值，或者，横滚轴驱动电机输出的电流大于预设电流阈值，则确定横滚轴驱动电机处于堵转状态。In this embodiment, it can be determined whether the roll shaft drive motor is in the locked state according to the output torque or output current of the roll shaft drive motor. For example, when the torque output by the roll shaft drive motor is greater than the preset torque threshold, or the current output by the roll shaft drive motor is greater than the preset current threshold, it is determined that the roll shaft drive motor is in the locked state.
当横滚轴驱动电机处于堵转状态时，则执行S304；否则，执行S307。When the roll shaft drive motor is in the locked state, S304 is executed; otherwise, S307 is executed.
S304、手持云台进入待机模式。S304. The handheld gimbal enters the standby mode.
本实施例中，当手持云台进入待机模式后，横滚轴驱动电机保持通电状态，以避免因电机断电，而导致转轴可以活动，进而导致用户在使用手机的过程中握持不便。In this embodiment, after the hand-held gimbal enters the standby mode, the roll shaft driving motor keeps the power on state, so as to avoid that the rotation shaft can move due to the power failure of the motor, which in turn causes the user to inconveniently hold during the use of the mobile phone.
本实施例中，当手持云台进入待机模式后，可以获取手持云台所处环境的温度值；若温度值小于预设温度阈值，则控制驱动电机被输入一预设大小的电流，从而对驱动电机和/或手持云台的电池进行加热，以避免因设备电池温度过低而降低电池的使用时间。In this embodiment, when the handheld gimbal enters the standby mode, the temperature value of the environment where the handheld gimbal is located can be obtained; if the temperature value is less than the preset temperature threshold, the drive motor is controlled to be input with a current of a preset size, thereby The motor and/or the battery of the handheld gimbal is heated to avoid reducing the battery life due to the low battery temperature of the device.
S305、判断横滚轴转轴机构的旋转角度是否小于等于预设角度阈值。S305. Determine whether the rotation angle of the roll shaft rotation mechanism is less than or equal to a preset angle threshold.
当手持云台处于待机模式时，则判断横滚轴转轴机构的旋转角度是否小于等于预设角度阈值。当横滚轴转轴机构的旋转角度小于等于预设角度阈值时，则执行S306；否则，继续保持待机模式。When the handheld gimbal is in the standby mode, it is determined whether the rotation angle of the roll shaft rotation mechanism is less than or equal to a preset angle threshold. When the rotation angle of the roll shaft rotation mechanism is less than or equal to the preset angle threshold, S306 is executed; otherwise, the standby mode is continued.
S306、横滚轴驱动电机是否处于堵转状态。S306. Whether the drive motor of the roll shaft is locked.
本实施例中可以根据横滚轴驱动电机的输出力矩或者输出电流，判断横滚轴驱动电机是否处于堵转状态。In this embodiment, it can be determined whether the roll shaft drive motor is in the locked state according to the output torque or output current of the roll shaft drive motor.
当横滚轴驱动电机处于堵转状态时，则执行S307；否则，执行S301。When the roll shaft drive motor is in the locked state, S307 is executed; otherwise, S301 is executed.
S307、手持云台发生故障。S307, the handheld gimbal malfunctions.
本实施例中，当手持云台发生故障时，可以切断电机电源，并向用户发出提示信息。例如，可以通过手持云台对应的APP向用户进行提示。In this embodiment, when the handheld gimbal fails, the motor power can be cut off and a prompt message can be sent to the user. For example, the user can be prompted through the APP corresponding to the handheld gimbal.
图4为本发明提供的手持云台的控制方法另一实施例的流程图。如图4所示，本实施例提供的方法可以包括：4 is a flowchart of another embodiment of a method for controlling a handheld cloud platform provided by the present invention. As shown in FIG. 4, the method provided in this embodiment may include:
S401、确定手持云台是否处于工作模式，手持云台包括转轴机构，转轴机构包括转轴以及带动转轴转动的驱动电机。S401. Determine whether the handheld gimbal is in a working mode. The handheld gimbal includes a rotating shaft mechanism, and the rotating shaft mechanism includes a rotating shaft and a driving motor that drives the rotating shaft to rotate.
S402、若手持云台处于工作模式，则获取转轴机构当前转动角度以及驱动电机的状态信息。S402. If the handheld gimbal is in the working mode, obtain the current rotation angle of the rotating shaft mechanism and the status information of the driving motor.
S403、根据转轴机构的当前转动角度以及驱动电机的状态信息，确定手持云台是否满足进入待机模式的条件。S403. Determine, according to the current rotation angle of the rotating shaft mechanism and the status information of the driving motor, whether the handheld gimbal satisfies the conditions for entering the standby mode.
本实施例提供的手持云台的控制方法，在手持云台处于工作模式时，获取转轴机构当前转动角度以及驱动电机的状态信息，根据转轴机构的当前转动角度以及驱动电机的状态信息，综合判断手持云台是否满足进入待机模式的条件，避免了仅采用角度进行判断时可能产生的误判，提高了控制的准确性。The control method of the handheld gimbal provided in this embodiment obtains the current rotation angle of the rotating shaft mechanism and the status information of the driving motor when the handheld gimbal is in the working mode, and comprehensively judges based on the current rotating angle of the rotating shaft mechanism and the status information of the driving motor Whether the hand-held gimbal satisfies the conditions for entering the standby mode, which avoids the misjudgment that may be generated when the angle is used for judgment, and improves the accuracy of control.
可选的，根据转轴机构的当前转动角度以及驱动电机的状态信息，确定手持云台是否满足进入待机模式的条件的一种实现方式可以是：Optionally, according to the current rotation angle of the rotating shaft mechanism and the status information of the driving motor, an implementation manner for determining whether the handheld gimbal satisfies the conditions for entering the standby mode may be:
若转轴机构的当前转动角度大于预设角度阈值，且驱动电机处于堵转状态，则确定手持云台满足进入待机模式的条件。If the current rotation angle of the rotating shaft mechanism is greater than the preset angle threshold and the drive motor is in the locked state, it is determined that the handheld gimbal satisfies the conditions for entering the standby mode.
可选的，根据转轴机构的当前转动角度以及驱动电机的状态信息，确定手持云台是否满足进入待机模式的条件的一种实现方式可以是：Optionally, according to the current rotation angle of the rotating shaft mechanism and the status information of the driving motor, an implementation manner for determining whether the handheld gimbal satisfies the conditions for entering the standby mode may be:
若转轴机构的当前转动角度大于预设角度阈值，且驱动电机输出的力矩大于预设力矩阈值，则确定手持云台满足进入待机模式的条件。If the current rotation angle of the rotating shaft mechanism is greater than the preset angle threshold and the torque output by the drive motor is greater than the preset torque threshold, it is determined that the handheld gimbal satisfies the condition for entering the standby mode.
可选的，根据转轴机构的当前转动角度以及驱动电机的状态信息，确定手持云台是否满足进入待机模式的条件的一种实现方式可以是：Optionally, according to the current rotation angle of the rotating shaft mechanism and the status information of the driving motor, an implementation manner for determining whether the handheld gimbal satisfies the conditions for entering the standby mode may be:
若转轴机构的当前转动角度大于预设角度阈值，且驱动电机输出的电流大于预设电流阈值，则确定手持云台满足进入待机模式的条件。If the current rotation angle of the rotating shaft mechanism is greater than the preset angle threshold and the current output by the drive motor is greater than the preset current threshold, it is determined that the handheld gimbal satisfies the condition for entering the standby mode.
可选的，在手持云台进入待机模式之后，本实施例提供的方法还可以包括：获取手持云台所处环境的温度值；若温度值小于预设温度阈值，则控制驱动电机被输入一预设大小的电流，从而对驱动电机和/或手持云台的电池进行加热。以避免因电池温度过低而导致降低电池使用时间。Optionally, after the handheld gimbal enters the standby mode, the method provided in this embodiment may further include: acquiring the temperature value of the environment in which the handheld gimbal is located; if the temperature value is less than the preset temperature threshold, the control driving motor is input into a pre-set Set a large amount of current to heat the battery that drives the motor and/or the handheld gimbal. To avoid the battery temperature is too low and lead to reduce battery life.
可选的，在手持云台进入待机模式之后，本实施例提供的方法还可以包括：驱动电机提供一预设扭矩给转轴，将转轴定位在预设位置，从而使转轴机构保持在预设位置的状态。以便将转轴固定在预设位置，便于用户对设备进行握持。Optionally, after the handheld gimbal enters the standby mode, the method provided in this embodiment may further include: driving the motor to provide a preset torque to the rotating shaft, and positioning the rotating shaft at a preset position, thereby keeping the rotating shaft mechanism at the preset position status. In order to fix the rotating shaft at a preset position, it is convenient for the user to hold the device.
可选的，在手持云台进入待机模式之后，本实施例提供的方法还可以包 括：使用机械锁止机构将手持云台的转轴机构定位在预设位置。Optionally, after the handheld gimbal enters the standby mode, the method provided in this embodiment may further include: using a mechanical locking mechanism to position the rotation axis mechanism of the handheld gimbal at a preset position.
图5为本发明提供的手持云台一实施例的结构示意图。如图5所示，本实施例提供的手持云台500可以包括：转轴机构502和处理器501；转轴机构502可以包括转轴5022以及带动转轴5022转动的驱动电机5021。FIG. 5 is a schematic structural diagram of an embodiment of a handheld cloud platform provided by the present invention. As shown in FIG. 5, the handheld gimbal 500 provided in this embodiment may include: a rotating shaft mechanism 502 and a processor 501; the rotating shaft mechanism 502 may include a rotating shaft 5022 and a driving motor 5021 that drives the rotating shaft 5022 to rotate.
该处理器501可以是中央处理单元(Central Processing Unit，CPU)，还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。应理解，驱动电机5021可以是直流电机，也可以是交流电机。另外，驱动电机5021可以是无刷电机，也可以是有刷电机。The processor 501 may be a central processing unit (Central Processing Unit, CPU), or other general-purpose processors, digital signal processors (Digital Signal Processors, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may be any conventional processor or the like. It should be understood that the driving motor 5021 may be a DC motor or an AC motor. In addition, the driving motor 5021 may be a brushless motor or a brushed motor.
处理器501可以用于：获取手持云台500当前的状态，状态包括工作模式和待机模式；若手持云台500当前处于工作模式，则确定手持云台500是否满足进入待机模式的条件；若手持云台500满足进入待机模式的条件，则使手持云台500进入待机模式，在手持云台500进入待机模式时，控制转轴机构502的驱动电机5021进入预设模式；其中，在预设模式中，驱动电机5021保持不断电。The processor 501 may be used to: obtain the current state of the handheld gimbal 500, including the working mode and the standby mode; if the handheld gimbal 500 is currently in the working mode, determine whether the handheld gimbal 500 meets the conditions for entering the standby mode; When the gimbal 500 satisfies the conditions for entering the standby mode, the handheld gimbal 500 is put into the standby mode. When the handheld gimbal 500 enters the standby mode, the drive motor 5021 of the rotating shaft mechanism 502 is controlled to enter the preset mode; wherein, in the preset mode , The drive motor 5021 keeps uninterrupted power.
可选的，预设模式可以包括定位模式；处理器501可以用于，在定位模式中，控制驱动电机提供一预设扭矩给转轴，将转轴定位在预设位置，从而使转轴机构保持在预设位置的状态。Optionally, the preset mode may include a positioning mode; the processor 501 may be used to control the drive motor to provide a preset torque to the rotating shaft in the positioning mode, positioning the rotating shaft at a preset position, so as to keep the rotating shaft mechanism at a predetermined position Set the status of the location.
可选的，预设模式可以包括唤醒模式；处理器501可以用于，在唤醒模式中，控制驱动电机被输入一预设大小的电流，从而使驱动电机保持通电状态。Optionally, the preset mode may include a wake-up mode; the processor 501 may be used to control the drive motor to be input with a current of a preset size in the wake-up mode, thereby keeping the drive motor in a powered-on state.
可选的，处理器501可以用于，在唤醒模式时，控制机械锁止机构将手持云台的转轴机构定位在预设位置。Optionally, the processor 501 may be used to control the mechanical locking mechanism to position the rotation axis mechanism of the handheld gimbal at a preset position in the wake-up mode.
可选的，预设模式可以包括加热模式；处理器501可以用于，在加热模式中，控制驱动电机被输入一预设大小的电流，从而对驱动电机和/或手持云台的电池进行加热。Optionally, the preset mode may include a heating mode; the processor 501 may be used to, in the heating mode, control the drive motor to be input with a current of a preset magnitude to heat the drive motor and/or the battery of the handheld gimbal .
可选的，在手持云台进入待机模式之后，处理器501还可以用于，获取 手持云台所处环境的温度值；若温度值小于预设温度阈值，则控制手持云台的驱动电机进入加热模式。Optionally, after the handheld gimbal enters the standby mode, the processor 501 can also be used to obtain the temperature value of the environment in which the handheld gimbal is located; if the temperature value is less than a preset temperature threshold, the driving motor of the handheld gimbal is controlled to enter heating mode.
可选的，转轴机构502可以为俯仰轴机构，平移轴机构，或者横滚轴机构。Optionally, the rotation axis mechanism 502 may be a pitch axis mechanism, a translation axis mechanism, or a roll axis mechanism.
可选的，处理器501用于确定手持云台是否满足进入待机模式的条件，具体可以包括：Optionally, the processor 501 is used to determine whether the handheld gimbal satisfies the conditions for entering the standby mode, which may specifically include:
根据手持云台的转轴机构的旋转角度和驱动电机的状态信息，确定手持云台是否满足进入待机模式的条件。According to the rotation angle of the rotation axis mechanism of the handheld gimbal and the status information of the driving motor, it is determined whether the handheld gimbal satisfies the conditions for entering the standby mode.
可选的，处理器501用于根据手持云台的转轴机构的旋转角度和驱动电机的状态信息，确定手持云台是否满足进入待机模式的条件，具体可以包括：Optionally, the processor 501 is used to determine whether the handheld gimbal satisfies the conditions for entering the standby mode according to the rotation angle of the rotation axis mechanism of the handheld gimbal and the status information of the driving motor, which may specifically include:
若转轴机构的旋转角度大于预设角度阈值，且驱动电机处于堵转状态，则确定手持云台满足进入待机模式的条件。If the rotation angle of the rotating shaft mechanism is greater than the preset angle threshold and the drive motor is in the locked state, it is determined that the handheld gimbal satisfies the conditions for entering the standby mode.
可选的，处理器501用于根据手持云台的转轴机构的旋转角度和驱动电机的状态信息，确定手持云台是否满足进入待机模式的条件，具体可以包括：Optionally, the processor 501 is used to determine whether the handheld gimbal satisfies the conditions for entering the standby mode according to the rotation angle of the rotation axis mechanism of the handheld gimbal and the status information of the driving motor, which may specifically include:
若转轴机构的旋转角度大于预设角度阈值，且驱动电机输出的力矩大于预设力矩阈值，则确定手持云台满足进入待机模式的条件。If the rotation angle of the rotating shaft mechanism is greater than the preset angle threshold, and the torque output by the drive motor is greater than the preset torque threshold, it is determined that the handheld gimbal satisfies the condition for entering the standby mode.
可选的，处理器501用于根据手持云台的转轴机构的旋转角度和驱动电机的状态信息，确定手持云台是否满足进入待机模式的条件，具体可以包括：Optionally, the processor 501 is used to determine whether the handheld gimbal satisfies the conditions for entering the standby mode according to the rotation angle of the rotation axis mechanism of the handheld gimbal and the status information of the driving motor, which may specifically include:
若转轴机构旋转角度大于预设角度阈值，且驱动电机输出的电流大于预设电流阈值，则确定手持云台满足进入待机模式的条件。If the rotation angle of the shaft mechanism is greater than the preset angle threshold, and the current output by the drive motor is greater than the preset current threshold, it is determined that the handheld gimbal satisfies the condition for entering the standby mode.
可选的，转轴机构502可以为多个；处理器501可以用于，在手持云台进入待机模式时，控制至少一个转轴机构502的驱动电机5021进入预设模式。Optionally, there may be multiple rotating shaft mechanisms 502; the processor 501 may be used to control the driving motor 5021 of at least one rotating shaft mechanism 502 to enter a preset mode when the handheld gimbal enters the standby mode.
可选的，处理器501还可以用于：若手持云台当前处于待机模式，则确定手持云台是否满足进入工作模式的条件；若手持云台满足进入工作模式的条件，则使手持云台进入工作模式。Optionally, the processor 501 may also be used to: if the handheld gimbal is currently in the standby mode, determine whether the handheld gimbal satisfies the conditions for entering the work mode; if the handheld gimbal meets the conditions for entering the work mode, enable the handheld gimbal Enter working mode.
可选的，处理器501用于确定手持云台是否满足进入工作模式的条件，具体可以包括：Optionally, the processor 501 is used to determine whether the handheld gimbal satisfies the conditions for entering the work mode, which may specifically include:
若转轴机构的旋转角度小于等于预设角度阈值，且驱动电机未发生堵转，则确定手持云台满足进入工作模式的条件。If the rotation angle of the rotating shaft mechanism is less than or equal to the preset angle threshold and the driving motor does not block, it is determined that the handheld gimbal satisfies the conditions for entering the work mode.
可选的，处理器501还可以用于：Optionally, the processor 501 can also be used for:
若转轴机构旋转角度小于等于预设角度阈值，且驱动电机处于堵转状态，则确定手持云台发生故障。If the rotation angle of the shaft mechanism is less than or equal to the preset angle threshold and the drive motor is in the locked state, it is determined that the handheld gimbal has failed.
可选的，处理器501用于确定手持云台是否满足进入待机模式的条件，具体可以包括：Optionally, the processor 501 is used to determine whether the handheld gimbal satisfies the conditions for entering the standby mode, which may specifically include:
若与手持云台连接的移动终端接收到语音来电信息，则将手持云台的转轴机构旋转至预设位置，并确定手持云台满足进入待机模式的条件。If the mobile terminal connected to the handheld gimbal receives the voice call information, the shaft mechanism of the handheld gimbal is rotated to a preset position, and it is determined that the handheld gimbal satisfies the conditions for entering the standby mode.
可选的，在手持云台进入待机模式之后，处理器501还可以用于：Optionally, after the handheld gimbal enters the standby mode, the processor 501 may also be used to:
若手持云台的剩余电量小于预设电量阈值时，则控制手持云台进入省电模式。If the remaining power of the handheld gimbal is less than the preset power threshold, the handheld gimbal is controlled to enter the power saving mode.
可选的，处理器501还用于：在省电模式，断开手持云台的如下至少一种电子器件的供电：驱动电机，姿态传感器和电子调速器。Optionally, the processor 501 is also used to: in the power saving mode, disconnect the power supply of at least one of the following electronic devices of the handheld gimbal: a driving motor, an attitude sensor, and an electronic governor.
图6为本发明提供的手持云台又一实施例的结构示意图。如图6所示，本实施例提供的手持云台600可以包括：转轴机构602和处理器601；转轴机构602可以包括转轴6022以及带动转轴6022转动的驱动电机6021。FIG. 6 is a schematic structural diagram of yet another embodiment of a handheld cloud platform provided by the present invention. As shown in FIG. 6, the handheld gimbal 600 provided in this embodiment may include: a rotating shaft mechanism 602 and a processor 601; the rotating shaft mechanism 602 may include a rotating shaft 6022 and a driving motor 6021 that drives the rotating shaft 6022 to rotate.
该处理器601可以是中央处理单元(Central Processing Unit，CPU)，还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。应理解，驱动电机6021可以是直流电机，也可以是交流电机。另外，驱动电机6021可以是无刷电机，也可以是有刷电机。The processor 601 may be a central processing unit (Central Processing Unit, CPU), or other general-purpose processors, digital signal processors (Digital Signal Processors, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may be any conventional processor or the like. It should be understood that the driving motor 6021 may be a DC motor or an AC motor. In addition, the driving motor 6021 may be a brushless motor or a brushed motor.
处理器601可以用于：确定手持云台600是否处于工作模式；若手持云台600处于工作模式，则获取转轴机构602当前转动角度以及驱动电机6021的状态信息；根据转轴机构的当前转动角度以及驱动电机6021的状态信息，确定手持云台600是否满足进入待机模式的条件。The processor 601 can be used to: determine whether the handheld gimbal 600 is in the working mode; if the handheld gimbal 600 is in the working mode, obtain the current rotation angle of the shaft mechanism 602 and the status information of the drive motor 6021; according to the current rotation angle of the shaft mechanism and The status information of the driving motor 6021 determines whether the handheld gimbal 600 satisfies the conditions for entering the standby mode.
可选的，处理器601用于根据转轴机构的当前转动角度以及驱动电机的状态信息，确定手持云台是否满足进入待机模式的条件，具体可以包括：Optionally, the processor 601 is used to determine whether the handheld gimbal satisfies the conditions for entering the standby mode according to the current rotation angle of the shaft mechanism and the status information of the driving motor, which may specifically include:
若转轴机构的当前转动角度大于预设角度阈值，且驱动电机处于堵转状态，则确定手持云台满足进入待机模式的条件。If the current rotation angle of the rotating shaft mechanism is greater than the preset angle threshold and the drive motor is in the locked state, it is determined that the handheld gimbal satisfies the conditions for entering the standby mode.
可选的，处理器601用于根据转轴机构的当前转动角度以及驱动电机的状态信息，确定手持云台是否满足进入待机模式的条件，具体可以包括：Optionally, the processor 601 is used to determine whether the handheld gimbal satisfies the conditions for entering the standby mode according to the current rotation angle of the shaft mechanism and the status information of the driving motor, which may specifically include:
若转轴机构的当前转动角度大于预设角度阈值，且驱动电机输出的力矩大于预设力矩阈值，则确定手持云台满足进入待机模式的条件。If the current rotation angle of the rotating shaft mechanism is greater than the preset angle threshold and the torque output by the drive motor is greater than the preset torque threshold, it is determined that the handheld gimbal satisfies the condition for entering the standby mode.
可选的，处理器601用于根据转轴机构的当前转动角度以及驱动电机的状态信息，确定手持云台是否满足进入待机模式的条件，具体可以包括：Optionally, the processor 601 is used to determine whether the handheld gimbal satisfies the conditions for entering the standby mode according to the current rotation angle of the shaft mechanism and the status information of the driving motor, which may specifically include:
若转轴机构的当前转动角度大于预设角度阈值，且驱动电机输出的电流大于预设电流阈值，则确定手持云台满足进入待机模式的条件。If the current rotation angle of the rotating shaft mechanism is greater than the preset angle threshold and the current output by the drive motor is greater than the preset current threshold, it is determined that the handheld gimbal satisfies the condition for entering the standby mode.
可选的，在手持云台进入待机模式之后，处理器601还可以用于：Optionally, after the handheld gimbal enters the standby mode, the processor 601 may also be used to:
获取手持云台所处环境的温度值；Obtain the temperature value of the environment where the handheld gimbal is located;
若温度值小于预设温度阈值，则控制驱动电机被输入一预设大小的电流，从而对驱动电机和/或手持云台的电池进行加热。If the temperature value is less than the preset temperature threshold, the drive motor is controlled to be input with a current of a preset size, thereby heating the drive motor and/or the battery of the handheld gimbal.
可选的，在手持云台进入待机模式之后，处理器601还可以用于：Optionally, after the handheld gimbal enters the standby mode, the processor 601 may also be used to:
控制驱动电机提供一预设扭矩给转轴，将转轴定位在预设位置，从而使转轴机构保持在预设位置的状态。The driving motor is controlled to provide a preset torque to the rotating shaft, and the rotating shaft is positioned at the preset position, thereby keeping the rotating shaft mechanism at the preset position.
可选的，在手持云台进入待机模式之后，处理器601还可以用于：Optionally, after the handheld gimbal enters the standby mode, the processor 601 may also be used to:
控制机械锁止机构将手持云台的转轴机构定位在预设位置。The mechanical locking mechanism is controlled to position the rotation axis mechanism of the hand-held gimbal at a preset position.
图7为本发明提供的手持云台另一实施例的结构示意图。如图7所示，本实施例提供的手持云台700可以包括：7 is a schematic structural diagram of another embodiment of a handheld cloud platform provided by the present invention. As shown in FIG. 7, the handheld cloud platform 700 provided by this embodiment may include:
手柄机构701； Handle mechanism 701;
云台机构704，与手柄机构701连接，云台机构704用于承载拍摄设备，并且能够调节拍摄设备的姿态；云台机构704包括转轴机构702以及与转轴机构连接的夹持机构703，转轴机构702包括转轴7022、带动转轴转动的驱动电机7021、以及用于控制驱动电机的电子调速器7023，夹持机构703用于夹持拍摄设备；The pan-tilt mechanism 704 is connected to the handle mechanism 701. The pan-tilt mechanism 704 is used to carry the shooting device and can adjust the posture of the shooting device; 702 includes a rotating shaft 7022, a driving motor 7021 that drives the rotating shaft, and an electronic governor 7023 for controlling the driving motor, and a clamping mechanism 703 is used to clamp the shooting device;
控制器705，与电子调速器7023电连接；The controller 705 is electrically connected to the electronic governor 7023;
其中，在手持云台进入待机模式时，控制器705通过电子调速器7023控制驱动电机7021进入预设模式；在预设模式中，电子调速器7023保持给驱动电机7021供电。When the handheld gimbal enters the standby mode, the controller 705 controls the driving motor 7021 to enter the preset mode through the electronic governor 7023; in the preset mode, the electronic governor 7023 keeps supplying power to the driving motor 7021.
本实施例中的拍摄设备例如可以是手机、照相机、摄像机等。The shooting device in this embodiment may be, for example, a mobile phone, a camera, a video camera, or the like.
本实施例提供的手持云台，包括手柄机构，与手柄机构连接的云台机构及控制器，其中云台机构包括转轴机构以及与转轴机构连接的夹持机构，转轴机构包括转轴、带动转轴转动的驱动电机、以及用于控制驱动电机的电子调速器，夹持机构用于夹持拍摄设备。本实施例提供的手持云台在进入待机模式时，控制器控制电子调速器保持给驱动电机供电，使驱动电机保持通电状态，便于用户在使用过程中对拍摄设备如手机的握持，提高了用户体验。解决了在待机模式中因驱动电机断电导致转轴可以活动，进而导致用户在使用手机的过程中握持不便的问题。The handheld gimbal provided in this embodiment includes a handle mechanism, a gimbal mechanism and a controller connected to the handle mechanism, wherein the gimbal mechanism includes a rotating shaft mechanism and a clamping mechanism connected to the rotating shaft mechanism, and the rotating shaft mechanism includes a rotating shaft to drive the rotating shaft to rotate The drive motor and the electronic governor used to control the drive motor, the clamping mechanism is used to clamp the shooting device. When the handheld gimbal provided in this embodiment enters the standby mode, the controller controls the electronic governor to keep supplying power to the drive motor, so that the drive motor remains powered on, which is convenient for the user to hold the shooting device such as a mobile phone during use. User experience. It solves the problem that the rotating shaft can move due to the power failure of the drive motor in the standby mode, which in turn causes the user to be inconvenient to hold during the use of the mobile phone.
可选的，转轴机构702可以为俯仰轴机构，平移轴机构，或者横滚轴机构。Optionally, the rotation axis mechanism 702 may be a pitch axis mechanism, a translation axis mechanism, or a roll axis mechanism.
可选的，预设模式包括唤醒模式，其中，在唤醒模式中，驱动电机7021被输入一预设大小的电流，从而使驱动电机7021保持通电状态。Optionally, the preset mode includes a wake-up mode, wherein, in the wake-up mode, the drive motor 7021 is input with a current of a preset magnitude, so that the drive motor 7021 remains in a power-on state.
可选的，手持云台700还可以包括机械锁止机构(图中未示出)；在唤醒模式，机械锁止机构将手持云台700的转轴机构702定位在预设位置。Optionally, the handheld gimbal 700 may further include a mechanical locking mechanism (not shown); in the wake-up mode, the mechanical locking mechanism positions the rotating shaft mechanism 702 of the handheld gimbal 700 at a preset position.
可选的，预设模式包括定位模式；其中，在定位模式中，驱动电机7021提供一预设扭矩给转轴7022，将转轴7022定位在预设位置，从而使转轴机构702保持在预设位置的状态；Optionally, the preset mode includes a positioning mode; wherein, in the positioning mode, the driving motor 7021 provides a preset torque to the rotating shaft 7022, and the rotating shaft 7022 is positioned at a preset position, thereby keeping the rotating shaft mechanism 702 at the preset position status;
或/及，预设模式包括加热模式；其中，在加热模式中，驱动电机7021被输入一预设大小的电流，从而对驱动电机7021和/或驱动电机7021的供电电池进行加热。Or/and, the preset mode includes a heating mode; wherein, in the heating mode, a current of a preset magnitude is input to the driving motor 7021, so as to heat the driving motor 7021 and/or the power supply battery of the driving motor 7021.
可选的，在转轴机构的旋转角度大于等于预设角度阈值且驱动电机处于堵转状态时，控制器705通过电子调速器7023控制驱动电机7021进入预设模式。Optionally, when the rotation angle of the rotating shaft mechanism is greater than or equal to the preset angle threshold and the drive motor is in the locked state, the controller 705 controls the drive motor 7021 to enter the preset mode through the electronic governor 7023.
可选的，在转轴机构702旋转角度小于等于预设角度阈值且驱动电机处于堵转状态时，控制器705通过电子调速器7023控制驱动电机7021进入故障保护模式。Optionally, when the rotation angle of the rotating shaft mechanism 702 is less than or equal to the preset angle threshold and the drive motor is in the locked-rotation state, the controller 705 controls the drive motor 7021 to enter the fault protection mode through the electronic governor 7023.
可选的，在处于故障保护模式时，控制器705控制电子调速器7023停止给驱动电机7021供电。Optionally, when in the fail-safe mode, the controller 705 controls the electronic governor 7023 to stop supplying power to the drive motor 7021.
可选的，手持云台700还可以包括电源管理电路(图中未示出)，电源管理电路与控制器705以及电子调速器7023电连接，电池通过电源管 理电路分别给控制器705以及电子调速器7023供电。Optionally, the handheld gimbal 700 may further include a power management circuit (not shown in the figure), the power management circuit is electrically connected to the controller 705 and the electronic governor 7023, and the battery supplies the controller 705 and the electronics through the power management circuit, respectively The governor 7023 supplies power.
可选的，在电池的剩余电量小于预设电量阈值时，电源管理电路停止给手持云台的如下至少一种电子元器件供电：驱动电机，姿态传感器，电子调速器。Optionally, when the remaining power of the battery is less than the preset power threshold, the power management circuit stops supplying power to at least one of the following electronic components of the handheld gimbal: a driving motor, an attitude sensor, and an electronic governor.
图8为本发明提供的手持云台又一实施例的结构示意图。如图8所示，本实施例提供的手持云台800可以包括：FIG. 8 is a schematic structural diagram of another embodiment of a handheld cloud platform provided by the present invention. As shown in FIG. 8, the handheld cloud platform 800 provided by this embodiment may include:
手柄机构801； Handle mechanism 801;
云台机构804，与手柄机构801连接，云台机构804用于承载拍摄设备，并且能够调节拍摄设备的姿态；云台机构804包括转轴机构802以及与转轴机构连接的夹持机构803，转轴机构802包括转轴8022、带动转轴转动的驱动电机8021、以及用于控制驱动电机的电子调速器8023，夹持机构803用于夹持拍摄设备；The gimbal mechanism 804 is connected to the handle mechanism 801. The gimbal mechanism 804 is used to carry the shooting equipment and can adjust the posture of the shooting equipment; the gimbal mechanism 804 includes a rotating shaft mechanism 802 and a clamping mechanism 803 connected to the rotating shaft mechanism, the rotating shaft mechanism 802 includes a rotating shaft 8022, a driving motor 8021 that drives the rotating shaft, and an electronic speed controller 8023 for controlling the driving motor, and a clamping mechanism 803 is used to clamp the shooting device;
控制器805，与电子调速器8023电连接；The controller 805 is electrically connected to the electronic speed controller 8023;
其中，在转轴机构802的当前转动角度大于预设角度阈值并且驱动电机8021处于堵转状态时，控制器805通过电子调速器8023控制驱动电机8021进入预设模式。Wherein, when the current rotation angle of the rotating shaft mechanism 802 is greater than the preset angle threshold and the drive motor 8021 is in the locked-rotation state, the controller 805 controls the drive motor 8021 to enter the preset mode through the electronic governor 8023.
本实施例中的拍摄设备例如可以是手机、照相机、摄像机等。The shooting device in this embodiment may be, for example, a mobile phone, a camera, a video camera, or the like.
本实施例提供的手持云台，包括手柄机构，与手柄机构连接的云台机构及控制器，其中云台机构包括转轴机构以及与转轴机构连接的夹持机构，转轴机构包括转轴、带动转轴转动的驱动电机、以及用于控制驱动电机的电子调速器，夹持机构用于夹持拍摄设备，控制器与电子调速器电连接。本实施例提供的手持云台在转轴机构的当前转动角度大于预设角度阈值并且驱动电机处于堵转状态时，控制器通过电子调速器控制驱动电机进入预设模式。本实施例提供的手持云台根据转轴机构的当前转动角度以及驱动电机的状态信息，综合判断手持云台是否满足进入待机模式的条件，避免了仅采用角度进行判断时可能产生的误判，提高了控制的准确性。The handheld gimbal provided in this embodiment includes a handle mechanism, a gimbal mechanism and a controller connected to the handle mechanism, wherein the gimbal mechanism includes a rotating shaft mechanism and a clamping mechanism connected to the rotating shaft mechanism, and the rotating shaft mechanism includes a rotating shaft to drive the rotating shaft to rotate The drive motor and the electronic governor used to control the drive motor, the clamping mechanism is used to clamp the shooting device, and the controller is electrically connected to the electronic governor. In the handheld gimbal provided in this embodiment, when the current rotation angle of the rotation shaft mechanism is greater than the preset angle threshold and the drive motor is in the locked-rotation state, the controller controls the drive motor to enter the preset mode through the electronic governor. The handheld gimbal provided in this embodiment comprehensively judges whether the handheld gimbal satisfies the condition of entering the standby mode according to the current rotation angle of the rotating shaft mechanism and the status information of the drive motor, avoiding the misjudgment that may be generated when the angle is used for judgment, and improves Control accuracy.
可选的，转轴机构802可以为俯仰轴机构，平移轴机构，或者横滚轴机构。Optionally, the rotation axis mechanism 802 may be a pitch axis mechanism, a translation axis mechanism, or a roll axis mechanism.
可选的，预设模式可以包括唤醒模式，在唤醒模式中，驱动电机8021被输入一预设大小的电流，从而使驱动电机8021保持通电状态。Optionally, the preset mode may include a wake-up mode. In the wake-up mode, the drive motor 8021 is input with a current of a preset magnitude, so that the drive motor 8021 maintains a power-on state.
可选的，手持云台800还可以包括机械锁止机构(图中未示出)，在唤醒模式，机械锁止机构将手持云台800的转轴机构802定位在预设位置。Optionally, the handheld gimbal 800 may further include a mechanical locking mechanism (not shown in the figure). In the wake-up mode, the mechanical locking mechanism positions the rotating shaft mechanism 802 of the handheld gimbal 800 at a preset position.
可选的，预设模式包括定位模式；其中，在定位模式中，驱动电机8021提供一预设扭矩给转轴8022，将转轴8022定位在预设位置，从而使转轴机构802保持在预设位置的状态；Optionally, the preset mode includes a positioning mode; wherein, in the positioning mode, the driving motor 8021 provides a preset torque to the rotating shaft 8022, positioning the rotating shaft 8022 at a preset position, so that the rotating shaft mechanism 802 is maintained at the preset position status;
或/及，预设模式包括加热模式；其中，在加热模式中，驱动电机8021被输入一预设大小的电流，从而对驱动电机8021或驱动电机8021的供电电池进行加热。Or/and, the preset mode includes a heating mode; wherein, in the heating mode, a current of a preset magnitude is input to the driving motor 8021, thereby heating the driving motor 8021 or the power supply battery of the driving motor 8021.
可选的，在转轴机构802的当前转动角度小于等于预设角度阈值且驱动电机处于堵转状态时，控制器805通过电子调速器8023控制驱动电机8021进入故障保护模式。Optionally, when the current rotation angle of the rotating shaft mechanism 802 is less than or equal to the preset angle threshold and the drive motor is in the locked-rotation state, the controller 805 controls the drive motor 8021 to enter the fault protection mode through the electronic governor 8023.
可选的，在处于故障保护模式时，控制器805控制电子调速器8023停止给驱动电机8021供电。Optionally, when in the fault protection mode, the controller 805 controls the electronic governor 8023 to stop supplying power to the drive motor 8021.
可选的，手持云台800可以包括电源管理电路(图中未示出)，电源管理电路与控制器805以及电子调速器8023电连接，电池通过电源管理电路分别给控制器805以及电子调速器8023供电。Optionally, the handheld gimbal 800 may include a power management circuit (not shown in the figure), the power management circuit is electrically connected to the controller 805 and the electronic speed regulator 8023, and the battery separately supplies the controller 805 and the electronic controller through the power management circuit Speed 8023 power supply.
可选的，在电池的剩余电量小于预设电量阈值时，电源管理电路停止给手持云台的如下至少一种电子元器件供电：驱动电机，姿态传感器，电子调速器。Optionally, when the remaining power of the battery is less than the preset power threshold, the power management circuit stops supplying power to at least one of the following electronic components of the handheld gimbal: a driving motor, an attitude sensor, and an electronic governor.
本实施例中预设模式的各种具体实现方式，可以参考上述方法实施例，此处不再赘述。For various specific implementation manners of the preset mode in this embodiment, reference may be made to the foregoing method embodiments, and details are not described herein again.
本领域普通技术人员可以理解：实现上述方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成，前述的程序可以存储于一计算机可读取存储介质中，该程序在执行时，执行包括上述方法实施例的步骤；而前述的存储介质包括：只读内存(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。Those of ordinary skill in the art may understand that all or part of the steps to implement the above method embodiments may be completed by program instructions related hardware. The foregoing program may be stored in a computer-readable storage medium, and when the program is executed, It includes the steps of the above method embodiments; and the foregoing storage media include: read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disks or optical discs, etc., which can store program codes Medium.
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 only used to illustrate the technical solution of the present invention, rather than limiting it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features in them can be equivalently replaced; and these modifications or replacements do not deviate from the essence of the corresponding technical solutions of the technical solutions of the embodiments of the invention range.

Claims (69)

  1. 一种手持云台的控制方法，其特征在于，包括：A control method of a handheld gimbal, which is characterized by comprising:
    获取手持云台当前的状态，所述状态包括工作模式和待机模式，所述手持云台包括转轴机构，所述转轴机构包括转轴以及带动所述转轴转动的驱动电机；Obtain the current state of the handheld gimbal. The state includes a working mode and a standby mode. The handheld gimbal includes a rotating shaft mechanism. The rotating shaft mechanism includes a rotating shaft and a drive motor that drives the rotating shaft to rotate.
    若所述手持云台当前处于工作模式，则确定所述手持云台是否满足进入待机模式的条件；If the handheld gimbal is currently in the working mode, determine whether the handheld gimbal satisfies the conditions for entering the standby mode;
    若所述手持云台满足进入待机模式的条件，则使所述手持云台进入待机模式，在所述手持云台进入待机模式时，控制所述转轴机构的所述驱动电机进入预设模式；其中，在所述预设模式中，所述驱动电机保持不断电。If the handheld gimbal satisfies the conditions for entering the standby mode, the handheld gimbal is put into the standby mode, and when the handheld gimbal enters the standby mode, the drive motor of the rotating shaft mechanism is controlled to enter a preset mode; Wherein, in the preset mode, the driving motor keeps uninterrupted power.
  2. 根据权利要求1所述的方法，其特征在于，所述预设模式包括定位模式，在所述定位模式中，所述驱动电机提供一预设扭矩给所述转轴，将所述转轴定位在预设位置，从而使所述转轴机构保持在所述预设位置的状态。The method according to claim 1, wherein the preset mode includes a positioning mode in which the drive motor provides a preset torque to the rotating shaft and positions the rotating shaft at a Set a position so that the rotation shaft mechanism is maintained at the preset position.
  3. 根据权利要求1所述的方法，其特征在于，所述预设模式包括唤醒模式，在所述唤醒模式中，所述驱动电机被输入一预设大小的电流，从而使所述驱动电机保持通电状态。The method according to claim 1, wherein the preset mode includes a wake-up mode, in which the drive motor is input with a current of a preset magnitude, thereby keeping the drive motor energized status.
  4. 根据权利要求3所述的方法，其特征在于，在所述唤醒模式时，使用机械锁止机构将所述手持云台的转轴机构定位在预设位置。The method according to claim 3, characterized in that, in the wake-up mode, a mechanical locking mechanism is used to position the rotation axis mechanism of the handheld gimbal at a preset position.
  5. 根据权利要求1所述的方法，其特征在于，所述预设模式包括加热模式，在所述加热模式中，所述驱动电机被输入一预设大小的电流，从而对所述驱动电机和/或所述手持云台的电池进行加热。The method according to claim 1, wherein the preset mode includes a heating mode, and in the heating mode, a current of a preset magnitude is input to the drive motor, so that the drive motor and/or Or the battery of the handheld gimbal is heated.
  6. 根据权利要求5所述的方法，其特征在于，在所述手持云台进入待机模式之后，所述方法还包括：The method according to claim 5, wherein after the handheld gimbal enters the standby mode, the method further comprises:
    获取所述手持云台所处环境的温度值；Obtain the temperature value of the environment where the handheld gimbal is located;
    若所述温度值小于预设温度阈值，则控制所述手持云台的驱动电机进入所述加热模式。If the temperature value is less than the preset temperature threshold, the driving motor of the handheld gimbal is controlled to enter the heating mode.
  7. 根据权利要求1所述的方法，其特征在于，所述转轴机构为俯仰轴机构，平移轴机构，或者横滚轴机构。The method according to claim 1, wherein the rotation axis mechanism is a pitch axis mechanism, a translation axis mechanism, or a roll axis mechanism.
  8. 根据权利要求1所述的方法，其特征在于，所述确定所述手持云台是否满足进入待机模式的条件，包括：The method according to claim 1, wherein the determining whether the handheld gimbal satisfies a condition for entering a standby mode includes:
    根据所述手持云台的转轴机构的旋转角度和所述驱动电机的状态信息，确定所述手持云台是否满足进入待机模式的条件。According to the rotation angle of the rotating shaft mechanism of the handheld gimbal and the status information of the drive motor, it is determined whether the handheld gimbal satisfies the condition for entering the standby mode.
  9. 根据权利要求8所述的方法，其特征在于，所述根据所述手持云台的转轴机构的旋转角度和所述驱动电机的状态信息，确定所述手持云台是否满足进入待机模式的条件，包括：The method according to claim 8, characterized in that, according to the rotation angle of the rotation mechanism of the handheld gimbal and the state information of the drive motor, it is determined whether the handheld gimbal satisfies the condition for entering the standby mode, include:
    若所述转轴机构的旋转角度大于预设角度阈值，且所述驱动电机处于堵转状态，则确定所述手持云台满足进入待机模式的条件。If the rotation angle of the rotation shaft mechanism is greater than a preset angle threshold and the drive motor is in a locked-rotation state, it is determined that the handheld gimbal satisfies the condition for entering the standby mode.
  10. 根据权利要求8所述的方法，其特征在于，所述根据所述手持云台的转轴机构的旋转角度和所述驱动电机的状态信息，确定所述手持云台是否满足进入待机模式的条件，包括：The method according to claim 8, characterized in that, according to the rotation angle of the rotation mechanism of the handheld gimbal and the state information of the drive motor, it is determined whether the handheld gimbal satisfies the condition for entering the standby mode, include:
    若所述转轴机构的旋转角度大于预设角度阈值，且所述驱动电机输出的力矩大于预设力矩阈值，则确定所述手持云台满足进入待机模式的条件。If the rotation angle of the rotating shaft mechanism is greater than a preset angle threshold, and the torque output by the drive motor is greater than the preset torque threshold, it is determined that the handheld gimbal satisfies the condition for entering the standby mode.
  11. 根据权利要求8所述的方法，其特征在于，所述根据所述手持云台的转轴机构的旋转角度和所述驱动电机的状态信息，确定所述手持云台是否满足进入待机模式的条件，包括：The method according to claim 8, characterized in that, according to the rotation angle of the rotation mechanism of the handheld gimbal and the state information of the drive motor, it is determined whether the handheld gimbal satisfies the condition for entering the standby mode, include:
    若所述转轴机构旋转角度大于预设角度阈值，且所述驱动电机输出的电流大于预设电流阈值，则确定所述手持云台满足进入待机模式的条件。If the rotation angle of the rotating shaft mechanism is greater than a preset angle threshold, and the current output by the drive motor is greater than the preset current threshold, it is determined that the handheld gimbal satisfies the condition for entering the standby mode.
  12. 根据权利要求1所述的方法，其特征在于，所述转轴机构为多个，在所述手持云台进入待机模式时，控制至少一个所述转轴机构的所述驱动电机进入所述预设模式。The method according to claim 1, wherein there are a plurality of rotating shaft mechanisms, and when the handheld gimbal enters a standby mode, the drive motor of at least one of the rotating shaft mechanisms is controlled to enter the preset mode .
  13. 根据权利要求1所述的方法，其特征在于，所述方法还包括：The method according to claim 1, wherein the method further comprises:
    若所述手持云台当前处于待机模式，则确定所述手持云台是否满足进入工作模式的条件；If the handheld gimbal is currently in the standby mode, it is determined whether the handheld gimbal satisfies the conditions for entering the working mode;
    若所述手持云台满足进入工作模式的条件，则使所述手持云台进入工作模式。If the handheld gimbal satisfies the conditions for entering the working mode, the handheld gimbal is brought into the working mode.
  14. 根据权利要求13所述的方法，其特征在于，所述确定所述手持云台是否满足进入工作模式的条件，包括：The method according to claim 13, wherein the determining whether the handheld gimbal satisfies the conditions for entering the work mode includes:
    若所述转轴机构的旋转角度小于等于预设角度阈值，且所述驱动电机未发生堵转，则确定所述手持云台满足进入工作模式的条件。If the rotation angle of the rotating shaft mechanism is less than or equal to a preset angle threshold and the drive motor is not blocked, it is determined that the handheld gimbal satisfies the conditions for entering the work mode.
  15. 根据权利要求14所述的方法，其特征在于，所述方法还包括：The method according to claim 14, wherein the method further comprises:
    若所述转轴机构旋转角度小于等于所述预设角度阈值，且所述驱动电机处于堵转状态，则确定所述手持云台发生故障。If the rotation angle of the rotating shaft mechanism is less than or equal to the preset angle threshold, and the drive motor is in a blocked state, it is determined that the handheld gimbal has failed.
  16. 根据权利要求1所述的方法，其特征在于，所述确定所述手持云台是否满足进入待机模式的条件，包括：The method according to claim 1, wherein the determining whether the handheld gimbal satisfies a condition for entering a standby mode includes:
    若与所述手持云台连接的移动终端接收到语音来电信息，则将所述手持云台的转轴机构旋转至预设位置，并确定所述手持云台满足进入待机模式的条件。If the mobile terminal connected to the handheld gimbal receives the voice call information, the shaft mechanism of the handheld gimbal is rotated to a preset position, and it is determined that the handheld gimbal satisfies the condition for entering the standby mode.
  17. 根据权利要求1所述的方法，其特征在于，在所述手持云台进入待机模式之后，所述方法还包括：The method according to claim 1, wherein after the handheld gimbal enters the standby mode, the method further comprises:
    若所述手持云台的剩余电量小于预设电量阈值时，则控制所述手持云台进入省电模式。If the remaining power of the handheld gimbal is less than a preset power threshold, the handheld gimbal is controlled to enter a power saving mode.
  18. 根据权利要求17所述的方法，其特征在于，在所述省电模式，断开所述手持云台的如下至少一种电子器件的供电：驱动电机，姿态传感器和电子调速器。The method according to claim 17, characterized in that, in the power saving mode, the power supply of at least one of the following electronic devices of the handheld gimbal is disconnected: a driving motor, an attitude sensor, and an electronic governor.
  19. 一种手持云台的控制方法，其特征在于，包括：A control method of a handheld gimbal, which is characterized by comprising:
    确定手持云台是否处于工作模式，所述手持云台包括转轴机构，所述转轴机构包括转轴以及带动所述转轴转动的驱动电机；Determining whether the handheld gimbal is in a working mode, the handheld gimbal includes a rotating shaft mechanism, and the rotating shaft mechanism includes a rotating shaft and a drive motor that drives the rotating shaft to rotate;
    若所述手持云台处于工作模式，则获取所述转轴机构当前转动角度以及所述驱动电机的状态信息；If the handheld gimbal is in the working mode, obtain the current rotation angle of the rotating shaft mechanism and the status information of the driving motor;
    根据所述转轴机构的当前转动角度以及所述驱动电机的状态信息，确定所述手持云台是否满足进入待机模式的条件。According to the current rotation angle of the rotating shaft mechanism and the status information of the drive motor, it is determined whether the handheld gimbal satisfies the condition for entering the standby mode.
  20. 根据权利要求19所述的方法，其特征在于，所述根据所述转轴机构的当前转动角度以及所述驱动电机的状态信息，确定所述手持云台是否满足进入待机模式的条件，包括：The method according to claim 19, wherein the determining whether the handheld gimbal satisfies the condition of entering the standby mode according to the current rotation angle of the rotating shaft mechanism and the status information of the driving motor includes:
    若所述转轴机构的当前转动角度大于预设角度阈值，且所述驱动电机处于堵转状态，则确定所述手持云台满足进入待机模式的条件。If the current rotation angle of the rotation shaft mechanism is greater than a preset angle threshold, and the drive motor is in a locked-rotation state, it is determined that the handheld gimbal satisfies the condition for entering the standby mode.
  21. 根据权利要求19所述的方法，其特征在于，所述根据所述转轴机构的当前转动角度以及所述驱动电机的状态信息，确定所述手持云台是否满足进入待机模式的条件，包括：The method according to claim 19, wherein the determining whether the handheld gimbal satisfies the condition of entering the standby mode according to the current rotation angle of the rotating shaft mechanism and the status information of the driving motor includes:
    若所述转轴机构的当前转动角度大于预设角度阈值，且所述驱动电机输 出的力矩大于预设力矩阈值，则确定所述手持云台满足进入待机模式的条件。If the current rotation angle of the rotating shaft mechanism is greater than a preset angle threshold and the torque output by the drive motor is greater than the preset torque threshold, it is determined that the handheld gimbal satisfies the condition for entering the standby mode.
  22. 根据权利要求19所述的方法，其特征在于，所述根据所述转轴机构的当前转动角度以及所述驱动电机的状态信息，确定所述手持云台是否满足进入待机模式的条件，包括：The method according to claim 19, wherein the determining whether the handheld gimbal satisfies the condition of entering the standby mode according to the current rotation angle of the rotating shaft mechanism and the status information of the driving motor includes:
    若所述转轴机构的当前转动角度大于预设角度阈值，且所述驱动电机输出的电流大于预设电流阈值，则确定所述手持云台满足进入待机模式的条件。If the current rotation angle of the rotating shaft mechanism is greater than a preset angle threshold, and the current output by the drive motor is greater than the preset current threshold, it is determined that the handheld gimbal satisfies the condition for entering the standby mode.
  23. 根据权利要求19所述的方法，其特征在于，在所述手持云台进入待机模式之后，所述方法还包括：The method according to claim 19, wherein after the handheld gimbal enters a standby mode, the method further comprises:
    获取所述手持云台所处环境的温度值；Obtain the temperature value of the environment where the handheld gimbal is located;
    若所述温度值小于预设温度阈值，则控制所述驱动电机被输入一预设大小的电流，从而对所述驱动电机和/或所述手持云台的电池进行加热。If the temperature value is less than a preset temperature threshold, the drive motor is controlled to be input with a current of a preset size, thereby heating the drive motor and/or the battery of the handheld gimbal.
  24. 根据权利要求19所述的方法，其特征在于，在所述手持云台进入待机模式之后，所述方法还包括：The method according to claim 19, wherein after the handheld gimbal enters a standby mode, the method further comprises:
    所述驱动电机提供一预设扭矩给所述转轴，将所述转轴定位在预设位置，从而使转所述轴机构保持在所述预设位置的状态。The driving motor provides a preset torque to the rotating shaft, and the rotating shaft is positioned at a preset position, so that the rotating shaft mechanism is maintained at the preset position.
  25. 根据权利要求19所述的方法，其特征在于，在所述手持云台进入待机模式之后，所述方法还包括：The method according to claim 19, wherein after the handheld gimbal enters a standby mode, the method further comprises:
    使用机械锁止机构将所述手持云台的转轴机构定位在预设位置。A mechanical locking mechanism is used to position the rotation axis mechanism of the handheld gimbal at a preset position.
  26. 一种手持云台，其特征在于，包括：A handheld gimbal is characterized by comprising:
    转轴机构和处理器；Spindle mechanism and processor;
    所述转轴机构包括转轴以及带动所述转轴转动的驱动电机；The rotating shaft mechanism includes a rotating shaft and a driving motor that drives the rotating shaft to rotate;
    所述处理器用于：获取所述手持云台当前的状态，所述状态包括工作模式和待机模式；若所述手持云台当前处于工作模式，则确定所述手持云台是否满足进入待机模式的条件；若所述手持云台满足进入待机模式的条件，则使所述手持云台进入待机模式，在所述手持云台进入待机模式时，控制所述转轴机构的所述驱动电机进入预设模式；其中，在所述预设模式中，所述驱动电机保持不断电。The processor is used to: obtain the current state of the handheld gimbal, the state includes a working mode and a standby mode; if the handheld gimbal is currently in the working mode, determine whether the handheld gimbal satisfies the state of entering the standby mode Conditions; if the handheld gimbal satisfies the conditions for entering the standby mode, the handheld gimbal is put into the standby mode, and when the handheld gimbal enters the standby mode, the drive motor of the rotating shaft mechanism is controlled to enter a preset Mode; wherein, in the preset mode, the drive motor remains uninterrupted.
  27. 根据权利要求26所述的手持云台，其特征在于，所述预设模式包括定位模式；The handheld gimbal according to claim 26, wherein the preset mode includes a positioning mode;
    所述处理器用于，在所述定位模式中，控制所述驱动电机提供一预设扭 矩给所述转轴，将所述转轴定位在预设位置，从而使所述转轴机构保持在所述预设位置的状态。The processor is configured to, in the positioning mode, control the drive motor to provide a preset torque to the rotating shaft, position the rotating shaft at a preset position, and thereby maintain the rotating shaft mechanism at the preset The status of the location.
  28. 根据权利要求26所述的手持云台，其特征在于，所述预设模式包括唤醒模式；The handheld gimbal according to claim 26, wherein the preset mode includes a wake-up mode;
    所述处理器用于，在所述唤醒模式中，控制所述驱动电机被输入一预设大小的电流，从而使所述驱动电机保持通电状态。The processor is configured to, in the wake-up mode, control the drive motor to be input with a current of a preset magnitude, so as to keep the drive motor in a power-on state.
  29. 根据权利要求28所述的手持云台，其特征在于，所述处理器用于，在所述唤醒模式时，控制机械锁止机构将所述手持云台的转轴机构定位在预设位置。The handheld gimbal according to claim 28, wherein the processor is configured to, when in the wake-up mode, control a mechanical locking mechanism to position the rotation axis mechanism of the handheld gimbal at a preset position.
  30. 根据权利要求26所述的手持云台，其特征在于，所述预设模式包括加热模式；The handheld gimbal according to claim 26, wherein the preset mode includes a heating mode;
    所述处理器用于，在所述加热模式中，控制所述驱动电机被输入一预设大小的电流，从而对所述驱动电机和/或所述手持云台的电池进行加热。The processor is configured to, in the heating mode, control the drive motor to be input with a current of a preset magnitude, thereby heating the drive motor and/or the battery of the handheld gimbal.
  31. 根据权利要求30所述的手持云台，其特征在于，在所述手持云台进入待机模式之后，所述处理器还用于：The handheld gimbal according to claim 30, wherein after the handheld gimbal enters the standby mode, the processor is further configured to:
    获取所述手持云台所处环境的温度值；Obtain the temperature value of the environment where the handheld gimbal is located;
    若所述温度值小于预设温度阈值，则控制所述手持云台的驱动电机进入所述加热模式。If the temperature value is less than the preset temperature threshold, the driving motor of the handheld gimbal is controlled to enter the heating mode.
  32. 根据权利要求26所述的手持云台，其特征在于，所述转轴机构为俯仰轴机构，平移轴机构，或者横滚轴机构。The handheld gimbal according to claim 26, wherein the rotation axis mechanism is a pitch axis mechanism, a translation axis mechanism, or a roll axis mechanism.
  33. 根据权利要求26所述的手持云台，其特征在于，所述处理器用于确定所述手持云台是否满足进入待机模式的条件，具体包括：The handheld gimbal according to claim 26, wherein the processor is used to determine whether the handheld gimbal satisfies the conditions for entering the standby mode, specifically including:
    根据所述手持云台的转轴机构的旋转角度和所述驱动电机的状态信息，确定所述手持云台是否满足进入待机模式的条件。According to the rotation angle of the rotating shaft mechanism of the handheld gimbal and the status information of the drive motor, it is determined whether the handheld gimbal satisfies the condition for entering the standby mode.
  34. 根据权利要求33所述的手持云台，其特征在于，所述处理器用于根据所述手持云台的转轴机构的旋转角度和所述驱动电机的状态信息，确定所述手持云台是否满足进入待机模式的条件，具体包括：The handheld gimbal according to claim 33, wherein the processor is used to determine whether the handheld gimbal satisfies the entry according to the rotation angle of the shaft mechanism of the handheld gimbal and the status information of the drive motor The conditions of standby mode include:
    若所述转轴机构的旋转角度大于预设角度阈值，且所述驱动电机处于堵转状态，则确定所述手持云台满足进入待机模式的条件。If the rotation angle of the rotation shaft mechanism is greater than a preset angle threshold and the drive motor is in a locked-rotation state, it is determined that the handheld gimbal satisfies the condition for entering the standby mode.
  35. 根据权利要求33所述的手持云台，其特征在于，所述处理器用于根 据所述手持云台的转轴机构的旋转角度和所述驱动电机的状态信息，确定所述手持云台是否满足进入待机模式的条件，具体包括：The handheld gimbal according to claim 33, wherein the processor is used to determine whether the handheld gimbal satisfies the entry according to the rotation angle of the shaft mechanism of the handheld gimbal and the status information of the drive motor The conditions of standby mode include:
    若所述转轴机构的旋转角度大于预设角度阈值，且所述驱动电机输出的力矩大于预设力矩阈值，则确定所述手持云台满足进入待机模式的条件。If the rotation angle of the rotating shaft mechanism is greater than a preset angle threshold, and the torque output by the drive motor is greater than the preset torque threshold, it is determined that the handheld gimbal satisfies the condition for entering the standby mode.
  36. 根据权利要求33所述的手持云台，其特征在于，所述处理器用于根据所述手持云台的转轴机构的旋转角度和所述驱动电机的状态信息，确定所述手持云台是否满足进入待机模式的条件，具体包括：The handheld gimbal according to claim 33, wherein the processor is used to determine whether the handheld gimbal satisfies the entry according to the rotation angle of the shaft mechanism of the handheld gimbal and the status information of the drive motor The conditions of standby mode include:
    若所述转轴机构旋转角度大于预设角度阈值，且所述驱动电机输出的电流大于预设电流阈值，则确定所述手持云台满足进入待机模式的条件。If the rotation angle of the rotating shaft mechanism is greater than a preset angle threshold, and the current output by the drive motor is greater than the preset current threshold, it is determined that the handheld gimbal satisfies the condition for entering the standby mode.
  37. 根据权利要求26所述的手持云台，其特征在于，所述转轴机构为多个；The handheld gimbal according to claim 26, wherein there are a plurality of rotating shaft mechanisms;
    所述处理器用于，在所述手持云台进入待机模式时，控制至少一个所述转轴机构的所述驱动电机进入所述预设模式。The processor is configured to control the driving motor of at least one of the rotating shaft mechanisms to enter the preset mode when the handheld gimbal enters a standby mode.
  38. 根据权利要求26所述的手持云台，其特征在于，所述处理器还用于：The handheld gimbal according to claim 26, wherein the processor is further configured to:
    若所述手持云台当前处于待机模式，则确定所述手持云台是否满足进入工作模式的条件；If the handheld gimbal is currently in the standby mode, it is determined whether the handheld gimbal satisfies the conditions for entering the working mode;
    若所述手持云台满足进入工作模式的条件，则使所述手持云台进入工作模式。If the handheld gimbal satisfies the conditions for entering the working mode, the handheld gimbal is brought into the working mode.
  39. 根据权利要求38所述的手持云台，其特征在于，所述处理器用于确定所述手持云台是否满足进入工作模式的条件，具体包括：The handheld gimbal according to claim 38, wherein the processor is used to determine whether the handheld gimbal satisfies the conditions for entering the work mode, specifically including:
    若所述转轴机构的旋转角度小于等于预设角度阈值，且所述驱动电机未发生堵转，则确定所述手持云台满足进入工作模式的条件。If the rotation angle of the rotating shaft mechanism is less than or equal to a preset angle threshold and the drive motor is not blocked, it is determined that the handheld gimbal satisfies the conditions for entering the work mode.
  40. 根据权利要求39所述的手持云台，其特征在于，所述处理器还用于：The handheld gimbal according to claim 39, wherein the processor is further configured to:
    若所述转轴机构旋转角度小于等于所述预设角度阈值，且所述驱动电机处于堵转状态，则确定所述手持云台发生故障。If the rotation angle of the rotating shaft mechanism is less than or equal to the preset angle threshold, and the drive motor is in a blocked state, it is determined that the handheld gimbal has failed.
  41. 根据权利要求26所述的手持云台，其特征在于，所述处理器用于确定所述手持云台是否满足进入待机模式的条件，具体包括：The handheld gimbal according to claim 26, wherein the processor is used to determine whether the handheld gimbal satisfies the conditions for entering the standby mode, specifically including:
    若与所述手持云台连接的移动终端接收到语音来电信息，则将所述手持云台的转轴机构旋转至预设位置，并确定所述手持云台满足进入待机模式的条件。If the mobile terminal connected to the handheld gimbal receives the voice call information, the shaft mechanism of the handheld gimbal is rotated to a preset position, and it is determined that the handheld gimbal satisfies the condition for entering the standby mode.
  42. 根据权利要求26所述的手持云台，其特征在于，在所述手持云台进入待机模式之后，所述处理器还用于：The handheld gimbal according to claim 26, wherein after the handheld gimbal enters the standby mode, the processor is further configured to:
    若所述手持云台的剩余电量小于预设电量阈值时，则控制所述手持云台进入省电模式。If the remaining power of the handheld gimbal is less than a preset power threshold, the handheld gimbal is controlled to enter a power saving mode.
  43. 根据权利要求42所述的手持云台，其特征在于，所述处理器还用于：The handheld gimbal according to claim 42, wherein the processor is further configured to:
    在所述省电模式，断开所述手持云台的如下至少一种电子器件的供电：驱动电机，姿态传感器和电子调速器。In the power saving mode, the power supply of at least one of the following electronic devices of the handheld gimbal is disconnected: a driving motor, an attitude sensor, and an electronic governor.
  44. 一种手持云台，其特征在于，包括：A handheld gimbal is characterized by comprising:
    转轴机构和处理器；Spindle mechanism and processor;
    所述转轴机构包括转轴以及带动所述转轴转动的驱动电机；The rotating shaft mechanism includes a rotating shaft and a driving motor that drives the rotating shaft to rotate;
    所述处理器用于：The processor is used for:
    确定手持云台是否处于工作模式；若所述手持云台处于工作模式，则获取所述转轴机构当前转动角度以及所述驱动电机的状态信息；根据所述转轴机构的当前转动角度以及所述驱动电机的状态信息，确定所述手持云台是否满足进入待机模式的条件。Determine whether the handheld gimbal is in working mode; if the handheld gimbal is in working mode, obtain the current rotation angle of the rotating shaft mechanism and the status information of the drive motor; according to the current rotating angle of the rotating shaft mechanism and the drive The state information of the motor determines whether the handheld gimbal satisfies the conditions for entering the standby mode.
  45. 根据权利要求44所述的手持云台，其特征在于，所述处理器用于根据所述转轴机构的当前转动角度以及所述驱动电机的状态信息，确定所述手持云台是否满足进入待机模式的条件，具体包括：The handheld gimbal according to claim 44, wherein the processor is configured to determine whether the handheld gimbal satisfies the standby mode according to the current rotation angle of the shaft mechanism and the status information of the drive motor Conditions, including:
    若所述转轴机构的当前转动角度大于预设角度阈值，且所述驱动电机处于堵转状态，则确定所述手持云台满足进入待机模式的条件。If the current rotation angle of the rotation shaft mechanism is greater than a preset angle threshold, and the drive motor is in a locked-rotation state, it is determined that the handheld gimbal satisfies the condition for entering the standby mode.
  46. 根据权利要求44所述的手持云台，其特征在于，所述处理器用于根据所述转轴机构的当前转动角度以及所述驱动电机的状态信息，确定所述手持云台是否满足进入待机模式的条件，具体包括：The handheld gimbal according to claim 44, wherein the processor is used to determine whether the handheld gimbal satisfies the standby mode according to the current rotation angle of the shaft mechanism and the status information of the drive motor Conditions, including:
    若所述转轴机构的当前转动角度大于预设角度阈值，且所述驱动电机输出的力矩大于预设力矩阈值，则确定所述手持云台满足进入待机模式的条件。If the current rotation angle of the rotating shaft mechanism is greater than a preset angle threshold and the torque output by the drive motor is greater than a preset torque threshold, it is determined that the handheld gimbal satisfies the condition for entering the standby mode.
  47. 根据权利要求44所述的手持云台，其特征在于，所述处理器用于根据所述转轴机构的当前转动角度以及所述驱动电机的状态信息，确定所述手持云台是否满足进入待机模式的条件，具体包括：The handheld gimbal according to claim 44, wherein the processor is used to determine whether the handheld gimbal satisfies the standby mode according to the current rotation angle of the shaft mechanism and the status information of the drive motor Conditions, including:
    若所述转轴机构的当前转动角度大于预设角度阈值，且所述驱动电机输出的电流大于预设电流阈值，则确定所述手持云台满足进入待机模式的条件。If the current rotation angle of the rotating shaft mechanism is greater than a preset angle threshold, and the current output by the drive motor is greater than the preset current threshold, it is determined that the handheld gimbal satisfies the condition for entering the standby mode.
  48. 根据权利要求44所述的手持云台，其特征在于，在所述手持云台进入待机模式之后，所述处理器还用于：The handheld gimbal according to claim 44, wherein after the handheld gimbal enters the standby mode, the processor is further configured to:
    获取所述手持云台所处环境的温度值；Obtain the temperature value of the environment where the handheld gimbal is located;
    若所述温度值小于预设温度阈值，则控制所述驱动电机被输入一预设大小的电流，从而对所述驱动电机和/或所述手持云台的电池进行加热。If the temperature value is less than a preset temperature threshold, the drive motor is controlled to be input with a current of a preset size, thereby heating the drive motor and/or the battery of the handheld gimbal.
  49. 根据权利要求44所述的手持云台，其特征在于，在所述手持云台进入待机模式之后，所述处理器还用于：The handheld gimbal according to claim 44, wherein after the handheld gimbal enters the standby mode, the processor is further configured to:
    控制所述驱动电机提供一预设扭矩给所述转轴，将所述转轴定位在预设位置，从而使转所述轴机构保持在所述预设位置的状态。Controlling the driving motor to provide a preset torque to the rotating shaft, positioning the rotating shaft at a preset position, so as to maintain the state of the rotating shaft mechanism at the preset position.
  50. 根据权利要求44所述的手持云台，其特征在于，在所述手持云台进入待机模式之后，所述处理器还用于：The handheld gimbal according to claim 44, wherein after the handheld gimbal enters the standby mode, the processor is further configured to:
    控制机械锁止机构将所述手持云台的转轴机构定位在预设位置。The mechanical locking mechanism is controlled to position the rotation axis mechanism of the handheld gimbal at a preset position.
  51. 一种手持云台，其特征在于，包括：A handheld gimbal is characterized by comprising:
    手柄机构；Handle mechanism
    云台机构，与所述手柄机构连接，所述云台机构用于承载拍摄设备，并且能够调节所述拍摄设备的姿态；所述云台机构包括转轴机构以及与所述转轴机构连接的夹持机构，所述转轴机构包括转轴、带动所述转轴转动的驱动电机、以及用于控制所述驱动电机的电子调速器，所述夹持机构用于夹持拍摄设备；The gimbal mechanism is connected to the handle mechanism. The gimbal mechanism is used to carry the shooting device and can adjust the posture of the shooting device; the gimbal mechanism includes a rotating shaft mechanism and a clamp connected to the rotating shaft mechanism Mechanism, the rotating shaft mechanism includes a rotating shaft, a driving motor that drives the rotating shaft to rotate, and an electronic governor for controlling the driving motor, and the clamping mechanism is used to clamp a shooting device;
    控制器，与所述电子调速器电连接；A controller, electrically connected to the electronic governor;
    其中，在所述手持云台进入待机模式时，所述控制器通过所述电子调速器控制所述驱动电机进入预设模式；在所述预设模式中，所述电子调速器保持给所述驱动电机供电。Wherein, when the handheld gimbal enters the standby mode, the controller controls the drive motor to enter a preset mode through the electronic governor; in the preset mode, the electronic governor remains The drive motor supplies power.
  52. 根据权利要求51所述的手持云台，其特征在于，所述转轴机构为俯仰轴机构，平移轴机构，或者横滚轴机构。The handheld gimbal according to claim 51, wherein the rotation axis mechanism is a pitch axis mechanism, a translation axis mechanism, or a roll axis mechanism.
  53. 根据权利要求51所述的手持云台，其特征在于，所述预设模式包括唤醒模式，The handheld gimbal according to claim 51, wherein the preset mode includes a wake-up mode,
    其中，在所述唤醒模式中，所述驱动电机被输入一预设大小的电流，从而使所述驱动电机保持通电状态。Wherein, in the wake-up mode, the drive motor is input with a current of a preset magnitude, so that the drive motor is maintained in a powered-on state.
  54. 根据权利要求53所述的手持云台，其特征在于，所述手持云台 还包括机械锁止机构；The handheld gimbal according to claim 53, wherein the handheld gimbal further includes a mechanical locking mechanism;
    在所述唤醒模式，所述机械锁止机构将所述手持云台的转轴机构定位在预设位置。In the wake-up mode, the mechanical locking mechanism positions the rotation axis mechanism of the handheld gimbal at a preset position.
  55. 根据权利要求51所述的手持云台，其特征在于，所述预设模式包括定位模式；其中，在所述定位模式中，所述驱动电机提供一预设扭矩给所述转轴，将所述转轴定位在预设位置，从而使转轴机构保持在所述预设位置的状态；The handheld gimbal according to claim 51, wherein the preset mode includes a positioning mode; wherein, in the positioning mode, the driving motor provides a preset torque to the rotating shaft, and the The rotating shaft is positioned at a preset position, thereby keeping the rotating shaft mechanism at the preset position;
    或/及，所述预设模式包括加热模式；其中，在所述加热模式中，所述驱动电机被输入一预设大小的电流，从而对所述驱动电机和/或所述驱动电机的供电电池进行加热。Or/and, the preset mode includes a heating mode; wherein, in the heating mode, a current of a preset magnitude is input to the drive motor, thereby supplying power to the drive motor and/or the drive motor The battery is heated.
  56. 根据权利要求51所述的手持云台，其特征在于，在所述转轴机构的旋转角度大于等于预设角度阈值且所述驱动电机处于堵转状态时，所述控制器通过所述电子调速器控制所述驱动电机进入预设模式。The handheld gimbal according to claim 51, wherein when the rotation angle of the rotating shaft mechanism is greater than or equal to a preset angle threshold and the drive motor is in a locked state, the controller adjusts the speed by the electronic The controller controls the drive motor to enter a preset mode.
  57. 根据权利要求51所述的手持云台，其特征在于，在所述转轴机构旋转角度小于等于预设角度阈值且所述驱动电机处于堵转状态时，所述控制器通过所述电子调速器控制所述驱动电机进入故障保护模式。The handheld gimbal according to claim 51, characterized in that when the rotation angle of the rotating shaft mechanism is less than or equal to a preset angle threshold and the drive motor is in a locked state, the controller uses the electronic governor Controlling the drive motor to enter a fault protection mode.
  58. 根据权利要求57所述的手持云台，其特征在于，在处于所述故障保护模式时，所述控制器控制所述电子调速器停止给所述驱动电机供电。The handheld gimbal according to claim 57, characterized in that, when in the fail-safe mode, the controller controls the electronic governor to stop supplying power to the driving motor.
  59. 根据权利要求51所述的手持云台，其特征在于，所述手持云台还包括电源管理电路，所述电源管理电路与所述控制器以及所述电子调速器电连接，电池通过所述电源管理电路分别给所述控制器以及所述电子调速器供电。The handheld gimbal according to claim 51, wherein the handheld gimbal further includes a power management circuit, the power management circuit is electrically connected to the controller and the electronic governor, and the battery passes through the The power management circuit supplies power to the controller and the electronic governor, respectively.
  60. 根据权利要求59所述的手持云台，其特征在于，在所述电池的剩余电量小于预设电量阈值时，所述电源管理电路停止给所述手持云台的如下至少一种电子元器件供电：驱动电机，姿态传感器，电子调速器。The handheld gimbal according to claim 59, wherein when the remaining power of the battery is less than a preset power threshold, the power management circuit stops supplying power to at least one of the following electronic components of the handheld gimbal : Drive motor, attitude sensor, electronic governor.
  61. 一种手持云台，其特征在于，包括：A handheld gimbal is characterized by comprising:
    手柄机构；Handle mechanism
    云台机构，与所述手柄机构连接，所述云台机构用于承载拍摄设备，并且能够调节所述拍摄设备的姿态；所述云台机构包括转轴机构以及与所 述转轴机构连接的夹持机构，所述转轴机构包括转轴、带动所述转轴转动的驱动电机、以及用于控制所述驱动电机的电子调速器，所述夹持机构用于夹持拍摄设备；以及The gimbal mechanism is connected to the handle mechanism. The gimbal mechanism is used to carry the shooting equipment and can adjust the posture of the shooting equipment; Mechanism, the rotating shaft mechanism includes a rotating shaft, a driving motor driving the rotating shaft, and an electronic governor for controlling the driving motor, and the clamping mechanism is used for clamping a shooting device; and
    控制器，与所述电子调速器电连接；A controller, electrically connected to the electronic governor;
    其中，在所述转轴机构的当前转动角度大于预设角度阈值并且所述驱动电机处于堵转状态时，所述控制器通过所述电子调速器控制所述驱动电机进入预设模式。Wherein, when the current rotation angle of the rotating shaft mechanism is greater than a preset angle threshold and the drive motor is in a locked-rotation state, the controller controls the drive motor to enter a preset mode through the electronic governor.
  62. 根据权利要求61所述的手持云台，其特征在于，所述转轴机构为俯仰轴机构，平移轴机构，或者横滚轴机构。The handheld gimbal according to claim 61, wherein the rotation axis mechanism is a pitch axis mechanism, a translation axis mechanism, or a roll axis mechanism.
  63. 根据权利要求61所述的手持云台，其特征在于，所述预设模式包括唤醒模式，在所述唤醒模式中，所述驱动电机被输入一预设大小的电流，从而使所述驱动电机保持通电状态。The handheld gimbal according to claim 61, wherein the preset mode includes a wake-up mode, and in the wake-up mode, the drive motor is input with a current of a preset magnitude, so that the drive motor Keep powered on.
  64. 根据权利要求63所述的手持云台，其特征在于，所述手持云台还包括机械锁止机构；The handheld gimbal according to claim 63, wherein the handheld gimbal further includes a mechanical locking mechanism;
    在所述唤醒模式，所述机械锁止机构将所述手持云台的转轴机构定位在预设位置。In the wake-up mode, the mechanical locking mechanism positions the rotation axis mechanism of the handheld gimbal at a preset position.
  65. 根据权利要求61所述的手持云台，其特征在于，所述预设模式包括定位模式；其中，在所述定位模式中，所述驱动电机提供一预设扭矩给所述转轴，将所述转轴定位在预设位置，从而使转轴机构保持在所述预设位置的状态；The handheld gimbal according to claim 61, wherein the preset mode includes a positioning mode; wherein, in the positioning mode, the drive motor provides a preset torque to the rotating shaft, and the The rotating shaft is positioned at a preset position, thereby keeping the rotating shaft mechanism at the preset position;
    或/及，所述预设模式包括加热模式；其中，在所述加热模式中，所述驱动电机被输入一预设大小的电流，从而对所述驱动电机或所述驱动电机的供电电池进行加热。Or/and, the preset mode includes a heating mode; wherein, in the heating mode, a current of a preset magnitude is input to the drive motor, so as to perform a drive on the drive motor or the power supply battery of the drive motor heating.
  66. 根据权利要求61所述的手持云台，其特征在于，在所述转轴机构的当前转动角度小于等于预设角度阈值且所述驱动电机处于堵转状态时，所述控制器通过所述电子调速器控制所述驱动电机进入故障保护模式。The handheld gimbal according to claim 61, wherein when the current rotation angle of the rotating shaft mechanism is less than or equal to a preset angle threshold and the drive motor is in a locked state, the controller The speed controller controls the drive motor to enter a fault protection mode.
  67. 根据权利要求66所述的手持云台，其特征在于，在处于所述故障保护模式时，所述控制器控制所述电子调速器停止给所述驱动电机供电。The handheld gimbal according to claim 66, characterized in that, when in the fail-safe mode, the controller controls the electronic governor to stop supplying power to the driving motor.
  68. 根据权利要求61所述的手持云台，其特征在于，所述手持云台包括电源管理电路，所述电源管理电路与所述控制器以及所述电子调速器电连接，电池通过所述电源管理电路分别给所述控制器以及所述电子调速器供电。The handheld gimbal according to claim 61, wherein the handheld gimbal includes a power management circuit, the power management circuit is electrically connected to the controller and the electronic governor, and the battery passes through the power supply The management circuit supplies power to the controller and the electronic governor, respectively.
  69. 根据权利要求68所述的手持云台，其特征在于，在所述电池的剩余电量小于预设电量阈值时，所述电源管理电路停止给所述手持云台的如下至少一种电子元器件供电：驱动电机，姿态传感器，电子调速器。The handheld gimbal according to claim 68, wherein when the remaining power of the battery is less than a preset power threshold, the power management circuit stops supplying power to at least one of the following electronic components of the handheld gimbal : Drive motor, attitude sensor, electronic governor.
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