WO2024060105A1 - 控制方法、云台、云台*** - Google Patents
控制方法、云台、云台*** Download PDFInfo
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- WO2024060105A1 WO2024060105A1 PCT/CN2022/120373 CN2022120373W WO2024060105A1 WO 2024060105 A1 WO2024060105 A1 WO 2024060105A1 CN 2022120373 W CN2022120373 W CN 2022120373W WO 2024060105 A1 WO2024060105 A1 WO 2024060105A1
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- Prior art keywords
- arm assembly
- load
- pan
- tilt
- load device
- Prior art date
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- 238000000034 method Methods 0.000 title claims abstract description 189
- 230000004044 response Effects 0.000 claims abstract description 56
- 238000004891 communication Methods 0.000 claims description 47
- 230000006641 stabilisation Effects 0.000 claims description 31
- 238000011105 stabilization Methods 0.000 claims description 31
- 238000004590 computer program Methods 0.000 claims description 12
- 230000008569 process Effects 0.000 claims description 12
- 230000003287 optical effect Effects 0.000 claims description 4
- 230000000087 stabilizing effect Effects 0.000 claims 2
- 238000001514 detection method Methods 0.000 description 16
- 239000000725 suspension Substances 0.000 description 11
- 238000009434 installation Methods 0.000 description 6
- 238000002360 preparation method Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 230000005484 gravity Effects 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000009977 dual effect Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
Definitions
- the present application relates to the field of PTZ technology, and in particular to a PTZ control method, a PTZ system control method, a PTZ and a PTZ system.
- the gimbal usually needs to be combined with a payload device to complete the shooting work.
- payload devices include mobile phones, cameras, video cameras, etc.
- a mobile phone as an example, when using a gimbal for shooting, the user needs to go through tedious adjustments to make the phone and the gimbal combine and be ready for shooting at any time. This undoubtedly increases the preparation time for shooting, resulting in The user experience is poor.
- Embodiments of the present invention provide a PTZ control method, a PTZ system control method, a PTZ and a PTZ system, which can reduce tedious adjustment work and improve user experience.
- a first aspect of the present invention provides a method for controlling a pan/tilt.
- the pan/tilt includes an axis arm assembly for carrying a load equipment.
- the axis arm assembly includes at least one axis arm and controls the A motor for rotating an axis arm, and the control method includes: when the platform is in an idle mode, controlling at least one of the motors so that the axis arm assembly is in a first attitude.
- the motors is controlled so that the shaft arm assembly can remain in a current posture when the push-pull operation is removed from the shaft arm assembly.
- the current posture refers to the posture of the shaft arm assembly when the push-pull operation is removed from the shaft arm assembly.
- the first aspect of the present invention provides another method for controlling a gimbal, wherein the gimbal includes an arm assembly, the arm assembly is used to carry a load device, the arm assembly includes at least one arm and a motor for controlling the rotation of the arm, and the control method includes: in response to the load device being installed on the arm assembly, controlling the gimbal to perform a first broadcast to the outside, so that the load device establishes a first communication with the gimbal based on the broadcast information corresponding to the first broadcast, and outputs a prompt message or directly displays the interface of an application.
- the application is installed on the load device and is used to obtain instructions for controlling the gimbal, and the prompt message is used to prompt the user whether to open the interface of the application.
- a first aspect of the present invention provides another method for controlling a pan/tilt.
- the pan/tilt includes an axis arm assembly for carrying a load equipment.
- the axis arm assembly includes at least one axis arm and a control unit.
- the motor for rotating the shaft arm, the control method includes: when the load equipment is installed on the shaft arm assembly, in response to the calibration instruction input by the user, obtain the load attitude information of the load equipment, and based on the The load attitude information controls the pan/tilt to perform the first calibration.
- the load posture information is measured by a sensor provided on the load equipment.
- a first aspect of the present invention provides another method for controlling a pan/tilt.
- the pan/tilt includes an axis arm assembly for carrying a load equipment.
- the axis arm assembly includes at least one axis arm and a control unit.
- the motor for rotating the axis arm, the control method includes: when the axis arm assembly is installed with the load device, controlling the pan/tilt to send attitude information of the axis arm assembly to the load device, so as to The load device is caused to adjust the direction of the display interface of the load device according to the posture information of the axis arm assembly.
- a second aspect of the present invention provides a method for controlling a pan/tilt system.
- the pan/tilt system includes a pan/tilt and a load device.
- the pan/tilt includes an axis arm assembly, and the axis arm assembly is used to carry a load device.
- the axle arm assembly includes at least one axle arm and a motor that controls the rotation of the axle arm.
- the control method includes: when the pan/tilt is in an idle mode, controlling at least one of the motors so that the axle arm rotates.
- the arm assembly is in a first posture.
- At least one of the motors is controlled so that the shaft arm assembly can remain in a current posture when the push-pull operation is removed from the shaft arm assembly.
- the current posture refers to the posture of the shaft arm assembly when the push-pull operation is removed from the shaft arm assembly.
- a second aspect of the present invention provides another method for controlling a pan/tilt system.
- the pan/tilt system includes a pan/tilt and a load device.
- the pan/tilt includes an axis arm assembly, and the axis arm assembly is used to carry a load device.
- the axis arm assembly includes at least one axis arm and a motor that controls the rotation of the axis arm.
- the control method includes: in response to the load device being installed on the axis arm assembly, controlling the pan/tilt to perform a first external operation. Broadcasting; controlling the load device to output prompt information or directly display an application interface when establishing a first communication connection with the PTZ based on the broadcast information corresponding to the first broadcast.
- the application program is installed on the load device and is used to obtain instructions for controlling the PTZ, and the content of the prompt information is used to prompt the user whether to open the interface of the application program.
- a second aspect of the present invention provides another method for controlling a pan/tilt system.
- the pan/tilt system includes a pan/tilt and a load device.
- the pan/tilt includes an axis arm assembly, and the axis arm assembly is used to carry a load device.
- the axis arm assembly includes at least one axis arm and a motor that controls the rotation of the axis arm.
- the control method includes: when the axis arm assembly is installed with the load device, in response to a calibration instruction input by the user,
- the load device is controlled to send load attitude information of the load device to the cloud platform, wherein the load attitude information is measured by a sensor provided on the load device.
- the pan/tilt is controlled to receive the load attitude information, and the pan/tilt is controlled to perform the first calibration according to the load attitude information.
- a second aspect of the present invention provides another method for controlling a pan/tilt system.
- the pan/tilt system includes a pan/tilt and a load device.
- the pan/tilt includes an axis arm assembly, and the axis arm assembly is used to carry a load device.
- the axis arm assembly includes at least one axis arm and a motor that controls the rotation of the axis arm.
- the control method includes: when the axis arm assembly is installed with the load equipment, controlling the pan/tilt to move toward the The load device sends attitude information of the axis arm assembly.
- the load device is controlled to receive the attitude information of the axis arm assembly, and the load device is controlled to adjust the direction of its display interface according to the attitude information of the axis arm assembly.
- a third aspect of the present invention provides a pan/tilt.
- the pan/tilt includes: an axis arm assembly, the axis arm assembly is used to carry a load equipment, the axis arm assembly includes at least one axis arm and a control unit for controlling the axis arm. Rotating motor.
- Support assembly the support assembly is used to support the axis arm assembly.
- Memory for storing computer programs.
- a processor configured to run a computer program stored in the memory to execute the cloud platform control method described in the first aspect of the present invention.
- a fourth aspect of the present invention provides a pan/tilt system.
- the pan/tilt system includes a pan/tilt.
- the pan/tilt includes an axis arm assembly and a support assembly.
- the axis arm assembly includes at least one axis arm and a control unit.
- a motor for rotating the shaft arm, and the support assembly is used to support the shaft arm assembly.
- a load device capable of being carried on the axle arm assembly.
- Memory for storing computer programs.
- a processor the processor is configured to run the computer program stored in the memory to execute the control method of the pan/tilt system recorded in the second aspect of the present invention.
- the technical solution provided by the embodiment of the present invention avoids the free rotation of the axis arm assembly in the no-load mode by controlling the motor of the gimbal in the no-load mode, and enables the axis arm assembly to maintain the position when the user's push-pull operation is removed.
- posture which makes it convenient for users to install the payload device on the unloaded gimbal with the first posture, or install the payload device when pushing and pulling the gimbal posture to a specific posture according to actual needs, reducing the operational complexity of the gimbal. Further improves the user experience.
- Figure 1 shows a cloud platform disclosed in related technologies
- Figure 2 is a schematic flowchart of a cloud platform control method provided by an embodiment of the present invention.
- FIG. 3 is a schematic flowchart of another pan/tilt control method provided by an embodiment of the present invention.
- Figure 4 is a schematic flowchart of another method for controlling a pan/tilt platform according to an embodiment of the present invention.
- Figure 5 is a schematic flowchart of another method for controlling a pan/tilt according to an embodiment of the present invention.
- Figure 6 is a schematic flowchart of another method for controlling a pan/tilt platform according to an embodiment of the present invention.
- Figure 7 is a schematic flowchart of another method for controlling a pan/tilt according to an embodiment of the present invention.
- Figure 8 is a schematic flowchart of another method for controlling a pan/tilt according to an embodiment of the present invention.
- FIG9 is a schematic flow chart of another method for controlling a pan/tilt platform provided in an embodiment of the present invention.
- Figure 10 is a schematic flowchart of another method for controlling a pan/tilt platform according to an embodiment of the present invention.
- Figure 11 is a schematic flowchart of a control method for a pan/tilt system provided by an embodiment of the present invention.
- Figure 12 is a schematic flow chart of another control method of a pan/tilt system provided by an embodiment of the present invention.
- Figure 13 is a schematic flow chart of another control method of a pan/tilt system provided by an embodiment of the present invention.
- FIG. 14 is a schematic flowchart of another control method of a pan/tilt system provided by an embodiment of the present invention.
- Figure 1 is a pan/tilt disclosed in the related art.
- the pan/tilt includes an axis arm assembly 100 and a support assembly 200.
- the axis arm assembly 100 is used to install and stabilize the load equipment.
- the axis arm assembly 100 is used to install and stabilize the load equipment.
- the arm assembly 100 is composed of at least one axis arm (110, 120, 130) and a motor (111, 121, 131) that controls the rotation of the axis arm.
- the axis arm assembly may include any one of a single axis arm and a single motor, a dual axis arm and dual motors, or a three axis arm and three motors.
- the axis arm assembly includes three axis arms (roll axis arm 130, pitch axis arm 110 and yaw axis arm 120) and motors that drive the three axis arms to rotate respectively.
- the roll axis arm 130 has Load mounting 140 is also installed.
- the support component is used to provide support for the axis arm component.
- the support component is provided with an operating area 210 for receiving user instructions.
- the axis arm component is connected to the support component through a motor.
- the motor connected to the axis arm does not output torque, causing the axis arm of the gimbal to rotate freely relative to the support assembly and/or between each axis arm. Therefore, when the user installs the payload device on the axis arm assembly, he needs to hold the axis arm assembly of the gimbal with his hands to prevent it from rotating freely, which is a cumbersome and time-consuming and labor-intensive operation.
- this application provides a method for controlling a pan/tilt to facilitate users to easily install the load equipment on the axis arm assembly.
- FIG. 2 is a schematic flow chart of a gimbal control method provided by an embodiment of the present invention
- the pan/tilt includes an axis arm assembly, which is used to carry a load device and includes at least one axis arm and a motor that controls the rotation of the axis arm.
- the axis arm assembly includes three axis arms, namely a yaw axis arm, a pitch axis arm, and a roll axis arm.
- a yaw motor, a pitch motor, and a roll motor are respectively provided corresponding to each axis arm.
- the yaw motor is arranged at the connection between the support component and the yaw axis arm;
- the pitch motor is arranged at the connection between the yaw axis arm and the pitch axis arm. ;
- the roll motor is installed at the connection between the pitch axis arm and the roll axis arm.
- the load device is any electronic device with shooting function, such as mobile phone, camera, video camera, etc.
- the payload device is a mobile phone.
- the PTZ control method in this embodiment may include the following steps:
- Step S201 When the pan/tilt is in the no-load mode, control at least one motor so that the axis arm assembly is in the first attitude.
- a detection device can be provided to detect whether the load equipment is installed on the shaft arm assembly.
- a detection device is provided on the shaft arm assembly to detect the installation of the load equipment.
- the detection device can be an infrared sensor, a micro motion sensor, or an infrared sensor. Switches, Hall sensors, etc.
- the output torque of any axis arm motor can be controlled, and the magnitude of the torque is equal to the minimum torque that can rotate the axis arm, and the rotation of the axis arm can be recorded. If the axis arm rotates, the gimbal is judged. The load device is not installed.
- the first posture may be the posture of the axis arm assembly set by the user for the gimbal, or it may be the posture preset when the gimbal leaves the factory.
- the user when the axis arm assembly is in the first posture, the user can directly install the payload device. In other embodiments, the gimbal is automatically in the first posture after being turned on.
- the first attitude is the attitude of the entire axis arm assembly, and the positions of the yaw axis arm, pitch axis arm, and roll axis arm jointly determine the attitude of the entire axis arm assembly.
- the axis arm assembly can be stably in the first posture instead of in a free rotation state, which can facilitate the user to easily install the payload equipment, or adjust it to a posture suitable for installing the payload equipment.
- the first posture may not always meet the user's needs for installing the load device. Differentiation of the load devices, such as load devices of different sizes, or differences in user habits may cause the user to adjust the first posture to meet their own installation needs.
- control method of this embodiment further includes step S202: in response to the push-pull operation on the axis arm assembly, controlling at least one motor so that when the push-pull operation is removed from the axis arm assembly, the axis arm assembly Able to remain in the current posture.
- the current target joint angle is obtained according to the actual joint angle of the motor corresponding to the shaft arm; wherein the actual joint angle corresponds to the position reached by the push-pull operation.
- the shaft arm motor is controlled to achieve the effect of keeping the shaft arm assembly in the current posture.
- the current posture is the posture the axis arm assembly is in when the push-pull operation is removed.
- the current posture includes the posture the pivot arm assembly was in when the push-pull operation was removed from the pivot arm assembly and the vicinity of that posture.
- the user can perform a push-pull operation on only one axis arm in the axis arm assembly at a time according to actual needs.
- the user can apply a push-pull operation on the yaw axis arm and control the yaw motor to drive the yaw axis.
- the arm rotates; the pitch motor is controlled to keep the relative position of the pitch axis arm and the yaw axis arm unchanged; the roll motor is controlled to keep the relative position of the roll axis arm and the pitch axis arm unchanged.
- the user can also perform push and pull operations on at least two axis arms at the same time according to actual needs. Specifically, the user applies push and pull operations on the yaw axis arm and the pitch axis arm at the same time, and controls the yaw motor to drive the yaw axis arm.
- the rotation and pitch motors drive the pitch axis arm to rotate, and the roll motor is controlled to keep the relative positions of the roll axis arm, yaw axis arm, and pitch axis arm unchanged.
- the user can adjust the posture of the axis arm assembly in the no-load mode according to his own wishes, and after the adjustment is in place, the axis arm assembly can be maintained in the current posture, and the user can move the load without holding the axis arm assembly with his hands.
- the device mounts to the pivot arm assembly.
- the payload device after the payload device is installed on the axis arm assembly, the payload device is not in the most suitable position for shooting, and the user is required to adjust the axis arm assembly with the payload device installed.
- the control method of the pan/tilt also includes step 203: in response to the load device being installed on the axis arm assembly, controlling at least one motor output torque so that the axis arm assembly is in the second attitude.
- the gimbal can automatically adjust the payload device to a position where shooting can be performed, making it convenient for subsequent users to directly perform shooting operations.
- the pitch motor output torque is controlled to make the mobile phone perpendicular to the horizontal plane.
- the optical axis of the lens of the mobile phone is parallel to the horizontal plane;
- the yaw motor is driven to make the mobile phone screen and the operating area of the gimbal support component face the same direction, where the direction of the operating area of the support component is the default user's location. This achieves the effect of pointing the mobile phone screen towards the user, allowing the user to conveniently operate the mobile phone installed on the axis arm assembly.
- the pan/tilt is controlled to enter the stabilization mode so that the axis arm assembly stabilizes the load device so that the user can take clear photos or videos with stable images.
- an application for controlling the PTZ can be installed on the payload device.
- a communication connection between the payload device and the PTZ is established.
- the user still needs to manually open the corresponding application to control the gimbal through the payload device, and the shooting preparation process is relatively cumbersome.
- the first aspect of the present invention also provides another gimbal control method, which simplifies the user's shooting preparation process.
- FIG. 3 is a schematic flowchart of another pan/tilt control method provided by an embodiment of the present invention.
- this embodiment provides a method for controlling a pan/tilt.
- the pan/tilt includes an axis arm assembly, which is used to carry a load device and includes at least one axis arm and a motor that controls the rotation of the axis arm.
- the PTZ control method in this embodiment may include the following steps:
- Step S301 In response to the load device being installed on the axis arm assembly, control the PTZ to perform a first broadcast to the outside world, so that when the load device establishes a first communication connection with the PTZ based on the broadcast information corresponding to the first broadcast, prompt information is output. Or display the application's interface directly.
- the above-mentioned application program is installed on the load device and is used to obtain instructions for controlling the PTZ.
- the above-mentioned prompt information is used to prompt the user whether to open the interface of the application program.
- the payload device can automatically open the corresponding application, thereby simplifying the user's preparation process before shooting and improving the user's experience of using the gimbal.
- the first broadcast may be a Bluetooth Low Energy broadcast
- the first communication connection may be a Bluetooth Low Energy connection
- the broadcast information corresponding to the first broadcast includes identity information of the PTZ. After the payload device receives the first broadcast, the identity information in the broadcast is identified to identify the PTZ, thereby establishing a first communication connection with the PTZ.
- the above-mentioned first communication connection may not be suitable for sending instructions or transmitting data.
- Other communication connections need to be established between the payload device and the PTZ to facilitate users to better implement Interaction between PTZ and payload.
- step S302 is further included after step S301.
- Step S302 In response to the load device being installed on the axis arm assembly, control the PTZ to perform a second broadcast to the outside world, so that the load device establishes a second communication connection with the PTZ based on the broadcast information corresponding to the second broadcast, and the first communication connection is different from Second communication connection.
- the second communication connection is used to transmit instructions for controlling the pan-tilt input by the user on the payload device, such as instructions for switching the pan-tilt mode, instructions for controlling the pan-tilt for calibration, etc.
- the second communication connection can also be used to transmit instructions input by the user on the cloud platform to control the load device, such as instructions to control the mobile phone to zoom, instructions to control the mobile phone to shoot, etc.
- the second communication connection when the first communication connection is a Bluetooth Low Energy connection, the second communication connection is a Classic Bluetooth connection.
- the gimbal may be skewed or drifted horizontally due to environmental or human error, resulting in the payload device being unable to maintain a specific posture such as a horizontal posture (in this posture, the outline of the payload device is perpendicular or parallel to the horizontal plane) when installed on the gimbal's arm assembly. Therefore, the arm assembly needs to be calibrated to keep the payload device in a specific posture.
- a horizontal posture in this posture, the outline of the payload device is perpendicular or parallel to the horizontal plane
- the first aspect of the present invention also provides another method for controlling the pan/tilt, which can better assist the calibration of the pan/tilt.
- Figure 4 is a schematic flowchart of a cloud platform control method provided by an embodiment of the present invention.
- this embodiment provides a method for controlling a pan/tilt.
- the pan/tilt includes an axis arm assembly for carrying a load device, including at least one axis arm and a motor that controls the rotation of the axis arm.
- the PTZ control method in this embodiment may include the following steps:
- Step S401 When a load device is installed on the axis arm assembly, in response to the calibration instruction input by the user, obtain the load attitude information of the load device, and control the pan/tilt to perform the first calibration according to the load attitude information.
- the load attitude information can be detected by an inertial measurement unit (IMU) provided on the load device.
- IMU inertial measurement unit
- the payload device is a mobile phone, and the mobile phone is equipped with a gyroscope.
- the mobile phone can obtain the attitude information of the mobile phone through the gyroscope and send the attitude information to the gimbal.
- the mobile phone is provided with an accelerometer, and the mobile phone can obtain the posture information of the mobile phone through the accelerometer and send it to the PTZ.
- the gimbal can directly use the attitude information of the payload device to calibrate the gimbal, thereby solving the problem that the gimbal cannot be accurately calibrated based only on its own attitude information.
- the first calibration adjusts the posture of the axis arm assembly so that the center of gravity of the mobile phone and the center of the roll motor are on the same horizontal plane.
- the first calibration adjusts the posture of the axis arm assembly so that the center of gravity of the mobile phone and the center of the roll motor are on the same plane perpendicular to the horizontal plane.
- step S402 is also included before step S401.
- the second calibration adjusts the attitude of the axis arm assembly within a larger range
- the first calibration adjusts the attitude of the axis arm assembly within a smaller range
- the rotation amplitude of the axis arm assembly during the second calibration is greater than The rotation amplitude of the axis arm assembly during the first calibration process
- a payload device such as a mobile phone will have its own inertial measurement unit.
- the payload device can adjust the direction of the display interface of the payload device based on the attitude information measured by its own inertial measurement unit.
- the payload device such as a mobile phone may be damaged due to hardware issues.
- the gyroscope information cannot be obtained normally due to damage or other reasons, causing the mobile phone to rotate with the gimbal during the use of the gimbal, but the direction of the display interface does not change accordingly, affecting the user's experience of using the gimbal.
- the first aspect of the present invention provides another method for controlling the pan/tilt, so that when the load equipment cannot obtain its own attitude information normally, the display of the load equipment can be adjusted accordingly according to the attitude information of the axis arm assembly. interface orientation.
- Figure 5 is a schematic flowchart of another method for controlling a pan/tilt according to an embodiment of the present invention.
- this embodiment provides a method for controlling a pan/tilt.
- the pan/tilt includes an axis arm assembly for carrying a load device.
- the axis arm assembly is used for combining with the load device, and includes at least one The shaft arm and the motor that controls the rotation of the shaft arm.
- the PTZ control method in this embodiment may include the following steps:
- Step S501 When a load device is installed on the axis arm assembly, the pan/tilt is controlled to send attitude information of the axis arm assembly to the load device, so that the load device adjusts the direction of the display interface of the load device according to the attitude information of the axis arm assembly.
- This step enables the mobile phone to adjust the direction of the display interface based on the attitude information of the axis arm component of the external gimbal even when the gyroscope fails, improving the user experience when using the gimbal.
- the pan/tilt can be controlled to obtain the joint angle information of the axis arm motor and send the joint angle information of the axis arm motor to the mobile phone.
- the mobile phone receives the joint angle information of the motor, it adjusts the direction of the display interface according to the joint angle information. If the attitude information of the axis arm assembly belongs to the first attitude range, the attitude information of the axis arm is sent so that the mobile phone displays the display interface in the first direction. If the attitude information of the axis arm assembly belongs to the second attitude range, then the attitude information of the axis arm is sent so that the mobile phone displays the display interface in the second direction,
- first direction and the second direction are oriented differently. Specifically, in some embodiments, the first direction is transverse and the second direction is longitudinal. In other embodiments, the first direction is longitudinal and the second direction is transverse.
- the pan/tilt can be controlled to obtain the joint angle information of the roll motor and send the joint angle information of the roll motor to the mobile phone. If the joint angle of the roll motor belongs to the first posture range, the mobile phone display interface direction is adjusted to vertical. If the joint angle of the roll motor belongs to the second posture range, the mobile phone display interface direction is adjusted to horizontal. In other embodiments, if the joint angle of the roll motor belongs to the first attitude range, the mobile phone display interface direction is adjusted to horizontal, and if the joint angle of the roll motor belongs to the second attitude range, the mobile phone display interface direction is adjusted. For portrait orientation.
- users may cause the gimbal support components to hang in the air due to improper operation when using the gimbal for stabilization shooting.
- the gimbal support components may swing, which may cause damage to the gimbal.
- the first aspect of the present invention also provides a method for controlling a pan/tilt, which can prevent the pan/tilt from being damaged due to suspension of supporting components during the stabilization process.
- Figure 6 is a schematic flowchart of a cloud platform control method provided by an embodiment of the present invention.
- this embodiment provides a method for controlling a gimbal, wherein the gimbal includes an arm assembly, wherein the arm assembly is used to carry a load device, and wherein the arm assembly is used to be combined with the load device, and includes at least one arm and a motor for controlling the rotation of the arm.
- the PTZ control method in this embodiment may include the following steps:
- Step S601 When the gimbal is in the stabilization mode, determine whether the support component is suspended in the air. In the stabilization mode, the axis arm component is used to stabilize the load equipment. If the support component is suspended, the gimbal is controlled to switch from the stabilization mode to the protection mode, in which at least one motor stops outputting torque in the protection mode.
- This step can prevent the support components from swinging in the air during the stabilization process of the gimbal, improve user convenience, and prevent the gimbal from being damaged due to the swinging of the support components.
- the supporting component being suspended may be a state in which the supporting component is not held or fixed.
- the yaw motor connected to the support component can be controlled to continuously output torque. If the gyroscope provided on the support component detects that the support component is oscillating, it will be determined that the support component is suspended.
- the pan/tilt is controlled to switch from the stabilization mode to the protection mode. In the protection mode, the motor stops outputting torque.
- step S602 is further included after step S601.
- Step S602 When the pan/tilt is in the protection mode, in response to the first input operation on the pan/tilt, determine whether the support component is suspended. If the support component is not suspended, the gimbal is controlled to switch from protection mode to stabilization mode.
- the first input operation may be an operation input by the user on the cloud platform.
- the user can input relevant operations through the buttons, joysticks, and dials set on the support component.
- the gimbal performs suspension detection on the support component.
- the first input operation may be any operation that can indirectly trigger the pan/tilt to perform suspension detection.
- the gimbal is first controlled to perform suspension detection.
- the gimbal is controlled to switch to the unloaded mode, and then the roll axis arm rotation, pitch axis arm rotation, and yaw are performed. Axis arm rotation and other specific operations.
- the first input operation may also be an operation of directly instructing the pan/tilt to perform suspension detection.
- the gimbal After receiving the above operation input by the user, the gimbal performs a suspension detection on the support component. When it detects that the support component is not suspended, the gimbal is controlled to switch to the stabilization mode and wait for the user to input other subsequent operations.
- the first aspect of the present invention also provides another method for controlling the gimbal. After detaching the mobile phone, the posture of the gimbal is controlled to facilitate subsequent operations by the user.
- Figure 7 is a schematic flowchart of a cloud platform control method provided by an embodiment of the present invention.
- this embodiment provides a method for controlling a pan/tilt.
- the pan/tilt includes an axis arm assembly for carrying a load device, including at least one axis arm and a motor that controls the rotation of the axis arm.
- the PTZ control method in this embodiment may include the following steps:
- Step S701 When a load device is installed on the axis arm assembly, in response to the load device being removed from the axis arm assembly, control at least one motor to rotate to drive the axis arm assembly to a third attitude.
- the third attitude is an attitude that the axis arm assembly is in when it is in the no-load mode. If the mobile phone is installed on the axis arm assembly when the axis arm assembly is in the third attitude, the operating surface of the mobile phone will face the user.
- the gimbal motor can be controlled to output torque to drive the gimbal axis arm to rotate, causing the axis arm assembly to be removed from the mobile phone.
- the lowering posture is rotated to the third posture.
- the first aspect of the present invention also provides another The control method of the gimbal can maintain the posture of the gimbal as it was when the load was removed, making it easier for the user to continue operations.
- Figure 8 is a schematic flowchart of a cloud platform control method provided by an embodiment of the present invention.
- this embodiment provides a method for controlling a pan/tilt.
- the pan/tilt includes an axis arm assembly for carrying a load device, including at least one axis arm and a motor that controls the rotation of the axis arm.
- the PTZ control method in this embodiment may include the following steps:
- Step S801 In the case where a load device is installed on the axis arm assembly, in response to the load device being removed from the axis arm assembly, control at least one motor so that the axis arm assembly is in a fourth attitude.
- the fourth posture is the posture of the shaft arm assembly when the load device and the shaft arm assembly are separated from each other.
- the pan/tilt can be controlled to record the joint angle of the motor when the mobile phone is removed from the axis arm assembly, and the motor output torque can be controlled to maintain the current joint angle.
- the load device needs to be installed on the axis arm assembly of the gimbal through some load mounting parts such as adapters.
- some load mounting parts such as adapters.
- the load mounting device In order to avoid installing the load mounting device on the gimbal without the load mounting device being combined with the load device, As for the negative impact on the PTZ, in some cases, it is necessary to detect the situation where the load installation component is not combined with the load device but has been installed on the PTZ, and to protect the PTZ in this case.
- the first aspect of the present invention also provides another method for controlling a pan/tilt to detect whether the load mounting part is combined with the load device.
- Figure 9 is a schematic flowchart of another method for controlling a pan/tilt according to an embodiment of the present invention. specifically, the method for controlling a pan/tilt in this embodiment may include the following steps:
- Step S901 In response to the load mounting member being installed on the axle arm assembly, control at least one motor to output a first torque.
- the load mounting part can be combined with the axis arm assembly and the load device respectively. If the load mounting part rotates, the gimbal is controlled to enter the protection mode; if the load mounting part does not rotate, the gimbal is controlled to enter the stabilization mode.
- the magnitude of the first moment is equal to or slightly greater than the minimum moment that drives the load mounting member to rotate. Specifically, when the load device is installed on the load mounting part and the load mounting part is combined with the shaft arm assembly, the first torque applied to the load mounting part is not enough to cause the load mounting part to rotate. At this time, the motor joint angle does not occur. changes to determine whether a load device is installed on the load mounting piece.
- the gimbal can detect whether the load mounting part is combined with the load device while the load mounting part is combined with the axis arm assembly, and then select the working mode of the gimbal itself based on the actual installation situation of the load device.
- the gimbal support assembly will inevitably be suspended in the air. In the suspended state, the gimbal support assembly will swing and may cause damage to the gimbal.
- the first aspect of the present invention provides another method for controlling the pan/tilt, which can avoid damage to the pan/tilt during the removal of the load equipment.
- FIG. 10 is a schematic flowchart of another PTZ control method provided by an embodiment of the present invention. specifically, the PTZ control method in this embodiment may include the following steps:
- Step S1001 When the gimbal is in the stabilization mode, determine whether the support component is suspended in the air when the load device is removed from the axis arm component.
- the yaw motor connected to the support component can be controlled to continuously output torque. If the gyroscope provided on the support component detects that the support component is oscillating, it will be determined that the support component is suspended.
- the pan/tilt is controlled to switch from the stabilization mode to the protection mode. In the protection mode, the motor stops outputting torque.
- the user removes the payload device from the gimbal and then holds the support assembly again. At this time, operating the gimbal will not damage the structure of the gimbal. Operations are required to restore the gimbal to normal. no-load mode.
- step S1002 is further included after step S1001.
- Step S1002 In the protection mode, in response to the second input operation on the pan/tilt, determine whether the support component is suspended. If the support component is still suspended, keep the gimbal in protection mode. If the support component is not suspended, the pan/tilt is controlled to switch from protection mode to no-load mode.
- the second input operation may be an operation input by the user on the cloud platform.
- the user can input relevant operations through the buttons, joysticks, and dials set on the support component.
- the gimbal performs suspension detection on the support component.
- the second input operation may be any operation that can indirectly trigger the pan/tilt to perform suspension detection.
- the gimbal is first controlled to perform suspension detection.
- the gimbal is controlled to switch to the unloaded mode, and then the roll axis arm rotation, pitch axis arm rotation, and yaw are performed. Axis arm rotation and other specific operations.
- the second input operation can also be an operation of directly instructing the pan/tilt to perform suspension detection.
- the pan/tilt After receiving the above operations input by the user, the pan/tilt performs a suspension detection on the support component. When it is detected that the support component is not suspended, the pan/tilt is controlled to switch to the no-load mode and wait for the user to input other subsequent operations.
- the second aspect of this application provides a control method for a pan/tilt system.
- this embodiment provides a method for controlling a pan/tilt system.
- the pan/tilt system includes a pan/tilt and a load device.
- the platform includes an axis arm assembly, which is used to carry a load device, including at least one axis arm and a motor that controls the rotation of the axis arm.
- control method of the PTZ system in this embodiment may include the following steps:
- Step S1101 When the pan/tilt is in the no-load mode, control at least one motor so that the axis arm assembly is in the first attitude.
- a detection device can be provided to detect whether the load equipment is installed on the shaft arm assembly.
- a detection device is provided on the shaft arm assembly to detect the installation of the load equipment.
- the detection device can be an infrared sensor, a micro motion sensor, or an infrared sensor. Switches, Hall sensors, etc.
- the output torque of any axis arm motor can be controlled, and the magnitude of the torque is equal to the minimum torque that can rotate the axis arm, and the rotation of the axis arm can be recorded. If the axis arm rotates, the gimbal is judged. The load device is not installed.
- the first posture may be the posture of the axis arm assembly set by the user for the gimbal, or it may be the posture preset when the gimbal leaves the factory.
- the user when the axis arm assembly is in the first posture, the user can directly install the payload device. In other embodiments, the gimbal is automatically in the first posture after being turned on.
- the first attitude is the attitude of the entire axis arm assembly, and the positions of the yaw axis arm, pitch axis arm, and roll axis arm jointly determine the attitude of the entire axis arm assembly.
- the axis arm assembly can be stably in the first posture instead of in a free rotation state, which can facilitate the user to easily install the payload equipment, or adjust it to a posture suitable for installing the payload equipment.
- the first posture does not always meet the user's needs for installing the load equipment. Differences in the load equipment, such as load equipment of different sizes, or differences in user habits may cause the user to adjust the first posture to meet their own installation needs. need.
- control method of this embodiment further includes step S1102: in response to a push-pull operation on the arm assembly, controlling at least one motor so that the arm assembly can maintain a current posture when the push-pull operation is removed from the arm assembly.
- the current target joint angle is obtained based on the actual joint angle of the motor corresponding to the axis arm. ; Among them, the actual joint angle corresponds to the position reached by the push and pull operation. According to the current target joint angle of the joint, the axis arm motor is controlled to achieve the effect of maintaining the axis arm assembly in the current posture.
- the current posture is the posture the axis arm assembly is in when the push-pull operation is removed.
- the current posture includes the posture the pivot arm assembly was in when the push-pull operation was removed from the pivot arm assembly and the vicinity of that posture.
- the user can perform a push-pull operation on only one axis arm in the axis arm assembly at a time according to actual needs.
- the user can apply a push-pull operation on the yaw axis arm and control the yaw motor to drive the yaw axis.
- the arm rotates; the pitch motor is controlled to keep the relative position of the pitch axis arm and the yaw axis arm unchanged; the roll motor is controlled to keep the relative position of the roll axis arm and the pitch axis arm unchanged.
- the user can also perform push and pull operations on at least two axis arms at the same time according to actual needs. Specifically, the user applies push and pull operations on the yaw axis arm and the pitch axis arm at the same time, and controls the yaw motor to drive the yaw axis arm.
- the rotation and pitch motors drive the pitch axis arm to rotate, and the roll motor is controlled to keep the relative positions of the roll axis arm, yaw axis arm, and pitch axis arm unchanged.
- the user can adjust the posture of the axis arm assembly in the no-load mode according to his own wishes, and after the adjustment is in place, the axis arm assembly can be maintained in the current posture, and the user can move the load without holding the axis arm assembly with his hands.
- the device mounts to the pivot arm assembly.
- the second aspect of this application also provides another method for controlling the pan/tilt system, which simplifies the user's shooting preparation process.
- this embodiment provides a control method for a pan/tilt system.
- the PTZ control method in this embodiment may include the following steps:
- Step S1201 In response to the load device being installed on the arm assembly, controlling the pan/tilt head to perform a first broadcast externally.
- Step S1202 Control the load device to establish a first communication connection with the pan/tilt head based on the broadcast information corresponding to the first broadcast, and output prompt information or directly display the interface of the application.
- the above-mentioned application program is installed on the load device and is used to obtain instructions for controlling the PTZ.
- the above-mentioned prompt information is used to prompt the user whether to open the interface of the application program.
- the payload device can automatically open the corresponding application, thereby simplifying the user's preparation process before shooting and improving the user's experience of using the gimbal.
- the first broadcast may be a Bluetooth Low Energy broadcast
- the first communication connection may be a Bluetooth Low Energy connection
- the broadcast information corresponding to the first broadcast includes identity information of the PTZ. After the payload device receives the first broadcast, the identity information in the broadcast is identified to identify the PTZ, thereby establishing a first communication connection with the PTZ.
- the above-mentioned first communication connection may not be suitable for sending instructions or transmitting data.
- Other communication connections need to be established between the payload device and the PTZ to facilitate users to better implement Interaction between PTZ and payload.
- step S1203 and step S1204 are also included after step S1201.
- Step S1203 In response to the load device being installed on the axis arm assembly, control the pan/tilt to perform a second broadcast to the outside world.
- Step S1204 Control the load device to establish a second communication connection with the PTZ based on broadcast information corresponding to the second broadcast, where the first communication connection is different from the second communication connection.
- the second communication connection is used to transmit instructions for controlling the PTZ input by the user on the payload device, such as instructions for switching the PTZ mode, instructions for controlling the PTZ for calibration, etc.
- the second communication connection can also be used to transmit instructions input by the user on the pan/tilt to control the load device, such as instructions to control the mobile phone to zoom, instructions to control the mobile phone to shoot, etc.
- the second communication connection when the first communication connection is a Bluetooth Low Energy connection, the second communication connection is a Classic Bluetooth connection.
- the second aspect of the present invention also provides another control method for a pan/tilt system, which can better assist in pan/tilt calibration.
- this embodiment provides a control method for a pan/tilt system.
- control method of the PTZ system in this embodiment may include the following steps:
- Step S1301 When a load device is installed on the axis arm assembly, in response to a calibration instruction input by a user, the load device is controlled to send load posture information of the load device to the gimbal.
- the load attitude information can be detected by an inertial measurement unit (IMU) provided on the load device.
- IMU inertial measurement unit
- the payload device is a mobile phone, and the mobile phone is equipped with a gyroscope.
- the mobile phone can obtain the attitude information of the mobile phone through the gyroscope and send the attitude information to the gimbal.
- the mobile phone is provided with an accelerometer, and the mobile phone can obtain the posture information of the mobile phone through the accelerometer and send it to the PTZ.
- Step S1302 Control the pan/tilt to receive the load attitude information, and control the pan/tilt to perform the first calibration based on the load attitude information.
- the gimbal can directly use the attitude information of the payload device to calibrate the gimbal, thereby solving the problem that the gimbal cannot be accurately calibrated based only on its own attitude information.
- the first calibration adjusts the posture of the axis arm assembly so that the center of gravity of the mobile phone and the center of the roll motor are on the same horizontal plane.
- the first calibration adjusts the posture of the axis arm assembly so that the center of gravity of the mobile phone and the center of the roll motor are on the same plane perpendicular to the horizontal plane.
- step S1303 is also included before step S1301.
- Step S1303 Before performing the first calibration of the pan/tilt based on the load attitude information, obtain the attitude information of the axis arm assembly. And perform a second calibration of the gimbal based on the attitude information of the axis arm assembly.
- This step can ensure calibration accuracy, shorten calibration time, and improve user operating experience.
- the second calibration adjusts the attitude of the axis arm assembly within a larger range
- the first calibration adjusts the attitude of the axis arm assembly within a smaller range
- the rotation amplitude of the axis arm assembly during the second calibration is greater than The rotation amplitude of the axis arm assembly during the first calibration process
- a second aspect of the present invention provides another method for controlling a pan-tilt system, so that when the load device cannot normally obtain its own posture information, the display interface direction of the load device can be adjusted accordingly according to the posture information of the arm assembly.
- this embodiment provides a control method for a pan/tilt system.
- the PTZ control method in this embodiment may include the following steps:
- Step S1401 When the axis arm assembly is installed with a payload device, control the pan/tilt to send attitude information of the axis arm assembly to the payload device.
- Step S1402 Control the load device to receive the attitude information of the axis arm assembly, and control the load device to adjust the direction of its display interface according to the attitude information of the axis arm assembly.
- the above steps enable the mobile phone to adjust the direction of the display interface based on the posture information of the axis arm assembly of the external gimbal even when the gyroscope fails, improving the user experience when using the gimbal.
- the pan/tilt can be controlled to obtain the joint angle information of the axis arm motor and send the joint angle information of the axis arm motor to the mobile phone.
- the mobile phone receives the joint angle information of the motor, it adjusts the direction of the display interface according to the joint angle information. If the attitude information of the axis arm assembly belongs to the first attitude range, the attitude information of the axis arm is sent so that the mobile phone displays the display interface in the first direction. If the attitude information of the axis arm assembly belongs to the second attitude range, then the attitude information of the axis arm is sent so that the mobile phone displays the display interface in the second direction,
- first direction and the second direction are oriented differently. Specifically, in some embodiments, the first direction is transverse and the second direction is longitudinal. In other embodiments, the first direction is longitudinal and the second direction is transverse.
- the pan/tilt can be controlled to obtain the joint angle information of the roll motor and send the joint angle information of the roll motor to the mobile phone. If the joint angle of the roll motor falls within the first posture range, the orientation of the mobile phone display interface is adjusted to vertical. If the joint angle of the roll motor falls within the second posture range, the orientation of the mobile phone display interface is adjusted to horizontal. In other embodiments, if the joint angle of the roll motor belongs to the first attitude range, the mobile phone display interface direction is adjusted to horizontal, and if the joint angle of the roll motor belongs to the second attitude range, the mobile phone display interface direction is adjusted. For portrait orientation.
- a third aspect of this application provides a pan/tilt, including: an axis arm assembly for carrying a load device, the axis arm assembly including at least one axis arm and a motor that controls the rotation of the axis arm.
- Support assembly used to support the shaft arm assembly.
- Memory used to store computer programs. The processor is configured to run the computer program stored in the aforementioned memory to execute the cloud platform control method described in the first aspect of this application.
- the fourth aspect of this application provides a pan/tilt system, including: a pan/tilt.
- the pan/tilt includes an axis arm assembly and a support assembly.
- the axis arm assembly includes at least one axis arm and a motor that controls the rotation of the axis arm.
- the support assembly is used to Support shaft arm assembly.
- the load equipment can be mounted on the axis arm assembly.
- Memory used to store computer programs.
- the processor is configured to run the computer program stored in the aforementioned memory to execute the cloud platform control method described in the second aspect of this application.
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Abstract
本申请提供了一种云台的控制方法,所述云台包括轴臂组件,所述轴臂组件用于搭载负载设备,所述轴臂组件包括至少一个轴臂以及控制所述轴臂转动的电机,控制方法包括:在所述云台处于空载模式下,对至少一个所述电机进行控制,以使得所述轴臂组件处于第一姿态;响应于对所述轴臂组件的推拉操作,对至少一个所述电机进行控制以使得当所述推拉操作从所述轴臂组件移除时,所述轴臂组件能够保持在当前姿态;本申请实施例提供的技术方案,通过在空载模式下对云台的电机进行控制,降低了云台的操作复杂程度,进一步提升了用户体验。
Description
本申请涉及云台技术领域,特别涉及一种云台的控制方法、云台***的控制方法、云台以及云台***。
云台,通常需要与负载设备相结合才能完成拍摄工作,常见的负载设备有手机、相机、摄影机等。以手机为例,在使用云台进行拍摄的过程中,用户需要经过繁琐的调整工作,才能使手机与云台结合,并处于随时可以拍摄的状态,这无疑增加了拍摄工作的准备时间,导致用户的使用体验较差。
发明内容
本发明的实施例提供了一种云台的控制方法、云台***的控制方法、云台和云台***,能够减少繁琐的调整工作,改善用户的使用体验。
本发明的第一方面提供了一种云台的控制方法,所述云台包括轴臂组件,所述轴臂组件用于搭载负载设备,所述轴臂组件包括至少一个轴臂以及控制所述轴臂转动的电机,所述控制方法包括:在所述云台处于空载模式下,对至少一个所述电机进行控制,以使得所述轴臂组件处于第一姿态。响应于对所述轴臂组件的推拉操作,对至少一个所述电机进行控制以使得当所述推拉操作从所述轴臂组件移除时,所述轴臂组件能够保持在当前姿态。其中,所述当前姿态是指所述推拉操作从所述轴臂组件移除时,所述轴臂组件所处的姿态。
本发明的第一方面提供了另一种云台的控制方法,所述云台包括轴臂组件,所述轴臂组件用于搭载负载设备,所述轴臂组件包括至少一个轴臂以及控制所述轴臂转动的电机,所述控制方法包括:响应于所述负载设备安装到所述轴臂组件时,控制所述云台对外进行第一广播,以使得所述负载设备基于所述第一广播对应的广播信息与所述云台建立第一通信的情况下,输出提示信息或直接显示应用程序的界面。其中,所述应用程序安装于所述负载设备,用于获取控制所述云台的指令,所述提示信息用于提示用户是否打开所述应用程序的界面。
本发明的第一方面提供了另一种云台的控制方法,所述云台包括轴臂组件,所述轴臂组件用于搭载负载设备,所述轴臂组件包括至少一个轴臂以及控制所述轴臂转动的电机,所述控制方法包括:在所述轴臂组件安装有所述负载设备的情况下,响应于用户输入的校准指令,获取所述负载设备的负载姿态信息,并根据所述负载姿态信息控制所述云台进行第一校准。其中,所述负载姿态信息由设置于所述负载设备的传感器测得。
本发明的第一方面提供了另一种云台的控制方法,所述云台包括轴臂组件,所述轴臂组件用于搭载负载设备,所述轴臂组件包括至少一个轴臂以及控制所述轴臂转动的电机,所述控制方法包括:在所述轴臂组件安装有所述负载设备的情况下,控制所述云台向所述负载设 备发送所述轴臂组件的姿态信息,以使得所述负载设备根据所述轴臂组件的姿态信息调整所述负载设备的显示界面方向。
本发明的第二方面提供了一种云台***的控制方法,所述云台***包括云台和负载设备,所述云台包括轴臂组件,所述轴臂组件用于搭载负载设备,所述轴臂组件包括至少一个轴臂以及控制所述轴臂转动的电机,所述控制方法包括:在所述云台处于空载模式下,对至少一个所述电机进行控制,以使得所述轴臂组件处于第一姿态。响应于对所述轴臂组件的推拉操作,对至少一个所述电机进行控制以使得当所述推拉操作从所述轴臂组件移除时,所述轴臂组件能够保持在当前姿态。其中,所述当前姿态是指所述推拉操作从所述轴臂组件移除时,所述轴臂组件所处的姿态。
本发明的第二方面提供了另一种云台***的控制方法,所述云台***包括云台和负载设备,所述云台包括轴臂组件,所述轴臂组件用于搭载负载设备,所述轴臂组件包括至少一个轴臂以及控制所述轴臂转动的电机,所述控制方法包括:响应于所述负载设备安装到所述轴臂组件时,控制所述云台对外进行第一广播;控制所述负载设备基于所述第一广播对应的广播信息与所述云台建立第一通信连接的情况下,输出提示信息或直接显示应用程序的界面。其中,所述应用程序安装于所述负载设备,用于获取控制所述云台的指令,所述提示信息的内容用于提示用户是否打开所述应用程序的界面。
本发明的第二方面提供了另一种云台***的控制方法,所述云台***包括云台和负载设备,所述云台包括轴臂组件,所述轴臂组件用于搭载负载设备,所述轴臂组件包括至少一个轴臂以及控制所述轴臂转动的电机,所述控制方法包括:在所述轴臂组件安装有所述负载设备的情况下,响应于用户输入的校准指令,控制所述负载设备向所述云台发送所述负载设备的负载姿态信息,其中,所述负载姿态信息由设置于所述负载设备的传感器测得。控制所述云台接收所述负载姿态信息,并根据所述负载姿态信息控制所述云台进行第一校准。
本发明的第二方面提供了另一种云台***的控制方法,所述云台***包括云台和负载设备,所述云台包括轴臂组件,所述轴臂组件用于搭载负载设备,所述轴臂组件包括至少一个轴臂以及控制所述轴臂转动的电机,所述控制方法包括:在所述轴臂组件安装有所述负载设备的情况下,控制所述云台向所述负载设备发送所述轴臂组件的姿态信息。控制所述负载设备接收所述轴臂组件的姿态信息,并根据所述轴臂组件的姿态信息控制所述负载设备调整其显示界面方向。
本发明的第三方面提供了一种云台,所述云台包括:轴臂组件,所述轴臂组件用于搭载负载设备,所述轴臂组件包括至少一个轴臂以及控制所述轴臂转动的电机。支撑组件,所述支撑组件用于支撑所述轴臂组件。存储器,所述存储器用于存储计算机程序。处理器,所述处理器用于运行所述存储器中存储的计算机程序以执行本发明第一方面所记载的云台的控制方法。
本发明的第四方面提供了一种云台***,所述云台***包括:云台,所述云台包括轴臂组件与支撑组件,所述轴臂组件包括至少一个轴臂以及控制所述轴臂转动的电机,所述支撑 组件用于支撑所述轴臂组件。负载设备,所述负载设备能够搭载在所述轴臂组件上。存储器,所述存储器用于存储计算机程序。处理器,所述处理器用于运行所述存储器中存储的计算机程序以执行本发明第二方面所记载的云台***的控制方法。
本发明实施例提供的技术方案,通过在空载模式下对云台的电机进行控制,避免了空载模式下轴臂组件的自由转动,并且使轴臂组件能够维持在用户的推拉操作撤去时的姿态,从而方便用户能够将负载设备安装到具有第一姿态的空载云台上,或根据实际需要将云台姿态推拉到特定姿态时进行安装负载设备,降低了云台的操作复杂程度,进一步提升了用户体验。
本申请的实施方式的附加方面和优点将在下面的描述中部分给出,部分将从下面的描述中变得明显,或通过本申请的实施方式的实践了解到。
此处所说明的附图用来提供对本申请的进一步理解,构成本申请的一部分,本申请的示意性实施例及其说明用于解释本申请,并不构成对本申请的不当限定。在附图中:
图1为相关技术中披露的一种云台;
图2为本发明实施例提供的一种云台的控制方法的流程示意图;
图3为本发明实施例提供的另一种云台的控制方法的流程示意图;
图4为本发明实施例提供的另一种云台的控制方法的流程示意图;
图5为本发明实施例提供的另一种云台的控制方法的流程示意图;
图6为本发明实施例提供的另一种云台的控制方法的流程示意图;
图7为本发明实施例提供的另一种云台的控制方法的流程示意图;
图8为本发明实施例提供的另一种云台的控制方法的流程示意图;
图9为本发明实施例提供的另一种云台的控制方法的流程示意图;
图10为本发明实施例提供的另一种云台的控制方法的流程示意图;
图11为本发明实施例提供的一种云台***的控制方法的流程示意图;
图12为本发明实施例提供的另一种云台***的控制方法的流程示意图;
图13为本发明实施例提供的另一种云台***的控制方法的流程示意图;
图14为本发明实施例提供的另一种云台***的控制方法的流程示意图。
为使本发明实施例的目的、技术方案和优点更加清楚,下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。
除非另有定义,本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施 例的目的,不是旨在于限制本发明。
下面详细描述本申请的实施方式,所述实施方式的示例在附图中示出,其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施方式是示例性的,仅用于解释本申请,而不能理解为对本申请的限制。
图1为相关技术中披露的一种云台,参考图1a和图1b,云台包括轴臂组件100和支撑组件200,轴臂组件100用于安装负载设备并对负载设备进行增稳,轴臂组件100由至少一个轴臂(110、120、130)以及控制该轴臂转动的电机(111、121、131)组成。在一些相关技术中,轴臂组件可以包括单轴臂和单电机、双轴臂和双电机、三轴臂和三电机中的任意一种情形。如图1所示,轴臂组件包括三个轴臂(横滚轴臂130,俯仰轴臂110以及偏航轴臂120)以及分别带动三个轴臂进行转动的电机,横滚轴臂130上还安装有负载安装件140。支撑组件用于为轴臂组件提供支撑,支撑组件上设置有接收用户指令的操作区210,轴臂组件通过电机与支撑组件相连接。
通常,在云台的轴臂组件未安装负载设备时,与轴臂相连的电机并不会输出力矩,导致云台的轴臂相对于支撑组件和/或各个轴臂之间会出现自由转动,因此,当用户将负载设备安装到轴臂组件上时,需要用手握持住云台的轴臂组件防止其自由转动,操作繁琐且费时费力。
为了解决该技术问题,本申请提供了一种云台的控制方法,以方便用户能够容易地将负载设备安装到轴臂组件上。
具体而言,图2为本发明实施例提供的一种云台的控制方法的流程示意图;
参考图2,本实施例提供了一种云台的控制方法,该云台包括轴臂组件,该轴臂组件用于搭载负载设备,包括至少一个轴臂以及控制轴臂转动的电机。
在一些实施例中,轴臂组件包括三个轴臂,分别为偏航轴臂、俯仰轴臂、横滚轴臂。其中,对应各轴臂分别设置有偏航电机、俯仰电机、横滚电机,其中偏航电机设置于支撑组件与偏航轴臂连接处;俯仰电机设置于偏航轴臂与俯仰轴臂连接处;横滚电机设置于俯仰轴臂与横滚轴臂连接处。负载设备为具有拍摄功能的任意电子设备,如手机、相机、摄影机等。在一些实施例中,负载设备为手机。
具体的,本实施例中的云台的控制方法可以包括以下步骤:
步骤S201:在云台处于空载模式下,对至少一个电机进行控制,以使得轴臂组件处于第一姿态。
容易理解的是,空载模式下,轴臂组件上未搭载负载设备。通过一些方法,云台可以通过自动识别是否处于空载模式。在一些实施例中,可以通过设置检测装置来检测轴臂组件上是否安装有负载设备,如在轴臂组件上设置有检测装置以检测负载设备的安装情况,检测装置可以是红外传感器、微动开关、霍尔传感器等。在另一些实施例中,也可以通过驱动电机来检测轴臂组件上是否安装有负载设备。具体的,可以通过控制任一轴臂电机输出力矩,该力矩大小等于能使该轴臂转动的最小力矩,并记录该轴臂的转动情况,若该轴臂发生转动, 则判断所述云台处于未安装负载设备的状态。
对于第一姿态,可以为用户为云台设定的轴臂组件的姿态,也可以为云台出厂时预设的姿态。
在一些实施例中,轴臂组件处于第一姿态时,用户能够直接安装负载设备,在另一些实施例中,云台开机后自动处于第一姿态。
需要说明的是,第一姿态为轴臂组件整体所处于的姿态,偏航轴臂、俯仰轴臂、横滚轴臂所处的位置共同决定了轴臂组件整体的姿态。
该步骤下,云台在空载模式下,轴臂组件能够稳定地处于第一姿态,而非处于自由转动状态,能够方便用户容易地去安装负载设备,或者调整到适合安装负载设备的姿态。
一些情况下,第一姿态并不总能满足用户安装负载设备的需求,负载设备的差异化如大小不同的负载设备,或者用户习惯的差异均有可能导致用户需要调整第一姿态从而满足自己安装需求。
因此,在步骤S201之后,本实施例的控制方法还包括步骤S202:响应于对轴臂组件的推拉操作,对至少一个电机进行控制以使得当推拉操作从轴臂组件移除时,轴臂组件能够保持在当前姿态。
具体的,在一些实施例中,当云台处于空载模式下,且轴臂组件中的任一轴臂受到推拉操作时,根据该轴臂对应电机的实际关节角,获取当前的目标关节角;其中,实际关节角与推拉操作所到达的位置相对应。根据当前的关节目标关节角,对该轴臂电机进行控制,以此实现将轴臂组件保持在当前姿态的效果。
可以理解的是,当前姿态为推拉操作移除时,轴臂组件所处于的姿态。在一些实施例中,当前姿态包括推拉操作从轴臂组件移除时轴臂组件所处于的姿态以及该姿态的附近。
在一些实施例中,用户可以根据实际需求每次仅对轴臂组件中的某一个轴臂进行推拉操作,具体地,用户可以对偏航轴臂施加推拉操作,控制偏航电机驱动偏航轴臂转动;控制俯仰电机使俯仰轴臂与偏航轴臂的相对位置保持不变;控制横滚电机使横滚轴臂与俯仰轴臂的相对位置保持不变。
在一些实施例中,用户也可以根据实际需求同时对至少两个轴臂进行推拉操作,具体地,用户同时对偏航轴臂与俯仰轴臂施加推拉操作,控制偏航电机驱动偏航轴臂转动以及俯仰电机驱动俯仰轴臂转动,控制横滚电机使横滚轴臂与偏航轴臂、俯仰轴臂的相对位置保持不变。
应该理解的是,用户需要对至少两个轴臂进行推拉操作时,也可以每次仅对一个轴臂进行推拉操作,在完成一次推拉操作后,对另外一个轴臂进行推拉操作,从而实现对至少两个轴臂进行推拉操作。
通过该步骤,用户能够依照自己的意愿对空载模式下的轴臂组件的姿态进行调整,且调整到位后,轴臂组件能够保持在当前姿态,用户无需用手扶持轴臂组件即可将负载设备安装到轴臂组件上。
一些情况下,将负载设备安装到轴臂组件上后,负载设备并未处于最适合进行拍摄的位 置,还需要用户对安装有负载设备的轴臂组件进行调整。
因此,在另外一些实施例中,云台的控制方法还包括步骤203:响应于负载设备安装到轴臂组件时,控制至少一个电机输出力矩,以使得轴臂组件处于第二姿态。其中,在轴臂组件处于第二姿态的情况下,负载设备的镜头光轴平行于水平面,且负载设备的操作面朝向用户。通过该步骤,在负载设备安装到轴臂组件后,云台能够将负载设备自动调整到可以进行拍摄的位置,方便后续用户直接进行拍摄操作。
以负载设备为手机为例,在一些实施例中,响应于将手机安装到轴臂组件上的操作,控制俯仰电机输出力矩,使手机垂直于水平面,此时手机的镜头光轴平行于水平面;驱动偏航电机使手机屏幕与云台支撑组件的操作区朝向同一方位,其中,支撑组件的操作区面向的方位为默认用户所在的方位。以此实现将手机屏幕朝向用户的效果,使用户能够方便地对安装在轴臂组件上的手机进行操作。
在一些实施例中,在轴臂组件处于第二姿态的情况下,控制云台进入增稳模式以使得轴臂组件对负载设备进行增稳,使用户能拍摄清晰的照片或画面稳定的视频。
通常,为了方便实时观看拍摄效果和控制云台,负载设备上可以安装有控制云台的应用程序,在应用程序中去建立负载设备和云台之间的通信连接,在负载设备安装到云台上后,还需要用户手动打开相应的应用程序才能够通过负载设备对云台进行操控,拍摄准备过程比较繁琐。
为了解决该技术问题,本发明的第一方面还提供了另外一种云台的控制方法,简化了用户的拍摄准备过程。
图3为本发明实施例提供的另一种云台的控制方法的流程示意图;
参考图3,本实施例提供了一种云台的控制方法,该云台包括轴臂组件,该轴臂组件用于搭载负载设备,包括至少一个轴臂以及控制轴臂转动的电机。
具体的,本实施例中的云台的控制方法可以包括以下步骤:
步骤S301:响应于负载设备安装到轴臂组件时,控制云台对外进行第一广播,以使得负载设备基于第一广播对应的广播信息与云台建立第一通信连接的情况下,输出提示信息或直接显示应用程序的界面。
具体地,上述应用程序安装于在负载设备上,用于获取控制所述云台的指令,上述提示信息用于提示用户是否打开应用程序的界面。
通过该步骤,在用户将负载设备安装到云台上后,负载设备能够自动打开对应的应用程序,从而简化了用户在拍摄前的准备过程,提升了用户使用云台的体验。
在一些实施例中,第一广播可以为蓝牙低能耗(Bluetooth Low Energy)广播,第一通信连接为蓝牙低能耗(Bluetooth Low Energy)连接。
在一些实施例中,第一广播对应的广播信息包括云台的身份信息。在负载设备接收到第一广播后识别其中的身份信息以识别该云台,从而建立与云台的第一通信连接。
一些情况下,由于带宽等其他方面的限制,上述的第一通信连接可能并不适合发送指令或传输数据,需要在负载设备和云台之间建立其他通信连接,以方便用户能够更好地实现云台和负载之间的交互。
因此,在一些实施例中,步骤S301后还包括步骤S302。步骤S302:响应于负载设备安装到轴臂组件时,控制云台对外进行第二广播,以使得负载设备基于第二广播对应的广播信息与云台建立第二通信连接,第一通信连接不同于第二通信连接。
具体的,第二通信连接用于传输用户在负载设备上输入的控制云台的指令,如切换云台模式的指令、控制云台进行校准的指令等。或者,第二通信连接也可以用于传输用户在云台上输入的控制负载设备的指令,如控制手机进行变焦的指令,控制手机进行拍摄的指令等。
在一些实施例中,当第一通信连接为蓝牙低能耗(Bluetooth Low Energy)连接时,第二通信连接为经典蓝牙(Classic Bluetooth)。
通常,因环境或人为误操作可能造成云台水平歪斜或漂移问题,导致负载设备安装在云台的轴臂组件上时并不能保持在需要特定的姿态如水平姿态(该姿态下,负载设备的轮廓垂直或平行于水平面),因此,需要对轴臂组件进行校准,以使得负载设备处于特定的姿态。
为了解决该技术问题,本发明的第一方面还提供了另一种云台的控制方法,可以更好地帮助云台校准。
图4为本发明实施例提供的一种云台的控制方法的流程示意图;
参考图4,本实施例提供了一种云台的控制方法,该云台包括轴臂组件,该轴臂组件用于搭载负载设备,包括至少一个轴臂以及控制轴臂转动的电机。
具体地,本实施例中的云台的控制方法可以包括以下步骤:
步骤S401:在轴臂组件安装有负载设备的情况下,响应于用户输入的校准指令,获取负载设备的负载姿态信息,并根据负载姿态信息控制云台进行第一校准。
具体的,负载姿态信息可以通过设置在负载设备上的惯性测量单元(IMU)检测得到。在一些实施例中,负载设备为手机,手机上设置有陀螺仪,手机可以通过陀螺仪获取手机的姿态信息并将该姿态信息发送给云台。在另外一些实施例中,手机上设置有加速度计,手机可以通过加速度计获取手机的姿态信息并将其发送给云台。
通过该步骤,云台可以直接利用负载设备的姿态信息对云台进行校准,从而解决了云台仅根据自身的姿态信息无法精确校准的问题。
在一些实施例中,第一校准对轴臂组件的姿态进行调整,以使得手机的重心与横滚电机的中心处于同一水平面上。
在另一些实施例中,第一校准对轴臂组件的姿态进行调整,以使得手机的重心与横滚电机的中心处于同一垂直于水平面的平面上。
在一些情况下,云台获取负载设备的负载姿态信息存在延迟,控制云台根据负载姿态信息进行校准耗费的时间较长,效率低下。因此,在一些实施例中,步骤S401之前还包括步 骤S402。步骤S402:在根据负载姿态信息对云台进行第一校准之前,获取轴臂组件的姿态信息,并根据轴臂组件的姿态信息对云台进行第二校准。该步骤能够在提高校准精度的同时,缩短校准时间,提升用户的操作体验。
在一些实施例中,第二校准在较大范围内调整轴臂组件的姿态,第一校准在较小范围内调整轴臂组件的姿态,其中,第二校准过程中轴臂组件的转动幅度大于第一校准过程中轴臂组件的转动幅度。
通常,负载设备如手机会有自身的惯性测量单元,负载设备能够根据自身的惯性测量单元所测的姿态信息调整而负载设备的显示界面方向,但是在一些情况下,负载设备如手机可能因为硬件损坏等原因而无法正常获取自身陀螺仪的信息,导致在使用云台的过程中手机随云台发生转动,但是显示界面的方向并未能随之变化,影响用户使用云台的体验。
为了解决该技术问题,本发明的第一方面提供了另一种云台的控制方法,以实现当负载设备无法正常获取自身姿态信息时,能够根据轴臂组件的姿态信息相应调整负载设备的显示界面方向。
图5为本发明实施例提供的另一种云台的控制方法的流程示意图;
参考图5,本实施例提供了一种云台的控制方法,该云台包括轴臂组件,该轴臂组件用于搭载负载设备,该轴臂组件用于与负载设备相结合,包括至少一个轴臂以及控制轴臂转动的电机。
具体的,本实施例中的云台的控制方法可以包括以下步骤:
步骤S501:在轴臂组件安装有负载设备时,控制云台向负载设备发送轴臂组件的姿态信息,以使得负载设备根据轴臂组件的姿态信息调整负载设备的显示界面方向。
该步骤使手机能够在陀螺仪失效的情况下仍能根据外部云台的轴臂组件的姿态信息调整显示界面方向,提升了用户在使用云台过程中的用户体验。
具体的,可以控制云台获取轴臂电机的关节角信息,并将轴臂电机的关节角信息发送给手机,在手机接收到电机的关节角信息后,根据关节角信息调整显示界面的方向。若轴臂组件的姿态信息属于第一姿态范围,则发送轴臂的姿态信息以使得手机以第一方向显示显示界面。若轴臂组件的姿态信息属于第二姿态范围,则发送轴臂的姿态信息以使得手机以第二方向显示显示界面,
可以理解的是,第一方向与第二方向的朝向不同。具体而言,在一些实施例中,第一方向为横向而第二方向为纵向。在另一些实施例中,第一方向为纵向而第二方向为横向。
在一些实施例中,可以控制云台获取横滚电机的关节角信息,并将横滚电机的关节角信息发送给手机。若横滚电机的关节角属于第一姿态范围,则将手机显示界面方向调整为纵向,若横滚电机的关节角属于第二姿态范围,则将手机显示界面方向调整为横向。在另一些实施例中,若横滚电机的关节角属于第一姿态范围,则将手机显示界面方向调整为横向,若横滚电机的关节角属于第二姿态范围,则将手机显示界面方向调整为纵向。
一些情况下,用户在使用云台进行增稳拍摄过程中会因操作不当而导致云台支撑组件悬 空,在悬空状态下,云台的支撑组件会发生摆动从而有可能造成云台的损坏。
为此,本发明的第一方面还提供了一种云台的控制方法,能够避免云台在增稳过程中因支撑组件悬空而造成损坏。
图6为本发明实施例提供的一种云台的控制方法的流程示意图;
参考图6,本实施例提供了一种云台的控制方法,该云台包括轴臂组件,该轴臂组件用于搭载负载设备,该轴臂组件用于与负载设备相结合,包括至少一个轴臂以及控制轴臂转动的电机。
具体的本实施例中的云台的控制方法可以包括以下步骤:
步骤S601:在云台处于增稳模式的情况下,确定支撑组件是否悬空,其中,在增稳模式下,轴臂组件用于对负载设备进行增稳。若支撑组件悬空,则控制云台从增稳模式切换至保护模式,其中,在保护模式下,至少一个电机停止输出力矩。
该步骤能够在云台进行增稳的过程中,避免支撑组件因悬空而乱摆的情况发生,提升用户使用的便利性,同时避免云台因支撑组件乱摆而受到损坏。
具体的,支撑组件悬空可以是支撑组件未被握持或未被固定的状态。
具体地,可以通过不同的方法检测支撑组件是否悬空。在一些实施例中,可以控制与支撑组件连接的偏航电机持续输出力矩,设置在支撑组件上的陀螺仪检测到支撑组件发生乱摆,则判断支撑组件悬空。
在一些实施例中,若支撑组件悬空,则控制云台从增稳模式切换至保护模式,其中,保护模式下,电机停止输出力矩。
一些情况下,在云台处于保护模式下,用户需要重新握持或固定住支撑组件后而进行后续工作。因此,在一些实施例中,步骤S601后还包括步骤S602。步骤S602:在云台处于保护模式的情况下,响应于对云台的第一输入操作,确定支撑组件是否悬空。若支撑组件非悬空,则控制云台从保护模式切换至增稳模式。
具体地,第一输入操作可以是用户在云台上输入的操作。用户可以通过设置在支撑组件上的按键、摇杆、拨轮输入相关操作,响应于用户输入的操作,云台对支撑组件进行悬空检测。
具体地,第一输入操作可以是任何能够间接触发云台进行悬空检测的操作。如控制横滚轴臂转动的操作、控制俯仰轴臂转动的操作、控制偏航轴臂转动的操作等。在接收到上述输入操作后,先控制云台进行悬空检测,当检测到支撑组件非悬空后,控制云台切换至空载模式,随后再执行横滚轴臂转动、俯仰轴臂转动、偏航轴臂转动等具体操作。
当然的,第一输入操作也可以是直接指令云台进行悬空检测的操作。在接收到用户输入的上述操作后,云台对支撑组件进行悬空检测,当检测到支撑组件非悬空后,控制云台切换至增稳模式,等待用户后续输入其他的操作。
在一些情况下,用户在使用云台进行拍摄过程中,存在将负载设备如手机从轴臂组件上取下以进行其他操作后,又重新将负载设备安装到云台的轴臂组件上的需求。
为此,本发明的第一方面还提供了另一云台的控制方法,在拆下手机后,对云台的姿态进行控制,方便用户后续继续进行操作。
图7为本发明实施例提供的一种云台的控制方法的流程示意图;
参考图7,本实施例提供了一种云台的控制方法,该云台包括轴臂组件,该轴臂组件用于搭载负载设备,包括至少一个轴臂以及控制轴臂转动的电机。
具体的,本实施例中的云台的控制方法可以包括以下步骤:
步骤S701:在轴臂组件安装有负载设备的情况下,响应于负载设备从轴臂组件拆下时,控制至少一个电机转动以带动轴臂组件处于第三姿态。
具体的,第三姿态为轴臂组件在处于空载模式时所处于的一种姿态,若在轴臂组件处于第三姿态时将手机安装到轴臂组件上,手机的操作面会朝向用户。
在一些实施例中,在轴臂组件处于任何姿态下,当用户将手机从轴臂组件上取下后,可以控制云台电机输出力矩,带动云台轴臂转动,使得轴臂组件从手机拆下时的姿态转动到第三姿态。
在一些情况下,在用户将负载设备从云台上拆下时,又有在原来的云台姿态下继续使用云台进行拍摄的需求,为此,本发明的第一方面还提供了另一云台的控制方法,能够使云台姿态维持在负载拆下时的姿态,方便用户后续继续进行操作。
图8为本发明实施例提供的一种云台的控制方法的流程示意图;
参考图8,本实施例提供了一种云台的控制方法,该云台包括轴臂组件,该轴臂组件用于搭载负载设备,包括至少一个轴臂以及控制轴臂转动的电机。
具体的,本实施例中的云台的控制方法可以包括以下步骤:
步骤S801:在轴臂组件安装有负载设备的情况下,响应于负载设备从轴臂组件拆下时,对至少一个电机进行控制以使得轴臂组件处于第四姿态。
具体的,第四姿态为负载设备与轴臂组件相互分离时轴臂组件所处的姿态。在一些实施例中,可以控制云台记录将手机从轴臂组件上取下时电机所处的关节角,并控制电机输出力矩以保持在当前的关节角。
通常,负载设备需要通过一些转接件等负载安装件才能安装到云台的轴臂组件上,为了避免在负载安装件并未与负载设备结合的情况下就将负载安装件安装到云台上而对云台带来不良影响,一些情况下,需要对负载安装件并未与负载设备结合而已经安装到云台上的情况进行检测,并保护该情况下的云台。
为此,本发明的第一方面还提供了另一种云台的控制方法,以实现检测负载安装件是否与负载设备相结合。
图9为本发明实施例提供的另一种云台的控制方法的流程示意图;具体的,本实施例中的云台的控制方法可以包括以下步骤:
步骤S901:响应于负载安装件安装到轴臂组件时,控制至少一个电机输出第一力矩。其中,负载安装件能够分别与轴臂组件、负载设备相结合。若负载安装件发生转动,则控制 云台进入保护模式;若负载安装件未发生转动,则控制云台进入增稳模式。
第一力矩的大小等于或稍微大于驱动负载安装件转动的最小力矩。具体的,当负载安装件上安装有负载设备,同时负载安装件又与轴臂组件相结合时,对负载安装件施加第一力矩不足以使得负载安装件发生转动,此时电机关节角不发生变化,以此判断负载安装件上安装有负载设备。
通过该步骤,云台能够在负载安装件与轴臂组件结合的同时,检测到负载安装件是否与负载设备相结合,进而根据负载设备的实际安装情况选择云台自身的工作模式。
通常,在用户将负载设备从轴臂组件上拆下的过程中不可避免地会导致云台支撑组件悬空,在悬空状态下,云台的支撑组件会发生摆动从而有可能造成云台的损坏。
为此,本发明的第一方面提供了另外一种云台的控制方法,能够避免云台在负载设备拆下过程中造成的损坏。
图10为本发明实施例提供的另一种云台的控制方法的流程示意图;具体的,本实施例中的云台的控制方法可以包括以下步骤:
步骤S1001:在云台处于增稳模式的情况下,确定负载设备从轴臂组件拆下的过程中支撑组件是否悬空。
具体地,可以通过不同的方法检测支撑组件是否悬空。在一些实施例中,可以控制与支撑组件连接的偏航电机持续输出力矩,设置在支撑组件上的陀螺仪检测到支撑组件发生乱摆,则判断支撑组件悬空。
在一些实施例中,若支撑组件悬空,则控制云台从增稳模式切换至保护模式,其中,保护模式下,电机停止输出力矩。
在一些情况下,用户将负载设备从云台上拆下以后又重新握持住支撑组件,此时再对云台进行操作就不会损坏云台的结构,需要通过操作将云台恢复到正常的空载模式。
因此,在一些实施例中,步骤S1001后还包括步骤S1002。步骤S1002:在保护模式下,响应于对云台的第二输入操作,确定支撑组件是否悬空。若支撑部件仍悬空,则维持云台处于保护模式。若支撑组件非悬空,则控制云台从保护模式切换至空载模式。
具体地,第二输入操作可以是用户在云台上输入的操作。用户可以通过设置在支撑组件上的按键、摇杆、拨轮输入相关操作,响应于用户输入的操作,云台对支撑组件进行悬空检测。
具体地,第二输入操作可以是任何能够间接触发云台进行悬空检测的操作。如控制横滚轴臂转动的操作、控制俯仰轴臂转动的操作、控制偏航轴臂转动的操作等。在接收到上述输入操作后,先控制云台进行悬空检测,当检测到支撑组件非悬空后,控制云台切换至空载模式,随后再执行横滚轴臂转动、俯仰轴臂转动、偏航轴臂转动等具体操作。
当然的,第二输入操作也可以是直接指令云台进行悬空检测的操作。在接收到用户输入的上述操作后,云台对支撑组件进行悬空检测,当检测到支撑组件非悬空后,控制云台切换至空载模式,等待用户后续输入其他的操作。
本申请的第二方面提供了一种云台***的控制方法。
参考图11,本实施例提供了一种云台***的控制方法,该云台***包括云台和负载设备。该云台包括轴臂组件,该轴臂组件用于搭载负载设备,包括至少一个轴臂以及控制轴臂转动的电机。
具体的,本实施例中的云台***的控制方法可以包括以下步骤:
步骤S1101:在云台处于空载模式下,对至少一个电机进行控制,以使得轴臂组件处于第一姿态。
容易理解的是,空载模式下,轴臂组件上未搭载负载设备。通过一些方法,云台可以通过自动识别是否处于空载模式。在一些实施例中,可以通过设置检测装置来检测轴臂组件上是否安装有负载设备,如在轴臂组件上设置有检测装置以检测负载设备的安装情况,检测装置可以是红外传感器、微动开关、霍尔传感器等。在另一些实施例中,也可以通过驱动电机来检测轴臂组件上是否安装有负载设备。具体的,可以通过控制任一轴臂电机输出力矩,该力矩大小等于能使该轴臂转动的最小力矩,并记录该轴臂的转动情况,若该轴臂发生转动,则判断所述云台处于未安装负载设备的状态。
对于第一姿态,可以为用户为云台设定的轴臂组件的姿态,也可以为云台出厂时预设的姿态。
在一些实施例中,轴臂组件处于第一姿态时,用户能够直接安装负载设备,在另一些实施例中,云台开机后自动处于第一姿态。
需要说明的是,第一姿态为轴臂组件整体所处于的姿态,偏航轴臂、俯仰轴臂、横滚轴臂所处的位置共同决定了轴臂组件整体的姿态。
该步骤下,云台在空载模式下,轴臂组件能够稳定地处于第一姿态,而非处于自由转动状态,能够方便用户容易地去安装负载设备,或者调整到适合安装负载设备的姿态。
一些情况下,第一姿态并不总能满足用户安装负载设备的需求,负载设备的差异化如大小不同的负载设备,或者用户习惯的差异均有可能导致用户需要调整第一姿态从而满足自己安装需求。
因此,在步骤S1101之后本实施例的控制方法还包括步骤S1102:响应于对轴臂组件的推拉操作,对至少一个电机进行控制以使得当推拉操作从轴臂组件移除时,轴臂组件能够保持在当前姿态。
具体的,在一些实施例中,当云台处于空载模式下,且轴臂组件中的任一轴臂受到推拉操作时,根据该轴臂对应电机的实际关节角,获取当前的目标关节角;其中,实际关节角与推拉操作所到达的位置相对应。根据当前的关节目标关节角,对该轴臂电机进行控制,以此实现将轴臂组件保持在当前姿态的效果。
可以理解的是,当前姿态为推拉操作移除时,轴臂组件所处于的姿态。在一些实施例中,当前姿态包括推拉操作从轴臂组件移除时轴臂组件所处于的姿态以及该姿态的附近。
在一些实施例中,用户可以根据实际需求每次仅对轴臂组件中的某一个轴臂进行推拉操 作,具体地,用户可以对偏航轴臂施加推拉操作,控制偏航电机驱动偏航轴臂转动;控制俯仰电机使俯仰轴臂与偏航轴臂的相对位置保持不变;控制横滚电机使横滚轴臂与俯仰轴臂的相对位置保持不变。
在一些实施例中,用户也可以根据实际需求同时对至少两个轴臂进行推拉操作,具体地,用户同时对偏航轴臂与俯仰轴臂施加推拉操作,控制偏航电机驱动偏航轴臂转动以及俯仰电机驱动俯仰轴臂转动,控制横滚电机使横滚轴臂与偏航轴臂、俯仰轴臂的相对位置保持不变。
应该理解的是,用户需要对至少两个轴臂进行推拉操作时,也可以每次仅对一个轴臂进行推拉操作,在完成一次推拉操作后,对另外一个轴臂进行推拉操作,从而实现对至少两个轴臂进行推拉操作。
通过该步骤,用户能够依照自己的意愿对空载模式下的轴臂组件的姿态进行调整,且调整到位后,轴臂组件能够保持在当前姿态,用户无需用手扶持轴臂组件即可将负载设备安装到轴臂组件上。
本申请的第二方面还提供了另一种云台***的控制方法,简化了用户的拍摄准备过程。
参考图12,本实施例提供了一种云台***的控制方法。
具体的,本实施例中的云台的控制方法可以包括以下步骤:
步骤S1201:响应于负载设备安装到轴臂组件时,控制云台对外进行第一广播。
步骤S1202:控制负载设备基于所述第一广播对应的广播信息与云台建立第一通信连接的情况下,输出提示信息或直接显示应用程序的界面。
具体地,上述应用程序安装于在负载设备上,用于获取控制所述云台的指令,上述提示信息用于提示用户是否打开应用程序的界面。
通过该步骤,在用户将负载设备安装到云台上后,负载设备能够自动打开对应的应用程序,从而简化了用户在拍摄前的准备过程,提升了用户使用云台的体验。
在一些实施例中,第一广播可以为蓝牙低能耗(Bluetooth Low Energy)广播,第一通信连接为蓝牙低能耗(Bluetooth Low Energy)连接。
在一些实施例中,第一广播对应的广播信息包括云台的身份信息。在负载设备接收到第一广播后识别其中的身份信息以识别该云台,从而建立与云台的第一通信连接。
一些情况下,由于带宽等其他方面的限制,上述的第一通信连接可能并不适合发送指令或传输数据,需要在负载设备和云台之间建立其他通信连接,以方便用户能够更好地实现云台和负载之间的交互。
因此,在一些实施例中,步骤S1201后还包括步骤S1203和步骤S1204。
步骤S1203:响应于负载设备安装到轴臂组件时,控制云台对外进行第二广播。
步骤S1204:控制所述负载设备基于第二广播对应的广播信息与所述云台建立第二通信连接,所述第一通信连接不同于所述第二通信连接。
具体的,第二通信连接用于传输用户在负载设备上输入的控制云台的指令,如切换云台模式的指令、控制云台进行校准的指令等。或者,第二通信连接也可以用于传输用户在云台 上输入的控制负载设备的指令,如控制手机进行变焦的指令,控制手机进行拍摄的指令等。
在一些实施例中,当第一通信连接为蓝牙低能耗(Bluetooth Low Energy)连接时,第二通信连接为经典蓝牙(Classic Bluetooth)。
本发明的第二方面还提供了另一种云台***的控制方法,可以更好地帮助云台校准。
参考图13,本实施例提供了一种云台***的控制方法。
具体地,本实施例中的云台***的控制方法可以包括以下步骤:
步骤S1301:在轴臂组件安装有负载设备的情况下,响应于用户输入的校准指令,控制负载设备向云台发送负载设备的负载姿态信息。
具体的,负载姿态信息可以通过设置在负载设备上的惯性测量单元(IMU)检测得到。在一些实施例中,负载设备为手机,手机上设置有陀螺仪,手机可以通过陀螺仪获取手机的姿态信息并将该姿态信息发送给云台。在另外一些实施例中,手机上设置有加速度计,手机可以通过加速度计获取手机的姿态信息并将其发送给云台。
步骤S1302:控制云台接收负载姿态信息,并根据负载姿态信息控制云台进行第一校准。
通过上述步骤,云台可以直接利用负载设备的姿态信息对云台进行校准,从而解决了云台仅根据自身的姿态信息无法精确校准的问题。
在一些实施例中,第一校准对轴臂组件的姿态进行调整,以使得手机的重心与横滚电机的中心处于同一水平面上。
在另一些实施例中,第一校准对轴臂组件的姿态进行调整,以使得手机的重心与横滚电机的中心处于同一垂直于水平面的平面上。
在一些情况下,云台获取负载设备的负载姿态信息存在延迟,控制云台根据负载姿态信息进行校准耗费的时间较长,效率低下。
因此,在一些实施例中,步骤S1301之前还包括步骤S1303。步骤S1303:在根据负载姿态信息对云台进行第一校准之前,获取轴臂组件的姿态信息。并根据轴臂组件的姿态信息对云台进行第二校准。
该步骤能够保证校准精度的同时,缩短校准时间,提升用户的操作体验。
在一些实施例中,第二校准在较大范围内调整轴臂组件的姿态,第一校准在较小范围内调整轴臂组件的姿态,其中,第二校准过程中轴臂组件的转动幅度大于第一校准过程中轴臂组件的转动幅度。
本发明的第二方面提供了另一种云台***的控制方法,以实现当负载设备无法正常获取自身姿态信息时,能够根据轴臂组件的姿态信息相应调整负载设备的显示界面方向。
参考图14,本实施例提供了一种云台***的控制方法。
具体的,本实施例中的云台的控制方法可以包括以下步骤:
步骤S1401:在轴臂组件安装有负载设备时,控制云台向负载设备发送轴臂组件的姿态信息。
步骤S1402:控制负载设备接收轴臂组件的姿态信息,并根据轴臂组件的姿态信息控制 负载设备调整其显示界面方向。
上述步骤使手机能够在陀螺仪失效的情况下仍能根据外部云台的轴臂组件的姿态信息调整显示界面方向,提升了用户在使用云台过程中的用户体验。
具体的,可以控制云台获取轴臂电机的关节角信息,并将轴臂电机的关节角信息发送给手机,在手机接收到电机的关节角信息后,根据关节角信息调整显示界面的方向。若轴臂组件的姿态信息属于第一姿态范围,则发送轴臂的姿态信息以使得手机以第一方向显示显示界面。若轴臂组件的姿态信息属于第二姿态范围,则发送轴臂的姿态信息以使得手机以第二方向显示显示界面,
可以理解的是,第一方向与第二方向的朝向不同。具体而言,在一些实施例中,第一方向为横向而第二方向为纵向。在另一些实施例中,第一方向为纵向而第二方向为横向。
在一些实施例中,可以控制云台获取横滚电机的关节角信息,并将横滚电机的关节角信息发送给手机。若横滚电机的关节角属于第一姿态范围,则将手机显示界面方向调整为纵向,若横滚电机的关节角属于第二姿态范围,则将手机显示界面方向调整为横向。在另一些实施例中,若横滚电机的关节角属于第一姿态范围,则将手机显示界面方向调整为横向,若横滚电机的关节角属于第二姿态范围,则将手机显示界面方向调整为纵向。
本申请第三方面提供了一种云台,包括:轴臂组件,用于搭载负载设备,轴臂组件包括至少一个轴臂以及控制轴臂转动的电机。支撑组件,用于支撑轴臂组件。存储器,用于存储计算机程序。处理器,用于运行前述存储器中存储的计算机程序,以执行本申请中第一方面所记载的云台的控制方法。
同时,本申请第四方面提供了一种云台***,包括:云台,云台包括轴臂组件和支撑组件,轴臂组件包括至少一个轴臂以及控制轴臂转动的电机,支撑组件用于支撑轴臂组件。负载设备,能够搭载在轴臂组件上。存储器,用于存储计算机程序。处理器,用于运行前述存储器中存储的计算机程序,以执行本申请中第二方面所记载的云台的控制方法。
以上所述,仅为本申请的具体实施方式,但本申请的保护范围并不局限于此,任何熟悉本技术领域的技术人员在本申请揭露的技术范围内,可轻易想到各种等效的修改或替换,这些修改或替换都应涵盖在本申请的保护范围之内。因此,本申请的保护范围应以权利要求的保护范围为准。
Claims (64)
- 一种云台的控制方法,所述云台包括轴臂组件,所述轴臂组件用于搭载负载设备,所述轴臂组件包括至少一个轴臂以及控制所述轴臂转动的电机,其特征在于,所述控制方法包括:在所述云台处于空载模式下,对至少一个所述电机进行控制,以使得所述轴臂组件处于第一姿态;响应于对所述轴臂组件的推拉操作,对至少一个所述电机进行控制以使得当所述推拉操作从所述轴臂组件移除时,所述轴臂组件能够保持在当前姿态;其中,所述当前姿态是指所述推拉操作从所述轴臂组件移除时,所述轴臂组件所处的姿态。
- 如权利要求1所述的方法,其特征在于,所述方法还包括:响应于所述负载设备安装到所述轴臂组件时,控制至少一个所述电机输出力矩,以使得所述轴臂组件处于第二姿态;其中,在所述轴臂组件处于所述第二姿态的情况下,所述负载设备的镜头光轴平行于水平面,且所述负载设备的操作面朝向用户。
- 如权利要求2所述的方法,其特征在于,所述方法还包括:在所述轴臂组件处于所述第二姿态的情况下,控制所述云台进入增稳模式以使得所述轴臂组件对所述负载设备进行增稳。
- 如权利要求1所述的方法,其特征在于,所述方法还包括:响应于所述负载设备安装到所述轴臂组件时,控制所述云台对外进行第一广播,以使得所述负载设备基于所述第一广播对应的广播信息与所述云台建立第一通信连接的情况下,输出提示信息或直接显示应用程序的界面;其中,所述应用程序安装于所述负载设备,用于获取用户控制所述云台的指令,所述提示信息用于提示用户是否打开所述应用程序的界面。
- 如权利要求4所述的方法,其特征在于:所述广播信息包括所述云台的身份信息,以使得所述负载设备识别所述云台。
- 如权利要求4所述的方法,其特征在于,所述方法还包括:响应于所述负载设备安装到所述轴臂组件时,控制所述云台对外进行第二广播,以使得所述负载设备基于第二广播对应的广播信息与所述云台建立第二通信连接,所述第一通信连接不同于所述第二通信连接;其中,所述第二通信连接用于传输基于所述负载设备输入的控制所述云台的指令或基于所述云台上输的控制所述负载设备的指令。
- 如权利要求1所述的方法,其特征在于,所述方法还包括:在所述轴臂组件安装有所述负载设备的情况下,响应于用户输入的校准指令,获取所述负载设备的负载姿态信息,并;根据所述负载姿态信息控制所述云台进行第一校准,其中,所述负载姿态信息由设置在于所述负载设备的传感器测得。
- 如权利要求7所述的方法,其特征在于,在所述根据所述负载姿态信息对所述云台进行第一校准之前,所述方法还包括:获取所述轴臂组件的姿态信息,并根据所述轴臂组件的姿态信息对所述云台进行第二校准;其中,所述第二校准过程中所述轴臂组件的转动幅度大于所述第一校准过程中所述轴臂组件的转动幅度。
- 如权利要求1所述的方法,其特征在于,所述方法还包括:在所述轴臂组件安装有所述负载设备的情况下,控制所述云台向所述负载设备发送所述轴臂组件的姿态信息,以使得所述负载设备根据所述轴臂组件的姿态信息调整所述负载设备的显示界面方向。
- 如权利要求9所述的方法,其特征在于,包括:若所述轴臂组件的姿态信息属于第一姿态范围,则发送所述轴臂的姿态信息以使得所述负载设备以第一方向显示显示界面;和/或若所述轴臂组件的姿态信息属于第二姿态范围,则所述轴臂的姿态信息用于使得所述负载设备以第二方向显示显示界面,其中,所述第一方向与所述第二方向的朝向不同。
- 如权利要求10所述的方法,其特征在于,所述第一方向为纵向,所述第二方向为横向;或,所述第一方向为横向,所述第二方向为纵向。
- 如权利要求1所述的方法,其特征在于,所述云台设置有支撑组件,所述支撑组件用于支撑所述轴臂组件,所述方法还包括:在所述云台处于增稳模式的情况下,确定所述支撑组件是否悬空,其中,在所述增稳模式下,所述轴臂组件用于对所述负载设备进行增稳;若所述支撑组件悬空,则控制所述云台从所述增稳模式切换至保护模式,其中,在所述保护模式下,至少一个所述电机停止输出力矩。
- 如权利要求12所述的方法,其特征在于,所述方法还包括:在所述云台处于所述保护模式的情况下,响应于对所述云台的第一输入操作,确定所述支撑组件是否悬空;若所述支撑组件仍悬空,则维持所述云台处于所述保护模式。
- 如权利要求12或13所述的方法,其特征在于,所述方法还包括:在所述云台处于保护模式的情况下,响应于对所述云台的第一输入操作,确定对所述支撑组件是否悬空;若所述支撑组件非悬空,则控制所述云台从所述保护模式切换至所述增稳模式。
- 如权利要求1所述的方法,其特征在于,所述方法还包括:在所述轴臂组件安装有所述负载设备的情况下,响应于所述负载设备从所述轴臂组件拆下时,控制至少一个所述电机转动以带动所述轴臂组件处于第三姿态;其中,在所述轴臂组件处于第三姿态的情况下,若将所述负载设备安装到所述轴臂组件,所述负载设备的操作面朝向用户。
- 如权利要求1所述的方法,其特征在于,所述方法还包括:在所述轴臂组件安装有所述负载设备的情况下,响应于所述负载设备从所述轴臂组件拆下时,对至少一个所述电机进行控制以使得所述轴臂组件处于第四姿态;其中,所述第四姿态为所述负载设备与所述轴臂组件相互分离时所述轴臂组件所处的姿态。
- 如权利要求1所述的方法,其特征在于,所述云台设置有支撑组件,所述支撑组件用于支撑所述轴臂组件,所述方法还包括:在所述云台处于增稳模式的情况下,确定所述负载设备从所述轴臂组件拆下的过程中所述支撑组件是否悬空,其中,在所述增稳模式下,所述轴臂组件用于对所述负载设备进行增稳;若所述支撑组件悬空,则控制所述云台从所述增稳模式切换至保护模式,在其中,所述保护模式下,所述电机停止输出力矩。
- 如权利要求17所述的方法,其特征在于,所述方法还包括:在所述保护模式下,响应于对所述云台的第二输入操作,确定所述支撑组件是否悬空;若所述支撑部件仍悬空,则维持所述云台处于所述保护模式。
- 如权利要求17所述的方法,其特征在于,所述方法还包括:在所述保护模式下,响应于对所述云台的第二输入操作,确定支撑组件是否悬空;若所述支撑组件非悬空,则控制所述云台从所述保护模式切换至所述空载模式。
- 如权利要求1所述的方法,其特征在于,所述方法还包括:响应于负载安装件安装到所述轴臂组件,确定所述负载安装件与负载设备的结合状态,其中,所述负载安装件能够分别与所述轴臂组件、所述负载设备相结合;其中:若所述负载安装件并未与所述负载设备相结合,则控制所述云台切换至保护模式,其中,在所述保护模式下,所述电机停止输出力矩;和/或,若所述负载安装件与所述负载设备相结合,则控制所述云台切换至增稳模式,以使得所述轴臂组件对所述负载设备进行增稳。
- 如权利要求1所述的方法,其特征在于,所述方法还包括:响应于负载安装件安装到所述轴臂组件时,控制至少一个所述电机输出第一力矩,其中,所述负载安装件能够分别与所述轴臂组件、所述负载设备相结合;其中:若所述负载安装件发生转动,则控制所述云台进入保护模式;和/或,若所述负载安装件未发生转动,则控制所述云台进入增稳模式。
- 如权利要求21所述的方法,其特征在于,所述第一力矩的大小等于驱动所述负载安装件转动的最小力矩。
- 一种云台的控制方法,所述云台包括轴臂组件,所述轴臂组件用于搭载负载设备,所述轴臂组件包括至少一个轴臂以及控制所述轴臂转动的电机,其特征在于,所述控制方法包括:响应于所述负载设备安装到所述轴臂组件时,控制所述云台对外进行第一广播,以使得所述负载设备基于所述第一广播对应的广播信息与所述云台建立第一通信的情况下,输出提示信息或直接显示应用程序的界面;其中,所述应用程序安装于所述负载设备,用于获取控制所述云台的指令,所述提示信息用于提示用户是否打开所述应用程序的界面。
- 如权利要求23所述的方法,其特征在于:所述广播信息包括所述云台的身份信息,以使得所述负载设备识别所述云台。
- 如权利要求23所述的方法,其特征在于,所述方法还包括:响应于所述负载设备安装到所述轴臂组件时,控制所述云台对外进行第二广播,以使得所述负载设备基于第二广播对应的广播信息与所述云台建立第二通信连接,所述第一通信连接不同于所述第二通信连接;其中,所述第二通信连接用于传输基于所述负载设备输入的控制所述云台的指令或基于所述云台输入的控制所述负载设备的指令。
- 一种云台的控制方法,所述云台包括轴臂组件,所述轴臂组件用于搭载负载设备,所述轴臂组件包括至少一个轴臂以及控制所述轴臂转动的电机,其特征在于,所述控制方法包括:在所述轴臂组件安装有所述负载设备的情况下,响应于用户输入的校准指令,获取所述负载设备的负载姿态信息,并;根据所述负载姿态信息控制所述云台进行第一校准,其中,所述负载姿态信息由设置于所述负载设备的传感器测得。
- 如权利要求26所述的方法,其特征在于,在所述根据所述负载姿态信息对所述云台进行第一校准之前,所述方法还包括:获取所述轴臂组件的姿态信息,并根据所述轴臂组件的姿态信息对所述云台进行第二校准;其中,所述第二校准过程中所述轴臂组件的转动幅度大于所述第一校准过程中所述轴臂组件的转动幅度。
- 一种云台的控制方法,所述云台包括轴臂组件,所述轴臂组件用于搭载负载设备,所述轴臂组件包括至少一个轴臂以及控制所述轴臂转动的电机,其特征在于,所述控制方法包括:在所述轴臂组件安装有所述负载设备时,控制所述云台向所述负载设备发送所述轴臂组件的姿态信息,以使得所述负载设备根据所述轴臂组件的姿态信息调整所述负载设备的显示 界面方向。
- 如权利要求28所述的方法,其特征在于,包括:若所述轴臂组件的姿态信息属于第一姿态范围,则所述轴臂的姿态信息用于使得所述负载设备以第一方向显示显示界面;和/或若所述轴臂组件的姿态信息属于第二姿态范围,则所述轴臂的姿态信息用于使得所述负载设备以第二方向显示显示界面,其中,所述第一方向与所述第二方向的朝向不同。
- 如权利要求29所述的方法,其特征在于:所述第一方向为纵向,所述第二方向为横向;或所述第一方向为横向,所述第二方向为纵向。
- 一种云台***的控制方法,所述云台***包括云台和负载设备,所述云台包括轴臂组件,所述轴臂组件用于搭载负载设备,所述轴臂组件包括至少一个轴臂以及控制所述轴臂转动的电机,其特征在于,所述控制方法包括:在所述云台处于空载模式下,对至少一个所述电机进行控制,以使得所述轴臂组件处于第一姿态;响应于对所述轴臂组件的推拉操作,对至少一个所述电机进行控制以使得当所述推拉操作从所述轴臂组件移除时,所述轴臂组件能够保持在当前姿态;其中,所述当前姿态是指所述推拉操作从所述轴臂组件移除时,所述轴臂组件所处的姿态。
- 如权利要求31所述的方法,其特征在于,所述方法还包括:响应于所述负载设备安装到所述轴臂组件时,控制至少一个所述电机输出力矩,以使得所述轴臂组件处于第二姿态;其中,在所述轴臂组件处于所述第二姿态的情况下,所述负载设备的镜头光轴平行于水平面,且所述负载设备的操作面朝向用户。
- 如权利要求32所述的方法,其特征在于,所述方法还包括:在所述轴臂组件处于所述第二姿态的情况下,控制所述云台进入增稳模式以使得所述轴臂组件对所述负载设备进行增稳。
- 如权利要求31所述的方法,其特征在于,所述方法还包括:响应于所述负载设备安装到所述轴臂组件时,控制所述云台对外进行第一广播;控制所述负载设备基于所述第一广播对应的广播信息与所述云台建立第一通信连接的情况下,输出提示信息或直接显示应用程序的界面;其中,所述应用程序安装于所述负载设备,用于获取控制所述云台的指令,所述提示信息的内容用于提示用户是否打开所述应用程序的界面。
- 如权利要求34所述的方法,其特征在于,所述广播信息包括所述云台的身份信息,所述负载设备基于所述广播信息识别所述云台。
- 如权利要求34所述的方法,其特征在于,所述方法还包括:响应于所述负载设备安装到所述轴臂组件时,控制所述云台对外进行第二广播;控制所述负载设备基于第二广播对应的广播信息与所述云台建立第二通信连接,所述第一通信连接不同于所述第二通信连接;其中,所述第二通信连接用于传输基于所述负载设备输入的控制所述云台的指令或基于所述云台输入的控制所述负载设备的指令。
- 如权利要求31所述的方法,其特征在于,所述方法还包括:在所述轴臂组件安装有所述负载设备的情况下,响应于用户输入的校准指令,控制所述负载设备向所述云台发送所述负载设备的负载姿态信息,其中,所述负载姿态信息由设置于所述负载设备的传感器测得;控制所述云台接收所述负载姿态信息,并根据所述负载姿态信息控制所述云台进行第一校准。
- 如权利要求37所述的方法,其特征在于,在所述根据所述负载姿态信息对所述云台进行第一校准之前,所述方法还包括:控制所述云台获取所述轴臂组件的姿态信息,并根据所述轴臂组件的姿态信息对所述云台进行第二校准;其中,所述第二校准过程中所述轴臂组件的转动幅度大于所述第一校准过程中所述轴臂组件的转动幅度。
- 如权利要求31所述的方法,其特征在于,所述方法还包括:在所述轴臂组件安装有所述负载设备的情况下,控制所述云台向所述负载设备发送所述轴臂组件的姿态信息;控制所述负载设备接收所述轴臂组件的姿态信息,并根据所述轴臂组件的姿态信息控制所述负载设备调整其显示界面方向。
- 如权利要求39所述的方法,其特征在于,若所述轴臂组件的姿态信息属于第一姿态范围,则所述负载设备根据所述轴臂组件的姿态信息以第一方向显示显示界面;和/或若所述轴臂组件的姿态信息属于第二姿态范围,则所述负载设备根据所述轴臂组件的姿态信息以第二方向显示显示界面,其中,所述第一方向与所述第二方向的朝向不同。
- 如权利要求40所述的方法,其特征在于,所述第一方向为纵向,所述第二方向为横向;或,所述第一方向为横向,所述第二方向为纵向。
- 如权利要求39所述的方法,其特征在于,在根据所述轴臂组件的姿态信息控制所述负载设备调整其显示界面方向之前,所述方法还包括:控制所述负载设备获取所述负载设备的负载姿态信息;若所述负载设备无法获取所述负载姿态信息,则控制所述负载设备获取所述轴臂组件的姿态信息,并根据所述轴臂组件的姿态信息控制所述负载设备调整其显示界面方向;和/或,若所述负载设备获取到所述负载姿态信息,则控制所述负载设备根据所述负载姿态信息控制所述负载设备调整其显示界面方向。
- 如权利要求31所述的方法,其特征在于,所述云台设置有支撑组件,所述支撑组件用于支撑所述轴臂组件,所述方法还包括:在所述云台处于增稳模式的情况下,控确定所述支撑组件是否悬空,其中,在所述增稳模式下,所述轴臂组件用于对所述负载设备进行增稳;若所述支撑组件悬空,则控制所述云台从所述增稳模式切换至保护模式,其中,在所述保护模式下,至少一个所述电机停止输出力矩。
- 如权利要求43所述的方法,其特征在于,所述方法还包括:在所述云台处于所述保护模式的情况下,响应于对所述云台的第一输入操作,确定所述支撑组件是否悬空;若所述支撑组件仍悬空,则维持所述云台处于所述保护模式。
- 如权利要求43或44所述的方法,其特征在于,还包括:在所述云台处于保护模式的情况下,响应于对所述云台的第一输入操作,确定所述支撑组件是否悬空;若所述支撑组件非悬空,则控制所述云台从所述保护模式切换至所述增稳模式。
- 如权利要求31所述的方法,其特征在于,所述方法还包括:在所述轴臂组件安装有所述负载设备的情况下,响应于所述负载设备从所述轴臂组件拆下时,控制至少一个所述电机转动以带动所述轴臂组件处于第三姿态;其中,在所述轴臂组件处于第三姿态的情况下,若将所述负载设备安装到所述轴臂组件上,所述负载设备的操作面朝向用户。
- 如权利要求31所述的方法,其特征在于,所述方法还包括:在所述轴臂组件安装有所述负载设备的情况下,响应于所述负载设备从所述轴臂组件拆下时,对至少一个所述电机进行控制以使得所述轴臂组件处于第四姿态;其中,所述第四姿态为所述负载设备与所述轴臂组件相互分离时所述轴臂组件所处的姿态。
- 如权利要求31所述的方法,其特征在于,所述云台设置有支撑组件,所述支撑组件用于支撑所述轴臂组件,所述方法还包括:在所述云台处于增稳模式的情况下,确定所述负载设备从所述轴臂组件拆下的过程中所述支撑组件是否悬空,其中,在所述增稳模式下,所述轴臂组件用于对所述负载设备进行增稳;若所述支撑组件悬空,则控制所述云台从所述增稳模式切换至保护模式,其中,在所述保护模式下,所述电机停止输出力矩。
- 如权利要求48所述的方法,其特征在于,所述方法还包括:在保护模式下,响应于对所述云台的第二输入操作,确定所述支撑组件是否悬空;若所述支撑部件仍悬空,则维持所述云台处于所述保护模式。
- 如权利要求48所述的方法,其特征在于,所述方法还包括:在所述保护模式下,响应于对所述云台的第二输入操作,确定对所述支撑组件是否悬空;若所述支撑组件非悬空,则控制所述云台从所述保护模式切换至所述空载模式。
- 如权利要求31所述的方法,其特征在于,所述方法还包括:响应于负载安装件安装到所述轴臂组件上时,确定所述负载安装件与负载设备的结合状态,其中,所述负载安装件能够分别与所述轴臂组件、所述负载设备相结合;其中:若所述负载安装件并未与所述负载设备相结合,则控制所述云台切换至保护模式,其中,在所述保护模式下,所述电机停止输出力矩;和/或,若所述负载安装件与所述负载设备相结合,则控制所述云台切换至增稳模式,以使得所述轴臂组件对所述负载设备进行增稳。
- 如权利要求31所述的方法,其特征在于,所述方法还包括:响应于负载安装件安装到所述轴臂组件时,控制至少一个所述电机输出第一力矩,其中,所述负载安装件能够分别与所述轴臂组件、所述负载设备相结合;其中:若所述负载安装件发生转动,则控制所述云台进入保护模式;和/或,若所述负载安装件未发生转动,则控制所述云台进入增稳模式。
- 如权利要求52所述的方法,其特征在于,所述第一力矩的大小等于驱动所述负载安装件转动的最小力矩。
- 一种云台***的控制方法,所述云台***包括云台和负载设备,所述云台包括轴臂组件,所述轴臂组件用于搭载负载设备,所述轴臂组件包括至少一个轴臂以及控制所述轴臂转动的电机,其特征在于,所述控制方法包括:响应于所述负载设备安装到所述轴臂组件时,控制所述云台对外进行第一广播;控制所述负载设备基于所述第一广播对应的广播信息与所述云台建立第一通信连接的情况下,输出提示信息或直接显示应用程序的界面;其中,所述应用程序安装于所述负载设备,用于获取控制所述云台的指令,所述提示信息的内容用于提示用户是否打开所述应用程序的界面。
- 如权利要求54所述的方法,其特征在于,所述广播信息包括所述云台的身份信息,所述负载设备基于所述广播信息识别所述云台。
- 如权利要求54所述的方法,其特征在于,所述方法还包括:响应于所述负载设备安装到所述轴臂组件时,控制所述云台对外进行第二广播;控制所述负载设备基于第二广播对应的广播信息与所述云台建立第二通信连接,所述第一通信连接不同于所述第二通信连接;其中,所述第二通信连接用于传输基于所述负载设备输入的控制所述云台的指令或基于所述云台输入的控制所述负载设备的指令。
- 一种云台***的控制方法,所述云台***包括云台和负载设备,所述云台包括轴臂 组件,所述轴臂组件用于搭载负载设备,所述轴臂组件包括至少一个轴臂以及控制所述轴臂转动的电机,其特征在于,所述控制方法包括:在所述轴臂组件安装有所述负载设备的情况下,响应于用户输入的校准指令,控制所述负载设备向所述云台发送所述负载设备的负载姿态信息,其中,所述负载姿态信息由设置于所述负载设备的传感器测得;控制所述云台接收所述负载姿态信息,并根据所述负载姿态信息控制所述云台进行第一校准。
- 如权利要求57所述的方法,其特征在于,在所述根据所述负载姿态信息对所述云台进行第一校准之前,所述方法还包括:控制所述云台获取所述轴臂组件的姿态信息,并根据所述轴臂组件的姿态信息对所述云台进行第二校准;其中,所述第二校准过程中所述轴臂组件的转动幅度大于所述第一校准过程中所述轴臂组件的转动幅度。
- 一种云台***的控制方法,所述云台***包括云台和负载设备,所述云台包括轴臂组件,所述轴臂组件用于搭载负载设备,所述轴臂组件包括至少一个轴臂以及控制所述轴臂转动的电机,其特征在于,所述控制方法包括:在所述轴臂组件安装有所述负载设备的情况下,控制所述云台向所述负载设备发送所述轴臂组件的姿态信息;控制所述负载设备接收所述轴臂组件的姿态信息,并根据所述轴臂组件的姿态信息控制所述负载设备调整其显示界面方向。
- 如权利要求59所述的方法,其特征在于,若所述轴臂组件的姿态信息属于第一姿态范围,则所述负载设备根据所述轴臂组件的姿态信息以第一方向显示显示界面;和/或,若所述轴臂组件的姿态信息属于第二姿态范围,则所述负载设备根据所述轴臂组件的姿态信息以第二方向显示显示界面,其中,所述第一方向与所述第二方向的朝向不同。
- 如权利要求60所述的方法,其特征在于,所述第一方向为纵向,所述第二方向为横向;或,所述第一方向为横向,所述第二方向为纵向。
- 如权利要求59所述的方法,其特征在于,所述方法还包括:在根据所述轴臂组件的姿态信息控制所述负载设备调整其显示界面方向之前,控制所述负载设备获取所述负载设备的负载姿态信息;若所述负载设备无法获取所述负载姿态信息,则控制所述负载设备接收所述轴臂组件的姿态信息,并根据所述轴臂组件的姿态信息控制所述负载设备调整其显示界面方向;和/或,若所述负载设备获取到所述负载姿态信息,则控制所述负载设备不根据所述负载姿态信息控制所述负载设备调整其显示界面方向。
- 一种云台,其特征在于,包括:轴臂组件,所述轴臂组件用于搭载负载设备,所述轴臂组件包括至少一个轴臂以及控制所述轴臂转动的电机;支撑组件,所述支撑组件用于支撑所述轴臂组件;存储器,所述存储器用于存储计算机程序;处理器,所述处理器用于运行所述存储器中存储的计算机程序以执行权利要求1-30任意一项所记载的控制方法。
- 一种云台***,其特征在于,包括:云台,所述云台包括轴臂组件与支撑组件,所述轴臂组件包括至少一个轴臂以及控制所述轴臂转动的电机,所述支撑组件用于支撑所述轴臂组件;负载设备,所述负载设备能够搭载在所述轴臂组件上;存储器,所述存储器用于存储计算机程序;处理器,所述处理器用于运行所述存储器中存储的计算机程序以执行权利要求31-62任意一项所记载的控制方法。
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