CN109154836A - Control method, control equipment and the holder of holder - Google Patents

Abstract

Disclose a kind of control method of holder (30), comprising: obtain the rotational parameters information of at least one rolled round (21,22)；Rotational parameters information is sent to holder (30), so that holder (30) adjusts the posture of holder (30) according to rotational parameters information.This method obtains at least one rolled round (21 thereon by control equipment (20), 22) rotational parameters information, and by rolled round (21, 22) rotational parameters information is sent to holder (30), so that holder (30) is according to rolled round (21, 22) posture of rotational parameters information adjustment holder (30), due to rolled round (21, 22) angular speed or angle value accurately can be controlled or be calculated, then according to rolled round (21, 22) when angular speed or angle value adjusts the posture of holder (30), the control precision of holder (30) posture can be improved.Also disclose a kind of control equipment and holder (30).

Description

Control method, control equipment and the holder of holder

Technical field

The present embodiments relate to unmanned plane field more particularly to a kind of control methods of holder, control equipment and holder.

Background technique

When capture apparatus is mounted in hand-held holder in the prior art, the picture that hand-held holder can be such that capture apparatus shoots is steady Fixed, in addition, hand-held holder is provided with three spindle motors, three spindle motors are used to control the attitude angle such as course angle of capture apparatus, bow The elevation angle, roll angle.

Gesture stability can be carried out according to user demand by holding holder in the prior art, but according to the appearance of user demand realization It is lower that state controls precision.

Summary of the invention

The embodiment of the present invention provides the control method, control equipment and holder of a kind of holder, to improve the control of holder posture Precision processed.

The first aspect of the embodiment of the present invention is to provide a kind of control method of holder, is applied to control equipment, the control Control equipment is provided at least one rolled round, which comprises

Obtain the rotational parameters information of at least one rolled round；

The rotational parameters information is sent to holder, so that the holder adjusts the cloud according to the rotational parameters information The posture of platform.

The second aspect of the embodiment of the present invention is to provide a kind of control method of holder, is applied to control equipment, the control Control equipment is provided at least one rolled round, which comprises

In memory by the history rotational parameters information storage of at least one rolled round；

The history rotational parameters information of at least one rolled round of the storage is sent to the holder, so that the holder The posture of the holder is adjusted according to the history rotational parameters information of at least one rolled round.

The third aspect of the embodiment of the present invention is to provide a kind of control method of holder, is applied to holder, the method packet It includes:

The rotational parameters information of at least one rolled round in the control equipment that receiving control apparatus is sent；

The posture of the holder is adjusted according to the rotational parameters information.

The fourth aspect of the embodiment of the present invention is to provide a kind of control method of holder, is applied to holder, the method packet It includes:

Receive the history rotational parameters information of at least one rolled round in the control equipment that the control equipment is sent；

The posture of the holder is adjusted according to the history rotational parameters information of at least one rolled round.

5th aspect of the embodiment of the present invention is to provide a kind of control equipment, includes: at least applied to rolled round control equipment One rolled round, processor, communication interface；

The processor is used to obtain the rotational parameters information of at least one rolled round；

The communication interface is used to send the rotational parameters information to holder, so that the holder is joined according to the rotation Number information adjusts the posture of the holder.

6th aspect of the embodiment of the present invention is to provide a kind of control equipment, is applied to rolled round and controls equipment, comprising: at least One rolled round, communication interface, processor；

The processor is used for the history rotational parameters information storage of at least one rolled round in memory；

The communication interface is used to for the history rotational parameters information of at least one rolled round of the storage being sent to described Holder, so that the holder adjusts the posture of the holder according to the history rotational parameters information of at least one rolled round.

7th aspect of the embodiment of the present invention is to provide a kind of holder, comprising: communication interface, processor；

The rotation ginseng of at least one rolled round in the control equipment that the communication interface is sent for receiving control apparatus Number information；

The processor is used to adjust the posture of the holder according to the rotational parameters information.

The eighth aspect of the embodiment of the present invention is to provide a kind of holder, comprising: communication interface, processor；

At least one rolled round goes through in the control equipment of the communication interface for receiving the control equipment transmission History rotational parameters information；

The processor is used to adjust the appearance of the holder according to the history rotational parameters information of at least one rolled round State.

Control method, control equipment and the holder of holder provided in this embodiment, are obtained thereon at least by control equipment The rotational parameters information of one rolled round, and the rotational parameters information of rolled round is sent to holder, so that holder turns according to rolled round The posture of dynamic parameter information adjustment holder, since the angular speed or angle value of rolled round can be accurately controlled or calculate, then basis When the posture of angular speed or angle value the adjustment holder of rolled round, the control precision of holder posture can be improved.

Detailed description of the invention

To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment Attached drawing is briefly described, it should be apparent that, drawings in the following description are some embodiments of the invention, for this For the those of ordinary skill of field, without any creative labor, it can also be obtained according to these attached drawings other Attached drawing.

Fig. 1 is the flow chart of the control method of holder provided in an embodiment of the present invention；

Fig. 2 is the structural schematic diagram of control equipment provided in an embodiment of the present invention；

Fig. 3 is the structural schematic diagram of holder provided in an embodiment of the present invention；

Fig. 4 be another embodiment of the present invention provides holder control method flow chart；

Fig. 5 be another embodiment of the present invention provides holder control method flow chart；

Fig. 6 is the schematic diagram of three axis of holder provided in an embodiment of the present invention；

Fig. 7 is the schematic diagram of the pitch angle of holder provided in an embodiment of the present invention；

Fig. 8 is the schematic diagram of the pitch angle of holder provided in an embodiment of the present invention；

Fig. 9 is the schematic diagram of the yaw angle of holder provided in an embodiment of the present invention；

Figure 10 is the schematic diagram of the yaw angle of holder provided in an embodiment of the present invention；

Figure 11 be another embodiment of the present invention provides holder control method flow chart；

Figure 12 be another embodiment of the present invention provides holder control method flow chart；

Figure 13 be another embodiment of the present invention provides holder control method flow chart；

Figure 14 be another embodiment of the present invention provides holder control method flow chart；

Figure 15 be another embodiment of the present invention provides holder control method flow chart；

Figure 16 be another embodiment of the present invention provides holder control method flow chart；

Figure 17 be another embodiment of the present invention provides holder control method flow chart；

Figure 18 is the flow chart of the control method of holder provided in an embodiment of the present invention；

Figure 19 be another embodiment of the present invention provides holder control method flow chart；

Figure 20 be another embodiment of the present invention provides holder control method flow chart；

Figure 21 be another embodiment of the present invention provides holder control method flow chart；

Figure 22 be another embodiment of the present invention provides holder control method flow chart；

Figure 23 be another embodiment of the present invention provides holder control method flow chart；

Figure 24 be another embodiment of the present invention provides holder control method flow chart；

Figure 25 be another embodiment of the present invention provides holder control method flow chart；

Figure 26 is the structure chart of control equipment provided in an embodiment of the present invention；

Figure 27 is the structure chart of holder provided in an embodiment of the present invention.

Appended drawing reference:

20- controls equipment 21- rolled round 22- rolled round

23- monitor 24- angle adjusting mechanism 25-GCU screen

26- battery 30- holder 31-Pitch spindle motor

32-Roll spindle motor 33-Yaw spindle motor 34- holder pedestal

35-Yaw axis armshaft 36- video camera fixed mechanism 37-Pitch axis armshaft

38-Roll axis armshaft 39- video camera 60- holder

260- controls at least one rolled round of equipment 261- 262- processor

263- communication interface 270- holder

271- communication interface 272- processor

Specific embodiment

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention is clearly retouched It states, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the present invention In embodiment, every other implementation obtained by those of ordinary skill in the art without making creative efforts Example, shall fall within the protection scope of the present invention.

It should be noted that it can be directly on another component when component is referred to as " being fixed on " another component Or there may also be components placed in the middle.When a component is considered as " connection " another component, it, which can be, is directly connected to To another component or it may be simultaneously present component placed in the middle.

Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more phases Any and all combinations of the listed item of pass.

With reference to the accompanying drawing, it elaborates to some embodiments of the present invention.In the absence of conflict, following Feature in embodiment and embodiment can be combined with each other.

The embodiment of the present invention provides a kind of control method of holder.Fig. 1 is the control of holder provided in an embodiment of the present invention The flow chart of method.In the present embodiment, holder specifically can be hand-held holder, wherein the holder can for two axle The Cloud Terraces or Three axis holder of person.As shown in Figure 1, the method in the present embodiment, may include:

Step S101, the rotational parameters information of at least one rolled round described in acquisition.

The control method of holder described in the present embodiment is applied to control equipment, and the control equipment is provided at least one Rolled round.Fig. 2 is the structural schematic diagram of control equipment provided in an embodiment of the present invention.As indicated with 2, control equipment 20 specifically can be Rolled round controls equipment, and optionally, there are two rolled round such as rolled rounds 21 and rolled round 22 for the setting of control equipment 20, only schematic herein Illustrate, do not limit the number of rolled round in control equipment, in other embodiments, control equipment 20 is also provided with three and shakes Wheel.In addition, control equipment 20 further includes monitor 23, angle adjusting mechanism 24, GCU screen 25 and battery 26.

In the present embodiment, control equipment 20 can control the posture of holder, and Fig. 3 is holder provided in an embodiment of the present invention Structural schematic diagram.As shown in figure 3, holder 30 includes Pitch spindle motor 31, Roll spindle motor 32, Yaw spindle motor 33, holder Pedestal 34, Yaw axis armshaft 35, video camera fixed mechanism 36, Pitch axis armshaft 37, Roll axis armshaft 38, video camera 39, wherein It include inertial measurement component (Inertial Measurement Unit, abbreviation IMU) in video camera fixed mechanism 36, IMU is used for Detect the posture of video camera 39.

As shown in Fig. 2, user can control the posture of holder 30 by the rolled round of rotation control equipment 20, for example, with Family can rotate counterclockwise or clockwise rolled round 21, the rolled round that can also rotate counterclockwise or clockwise 22.User can individually turn Shake wheel 21 or rolled round 22, rolled round 21 and rolled round 22 can also be rotated simultaneously.Rolled round 21 can be used for controlling holder 30 yaw angle, Rolled round 22 can be used for controlling the pitch angle of holder 30；Alternatively, rolled round 21 can be used for controlling the pitch angle of holder 30, rolled round 22 can be used In the yaw angle of control holder 30, only schematically illustrates herein, do not limit the specific appearance of the controllable holder of each rolled round State angle.

Specifically, control equipment 20 can obtain the rotational parameters information of rolled round 21, optional when user rotates rolled round 21 , the rotational parameters information includes following at least one: angle value, angular speed.That is, when user rotates rolled round 21 When, control equipment 20 can obtain the real-time angular value of angle value such as rolled round 21 of the rolled round 21 in rotation, also available to shake The real-time angular speed of angular speed such as rolled round 21 of the wheel 21 in rotation.Similarly, when user rotates rolled round 22, equipment 20 is controlled The rotational parameters information of rolled round 22 can be obtained.When user rotates rolled round 21 and rolled round 22 simultaneously, control equipment 20 can obtain simultaneously Take the rotational parameters information of rolled round 21 and the rotational parameters information of rolled round 22.

Without loss of generality, there are three rolled rounds for setting in the control equipment for controlling holder, and three rolled rounds are for controlling Three rolled rounds are denoted as the first rolled round, the second rolled round, third rolled round, the first rolled round can be used for herein by the posture of holder respectively The yaw angle of holder is controlled, the second rolled round can be used for controlling the pitch angle of holder, third rolled round can be used for controlling the roll of holder Angle only schematically illustrates herein, does not limit the specific attitude angle of the controllable holder of each rolled round.

The rotational parameters information of at least one rolled round described in the acquisition, including following at least one: obtain the first rolled round Rotational parameters information；Obtain the rotational parameters information of the second rolled round；Obtain the rotational parameters information of third rolled round.

In the present embodiment, the rotational parameters information of at least one rolled round described in the acquisition, comprising: obtain angle sensor The measured value of device output, the rotational parameters information of the distant wheel is determined according to the measured value.For example, control equipment 20 is also set up There are one or more angular transducers, angular transducer can be used for detecting the angle value of rolled round, further, according to the angle of rolled round The rotation time of angle value and rolled round can determine the angular speed of rolled round.The present embodiment does not limit pair of angular transducer and rolled round It should be related to and connection relationship.Optionally, each rolled round is corresponding with an angular transducer, i.e. an angular transducer is detectable The angle value of one rolled round.In other embodiments, an angular transducer also can detect the angle value of multiple rolled rounds.

Optionally, the angular transducer includes one of photoelectric encoder, Hall sensor, potentiometer or a variety of. By taking photoelectric encoder as an example, 5000 linear light photoelectric coders are specifically can be used as angular transducer, by microcontroller in the present embodiment After unit (Micro controller Unit, MCU) carries out frequency multiplication acquisition, 20000 lines can be reached, so that photoelectric encoder Resolution ratio can reach 360 degree/20000=0.018 degree.

In addition, angular transducer may be replaced by angular-rate sensor, at least one rolled round described in the acquisition turns Dynamic parameter information, comprising: the measured value for obtaining angular-rate sensor output determines the rotation of the distant wheel according to the measured value Parameter information.For example, control equipment 20 is additionally provided with one or more angular-rate sensors, angular-rate sensor can be used for detecting The angular speed of rolled round further can determine the angle value of rolled round according to the angular speed of rolled round and the rotation time of rolled round. The corresponding relationship and connection relationship of the present embodiment unlimited fixed angular speed sensor and rolled round.Optionally, each rolled round is corresponding with The angular speed that one angular-rate sensor, i.e. an angular-rate sensor can detect a rolled round.In other embodiments, one Angular-rate sensor also can detect the angular speed of multiple rolled rounds.

Step S102, the rotational parameters information is sent to holder, so that the holder is according to the rotational parameters information Adjust the posture of the holder.

S101 can obtain the rotational parameters information of at least one rolled round, rotational parameters information to control equipment through the above steps Including angle value and/or angular speed.Optionally, control equipment is smoothed the rotational parameters information of the rolled round got Rotational parameters information after obtaining smoothing processing, and the rotational parameters information after smoothing processing is sent to holder.Holder according to Rotational parameters information after smoothing processing adjusts the posture of the holder.Wire transmission mode or wireless can be used by controlling equipment Communication mode to holder send smoothing processing after rotational parameters information.In the present embodiment, control equipment using 2.4G and 5.8G radiofrequency signal carries out data transmission, and data transmission distance can reach 1000 meters, strong antijamming capability.

Specifically, described send the rotational parameters information to holder, so that the holder is believed according to the rotational parameters Breath adjusts the posture of the holder, including following at least one: the rotational parameters information of first rolled round is sent to holder, with The holder is set to adjust the yaw angle of the holder according to the rotational parameters information of first rolled round；Described the is sent to holder The rotational parameters information of two rolled rounds, so that the holder adjusts the holder according to the rotational parameters information of second rolled round Pitch angle；The rotational parameters information of the third rolled round is sent to holder, so that the holder turns according to the third rolled round Dynamic parameter information adjusts the roll angle of the holder.

Without loss of generality, there are three rolled rounds for setting in the control equipment for controlling holder, and three rolled rounds are for controlling Three rolled rounds are denoted as the first rolled round, the second rolled round, third rolled round, the first rolled round can be used for herein by the posture of holder respectively The yaw angle of holder is controlled, the second rolled round can be used for controlling the pitch angle of holder, third rolled round can be used for controlling the roll of holder Angle.Optionally, when holder receives the rotational parameters information for the first rolled round that control equipment is sent, holder is according to described first The rotational parameters information of rolled round adjusts the yaw angle of the holder.When holder receives turning for the second rolled round that control equipment is sent When dynamic parameter information, holder adjusts the pitch angle of the holder according to the rotational parameters information of second rolled round.When holder connects When receiving the rotational parameters information for the third rolled round that control equipment is sent, holder is according to the rotational parameters information of the third rolled round Adjust the roll angle of the holder.

As shown in Fig. 2, for example, rolled round 21 can be used for controlling the yaw angle of holder 30, rolled round 22 can be used for controlling holder 30 Pitch angle.When the rotational parameters information of the rolled round 21 after holder 30 receives smoothing processing, holder 30 is according to rolled round 21 The yaw angle of rotational parameters information adjustment holder 30.The rotational parameters information of rolled round 22 after holder 30 receives smoothing processing When, holder 30 adjusts the pitch angle of holder 30 according to the rotational parameters information of rolled round 22.Below to control equipment 20 to holder 30 The rotational parameters information of rolled round 21 after sending smoothing processing, so that holder 30 adjusts cloud according to the rotational parameters information of rolled round 21 For the yaw angle of platform 30, the process that control equipment 20 controls holder 30 is introduced in detailed annotation.

Specifically, control equipment 20 supports two kinds of control models: a kind of control model is speed control mode, another kind control Molding formula is position control mode.

Under speed control mode, the angular speed of the rolled round 21 after control equipment 20 sends smoothing processing to holder 30, cloud After platform 30 receives the angular speed of rolled round 21, the angular speed of rolled round 21 is integrated to obtain the angle value of rolled round 21, further , holder 30 is using the angle value of calculated rolled round 21 as the target value of the yaw angle of holder 30, and holder 30 is according to yaw angle Target value and actual value difference carry out feedback control so that the actual value of the yaw angle of holder 30 be equal to the target value, from And realize control of the control equipment 20 to holder 30.

Under position control mode, control equipment 20 sends the angle value of rolled round 21 to holder 30, and holder 30, which receives, to be shaken It after the angle value of wheel 21, is smoothed according to angle value of the preset smoothness to rolled round 21, further, holder 30 will Target value of the angle value of rolled round 21 after smoothing processing as the yaw angle of holder 30, holder 30 is according to the target value of yaw angle Feedback control is carried out with the difference of actual value, so that the actual value of the yaw angle of holder 30 is equal to the target value, to realize Control control of the equipment 20 to holder 30.

It should be noted that the repeatable accuracy of rolled round control is high under position control mode, after holder is controlled by rolled round, Initial point can be returned to.For example, the attitude angle of holder is denoted as initial attitude angle when rolled round 21 and rolled round 22 are in initial position, it is false If rolled round 22 is motionless, user rotates rolled round 21, then the yaw angle of holder will change, if user rotates counterclockwise rolled round 21, Make 5 circle of rotation counterclockwise of rolled round 21, then rotates clockwise rolled round 21, rolled round 21 is made to rotate clockwise 5 circles, then rolled round 21 can return Attitude angle to initial position, while holder can also be restored to initial attitude angle, i.e., no backhaul is poor.

The present embodiment obtains the rotational parameters information of at least one rolled round thereon by control equipment, and by the rotation of rolled round Parameter information is sent to holder, so that holder adjusts the posture of holder according to the rotational parameters information of rolled round, due to the angle of rolled round Speed or angle value can be accurately controlled or calculate, then when adjusting the posture of holder according to the angular speed of rolled round or angle value, The control precision of holder posture can be improved.

The embodiment of the present invention provides a kind of control method of holder.Fig. 4 be another embodiment of the present invention provides holder The flow chart of control method.As shown in figure 4, on the basis of embodiment shown in Fig. 1, method in the present embodiment can also be wrapped It includes:

Step S401, in memory by the history rotational parameters information storage of at least one rolled round.

In the present embodiment, when controlling at least one rolled round in equipment in rotation, control equipment can also record this The history rotational parameters information of at least one rolled round, specifically, the history rotational parameters information of at least one rolled round is stored Into the memory such as Flash flash memory of control equipment.Optionally, the historical measurements storage that photoelectric encoder exports is arrived In Flash flash memory, that is to say, that the historical point view value for the rolled round for detecting photoelectric encoder is stored into Flash flash memory.

Specifically, the history rotational parameters information storage by least one rolled round is in memory, comprising: detection is used The storage at family operates；When detecting storage operation, the history rotational parameters information of at least one rolled round is stored in In reservoir.

In the present embodiment, it controls and is provided with track recording button or key in equipment, when user needs to record holder When motion profile or rotational trajectory, user clicks track and records button or key, clicks track when control equipment checks user When recording button or key, starts the rotational parameters information of the rolled round rotated on memory control apparatus, after a period of time, obtain The history rotational parameters information of at least one rolled round.Optionally, control equipment stores going through for the first rolled round in historical time section The historical point view value of history angle value, the historical point view value of the second rolled round and third rolled round, wherein the first rolled round can be used for controlling The yaw angle of holder processed, the second rolled round can be used for controlling the pitch angle of holder, third rolled round can be used for controlling the roll angle of holder.

Step S402, the history rotational parameters information of at least one rolled round of the storage is sent to the holder, with The holder is set to adjust the posture of the holder according to the history rotational parameters information of at least one rolled round.

It is also provided with trace playback button or key in control equipment, when user needs to play back the motion profile of holder Or when rotational trajectory, user clicks trace playback button or key, at this point, at least one rolled round that control equipment is stored History rotational parameters information is sent to holder, and holder is according to the history rotational parameters information such as historical point view of at least one rolled round Value, determines the history posture of holder, and the current pose of the history pose adjustment holder according to holder, to realize holder Track playback function.

Optionally, the historical point view value of the first rolled round for being stored of control equipment, the historical point view value of the second rolled round, with And the historical point view value of third rolled round is sent to holder.Holder determines going through for holder according to the historical point view value of the first rolled round History yaw angle；According to the historical point view value of the second rolled round, the history pitch angle of holder is determined；According to the history angle of third rolled round Angle value determines the history roll angle of holder, further adjusts the practical yaw angle of holder, according to history according to history yaw angle Pitch angle adjusts the practical pitch angle of holder, adjusts the practical roll angle of holder according to history roll angle.

The present embodiment passes through the history rotational parameters information of at least one rolled round on memory control apparatus, and the history is turned Dynamic parameter information is sent to holder, so that history pose adjustment cloud of the holder according to the corresponding holder of history rotational parameters information The current pose of platform realizes the track playback function of holder.

The embodiment of the present invention provides a kind of control method of holder.Fig. 5 be another embodiment of the present invention provides holder The flow chart of control method.As shown in figure 5, on the basis of the above embodiments, the method in the present embodiment can also include:

Step S501, operation is arranged in the limit for detecting user.

As shown in Figure 6, it is assumed that X-axis indicates that the roll axis of holder 60, Y-axis indicate that the pitch axis of holder 60, Z axis indicate holder 60 yaw axis.When holder 60 is rotated using roll axis as shaft, the roll angle of holder 60 changes；When holder 60 is with pitching When axis is that shaft rotates, the pitch angle of holder 60 changes；When holder 60 using yaw axis as shaft rotate when, holder 60 it is inclined Boat angle changes.

In the present embodiment, holder can also be arranged with one or more in yaw axis, pitch axis, roll axis in control equipment A axis is limit angle when shaft rotates.Without loss of generality, it is assumed that there are three rolled round, three rolled rounds for setting in control equipment It is denoted as the first rolled round, the second rolled round, third rolled round respectively, the first rolled round can be used for controlling the yaw angle of holder, and the second rolled round can For controlling the pitch angle of holder, third rolled round can be used for controlling the roll angle of holder.When user rotates one in three rolled rounds When a or multiple rolled rounds, holder will be rotated by shaft of one or more axis in yaw axis, pitch axis, roll axis.Optionally, User simultaneously rotate three rolled rounds, holder simultaneously using yaw axis, pitch axis, roll axis be shaft rotation, when cloud platform rotation to certain When one posture, user clicks the limit button or key in control equipment, and expression carries out limit setting to the attitude angle of unmanned plane.

Step S502, when detecting the limit setting operation, limit angle setting instruction is sent to be arranged to holder The limit angle that holder is rotated using one or more axis as shaft.

When control equipment, which checks user, clicks limit button or key, limit angle setting is sent to holder and is instructed, The limit angle that instruction setting holder is rotated using one or more axis as shaft is arranged according to the limit angle for holder.In this reality It applies in example, the limit angle setting instruction that control equipment is sent to holder includes the case where following several possible:

A kind of possible situation is: only control holder records the posture of current time holder for limit angle setting instruction Angle, and the limit angle that holder is rotated using one or more axis as shaft is determined according to the attitude angle of current time holder.

Specifically, described send limit angle setting instruction so that holder is arranged using one or more axis as shaft to holder The limit angle of rotation, comprising: send limit angle setting instruction to holder to indicate the holder by current holder with one Or multiple axis are that the angle that shaft rotates is determined as the corresponding limit angle around one or more pivot axis.

For example, user rotates three rolled rounds simultaneously, holder is rotated using yaw axis, pitch axis, roll axis as shaft simultaneously, when When cloud platform rotation is to a certain posture, user clicks the limit button or key in control equipment, and control equipment sends to holder and limits The setting instruction of parallactic angle degree records the yaw angle of current time holder, pitch angle, roll angle to indicate holder, and by current time The yaw angle of holder is determined as the limit angle that holder is rotated using yaw axis as shaft, by the pitch angle of current time holder It is determined as the limit angle that holder is rotated using pitch axis as shaft, and the roll angle of current time holder is determined as cloud The limit angle that platform is rotated using roll axis as shaft.

User continues while rotating three rolled rounds, and holder is rotated using yaw axis, pitch axis, roll axis as shaft simultaneously, when When cloud platform rotation is to another posture, user again taps on the limit button or key in control equipment, controls equipment again to cloud Platform sends limit angle setting instruction to indicate that holder records the yaw angle of current time holder, pitch angle, roll angle, and will The yaw angle of current time holder is determined as another limit angle that holder is rotated using yaw axis as shaft, by current time cloud The pitch angle of platform is determined as another limit angle that holder is rotated using pitch axis as shaft, and by the cross of current time holder Roll angle is determined as another limit angle that holder is rotated using roll axis as shaft.

Optionally, user can also only rotate a rolled round in three rolled rounds, and setting holder is being to turn with an axis The limit angle of axis.Limit button or key in control equipment may include pitching limit button or key, roll limit by Button or key and yaw limit button or key.

Operation is arranged in the limit of the detection user, comprising: detects the pitching limit setting operation of user；It is described to holder Send the angle that limit angle setting instruction is rotated current holder using one or more axis to indicate the holder as shaft It is determined as the corresponding limit angle around one or more pivot axis, comprising: described to send pitching limit angle to holder Degree setting instruction is to indicate that current holder is determined as using the angle that pitch axis is rotated as shaft with pitch axis by the holder For the limit angle of shaft rotation.

For example, the second rolled round can be used for controlling the pitch angle of holder, when user only rotates the second rolled round, holder is with pitch axis I.e. Y-axis is shaft rotation, and when cloud platform rotation is to when pitch attitude as shown in Figure 7, user clicks the pitching limit in control equipment Position button or key, control equipment send pitching limit to holder according to clicking operation of the user to pitching limit button or key Angle setting instruction, to indicate that holder records the pitch angle α of current time holder, and by the pitch angle α of current time holder It is determined as the limit angle that holder is rotated using pitch axis as shaft.User continues to rotate the second rolled round, and holder continues to bow Axis is faced upward as shaft rotation, when cloud platform rotation is to when pitch attitude as shown in Figure 8, user again taps on the pitching in control equipment Limit button or key, control equipment send out the operation that again taps on of pitching limit button or key to holder according to user again Pitching limit angle setting instruction is sent, to indicate that holder records the pitch angle β of current time holder again, and by current time The pitch angle β of holder is determined as another limit angle that holder is rotated using pitch axis as shaft.

Alternatively, operation is arranged in the limit of the detection user, comprising: detect the yaw limit setting operation of user；It is described Limit angle setting instruction is sent to indicate that the holder rotates current holder by shaft of one or more axis to holder Angle be determined as the corresponding limit angle around one or more pivot axis, comprising: it is described to holder send yaw Angle setting instruction is limited to indicate that current holder is determined as using the angle that yaw axes are rotated as shaft with inclined by the holder The axis that navigates is the limit angle that shaft rotates.

For example, the first rolled round can be used for controlling the yaw angle of holder, when user only rotates the first rolled round, holder is with yaw axis I.e. Z axis be shaft rotation, when cloud platform rotation arrive yaw-position as shown in Figure 9 when, user click control equipment on yaw limit Position button or key, control equipment send yaw limit to holder according to clicking operation of the user to yaw limit button or key Angle setting instruction, to indicate that holder records the yaw angle γ of current time holder, and by the yaw angle of current time holder γ is determined as the limit angle that holder is rotated using yaw axis as shaft.User continues to rotate the first rolled round, holder continue with Yaw axis be shaft rotation, when cloud platform rotation arrive yaw-position as shown in Figure 10 when, user again tap on controls equipment on Limit button or key are yawed, control equipment operates to holder again yaw limit button or again tapping on for key according to user Secondary transmission yaw limit angle setting instruction, to indicate that holder records the yaw angle θ of current time holder again, and will be current The yaw angle θ of moment holder is determined as another limit angle that holder is rotated using yaw axis as shaft.

Alternatively possible situation is: including the angle value of rolled round in limit angle setting instruction, holder is according to limit angle The angle value of rolled round determines the maximal angle value that holder can rotate in degree setting instruction.For example, user only rotates three rolled rounds In a rolled round, it is assumed that the rolled round is used to control the pitch angle of holder, and when user rotates the rolled round, holder is with pitch axis Shaft rotation, it is assumed that when rolled round is located at initial angle, holder is in initial pitch attitude, when rolled round is turned to a mesh by user When marking angle, user clicks the pitching limit button or key in control equipment, and control equipment presses pitching limit according to user The clicking operation of button or key sends pitching limit angle setting instruction to holder, includes in pitching limit angle setting instruction The current angle value of rolled round, such as rolled round have rotated clockwise 360 degree from initial angle, and the current angle value of rolled round is positive 360 Degree.The holder angle value current according to the rolled round determines the limit angle that holder is rotated using pitch axis as shaft.User The rolled round is continued to rotate, when rolled round is turned to another target angle by user, user again taps on bowing in control equipment Limit button or key are faced upward, control equipment sends pitching limit angle setting instruction to holder again, and pitching limit angle is set Setting includes the current angle value of rolled round in instruction, such as rolled round has rotated counterclockwise minus 360 degree from positive 360 degree, and rolled round is currently Angle value is negative 360 degree, the holder angle value current according to the rolled round, and it is another to determine that holder is rotated using pitch axis as shaft A limit angle.When controlling the angle value for the rolled round that equipment is sent to holder greater than positive 360 degree or less than minus 360 degree, holder Pitch angle can only turn to the limit angle close with the angle value.

In the present embodiment, the method also includes: detect user releasing limit operation；When detecting releasing limit When bit manipulation, is sent to holder and release the rotation limit that limit instruction is rotated using one or more axis as shaft to release holder Position.

For example, being additionally provided with limit releasing button or key in control equipment, the limit in equipment is controlled when the user clicks When releasing button or key, control equipment sends to holder according to clicking operation of the user to limit releasing button or key and releases Limit instruction, the rotary spacing rotated using one or more axis as shaft using releasing holder.

Operation is arranged by the limit that control equipment detects user in the present embodiment, and sends limit angle setting to holder and refer to The limit angle rotated using one or more axis as shaft so that holder is arranged is enabled, the limit function to the attitude angle of holder is realized Energy.

The embodiment of the present invention provides a kind of control method of holder.Figure 11 be another embodiment of the present invention provides holder The flow chart of control method.Figure 12 be another embodiment of the present invention provides holder control method flow chart.

As shown in figure 11, on the basis of the above embodiments, the method in the present embodiment can also include:

Step S1101, the emergent stopping operation of user is detected.

Step S1102, when detecting emergent stopping operation, emergent stopping instruction is sent so that holder is tight to holder Emergency stop is stopped.

Optionally, it controls in equipment and is additionally provided with emergency stop button or key, needed when user has found cloud platform rotation extremely When wanting holder emergent stopping, the emergency stop button or key in control equipment can be clicked, control equipment will be according to user couple The clicking operation of emergency stop button or key to holder send emergent stopping instruction, holder using motor current joint angle into Row closed-loop control, so that holder emergent stopping.

As shown in figure 12, on the basis of the above embodiments, the method in the present embodiment can also include:

Step S1201, the holder parameter configuration operation of user is detected.

Step S1202, according to the holder parameter configuration operation detected, holder configuration parameter is determined.

In the present embodiment, user can also configure the parameter of holder by controlling equipment, for example, in control equipment It is provided with parameter configuration button or key, control equipment can be determined according to clicking operation of the user to parameter configuration button or key Holder configuration parameter out.Optionally, the holder configuration parameter include one of dead band value, angular speed multiplying power, smoothness or It is a variety of.

Step S1203, the holder configuration parameter is sent to the holder.

Further, control equipment by one of holder configuration parameter such as dead band value, angular speed multiplying power, smoothness or It is a variety of to be sent to holder.

When holder receives dead band value, dead band value is stored.In the present embodiment, dead band value can be an angle Angle value is also possible to a magnitude of angular velocity.When holder receives the angular speed for the rolled round that control equipment sends over, compare control The angular speed for the rolled round that control equipment sends over and the size of dead band value.If the angular speed for the rolled round that control equipment sends over Less than dead band value, then holder is not responding to control of the control equipment to holder.If the angle speed for the rolled round that control equipment sends over Degree is greater than dead band value, then the angular speed for controlling the rolled round that equipment sends over is subtracted dead band value and obtains a speed difference by holder Value, is further integrated the speed difference to obtain the targeted attitude of holder, and adjust cloud according to the targeted attitude of holder The practical posture of platform.When holder receives the angle value for the rolled round that control equipment sends over, compares control equipment and be transmitted across The angle value for the rolled round come and the size of dead band value.If the angle value for the rolled round that control equipment sends over is less than dead band value, Then holder is not responding to control of the control equipment to holder.If the angle value for the rolled round that control equipment sends over is greater than dead zone Value, then the angle value for controlling the rolled round that equipment sends over is subtracted dead band value and obtains an angle difference by holder, further will Targeted attitude of the angle difference as holder, and adjust according to the targeted attitude of holder the practical posture of holder.

When holder receives angular speed multiplying power, angular speed multiplying power is stored.When holder receives control equipment hair When the angular speed for the rolled round brought, the angular speed of rolled round that equipment sends over will be controlled multiplied by the angular speed multiplying power, and right The angular speed of rolled round is integrated the targeted attitude to determine holder multiplied by the value after the angular speed multiplying power, further according to cloud The targeted attitude of platform adjusts the practical posture of holder.

When holder receives smoothness, smoothness is stored.When holder receives what control equipment sended over When the angular speed of rolled round, according to pre-selection storage smoothness the angular speed of rolled round is filtered, and to filtering processing after Angular speed integrated the targeted attitude to determine holder, the reality of holder is further adjusted according to the targeted attitude of holder Border posture.

The present embodiment detects the emergent stopping operation of user by control equipment, and is grasped according to the emergent stopping detected Make, sends emergent stopping instruction so that holder emergent stopping, avoids holder from continuing to rotate when there is anomalous rotation to holder；Separately Outside, control equipment can also send holder configuration parameter to holder, and holder can when adjusting holder posture according to holder configuration parameter Improve the control precision to holder.

The embodiment of the present invention provides a kind of control method of holder.Figure 13 be another embodiment of the present invention provides holder The flow chart of control method.The control method of holder described in the present embodiment is applied to control equipment, the control equipment setting There is at least one rolled round.As shown in figure 13, the method in the present embodiment may include:

Step S1301, in memory by the history rotational parameters information storage of at least one rolled round.

Specifically, the history rotational parameters information storage by least one rolled round is in memory, comprising: detection is used The storage at family operates；When detecting storage operation, the history rotational parameters information of at least one rolled round is stored in In reservoir.

Step S1302, the history rotational parameters information of at least one rolled round of the storage is sent to the holder, with The holder is set to adjust the posture of the holder according to the history rotational parameters information of at least one rolled round.

The concrete principle and implementation of the control method of holder provided in an embodiment of the present invention are and embodiment illustrated in fig. 4 Similar, details are not described herein again.

The present embodiment passes through the history rotational parameters information of at least one rolled round on memory control apparatus, and the history is turned Dynamic parameter information is sent to holder, so that history pose adjustment cloud of the holder according to the corresponding holder of history rotational parameters information The current pose of platform realizes the track playback function of holder.

The embodiment of the present invention provides a kind of control method of holder.Figure 14 be another embodiment of the present invention provides holder The flow chart of control method.As shown in figure 14, on the basis of the above embodiments, the method in the present embodiment can also include:

Step S1401, the rotational parameters information of at least one rolled round described in acquisition.

Optionally, the rotational parameters information includes following at least one: angle value, angular speed.

The rotational parameters information of at least one rolled round described in the acquisition, including following at least one: obtain the first rolled round Rotational parameters information；Obtain the rotational parameters information of the second rolled round；Obtain the rotational parameters information of third rolled round.

Step S1402, the rotational parameters information is sent to holder, so that the holder is according to the rotational parameters information Adjust the posture of the holder.

It is described to send the rotational parameters information to holder, so that the holder adjusts institute according to the rotational parameters information The posture for stating holder, including following at least one: the rotational parameters information of first rolled round is sent to holder, so that the cloud Platform adjusts the yaw angle of the holder according to the rotational parameters information of first rolled round；Second rolled round is sent to holder Rotational parameters information, so that the holder adjusts the pitch angle of the holder according to the rotational parameters information of second rolled round； The rotational parameters information of the third rolled round is sent to holder, so that the holder is believed according to the rotational parameters of the third rolled round Breath adjusts the roll angle of the holder.

The concrete principle and implementation of the control method of holder provided in an embodiment of the present invention are and embodiment illustrated in fig. 1 Similar, details are not described herein again.

The present embodiment obtains the rotational parameters information of at least one rolled round thereon by control equipment, and by the rotation of rolled round Parameter information is sent to holder, so that holder adjusts the posture of holder according to the rotational parameters information of rolled round, due to the angle of rolled round Speed or angle value can be accurately controlled or calculate, then when adjusting the posture of holder according to the angular speed of rolled round or angle value, The control precision of holder posture can be improved.

The embodiment of the present invention provides a kind of control method of holder.Figure 15 be another embodiment of the present invention provides holder The flow chart of control method.As shown in figure 15, on the basis of the above embodiments, the method in the present embodiment can also include:

Step S1501, operation is arranged in the limit for detecting user.

Step S1502, when detecting the limit setting operation, limit angle setting instruction is sent to be arranged to holder The limit angle that holder is rotated using one or more axis as shaft.

Optionally, described to send limit angle setting instruction so that holder is arranged using one or more axis as shaft to holder The limit angle of rotation, comprising: send limit angle setting instruction to holder to indicate the holder by current holder with one Or multiple axis are that the angle that shaft rotates is determined as the corresponding limit angle around one or more pivot axis.

Specifically, operation is arranged in the limit of the detection user, comprising: detect the yaw limit setting operation of user；Institute It states to holder and sends limit angle setting instruction to indicate that the holder turns current holder by shaft of one or more axis Dynamic angle is determined as the corresponding limit angle around one or more pivot axis, comprising: sends yaw limit to holder Parallactic angle degree setting instruction is to indicate that current holder is determined as by the angle that shaft rotates of yaw axes to yaw by the holder Axis is the limit angle of shaft rotation.

Alternatively, operation is arranged in the limit of the detection user, comprising: detect the pitching limit setting operation of user；It is described Limit angle setting instruction is sent to indicate that the holder rotates current holder by shaft of one or more axis to holder Angle be determined as the corresponding limit angle around one or more pivot axis, comprising: to holder send pitching limit Angle setting instruction is to indicate that current holder is determined as using the angle that pitch axis is rotated as shaft with pitch axis by the holder Line is the limit angle of shaft rotation.

In addition, the method also includes: detect the releasing limit operation of user；It is operated when detecting that the releasing limits When, it is sent to holder and releases the rotary spacing that limit instruction is rotated using one or more axis as shaft to release holder.

The concrete principle and implementation of the control method of holder provided in an embodiment of the present invention are and embodiment illustrated in fig. 5 Similar, details are not described herein again.

Operation is arranged by the limit that control equipment detects user in the present embodiment, and sends limit angle setting to holder and refer to The limit angle rotated using one or more axis as shaft so that holder is arranged is enabled, the limit function to the attitude angle of holder is realized Energy.

The embodiment of the present invention provides a kind of control method of holder.Figure 16 be another embodiment of the present invention provides holder The flow chart of control method.Figure 17 be another embodiment of the present invention provides holder control method flow chart.

As shown in figure 16, on the basis of the above embodiments, the method in the present embodiment can also include:

Step S1601, the emergent stopping operation of user is detected.

Step S1602, when detecting emergent stopping operation, emergent stopping instruction is sent so that holder is tight to holder Emergency stop is stopped.

As shown in figure 17, on the basis of the above embodiments, the method in the present embodiment can also include:

Step S1701, the holder parameter configuration operation of user is detected.

Step S1702, according to the holder parameter configuration operation detected, holder configuration parameter is determined.

Step S1703, the holder configuration parameter is sent to the holder.

Optionally, the holder configuration parameter includes one of dead band value, angular speed multiplying power, smoothness or a variety of.

The concrete principle and implementation of the control method of holder provided in an embodiment of the present invention with Figure 11 and Figure 12 institute Show that embodiment is similar, details are not described herein again.

The present embodiment detects the emergent stopping operation of user by control equipment, and is grasped according to the emergent stopping detected Make, sends emergent stopping instruction so that holder emergent stopping, avoids holder from continuing to rotate when there is anomalous rotation to holder；Separately Outside, control equipment can also send holder configuration parameter to holder, and holder can when adjusting holder posture according to holder configuration parameter Improve the control precision to holder.

The embodiment of the present invention provides a kind of control method of holder.Figure 18 is the control of holder provided in an embodiment of the present invention The flow chart of method.The control method of holder described in the present embodiment is applied to holder.As shown in figure 18, the side in the present embodiment Method may include:

Step S1801, receiving control apparatus send the control equipment at least one rolled round rotational parameters information.

Optionally, the rotational parameters information includes following at least one: angle value, angular speed.

The rotational parameters information of at least one rolled round in the control equipment that the receiving control apparatus is sent, including such as Lower at least one: the rotational parameters information for the first rolled round that receiving control apparatus is sent；The second of receiving control apparatus transmission shakes The rotational parameters information of wheel；The rotational parameters information for the third rolled round that receiving control apparatus is sent.

Step S1802, the posture of the holder is adjusted according to the rotational parameters information.

The posture that the holder is adjusted according to the rotational parameters information, including following at least one: according to described The rotational parameters information of first rolled round adjusts the yaw angle of the holder；It is adjusted according to the rotational parameters information of second rolled round The pitch angle of the holder；The roll angle of the holder is adjusted according to the rotational parameters information of the third rolled round.

The concrete principle and implementation of the control method of holder provided in an embodiment of the present invention are and embodiment illustrated in fig. 1 Similar, details are not described herein again.

The rotational parameters information at least one rolled round that the present embodiment is sent by holder receiving control apparatus, and according to shaking The posture of the rotational parameters information adjustment holder of wheel, since the angular speed or angle value of rolled round can be accurately controlled or calculate, When then according to the posture of the angular speed of rolled round or angle value adjustment holder, the control precision of holder posture can be improved.

The embodiment of the present invention provides a kind of control method of holder.Figure 19 be another embodiment of the present invention provides holder The flow chart of control method.As shown in figure 19, on the basis of embodiment illustrated in fig. 18, method in the present embodiment can be with Include:

Step S1901, the history rotational parameters information at least one rolled round that the control equipment is sent is received.

Step S1902, the posture of the holder is adjusted according to the history rotational parameters information of at least one rolled round.

The concrete principle and implementation of the control method of holder provided in an embodiment of the present invention are and embodiment illustrated in fig. 4 Similar, details are not described herein again.

The history rotational parameters information at least one rolled round that the present embodiment is sent by holder receiving control apparatus, and root According to the current pose of the history pose adjustment holder of the corresponding holder of history rotational parameters information, the track for realizing holder is returned Playing function.

The embodiment of the present invention provides a kind of control method of holder.Figure 20 be another embodiment of the present invention provides holder The flow chart of control method.As shown in figure 20, on the basis of Figure 18 or embodiment illustrated in fig. 19, method in the present embodiment, Can also include:

Step S2001, instruction is arranged in the limit angle that receiving control apparatus is sent.

Step S2002, the limit rotated using one or more axis as shaft according to the limit angle setting instruction setting Parallactic angle degree.

The limit angle rotated using one or more axis as shaft according to the limit angle setting instruction setting, It include: the angle that rotates current holder as shaft using one or more axis when receiving limit angle setting instruction Degree is determined as the corresponding limit angle around one or more pivot axis.

Optionally, instruction is arranged in the limit angle that the receiving control apparatus is sent, comprising: what receiving control apparatus was sent Yaw limit angle setting instruction；It is described to be determined as corresponding to by the angle that shaft rotates of one or more axis by current holder The limit angle around one or more pivot axis, comprising: the angle for rotating current holder as shaft using yaw axes Degree is determined as the limit angle rotated using yaw axes as shaft.

Alternatively, instruction is arranged in the limit angle that the receiving control apparatus is sent, comprising: what receiving control apparatus was sent bows Face upward limit angle setting instruction；It is described current holder is determined as using one or more axis as the angle that shaft rotates it is corresponding Around the limit angle of one or more pivot axis, comprising: the angle for rotating current holder as shaft using pitch axis It is determined as the limit angle rotated using pitch axis as shaft.

Optionally, the method also includes the releasings that: receiving control apparatus is sent to limit instruction；It is limited according to the releasing Instruction releases the rotary spacing that holder is rotated using one or more axis as shaft.

The concrete principle and implementation of the control method of holder provided in an embodiment of the present invention are and embodiment illustrated in fig. 5 Similar, details are not described herein again.

The limit angle setting instruction that the present embodiment is sent by holder receiving control apparatus, and according to the limit angle The limit angle that instruction setting is rotated using one or more axis as shaft is set, realizes control equipment to the attitude angle of holder Limit function.

The embodiment of the present invention provides a kind of control method of holder.Figure 21 be another embodiment of the present invention provides holder The flow chart of control method.As shown in figure 21, on the basis of the above embodiments, the method in the present embodiment can also include:

Step S2101, the emergent stopping instruction that receiving control apparatus is sent.

Step S2102, it is instructed according to the emergent stopping, controls holder emergent stopping.

In addition, the method also includes: the holder configuration parameter that receiving control apparatus is sent.

Optionally, the holder configuration parameter includes one of dead band value, angular speed multiplying power, smoothness or a variety of.

The concrete principle and implementation of the control method of holder provided in an embodiment of the present invention are implemented with shown in Figure 11 Example is similar, and details are not described herein again.

The present embodiment is instructed by the emergent stopping that holder receiving control apparatus is sent, and is referred to according to the emergent stopping It enables, controls holder emergent stopping, holder is avoided to continue to rotate when there is anomalous rotation；In addition, holder can also receive control The control essence to holder can be improved in the holder configuration parameter that equipment is sent, holder when adjusting holder posture according to holder configuration parameter Degree.

The embodiment of the present invention provides a kind of control method of holder.Figure 22 be another embodiment of the present invention provides holder The flow chart of control method.The control method of holder described in the present embodiment is applied to holder.As shown in figure 22, in the present embodiment Method, may include:

Step S2201, the history rotation of at least one rolled round in the control equipment that the control equipment is sent is received Parameter information.

Step S2202, the posture of the holder is adjusted according to the history rotational parameters information of at least one rolled round.

The concrete principle and implementation of the control method of holder provided in an embodiment of the present invention are and embodiment illustrated in fig. 4 Similar, details are not described herein again.

The present embodiment is received at least one rolled round in the control equipment that the control equipment is sent by holder and gone through History rotational parameters information, and the current appearance of the history pose adjustment holder according to the corresponding holder of history rotational parameters information State realizes the track playback function of holder.

The embodiment of the present invention provides a kind of control method of holder.Figure 23 be another embodiment of the present invention provides holder The flow chart of control method.As shown in figure 23, on the basis of embodiment illustrated in fig. 22, method in the present embodiment can be with Include:

Step S2301, receiving control apparatus send the control equipment at least one rolled round rotational parameters information.

Optionally, the rotational parameters information includes following at least one: angle value, angular speed.

The rotational parameters information of at least one rolled round in the control equipment that the receiving control apparatus is sent, including such as Lower at least one: the rotational parameters information of the first rolled round in the control equipment that receiving control apparatus is sent；Control is received to set The rotational parameters information of second rolled round in the control equipment that preparation is sent；In the control equipment that receiving control apparatus is sent The rotational parameters information of third rolled round.

Step S2302, the posture of the holder is adjusted according to the rotational parameters information.

The posture that the holder is adjusted according to the rotational parameters information, including following at least one: according to described The rotational parameters information of first rolled round adjusts the yaw angle of the holder；It is adjusted according to the rotational parameters information of second rolled round The pitch angle of the holder；The roll angle of the holder is adjusted according to the rotational parameters information of the third rolled round.

The concrete principle and implementation of the control method of holder provided in an embodiment of the present invention are and embodiment illustrated in fig. 1 Similar, details are not described herein again.

The rotation of at least one rolled round is joined in the control equipment that the present embodiment is sent by holder receiving control apparatus Number information, and adjust according to the rotational parameters information posture of the holder, since the angular speed or angle value of rolled round can be with It is accurately controlled or calculates, then when adjusting the posture of holder according to the angular speed of rolled round or angle value, holder posture can be improved Control precision.

The embodiment of the present invention provides a kind of control method of holder.Figure 24 be another embodiment of the present invention provides holder The flow chart of control method.As shown in figure 24, on the basis of Figure 22 or embodiment illustrated in fig. 23, method in the present embodiment, Can also include:

Step S2401, instruction is arranged in the limit angle that receiving control apparatus is sent.

Step S2402, the limit rotated using one or more axis as shaft according to the limit angle setting instruction setting Parallactic angle degree.

The limit angle rotated using one or more axis as shaft according to the limit angle setting instruction setting, It include: the angle that rotates current holder as shaft using one or more axis when receiving limit angle setting instruction Degree is determined as the corresponding limit angle around one or more pivot axis.

Optionally, instruction is arranged in the limit angle that the receiving control apparatus is sent, comprising: what receiving control apparatus was sent Yaw limit angle setting instruction；It is described to be determined as corresponding to by the angle that shaft rotates of one or more axis by current holder The limit angle around one or more pivot axis, comprising: the angle for rotating current holder as shaft using yaw axes Degree is determined as the limit angle rotated using yaw axes as shaft.

Alternatively, instruction is arranged in the limit angle that the receiving control apparatus is sent, comprising: what receiving control apparatus was sent bows Face upward limit angle setting instruction；It is described current holder is determined as using one or more axis as the angle that shaft rotates it is corresponding Around the limit angle of one or more pivot axis, comprising: the angle for rotating current holder as shaft using pitch axis It is determined as the limit angle rotated using pitch axis as shaft.

In addition, the method also includes: the releasing that receiving control apparatus is sent limits instruction, is referred to according to releasing limit It enables, releases the rotary spacing that holder is rotated using one or more axis as shaft.

The concrete principle and implementation of the control method of holder provided in an embodiment of the present invention are and embodiment illustrated in fig. 5 Similar, details are not described herein again.

The limit angle setting instruction that the present embodiment is sent by holder receiving control apparatus, and according to the limit angle The limit angle that instruction setting is rotated using one or more axis as shaft is set, the limit function to the attitude angle of holder is realized Energy.

The embodiment of the present invention provides a kind of control method of holder.Figure 25 be another embodiment of the present invention provides holder The flow chart of control method.As shown in figure 25, on the basis of the above embodiments, the method in the present embodiment can also include:

Step S2501, the emergent stopping instruction that receiving control apparatus is sent.

Step S2502, it is instructed according to the emergent stopping, controls holder emergent stopping.

In addition, the method also includes: the holder configuration parameter that receiving control apparatus is sent.Optionally, the cloud Platform configuration parameter includes one of dead band value, angular speed multiplying power, smoothness or a variety of.

The concrete principle and implementation of the control method of holder provided in an embodiment of the present invention are implemented with shown in Figure 11 Example is similar, and details are not described herein again.

The present embodiment is instructed by the emergent stopping that holder receiving control apparatus is sent, and is referred to according to the emergent stopping It enables, controls holder emergent stopping, holder is avoided to continue to rotate when there is anomalous rotation；In addition, holder can also receive control The control essence to holder can be improved in the holder configuration parameter that equipment is sent, holder when adjusting holder posture according to holder configuration parameter Degree.

The embodiment of the present invention provides a kind of control equipment.The Application of control device controls equipment in rolled round.Figure 26 is this hair The structure chart for the control equipment that bright embodiment provides, as shown in figure 26, control equipment 260 include: at least one rolled round 261, place Manage device 262, communication interface 263.Wherein, processor 262 is used to obtain the rotational parameters information of at least one rolled round 261；Communication Interface 263 is used to send the rotational parameters information to holder, so that the holder adjusts institute according to the rotational parameters information State the posture of holder.

Optionally, the rotational parameters information includes following at least one: angle value, angular speed.

Optionally, when processor 262 obtains the rotational parameters information of at least one rolled round 261, it is specifically used for as follows at least It is a kind of: to obtain the rotational parameters information of the first rolled round；Obtain the rotational parameters information of the second rolled round；Obtain the rotation of third rolled round Parameter information.

Optionally, communication interface 263 sends the rotational parameters information to holder, so that the holder is according to the rotation When parameter information adjusts the posture of the holder, it is specifically used for following at least one: sends turning for first rolled round to holder Dynamic parameter information, so that the holder adjusts the yaw angle of the holder according to the rotational parameters information of first rolled round；To Holder sends the rotational parameters information of second rolled round, so that rotational parameters information of the holder according to second rolled round Adjust the pitch angle of the holder；The rotational parameters information of the third rolled round is sent to holder, so that the holder is according to institute The rotational parameters information for stating third rolled round adjusts the roll angle of the holder.

Optionally, processor 262 is also used to the history rotational parameters information of at least one rolled round 261 being stored in memory In, optionally, memory can be the memory on processor piece, the memory being also possible to outside processor piece.Communication interface 263 are also used to the history rotational parameters information of at least one rolled round 261 of the storage being sent to the holder, so that described Holder adjusts the posture of the holder according to the history rotational parameters information of at least one rolled round 261.

Optionally, processor 262 is also used to: detecting the storage operation of user；When detecting storage operation, processing Device 262 stores the history rotational parameters information of at least one rolled round 261 in memory.

Optionally, processor 262 is also used to: detecting the limit setting operation of user；It is grasped when detecting that the limit is arranged When making, communication interface 263 sends limit angle setting instruction to holder and is turned so that holder is arranged by shaft of one or more axis Dynamic limit angle.

Optionally, communication interface 263 sends limit angle setting instruction to holder holder is arranged with one or more axis When line is the limit angle of shaft rotation, it is specifically used for: sends limit angle setting instruction to holder to indicate that the holder will Current holder is determined as corresponding around one or more pivot axis using one or more axis as the angle that shaft rotates Limit angle.

Optionally, when operation is arranged in the limit that processor 262 detects user, it is specifically used for: detects the yaw limit of user Setting operation；Communication interface 263 sends limit angle setting instruction to holder to indicate the holder by current holder with one Or multiple axis be shaft rotation angle be determined as it is corresponding around the limit angle of one or more pivot axis when, tool Body is used for: sending yaw limit angle setting instruction to indicate the holder by current holder using yaw axes as shaft to holder The angle of rotation is determined as the limit angle rotated using yaw axes as shaft.

Optionally, when operation is arranged in the limit that processor 262 detects user, it is specifically used for: detects the pitching limit of user Setting operation；Communication interface 263 sends limit angle setting instruction to holder to indicate the holder by current holder with one Or multiple axis be shaft rotation angle be determined as it is corresponding around the limit angle of one or more pivot axis when, tool Body is used for: sending pitching limit angle setting instruction to indicate the holder by current holder using pitch axis as shaft to holder The angle of rotation is determined as the limit angle rotated using pitch axis as shaft.

Optionally, processor 262 is also used to: detecting the releasing limit operation of user；It is grasped when detecting that the releasing limits When making, communication interface 263 is sent to holder releases what limit instruction was rotated using one or more axis as shaft to release holder Rotary spacing.

Optionally, processor 262 is also used to: detecting the emergent stopping operation of user；When detecting emergent stopping behaviour When making, communication interface 263 sends emergent stopping instruction so that holder emergent stopping to holder.

Optionally, processor 262 is also used to: detecting the holder parameter configuration operation of user；According to the cloud detected The operation of platform parameter configuration, determines holder configuration parameter；Communication interface 263 is also used to send the holder configuration ginseng to the holder Number.

Optionally, the holder configuration parameter includes one of dead band value, angular speed multiplying power, smoothness or a variety of.

Optionally, when processor 262 obtains the rotational parameters information of at least one rolled round 261, it is specifically used for: obtains angle speed The measured value for spending sensor output, the rotational parameters information of the distant wheel is determined according to the measured value.

Optionally, the angular transducer includes one of photoelectric encoder, Hall sensor, potentiometer or a variety of.

It is provided in an embodiment of the present invention control equipment concrete principle and implementation with Fig. 1-embodiment illustrated in fig. 12 Similar, details are not described herein again.

The present embodiment obtains the rotational parameters information of at least one rolled round thereon by control equipment, and by the rotation of rolled round Parameter information is sent to holder, so that holder adjusts the posture of holder according to the rotational parameters information of rolled round, due to the angle of rolled round Speed or angle value can be accurately controlled or calculate, then when adjusting the posture of holder according to the angular speed of rolled round or angle value, The control precision of holder posture can be improved；By the history rotational parameters information of at least one rolled round on memory control apparatus, and The history rotational parameters information is sent to holder, so that history of the holder according to the corresponding holder of history rotational parameters information The current pose of pose adjustment holder realizes the track playback function of holder；It is set by the limit that control equipment detects user Operation is set, and sends the limit that limit angle setting instruction is rotated using one or more axis as shaft so that holder is arranged to holder Angle realizes the limit function to the attitude angle of holder；It is operated by the emergent stopping that control equipment detects user, and according to The emergent stopping operation detected sends emergent stopping to holder and instructs so that holder emergent stopping, avoids holder different in appearance Often continued to rotate when rotation；In addition, control equipment can also send holder configuration parameter to holder, holder is configured according to holder joins The control precision to holder can be improved when number adjustment holder posture.

The embodiment of the present invention provides a kind of control equipment.The Application of control device controls equipment in rolled round.Figure 26 is this hair The structure chart for the control equipment that bright embodiment provides.As shown in figure 26, control equipment 260 provided in this embodiment includes: at least One rolled round 261, processor 262, communication interface 263；Wherein, processor 262 is used to turn the history of at least one rolled round 261 In memory, optionally, memory can be the memory on processor piece, be also possible to processor for dynamic parameter information storage Memory outside piece.Communication interface 263 is used to send the history rotational parameters information of at least one rolled round 261 of the storage To the holder, so that the holder adjusts the appearance of the holder according to the history rotational parameters information of at least one rolled round 261 State.

Optionally, processor 262 is also used to detect the storage operation of user；When detecting storage operation, processing Device 262 stores the history rotational parameters information of at least one rolled round 261 in memory.

Optionally, processor 262 is also used to: obtaining the rotational parameters information of at least one rolled round 261；Communication interface 263 It is also used to send the rotational parameters information to holder, so that the holder adjusts the holder according to the rotational parameters information Posture.

Optionally, the rotational parameters information includes following at least one: angle value, angular speed.

Optionally, when processor 262 obtains the rotational parameters information of at least one rolled round 261, it is specifically used for as follows at least It is a kind of: to obtain the rotational parameters information of the first rolled round；Obtain the rotational parameters information of the second rolled round；Obtain the rotation of third rolled round Parameter information.

Optionally, communication interface 263 sends the rotational parameters information to holder, so that the holder is according to the rotation When parameter information adjusts the posture of the holder, it is specifically used for following at least one: sends turning for first rolled round to holder Dynamic parameter information, so that the holder adjusts the yaw angle of the holder according to the rotational parameters information of first rolled round；To Holder sends the rotational parameters information of second rolled round, so that rotational parameters information of the holder according to second rolled round Adjust the pitch angle of the holder；The rotational parameters information of the third rolled round is sent to holder, so that the holder is according to institute The rotational parameters information for stating third rolled round adjusts the roll angle of the holder.

Optionally, processor 262 is also used to: detecting the limit setting operation of user；It is grasped when detecting that the limit is arranged When making, communication interface 263 sends limit angle setting instruction to holder and is turned so that holder is arranged by shaft of one or more axis Dynamic limit angle.

Optionally, communication interface 263 sends limit angle setting instruction to holder holder is arranged with one or more axis When line is the limit angle of shaft rotation, it is specifically used for: sends limit angle setting instruction to holder to indicate that the holder will Current holder is determined as corresponding around one or more pivot axis using one or more axis as the angle that shaft rotates Limit angle.

Optionally, when operation is arranged in the limit that processor 262 detects user, it is specifically used for: detects the yaw limit of user Setting operation；Communication interface 263 sends limit angle setting instruction to holder to indicate the holder by current holder with one Or multiple axis be shaft rotation angle be determined as it is corresponding around the limit angle of one or more pivot axis when, tool Body is used for: sending yaw limit angle setting instruction to indicate the holder by current holder using yaw axes as shaft to holder The angle of rotation is determined as the limit angle rotated using yaw axes as shaft.

Optionally, when operation is arranged in the limit that processor 262 detects user, it is specifically used for: detects the pitching limit of user Setting operation；Communication interface 263 sends limit angle setting instruction to holder to indicate the holder by current holder with one Or multiple axis be shaft rotation angle be determined as it is corresponding around the limit angle of one or more pivot axis when, tool Body is used for: sending pitching limit angle setting instruction to indicate the holder by current holder using pitch axis as shaft to holder The angle of rotation is determined as the limit angle rotated using pitch axis as shaft.

Optionally, processor 262 is also used to: detecting the releasing limit operation of user；It is grasped when detecting that the releasing limits When making, communication interface 263 is sent to holder releases what limit instruction was rotated using one or more axis as shaft to release holder Rotary spacing.

Optionally, processor 262 is also used to: detecting the emergent stopping operation of user；When detecting emergent stopping behaviour When making, communication interface 263 sends emergent stopping instruction so that holder emergent stopping to holder.

Optionally, processor 262 is also used to: detecting the holder parameter configuration operation of user；Processor 262 is also used to basis The holder parameter configuration operation detected, determines holder configuration parameter；Communication interface 263 is also used to: being sent out to the holder Send the holder configuration parameter.

Optionally, the holder configuration parameter includes one of dead band value, angular speed multiplying power, smoothness or a variety of.

It is provided in an embodiment of the present invention control equipment concrete principle and implementation with Figure 13-embodiment illustrated in fig. 17 Similar, details are not described herein again.

The present embodiment passes through the history rotational parameters information of at least one rolled round on memory control apparatus, and the history is turned Dynamic parameter information is sent to holder, so that history pose adjustment cloud of the holder according to the corresponding holder of history rotational parameters information The current pose of platform realizes the track playback function of holder；The rotation of at least one rolled round thereon is obtained by control equipment Parameter information, and the rotational parameters information of rolled round is sent to holder, so that holder is adjusted according to the rotational parameters information of rolled round The posture of holder, since the angular speed or angle value of rolled round can be accurately controlled or calculate, then according to the angular speed of rolled round or When angle value adjusts the posture of holder, the control precision of holder posture can be improved；It is set by the limit that control equipment detects user Operation is set, and sends the limit that limit angle setting instruction is rotated using one or more axis as shaft so that holder is arranged to holder Angle realizes the limit function to the attitude angle of holder；It is operated by the emergent stopping that control equipment detects user, and according to The emergent stopping operation detected sends emergent stopping to holder and instructs so that holder emergent stopping, avoids holder different in appearance Often continued to rotate when rotation；In addition, control equipment can also send holder configuration parameter to holder, holder is configured according to holder joins The control precision to holder can be improved when number adjustment holder posture.

The embodiment of the present invention provides a kind of holder.Figure 27 is the structure chart of holder provided in an embodiment of the present invention.In this reality It applies in example, holder specifically can be hand-held holder.As shown in figure 27, holder 270 provided in this embodiment includes: communication interface 271, processor 272；Wherein, at least one shakes in the control equipment that communication interface 271 is sent for receiving control apparatus The rotational parameters information of wheel；Processor 272 is used to adjust the posture of the holder according to the rotational parameters information.

Optionally, the rotational parameters information includes following at least one: angle value, angular speed.

Optionally, the rotation of at least one rolled round in the control equipment that 271 receiving control apparatus of communication interface is sent When parameter information, it is specifically used for following at least one: the rotational parameters information for the first rolled round that receiving control apparatus is sent；It receives Control the rotational parameters information for the second rolled round that equipment is sent；The rotational parameters letter for the third rolled round that receiving control apparatus is sent Breath.

Optionally, when processor 272 adjusts the posture of the holder according to the rotational parameters information, it is specifically used for as follows It is at least one: the yaw angle of the holder is adjusted according to the rotational parameters information of first rolled round；According to second rolled round Rotational parameters information adjust the pitch angle of the holder；The holder is adjusted according to the rotational parameters information of the third rolled round Roll angle.

Optionally, communication interface 271 is also used to: receiving the history at least one rolled round that the control equipment is sent Rotational parameters information；Processor 272 is also used to: adjusting the cloud according to the history rotational parameters information of at least one rolled round The posture of platform.

Communication interface 271 is also used to: instruction is arranged in the limit angle that receiving control apparatus is sent；Processor 272 is also used to: The limit angle rotated using one or more axis as shaft according to the limit angle setting instruction setting.

Optionally, processor 272 is arranged instruction setting according to the limit angle and turns by shaft of one or more axis When dynamic limit angle, be specifically used for: when communication interface 271 receives the limit angle setting instruction, processor 272 will Current holder is determined as corresponding around one or more pivot axis using one or more axis as the angle that shaft rotates Limit angle.

Optionally, when instruction is arranged in the limit angle that 271 receiving control apparatus of communication interface is sent, it is specifically used for: receives Control the yaw limit angle setting instruction that equipment is sent；Processor 272 is by current holder using one or more axis as shaft The angle of rotation be determined as it is corresponding around the limit angle of one or more pivot axis when, be specifically used for: by current cloud The angle that platform is rotated by shaft of yaw axes is determined as the limit angle rotated by shaft of yaw axes.

When instruction is arranged in the limit angle that 271 receiving control apparatus of communication interface is sent, it is specifically used for: receiving control apparatus The pitching limit angle setting instruction of transmission；The angle that processor 272 rotates current holder using one or more axis as shaft Degree be determined as it is corresponding around the limit angle of one or more pivot axis when, be specifically used for: by current holder with pitching Axis is that the angle of shaft rotation is determined as the limit angle rotated by shaft of pitch axis.

Optionally, communication interface 271 is also used to: the releasing that receiving control apparatus is sent limits instruction；Processor 272 is also used In: it is limited and is instructed according to the releasing, release the rotary spacing that holder is rotated using one or more axis as shaft.

Optionally, communication interface 271 is also used to: the emergent stopping instruction that receiving control apparatus is sent；Processor 272 is also used In: it is instructed according to the emergent stopping, controls holder emergent stopping.

Optionally, communication interface 271 is also used to: the holder configuration parameter that receiving control apparatus is sent.

Optionally, the holder configuration parameter includes one of dead band value, angular speed multiplying power, smoothness or a variety of.

The concrete principle and implementation of holder provided in an embodiment of the present invention with Figure 18-embodiment illustrated in fig. 21 class Seemingly, details are not described herein again.

The rotational parameters information at least one rolled round that the present embodiment is sent by holder receiving control apparatus, and according to shaking The posture of the rotational parameters information adjustment holder of wheel, since the angular speed or angle value of rolled round can be accurately controlled or calculate, When then according to the posture of the angular speed of rolled round or angle value adjustment holder, the control precision of holder posture can be improved；Pass through holder The history rotational parameters information at least one rolled round that receiving control apparatus is sent, and it is corresponding according to the history rotational parameters information Holder history pose adjustment holder current pose, realize the track playback function of holder；It is received and is controlled by holder Instruction is arranged in the limit angle that equipment is sent, and it is to turn that instruction setting, which is arranged, with one or more axis according to the limit angle The limit angle of axis rotation realizes control equipment to the limit function of the attitude angle of holder；Pass through holder receiving control apparatus The emergent stopping of transmission instructs, and is instructed according to the emergent stopping, controls holder emergent stopping, and holder is avoided exception occurring It is continued to rotate when rotation；In addition, the holder configuration parameter that holder can be sent with receiving control apparatus, holder are configured according to holder The control precision to holder can be improved in parameter when adjusting holder posture.

The embodiment of the present invention provides a kind of holder.Figure 27 is the structure chart of holder provided in an embodiment of the present invention.In this reality It applies in example, holder specifically can be hand-held holder.As shown in figure 27, holder 270 provided in this embodiment includes: communication interface 271, processor 272；Wherein, communication interface 271 is used to receive at least one in the control equipment that the control equipment is sent The history rotational parameters information of a rolled round；Processor 272 is used for the history rotational parameters information according at least one rolled round Adjust the posture of the holder.

Optionally, communication interface 271 is also used to: at least one rolled round in the control equipment that receiving control apparatus is sent Rotational parameters information；Processor 272 is also used to: the posture of the holder is adjusted according to the rotational parameters information.

Optionally, the rotational parameters information includes following at least one: angle value, angular speed.

Optionally, the rotation of at least one rolled round in the control equipment that 271 receiving control apparatus of communication interface is sent When parameter information, be specifically used for following at least one: the first rolled round turns in the control equipment that receiving control apparatus is sent Dynamic parameter information；The rotational parameters information of second rolled round in the control equipment that receiving control apparatus is sent；Control is received to set The rotational parameters information of third rolled round in the control equipment that preparation is sent.

Optionally, when processor 272 adjusts the posture of the holder according to the rotational parameters information, it is specifically used for as follows It is at least one: the yaw angle of the holder is adjusted according to the rotational parameters information of first rolled round；According to second rolled round Rotational parameters information adjust the pitch angle of the holder；The holder is adjusted according to the rotational parameters information of the third rolled round Roll angle.

Optionally, communication interface 271 is also used to: instruction is arranged in the limit angle that receiving control apparatus is sent；Processor 272 It is also used to: the limit angle rotated using one or more axis as shaft according to the limit angle setting instruction setting.

Optionally, processor 272 is arranged instruction setting according to the limit angle and turns by shaft of one or more axis When dynamic limit angle, be specifically used for: when communication interface 271 receives the limit angle setting instruction, processor 272 will Current holder is determined as corresponding around one or more pivot axis using one or more axis as the angle that shaft rotates Limit angle.

Optionally, when instruction is arranged in the limit angle that 271 receiving control apparatus of communication interface is sent, it is specifically used for: receives Control the yaw limit angle setting instruction that equipment is sent；Processor 272 is by current holder using one or more axis as shaft The angle of rotation be determined as it is corresponding around the limit angle of one or more pivot axis when, be specifically used for: by current cloud The angle that platform is rotated by shaft of yaw axes is determined as the limit angle rotated by shaft of yaw axes.

Optionally, when instruction is arranged in the limit angle that 271 receiving control apparatus of communication interface is sent, it is specifically used for: receives Control the pitching limit angle setting instruction that equipment is sent；Processor 272 is by current holder using one or more axis as shaft The angle of rotation be determined as it is corresponding around the limit angle of one or more pivot axis when, be specifically used for:

The angle that current holder is rotated by shaft of pitch axis is determined as to the limit rotated by shaft of pitch axis Angle.

Optionally, communication interface 271 is also used to the releasing limit instruction of receiving control apparatus transmission；Processor 272 is also used It is instructed in being limited according to the releasing, releases the rotary spacing that holder is rotated using one or more axis as shaft.

Optionally, communication interface 271 is also used to the emergent stopping instruction of receiving control apparatus transmission；Processor 272 is also used It is instructed according to the emergent stopping, controls holder emergent stopping.

Optionally, communication interface 271 is also used to the holder configuration parameter of receiving control apparatus transmission.

Optionally, the holder configuration parameter includes one of dead band value, angular speed multiplying power, smoothness or a variety of.

The concrete principle and implementation of holder provided in an embodiment of the present invention with Figure 22-embodiment illustrated in fig. 25 class Seemingly, details are not described herein again.

The present embodiment is received at least one rolled round in the control equipment that the control equipment is sent by holder and gone through History rotational parameters information, and the current appearance of the history pose adjustment holder according to the corresponding holder of history rotational parameters information State realizes the track playback function of holder；In the control equipment sent by holder receiving control apparatus at least one The rotational parameters information of rolled round, and the posture of the holder is adjusted according to the rotational parameters information, due to the angular speed of rolled round Or angle value can be accurately controlled or calculate, then when adjusting the posture of holder according to the angular speed of rolled round or angle value, can mention The control precision of Goldwin Heights posture；The limit angle setting instruction sent by holder receiving control apparatus, and according to the limit The limit angle that the setting instruction setting of parallactic angle degree is rotated using one or more axis as shaft, realizes to the attitude angle of holder Limit function；The emergent stopping instruction sent by holder receiving control apparatus, and instructed according to the emergent stopping, control cloud Platform emergent stopping, avoids holder from continuing to rotate when there is anomalous rotation；In addition, what holder can be sent with receiving control apparatus The control precision to holder can be improved in holder configuration parameter, holder when adjusting holder posture according to holder configuration parameter.

In several embodiments provided by the present invention, it should be understood that disclosed device and method can pass through it Its mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only Only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components can be tied Another system is closed or is desirably integrated into, or some features can be ignored or not executed.Another point, it is shown or discussed Mutual coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or logical of device or unit Letter connection can be electrical property, mechanical or other forms.

The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme 's.

It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list Member both can take the form of hardware realization, can also realize in the form of hardware adds SFU software functional unit.

The above-mentioned integrated unit being realized in the form of SFU software functional unit can store and computer-readable deposit at one In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are used so that a computer It is each that equipment (can be personal computer, server or the network equipment etc.) or processor (processor) execute the present invention The part steps of embodiment the method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (Read- Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic or disk etc. it is various It can store the medium of program code.

Those skilled in the art can be understood that, for convenience and simplicity of description, only with above-mentioned each functional module Division progress for example, in practical application, can according to need and above-mentioned function distribution is complete by different functional modules At the internal structure of device being divided into different functional modules, to complete all or part of the functions described above.On The specific work process for stating the device of description, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution The range of scheme.

Claims (112)

1. a kind of control method of holder is applied to control equipment, which is characterized in that the control equipment is provided at least one Rolled round, which comprises

Obtain the rotational parameters information of at least one rolled round；

The rotational parameters information is sent to holder, so that the holder adjusts the holder according to the rotational parameters information Posture.

2. the method according to claim 1, wherein the rotational parameters information includes following at least one:

Angle value, angular speed.

3. method according to claim 1 or 2, which is characterized in that the rotation of at least one rolled round described in the acquisition is joined Number information, including following at least one:

Obtain the rotational parameters information of the first rolled round；

Obtain the rotational parameters information of the second rolled round；

Obtain the rotational parameters information of third rolled round.

4. according to the method described in claim 3, it is characterized in that, described send the rotational parameters information to holder, so that The holder adjusts the posture of the holder according to the rotational parameters information, including following at least one:

The rotational parameters information of first rolled round is sent to holder, so that the holder is joined according to the rotation of first rolled round Number information adjusts the yaw angle of the holder；

The rotational parameters information of second rolled round is sent to holder, so that the holder is joined according to the rotation of second rolled round Number information adjusts the pitch angle of the holder；

The rotational parameters information of the third rolled round is sent to holder, so that the holder is joined according to the rotation of the third rolled round Number information adjusts the roll angle of the holder.

5. method according to claim 1-4, which is characterized in that the method also includes:

In memory by the history rotational parameters information storage of at least one rolled round；

The history rotational parameters information of at least one rolled round of the storage is sent to the holder so that the holder according to The history rotational parameters information of at least one rolled round adjusts the posture of the holder.

6. according to the method described in claim 5, it is characterized in that, the history rotational parameters information by least one rolled round Storage is in memory, comprising:

Detect the storage operation of user；

When detecting storage operation, in memory by the history rotational parameters information storage of at least one rolled round.

7. method according to claim 1-6, which is characterized in that the method also includes:

Operation is arranged in the limit for detecting user；

When detecting the limit setting operation, limit angle setting instruction is sent so that holder is arranged with one or more to holder A axis is the limit angle of shaft rotation.

8. the method according to the description of claim 7 is characterized in that described send limit angle setting instruction to holder to be arranged The limit angle that holder is rotated using one or more axis as shaft, comprising:

Limit angle setting instruction is sent to indicate the holder by current holder using one or more axis as shaft to holder The angle of rotation is determined as the corresponding limit angle around one or more pivot axis.

9. according to the method described in claim 8, it is characterized in that, operation is arranged in the limit of the detection user, comprising:

Detect the yaw limit setting operation of user；

It is described to be with one or more axis by current holder to indicate the holder to holder transmission limit angle setting instruction The angle of shaft rotation is determined as the corresponding limit angle around one or more pivot axis, comprising:

It is described to holder send yaw limit angle setting instruction with indicate the holder by current holder with yaw axes be turn The angle of axis rotation is determined as the limit angle rotated using yaw axes as shaft.

10. according to the method described in claim 8, it is characterized in that, operation is arranged in the limit of the detection user, comprising:

Detect the pitching limit setting operation of user；

It is described to be with one or more axis by current holder to indicate the holder to holder transmission limit angle setting instruction The angle of shaft rotation is determined as the corresponding limit angle around one or more pivot axis, comprising:

It is described to holder send pitching limit angle setting instruction with indicate the holder by current holder with pitch axis be turn The angle of axis rotation is determined as the limit angle rotated using pitch axis as shaft.

11. according to the described in any item methods of claim 7-10, which is characterized in that the method also includes:

The releasing for detecting user limits operation；

When detecting the releasing limit operation, is sent to holder and release limit instruction to release holder with one or more axis Line is the rotary spacing of shaft rotation.

12. -11 described in any item methods according to claim 1, which is characterized in that the method also includes:

Detect the emergent stopping operation of user；

When detecting emergent stopping operation, emergent stopping instruction is sent so that holder emergent stopping to holder.

13. -12 described in any item methods according to claim 1, which is characterized in that the method also includes:

Detect the holder parameter configuration operation of user；

According to the holder parameter configuration operation detected, holder configuration parameter is determined；

The holder configuration parameter is sent to the holder.

14. according to the method for claim 13, which is characterized in that the holder configuration parameter includes dead band value, angular speed One of multiplying power, smoothness are a variety of.

15. -14 described in any item methods according to claim 1, which is characterized in that at least one rolled round described in the acquisition Rotational parameters information, comprising:

The measured value for obtaining angular transducer output, the rotational parameters information of distant wheel is determined according to the measured value.

16. according to the method for claim 15, which is characterized in that the angular transducer includes photoelectric encoder, Hall One of sensor, potentiometer are a variety of.

17. a kind of control method of holder is applied to control equipment, which is characterized in that the control equipment is provided at least one A rolled round, which comprises

In memory by the history rotational parameters information storage of at least one rolled round；

The history rotational parameters information of at least one rolled round of the storage is sent to the holder so that the holder according to The history rotational parameters information of at least one rolled round adjusts the posture of the holder.

18. according to the method for claim 17, which is characterized in that the history rotational parameters by least one rolled round are believed Breath storage is in memory, comprising:

Detect the storage operation of user；

When detecting storage operation, in memory by the history rotational parameters information storage of at least one rolled round.

19. method described in 7 or 18 according to claim 1, which is characterized in that the method also includes:

Obtain the rotational parameters information of at least one rolled round；

The rotational parameters information is sent to holder, so that the holder adjusts the holder according to the rotational parameters information Posture.

20. the described in any item methods of 7-19 according to claim 1, which is characterized in that the rotational parameters information includes as follows It is at least one:

Angle value, angular speed.

21. the described in any item methods of 7-20 according to claim 1, which is characterized in that obtain turning at least one rolled round Dynamic parameter information, including following at least one:

Obtain the rotational parameters information of the first rolled round；

Obtain the rotational parameters information of the second rolled round；

Obtain the rotational parameters information of third rolled round.

22. according to the method for claim 21, which is characterized in that the rotational parameters information is sent to holder, so that institute The posture that holder adjusts the holder according to the rotational parameters information is stated, including following at least one:

The rotational parameters information of first rolled round is sent to holder, so that the holder is joined according to the rotation of first rolled round Number information adjusts the yaw angle of the holder；

The rotational parameters information of second rolled round is sent to holder, so that the holder is joined according to the rotation of second rolled round Number information adjusts the pitch angle of the holder；

The rotational parameters information of the third rolled round is sent to holder, so that the holder is joined according to the rotation of the third rolled round Number information adjusts the roll angle of the holder.

23. the described in any item methods of 7-22 according to claim 1, which is characterized in that the method also includes:

Operation is arranged in the limit for detecting user；

When detecting the limit setting operation, limit angle setting instruction is sent so that holder is arranged with one or more to holder A axis is the limit angle of shaft rotation.

24. according to the method for claim 23, which is characterized in that described to send limit angle setting instruction to holder to set Set the limit angle that holder is rotated using one or more axis as shaft, comprising:

Limit angle setting instruction is sent to indicate the holder by current holder using one or more axis as shaft to holder The angle of rotation is determined as the corresponding limit angle around one or more pivot axis.

25. according to the method for claim 24, which is characterized in that operation is arranged in the limit of the detection user, comprising:

Detect the yaw limit setting operation of user；

It is described to be with one or more axis by current holder to indicate the holder to holder transmission limit angle setting instruction The angle of shaft rotation is determined as the corresponding limit angle around one or more pivot axis, comprising:

Yaw limit angle setting instruction is sent to indicate that the holder turns current holder by shaft of yaw axes to holder Dynamic angle is determined as the limit angle rotated using yaw axes as shaft.

26. according to the method for claim 24, which is characterized in that operation is arranged in the limit of the detection user, comprising:

Detect the pitching limit setting operation of user；

It is described to be with one or more axis by current holder to indicate the holder to holder transmission limit angle setting instruction The angle of shaft rotation is determined as the corresponding limit angle around one or more pivot axis, comprising:

Pitching limit angle setting instruction is sent to indicate that the holder turns current holder by shaft of pitch axis to holder Dynamic angle is determined as the limit angle rotated using pitch axis as shaft.

27. according to the described in any item methods of claim 23-26, which is characterized in that the method also includes:

The releasing for detecting user limits operation；

When detecting the releasing limit operation, is sent to holder and release limit instruction to release holder with one or more axis Line is the rotary spacing of shaft rotation.

28. the described in any item methods of 7-27 according to claim 1, which is characterized in that the method also includes:

Detect the emergent stopping operation of user；

When detecting emergent stopping operation, emergent stopping instruction is sent so that holder emergent stopping to holder.

29. the described in any item methods of 7-28 according to claim 1, which is characterized in that the method also includes:

Detect the holder parameter configuration operation of user；

According to the holder parameter configuration operation detected, holder configuration parameter is determined；

The holder configuration parameter is sent to the holder.

30. according to the method for claim 29, which is characterized in that the holder configuration parameter includes dead band value, angular speed One of multiplying power, smoothness are a variety of.

31. a kind of control method of holder is applied to holder, which is characterized in that the described method includes:

The rotational parameters information of at least one rolled round in the control equipment that receiving control apparatus is sent；

The posture of the holder is adjusted according to the rotational parameters information.

32. according to the method for claim 31, which is characterized in that the rotational parameters information includes following at least one:

Angle value, angular speed.

33. the method according to claim 31 or 32, which is characterized in that the control that the receiving control apparatus is sent The rotational parameters information of at least one rolled round in equipment, including following at least one:

The rotational parameters information for the first rolled round that receiving control apparatus is sent；

The rotational parameters information for the second rolled round that receiving control apparatus is sent；

The rotational parameters information for the third rolled round that receiving control apparatus is sent.

34. according to the method for claim 33, which is characterized in that described to adjust the cloud according to the rotational parameters information The posture of platform, including following at least one:

The yaw angle of the holder is adjusted according to the rotational parameters information of first rolled round；

The pitch angle of the holder is adjusted according to the rotational parameters information of second rolled round；

The roll angle of the holder is adjusted according to the rotational parameters information of the third rolled round.

35. according to the described in any item methods of claim 31-34, which is characterized in that the method also includes:

Receive the history rotational parameters information at least one rolled round that the control equipment is sent；

The posture of the holder is adjusted according to the history rotational parameters information of at least one rolled round.

36. according to the described in any item methods of claim 31-35, which is characterized in that the method also includes:

Instruction is arranged in the limit angle that receiving control apparatus is sent；

The limit angle rotated using one or more axis as shaft according to the limit angle setting instruction setting.

37. according to the method for claim 36, which is characterized in that it is described according to the limit angle setting instruction be arranged with One or more axis are the limit angle of shaft rotation, comprising:

When receiving limit angle setting instruction, angle that current holder is rotated using one or more axis as shaft It is determined as the corresponding limit angle around one or more pivot axis.

38. according to the method for claim 37, which is characterized in that the limit angle setting that the receiving control apparatus is sent Instruction, comprising:

The yaw limit angle setting instruction that receiving control apparatus is sent；

It is described by current holder using one or more axis as the angle that shaft rotates be determined as it is corresponding around one or more turn The limit angle of shaft line rotation, comprising:

The angle that current holder is rotated by shaft of yaw axes is determined as to the limit angle rotated by shaft of yaw axes.

39. according to the method for claim 37, which is characterized in that the limit angle setting that the receiving control apparatus is sent Instruction, comprising:

The pitching limit angle setting instruction that receiving control apparatus is sent；

It is described by current holder using one or more axis as the angle that shaft rotates be determined as it is corresponding around one or more turn The limit angle of shaft line rotation, comprising:

The angle that current holder is rotated by shaft of pitch axis is determined as to the limit angle rotated by shaft of pitch axis.

40. according to the described in any item methods of claim 36-39, which is characterized in that the method also includes:

The releasing that receiving control apparatus is sent limits instruction；

It is limited and is instructed according to the releasing, release the rotary spacing that holder is rotated using one or more axis as shaft.

41. according to the described in any item methods of claim 31-40, which is characterized in that the method also includes:

The emergent stopping instruction that receiving control apparatus is sent；

It is instructed according to the emergent stopping, controls holder emergent stopping.

42. according to the described in any item methods of claim 31-41, which is characterized in that the method also includes:

The holder configuration parameter that receiving control apparatus is sent.

43. according to the method for claim 42, which is characterized in that the holder configuration parameter includes dead band value, angular speed One of multiplying power, smoothness are a variety of.

44. a kind of control method of holder is applied to holder, which is characterized in that the described method includes:

Receive the history rotational parameters information of at least one rolled round in the control equipment that the control equipment is sent；

The posture of the holder is adjusted according to the history rotational parameters information of at least one rolled round.

45. according to the method for claim 44, which is characterized in that the method also includes:

The rotational parameters information of at least one rolled round in the control equipment that receiving control apparatus is sent；

The posture of the holder is adjusted according to the rotational parameters information.

46. the method according to claim 44 or 45, which is characterized in that the rotational parameters information includes following at least one Kind:

Angle value, angular speed.

47. the method according to claim 45 or 46, which is characterized in that the control that the receiving control apparatus is sent The rotational parameters information of at least one rolled round in equipment, including following at least one:

The rotational parameters information of first rolled round in the control equipment that receiving control apparatus is sent；

The rotational parameters information of second rolled round in the control equipment that receiving control apparatus is sent；

The rotational parameters information of third rolled round in the control equipment that receiving control apparatus is sent.

48. according to the method for claim 47, which is characterized in that described to adjust the cloud according to the rotational parameters information The posture of platform, including following at least one:

The yaw angle of the holder is adjusted according to the rotational parameters information of first rolled round；

The pitch angle of the holder is adjusted according to the rotational parameters information of second rolled round；

The roll angle of the holder is adjusted according to the rotational parameters information of the third rolled round.

49. according to the described in any item methods of claim 44-48, which is characterized in that the method also includes:

Instruction is arranged in the limit angle that receiving control apparatus is sent；

The limit angle rotated using one or more axis as shaft according to the limit angle setting instruction setting.

50. according to the method for claim 49, which is characterized in that it is described according to the limit angle setting instruction be arranged with One or more axis are the limit angle of shaft rotation, comprising:

When receiving limit angle setting instruction, angle that current holder is rotated using one or more axis as shaft It is determined as the corresponding limit angle around one or more pivot axis.

51. according to the method for claim 50, which is characterized in that the limit angle setting that the receiving control apparatus is sent Instruction, comprising:

The yaw limit angle setting instruction that receiving control apparatus is sent；

It is described by current holder using one or more axis as the angle that shaft rotates be determined as it is corresponding around one or more turn The limit angle of shaft line rotation, comprising:

The angle that current holder is rotated by shaft of yaw axes is determined as to the limit angle rotated by shaft of yaw axes.

52. according to the method for claim 50, which is characterized in that the limit angle setting that the receiving control apparatus is sent Instruction, comprising:

The pitching limit angle setting instruction that receiving control apparatus is sent；

It is described by current holder using one or more axis as the angle that shaft rotates be determined as it is corresponding around one or more turn The limit angle of shaft line rotation, comprising:

The angle that current holder is rotated by shaft of pitch axis is determined as to the limit angle rotated by shaft of pitch axis.

53. according to the described in any item methods of claim 49-52, which is characterized in that the method also includes:

The releasing that receiving control apparatus is sent limits instruction,

It is limited and is instructed according to the releasing, release the rotary spacing that holder is rotated using one or more axis as shaft.

54. according to the described in any item methods of claim 44-53, which is characterized in that the method also includes:

The emergent stopping instruction that receiving control apparatus is sent；

It is instructed according to the emergent stopping, controls holder emergent stopping.

55. according to the described in any item methods of claim 44-54, which is characterized in that the method also includes:

The holder configuration parameter that receiving control apparatus is sent.

56. method according to claim 55, which is characterized in that the holder configuration parameter includes dead band value, angular speed One of multiplying power, smoothness are a variety of.

57. a kind of control equipment is applied to rolled round and controls equipment characterized by comprising at least one rolled round, is led to processor Communication interface；

The processor is used to obtain the rotational parameters information of at least one rolled round；

The communication interface is used to send the rotational parameters information to holder, so that the holder is believed according to the rotational parameters Breath adjusts the posture of the holder.

58. control equipment according to claim 57, which is characterized in that the rotational parameters information includes following at least one Kind:

Angle value, angular speed.

59. the control equipment according to claim 57 or 58, which is characterized in that the processor obtain it is described at least one When the rotational parameters information of rolled round, it is specifically used for following at least one:

Obtain the rotational parameters information of the first rolled round；

Obtain the rotational parameters information of the second rolled round；

Obtain the rotational parameters information of third rolled round.

60. control equipment according to claim 59, which is characterized in that the communication interface sends the rotation to holder Parameter information, when so that the holder adjusting the posture of the holder according to the rotational parameters information, be specifically used for such as down toward Few one kind:

The rotational parameters information of first rolled round is sent to holder, so that the holder is joined according to the rotation of first rolled round Number information adjusts the yaw angle of the holder；

The rotational parameters information of second rolled round is sent to holder, so that the holder is joined according to the rotation of second rolled round Number information adjusts the pitch angle of the holder；

The rotational parameters information of the third rolled round is sent to holder, so that the holder is joined according to the rotation of the third rolled round Number information adjusts the roll angle of the holder.

61. according to the described in any item control equipment of claim 57-60, which is characterized in that the processor is also used to institute State the history rotational parameters information storage of at least one rolled round in memory；The communication interface is also used to the storage The history rotational parameters information of at least one rolled round is sent to the holder, so that the holder is according at least one described rolled round History rotational parameters information adjust the posture of the holder.

62. control equipment according to claim 61, which is characterized in that the processor is also used to: detecting depositing for user Storage operation；

When detecting storage operation, the processor stores the history rotational parameters information of at least one rolled round In memory.

63. according to the described in any item control equipment of claim 57-62, which is characterized in that the processor is also used to: detection Operation is arranged in the limit of user；

When detecting the limit setting operation, the communication interface sends limit angle setting instruction to holder cloud is arranged The limit angle that platform is rotated using one or more axis as shaft.

64. control equipment according to claim 63, which is characterized in that the communication interface sends limit angle to holder When instruction is set so that holder is arranged using one or more axis as the limit angle that shaft rotates, it is specifically used for:

Limit angle setting instruction is sent to indicate the holder by current holder using one or more axis as shaft to holder The angle of rotation is determined as the corresponding limit angle around one or more pivot axis.

65. control equipment according to claim 64, which is characterized in that behaviour is arranged in the limit of the processor detection user When making, it is specifically used for:

Detect the yaw limit setting operation of user；

The communication interface sends limit angle setting instruction to holder to indicate the holder by current holder with one or more A axis be the angle of shaft rotation be determined as it is corresponding around the limit angle of one or more pivot axis when, it is specific to use In:

Yaw limit angle setting instruction is sent to indicate that the holder turns current holder by shaft of yaw axes to holder Dynamic angle is determined as the limit angle rotated using yaw axes as shaft.

66. control equipment according to claim 64, which is characterized in that behaviour is arranged in the limit of the processor detection user When making, it is specifically used for:

Detect the pitching limit setting operation of user；

The communication interface sends limit angle setting instruction to holder to indicate the holder by current holder with one or more A axis be the angle of shaft rotation be determined as it is corresponding around the limit angle of one or more pivot axis when, it is specific to use In:

Pitching limit angle setting instruction is sent to indicate that the holder turns current holder by shaft of pitch axis to holder Dynamic angle is determined as the limit angle rotated using pitch axis as shaft.

67. according to the described in any item control equipment of claim 63-66, which is characterized in that the processor is also used to: detection The releasing of user limits operation；

When detecting releasing limit operation, the communication interface sent to holder release limit instruction with release holder with One or more axis are the rotary spacing of shaft rotation.

68. according to the described in any item control equipment of claim 57-67, which is characterized in that the processor is also used to: detection The emergent stopping of user operates；

When detecting emergent stopping operation, the communication interface sends emergent stopping instruction so that holder is urgent to holder Stop.

69. according to the described in any item control equipment of claim 57-68, which is characterized in that the processor is also used to:

Detect the holder parameter configuration operation of user；

According to the holder parameter configuration operation detected, holder configuration parameter is determined；

The communication interface is also used to send the holder configuration parameter to the holder.

70. control equipment according to claim 69, which is characterized in that the holder configuration parameter includes dead band value, angle One of speed multiplying power, smoothness are a variety of.

71. according to the described in any item control equipment of claim 57-70, which is characterized in that the processor acquisition is described extremely When the rotational parameters information of a few rolled round, it is specifically used for:

The measured value for obtaining angular transducer output, the rotational parameters information of distant wheel is determined according to the measured value.

72. control equipment according to claim 71, which is characterized in that the angular transducer include photoelectric encoder, One of Hall sensor, potentiometer are a variety of.

73. a kind of control equipment, be applied to rolled round and control equipment characterized by comprising at least one rolled round, communication interface, Processor；

The processor is used for the history rotational parameters information storage of at least one rolled round in memory；

The communication interface is used to the history rotational parameters information of at least one rolled round of the storage being sent to holder, so that The holder adjusts the posture of the holder according to the history rotational parameters information of at least one rolled round.

74. the control equipment according to claim 73, which is characterized in that

The processor is also used to detect the storage operation of user；

When detecting storage operation, the processor stores the history rotational parameters information of at least one rolled round In memory.

75. the control equipment according to claim 73 or 74, which is characterized in that the processor is also used to: described in acquisition The rotational parameters information of at least one rolled round；

The communication interface is also used to send the rotational parameters information to holder, so that the holder is according to the rotational parameters Information adjusts the posture of the holder.

76. according to the described in any item control equipment of claim 73-75, which is characterized in that the rotational parameters information includes It is following at least one:

Angle value, angular speed.

77. according to the described in any item control equipment of claim 73-76, which is characterized in that the processor acquisition is described extremely When the rotational parameters information of a few rolled round, it is specifically used for following at least one:

Obtain the rotational parameters information of the first rolled round；

Obtain the rotational parameters information of the second rolled round；

Obtain the rotational parameters information of third rolled round.

78. the control equipment according to claim 77, which is characterized in that the communication interface sends the rotation to holder Parameter information, when so that the holder adjusting the posture of the holder according to the rotational parameters information, be specifically used for such as down toward Few one kind:

The rotational parameters information of first rolled round is sent to holder, so that the holder is joined according to the rotation of first rolled round Number information adjusts the yaw angle of the holder；

The rotational parameters information of second rolled round is sent to holder, so that the holder is joined according to the rotation of second rolled round Number information adjusts the pitch angle of the holder；

The rotational parameters information of the third rolled round is sent to holder, so that the holder is joined according to the rotation of the third rolled round Number information adjusts the roll angle of the holder.

79. according to the described in any item control equipment of claim 73-78, which is characterized in that the processor is also used to: detection Operation is arranged in the limit of user；

When detecting the limit setting operation, the communication interface sends limit angle setting instruction to holder cloud is arranged The limit angle that platform is rotated using one or more axis as shaft.

80. the control equipment according to claim 79, which is characterized in that the communication interface sends limit angle to holder When instruction is set so that holder is arranged using one or more axis as the limit angle that shaft rotates, it is specifically used for:

Limit angle setting instruction is sent to indicate the holder by current holder using one or more axis as shaft to holder The angle of rotation is determined as the corresponding limit angle around one or more pivot axis.

81. the control equipment according to claim 80, which is characterized in that behaviour is arranged in the limit of the processor detection user When making, it is specifically used for: detects the yaw limit setting operation of user；

The communication interface sends limit angle setting instruction to holder to indicate the holder by current holder with one or more A axis be the angle of shaft rotation be determined as it is corresponding around the limit angle of one or more pivot axis when, it is specific to use In:

Yaw limit angle setting instruction is sent to indicate that the holder turns current holder by shaft of yaw axes to holder Dynamic angle is determined as the limit angle rotated using yaw axes as shaft.

82. the control equipment according to claim 80, which is characterized in that behaviour is arranged in the limit of the processor detection user When making, it is specifically used for: detects the pitching limit setting operation of user；

The communication interface sends limit angle setting instruction to holder to indicate the holder by current holder with one or more A axis be the angle of shaft rotation be determined as it is corresponding around the limit angle of one or more pivot axis when, it is specific to use In:

Pitching limit angle setting instruction is sent to indicate that the holder turns current holder by shaft of pitch axis to holder Dynamic angle is determined as the limit angle rotated using pitch axis as shaft.

83. according to the described in any item control equipment of claim 79-82, which is characterized in that the processor is also used to: detection The releasing of user limits operation；

When detecting releasing limit operation, the communication interface sent to holder release limit instruction with release holder with One or more axis are the rotary spacing of shaft rotation.

84. according to the described in any item control equipment of claim 73-83, which is characterized in that the processor is also used to: detection The emergent stopping of user operates；

When detecting emergent stopping operation, the communication interface sends emergent stopping instruction so that holder is urgent to holder Stop.

85. according to the described in any item control equipment of claim 73-84, which is characterized in that the processor is also used to: detection The holder parameter configuration of user operates；

The processor is also used to determine holder configuration parameter according to the holder parameter configuration operation detected；

The communication interface is also used to: sending the holder configuration parameter to the holder.

86. the control equipment according to claim 85, which is characterized in that the holder configuration parameter includes dead band value, angle One of speed multiplying power, smoothness are a variety of.

87. a kind of holder characterized by comprising communication interface, processor；

The rotational parameters letter of at least one rolled round in the control equipment that the communication interface is sent for receiving control apparatus Breath；

The processor is used to adjust the posture of the holder according to the rotational parameters information.

88. the holder according to claim 87, which is characterized in that the rotational parameters information includes following at least one:

Angle value, angular speed.

89. the holder according to claim 87 or 88, which is characterized in that the communication interface receiving control apparatus was sent In the control equipment when rotational parameters information of at least one rolled round, it is specifically used for following at least one:

The rotational parameters information for the first rolled round that receiving control apparatus is sent；

The rotational parameters information for the second rolled round that receiving control apparatus is sent；

The rotational parameters information for the third rolled round that receiving control apparatus is sent.

90. the holder according to claim 89, which is characterized in that the processor is adjusted according to the rotational parameters information When the posture of the holder, it is specifically used for following at least one:

The yaw angle of the holder is adjusted according to the rotational parameters information of first rolled round；

The pitch angle of the holder is adjusted according to the rotational parameters information of second rolled round；

The roll angle of the holder is adjusted according to the rotational parameters information of the third rolled round.

91. according to the described in any item holders of claim 87-90, which is characterized in that the communication interface is also used to: receiving institute State the history rotational parameters information at least one rolled round that control equipment is sent；

The processor is also used to: the appearance of the holder is adjusted according to the history rotational parameters information of at least one rolled round State.

92. according to the described in any item holders of claim 87-91, which is characterized in that the communication interface is also used to: receiving control Instruction is arranged in the limit angle that control equipment is sent；

The processor is also used to: being rotated using one or more axis as shaft according to the limit angle setting instruction setting Limit angle.

93. the holder according to claim 92, which is characterized in that the processor is arranged according to the limit angle to be instructed When being arranged using one or more axis as the limit angle that shaft rotates, it is specifically used for:

When the communication interface receives the limit angle setting instruction, the processor is by current holder with one or more A axis is that the angle of shaft rotation is determined as the corresponding limit angle around one or more pivot axis.

94. the holder according to claim 93, which is characterized in that the limit that the communication interface receiving control apparatus is sent When angle setting instruction, it is specifically used for:

The yaw limit angle setting instruction that receiving control apparatus is sent；

The processor by current holder using one or more axis as the angle that shaft rotates be determined as it is corresponding around one or When the limit angle of multiple pivot axis, it is specifically used for:

The angle that current holder is rotated by shaft of yaw axes is determined as to the limit angle rotated by shaft of yaw axes.

95. the holder according to claim 93, which is characterized in that the limit that the communication interface receiving control apparatus is sent When angle setting instruction, it is specifically used for:

The pitching limit angle setting instruction that receiving control apparatus is sent；

The processor by current holder using one or more axis as the angle that shaft rotates be determined as it is corresponding around one or When the limit angle of multiple pivot axis, it is specifically used for:

The angle that current holder is rotated by shaft of pitch axis is determined as to the limit angle rotated by shaft of pitch axis.

96. according to the described in any item holders of claim 92-95, which is characterized in that the communication interface is also used to: receiving control The releasing that control equipment is sent limits instruction；

The processor is also used to: being limited and is instructed according to the releasing, released holder and rotate by shaft of one or more axis Rotary spacing.

97. according to the described in any item holders of claim 87-96, which is characterized in that the communication interface is also used to: receiving control The emergent stopping instruction that control equipment is sent；

The processor is also used to: being instructed according to the emergent stopping, is controlled holder emergent stopping.

98. according to the described in any item holders of claim 87-97, which is characterized in that the communication interface is also used to: receiving control The holder configuration parameter that control equipment is sent.

99. the holder according to claim 98, which is characterized in that the holder configuration parameter includes dead band value, angular speed One of multiplying power, smoothness are a variety of.

100. a kind of holder characterized by comprising communication interface, processor；

The history of at least one rolled round rotates ginseng in the control equipment that the communication interface is sent for receiving control apparatus Number information；

The processor is used to adjust the posture of the holder according to the history rotational parameters information of at least one rolled round.

101. holder described in 00 according to claim 1, which is characterized in that the communication interface is also used to: receiving control apparatus The rotational parameters information of at least one rolled round in the control equipment sent；

The processor is also used to: the posture of the holder is adjusted according to the rotational parameters information.

102. holder described in 00 or 101 according to claim 1, which is characterized in that the rotational parameters information include it is following extremely Few one kind:

Angle value, angular speed.

103. holder described in 01 or 102 according to claim 1, which is characterized in that the communication interface receiving control apparatus hair In the control equipment sent when the rotational parameters information of at least one rolled round, it is specifically used for following at least one:

The rotational parameters information of first rolled round in the control equipment that receiving control apparatus is sent；

The rotational parameters information of second rolled round in the control equipment that receiving control apparatus is sent；

The rotational parameters information of third rolled round in the control equipment that receiving control apparatus is sent.

104. holder described in 03 according to claim 1, which is characterized in that the processor is according to the rotational parameters information tune When the posture of the whole holder, it is specifically used for following at least one:

The yaw angle of the holder is adjusted according to the rotational parameters information of first rolled round；

The pitch angle of the holder is adjusted according to the rotational parameters information of second rolled round；

The roll angle of the holder is adjusted according to the rotational parameters information of the third rolled round.

105. the described in any item holders of 00-104 according to claim 1, which is characterized in that the communication interface is also used to: being connect It receives the limit angle that control equipment is sent and instruction is set；

The processor is also used to: being rotated using one or more axis as shaft according to the limit angle setting instruction setting Limit angle.

106. holder described in 05 according to claim 1, which is characterized in that the processor refers to according to limit angle setting When enabling setting using one or more axis as the limit angle that shaft rotates, it is specifically used for:

When the communication interface receives the limit angle setting instruction, the processor is by current holder with one or more A axis is that the angle of shaft rotation is determined as the corresponding limit angle around one or more pivot axis.

107. holder described in 06 according to claim 1, which is characterized in that the limit that the communication interface receiving control apparatus is sent When the setting instruction of parallactic angle degree, it is specifically used for:

The yaw limit angle setting instruction that receiving control apparatus is sent；

The processor by current holder using one or more axis as the angle that shaft rotates be determined as it is corresponding around one or When the limit angle of multiple pivot axis, it is specifically used for:

The angle that current holder is rotated by shaft of yaw axes is determined as to the limit angle rotated by shaft of yaw axes.

108. holder described in 06 according to claim 1, which is characterized in that the limit that the communication interface receiving control apparatus is sent When the setting instruction of parallactic angle degree, it is specifically used for:

The pitching limit angle setting instruction that receiving control apparatus is sent；

The processor by current holder using one or more axis as the angle that shaft rotates be determined as it is corresponding around one or When the limit angle of multiple pivot axis, it is specifically used for:

The angle that current holder is rotated by shaft of pitch axis is determined as to the limit angle rotated by shaft of pitch axis.

109. the described in any item holders of 05-108 according to claim 1, which is characterized in that the communication interface is also used to receive It controls the releasing that equipment is sent and limits instruction；

The processor is also used to be limited according to the releasing and instruct, and releases what holder was rotated using one or more axis as shaft Rotary spacing.

110. the described in any item holders of 05-109 according to claim 1, which is characterized in that the communication interface is also used to receive Control the emergent stopping instruction that equipment is sent；

The processor is also used to be instructed according to the emergent stopping, controls holder emergent stopping.

111. the described in any item holders of 05-110 according to claim 1, which is characterized in that the communication interface is also used to receive Control the holder configuration parameter that equipment is sent.

112. holder described in 11 according to claim 1, which is characterized in that the holder configuration parameter includes dead band value, angle speed Spend one of multiplying power, smoothness or a variety of.