CN109292103A - Holder method of adjustment, device, unmanned plane and holder adjust system - Google Patents
Holder method of adjustment, device, unmanned plane and holder adjust system Download PDFInfo
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- CN109292103A CN109292103A CN201810851291.3A CN201810851291A CN109292103A CN 109292103 A CN109292103 A CN 109292103A CN 201810851291 A CN201810851291 A CN 201810851291A CN 109292103 A CN109292103 A CN 109292103A
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- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
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- 230000002452 interceptive effect Effects 0.000 abstract description 6
- 238000005516 engineering process Methods 0.000 abstract description 3
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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Abstract
The present invention provides a kind of holder method of adjustment, device, unmanned plane and holders to adjust system, is related to field of intelligent control technology, this method comprises: obtaining the attitude data of user's input；Attitude data is sent to cradle head controllor, so that cradle head controllor is with the holder according to attitude data adjustment unmanned plane.Holder method of adjustment, device, unmanned plane and holder provided by the invention adjust system, and the attitude data of user's input can be got by VR equipment；And attitude data is sent to cradle head controllor, so that cradle head controllor is with the holder according to attitude data adjustment unmanned plane, the process of the attitude data of user's input is obtained above by VR equipment, so that the remote controler or handle control lever of unmanned plane are manually controlled without user during unmanned plane adjustment, not only reduce the triviality of user's manual operation, also visual interactive experience is brought to user, and then improves the Experience Degree of user.
Description
Technical field
The present invention relates to the technical field of intelligent control, more particularly, to a kind of holder method of adjustment, device, unmanned plane and
Holder adjusts system.
Background technique
Unmanned plane is the abbreviation of UAV, refers to and is grasped using radio robot and the process control provided for oneself
Vertical UAV, be widely used in taking photo by plane, agricultural, plant protection, miniature self-timer, express transportation, disaster relief, mapping,
The fields such as news report, electric inspection process, the disaster relief.
Currently, with unmanned plane in people's lives using more and more extensive, unmanned plane user is also more and more, existing
Unmanned plane be typically all to realize certain remote control operation by handle control lever or remote controler, remote control operation and traditional
Remote toy aircraft has no too many differences, few visual interactions.For example, when being taken photo by plane using unmanned plane, user
The video of taking photo by plane that unmanned plane transmission can only be viewed by ground based terminal, then adjusts nobody by unmanned cleaner handgrip control lever
The shooting direction of machine or camera site, it is not high to the experience of user's bring visual interactive, thereby reduce the experience of user
Degree.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of holder method of adjustment, device, unmanned plane and holder adjustment systems
System experiences not high technical problem to alleviate above-mentioned user's visual interactive.
In a first aspect, the embodiment of the invention provides a kind of holder method of adjustment, this method is applied to VR equipment, for pair
The holder of UAV flight is adjusted, this method comprises: obtaining the attitude data of user's input；Attitude data is sent to cloud
Platform controller, so that cradle head controllor is with the holder according to attitude data adjustment unmanned plane.
With reference to first aspect, the embodiment of the invention provides the first possible embodiments of first aspect, wherein on
Stating VR device configuration has the first attitude transducer；The process of the attitude data of above-mentioned acquisition user input includes: by the first appearance
State sensor obtains the action behavior of user's input；Parse the attitude data for including in the action behavior of user input, wherein
Above-mentioned attitude data includes one of roll data, pitching data or spin data or a variety of.
Second aspect, the embodiment of the invention provides a kind of holder method of adjustment, this method is applied to cradle head controllor, cloud
Platform controller and VR equipment are wirelessly connected, and are adjusted for the holder to UAV flight, this method comprises: receiving VR equipment
The attitude data of transmission；Judge whether the attitude data is consistent with the attitude data of current holder；If not, appearance based on the received
State data are adjusted holder.
In conjunction with second aspect, the embodiment of the invention provides the first possible embodiments of second aspect, wherein on
The holder for stating UAV flight is communicated to connect configured with the second attitude transducer, second attitude transducer and cradle head controllor；
The whether consistent step of the above-mentioned attitude data for judging attitude data and current holder includes: to be detected by the second attitude transducer
The attitude data of current holder；Judge that the second attitude transducer detects the attitude data of current holder and received VR equipment is sent
Attitude data it is whether consistent；If so, determining that attitude data is consistent with the attitude data of current holder；If not, determining appearance
State data and the attitude data of current holder are inconsistent.
In conjunction with the first possible embodiment of second aspect, the embodiment of the invention provides second of second aspect
Possible embodiment, wherein the step of above-mentioned attitude data based on the received is adjusted holder includes: based on the received
The attitude data of attitude data and the current holder of the second attitude transducer detection calculates the rotation angle of shaft rotating motor；
Rotation angle is sent to electric machine controller, is rotated with controlling shaft rotating motor, completes the adjustment process of holder；Wherein,
Holder is the rotational structure that more rotary shafts are constituted, and the second attitude transducer and rotary shaft are fixed steel body structure.
The third aspect, the embodiment of the present invention also provide a kind of holder adjustment device, which is set to VR equipment, for pair
The holder of UAV flight is adjusted, which includes: acquisition module, for obtaining the attitude data of user's input；It sends
Module, for attitude data to be sent to cradle head controllor, so that cradle head controllor is with the cloud according to attitude data adjustment unmanned plane
Platform.
In conjunction with the third aspect, the embodiment of the invention provides the first possible embodiments of the third aspect, wherein on
Stating VR device configuration has the first attitude transducer；Above-mentioned acquisition module is used for: obtaining user's input by the first attitude transducer
Action behavior；Parse user action behavior in include attitude data, wherein above-mentioned attitude data include roll data,
One of pitching data or spin data are a variety of.
Fourth aspect, the embodiment of the present invention also provide a kind of holder adjustment device, which is set to cradle head controllor, cloud
Platform controller and VR equipment are wirelessly connected, and are adjusted for the holder to UAV flight, which includes: receiving module,
For receiving the attitude data of VR equipment transmission；Judgment module, for judging that the attitude data of attitude data and current holder is
It is no consistent；Module is adjusted, for when the judging result of judgment module is no, attitude data to adjust holder based on the received
It is whole.
5th aspect, the embodiment of the present invention also provide a kind of unmanned plane, and the unmanned plane is configured with described in above-mentioned fourth aspect
Holder adjust device.
6th aspect, the embodiment of the present invention also provide a kind of holder adjustment system, which includes above-mentioned 5th aspect institute
The unmanned plane stated further includes VR equipment, which has holder described in the above-mentioned third aspect to adjust device；Unmanned plane with
VR equipment wireless communication receives the attitude data that VR equipment is sent, and, it is adjusted according to holder of the attitude data to carrying
It is whole.
The embodiment of the present invention bring it is following the utility model has the advantages that
A kind of holder method of adjustment, device, unmanned plane and holder provided in an embodiment of the present invention adjust system, can pass through
VR equipment gets the attitude data of user's input；And attitude data is sent to cradle head controllor so that cradle head controllor with
According to the holder of attitude data adjustment unmanned plane, the process of the attitude data of user's input is obtained above by VR equipment, so that
The remote controler or handle control lever for manually controlling unmanned plane during unmanned plane adjustment without user, not only reduce user hand
The triviality of dynamic operation also brings visual interactive experience to user, and then improves the Experience Degree of user.
Other features and advantages of the present invention will illustrate in the following description, alternatively, Partial Feature and advantage can be with
Deduce from specification or unambiguously determine, or by implementing above-mentioned technology of the invention it can be learnt that.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of flow chart of holder method of adjustment provided in an embodiment of the present invention；
Fig. 2 is the flow chart of another holder method of adjustment provided in an embodiment of the present invention；
Fig. 3 is the structural schematic diagram that a kind of holder provided in an embodiment of the present invention adjusts device；
Fig. 4 is the structural schematic diagram that another holder provided in an embodiment of the present invention adjusts device.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing to the present invention
Technical solution be clearly and completely described, it is clear that described embodiments are some of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, shall fall within the protection scope of the present invention.
Currently, the control for unmanned plane, be mostly based on handle control lever or remote controler to realize, i.e., can not according to
The visual angle at family controls shooting direction or the camera site of unmanned plane, not only increases the triviality of user's operation, meanwhile, it gives
The experience of user's bring visual interactive is not high, and it is lower to result in user experience.
Based on this, a kind of holder method of adjustment, device, unmanned plane and holder provided in an embodiment of the present invention adjust system,
To alleviate above-mentioned technical problem.
For convenient for understanding the present embodiment, first to a kind of holder method of adjustment disclosed in the embodiment of the present invention into
Row is discussed in detail.
Embodiment 1
The embodiment of the invention provides a kind of holder method of adjustment, this method can be applied to VR (Virtual
Reality, virtual reality) equipment, it is adjusted for the holder to UAV flight, a kind of holder adjustment as shown in Figure 1
The flow chart of method, method includes the following steps:
Step S102 obtains the attitude data of user's input；
Attitude data is sent to cradle head controllor by step S104, so that cradle head controllor is with adjusting nothing according to attitude data
Man-machine holder.
When specific implementation, which can be wirelessly connected with cradle head controllor, can when holder is mounted on unmanned plane
To shoot the picture in specified place by the photographic device on holder, and VR equipment is transmitted to by cradle head controllor, which sets
The standby picture that can be shot with photographic device carries out virtual emulation, so that user is experienced real-time Three Dimensional Dynamic Scene, in order to make
User is immersed in the environment of emulation.
It, can be defeated by the VR controller meanwhile when the picture for immersing the specified place of scene deviation that user receives
Enter attitude data, and the attitude data is sent to cradle head controllor, so that cradle head controllor adjusts nothing according to the attitude data
Man-machine holder, for example, attitude data can wirelessly be transferred to cradle head controllor, so that cradle head controllor is to appearance
State data are resolved, and in order to issue control instruction, rotate etc. to control holder according to attitude data, pitching and roll
Deng movement.
When specific implementation, which can be the VR helmet, in order to which user watches the picture of photographic device shooting, together
When, above-mentioned VR device configuration has the first attitude transducer；Specifically, which, which can be, is arranged in VR equipment
Gyroscope, with detect user input attitude data, for example, the attitude data etc. that user is inputted by rotatable head.Therefore,
The process of the attitude data of above-mentioned acquisition user input may include:
The action behavior of user's input is obtained by first attitude transducer；It is wrapped in the action behavior of parsing user's input
The attitude data included, wherein above-mentioned attitude data includes one of roll data, pitching data or spin data or more
Kind.When measuring helmet rotation using the gyroscope inside the above-mentioned VR helmet, the video image in VR equipment can be carried out
Synchronous rotation, thus the sense of reality for following head to a kind of picture of user to rotate.
A kind of holder method of adjustment provided in an embodiment of the present invention can get the posture of user's input by VR equipment
Data；And attitude data is sent to cradle head controllor, so that holder of the cradle head controllor with adjusting unmanned plane according to attitude data,
The process of the attitude data of user's input is obtained above by VR equipment, so that manual without user during unmanned plane adjustment
The remote controler or handle control lever for controlling unmanned plane not only reduce the triviality of user's manual operation, also bring to user
Visual interactive experience, and then improve the Experience Degree of user.
Corresponding to holder method of adjustment described in above-described embodiment, the embodiment of the invention provides another holder adjustment sides
Method, this method are applied to cradle head controllor, and specifically, cradle head controllor and VR equipment are wirelessly connected, for UAV flight
Holder be adjusted, the flow chart of another holder method of adjustment as shown in Figure 2, this method comprises:
Step S202 receives the attitude data that above-mentioned VR equipment is sent；
Specifically, which may include one of roll data, pitching data or spin data or a variety of.
Step S204 judges whether attitude data is consistent with the attitude data of current holder；
When specific implementation, the holder of UAV flight can be configured with the second attitude transducer, second attitude transducer
It is communicated to connect with cradle head controllor, for example, second attitude transducer, can be the gyroscope being arranged in VR equipment.
Therefore, the whether consistent step of the above-mentioned attitude data for judging attitude data and current holder may include following mistake
Journey:
The attitude data of current holder is detected by second attitude transducer；Judge working as the second attitude transducer detection
Whether the attitude data of preceding holder and the attitude data that received VR equipment is sent are consistent；If so, determining attitude data and working as
The attitude data of preceding holder is consistent；If not, determining that the attitude data of attitude data and current holder is inconsistent.
When specific implementation, the second attitude transducer can be according to preset time interval by the posture of the holder of monitoring
Data are sent to cradle head controllor, realize the real-time monitoring process of attitude data, meanwhile, VR equipment can also according to it is certain when
Between be spaced to cradle head controllor send user input attitude data.
In general, if when the picture for immersing scene and specified place that user receives essentially coincides, what VR equipment was sent
Attitude data, it is substantially coincident with the attitude data of current second attitude transducer detection, that is, without being adjusted to holder
It is whole.
What if user received immerses the picture in scene deviation specified place, user can input attitude data, example
Such as, by the corresponding attitude data of action input etc. on head, at this point, the attitude data of VR equipment transmission and current second posture
The attitude data of sensor detection is inconsistent, that is, needs to be adjusted holder.
Step S206, if not, attitude data is adjusted holder based on the received.
In general, the holder of UAV flight can be the camera rotating structure of three rotary shafts composition, each rotary shaft
It can be rotated by motor control space single-degree-of-freedom.Meanwhile it can be by the second attitude transducer, such as gyroscope, with camera shooting
The rotary shaft of machine rotational structure end is fixed as rigid body, rotation locating for gyroscope detection photographic device (e.g., camera) by end
Therefore photographic device can be rotated to desired space angle by three rotary shafts by gyration.
Therefore, in this step, the step of attitude data is adjusted holder based on the received may include:
The attitude data of attitude data and the current holder of the second attitude transducer detection calculates rotation based on the received
The rotation angle of spindle motor；Rotation angle is sent to electric machine controller, is rotated with controlling shaft rotating motor, completes holder
Adjustment process；Wherein, which is the rotational structure that more rotary shafts are constituted, and the second attitude transducer and rotary shaft are fixed steel
Body structure.
When specific implementation, the holder of above-mentioned VR equipment and UAV flight has attitude transducer in the two equipment,
Such as, gyroscope.The attitude data that first attitude transducer of VR equipment can export VR equipment is sent to UAV flight's
Holder.The multiple rotary shaft rotations of the cradle head control of UAV flight, make the gyroscope appearance of VR equipment and the holder of UAV flight
State keeps synchronizing, and the second attitude transducer of the holder of UAV flight can track the appearance of the first attitude transducer of VR equipment
State data realize VR equipment to UAV flight so that the photographic device on holder is rotated with the rotation of VR equipment with this
Holder control.
Corresponding to holder method of adjustment provided by the above embodiment, the embodiment of the invention also provides a kind of adjustment of holder to fill
It sets, which is set to VR equipment, is adjusted for the holder to UAV flight, a kind of holder adjustment as shown in Figure 3
The structural schematic diagram of device, the device include:
Module 30 is obtained, for obtaining the attitude data of user's input；
Sending module 32, for attitude data to be sent to cradle head controllor, so that cradle head controllor is with according to attitude data
Adjust the holder of unmanned plane.
Specifically, above-mentioned VR device configuration has the first attitude transducer；Above-mentioned acquisition module is used for: being passed by the first posture
Sensor obtains the action behavior of user's input；Parse the attitude data for including in the action behavior of the user, wherein on
Stating attitude data includes one of roll data, pitching data or spin data or a variety of.
Further, the embodiment of the invention also provides another holders to adjust device, which is set to cradle head controllor,
Specifically, the cradle head controllor and VR equipment are wirelessly connected, and are adjusted for the holder to UAV flight, as shown in Figure 4
Another holder adjustment device structural schematic diagram, which includes:
Receiving module 40, for receiving the attitude data of VR equipment transmission；
Judgment module 42, for judging whether attitude data is consistent with the attitude data of current holder；
Module 44 is adjusted, for when the judging result of above-mentioned judgment module is no, attitude data to be to cloud based on the received
Platform is adjusted.
Holder provided in an embodiment of the present invention adjusts device, has with holder method of adjustment provided by the above embodiment identical
Technical characteristic reach identical technical effect so also can solve identical technical problem.
Further, the embodiment of the invention also provides a kind of unmanned planes, and the unmanned plane is configured with described in above-described embodiment
Holder adjusts device.
The embodiment of the invention also provides a kind of holders to adjust system, and it further includes that VR is set which, which includes above-mentioned unmanned plane,
Standby, specifically, VR device configuration has holder described in previous embodiment to adjust device.
Specifically, the unmanned plane and VR equipment wirelessly communicate, and receive the attitude data that VR equipment is sent, and, according to this
Attitude data is adjusted the holder of carrying.
It is apparent to those skilled in the art that for convenience and simplicity of description, foregoing description nobody
The specific work process of machine and holder adjustment system, can refer to corresponding processes in the foregoing method embodiment, no longer superfluous herein
It states.
The computer journey of holder method of adjustment, device provided by the embodiment of the present invention, unmanned plane and holder adjustment system
Sequence product, the computer readable storage medium including storing program code, the instruction that said program code includes can be used for holding
Row previous methods method as described in the examples, specific implementation can be found in embodiment of the method, and details are not described herein.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
Finally, it should be noted that above embodiments, only a specific embodiment of the invention, to illustrate skill of the invention
Art scheme, rather than its limitations, scope of protection of the present invention is not limited thereto, although with reference to the foregoing embodiments to the present invention into
Go detailed description, it should be understood by those skilled in the art that: anyone skilled in the art takes off in the present invention
In the technical scope of dew, it can still modify to technical solution documented by previous embodiment or can readily occur in change
Change or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make relevant art
Scheme essence be detached from technical solution of the embodiment of the present invention spirit and scope, should all cover protection scope of the present invention it
It is interior.Therefore, protection scope of the present invention should be subject to the protection scope in claims.
Claims (10)
1. a kind of holder method of adjustment, which is characterized in that the method is applied to VR equipment, for the holder to UAV flight
It is adjusted, which comprises
Obtain the attitude data of user's input；
The attitude data is sent to cradle head controllor, so that the cradle head controllor is with according to described in attitude data adjustment
The holder of unmanned plane.
2. the method according to claim 1, wherein the VR device configuration has the first attitude transducer；
The process of attitude data for obtaining user's input includes:
The action behavior of user's input is obtained by first attitude transducer；
Parse the attitude data for including in the action behavior of user's input, wherein the attitude data includes roll
One of data, pitching data or spin data are a variety of.
3. a kind of holder method of adjustment, which is characterized in that the method is applied to cradle head controllor, the cradle head controllor and VR
Equipment is wirelessly connected, and is adjusted for the holder to UAV flight, which comprises
Receive the attitude data that the VR equipment is sent；
Judge whether the attitude data is consistent with the attitude data of presently described holder；
If not, the attitude data is adjusted the holder based on the received.
4. according to the method described in claim 3, it is characterized in that, the holder of the UAV flight is passed configured with the second posture
Sensor, second attitude transducer and the cradle head controllor communicate to connect；
The step for judging whether the attitude data is consistent with the attitude data of presently described holder includes:
The attitude data of presently described holder is detected by second attitude transducer；
The attitude data and the received VR equipment for judging the presently described holder of the second attitude transducer detection are sent
Attitude data it is whether consistent；
If so, determining that the attitude data is consistent with the attitude data of presently described holder；
If not, determining that the attitude data of the attitude data and presently described holder is inconsistent.
5. according to the method described in claim 4, it is characterized in that, the attitude data described based on the received is to the holder
The step of being adjusted include:
The attitude data of the attitude data and the presently described holder of second attitude transducer detection based on the received
Calculate the rotation angle of shaft rotating motor；
The rotation angle is sent to electric machine controller, is rotated with controlling the shaft rotating motor, completes the holder
Adjustment process；Wherein, the holder is the rotational structure that more rotary shafts are constituted, second attitude transducer and the rotation
Axis is fixed steel body structure.
6. a kind of holder adjusts device, which is characterized in that described device is set to VR equipment, for the holder to UAV flight
It is adjusted, described device includes:
Module is obtained, for obtaining the attitude data of user's input；
Sending module, for the attitude data to be sent to cradle head controllor, so that the cradle head controllor is with according to the appearance
The holder of unmanned plane described in state data point reuse.
7. device according to claim 6, which is characterized in that the VR device configuration has the first attitude transducer；
The module that obtains is used for: the action behavior of user's input is obtained by first attitude transducer；Parse the use
The attitude data for including in the action behavior at family, wherein the attitude data includes roll data, pitching data or rotation
One of revolution evidence is a variety of.
8. a kind of holder adjusts device, which is characterized in that described device is set to cradle head controllor, the cradle head controllor and VR
Equipment is wirelessly connected, and is adjusted for the holder to UAV flight, described device includes:
Receiving module, the attitude data sent for receiving the VR equipment；
Judgment module, for judging whether the attitude data is consistent with the attitude data of presently described holder；
Module is adjusted, for when the judging result of the judgment module is no, the attitude data to be to described based on the received
Holder is adjusted.
9. a kind of unmanned plane, which is characterized in that the unmanned plane adjusts device configured with holder according to any one of claims 8.
10. a kind of holder adjusts system, which is characterized in that the system comprises unmanned planes as claimed in claim 9, further include VR
Equipment, the VR device configuration have the right to require 6 or 7 described in holder adjustment device；
The unmanned plane and the VR equipment wirelessly communicate, and receive the attitude data that the VR equipment is sent, and, according to described
Attitude data is adjusted the holder of carrying.
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| CN201810851291.3A CN109292103A (en) | 2018-07-27 | 2018-07-27 | Holder method of adjustment, device, unmanned plane and holder adjust system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810851291.3A CN109292103A (en) | 2018-07-27 | 2018-07-27 | Holder method of adjustment, device, unmanned plane and holder adjust system |
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| CN201810851291.3A Pending CN109292103A (en) | 2018-07-27 | 2018-07-27 | Holder method of adjustment, device, unmanned plane and holder adjust system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110234003A (en) * | 2019-06-24 | 2019-09-13 | 北京润科通用技术有限公司 | A kind of method, apparatus, terminal and system emulating unmanned plane during flying |
| CN112119363A (en) * | 2019-07-24 | 2020-12-22 | 深圳市大疆创新科技有限公司 | Cradle head step-by-step leveling method, cradle head system, cradle head device and interaction device |
| WO2021134644A1 (en) * | 2019-12-31 | 2021-07-08 | 深圳市大疆创新科技有限公司 | Gimbal control method and gimbal |
| WO2022027579A1 (en) * | 2020-08-07 | 2022-02-10 | 深圳市大疆创新科技有限公司 | Detection method for gimbal, stability-enhanced gimbal, mobile platform, and storage medium |
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