CN111142580B - Holder, holder control method, control device and computer storage medium - Google Patents
Holder, holder control method, control device and computer storage medium Download PDFInfo
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- CN111142580B CN111142580B CN202010027685.4A CN202010027685A CN111142580B CN 111142580 B CN111142580 B CN 111142580B CN 202010027685 A CN202010027685 A CN 202010027685A CN 111142580 B CN111142580 B CN 111142580B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
- G05D3/20—Control of position or direction using feedback using a digital comparing device
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
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Abstract
The embodiment of the application provides a cloud platform, a cloud platform control method, a control device and a computer storage medium, and the cloud platform comprises: the system comprises a processor, a handheld assembly, a camera assembly and a shaft assembly; the camera shooting assembly can rotate relative to the handheld assembly through the shaft assembly; the camera shooting assembly rotates around a preset rotation axis to a first direction from an initial position at a maximum angle which is a first angle, the camera shooting assembly rotates around a preset rotation axis to a second direction at a maximum angle from the initial position at a maximum angle which is a second angle, the first angle is not equal to the second angle, and at least one rotation axis comprises a preset rotation axis. When a user holds the cloud platform, the camera shooting assembly is guaranteed to have a larger rotating angle, the processor controls the rotating direction, the rotating angle and the rotating angular speed of the rotating shaft more accurately, and better shooting quality is kept.
Description
Technical Field
The embodiment of the application relates to the technical field of electronics, in particular to a holder, a holder control method, a control device and a computer storage medium.
Background
The cloud platform is the support equipment of installation, fixed camera device, and after camera device has been installed to fixed cloud platform, the accessible adjusts camera device's level and the angle of every single move through the turned angle who adjusts the cloud platform. The image pickup device may be an electronic apparatus having an image pickup function, such as a digital camera and a smart phone.
However, the rotation angle of the camera device is limited, the shooting angle of the user is also limited, and if the user shakes the handle, when the shooting scene is switched, the shooting picture is unclear and the shooting quality is affected due to the fact that the camera device is driven to shake.
Disclosure of Invention
In view of the above, an embodiment of the present invention provides a pan/tilt head, a pan/tilt head control method, a control device, and a computer storage medium, so as to overcome the limitation of the rotation angle of the camera device in the prior art and the defect that the user shakes the handle to affect the shooting quality.
In a first aspect, an embodiment of the present application provides a pan/tilt head, the pan/tilt head includes: the system comprises a processor, a handheld assembly, a camera assembly and a shaft assembly;
the processor is electrically connected with the camera shooting assembly and the shaft assembly; the processor is arranged in the handheld assembly or the camera assembly; the camera shooting assembly is fixed on the shaft assembly and is rotationally connected with the shaft assembly, and the shaft assembly comprises at least one rotating shaft; the shaft assembly is fixed on the handheld assembly and is rotationally connected with the handheld assembly;
the camera shooting assembly can rotate relative to the handheld assembly through the shaft assembly; the camera shooting assembly rotates around a preset rotation axis to a first direction from an initial position at a maximum angle which is a first angle, the camera shooting assembly rotates around a preset rotation axis to a second direction at a maximum angle from the initial position at a maximum angle which is a second angle, the first angle is not equal to the second angle, and at least one rotation axis comprises a preset rotation axis.
Optionally, in an embodiment of the present application, the at least one rotating shaft includes: a pitch axis, a roll axis, and a course axis; the first direction is the direction of anticlockwise rotation around the navigation shaft, and the second direction is the direction of clockwise rotation around the navigation shaft; or the first direction is a clockwise rotation direction around the navigation axis, and the second direction is a counterclockwise rotation direction around the navigation axis.
Optionally, in one embodiment of the present application, the first angle is 170 ° and the second angle is 150 °
Optionally, in an embodiment of the present application, the shaft assembly includes at least one motor, and the motor is configured to rotate the rotating shaft; and the processor is used for controlling the motor to rotate.
Optionally, in an embodiment of the present application, the at least one electric machine comprises: a pitching shaft motor, a rolling shaft motor and a course shaft motor.
Optionally, in an embodiment of the present application, the pan/tilt head further includes a six-axis sensor; the six-axis sensor is arranged in the handheld assembly and is electrically connected with the processor;
the six-axis sensor is used for detecting the rotating direction, the rotating angle and the rotating angular speed of the handheld assembly.
Optionally, in an embodiment of the present application, the processor is configured to obtain motion information of a handheld component in the pan/tilt head, where the motion information is used to indicate a rotation direction, a rotation angle, and a rotation angular velocity of the handheld component;
determining rotation information of at least one rotating shaft of a camera component in the holder according to the motion information of the handheld component, wherein the rotation information is used for indicating the rotating direction, the rotating angle and the rotating speed of the rotating shaft;
and controlling the corresponding rotating shaft to rotate according to the rotating direction, the rotating angle and the rotating speed indicated by the rotating information.
In a second aspect, an embodiment of the present application provides a pan/tilt control method, applied to a pan/tilt, including:
acquiring motion information of a handheld component in the holder, wherein the motion information is used for indicating the rotation direction, the rotation angle and the rotation angular speed of the handheld component;
determining rotation information of at least one rotating shaft of a camera component in the holder according to the motion information of the handheld component, wherein the rotation information is used for indicating the rotating direction, the rotating angle and the rotating speed of the rotating shaft;
and controlling the corresponding rotating shaft to rotate according to the rotating direction, the rotating angle and the rotating speed indicated by the rotating information.
According to the rotation condition of the handheld assembly, the rotation information of at least one rotation shaft is determined, so that the rotation of the rotation shaft is suitable for the rotation of the handheld assembly, and the stability of the camera assembly of the handheld assembly in the rotation process and the quality of the shot image are guaranteed.
Optionally, in an embodiment of the present application, determining rotation information of the at least one rotation axis according to the motion information of the handheld component includes:
determining a motion component of the handheld component in at least one rotation plane according to the motion information of the handheld component, wherein the motion component in the rotation plane is used for indicating a rotation direction, a rotation angle component and a rotation angular velocity component of the handheld component in the rotation plane;
and determining rotation information of corresponding rotating shafts according to the motion components of the handheld assembly in the rotating planes, wherein one rotating plane corresponds to one rotating shaft, and the rotating shafts are vertical to the corresponding rotating planes.
The rotation of the handheld assembly is decomposed into motion components in at least one rotation plane, the rotation information of the corresponding rotation shaft is determined according to the motion components in each rotation plane, and the rotation information of each rotation shaft, which is suitable for the rotation condition of the handheld assembly, is calculated more accurately.
Optionally, in an embodiment of the present application, determining rotation information of the corresponding rotation axis according to the motion component of the handheld component in the rotation plane includes:
and determining the rotation angular velocity of the corresponding rotation shaft according to the rotation angular velocity component of the handheld assembly in the rotation plane and a preset mapping, wherein the preset mapping is used for indicating the corresponding relation between the rotation angular velocity component and the rotation angular velocity, and the larger the rotation angular velocity component is, the smaller the rotation angular velocity component is, and the larger the rotation angular velocity is.
The larger the rotation angular velocity component is, the faster the handheld component rotates, and the smaller rotation angular velocity is set at the moment, so that the phenomenon that the picture shakes because the camera shooting component rotates faster is avoided, and the stability is better; the smaller the rotation angular velocity component is, the slower the handheld component rotates, and the larger rotation angular velocity is set at the moment, so that the camera component can be ensured to rotate to the shooting angle expected by the user quickly.
Optionally, in an embodiment of the present application, a rotation direction of the handheld assembly in the rotation plane is the same as a rotation direction of the corresponding rotation shaft.
Optionally, in an embodiment of the present application, the acquiring motion information of the handheld component in the pan/tilt head includes:
at least one motion component of the handheld component is obtained, and the motion information includes the at least one motion component.
In a third aspect, an embodiment of the present application provides a control apparatus, including: the device comprises an acquisition module, a processing module and a control module;
the acquisition module is used for acquiring motion information of a handheld assembly in the holder, and the motion information is used for indicating the rotation direction, the rotation angle and the rotation angular speed of the handheld assembly;
the processing module is used for determining rotation information of at least one rotating shaft of the camera assembly in the holder according to the motion information of the handheld assembly, and the rotation information is used for indicating the rotating direction, the rotating angle and the rotating speed of the rotating shaft;
and the control module is used for controlling the corresponding rotating shaft to rotate according to the rotating direction, the rotating angle and the rotating speed indicated by the rotating information.
In a fourth aspect, the present application provides a computer storage medium storing a computer program, which when executed by a processor implements the method as described in the second aspect or any one of the embodiments of the second aspect.
In the embodiment of the application, the camera shooting assembly can rotate relative to the handheld assembly through the shaft assembly; the camera shooting assembly rotates around a preset rotation axis to a first direction from an initial position at a maximum angle which is a first angle, the camera shooting assembly rotates around a preset rotation axis to a second direction at a maximum angle from the initial position at a maximum angle which is a second angle, the first angle is not equal to the second angle, and at least one rotation axis comprises a preset rotation axis. When a user holds the cloud platform, the camera shooting assembly is guaranteed to have a larger rotating angle, and the processor more accurately controls the rotating direction, the rotating angle and the rotating angular speed of the rotating shaft, so that the rotating shaft rotates in a manner of adapting to the holding assembly, and the better shooting quality is kept when the holding assembly rotates.
Drawings
Some specific embodiments of the present application will be described in detail hereinafter by way of illustration and not limitation with reference to the accompanying drawings. The same reference numbers in the drawings identify the same or similar elements or components. Those skilled in the art will appreciate that the drawings are not necessarily drawn to scale. In the drawings:
fig. 1 is a structural diagram of a pan/tilt head provided in an embodiment of the present application;
FIG. 2 is a schematic diagram illustrating a rotation effect provided by an embodiment of the present application;
fig. 3 is a flowchart of a pan/tilt control method provided in an embodiment of the present application;
FIG. 4 is a schematic view of a rotating shaft according to an embodiment of the present disclosure;
FIG. 5a is a schematic view of a rotation direction provided in the present application;
FIG. 5b is a schematic view of a rotation direction provided in the embodiment of the present application;
fig. 6 is a structural diagram of a control device according to an embodiment of the present application.
Detailed Description
The following further describes specific implementation of the embodiments of the present invention with reference to the drawings.
Example III,
Based on the foregoing cloud deck control method described in the first embodiment, an embodiment of the present application provides a cloud deck, which is used for executing the cloud deck control method described in the first embodiment, as shown in fig. 1, fig. 1 is a structure diagram of a cloud deck provided in the first embodiment of the present application, and the cloud deck 10 includes: a processor 101, a handheld assembly 102, a camera assembly 103, and a shaft assembly 104;
wherein, the processor 101 is electrically connected with the camera assembly 103, and the processor 101 is electrically connected with the shaft assembly 104; the processor 101 is arranged inside the handheld assembly 102 or the camera assembly 103; the camera assembly 103 is fixed on the shaft assembly 104 and is rotationally connected with the shaft assembly 104, and the shaft assembly 104 comprises at least one rotating shaft; the shaft assembly 104 is fixed on the handheld assembly 102 and is rotatably connected with the handheld assembly 102;
the camera assembly 103 can rotate relative to the handheld assembly 102 through the shaft assembly 104; the maximum angle of the camera assembly 103 rotating around the preset rotating shaft in the first direction from the initial position is a first angle, the maximum angle of the camera assembly 103 rotating around the preset rotating shaft in the second direction from the initial position is a second angle, the first angle is not equal to the second angle, and at least one rotating shaft comprises a preset rotating shaft.
Optionally, in an embodiment of the present application, the at least one rotating shaft includes: a pitch axis, a roll axis, and a course axis; the first direction is the direction of anticlockwise rotation around the navigation shaft, and the second direction is the direction of clockwise rotation around the navigation shaft; or the first direction is a clockwise rotation direction around the navigation axis, and the second direction is a counterclockwise rotation direction around the navigation axis.
Alternatively, in one embodiment of the present application, the first angle is 170 °, the second angle is 150 °,
it should be noted that, referring to fig. 2, fig. 2 is a schematic diagram of a rotation effect provided by the embodiment of the present application, in fig. 2, an initial position of the image capturing assembly 103 is a rightward position, in fig. 2, a first direction is a direction of counterclockwise rotation around the navigation axis, a second direction is a direction of clockwise rotation around the navigation axis, a heading axis is a position of a center of a circle in fig. 2, a first angle is 170 °, a dead angle of counterclockwise rotation of the image capturing assembly 103 around the navigation axis is 10 °, a second angle is 150 °, a dead angle of clockwise rotation of the image capturing assembly 103 around the navigation axis is 30 °, a dead angle of one rotation of the image capturing assembly 103 is 40 °, and this is only an exemplary illustration here. Other angles can be set, when a user holds the holder 10 from the area of the dead angle, the camera assembly 103 can be rotated outwards by a larger angle, and only 40 degrees facing the user are dead angles, so that the user can conveniently shoot.
Optionally, a limiter 1042 may be disposed in the heading axis motor, and the limiter 1042 is used to limit the angle of rotation of the camera assembly 103. The limiter 1042 can be set on the rotor of the course axis motor, as shown in fig. 2, fig. 2 is a schematic view of a rotation effect provided in the embodiment of the present application, the rotor of the course axis motor has a larger rotation angle in the first direction and a smaller rotation angle in the second direction, and the limiter 1042 can reduce the angle change by limiting, so as to facilitate the user to shoot.
Optionally, in an embodiment of the present application, the shaft assembly 104 includes at least one motor 1041, the motor 1041 is configured to rotate the rotating shaft; and a processor 101 for controlling the rotation of the motor.
Optionally, in an embodiment of the present application, the at least one electric machine 1041 includes: a pitching shaft motor, a rolling shaft motor and a course shaft motor.
Optionally, in an embodiment of the present application, the pan/tilt head further comprises a six-axis sensor 105; the six-axis sensor 105 is arranged inside the handheld assembly 102 and is electrically connected with the processor 101;
the six-axis sensor is used to detect the direction of rotation, the angle of rotation, and the angular velocity of rotation of the hand held assembly 102.
In the embodiment of the application, the camera shooting assembly can rotate relative to the handheld assembly through the shaft assembly; the camera shooting assembly rotates around a preset rotation axis to a first direction from an initial position at a maximum angle which is a first angle, the camera shooting assembly rotates around a preset rotation axis to a second direction at a maximum angle from the initial position at a maximum angle which is a second angle, the first angle is not equal to the second angle, and at least one rotation axis comprises a preset rotation axis. When a user holds the cloud platform, the camera shooting assembly is guaranteed to have a larger rotating angle, and the processor more accurately controls the rotating direction, the rotating angle and the rotating angular speed of the rotating shaft, so that the rotating shaft rotates in a manner of adapting to the holding assembly, and the better shooting quality is kept when the holding assembly rotates.
Example II,
An embodiment of the present application provides a pan/tilt head control method, as shown in fig. 3, and fig. 3 is a flowchart of the pan/tilt head control method provided in the embodiment of the present application. The holder control method comprises the following steps:
and 301, acquiring motion information of the handheld component in the holder.
The motion information is used to indicate the direction of rotation, the angle of rotation, and the angular velocity of rotation of the handheld assembly.
It should be noted that, six sensors may be disposed inside the handheld component, and the six sensors may include a three-axis gyroscope and a three-axis acceleration sensor, and may detect a rotation direction, a rotation angle, and a rotation angular velocity of the handheld component.
Optionally, in an embodiment of the present application, the acquiring motion information of the handheld component in the pan/tilt head includes: at least one motion component of the handheld component is obtained, and the motion information includes the at least one motion component.
One motion component represents the direction of rotation, the angular component of rotation, and the angular velocity component of the hand held unit in a plane of rotation, one plane of rotation corresponding to one axis of rotation. The motion components of the three rotation planes can be directly measured by using the three-axis gyroscope and the three-axis acceleration sensor, which are only exemplary and not meant to limit the present application, and the same effect can be achieved by using other types of sensors, which is not limited in the present application.
And step 302, determining rotation information of at least one rotating shaft of the camera assembly in the holder according to the motion information of the handheld assembly.
The rotation information is used to indicate the rotation direction, rotation angle, and rotation speed of the rotating shaft. Alternatively, the rotation information of each rotation axis may be determined separately from the motion component in each rotation plane. For example:
optionally, in an embodiment of the present application, determining rotation information of the at least one rotation axis according to the motion information of the handheld component includes:
determining a motion component of the handheld component in at least one rotation plane according to the motion information of the handheld component, wherein the motion component in the rotation plane is used for indicating a rotation direction, a rotation angle component and a rotation angular velocity component of the handheld component in the rotation plane;
and determining rotation information of corresponding rotating shafts according to the motion components of the handheld assembly in the rotating planes, wherein one rotating plane corresponds to one rotating shaft, and the rotating shafts are vertical to the corresponding rotating planes.
The rotation of the handheld assembly is decomposed into motion components in at least one rotation plane, the rotation information of the corresponding rotation shaft is determined according to the motion components in each rotation plane, and the rotation information of each rotation shaft, which is suitable for the rotation condition of the handheld assembly, is calculated more accurately.
Here, a rotating shaft of the pan/tilt head is described first, and fig. 4 is a schematic rotating shaft provided in an embodiment of the present application, in a second embodiment of the present application, the rotating shaft of the pan/tilt head may include a pitch shaft, a roll shaft, and a course shaft, and it should be noted that the rotating shaft is only an axis for describing a rotating condition of the pan/tilt head, and is not an actual structure of the pan/tilt head. As shown in fig. 4, when the user holds the pan/tilt head and faces the cloud deck, the straight line where the axis of the handheld component is located is the course axis, and the rotation plane corresponding to the course axis is perpendicular to the course axis; the roll axis is an axis parallel to the forward line of sight of the user; as shown in fig. 4, the pitch axis is an axis perpendicular to the user's forward line of sight.
Here, three application scenarios are listed to illustrate how to determine the rotation direction, the rotation angle, and the rotation angular velocity of one rotation axis, respectively.
Alternatively, in the first application scenario, how to determine the rotation angular velocity of the rotating shaft is specifically described. Determining rotation information of the corresponding rotating shaft according to the motion component of the handheld component in the rotating plane, wherein the rotation information comprises:
and determining the rotation angular velocity of the corresponding rotation shaft according to the rotation angular velocity component of the handheld assembly in the rotation plane and a preset mapping, wherein the preset mapping is used for indicating the corresponding relation between the rotation angular velocity component and the rotation angular velocity, and the larger the rotation angular velocity component is, the smaller the rotation angular velocity component is, and the larger the rotation angular velocity is.
The larger the rotation angular velocity component is, the faster the handheld component rotates, and the smaller rotation angular velocity is set at the moment, so that the phenomenon that the picture shakes because the camera shooting component rotates faster is avoided, and the stability is better; the smaller the rotation angular velocity component is, the slower the handheld component rotates, and the larger rotation angular velocity is set at the moment, so that the camera component can be ensured to rotate to the shooting angle expected by the user quickly.
Alternatively, in a second application scenario, it is specified how to determine the direction of rotation of the rotational axis. Determining rotation information of the corresponding rotating shaft according to the motion component of the handheld component in the rotating plane, wherein the rotation information comprises:
and determining the rotation direction of the handheld assembly in the rotation plane as the rotation direction of the corresponding rotation shaft. The rotation direction of the handheld assembly in the rotation plane is the same as the rotation direction of the corresponding rotation shaft.
The rotation center is the circle center around which the handheld assembly rotates, and the position of the rotation center is unchanged in the rotation process of the handheld assembly. Fig. 5a is a schematic view of a rotation direction provided by an embodiment of the present application, in which fig. 5a takes a rotation plane corresponding to a roll axis as an example, a rotation center P is located between a handheld component and a camera component, the rotation center may be located in the handheld component, in an initial position, the handheld component is vertical to a horizontal plane, a bottom edge of the camera component is parallel to the horizontal plane, in a case that a motor does not rotate, the camera component is rotatably connected with the handheld component through the roll axis, and as a bottom of the handheld component rotates clockwise around the rotation center, the camera component naturally rotates relative to the handheld component, and the bottom edge is kept parallel to the horizontal plane, at this time, the motor of the roll axis needs to be controlled to rotate, so that the bottom edge of the camera component is vertical to a central axis of the handheld component, and.
Fig. 5b is a schematic view of a rotation direction provided by an embodiment of the present application, in which fig. 5b illustrates a rotation plane corresponding to the roll axis, a rotation center is located outside the hand-held device and the camera device, e.g., with the center of rotation at or below the bottom of the hand held assembly, or with the center of rotation at or above the top of the camera assembly, in the initial position, the hand-held assembly is upright perpendicular to the horizontal plane, the bottom edge of the camera assembly is parallel to the horizontal plane, under the condition that the motor does not rotate, the photographing component is rotatably connected with the handheld component through the transverse roller, the photographing component naturally rotates relative to the handheld component along with the clockwise rotation of the handheld component around the rotation center, the bottom edge is kept parallel to the horizontal plane, at the moment, the motor of the transverse roller needs to be controlled to rotate, so that the bottom edge of the camera assembly is perpendicular to the central axis of the hand held assembly and therefore the roll axis is rotated clockwise.
It should be noted that, the course axis is the axis of the handheld assembly, the rotation plane corresponding to the course axis is perpendicular to the axis of the handheld assembly, the motion component of the handheld assembly in the rotation plane corresponding to the course axis can have two conditions, the first condition is that the handheld assembly rotates around the axis thereof, at this time, the rotation center is located between the handheld assembly and the camera assembly (specifically, inside the handheld assembly), and the rotation direction of the handheld assembly in the rotation plane corresponding to the course axis is the same as the rotation direction of the course axis; in the second case, the camera module rotates around a point outside the handheld module in the plane corresponding to the heading axis, and at this time, the center of rotation is located outside the handheld module and the camera module, and the rotation direction of the handheld module in the rotation plane corresponding to the heading axis is the same as the rotation direction of the heading axis.
Alternatively, in a third application scenario, how to determine the rotation angle of the rotating shaft is specified. Determining rotation information of the corresponding rotating shaft according to the motion component of the handheld component in the rotating plane, wherein the rotation information comprises:
and determining the rotation angle component of the handheld assembly in the rotation plane as the rotation angle of the corresponding rotation shaft. The rotation angle component of the handheld component in the rotation plane and the rotation angle of the rotation shaft need to be kept the same, and the camera component can be ensured to follow the handheld component.
And step 303, controlling the corresponding rotating shaft to rotate according to the rotating direction, the rotating angle and the rotating speed indicated by the rotating information.
According to the rotation condition of the handheld assembly, the rotation information of at least one rotation shaft is determined, so that the rotation of the rotation shaft is suitable for the rotation of the handheld assembly, and the stability of the camera assembly of the handheld assembly in the rotation process and the quality of the shot image are guaranteed.
In the embodiment of the application, motion information of a handheld component in a holder is obtained, and the motion information is used for indicating the rotation direction, the rotation angle and the rotation angular speed of the handheld component; determining rotation information of at least one rotating shaft of a camera component in the holder according to the motion information of the handheld component, wherein the rotation information is used for indicating the rotating direction, the rotating angle and the rotating speed of the rotating shaft; and controlling the corresponding rotating shaft to rotate according to the rotating direction, the rotating angle and the rotating speed indicated by the rotating information. The rotating direction, the rotating angle and the rotating angular speed of the rotating shaft are controlled more accurately, so that the rotating shaft rotates to adapt to the rotation of the handheld assembly, and better shooting quality is maintained when the handheld assembly rotates.
Example II,
Based on the pan/tilt head control method described in the first embodiment, a second embodiment of the present application provides a control device, configured to execute the method described in the first embodiment, and as shown in fig. 6, fig. 6 is a structural diagram of the control device provided in the first embodiment of the present application, where the control device 60 includes: an acquisition module 601, a processing module 602 and a control module 603;
the acquiring module 601 is configured to acquire motion information of a handheld component in a pan/tilt head, where the motion information is used to indicate a rotation direction, a rotation angle, and a rotation angular velocity of the handheld component;
a processing module 602, configured to determine rotation information of at least one rotation axis of a camera assembly in the pan/tilt head according to the motion information of the handheld assembly, where the rotation information is used to indicate a rotation direction, a rotation angle, and a rotation speed of the rotation axis;
and a control module 603, configured to control the rotation of the corresponding rotating shaft according to the rotation direction, the rotation angle, and the rotation speed indicated by the rotation information.
The control device 60 can implement all the methods described in the first embodiment, and the description thereof is omitted here.
Example four,
Based on the pan/tilt head control method described in the first embodiment, an embodiment of the present application provides a computer storage medium, where a computer program is stored, and when the computer program is executed by a processor, the method described in the first embodiment is implemented.
The control device of the embodiments of the present application exists in various forms, including but not limited to:
(1) a mobile communication device: such devices are characterized by mobile communications capabilities and are primarily targeted at providing voice, data communications. Such terminals include: smart phones (e.g., iphones), multimedia phones, functional phones, and low-end phones, among others.
(2) Ultra mobile personal computer device: the equipment belongs to the category of personal computers, has calculation and processing functions and generally has the characteristic of mobile internet access. Such terminals include: PDA, MID, and UMPC devices, etc., such as ipads.
(3) A portable entertainment device: such devices can display and play multimedia content. This type of device comprises: audio, video players (e.g., ipods), handheld game consoles, electronic books, and smart toys and portable car navigation devices.
(4) And other electronic equipment with data interaction function.
Thus, particular embodiments of the present subject matter have been described. Other embodiments are within the scope of the following claims. In some cases, the actions recited in the claims can be performed in a different order and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may be advantageous.
In the 90 s of the 20 th century, improvements in a technology could clearly distinguish between improvements in hardware (e.g., improvements in circuit structures such as diodes, transistors, switches, etc.) and improvements in software (improvements in process flow). However, as technology advances, many of today's process flow improvements have been seen as direct improvements in hardware circuit architecture. Designers almost always obtain the corresponding hardware circuit structure by programming an improved method flow into the hardware circuit. Thus, it cannot be said that an improvement in the process flow cannot be realized by hardware physical modules. For example, a Programmable Logic Device (PLD), such as a Field Programmable Gate Array (FPGA), is an integrated circuit whose logic functions are determined by programming the Device by a user. A digital system is "integrated" on a PLD by the designer's own programming without requiring the chip manufacturer to design and fabricate application-specific integrated circuit chips. Furthermore, nowadays, instead of manually manufacturing an integrated circuit chip, such Programming is often implemented by "logic compiler" software, which is similar to a software compiler used in program development and writing, but the original code before compiling is written by a specific Programming Language, which is called Hardware Description Language (HDL), and HDL is not only one but many, such as abll (advanced desktop Expression Language), ahdl (alternate Hardware Description Language), Confluence, pl (core universal Programming Language), HDCal, JHDL (Java Hardware Description Language), la, Lola, HDL, and las,
RHDL (Ruby Hardware Description Language), etc., and VHDL (Very-High-Speed Integrated Circuit Hardware Description Language) and Verilog are the most commonly used at present. It will also be apparent to those skilled in the art that hardware circuitry that implements the logical method flows can be readily obtained by merely slightly programming the method flows into an integrated circuit using the hardware description languages described above.
The controller may be implemented in any suitable manner, for example, the controller may take the form of, for example, a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, an Application Specific Integrated Circuit (ASIC), a programmable logic controller, and an embedded microcontroller, examples of which include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, MicrochipPIC18F26K20, and Silicone Labs C8051F320, the memory controller may also be implemented as part of the control logic for the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller as pure computer readable program code, the same functionality can be implemented by logically programming method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Such a controller may thus be considered a hardware component, and the means included therein for performing the various functions may also be considered as a structure within the hardware component. Or even means for performing the functions may be regarded as being both a software module for performing the method and a structure within a hardware component.
The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. One typical implementation device is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functionality of the units may be implemented in one or more software and/or hardware when implementing the present application.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The application may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular transactions or implement particular abstract data types. The application may also be practiced in distributed computing environments where transactions are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (11)
1. A head, characterized in that it comprises: the system comprises a processor, a handheld assembly, a camera assembly and a shaft assembly;
the processor is electrically connected with the camera assembly, and the processor is electrically connected with the shaft assembly; the processor is arranged in the handheld assembly or the camera assembly; the camera shooting assembly is fixed on the shaft assembly and is rotationally connected with the shaft assembly, and the shaft assembly comprises at least one rotating shaft; the shaft assembly is fixed on the handheld assembly and is rotationally connected with the handheld assembly;
the camera assembly can rotate relative to the handheld assembly through the shaft assembly; the maximum angle of the camera shooting assembly rotating around a preset rotating shaft from an initial position to a first direction is a first angle, the maximum angle of the camera shooting assembly rotating around the preset rotating shaft from the initial position to a second direction is a second angle, the first angle is not equal to the second angle, and the at least one rotating shaft comprises the preset rotating shaft;
the processor is used for acquiring motion information of a handheld component in the holder, wherein the motion information is used for indicating the rotation direction, the rotation angle and the rotation angular speed of the handheld component; determining rotation information of at least one rotating shaft of a camera assembly in the holder according to the motion information of the handheld assembly, wherein the rotation information is used for indicating the rotating direction, the rotating angle and the rotating speed of the rotating shaft; controlling the rotation of the corresponding rotating shaft according to the rotating direction, the rotating angle and the rotating speed indicated by the rotating information;
wherein determining rotation information for at least one axis of rotation from the motion information for the handheld assembly comprises: determining a motion component of the handheld component in at least one rotation plane according to the motion information of the handheld component, wherein the motion component in the rotation plane is used for indicating a rotation direction, a rotation angle component and a rotation angular velocity component of the handheld component in the rotation plane;
determining rotation information of corresponding rotating shafts according to the motion components of the handheld assembly in the rotating planes, wherein one rotating plane corresponds to one rotating shaft, and the rotating shafts are perpendicular to the corresponding rotating planes; determining a corresponding rotation angular velocity of the rotation axis according to a rotation angular velocity component of the handheld component in the rotation plane and a preset map indicating a correspondence between the rotation angular velocity component and the rotation angular velocity, wherein the larger the rotation angular velocity component is, the smaller the rotation angular velocity is, and the smaller the rotation angular velocity component is, the larger the rotation angular velocity is.
2. A head according to claim 1, wherein said at least one rotation axis comprises: a pitch axis, a roll axis, and a course axis;
the first direction is a direction rotating around the course shaft anticlockwise, and the second direction is a direction rotating around the course shaft clockwise; or the first direction is a clockwise rotating direction around the course axis, and the second direction is a counterclockwise rotating direction around the course.
3. A head according to claim 1, wherein said first angle is 170 ° and said second angle is 150 °.
4. A head according to claim 1, wherein said shaft assembly comprises at least one motor for rotating said rotary shaft;
the processor is used for controlling the motor to rotate.
5. A head according to claim 4, wherein said at least one motor comprises: a pitching shaft motor, a rolling shaft motor and a course shaft motor.
6. A head according to claim 1, wherein said head further comprises a six-axis sensor; the six-axis sensor is arranged inside the handheld assembly and is electrically connected with the processor;
the six-axis sensor is used for detecting the rotating direction, the rotating angle and the rotating angular speed of the handheld assembly.
7. A holder control method is characterized by being applied to a holder and comprising the following steps:
acquiring motion information of a handheld component in the holder, wherein the motion information is used for indicating the rotation direction, the rotation angle and the rotation angular speed of the handheld component;
determining rotation information of at least one rotating shaft of a camera assembly in the holder according to the motion information of the handheld assembly, wherein the rotation information is used for indicating the rotating direction, the rotating angle and the rotating speed of the rotating shaft;
controlling the rotation of the corresponding rotating shaft according to the rotating direction, the rotating angle and the rotating speed indicated by the rotating information;
wherein determining rotation information for at least one axis of rotation from the motion information for the handheld assembly comprises: determining a motion component of the handheld component in at least one rotation plane according to the motion information of the handheld component, wherein the motion component in the rotation plane is used for indicating a rotation direction, a rotation angle component and a rotation angular velocity component of the handheld component in the rotation plane;
determining rotation information of corresponding rotating shafts according to the motion components of the handheld assembly in the rotating planes, wherein one rotating plane corresponds to one rotating shaft, and the rotating shafts are perpendicular to the corresponding rotating planes; determining a corresponding rotation angular velocity of the rotation axis according to a rotation angular velocity component of the handheld component in the rotation plane and a preset map indicating a correspondence between the rotation angular velocity component and the rotation angular velocity, wherein the larger the rotation angular velocity component is, the smaller the rotation angular velocity is, and the smaller the rotation angular velocity component is, the larger the rotation angular velocity is.
8. The method of claim 7, wherein the hand held assembly rotates in the same direction in the plane of rotation as the corresponding axis of rotation.
9. The method of claim 7, wherein obtaining motion information for a handheld component in the pan/tilt head comprises:
at least one motion component of the handheld component is obtained, the motion information including the at least one motion component.
10. A control device, comprising: the device comprises an acquisition module, a processing module and a control module;
the acquisition module is used for acquiring motion information of a handheld component in the holder, wherein the motion information is used for indicating the rotation direction, the rotation angle and the rotation angular speed of the handheld component;
the processing module is used for determining rotation information of at least one rotating shaft of a camera assembly in the holder according to the motion information of the handheld assembly, and the rotation information is used for indicating the rotating direction, the rotating angle and the rotating speed of the rotating shaft;
the control module is used for controlling the rotation of the corresponding rotating shaft according to the rotating direction, the rotating angle and the rotating speed indicated by the rotating information;
wherein the processing module is further to: determining a motion component of the handheld component in at least one rotation plane according to the motion information of the handheld component, wherein the motion component in the rotation plane is used for indicating a rotation direction, a rotation angle component and a rotation angular velocity component of the handheld component in the rotation plane;
determining rotation information of corresponding rotating shafts according to the motion components of the handheld assembly in the rotating planes, wherein one rotating plane corresponds to one rotating shaft, and the rotating shafts are perpendicular to the corresponding rotating planes; determining a corresponding rotation angular velocity of the rotation axis according to a rotation angular velocity component of the handheld component in the rotation plane and a preset map indicating a correspondence between the rotation angular velocity component and the rotation angular velocity, wherein the larger the rotation angular velocity component is, the smaller the rotation angular velocity is, and the smaller the rotation angular velocity component is, the larger the rotation angular velocity is.
11. A computer storage medium, characterized in that it stores a computer program which, when executed by a processor, implements the method according to any one of claims 7-9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010027685.4A CN111142580B (en) | 2020-01-10 | 2020-01-10 | Holder, holder control method, control device and computer storage medium |
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| CN202010027685.4A CN111142580B (en) | 2020-01-10 | 2020-01-10 | Holder, holder control method, control device and computer storage medium |
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| CN111142580B true CN111142580B (en) | 2020-12-29 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117098948A (en) * | 2021-03-26 | 2023-11-21 | 深圳市大疆创新科技有限公司 | Control method and device for handheld cradle head |
| CN113805607A (en) * | 2021-09-17 | 2021-12-17 | 深圳市道通智能航空技术股份有限公司 | Unmanned aerial vehicle shooting method and device, unmanned aerial vehicle and storage medium |
| CN115373432A (en) * | 2022-09-05 | 2022-11-22 | 杭州研极微电子有限公司 | Cloud deck, cloud deck control method and shooting device |
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| DE202013009045U1 (en) * | 2013-10-11 | 2013-12-05 | Rolf Meincke | Automatic longitudinal alignment of rotating tilt lasers by means of remote-controlled turning device integrated in the laser, in the tripod head, on a tripod head or another laser holder for longitudinal alignment of the lasers in one axis |
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| CN112728339A (en) * | 2017-04-21 | 2021-04-30 | 深圳市大疆灵眸科技有限公司 | Cloud deck control method and cloud deck |
| CN113985928A (en) * | 2017-09-12 | 2022-01-28 | 深圳市大疆灵眸科技有限公司 | Control method and controller of cloud deck and cloud deck |
| EP3736653B1 (en) * | 2018-01-05 | 2023-03-01 | SZ DJI Technology Co., Ltd. | Handheld gimbal control method and handheld gimbal |
| WO2019210467A1 (en) * | 2018-05-02 | 2019-11-07 | 深圳市大疆创新科技有限公司 | Pan-tilt control method and apparatus, pan-tilt system, unmanned aerial vehicle and computer-readable storage medium |
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| CN108700249A (en) * | 2017-10-30 | 2018-10-23 | 深圳市大疆创新科技有限公司 | Control method, holder, control system and the movable equipment of holder |
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