CN112166280B - Handheld holder and control method thereof - Google Patents

Handheld holder and control method thereof Download PDF

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Publication number
CN112166280B
CN112166280B CN201980032880.1A CN201980032880A CN112166280B CN 112166280 B CN112166280 B CN 112166280B CN 201980032880 A CN201980032880 A CN 201980032880A CN 112166280 B CN112166280 B CN 112166280B
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CN
China
Prior art keywords
mode
handheld
shooting mode
shooting
flashlight
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Expired - Fee Related
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CN201980032880.1A
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Chinese (zh)
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CN112166280A (en
Inventor
刘帅
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Publication of CN112166280A publication Critical patent/CN112166280A/en
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/04—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or holding steady relative to, a person, e.g. by chains, e.g. rifle butt or pistol grip supports, supports attached to the chest or head
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21L—LIGHTING DEVICES OR SYSTEMS THEREOF, BEING PORTABLE OR SPECIALLY ADAPTED FOR TRANSPORTATION
    • F21L4/00—Electric lighting devices with self-contained electric batteries or cells
    • F21L4/02—Electric lighting devices with self-contained electric batteries or cells characterised by the provision of two or more light sources
    • F21L4/022—Pocket lamps
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
    • F21V33/00—Structural combinations of lighting devices with other articles, not otherwise provided for
    • F21V33/0004—Personal or domestic articles
    • F21V33/0052—Audio or video equipment, e.g. televisions, telephones, cameras or computers; Remote control devices therefor
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera accessories

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Studio Devices (AREA)
  • Accessories Of Cameras (AREA)

Abstract

A handheld cloud platform and control method thereof, the handheld cloud platform includes a handle (1) and a cloud platform (2) arranged on the handle (1), the control method includes: when the holder (2) is in a following mode, acquiring a switching instruction which is input by a user and used for indicating the handheld holder to be switched from a first shooting mode to a second shooting mode; controlling the handheld cloud deck to be switched from a first shooting mode to a second shooting mode; wherein the first photographing mode includes one of a flashlight mode and a portrait mode, and the second photographing mode includes the other of the flashlight mode and the portrait mode. According to the control method, the direct switching of the handheld cloud deck between the flashlight mode and the vertical shooting mode is triggered and controlled by the user, and the requirements of the user on the flashlight shooting and the vertical shooting are met.

Description

Handheld holder and control method thereof
Technical Field
The invention relates to the field of cloud platforms, in particular to a handheld cloud platform and a control method thereof.
Background
When the multi-axis handheld tripod head is in the following mode, each axis of the handheld tripod head can be set to the free mode or the follow mode. In the free mode, the handle of the handheld cloud deck moves, the corresponding shaft does not rotate, and the corresponding shaft can be used for increasing stability; in the follow mode, the corresponding axis moves following the movement of the handheld pan/tilt head. For example, for a three-axis pan-tilt, the normal mode is set to: the pitch axis and yaw axis are in follow mode, and the roll axis is in free mode.
In the correlation technique, the flashlight mode and the vertical shooting mode of the handheld cloud deck can not be switched, and the requirements of a user on horizontal shooting and vertical shooting can not be met. Taking the handheld holder as a three-axis holder as an example, the handheld holder comprises an outer frame, a middle frame and an inner frame. In the flashlight mode, the outer frame rotates around the yaw axis, the middle frame rotates around the yaw axis, the inner frame rotates around the pitch axis, and the outer frame is used for increasing stability. When the position relation of the handle and the holder is switched from the position relation corresponding to the flashlight mode to the position relation corresponding to the vertical shooting mode, the outer frame is still acquiescent for stability augmentation by the handheld holder, so that the handheld holder cannot be directly switched from the flashlight mode to the vertical shooting mode.
In the vertical shooting mode, the outer frame rotates around a pitching shaft, the middle frame rotates around a transverse rolling shaft, the inner frame rotates around a yawing shaft, and the outer frame is used for following. When the position relation of the handle and the holder is switched from the position relation corresponding to the vertical shooting mode to the position relation corresponding to the flashlight mode, the outer frame is still acquiescent for following by the handheld holder, and therefore the handheld holder cannot be switched from the vertical shooting mode to the flashlight mode.
Disclosure of Invention
The invention provides a handheld cloud deck and a control method thereof.
Specifically, the invention is realized by the following technical scheme:
according to a first aspect of the present invention, there is provided a method of controlling a handheld pan/tilt head, the handheld pan/tilt head comprising a handle and a pan/tilt head disposed on the handle, the method comprising:
when the holder is in a following mode, acquiring a switching instruction which is input by a user and used for indicating the handheld holder to be switched from a first shooting mode to a second shooting mode;
controlling the handheld holder to be switched from the first shooting mode to the second shooting mode;
wherein the first photographing mode includes one of a flashlight mode and a portrait mode, and the second photographing mode includes the other of the flashlight mode and the portrait mode.
According to a second aspect of the present invention, there is provided a handheld tripod head comprising:
a handle;
the holder is arranged on the handle and used for carrying a shooting device; and
locate the controller of handle, the controller is used for:
when the holder is in a following mode, acquiring a switching instruction which is input by a user and used for indicating the handheld holder to be switched from a first shooting mode to a second shooting mode;
controlling the handheld holder to be switched from the first shooting mode to the second shooting mode;
wherein the first photographing mode includes one of a flashlight mode and a portrait mode, and the second photographing mode includes the other of the flashlight mode and the portrait mode.
According to the technical scheme provided by the embodiment of the invention, the direct switching of the handheld cradle head between the flashlight mode and the vertical shooting mode is triggered and controlled by the user, so that the requirements of the user on the flashlight shooting and the vertical shooting are met.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
Fig. 1A is a perspective view of a handheld pan/tilt head in an embodiment of the present invention;
FIG. 1B is a perspective view of the handheld tripod head shown in FIG. 1A when in an upright position;
FIG. 2 is a flowchart of a method for controlling a handheld cloud deck according to an embodiment of the present invention;
FIG. 3A is a perspective view of the handheld tripod head shown in FIG. 1A in an upper flashlight mode;
FIG. 3B is a perspective view of the handheld tripod head shown in FIG. 1A in a lower flashlight mode;
FIG. 3C is a perspective view of the handheld pan/tilt head shown in FIG. 1A in a left portrait mode;
FIG. 3D is a perspective view of the handheld pan/tilt head shown in FIG. 1A in a right portrait mode;
FIG. 4 is a flowchart of a method for controlling a handheld tripod head according to another embodiment of the present invention;
FIG. 5 is a flowchart of a method for controlling a handheld tripod head according to yet another embodiment of the present invention;
FIG. 6A is a diagram illustrating the position relationship between the vertical direction and the coordinate system of the outer frame in an embodiment of the present invention;
fig. 6B is a positional relationship of the vertical direction and the coordinate system of the outer frame when the positional relationship shown in fig. 6A is switched to the second photographing mode being the left portrait photographing mode;
fig. 6C is a positional relationship of the vertical direction and the coordinate system of the outer frame when the positional relationship shown in fig. 6A is switched to the second photographing mode being the right portrait photographing mode;
fig. 6D is a positional relationship of the vertical direction and the coordinate system of the outer frame when the positional relationship shown in fig. 6A is switched to the second photographing mode being the upper torch mode;
fig. 6E is a positional relationship of the vertical direction and the coordinate system of the outer frame when the positional relationship shown in fig. 6A is switched to the second photographing mode which is the lower torch mode;
fig. 7 is a block diagram of a handheld pan/tilt head according to an embodiment of the present invention.
Reference numerals: 1: a handle; 2: a holder; 21: an outer frame; 22: a middle frame; 3: a photographing device; 4: a screen; 5: and a controller.
Detailed Description
In the related art, when the position relationship between the handle of the handheld cloud deck and the cloud deck is switched from the position relationship corresponding to the flashlight mode to the position relationship corresponding to the vertical shooting mode, the handheld cloud deck defaults that the outer frame is used for stability enhancement, and the outer frame in the actual vertical shooting mode is used for following, so that the handheld cloud deck cannot be switched from the flashlight mode to the vertical shooting mode; and when the position relation between the handle of the handheld cloud platform and the cloud platform is switched to the position relation corresponding to the flashlight mode from the position relation corresponding to the vertical shooting mode, the handheld cloud platform defaults that the outer frame is used for following, and the outer frame in the actual flashlight mode is used for stability augmentation, so that the handheld cloud platform cannot be switched to the flashlight mode from the vertical shooting mode. The flashlight mode and the vertical shooting mode of the existing handheld cloud platform cannot be switched, and the requirements of a user on the flashlight shooting and the vertical shooting cannot be met.
In the invention, the direct switching of the handheld cradle head between the flashlight mode and the vertical shooting mode is triggered and controlled by the user, so that the requirements of the user on the flashlight shooting and the vertical shooting are met.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, in the following examples and embodiments, features may be combined with each other without conflict.
With reference to fig. 1A and 1B, the handheld tripod head according to the embodiment of the present invention may include a handle 1 and a tripod head 2 disposed on the handle 1, where the tripod head 2 is used for carrying a shooting device 3 to stabilize the shooting device 3. The pan/tilt head 2 of the present embodiment may be a two-axis pan/tilt head or a three-axis pan/tilt head.
In an embodiment, the head 2 is a three-axis head, and with reference to fig. 1A and 1B, the head 2 may include an outer frame 21, an intermediate frame 22, and an inner frame. Wherein the outer frame 21 is configured to rotate around a first preset direction, the middle frame 22 is configured to rotate around a second preset direction, the inner frame is configured to rotate around a third preset direction, and the inner frame is used for carrying the photographing device 3. Specifically, when the outer frame 21 rotates around the first predetermined direction, the middle frame 22 and the inner frame are driven to rotate around the first predetermined direction, so as to drive the shooting device 3 to rotate around the first predetermined direction. When the middle frame 22 rotates around the second predetermined direction, the inner frame is driven to rotate around the second predetermined direction, so as to drive the shooting device 3 to rotate around the second predetermined direction. The inner frame rotates around the third preset direction to drive the shooting device 3 to rotate around the third preset direction.
In an embodiment, the head 2 is a two-axis head, and the head 2 may comprise an outer frame 21 and an inner frame. Wherein the outer frame 21 is configured to rotate around a first preset direction, and the inner frame is configured to rotate around a second preset direction or a third preset direction. Specifically, when the outer frame 21 rotates around the first predetermined direction, the inner frame is driven to rotate around the first predetermined direction, so as to drive the shooting device 3 to rotate around the first predetermined direction. The inner frame rotates around the second preset direction or the third preset direction, and accordingly the shooting device 3 is driven to rotate around the second preset direction or the third preset direction.
In the above embodiment, the first preset direction, the second preset direction and the third preset direction are determined according to the configuration of the pan/tilt head 2. For example, as shown in fig. 1A and 1B, the pan/tilt head 2 is a three-axis pan/tilt head, the outer frame 21 is configured to rotate about a yaw axis, the middle frame 22 is configured to rotate about a roll axis, and the inner frame is configured to rotate about a pitch axis. Wherein, outer frame 21 includes yaw axis shaft arm, and is driven by the yaw axis motor, and well frame 22 includes roll axis shaft arm, and is driven by the roll axis motor, and the inner frame includes pitch axis shaft arm, and is driven by the pitch axis motor.
In this embodiment, with reference to fig. 1A and 1B, the handheld tripod head further includes a screen 4 and a key (not shown) disposed on the front surface of the handle 1. When the handheld cradle head is placed upright, the screen 4 faces the user, and the lens of the shooting device 3 faces away from the user, as shown in fig. 1B, which is a state diagram of the handheld cradle head being placed upright. In fig. 1A and 1B, X, Y, Z corresponds to the X-axis, Y-axis, and Z-axis directions in the world coordinate system, respectively. As shown in fig. 1B, when the handheld cloud deck is placed upright, the coordinate system of the body of the handheld cloud deck is x1y1z1, wherein the x1 axis direction points to the front of the handle 1, the y1 axis direction points to the left side of the handle 1, and the z1 axis direction points to the upper side of the handle 1.
The following embodiment will explain the control method of the handheld pan/tilt head of the present embodiment.
Fig. 2 is a flowchart of a method for controlling a handheld pan/tilt head according to an embodiment of the present invention. Referring to fig. 2, the method for controlling a handheld cradle head according to the embodiment may include the following steps:
s201: when the holder 2 is in the following mode, acquiring a switching instruction which is input by a user and used for indicating the handheld holder to be switched from the first shooting mode to the second shooting mode; the first shooting mode comprises one of a flashlight mode and a vertical shooting mode, and the second shooting mode comprises the other of the flashlight mode and the vertical shooting mode;
wherein, when the pan/tilt/zoom head 2 is in the following mode, if the posture of the handle 1 changes, the posture of the pan/tilt/zoom head 2 will change along with the posture change of the handle 1.
The manner of inputting the switching command by the user may include various ways, for example, in some embodiments, the handheld tripod head includes a control part provided on the handle 1, and the switching command is generated by triggering the control part by the user. The control portion may include a key, a button, a knob, or a combination thereof. The control unit may include one or more than one.
In other embodiments, the switching instruction is generated by a user operating an external device and is sent by the external device. This external equipment can communicate with handheld cloud platform, and external equipment can include mobile terminal such as cell-phone, panel computer, also can be fixed terminal, still can be for remote controller or other can with handheld cloud platform carry out the device that communicates.
The flashlight modes may include an upper flashlight mode (as shown in fig. 3A, which may be formed by tilting 90 degrees back in fig. 1B for example) and/or a lower flashlight mode (as shown in fig. 3B, which may be formed by tilting 90 degrees forward in fig. 1B for example), and the portrait mode may include a left portrait mode (as shown in fig. 3C, which may be formed by tilting 90 degrees left in fig. 1B for example) and/or a right portrait mode (as shown in fig. 3D, which may be formed by tilting 90 degrees right in fig. 1B for example).
It will be appreciated that the camera may take a first orientation to capture images when the handheld cradle head is in the flashlight mode, and a second orientation to capture images when the handheld cradle head is in the portrait mode. Wherein the first orientation is substantially perpendicular to the second orientation. Wherein the first orientation may be a horizontal orientation and the second orientation may be a vertical orientation.
When the first shooting mode is a flashlight mode, the second shooting mode is a vertical shooting mode, and the vertical shooting mode includes a plurality of modes, in some embodiments, the switching instruction is used to instruct the handheld tripod head to switch from the flashlight mode to a specific shooting mode of the plurality of vertical shooting modes, for example, the vertical shooting mode includes a left vertical shooting mode and a right vertical shooting mode, and the switching instruction is used to instruct the handheld tripod head to switch from the flashlight mode to the left vertical shooting mode, or to instruct the handheld tripod head to switch from the flashlight mode to the right vertical shooting mode. In this embodiment, the switching instruction includes a first switching instruction for instructing the handheld pan/tilt head to switch from the flashlight mode to the left portrait mode; or a second switching instruction for indicating the handheld cloud platform to be switched from the flashlight mode to the right vertical shooting mode.
The first switching instruction and the second switching instruction may be preset or may be input by a user.
Taking the example that the switching instruction is generated by the user triggering the control part, optionally, the control part comprises a first key and a second key, and when the user triggers the first key, the first key generates a first switching instruction; when the user triggers the second key, the second key generates a second switching instruction. Optionally, the control part comprises a knob, when the knob is in the centering state, the knob is in a non-triggering state, and a user can break the knob to move upwards to a first triggering position or move downwards to a second triggering position (centering position relative to the knob). When a user breaks the knob to move upwards to a first trigger position, the knob generates a first switching instruction; when the user breaks the knob to move downwards to the second trigger position, the knob generates a second switching instruction. It will be appreciated that the control may also be of other types.
In other embodiments, the switching instruction only instructs the handheld tripod head to switch from the flashlight mode to the portrait mode, but does not instruct which portrait mode to switch to. In this embodiment, after the handheld pan/tilt head obtains the switching instruction, it needs to be further determined to which vertical shooting mode to switch to. For example, it may be further determined which vertical shooting mode to switch to according to the size of the motion path in the process of controlling the handheld tripod head to switch from the flashlight mode to the vertical shooting mode (i.e., the process of executing step S202). The motion path can be determined according to the size of the joint angle and/or the attitude angle of the rotation of the holder.
Specifically, the implementation process of controlling the handheld cradle head to be switched from the flashlight mode to the vertical shooting mode may include: determining a first motion path of the handheld cloud platform switched from a flashlight mode to a left vertical shooting mode and a second motion path of the handheld cloud platform switched from the flashlight mode to a right vertical shooting mode; and controlling the handheld cloud deck to be switched to a shooting mode corresponding to the smaller one of the first motion path and the second motion path from the flashlight mode. Adopt less motion path mode, can control handheld cloud platform more fast and switch to the mode of clapping perpendicularly by the flashlight mode, and reduced the energy consumption of handheld cloud platform. The first motion path is determined according to the rotating joint angle and/or attitude angle of the cradle head 2 corresponding to the handheld cradle head switched from the flashlight mode to the left vertical shooting mode, and the second motion path is determined according to the rotating joint angle and/or attitude angle of the cradle head 2 corresponding to the handheld cradle head switched from the flashlight mode to the right vertical shooting mode.
When the first shooting mode is the vertical shooting mode, the second shooting mode is the flashlight mode, and the flashlight mode includes a plurality of modes, in some embodiments, the switching instruction is used to instruct the handheld tripod head to switch from the vertical shooting mode to a specific shooting mode of the plurality of flashlight modes, for example, the flashlight mode includes an upper flashlight mode and a lower flashlight mode, and the switching instruction is used to instruct the handheld tripod head to switch from the vertical shooting mode to the upper flashlight mode, or instruct the handheld tripod head to switch from the vertical shooting mode to the lower flashlight mode. In this embodiment, the switching instruction includes a third switching instruction for instructing the handheld cradle head to switch from the portrait shooting mode to the flashlight-up mode; or a fourth switching instruction for indicating the handheld tripod head to be switched from the vertical shooting mode to the lower flashlight mode.
The third switching instruction and the fourth switching instruction may be preset or may be input by a user.
Taking the example that the switching instruction is generated by the user triggering the control part, optionally, the control part comprises a third key and a fourth key, and when the user triggers the third key, the third key generates a third switching instruction; and when the user triggers the fourth key, the fourth key generates a fourth switching instruction. Optionally, the control part comprises a knob, when the knob is in the centering state, the knob is in a non-triggering state, and a user can break the knob to move leftwards to a third triggering position or rightwards to a fourth triggering position (a centering position relative to the knob). When the user breaks the knob to move upwards to a third trigger position, the knob generates a third switching instruction; when the knob is pulled downwards by a user to a fourth trigger position, a fourth switching instruction is generated by the knob. It will be appreciated that the control may also be of other types.
In other embodiments, the switching instruction only instructs the handheld tripod head to switch from the portrait mode to the flashlight mode, but does not instruct which flashlight mode to switch to. In this embodiment, after the handheld cradle head obtains the switching instruction, it needs to be further determined to which flashlight mode to switch. For example, which flashlight mode to switch to may be further determined according to the size of the motion path in the process of controlling the handheld cradle head to switch from the portrait mode to the flashlight mode (i.e., the process of executing step S202).
Specifically, the implementation process of controlling the handheld cradle head to be switched from the vertical shooting mode to the flashlight mode may include: determining a third motion path of the handheld cloud platform switched from the vertical shooting mode to the upper flashlight mode and a fourth motion path of the handheld cloud platform switched from the vertical shooting mode to the lower flashlight mode; and controlling the handheld cloud platform to be switched to a shooting mode corresponding to the smaller of the third motion path and the fourth motion path from the vertical shooting mode. Adopt less motion path mode, can control handheld cloud platform more fast and switch to the flashlight mode by erecting the mode of clapping, and reduced the energy consumption of handheld cloud platform. The third motion path is determined according to the joint angle and/or the attitude angle of the handheld tripod head, which is switched from the vertical shooting mode to the rotation of the tripod head 2 corresponding to the upper flashlight mode, and the fourth motion path is determined according to the joint angle and/or the attitude angle of the handheld tripod head, which is switched from the vertical shooting mode to the rotation of the tripod head 2 corresponding to the lower flashlight mode.
S202: and controlling the handheld cloud deck to be switched from the first shooting mode to the second shooting mode.
Referring to fig. 4, the implementation process of controlling the handheld cloud deck to switch from the first shooting mode to the second shooting mode may include the following steps:
s401: according to the second shooting mode, determining a first position relation between the vertical direction and a first specific plane in a coordinate system of a shooting device 3 carried by the holder 2; the first specific plane is formed based on a first axis direction and a second axis direction in a coordinate system of the shooting device 3, and when the shooting device 3 is placed upright, the first axis direction and the second axis direction are orthogonal to the vertical direction;
the vertical direction may be defined as required, for example, in some embodiments, when the handheld tripod head is placed upright, the vertical direction is a Z-axis direction in the world coordinate system, that is, the vertical direction is a gravity direction. In other embodiments, the vertical direction is opposite to the Z-axis direction in the world coordinate system when the handheld holder is placed upright. In this embodiment, when the handheld pan/tilt head is placed upright, the vertical direction is the Z-axis direction in the world coordinate system.
The first axis direction and the second axis direction may also be defined as required, for example, in one embodiment, when the camera 3 is placed upright, the first axis direction points to the front of the camera 3 (i.e. the direction of the lens), and the second axis direction points to the left side of the camera 3. It is understood that the first axis direction and the second axis direction may also be other directions, such as the first axis direction pointing to the rear of the camera 3, the second axis direction pointing to the left side of the camera 3, or the first axis direction pointing to the rear of the camera 3, the second axis direction pointing to the right side of the camera 3, etc., which may be specifically set according to the requirement.
When the first shooting mode is a flashlight mode and the second shooting mode is a vertical shooting mode, the first positional relationship is as follows: the first specific plane is substantially parallel to the vertical direction. In the embodiment of the present invention, substantially parallel means that the difference between the included angle between the first specific plane and the vertical direction and 0 degree is within an allowable angle error range. It can be understood that, in the embodiment of the present invention, at the moment when the handheld cradle head is switched from the flashlight mode to the portrait mode, the first positional relationship is: the first specific plane is approximately parallel to the vertical direction; when handheld cloud platform is after switching to the mode of clapping perpendicularly, handheld cloud platform is in when clapping the mode perpendicularly promptly, and first position relation includes: first specific plane is roughly parallel with vertical direction, perhaps first specific plane is certain contained angle with vertical direction, specifically sets up the first position relation that handheld cloud platform is in when the mode is clapped perpendicularly as required, and handheld cloud platform is in when the mode is clapped perpendicularly promptly, and the user can self-define first position relation.
When the first shooting mode is a vertical shooting mode and the second shooting mode is a flashlight mode, the first positional relationship is as follows: the first specific plane is substantially perpendicular to the vertical direction. In the embodiment of the present invention, the substantially perpendicular means that the difference between the included angle between the first specific plane and the vertical direction and 90 degrees is within an allowable angle error range. It can be understood that, in the embodiment of the present invention, at the moment when the handheld cradle head is switched from the portrait shooting mode to the flashlight mode, the first positional relationship is: the first specific plane is approximately perpendicular to the vertical direction; when the handheld cloud platform is after switching to the flashlight mode, when handheld cloud platform is in the flashlight mode promptly, first position relation includes: first specific plane and vertical direction are roughly perpendicular, or first specific plane and vertical direction are other contained angles, or first specific plane and vertical direction are roughly parallel, specifically set up the first position relation when handheld cloud platform is in the flashlight mode as required, and when handheld cloud platform was in the flashlight mode promptly, the user can self-define first position relation.
It is understood that the first positional relationship may be satisfied during the mode switching, and after the mode switching is completed, the user may adjust the first positional relationship by controlling the rotation of the pan/tilt head 2.
S402: controlling the cradle head 2 to rotate so that the handheld cradle head is switched to a second shooting mode, and the shooting device 3 meets the first position relation;
the cloud platform 2 can be controlled to rotate by adopting different modes, so that the handheld cloud platform is switched to the second shooting mode, and the shooting device 3 meets the first position relation, as shown in fig. 5, the cloud platform 2 is controlled to rotate, so that the handheld cloud platform is switched to the second shooting mode, and the shooting device 3 meets the first position relation.
Specifically, the head 2 includes an outer frame 21 connected to the handle 1, the outer frame 21 being configured to rotate about a first preset direction. Referring to fig. 5, when the cradle head 2 is controlled to rotate so that the handheld cradle head is switched to the second shooting mode and the shooting device 3 satisfies the first positional relationship, the method specifically includes:
s501: determining a target joint angle of the outer frame 21 according to the second photographing mode;
in some embodiments, the implementation process of determining the target joint angle of the outer frame 21 according to the second photographing mode may include the steps of:
(1) determining a second positional relationship between the vertical direction and a second specific plane in the coordinate system of the outer frame 21 according to the second photographing mode; the second specific plane is formed by a third axis direction and a fourth axis direction in the coordinate system based on the outer frame 21, and when the handheld pan/tilt head is placed upright, the third axis direction and the fourth axis direction are orthogonal to the vertical direction.
The third axis direction and the fourth axis direction may be defined as required, for example, in one embodiment, when the handheld cradle head is placed upright, the third axis direction points to the front of the outer frame 21, and the fourth axis direction points to the left side of the outer frame 21. It is understood that the third axis direction and the fourth axis direction may also be other directions, for example, the third axis direction is directed to the rear of the outer frame 21, the second axis direction is directed to the left side of the outer frame 21, or the first axis direction is directed to the rear of the outer frame 21, the second axis direction is directed to the right side of the outer frame 21, and so on, and may be specifically set as required.
As shown in fig. 1B, when the handheld cloud deck is placed upright, the coordinate system of the outer frame 21 of the handheld cloud deck is x2y2, wherein the third axis direction is x2 axis direction, the fourth axis direction is y2 axis direction, the x2 axis direction points to the front of the outer frame 21, and the y2 axis direction points to the left side of the outer frame 21; it is to be understood that the arrangement of the coordinate system of the outer frame 21 is not limited thereto.
The second positional relationship may include: the projection of the vertical direction on the second specific plane is positioned on the axis corresponding to the third axis direction, or the projection of the vertical direction on the second specific plane is positioned on the axis corresponding to the fourth axis direction. It is worth mentioning whether the projection of the vertical direction onto the second specific plane is located on the axis corresponding to the third axis direction or on the axis corresponding to the fourth axis direction, in how to define the third axis direction and the fourth axis direction in the coordinate system of the outer frame 21.
In this embodiment, when the second shooting mode is the vertical shooting mode, the second positional relationship includes: the projection of the vertical direction on the second specific plane is positioned on the axis corresponding to the fourth axis direction; when the second photographing mode is a flashlight mode, the second positional relationship includes: the projection of the vertical direction on the second specific plane is positioned on the axis corresponding to the third axis direction.
When the vertical shooting mode includes a left vertical shooting mode and a right vertical shooting mode, the pointing relationship between the projection of the vertical direction on the second specific plane and the fourth axis direction needs to be further determined according to the definitions of the vertical direction and the fourth axis direction.
Optionally, in some embodiments, the vertical shooting mode includes a left vertical shooting mode, and when the second shooting mode is the left vertical shooting mode, the second positional relationship corresponding to the left vertical shooting mode is: the projection of the vertical direction on the second specific plane is directed in the same direction as the fourth axis direction. In the present embodiment, the vertical direction is defined as the Z-axis direction in the world coordinate system, and the fourth axis direction is defined as the y2 axis direction shown in fig. 1B. It is understood that, when the vertical direction is defined as the opposite direction of the Z-axis direction in the world coordinate system, and the fourth axis direction is defined as the y2 axis direction, or the vertical direction is defined as the Z-axis direction in the world coordinate system, and the fourth axis direction is defined as the opposite direction of the y2 axis direction, the second positional relationship corresponding to the left portrait mode is: the projection of the vertical direction onto the second specific plane is directed opposite to the fourth axis direction.
In other embodiments, when the second photographing mode is the right portrait photographing mode, the second positional relationship corresponding to the right portrait photographing mode is: the projection of the vertical direction onto the second specific plane is directed opposite to the fourth axis direction. In the present embodiment, the vertical direction is defined as the Z-axis direction in the world coordinate system, and the fourth axis direction is defined as the y2 axis direction shown in fig. 1B. It is understood that, when the vertical direction is defined as the opposite direction of the Z-axis direction in the world coordinate system, and the fourth axis direction is defined as the y2 axis direction, or the vertical direction is defined as the Z-axis direction in the world coordinate system, and the fourth axis direction is defined as the opposite direction of the y2 axis direction, the second positional relationship corresponding to the right portrait mode is: the projection of the vertical direction on the second specific plane is directed in the same direction as the fourth axis direction.
When the flashlight mode comprises an upper flashlight mode and a lower flashlight mode, the pointing relation between the projection of the vertical direction on the second specific plane and the third axis direction needs to be further determined according to the definitions of the vertical direction and the third axis direction.
Optionally, in some embodiments, the flashlight mode includes a first flashlight mode, and when the first photographing mode is the first flashlight mode, the projection of the vertical direction on the first specific plane is directed toward the third axis direction. In the present embodiment, the vertical direction is defined as the Z-axis direction in the world coordinate system, and the third axis direction is defined as the x2 axis direction as shown in fig. 1B. It is understood that when the vertical direction is defined as the direction opposite to the Z-axis direction in the world coordinate system, and the third axis direction is defined as the x2 axis direction, or the vertical direction is defined as the Z-axis direction in the world coordinate system, and the third axis direction is defined as the direction opposite to the x2 axis direction, the second positional relationship corresponding to the upper flashlight mode is: the projection of the vertical direction onto the second specific plane is directed in the same direction as the third axis direction.
The flashlight mode comprises a lower flashlight mode, and when the second shooting mode is the lower flashlight mode, the projection of the vertical direction on the second specific plane is the same as the direction of the third axis direction. In the present embodiment, the vertical direction is defined as the Z-axis direction in the world coordinate system, and the third axis direction is defined as the x2 axis direction as shown in fig. 1B. It is understood that when the vertical direction is defined as the opposite direction of the Z-axis direction in the world coordinate system, and the third axis direction is defined as the x2 axis direction, or the vertical direction is defined as the Z-axis direction in the world coordinate system, and the third axis direction is defined as the opposite direction of the x2 axis direction, the second positional relationship corresponding to the lower flashlight mode is: the projection of the vertical direction onto the second specific plane is directed opposite to the third axis direction.
(2) Determining a target joint angle of the outer frame 21 according to the second position relation;
how to determine the target joint angle of the outer frame 21 based on the second positional relationship will be described in detail below.
The target joint angle is: the first included angle between the projection of the vertical direction on the second specific plane and the third axis direction is determined, or the second included angle between the projection of the vertical direction on the second specific plane and the fourth axis direction is determined. As shown in fig. 6A, the projection of the vertical direction on the second specific plane is: z1, the first included angle being: θ 1, and the second included angle is: and theta 2.
In the embodiment of the present invention, a rotation direction (e.g., counterclockwise) from the third axis direction to the fourth axis direction is defined as a positive direction, a rotation direction (e.g., clockwise) from the fourth axis direction to the third axis direction is defined as a negative direction, taking the placement position of the handheld pan/tilt head shown in fig. 1B as an example, an outer frame joint angle of the pan/tilt head 2 shown in fig. 1B is defined as 0 degree, a third axis x2 of a coordinate system of the outer frame 21 points to the front of the outer frame 21, i.e., points to the user, a fourth axis y2 points to the left side of the outer frame 21, and the second specific plane is a plane formed by x2 and y 2. The vertical direction is the gravity direction, i.e. the same direction as the Z-axis direction of the world coordinate system. In addition, taking the coordinate system of fig. 6A as an example, the rotation region of the outer frame 21 can be divided into a forward rotation region (i.e., counterclockwise rotation based on x 2) and a reverse rotation region (i.e., clockwise rotation based on x 2), where x2 can be used as a boundary line of the joint angle of 0 degree of the outer frame 21 to rotate counterclockwise, and θ is greater than 0, and conversely, is less than 0.
Optionally, in some embodiments, the portrait mode includes a right portrait mode, and when the second photographing mode is the right portrait mode, the target joint angle is: the sum of the 90 degrees and the first angle, or the difference obtained by subtracting the second angle from 180 degrees. In this embodiment, the second positional relationship is: the projection Z1 of the direction of gravity on the plane formed by x2 and y2 points opposite to the fourth axial direction y 2. Referring to fig. 6B, assuming that the second photographing mode is the right portrait photographing mode, the positional relationship between Z1 and x2, y2 is as shown. At this time, in order to satisfy the second positional relationship, it is necessary to control the outer frame 21 to rotate so that y2 coincides with Z1 and y2 is directed opposite to Z1. Therefore, the target joint angle α is (90 degrees + θ 1) is (180 degrees- θ 2), and the size of the angle by which the outer frame 21 rotates counterclockwise (90 degrees + θ 1) needs to be controlled.
In other embodiments, the portrait mode includes a left portrait mode, and when the second photographing mode is the left portrait mode, the target joint angle is: the inverse of the difference obtained by subtracting the first angle from 90 degrees, or the inverse of the second angle. In this embodiment, the second positional relationship is: the projection Z1 of the direction of gravity on the plane formed by x2 and y2 points in the same direction as the fourth axis direction y 2. Referring to fig. 6C, assuming that the second photographing mode is the left portrait photographing mode, the positional relationship between Z1 and x2, y2 is as shown in the figure. At this time, in order to satisfy the second positional relationship, it is necessary to control the outer frame 21 to rotate so that the y2 coincides with the Z1 and the y2 direction is the same as the Z1 direction. Therefore, the target joint angle α is- (90 degrees- θ 1) or- θ 2, and the size of the angle of clockwise rotation (90 degrees- θ 1) of the outer frame 21 needs to be controlled.
In other embodiments, the flashlight mode includes a top flashlight mode, and when the second photographing mode is the top flashlight mode, the target joint angle is: the inverse of the difference obtained by subtracting the first angle from 180 degrees, or the inverse of the sum of the second angle and 90 degrees. In this embodiment, the second positional relationship is: the projection Z1 of the direction of gravity on the plane formed by x2 and y2 points opposite to the third axis direction x 2. Referring to fig. 6D, assuming that the second photographing mode is the upper torch mode, the positional relationship between Z1 and x2, y2 is as shown. At this time, in order to satisfy the second positional relationship, it is necessary to control the outer frame 21 to rotate so that the x2 coincides with the Z1 and the x2 direction is opposite to the Z1 direction. Therefore, the target joint angle α is- (180- θ 1) — (90 degrees + θ 2), and the size of the angle of clockwise rotation (180- θ 1) of the outer frame 21 needs to be controlled.
In other embodiments, the flashlight mode includes a lower flashlight mode, and when the second photographing mode is the lower flashlight mode, the target joint angle is: the first angle, or a difference obtained by subtracting the second angle from 90 degrees. The second position relation is as follows: the projection Z1 of the direction of gravity on the plane formed by x2 and y2 points opposite to the third axis direction x 2. In this embodiment, referring to fig. 6E, when the second shooting mode is the upper torch mode, the positional relationship between Z1 and x2, y2 is as shown in the figure. At this time, in order to satisfy the second positional relationship, it is necessary to control the outer frame 21 to rotate so that the x2 coincides with the Z1 and the x2 direction is the same as the Z1 direction. Therefore, the target joint angle α is equal to θ 1 (90 degrees — θ 2), and the outer frame 21 needs to be controlled to rotate counterclockwise by θ 1.
S502: controlling the outer frame 21 to rotate to a target joint angle;
in this embodiment, the outer frame 21 is controlled to rotate to the target joint angle, that is, the corresponding motor is controlled to rotate to the target joint angle.
In practice, due to factors such as control accuracy and mechanical design accuracy, the actual rotation angle of the outer frame 21 may slightly deviate from the target joint angle, and in the present embodiment, when the difference between the actual rotation angle of the outer frame 21 and the target joint angle is small, it is considered that the outer frame 21 has been rotated to the target joint angle. Specifically, controlling the outer frame 21 to rotate to the target joint angle may specifically include: acquiring a real-time joint angle of the outer frame 21; when the difference between the real-time joint angle and the target joint angle is smaller than the preset difference, it is determined that the outer frame 21 rotates to the target joint angle. The preset difference may be set as needed, for example, 0.1 degree, 0.2 degree, 0.3 degree, 0.4 degree, 0.5 degree or others. In this embodiment, the preset difference is smaller than 1 degree.
In some embodiments, the head 2 further comprises an intermediate frame 22 connected to the outer frame 21 and an inner frame connected to the intermediate frame 22, the inner frame being used for carrying the photographing device 3, the intermediate frame 22 being configured to rotate about the second preset direction, the inner frame being configured to rotate about the third preset direction; the outer frame 21 is controlled to rotate to the target joint angle, the joint angle of the middle frame 22 is also controlled to be a first preset angle, and the joint angle of the inner frame is controlled to be a second preset angle. Optionally, the first preset angle is a joint angle of the middle frame 22 when the handheld cradle head obtains the switching instruction. The second preset angle is a joint angle of the inner frame when the handheld cloud deck acquires the switching instruction. In this embodiment, in the process of rotating the outer frame 21 to the target joint angle, the joint angles of the middle frame 22 and the inner frame are always locked at the joint angles of the middle frame 22 and the inner frame when the handheld pan/tilt head obtains the switching instruction. Optionally, the first preset angle and the second preset angle are set as required, and if the first preset angle is 0 degree and the second preset angle is 0 degree, the joint angles of the middle frame 22 and the inner frame are locked at 0 degree in the process of rotating the outer frame 21 to the target joint angle.
In other embodiments, the head 2 further comprises an inner frame connected to the outer frame 21, the inner frame being configured to carry the camera 3, the inner frame being configured to rotate around the second preset direction or the third preset direction; and controlling the joint angle of the inner frame to be a third preset angle while controlling the outer frame 21 to rotate to the target joint angle. Optionally, the third preset angle is a joint angle of the inner frame when the handheld cradle head obtains the switching instruction. In this embodiment, in the process of rotating the outer frame 21 to the target joint angle, the joint angle of the inner frame is always locked at the joint angle of the inner frame when the handheld cradle head obtains the switching instruction. Optionally, a third preset angle is set according to needs, and if the third preset angle is 0 degree, the joint angle of the inner frame is locked at 0 degree in the process of rotating the outer frame 21 to the target joint angle.
In the above-described embodiment, controlling the outer frame 21 to rotate to the target joint angle, locking the joint angles of the middle frame 22 and the inner frame, or controlling the outer frame 21 to rotate to the target joint angle, locking the joint angle of the inner frame may be referred to as joint angle closed-loop control.
S503: and indicating the handheld cloud platform to switch to the second shooting mode, and controlling the cloud platform 2 to rotate to the target posture corresponding to the second shooting mode, so that the shooting device 3 meets the first position relation.
In this embodiment, the handheld cradle head generates an instruction for instructing the handheld cradle head to switch to the second shooting mode, so that the handheld cradle head enters the second shooting mode.
The two steps of indicating the handheld cloud platform to switch to the second shooting mode and controlling the cloud platform to rotate to the target posture corresponding to the second shooting mode can be carried out simultaneously or sequentially.
For the description of the first position relationship, reference may be made to the relevant parts of the above embodiments, which are not described herein again. The target attitude corresponding to the second shooting mode and the pan-tilt attitude when the shooting device 3 satisfies the first positional relationship.
In this embodiment, after the control outer frame 21 rotates to the target joint angle, the current posture of the pan/tilt head 2 may not satisfy the first position relationship of the second shooting mode, and taking a three-axis pan/tilt head as an example, it may be necessary to further control the posture of another frame, so that the posture of the pan/tilt head 2 can satisfy the first position relationship.
In this embodiment, in the flashlight mode and the vertical shooting mode, the configuration of the pan/tilt head 2 changes, and the pan/tilt head 2 is taken as a three-axis pan/tilt head as an example. As shown in fig. 1B, when the handheld tripod head is placed upright, the outer frame 21 is configured to rotate about the yaw axis, the middle frame 22 is configured to rotate about the yaw axis, and the inner frame is configured to rotate about the pitch axis.
As shown in fig. 3A and 3B, when the second photographing mode is the flashlight mode (up flashlight mode or down flashlight mode), the outer frame 21 is configured to rotate about the roll axis, the middle frame 22 is configured to rotate about the yaw direction, and the inner frame is configured to rotate about the pitch axis. As shown in fig. 3C and 3D, when the second photographing mode is the portrait mode (left portrait mode or right portrait mode), the outer frame 21 is configured to rotate about the pitch axis, the middle frame 22 is configured to rotate about the roll axis, and the inner frame is configured to rotate about the yaw axis.
In the present embodiment, when the second shooting mode is the portrait mode or the flashlight mode, the pan/tilt head 2 is configured to be able to rotate around the roll axis and the pitch axis, and specifically, when the second shooting mode is the portrait mode, the middle frame 22 is configured to rotate around the roll axis; when the second photographing mode is a flashlight mode, the inner frame is configured to rotate about the pitch axis. For making cloud platform 2 satisfy first position relation, control cloud platform 2 rotates the target gesture that corresponds to the second shooting mode and specifically includes: determining the attitude component of the holder 2 corresponding to the target axis according to the second shooting mode; and controlling the holder 2 according to the attitude component of the target axis so that the holder 2 rotates to the target attitude corresponding to the second shooting mode. When the second shooting mode is a flashlight mode, the target axis is a pitching axis, and when the second shooting mode is a vertical shooting mode, the target axis is a rolling axis
If the head 2 is a three-axis head, the outer frame 21 is configured to rotate about the yaw axis, the middle frame 22 is configured to rotate about the roll axis, and the inner frame is configured to rotate about the pitch axis. Taking fig. 1B as an example, assume that in the cradle head posture shown in fig. 1B, the euler angle of the cradle head 2 corresponding to the roll axis is 0 degree.
In this embodiment, when the second photographing mode is the portrait photographing mode, the attitude component of the horizontal axis is controlled to control the euler angle of the horizontal axis in the attitude of the pan/tilt head 2 to be 90 degrees or-90 degrees, that is, to control the rotation of the middle frame 22. After the joint angle closed-loop control of the outer frame 21 is finished, the attitude closed-loop control is performed, that is, the cradle head 2 is controlled according to the attitude component of the transverse roller corresponding to the vertical shooting mode, that is, only the attitude of the middle frame 22 is controlled, and the attitudes of the outer frame 21 and the inner frame are kept unchanged when the joint angle closed-loop is finished, so that the cradle head 2 can meet the first position relation corresponding to the vertical shooting mode. And the posture change of the outer frame 21 and the inner frame caused by the posture closed loop is compensated by the posture closed loop, specifically, after the posture adjustment of the centering frame 22 is finished, the posture of the outer frame 21 and the posture of the inner frame are finely adjusted, so that the cradle head 2 meets the first position relation corresponding to the vertical shooting mode.
Wherein the photographing device 3 is configured to be horizontally placed, for example, horizontally oriented to capture an image when the euler angle of the corresponding roll axis in the posture of the pan/tilt head 2 is 0 degree. According to the setting of the euler angle range, for example, when the desired photographing mode is the portrait photographing mode, the euler angle of the corresponding horizontal axis in the posture of the pan/tilt head 2 may be controlled to be-90 degrees or 90 degrees.
When the second shooting mode is a flashlight mode, the attitude component of the pitch axis is controlled, that is, the euler angle of the corresponding pitch axis in the attitude of the holder 2 is controlled to be 0 degree, 180 degrees or-180 degrees, that is, the rotation of the inner frame is controlled. After the joint angle closed-loop control of the outer frame 21 is finished, the attitude closed-loop control is performed, that is, the cradle head 2 is controlled according to the attitude component of the pitch axis corresponding to the flashlight mode, that is, only the attitude of the inner frame is controlled, and the attitudes of the middle frame 22 and the outer frame 21 are kept unchanged when the joint angle closed-loop control is finished, so that the cradle head 2 can meet the first position relation corresponding to the flashlight mode. And the posture changes of the middle frame 22 and the outer frame 21 caused by the posture closed loop are compensated by the posture closed loop, specifically, after the posture adjustment of the inner frame is finished, the postures of the middle frame 22 and the outer frame 21 are finely adjusted, so that the cradle head 2 meets the first position relation corresponding to the flashlight mode.
Wherein the photographing device 3 is configured to horizontally place, for example, horizontally orient to capture an image when the euler angle of the corresponding pitch axis in the attitude of the pan/tilt head 2 is 0 degree. According to the setting of the euler angle range, for example, when the desired photographing mode is the flashlight mode, the euler angle of the corresponding horizontal axis in the posture of the pan/tilt head 2 may be controlled to be 0 degree, 180 degrees, or-180 degrees.
In the above embodiment for implementing step S402, the motion path is: the target joint angle of the outer frame 21 determined according to the second photographing mode and the attitude component (euler angle) of the pan/tilt head 2 corresponding to the target axis determined according to the second photographing mode are determined, and in the present embodiment, the motion path is the sum of the path rotated according to the target joint angle of the outer frame 21 determined according to the second photographing mode and the path rotated according to the attitude component of the pan/tilt head 2 corresponding to the target axis determined according to the second photographing mode.
Another way to implement step S402 is to control the pan/tilt head 2 to rotate, so that the handheld pan/tilt head is switched to the second shooting mode, and the shooting device 3 satisfies the first positional relationship can be implemented based on the attitude closed-loop control.
Specifically, when the first shooting mode is the flashlight mode, the second shooting mode is the vertical shooting mode, control pan-tilt 2 rotates to make handheld pan-tilt switch to the second shooting mode, and shoot device 3 and satisfy first position relation and specifically include: and controlling the attitude component of the cradle head 2 corresponding to the transverse roller to be 90 degrees or-90 degrees so that the handheld cradle head is switched to the second shooting mode, and the shooting device 3 meets the first position relation. In this embodiment, in the first shooting mode, the attitude of the outer frame 21 is controlled, that is, the attitude component of the pan/tilt head 2 corresponding to the horizontal roller is controlled to be 90 degrees or-90 degrees, then the handheld pan/tilt head is instructed to enter the second shooting mode, and the attitude of the middle frame 22 is controlled, that is, the attitude component of the pan/tilt head 2 corresponding to the horizontal roller is controlled to be 90 degrees or-90 degrees. Illustratively, when the second shooting mode is a left vertical shooting mode, the attitude component of the pan/tilt head 2 corresponding to the horizontal rolling shaft is controlled to be 90 degrees; and when the second shooting mode is the vertical shooting mode, controlling the attitude component of the cradle head 2 corresponding to the horizontal rolling shaft to be-90 degrees.
When the first shooting mode is a vertical shooting mode and the second shooting mode is a flashlight shooting mode, the cradle head 2 is controlled to rotate, so that the handheld cradle head is switched to the second shooting mode, and the shooting device 3 meets the first position relation and specifically comprises: and controlling the attitude component of the cradle head 2 corresponding to the pitching axis to be 0 degree, 180 degrees or-180 degrees so that the handheld cradle head is switched to the second shooting mode, and the shooting device 3 meets the first position relation. In this embodiment, in the first shooting mode, the attitude of the outer frame 21 is controlled, that is, the attitude component of the cradle head 2 corresponding to the pitch axis is controlled to be 0 degree, 180 degrees or-180 degrees, then the handheld cradle head is instructed to enter the second shooting mode, and the attitude of the inner frame is controlled, that is, the attitude component of the cradle head 2 corresponding to the pitch axis is controlled to be 0 degree, 180 degrees or-180 degrees. Illustratively, when the second shooting mode is the upper flashlight mode, the attitude component of the cradle head 2 corresponding to the pitch axis is controlled to be 0 degree; when the second shooting mode is the lower flashlight mode, the attitude component of the cradle head 2 corresponding to the pitching axis is controlled to be 180 degrees or-180 degrees.
In the embodiment of implementing step S402 based on the attitude closed-loop control, the motion path is: and determining the attitude component (Euler angle) of the corresponding pitching axis of the holder 2. In this embodiment, the motion path is a path rotated according to the attitude component of the pan/tilt head 2 corresponding to the pitch axis.
Illustratively, in order to implement 360-degree shooting in the yaw direction, the pan/tilt head 2 may employ a rotating structure with mechanical limit in a range greater than 360 degrees for the rotation of the outer frame 21, the rotation region of the outer frame 21 of the pan/tilt head 2 includes a forward rotation region and a reverse rotation region, both the pan/tilt/yaw joint angle in the forward rotation region and the pan/tilt/yaw joint angle in the reverse rotation region may be greater than 180 degrees and less than 360 degrees, and mechanical limit is respectively set at the maximum yaw joint angle in the forward rotation region and the maximum yaw joint angle in the reverse rotation region, so that the pan/tilt/yaw joint angle in the rotation region of the outer frame 21 of the pan/tilt head 2 is greater than 360 degrees. In the embodiment of implementing step S402 based on the attitude closed-loop control, the pan/tilt head 2 may not be rotated to the target euler angle due to the existence of the mechanical limit. In this regard, in the present embodiment, the head 2 includes an outer frame 21 connected to the handle 1, the outer frame 21 being configured to rotate about a first preset direction; the control method of the handheld cloud deck further comprises the following steps: in the process of controlling the rotation of the holder 2, acquiring the real-time joint angle of the outer frame 21; if the real-time joint angle is the limit angle of the cradle head 2, the cradle head 2 is controlled to rotate along the direction opposite to the current rotating direction of the cradle head 2, so that the handheld cradle head is switched to the second shooting mode, and the shooting device 3 meets the first position relation.
With reference to fig. 1A to 1B and fig. 7, an embodiment of the present invention further provides a handheld tripod head, which may include a handle 1, a tripod head 2 and a controller 5. The holder 2 is used for carrying a shooting device 3, and the holder 2 is arranged on the handle 1. The controller 5 is arranged on the handle 1, and optionally, the controller 5 is arranged in the handle 1.
Specifically, the controller 5 is configured to: when the holder 2 is in the following mode, acquiring a switching instruction which is input by a user and used for indicating the handheld holder to be switched from the first shooting mode to the second shooting mode; controlling the handheld cloud deck to be switched from a first shooting mode to a second shooting mode; wherein the first photographing mode includes one of a flashlight mode and a portrait mode, and the second photographing mode includes the other of the flashlight mode and the portrait mode.
The implementation process and the working principle of the controller 5 can be referred to the description of the control method of the handheld cloud deck of the above embodiment, and are not described herein again.
The controller 5 of the present embodiment may be a Central Processing Unit (CPU). The controller 5 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The PLD may be a Complex Programmable Logic Device (CPLD), a field-programmable gate array (FPGA), a General Array Logic (GAL), or any combination thereof.
In addition, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the control method of the handheld cloud deck of the above-mentioned embodiment.
The computer readable storage medium may be an internal storage unit, such as a hard disk or a memory, of the handheld cloud deck according to any of the foregoing embodiments. The computer readable storage medium may also be an external storage device of the handheld cloud deck, such as a plug-in hard disk, a Smart Media Card (SMC), an SD Card, a Flash memory Card (Flash Card), and the like, provided on the device. Further, the computer readable storage medium may also include both an internal storage unit of the handheld tripod head and an external storage device. The computer-readable storage medium is used for storing the computer program and other programs and data required by the handheld tripod head, and can also be used for temporarily storing data that has been output or is to be output.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
While certain embodiments of the invention have been described, it will be understood that they are not limited thereto, but are capable of equivalent changes and modifications within the spirit and scope of the invention as defined by the appended claims.

Claims (58)

1. A control method of a handheld cloud platform is characterized in that the handheld cloud platform comprises a handle and a cloud platform arranged on the handle, and the method comprises the following steps:
when the holder is in a following mode, acquiring a switching instruction which is input by a user and used for indicating the handheld holder to be switched from a first shooting mode to a second shooting mode;
controlling the handheld tripod head to be switched from the first shooting mode to the second shooting mode;
wherein the first photographing mode includes one of a flashlight mode and a portrait mode, and the second photographing mode includes the other of the flashlight mode and the portrait mode.
2. The method of claim 1, wherein the handheld pan/tilt head comprises: the control part is arranged on the handle, and the switching instruction is generated by triggering the control part by a user; or
The switching instruction is generated by operating an external device by a user and is sent by the external device.
3. The method according to claim 1, wherein the controlling the handheld pan/tilt head to switch from the first shooting mode to the second shooting mode comprises:
determining a first position relation between the vertical direction and a first specific plane in a coordinate system of a shooting device carried by the holder according to the second shooting mode;
controlling the holder to rotate so that the handheld holder is switched to the second shooting mode, and the shooting device meets the first position relation;
the first specific plane is formed based on a first axis direction and a second axis direction in a coordinate system of the shooting device, and the first axis direction and the second axis direction are orthogonal to the vertical direction when the shooting device is placed upright.
4. The method of claim 3, wherein the head comprises an outer frame connected to the handle, the outer frame configured to rotate about a first predetermined direction;
the controlling the cradle head to rotate so that the handheld cradle head is switched to the second shooting mode, and the shooting device meets the first position relation, includes:
determining a target joint angle of the outer frame according to the second shooting mode;
controlling the outer frame to rotate to the target joint angle;
and indicating the handheld cloud platform to be switched to the second shooting mode, and controlling the cloud platform to rotate to a target posture corresponding to the second shooting mode, so that the shooting device meets the first position relation.
5. The method of claim 4, wherein determining the target joint angle of the outer frame according to the second capture mode comprises:
determining a second position relation between the vertical direction and a second specific plane in the coordinate system of the outer frame according to the second shooting mode;
determining a target joint angle of the outer frame according to the second position relation;
wherein, the specific plane of second is based on third axis direction, fourth axis direction in the coordinate system of outer frame form, and are in when handheld cloud platform is just standing and is placed, the third axis direction the fourth axis direction with vertical direction quadrature.
6. The method of claim 5, wherein the second positional relationship comprises: the projection of the vertical direction on the second specific plane is located on the axis corresponding to the third axis direction, or the projection of the vertical direction on the second specific plane is located on the axis corresponding to the fourth axis direction.
7. The method according to claim 6, wherein the portrait mode includes a left portrait mode, and when the second photographing mode is the left portrait mode, a projection of the vertical direction on the second specific plane is directed in the same direction as the fourth axis direction.
8. The method according to claim 6, wherein the portrait mode includes a right portrait mode, and when the second photographing mode is the right portrait mode, a projection of the vertical direction on the second specific plane is directed opposite to the fourth axis direction.
9. The method of claim 6, wherein the flashlight mode comprises a top flashlight mode, and when the second photographing mode is the top flashlight mode, the projection of the vertical direction on the second specific plane is directed opposite to the third axis direction.
10. The method of claim 6, wherein the flashlight mode comprises a lower flashlight mode, and when the second photographing mode is the lower flashlight mode, the projection of the vertical direction on the second specific plane is directed in the same direction as the third axis direction.
11. The method of claim 5, wherein the target joint angle is: and determining a first included angle between the projection of the vertical direction on the second specific plane and the third axis direction, or determining a second included angle between the projection of the vertical direction on the second specific plane and the fourth axis direction.
12. The method according to claim 11, wherein the portrait mode includes a right portrait mode, and when the second photographing mode is the right portrait mode, the target joint angle is: the sum of the 90 degrees and the first included angle, or the difference obtained by subtracting the second included angle from 180 degrees.
13. The method according to claim 11, wherein the vertical shooting mode includes a left vertical shooting mode, and when the second shooting mode is the left vertical shooting mode, the target joint angle is: the inverse of the difference obtained by subtracting the first included angle from 90 degrees, or the inverse of the second included angle.
14. The method of claim 11, wherein the flashlight mode comprises a top flashlight mode, and wherein when the second photographing mode is the top flashlight mode, the target joint angle is: the inverse of the difference obtained by subtracting the first angle from 180 degrees, or the inverse of the sum of the second angle and 90 degrees.
15. The method of claim 11, wherein the flashlight mode comprises a lower flashlight mode, and wherein when the second photographing mode is the lower flashlight mode, the target joint angle is: the first included angle, or a difference obtained by subtracting the second included angle from 90 degrees.
16. The method according to claim 5, wherein the head further comprises a middle frame connected to the outer frame and an inner frame connected to the middle frame, the inner frame being used for carrying a camera, the middle frame being configured to rotate around a second preset direction, the inner frame being configured to rotate around a third preset direction;
when controlling outer frame rotation to target joint angle, still include:
and controlling the joint angle of the middle frame to be a first preset angle, and controlling the joint angle of the inner frame to be a second preset angle.
17. The method according to claim 5, wherein the head further comprises an inner frame connected to the outer frame, the inner frame being used for carrying a camera, the inner frame being configured to rotate around a second preset direction or a third preset direction;
when controlling outer frame rotation to target joint angle, still include:
and controlling the joint angle of the inner frame to be a third preset angle.
18. The method according to claim 5, wherein the controlling the pan/tilt head to rotate to the target posture corresponding to the second shooting mode comprises:
determining the attitude component of the cradle head corresponding to the target axis according to the second shooting mode;
controlling the holder according to the attitude component of the target axis so as to enable the holder to rotate to a target attitude corresponding to the second shooting mode;
when the second shooting mode is the flashlight mode, the target shaft is a pitching shaft, and when the second shooting mode is the vertical shooting mode, the target shaft is a transverse rolling shaft.
19. The method of claim 4, wherein the controlling the outer frame to rotate to the target joint angle comprises:
acquiring a real-time joint angle of the outer frame;
and when the difference value between the real-time joint angle and the target joint angle is smaller than a preset difference value, determining that the outer frame rotates to the target joint angle.
20. The method according to claim 3, wherein when the first photographing mode is the flashlight mode and the second photographing mode is the portrait photographing mode, the controlling the cradle head to rotate so that the handheld cradle head is switched to the second photographing mode and the photographing device satisfies the first positional relationship comprises:
and controlling the attitude component of the cradle head corresponding to the transverse roller to be 90 degrees or-90 degrees, so that the handheld cradle head is switched to the second shooting mode, and the shooting device meets the first position relation.
21. The method according to claim 3, wherein when the first photographing mode is the vertical photographing mode and the second photographing mode is the flashlight photographing mode, the controlling the cradle head to rotate so that the handheld cradle head is switched to the second photographing mode and the photographing device satisfies the first positional relationship comprises:
and controlling the attitude component of the cradle head corresponding to the pitching axis to be 0 degree, 180 degrees or-180 degrees, so that the handheld cradle head is switched to the second shooting mode, and the shooting device meets the first position relation.
22. The method of claim 20 or 21, wherein the head comprises an outer frame connected to the handle, the outer frame being configured to rotate about a first predetermined direction; the method further comprises the following steps:
in the process of controlling the holder to rotate, acquiring a real-time joint angle of the outer frame;
and if the real-time joint angle is the limit angle of the holder, controlling the holder to rotate along the direction opposite to the current rotating direction of the holder so that the handheld holder is switched to the second shooting mode, and the shooting device meets the first position relation.
23. The method according to any one of claims 3 to 22, wherein when the first photographing mode is the flashlight mode and the second photographing mode is the portrait photographing mode, the first positional relationship is: the first specific plane is substantially parallel to the vertical direction.
24. The method according to any one of claims 3 to 22, wherein when the first photographing mode is the portrait photographing mode and the second photographing mode is the flashlight photographing mode, the first positional relationship is: the first specific plane is substantially perpendicular to the vertical direction.
25. The method of claim 3, wherein the vertical direction is a Z-axis direction in a world coordinate system when the handheld holder is placed upright.
26. The method of claim 1, wherein the portrait mode includes a left portrait mode and a right portrait mode;
the switching instruction comprises a first switching instruction used for indicating the handheld cloud deck to be switched from the flashlight mode to the left vertical shooting mode; or
And a second switching instruction for indicating the handheld holder to be switched from the flashlight mode to the right vertical shooting mode.
27. The method of claim 1, wherein the flashlight modes include an up flashlight mode and a down flashlight mode;
the switching instruction comprises a third switching instruction used for indicating the handheld tripod head to be switched from the vertical shooting mode to the upper flashlight mode; or
And a fourth switching instruction for indicating the handheld holder to be switched from the vertical shooting mode to the lower flashlight mode.
28. The method of claim 1, wherein the portrait mode includes a left portrait mode and a right portrait mode;
when the first shooting mode is the flashlight mode and the second shooting mode is the vertical shooting mode, the controlling the handheld tripod head to be switched from the first shooting mode to the second shooting mode includes:
determining a first motion path of the handheld cloud platform switched from the flashlight mode to the left vertical shooting mode and a second motion path of the handheld cloud platform switched from the flashlight mode to the right vertical shooting mode;
and controlling the handheld cloud deck to be switched to a shooting mode corresponding to the smaller one of the first motion path and the second motion path from the flashlight mode.
29. The method of claim 1, wherein the portrait mode includes an up-torch mode and a down-torch mode;
when the first shooting mode is the vertical shooting mode and the second shooting mode is the flashlight mode, the controlling the handheld tripod head to be switched from the first shooting mode to the second shooting mode includes:
determining a third motion path of the handheld cloud deck switched from the vertical shooting mode to the upper flashlight mode and a fourth motion path of the handheld cloud deck switched from the vertical shooting mode to the lower flashlight mode;
and controlling the handheld cloud deck to be switched to a shooting mode corresponding to the smaller of the third motion path and the fourth motion path from the vertical shooting mode.
30. A handheld cloud platform, its characterized in that, handheld cloud platform includes:
a handle;
the holder is arranged on the handle and used for carrying a shooting device; and
locate the controller of handle, the controller is used for:
when the holder is in a following mode, acquiring a switching instruction which is input by a user and used for indicating the handheld holder to be switched from a first shooting mode to a second shooting mode;
controlling the handheld tripod head to be switched from the first shooting mode to the second shooting mode;
wherein the first photographing mode includes one of a flashlight mode and a portrait mode, and the second photographing mode includes the other of the flashlight mode and the portrait mode.
31. A handheld holder according to claim 30, wherein the handheld holder comprises: the control part is arranged on the handle, and the switching instruction is generated by triggering the control part by a user; or alternatively
The switching instruction is generated by operating an external device by a user and is sent by the external device.
32. A handheld holder according to claim 30, wherein the controller, when controlling the handheld holder to switch from the first shooting mode to the second shooting mode, is specifically configured to:
determining a first position relation between the vertical direction and a first specific plane in a coordinate system of a shooting device carried by the holder according to the second shooting mode;
controlling the holder to rotate so that the handheld holder is switched to the second shooting mode, and the shooting device meets the first position relation;
the first specific plane is formed based on a first axis direction and a second axis direction in a coordinate system of the shooting device, and the first axis direction and the second axis direction are orthogonal to the vertical direction when the shooting device is placed upright.
33. A handheld head according to claim 32, wherein said head comprises an outer frame connected to said handle, said outer frame being configured to rotate about a first predetermined direction;
the controller is controlling the cradle head to rotate, so that the handheld cradle head is switched to the second shooting mode, and when the shooting device meets the first position relation, the controller is specifically configured to:
determining a target joint angle of the outer frame according to the second shooting mode;
controlling the outer frame to rotate to the target joint angle;
and indicating the handheld cloud platform to be switched to the second shooting mode, and controlling the cloud platform to rotate to a target posture corresponding to the second shooting mode, so that the shooting device meets the first position relation.
34. A handheld holder according to claim 33, wherein the controller, when determining the target joint angle of the outer frame according to the second capture mode, is specifically configured to:
determining a second position relation between the vertical direction and a second specific plane in the coordinate system of the outer frame according to the second shooting mode;
determining a target joint angle of the outer frame according to the second position relation;
wherein, the specific plane of second is based on third axis direction, fourth axis direction in the coordinate system of outer frame form, and are in when handheld cloud platform is just standing and is placed, the third axis direction the fourth axis direction with vertical direction quadrature.
35. A handheld holder according to claim 34, wherein the second positional relationship comprises: the projection of the vertical direction on the second specific plane is located on the axis corresponding to the third axis direction, or the projection of the vertical direction on the second specific plane is located on the axis corresponding to the fourth axis direction.
36. A handheld tripod head according to claim 35, wherein said portrait mode comprises a left portrait mode, and when said second shooting mode is said left portrait mode, the projection of said vertical direction onto said second specific plane is directed in the same direction as said fourth axis direction.
37. A handheld tripod head according to claim 35, wherein said portrait photographing mode comprises a right portrait photographing mode, and when said second photographing mode is said right portrait photographing mode, the projection of said vertical direction onto said second specific plane is directed opposite to the fourth axial direction.
38. A handheld holder according to claim 35, wherein the flashlight mode comprises an upper flashlight mode, and when the second photographing mode is the upper flashlight mode, the projection of the vertical direction onto the second specific plane is directed opposite to the third axis direction.
39. A handheld holder according to claim 35, wherein the flashlight mode comprises a lower flashlight mode, and when the second photographing mode is the lower flashlight mode, the projection of the vertical direction onto the second specific plane is directed in the same direction as the third axis direction.
40. A handheld holder according to claim 34, wherein the target joint angle is: and determining a first included angle between the projection of the vertical direction on the second specific plane and the third axis direction, or determining a second included angle between the projection of the vertical direction on the second specific plane and the fourth axis direction.
41. The handheld pan and tilt head of claim 40, wherein the portrait shooting mode comprises a right portrait shooting mode, and when the second shooting mode is the right portrait shooting mode, the target joint angle is: the sum of the 90 degrees and the first included angle, or the difference obtained by subtracting the second included angle from 180 degrees.
42. The handheld pan and tilt head of claim 40, wherein the portrait shooting mode comprises a left portrait shooting mode, and when the second shooting mode is the left portrait shooting mode, the target joint angle is: the opposite number of the difference obtained by subtracting the first included angle from 90 degrees, or the opposite number of the second included angle.
43. The handheld holder according to claim 40, wherein the flashlight mode comprises a top flashlight mode, and when the second photographing mode is the top flashlight mode, the target joint angle is: the inverse of the difference obtained by subtracting the first angle from 180 degrees, or the inverse of the sum of the second angle and 90 degrees.
44. The handheld holder according to claim 40, wherein the flashlight mode comprises a lower flashlight mode, and when the second photographing mode is the lower flashlight mode, the target joint angle is: the first included angle, or a difference obtained by subtracting the second included angle from 90 degrees.
45. A handheld head according to claim 34, wherein said head further comprises a middle frame connected to said outer frame and an inner frame connected to said middle frame, said inner frame being adapted to carry a camera, said middle frame being configured to rotate about a second predetermined direction and said inner frame being configured to rotate about a third predetermined direction;
the controller is also configured to, while controlling the outer frame to rotate to the target joint angle:
and controlling the joint angle of the middle frame to be a first preset angle, and controlling the joint angle of the inner frame to be a second preset angle.
46. A handheld tripod head according to claim 34, wherein said tripod head further comprises an inner frame connected to said outer frame, said inner frame being intended to carry a camera, said inner frame being configured to rotate about a second preset direction or a third preset direction;
the controller is also configured to, while controlling the outer frame to rotate to the target joint angle:
and controlling the joint angle of the inner frame to be a third preset angle.
47. The handheld pan/tilt head according to claim 34, wherein the controller, when controlling the pan/tilt head to rotate to the target posture corresponding to the second shooting mode, is specifically configured to:
determining the attitude component of the cradle head corresponding to the target axis according to the second shooting mode;
controlling the holder according to the attitude component of the target axis so that the holder rotates to a target attitude corresponding to the second shooting mode;
when the second shooting mode is the flashlight mode, the target shaft is a pitching shaft, and when the second shooting mode is the vertical shooting mode, the target shaft is a transverse rolling shaft.
48. A handheld holder according to claim 33, wherein the controller, when controlling the outer frame to rotate to the target joint angle, is specifically configured to:
acquiring a real-time joint angle of the outer frame;
and when the difference value between the real-time joint angle and the target joint angle is smaller than a preset difference value, determining that the outer frame rotates to the target joint angle.
49. The handheld pan/tilt head according to claim 32, wherein when the first shooting mode is the flashlight mode and the second shooting mode is the portrait mode, the controller controls the pan/tilt head to rotate, so that the handheld pan/tilt head is switched to the second shooting mode, and the shooting device satisfies the first positional relationship, and is specifically configured to:
and controlling the attitude component of the cradle head corresponding to the transverse roller to be 90 degrees or-90 degrees, so that the handheld cradle head is switched to the second shooting mode, and the shooting device meets the first position relation.
50. The handheld pan/tilt head according to claim 32, wherein when the first shooting mode is the vertical shooting mode and the second shooting mode is the flashlight shooting mode, the controller controls the pan/tilt head to rotate, so that the handheld pan/tilt head is switched to the second shooting mode, and the shooting device satisfies the first positional relationship, the controller is specifically configured to:
and controlling the attitude component of the cradle head corresponding to the pitching axis to be 0 degree, 180 degrees or-180 degrees, so that the handheld cradle head is switched to the second shooting mode, and the shooting device meets the first position relation.
51. A handheld head according to claim 49 or claim 50, wherein said head comprises an outer frame connected to said handle, said outer frame being configured to rotate about a first predetermined direction; the controller is further configured to:
in the process of controlling the holder to rotate, acquiring a real-time joint angle of the outer frame;
and if the real-time joint angle is the limit angle of the holder, controlling the holder to rotate along the direction opposite to the current rotating direction of the holder so that the handheld holder is switched to the second shooting mode, and the shooting device meets the first position relation.
52. A handheld tripod head according to any one of claims 32 to 51, wherein when the first photographing mode is the flashlight mode and the second photographing mode is the portrait photographing mode, the first positional relationship is: the first specific plane is substantially parallel to the vertical direction.
53. A handheld tripod head according to any one of claims 32 to 51, wherein when the first photographing mode is the portrait photographing mode and the second photographing mode is the flashlight photographing mode, the first positional relationship is: the first specific plane is substantially perpendicular to the vertical direction.
54. A hand-held head according to claim 32, wherein the vertical direction is the Z-axis direction in the world coordinate system when the hand-held head is placed upright.
55. A handheld pan and tilt head according to claim 30, wherein the portrait mode comprises a left portrait mode and a right portrait mode;
the switching instruction comprises a first switching instruction used for indicating the handheld cloud deck to be switched from the flashlight mode to the left vertical shooting mode; or
And a second switching instruction for indicating the handheld cloud deck to be switched from the flashlight mode to the right vertical shooting mode.
56. A handheld tripod head according to claim 30, wherein the flashlight modes include an up flashlight mode and a down flashlight mode;
the switching instruction comprises a third switching instruction used for indicating the handheld tripod head to be switched from the vertical shooting mode to the upper flashlight mode; or
And a fourth switching instruction for indicating the handheld holder to be switched from the vertical shooting mode to the lower flashlight mode.
57. A handheld tripod head according to claim 30, wherein the vertical shooting mode comprises a left vertical shooting mode and a right vertical shooting mode;
when the first shooting mode is the flashlight mode and the second shooting mode is the vertical shooting mode, the controller is specifically configured to:
determining a first motion path of the handheld cloud platform switched from the flashlight mode to the left vertical shooting mode and a second motion path of the handheld cloud platform switched from the flashlight mode to the right vertical shooting mode;
and controlling the handheld cloud deck to be switched to a shooting mode corresponding to the smaller one of the first motion path and the second motion path from the flashlight mode.
58. A handheld tripod head according to claim 30, wherein the portrait mode comprises an upper flashlight mode and a lower flashlight mode;
when the first shooting mode is the vertical shooting mode and the second shooting mode is the flashlight mode, the controller is specifically configured to:
determining a third motion path of the handheld cloud deck switched from the vertical shooting mode to the upper flashlight mode and a fourth motion path of the handheld cloud deck switched from the vertical shooting mode to the lower flashlight mode;
and controlling the handheld cloud deck to be switched to a shooting mode corresponding to the smaller of the third motion path and the fourth motion path from the vertical shooting mode.
CN201980032880.1A 2019-09-18 2019-09-18 Handheld holder and control method thereof Expired - Fee Related CN112166280B (en)

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