CN112543896A - Cloud platform and control method thereof - Google Patents
Cloud platform and control method thereof Download PDFInfo
- Publication number
- CN112543896A CN112543896A CN202080004458.8A CN202080004458A CN112543896A CN 112543896 A CN112543896 A CN 112543896A CN 202080004458 A CN202080004458 A CN 202080004458A CN 112543896 A CN112543896 A CN 112543896A
- Authority
- CN
- China
- Prior art keywords
- preset
- speed corresponding
- control quantity
- head
- holder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 72
- 230000001133 acceleration Effects 0.000 claims description 11
- 230000000694 effects Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 7
- 238000004364 calculation method Methods 0.000 description 5
- 238000004590 computer program Methods 0.000 description 3
- 230000003068 static effect Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000004886 head movement Effects 0.000 description 1
- 230000001965 increasing effect Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000011514 reflex Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/10—Control of position or direction without using feedback
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Studio Devices (AREA)
Abstract
A holder and a control method thereof, the method comprises: s201, detecting an indication indicating that the holder enters a preset state; s202, controlling the holder to move to a target speed corresponding to the preset state according to a preset strategy; the preset state comprises one of starting and stopping, and the preset strategy is used for indicating the time length required by the movement of the holder to the target speed corresponding to the preset state or the angle size required by rotation. According to the method, the movement of the cradle head is controlled according to the preset strategy in the stage of starting or stopping the cradle head, so that a user can clearly know the movement duration or the rotation angle of the cradle head in the stage of starting or stopping, more accurate information can be effectively obtained for the user, the use freedom of the user is improved, the user can be helped to shoot an expected video effect, and the use experience of the user is improved.
Description
Technical Field
The application relates to the field of holder control, in particular to a holder and a control method thereof.
Background
When shooting through the pan-tilt, two stages of the pan-tilt starting to move around a certain axis and the pan-tilt decelerating and stopping around a certain axis are respectively called as a pan-tilt starting stage and a pan-tilt stopping stage. In the stage of the tripod head starting, the tripod head is suddenly started around a certain axis; or in the stage of stopping the cradle head, the motion of the cradle head suddenly rotating around a certain axis stops, and the above situations all can cause the shot picture to be very sharp. In order to shoot a higher quality video, it is generally required that the pan head start phase is slowly started around a certain axis, and the pan head stop phase is slowly stopped around a certain axis, which is called a pan head slow start/stop function.
Different slow start-stop effects can be realized by setting different slow start-stop parameters, the maximum acceleration of the cradle head corresponding to the existing slow start-stop parameters or the cut-off frequency of the filter are large, but the start-stop of the cradle head is realized by using the above slow start-stop parameters, so that the user is not intuitive, and the accurate control of the cradle head is not facilitated.
Disclosure of Invention
The application provides a holder and a control method thereof.
Specifically, the method is realized through the following technical scheme:
according to a first aspect of embodiments of the present application, there is provided a method for controlling a pan/tilt head, the method including:
detecting an indication indicating that the holder enters a preset state;
controlling the holder to move to a target speed corresponding to the preset state according to a preset strategy;
the preset state comprises one of starting and stopping, and the preset strategy is used for indicating the time length required by the movement of the holder to the target speed corresponding to the preset state or the angle size required by rotation.
According to a second aspect of embodiments of the present application, there is provided a head, comprising:
a base;
the shaft assembly is arranged on the base and used for carrying a shooting device; and
a controller electrically coupled to the shaft assembly, the controller configured to:
detecting an indication indicating that the holder enters a preset state;
controlling the holder to move to a target speed corresponding to the preset state according to a preset strategy;
the preset state comprises one of starting and stopping, and the preset strategy is used for indicating the time length required by the movement of the holder to the target speed corresponding to the preset state or the angle size required by rotation.
According to the technical scheme provided by the embodiment of the application, the movement of the cradle head is controlled according to the preset strategy in the stage of starting or stopping the cradle head, so that a user can clearly know the movement duration or the rotation angle of the cradle head in the stage of starting or stopping the cradle head, more accurate information can be effectively obtained by the user, the use freedom of the user is improved, the user can be helped to shoot an expected video effect, and the use experience of the user is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
Fig. 1 is a perspective view of a pan/tilt head in an embodiment of the present application;
fig. 2 is a schematic method flow diagram of a control method of a pan/tilt head in an embodiment of the present application;
fig. 3 is a schematic method flow diagram of a control method of a pan/tilt head according to another embodiment of the present application;
fig. 4 is a schematic method flow diagram of a control method of a pan/tilt head according to another embodiment of the present application;
fig. 5 is a schematic flow chart of a method of controlling a pan/tilt head according to another embodiment of the present application;
fig. 6 is a block diagram of a cradle head in an embodiment of the present application.
Detailed Description
At present, different cloud platforms can be realized by setting different slow start and stop parameters, and the cloud platform shooting quality is improved. The maximum acceleration of the holder or the cut-off frequency of the filter corresponding to the existing slow start-stop parameters is not intuitive for users, and the accurate control of the holder is not facilitated.
In order to solve the above problems, in the stage of starting or stopping the cradle head according to the embodiment of the application, the motion of the cradle head is controlled according to the preset strategy, so that the user can clearly know the motion duration or the rotation angle of the cradle head in the stage of starting or stopping, the user can effectively obtain more accurate information, the use freedom of the user is improved, the user can be helped to shoot an expected video effect, and the use experience of the user is improved.
It should be noted that the slow start and stop of the pan/tilt head refers to the slow start and stop of the pan/tilt head moving around a certain axis, and is not specific to the overall moving state of the pan/tilt head, that is, the pan/tilt head can be controlled to enter the slow start and stop around a certain axis, and during the slow start and stop of the axis, the pan/tilt head can move around other axes or does not move. For example, in the following mode, the holder can be controlled to start and stop slowly around the heading axis, but in the process, the holder can have the stability increasing effect on the roll axis.
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.
It should be noted that, in the following examples and embodiments, features may be combined with each other without conflict.
The cloud platform of this application embodiment can be unipolar cloud platform, diaxon cloud platform, triaxial cloud platform or other multiaxis cloud platforms.
In addition, the cloud platform of this application embodiment can be for handheld cloud platform, also can be for carrying on the machine cloud platform, carries on the machine cloud platform and can carry on movable platform, and this movable platform can be unmanned aerial vehicle, unmanned vehicles, mobile robot etc..
For example, referring to fig. 1, the pan/tilt head is a handheld pan/tilt head, and the pan/tilt head is a three-axis pan/tilt head, and the pan/tilt head of the present embodiment is configured to rotate around a yaw axis, a pitch axis, and a roll axis. The handheld tripod head may include an outer frame 11 configured to rotate about a yaw axis, an intermediate frame 12 configured to rotate about a yaw axis, and an inner frame 12 configured to rotate about a pitch axis, and the inner frame is used to mount the photographing device 2. Wherein, outer frame 11 includes the yaw axis shaft arm, and is driven by the yaw axis motor, and well frame 12 includes the roll axis shaft arm, and is driven by the roll axis motor, and the inner frame includes the pitch axis shaft arm, and is driven by the pitch axis motor. The shooting device 2 can be a video camera, a single lens reflex, a mini lens, a motion camera, a smart phone, a camera and other shooting devices. It will be appreciated that for some three-axis heads, the inner frame may be omitted, or the outer housing of the camera may be equivalent to the inner frame.
It will be appreciated that in some embodiments the head may carry other loads than cameras, and that other loads may effect attitude adjustments through the head, such as shooting devices, light emitters, speakers, etc.
The pan/tilt head can be controlled by the control device to perform attitude switching. In this embodiment, the control device may be a mobile terminal such as a mobile phone or a tablet personal computer, a fixed terminal, a remote controller or other devices capable of controlling the rotation of the cradle head, such as a motion sensing control device, and may be integrated on the handle of the cradle head.
The control device may be in communication connection with the display, the display may be integrated on a base of the cradle head or an external device for controlling the cradle head, and in a control process of the cradle head, relevant parameters of the cradle head may be displayed on the display, such as preset parameters, preset strategies, current speed, and the like, as described below.
The following will explain a specific implementation process of the control method of the pan/tilt head according to the embodiment of the present application.
Fig. 2 is a schematic method flow diagram of a control method of a pan/tilt head in an embodiment of the present application, where an execution main body of the control method of the pan/tilt head in the embodiment of the present application is the pan/tilt head. Referring to fig. 2, a method for controlling a pan/tilt head according to an embodiment of the present disclosure may include the following steps:
s201: detecting an indication indicating that the holder enters a preset state, wherein the preset state comprises one of starting and stopping;
when the preset state is starting, the indication for indicating the holder to enter the preset state is the indication for indicating the holder to enter the starting state around a certain axis; when the preset state is stop, the indication indicating that the cradle head enters the preset state is the indication indicating that the motion of the cradle head around a certain axis enters the stop state. Herein, for convenience of description, an indication indicating that the movement of the pan/tilt head about a certain axis enters the start state is referred to as a first indication, and an indication indicating that the movement of the pan/tilt head about a certain axis enters the stop state is referred to as a second indication.
Wherein the implementation process of detecting the first indication may include: detecting the numerical value of the change of the control quantity sent by the control device of the holder from zero to nonzero; the implementation process of detecting the second indication may include: and detecting the numerical value of the control quantity sent by the control device of the holder changing from non-zero to zero. The control amount is a single-axis control amount, that is, the input control amount is used for controlling the pan/tilt head to rotate around an axis, and it can be understood that, assuming that the input control amount is control corresponding to one euler angular velocity, motion of a plurality of joint angles may be caused, but the control amount is still considered as a single-axis control amount. For the multi-axis tripod head, the tripod head includes a plurality of rotation axes, such as Yaw axis, Roll axis and Pitch axis, the control quantity includes one of the control quantity corresponding to the Yaw axis, the control quantity corresponding to the Roll axis and the control quantity corresponding to the Pitch axis, i.e. one of the control quantity corresponding to the Yaw axis, the control quantity corresponding to the Roll axis and the control quantity corresponding to the Pitch axis, and the control quantity sent by the control device of the tripod head is zero: the numerical value of the control amount transmitted by the pan/tilt head control device changing from zero to nonzero means that the control amount corresponding to Yaw is 0, the control amount corresponding to Roll is 0, or the control amount corresponding to Pitch is 0: the control amount corresponding to the Yaw is changed from 0 to zero, the control amount corresponding to the Roll is changed from 0 to zero, or the control amount corresponding to the Pitch is changed from 0 to zero. The numerical value of the control quantity sent by the control device of the pan-tilt changing from non-zero to zero is as follows: the control amount corresponding to Yaw is not changed to zero and becomes 0, the control amount corresponding to Roll is not changed to zero and becomes 0, or the control amount corresponding to Pitch is not changed to zero and becomes 0.
The cradle head of this embodiment may determine whether to detect the first indication and the second indication based on different manners, for example, in some embodiments, since the controlled variable corresponds to the speed of the cradle head, when controlling the cradle head, the control device may send the speed of the cradle head corresponding to the controlled variable to the cradle head to control the rotation of the cradle head. Therefore, the magnitude of the control amount transmitted by the control device changing from zero to non-zero corresponds to: the speed of the holder sent by the control device is changed from zero to a non-zero numerical value; the numerical value of the control quantity transmitted by the control device changing from non-zero to zero corresponds to: the speed of the holder sent by the control device is changed from nonzero to zero. On the side of the holder, if the speed of the holder sent by the control device is detected to be changed from zero to a non-zero numerical value, determining to detect a first instruction; and if the numerical value of the change of the speed of the holder sent by the control device from non-zero to zero is detected, determining that the second instruction is detected. Wherein, the speed of the control quantity corresponding to the holder can comprise joint angular speed or Euler angular speed.
In some other embodiments, the first indication and the second indication are sent by the control device, that is, the cradle head determines that the first indication is detected when receiving the first indication sent by the control device; and when the cradle head receives a second instruction sent by the control device, determining that the second instruction is detected. Illustratively, the control device is a remote controller, and the control amount is determined according to the lever amount generated by operating a rocker of the remote controller by a user. Further taking the pan-tilt as a three-axis pan-tilt, the pan-tilt may include three rotational axes, such as a yaw axis, a pitch axis, and a roll axis. Optionally, the remote controller includes two rockers, each rocker includes two operation directions (such as a vertical operation direction and a horizontal operation direction), the two operation directions of one rocker correspondingly control the rotation of two of the rotation shafts, and one operation direction of the other rocker correspondingly controls the rotation of the other rotation shaft. When the rocker is positioned in the middle, the control quantity corresponding to the rotating shaft is zero; when the rocker is not positioned in the center, the control quantity corresponding to the rotating shaft is not zero. Therefore, the value of the change from zero to non-zero in the control quantity sent by the control device of the pan-tilt is: one of the rocking bars is in the middle position and is changed into the non-middle position in which the rocking bar is switched to a certain operation direction from the middle position; the numerical value of the control quantity sent by the control device of the pan-tilt changing from non-zero to zero is as follows: the non-centered position of one of the rockers in one operating direction changes to the centered position of the rocker in the operating direction. Optionally, the control device sends a first indication pan/tilt head when detecting that one of the rocking bars is in the middle position and changes into a state that the rocking bar is switched from the middle position of a certain operation direction to the non-middle position of the operation direction; and the control device sends a second instruction to the holder when detecting that the non-central position of one rocker in a certain operation direction is changed into the central position of the rocker in the operation direction.
S202: and controlling the cradle head to move to a target speed corresponding to a preset state according to a preset strategy, wherein the preset strategy is used for indicating the time length required by the cradle head to move to the target speed corresponding to the preset state or the rotation angle.
When the preset state is starting, the target speed is determined according to the control quantity sent by the control device of the holder. Illustratively, the control device is a remote controller, and when the preset state is start, the target speed is determined according to the real-time rod amount of the remote controller. When the preset state is stop, the target speed is zero.
Illustratively, the preset strategy is used for indicating the duration required by the movement of the pan/tilt to the target speed corresponding to the preset state, the duration is 3 seconds, the pan/tilt needs to be started to 10 degrees/second, when the pan/tilt is started, the speed of the pan/tilt needs to be moved from 0 degrees/second to 10 degrees/second, and the process of controlling the speed of the pan/tilt to be changed from 0 degrees/second to 10 degrees/second needs 3 seconds; when the user looses the rod, the speed is 10 degrees/second, when the tripod head stops, the speed of the tripod head needs to be changed from 10 degrees/second to 0 degrees/second, and then the process of controlling the speed of the tripod head to be changed from 10 degrees/second to 0 degrees/second needs 3 seconds.
The preset strategy is used for indicating the rotation angle required by the movement of the cradle head to a target speed corresponding to a preset state, the angle is 10 degrees, the cradle head needs to be started to 10 degrees/second, when the cradle head is started, the speed of the cradle head needs to be moved from 0 degree/second to 10 degrees/second, and the rotation angle required by the cradle head is controlled to be 10 degrees in the process that the speed of the cradle head is changed from 0 degree/second to 10 degrees/second; when the user looses the rod, the speed is 10 degrees/second, when the holder stops, the speed of the holder needs to be changed from 10 degrees/second to 0 degrees/second, and then the angle of rotation required by the holder in the process that the speed of the holder is controlled to be changed from 10 degrees/second to 0 degrees/second is 10 degrees.
In this embodiment, the time length required for the pan/tilt head to move to the target speed corresponding to the preset state or the required rotation angle is determined according to the preset parameter. Optionally, the time length required by the movement of the pan/tilt head to the target speed corresponding to the preset state and the size of the preset parameter are in a linear relationship, and by adopting linear mapping, a user can know the time length required by the process that the pan/tilt head moves from a static state to the target speed corresponding to the starting state or the time length required by the process that the pan/tilt head moves from the speed when the lever is released to the stop. The linear relationship between the time period smooth _ time required for the pan/tilt head to move to the target speed corresponding to the preset state and the preset parameter smooth _ param can be expressed by the following formula:
smooth_time＝a*mooth_param (1)；
in the formula (1), a is a coefficient, and a > 0. Alternatively, 0< a <1, such as a-1/10, at which time smooth _ time-mooth _ param/10; of course, a can be set to other numerical values greater than 0.
It should be understood that other corresponding relations can be set between the time length required for the pan/tilt head to move to the target speed corresponding to the preset state and the size of the preset parameter, and the relation is not limited to a linear relation.
Optionally, the angle of rotation required by the pan/tilt head moving to the target speed corresponding to the preset state is equal to the preset parameter, and the user can know the angle of rotation required by the process that the pan/tilt head moves from the static state to the target speed corresponding to the starting state or the angle of rotation required by the process that the pan/tilt head moves from the speed when the pan/tilt head is released to the stop. The linear relationship between the angle smooth _ angle required to rotate the pan/tilt head to the target speed corresponding to the preset state and the preset parameter smooth _ param can be expressed by the following formula:
smooth_angle＝mooth_param (2)。
it should be understood that, the angle of rotation required for the pan/tilt head to move to the target speed corresponding to the preset state and the size of the preset parameter may also set other corresponding relations, and is not limited to the above formula (2).
The size of the preset parameter can be set in different ways, for example, in some embodiments, the setting process of the size of the preset parameter includes, but is not limited to, the following steps:
(1) acquiring a setting instruction which is input by a user and used for indicating the size of a preset parameter;
optionally, in some embodiments, the cradle head includes a base and a first control portion disposed on the base, and the setting instruction is generated by the first control portion triggered by a user; the first control portion may include a key, a button, a knob, or a combination thereof. The first control unit of the present embodiment may include one or more. When the cloud platform is handheld, handheld cloud platform can include the handle, and first control part can be located on the handle. In other embodiments, the setting instruction is generated by a user operating an external device and is transmitted by the external device. The external device may be a control device of the cradle head.
(2) And setting the size of the preset parameter according to the setting instruction.
For example, a user sets the size of the preset parameter through the APP, the settable range of the preset parameter is 0-30, the user can input any value within the range of 0-30 on the APP as the size of the preset parameter, the APP can generate a setting instruction carrying the value currently set by the user according to the operation of the user on the APP, the setting instruction is sent to the cradle head, and the cradle head sets the size of the preset parameter as the size of the value currently set by the user according to the setting instruction.
In this embodiment, the user sets the size of the preset parameter as required, and the degree of freedom of use of the user is improved. Furthermore, the holder saves the size of the preset parameter set by the user last time after setting the size of the preset parameter according to the setting instruction, so that the use habit of the user can be remembered, and the holder is convenient to use next time.
In other embodiments, the size of the preset parameter stored by the cradle head for the last time is set as the size of the preset parameter, the cradle head is controlled to achieve the effect of slow start and stop according to the use habits of the historical user, and the use convenience of the cradle head can be improved. And for the first start of the cradle head after being powered on, the size of the preset parameter is the size of the preset parameter stored when the cradle head is powered off last time.
Fig. 3 is a schematic method flow diagram of a control method of a pan/tilt head according to another embodiment of the present application; referring to fig. 3, in some embodiments, before the cradle head controls the cradle head to move to the target speed corresponding to the preset state according to the preset policy, the method may further include the following steps:
s301: acquiring a setting instruction which is input by a user and used for indicating that a preset strategy is set to be one of a time strategy and an angle strategy, wherein the time strategy is used for indicating the time length required by the movement of the holder to a target speed corresponding to a preset state, and the angle strategy is used for indicating the rotation angle required by the movement of the holder to the target speed corresponding to the preset state;
optionally, in some embodiments, the cradle head includes a base and a second control part disposed on the base, and the setting instruction is generated by triggering the second control part by a user; the second control portion may include a key, a button, a knob, or a combination thereof. The second control unit of the present embodiment may include one or more second control units. When the cloud platform is handheld, handheld cloud platform can include the handle, and the second control part can be located on the handle. In other embodiments, the setting instruction is generated by a user operating an external device and is transmitted by the external device. The external device may be a control device of the cradle head.
The mode of inputting the setting instruction by the user may include various modes, for example, the setting instruction is input by operating the APP drop-down box and selecting one of the time policy and the angle policy displayed in the drop-down box; for another example, a setting instruction is input by clicking a policy switching button on the APP; it should be understood that the manner in which the user inputs the setting instruction is not limited to the above-listed manner.
S302: and setting the preset strategy as one of a time strategy and an angle strategy according to the setting instruction.
When a user inputs a setting instruction for indicating that the preset strategy is set as the time strategy, the cradle head sets the preset strategy as the time strategy after acquiring the setting instruction; when a user inputs a setting instruction for indicating that the preset strategy is set as the angle strategy, the cradle head sets the preset strategy as the angle strategy after acquiring the setting instruction.
In this embodiment, the user may select the preset policy as one of the time policy and the angle policy according to the use requirement.
For example, in some usage scenarios, a camera is mounted on a pan/tilt head, a user needs to capture a picture of a target object moving such as a person running through the pan/tilt head, and when the person stops, the pan/tilt head also needs to stop rotating, and at this time, a preset strategy can be set as a time strategy, so that the time required by the pan/tilt head stop stage is equal to the time for the person running; for another example, in some other usage scenarios, in the stage of starting the cradle head, the cradle head needs to shoot a picture of the target object from far to near, and the starting position and the ending position of the shooting process, and the position of the target object on the picture are known, then the preset strategy can be set as the angle strategy, and the size of the angle that the cradle head needs to rotate in the starting stage is known, that is, the position of the target object on the picture can be accurately controlled.
Fig. 4 is a schematic method flow diagram of a control method of a pan/tilt head according to another embodiment of the present application; when the preset policy is used to indicate a time length required by the pan/tilt head to move to the target speed corresponding to the preset state, please refer to fig. 4, the method for controlling the pan/tilt head of this embodiment may further include:
s401: acquiring a current control quantity and a target control quantity sent by a control device of a holder, wherein the current control quantity and the target control quantity are nonzero values;
s402: determining the time length required for the cradle head to move from the speed corresponding to the current control quantity to the speed corresponding to the target control quantity according to the ratio of the difference value between the current control quantity and the target control quantity to the maximum control quantity of the control device and the time length required for the cradle head to move to the target speed corresponding to the preset state;
assume that the current control amount is represented as s1The target control amount is represented as s2The ratio is represented as r, and the maximum control amount is represented as smaxThen, the ratio r is calculated as follows:
in this embodiment, a time length required for the pan/tilt head to move from the speed corresponding to the current controlled variable to the speed corresponding to the target controlled variable is determined according to a product of the ratio and a time length required for the pan/tilt head to move to the target speed corresponding to the preset state, and optionally, a calculation formula of a time length t required for the pan/tilt head to move from the speed corresponding to the current controlled variable to the speed corresponding to the target controlled variable is as follows:
t＝r*smooth_time (4)；
and (4) determining the time length t required for the pan/tilt head to move from the speed corresponding to the current control quantity to the speed corresponding to the target control quantity by combining the formulas (3) and (4).
Illustratively, the smooth _ time is 3 seconds, and when the rocker is located at the middle position, the control amount of the control device is 0; when the rocker of the remote control is in the full-lever position, the control device is at the maximum control quantity, assuming smax1 is ═ 1; when the rocker is located at the middle position between the full-lever position and the middle position, the control quantity of the control device is 0.5. When the user operates the rocker to move from the full-rod position to the middle position, the pan-tilt moves from the corresponding speed of the full rod to the middle positionDuration of time required for speed
When the user operates the rocker to move from the middle position to the full rod position, the time length t required for the cradle head to move from the speed corresponding to the middle position to the speed corresponding to the full rod is also 1.5 seconds.
It should be understood that the calculation method of the time period required for the pan/tilt head to move from the speed corresponding to the current controlled variable to the speed corresponding to the target controlled variable is not limited to the calculation method of the above formula (4), and other calculation methods may be used.
S403: and controlling the cradle head to move from the speed corresponding to the current control quantity to the speed corresponding to the target control quantity according to the time length required by the cradle head to move from the speed corresponding to the current control quantity to the speed corresponding to the target control quantity.
When the time strategy is used for controlling the cloud platform to start and stop, the motion of the cloud platform in the non-start and stop stage can be matched with the time strategy through the steps S401 to S403, so that the consistency of the motion of the cloud platform in the non-start stage and the start and stop stage is ensured, and the sudden change of the motion can be prevented from causing abrupt change of the picture.
Fig. 5 is a schematic flow chart of a method of controlling a pan/tilt head according to another embodiment of the present application; when the preset policy is used to indicate the size of the angle, required to rotate, of the target speed corresponding to the movement of the pan/tilt head to the preset state, please refer to fig. 4, the method for controlling the pan/tilt head of this embodiment may further include:
s501: acquiring a current control quantity and a target control quantity sent by a control device of a holder, wherein the current control quantity and the target control quantity are nonzero values;
s502: determining the acceleration of the cradle head according to the rotation angle required by the cradle head to move to the target speed corresponding to the preset state and the speed corresponding to the maximum control quantity of the control device;
the calculation formula of the rotating angle S of the holder is as follows:
and Vmax＝at′ (6)；
Equations (5) and (6), a is the acceleration of the pan/tilt head, t' is the duration of the pan/tilt head movement, VmaxSubstituting equation (6) into equation (5) for the speed corresponding to the maximum control amount yields:
from equation (7):
in the formula (8), VmaxAs known, S is the rotation angle required for the pan/tilt head to move to the target speed corresponding to the preset state, and if the rotation angle is 10 degrees, the acceleration of the pan/tilt head can be determined according to the formula (8).
Further, after the acceleration of the pan/tilt head is determined, a time length required for the pan/tilt head to move from the speed corresponding to the current controlled variable to the speed corresponding to the target controlled variable or a required rotation angle can be determined, and the required time length or the required rotation angle can be output and displayed to a user, for example, displayed.
S503: and controlling the cradle head to move from the speed corresponding to the current control quantity to the speed corresponding to the target control quantity according to the acceleration of the cradle head.
When the angle strategy is used for controlling the cloud platform to start and stop, the motion of the cloud platform in the non-start and stop stage can be matched with the angle strategy through the steps S501-S503, so that the consistency of the motion of the cloud platform in the non-start stage and the start and stop stage is ensured, and the sudden change of the motion can be prevented from causing a sudden image.
It is understood that the start-up phase and the stop phase may employ the same strategy or different strategies. In addition, no matter what kind of strategy is adopted, the time length required for the cradle head to move from the speed corresponding to the current control quantity to the speed corresponding to the target control quantity or the required rotation angle can be stored in the cradle head in advance, and the time length or the required rotation angle can be output and displayed to the user in real time according to the acquired control quantity.
Corresponding to the control method of the cloud deck of the above embodiment, the embodiment of the present application further provides a cloud deck, please refer to fig. 1 and 6, which includes a base, a shaft assembly and a controller. The shaft assembly is arranged on the base and used for carrying the shooting device. A controller is electrically coupled to the shaft assembly, optionally at the base.
Specifically, the controller is configured to implement the following operations: detecting an indication indicating that the holder enters a preset state; controlling the holder to move to a target speed corresponding to a preset state according to a preset strategy; the preset state comprises one of starting and stopping, and the preset strategy is used for indicating the time length required by the movement of the holder to the target speed corresponding to the preset state or the rotation angle.
The implementation process and the working principle of the controller can be referred to the description of the control method of the pan/tilt head of the above embodiment, and are not described herein again.
The controller of this embodiment may be a Central Processing Unit (CPU). The controller 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, when the cloud platform is the handheld cloud platform, the base can be the handle of handheld cloud platform, or locate on the handle of handheld cloud platform.
Furthermore, an embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the steps of the control method of the pan and tilt head 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 cradle head according to any of the foregoing embodiments. The computer readable storage medium may also be an external storage device of the cradle head, 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 and an external storage device of the pan/tilt head. The computer-readable storage medium is used for storing the computer program and other programs and data required by the head, and may 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.
The above disclosure is only a few examples of the present application, and certainly should not be taken as limiting the scope of the present application, which is therefore intended to cover all modifications that are within the scope of the present application and which are equivalent to the claims.
Claims (28)
1. A method for controlling a pan/tilt head, the method comprising:
detecting an indication indicating that the holder enters a preset state;
controlling the holder to move to a target speed corresponding to the preset state according to a preset strategy;
the preset state comprises one of starting and stopping, and the preset strategy is used for indicating the time length required by the movement of the holder to the target speed corresponding to the preset state or the angle size required by rotation.
2. The method according to claim 1, characterized in that when the preset state is start-up, the target speed is determined according to a control quantity sent by a control device of the head.
3. The method of claim 1, wherein the target speed is zero when the preset condition is stop.
4. The method of claim 1, wherein the duration or the angle is determined according to a preset parameter.
5. The method according to claim 4, wherein the setting process of the size of the preset parameter comprises:
acquiring a setting instruction which is input by a user and used for indicating the size of the preset parameter;
setting the size of the preset parameter according to the setting instruction; alternatively, the first and second electrodes may be,
and setting the size of the preset parameter which is stored by the holder for the last time as the size of the preset parameter.
6. The method according to claim 4 or 5, wherein the duration is linear with the magnitude of the preset parameter.
7. The method according to claim 4 or 5, wherein the angle is equal to the magnitude of the preset parameter.
8. The method according to claim 1, wherein before controlling the pan/tilt head to move to the target speed corresponding to the preset state according to a preset strategy, the method further comprises:
acquiring a setting instruction which is input by a user and used for indicating that the preset strategy is set to be one of a time strategy and an angle strategy;
setting the preset strategy as one of the time strategy and the angle strategy according to the setting instruction;
the time strategy is used for indicating the time length required by the cloud deck to move to the target speed corresponding to the preset state, and the angle strategy is used for indicating the angle size required by the cloud deck to move to the target speed corresponding to the preset state.
9. The method of claim 8, wherein the pan-tilt comprises: the setting instruction is generated by triggering the control part by a user; alternatively, the first and second electrodes may be,
the setting instruction is generated by operating an external device by a user and is sent by the external device.
10. The method according to claim 1, wherein the detecting of the indication indicating that the cradle head enters the preset state when the preset state is activated comprises:
and detecting that the control quantity sent by the control device of the holder is changed from zero to a nonzero numerical value.
11. The method according to claim 1, wherein the detecting of the indication indicating that the cradle head enters the preset state when the preset state is stop comprises:
and detecting the numerical value of the control quantity sent by the control device of the holder changing from non-zero to zero.
12. The method according to claim 1, wherein when the preset strategy is used for indicating a time length required for the pan/tilt head to move to the target speed corresponding to the preset state, the method further comprises:
acquiring a current control quantity and a target control quantity sent by a control device of the holder, wherein the current control quantity and the target control quantity are nonzero values;
determining the time length required for the cradle head to move from the speed corresponding to the current control quantity to the speed corresponding to the target control quantity according to the ratio of the difference value between the current control quantity and the target control quantity to the maximum control quantity of the control device and the time length required for the cradle head to move to the target speed corresponding to the preset state;
and controlling the cradle head to move from the speed corresponding to the current control quantity to the speed corresponding to the target control quantity according to the time length required by the cradle head to move from the speed corresponding to the current control quantity to the speed corresponding to the target control quantity.
13. The method according to claim 12, wherein a time period required for the pan/tilt head to move from the speed corresponding to the current controlled variable to the speed corresponding to the target controlled variable is determined according to a product of the ratio and a time period required for the pan/tilt head to move to the target speed corresponding to the preset state.
14. The method according to claim 1, wherein the preset strategy is used for indicating the rotation angle required for the pan/tilt head to move to the target speed corresponding to the preset state, and the method further comprises:
acquiring a current control quantity and a target control quantity sent by a control device of the holder, wherein the current control quantity and the target control quantity are nonzero values;
determining the acceleration of the cradle head according to the rotation angle required by the movement of the cradle head to the target speed corresponding to the preset state and the speed corresponding to the maximum control quantity of the control device;
and controlling the cradle head to move from the speed corresponding to the current control quantity to the speed corresponding to the target control quantity according to the acceleration of the cradle head.
15. A head, characterized in that it comprises:
a base;
the shaft assembly is arranged on the base and used for carrying a shooting device; and
a controller electrically coupled to the shaft assembly, the controller configured to:
detecting an indication indicating that the holder enters a preset state;
controlling the holder to move to a target speed corresponding to the preset state according to a preset strategy;
the preset state comprises one of starting and stopping, and the preset strategy is used for indicating the time length required by the movement of the holder to the target speed corresponding to the preset state or the angle size required by rotation.
16. A head according to claim 15, wherein said preset condition is start-up, and said target speed is determined according to a control quantity sent by a control device of said head.
17. A head according to claim 15, wherein said target speed is zero when said preset condition is standstill.
18. A head according to claim 15, wherein said duration or said angle is determined according to the size of preset parameters.
19. A head according to claim 18, wherein said controller, when setting the magnitude of a preset parameter, is particularly adapted to carry out the following operations:
acquiring a setting instruction which is input by a user and used for indicating the size of the preset parameter;
setting the size of the preset parameter according to the setting instruction; alternatively, the first and second electrodes may be,
and setting the size of the preset parameter which is stored by the holder for the last time as the size of the preset parameter.
20. A head according to claim 18 or 19, wherein said duration is linear with respect to the magnitude of said preset parameter.
21. A head according to claim 18 or 19, wherein said angle is equal to the magnitude of said preset parameter.
22. A holder according to claim 15, wherein said controller, before controlling said holder to move to a target speed corresponding to said preset state according to a preset strategy, is further configured to:
acquiring a setting instruction which is input by a user and used for indicating that the preset strategy is set to be one of a time strategy and an angle strategy;
setting the preset strategy as one of the time strategy and the angle strategy according to the setting instruction;
the time strategy is used for indicating the time length required by the cloud deck to move to the target speed corresponding to the preset state, and the angle strategy is used for indicating the angle size required by the cloud deck to move to the target speed corresponding to the preset state.
23. A head according to claim 22, characterized in that it comprises: the setting instruction is generated by triggering the control part by a user; alternatively, the first and second electrodes may be,
the setting instruction is generated by operating an external device by a user and is sent by the external device.
24. A holder according to claim 15, wherein when said preset condition is a start, and when an indication indicating that the holder is in the preset condition is detected, said controller is configured to implement in particular the following operations:
and detecting that the control quantity sent by the control device of the holder is changed from zero to a nonzero numerical value.
25. A head according to claim 15, wherein when said preset condition is stop, and when an indication indicating that the head enters the preset condition is detected, said controller is configured to implement in particular the following operations:
and detecting the numerical value of the control quantity sent by the control device of the holder changing from non-zero to zero.
26. A holder according to claim 15, wherein when the preset policy is used to indicate a time duration required for the holder to move to the target speed corresponding to the preset state, the controller is further configured to implement the following operations:
acquiring a current control quantity and a target control quantity sent by a control device of the holder, wherein the current control quantity and the target control quantity are nonzero values;
determining the time length required for the cradle head to move from the speed corresponding to the current control quantity to the speed corresponding to the target control quantity according to the ratio of the difference value between the current control quantity and the target control quantity to the maximum control quantity of the control device and the time length required for the cradle head to move to the target speed corresponding to the preset state;
and controlling the cradle head to move from the speed corresponding to the current control quantity to the speed corresponding to the target control quantity according to the time length required by the cradle head to move from the speed corresponding to the current control quantity to the speed corresponding to the target control quantity.
27. A head according to claim 26, wherein the length of time required for said head to move from the speed corresponding to said current controlled variable to the speed corresponding to said target controlled variable is determined by the product of said ratio and the length of time required for said head to move to the target speed corresponding to said preset condition.
28. A holder according to claim 15, wherein said preset strategy is adapted to indicate the magnitude of the rotation angle required for the holder to move to the target speed corresponding to said preset state, and wherein said controller is further adapted to implement the following operations:
acquiring a current control quantity and a target control quantity sent by a control device of the holder, wherein the current control quantity and the target control quantity are nonzero values;
determining the acceleration of the cradle head according to the rotation angle required by the movement of the cradle head to the target speed corresponding to the preset state and the speed corresponding to the maximum control quantity of the control device;
and controlling the cradle head to move from the speed corresponding to the current control quantity to the speed corresponding to the target control quantity according to the acceleration of the cradle head.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2020/073484 WO2021146908A1 (en) | 2020-01-21 | 2020-01-21 | Gimbal and control method therefor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112543896A true CN112543896A (en) | 2021-03-23 |
Family
ID=75017321
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202080004458.8A Pending CN112543896A (en) | 2020-01-21 | 2020-01-21 | Cloud platform and control method thereof |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN112543896A (en) |
| WO (1) | WO2021146908A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113645399A (en) * | 2021-06-29 | 2021-11-12 | 浙江大华技术股份有限公司 | Method and device for determining running position of holder equipment |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6445332B1 (en) * | 1999-03-11 | 2002-09-03 | Eaton Corporation | Command module for a motor control system |
| CN2876847Y (en) * | 2006-03-24 | 2007-03-07 | 南京埃斯顿工业自动化有限公司 | Single axis positioning device integrated in servo-system |
| CN104902174A (en) * | 2015-05-19 | 2015-09-09 | 广东欧珀移动通信有限公司 | Method for controlling rotation of camera, and terminal |
| CN105703666A (en) * | 2014-11-25 | 2016-06-22 | 建准电机工业股份有限公司 | Motor slow startup control system |
| CN107817823A (en) * | 2017-11-24 | 2018-03-20 | 深圳禾苗通信科技有限公司 | Head and head closedown method |
| CN108750128A (en) * | 2018-05-18 | 2018-11-06 | 沈阳无距科技有限公司 | Helicopter control method, device, helicopter and readable storage medium storing program for executing |
| CN110187721A (en) * | 2019-05-05 | 2019-08-30 | 湖北久之洋红外系统股份有限公司 | One kind thousand indexes accurate holder motion control device and method |
| CN110537364A (en) * | 2018-08-30 | 2019-12-03 | 深圳市大疆创新科技有限公司 | Control method, clouds terrace system and the computer readable storage medium of clouds terrace system |
| CN110603504A (en) * | 2018-07-26 | 2019-12-20 | 深圳市大疆创新科技有限公司 | Multi-cradle-head control method and device, unmanned aerial vehicle, medium and electronic equipment |
| CN110785990A (en) * | 2018-10-31 | 2020-02-11 | 深圳市大疆创新科技有限公司 | Video shooting method and device and control equipment |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105824530A (en) * | 2016-03-14 | 2016-08-03 | 乐卡汽车智能科技（北京）有限公司 | Method and device for switching cameras |
| JP6142060B1 (en) * | 2016-10-09 | 2017-06-07 | 好則 神山 | smartphone |
| CN108234871A (en) * | 2017-12-31 | 2018-06-29 | 深圳市秦墨科技有限公司 | A kind of control method based on holder, device and electronic equipment |
| CN109889717B (en) * | 2019-03-29 | 2021-01-08 | 维沃移动通信有限公司 | Terminal and terminal control method and device |
-
2020
- 2020-01-21 WO PCT/CN2020/073484 patent/WO2021146908A1/en active Application Filing
- 2020-01-21 CN CN202080004458.8A patent/CN112543896A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6445332B1 (en) * | 1999-03-11 | 2002-09-03 | Eaton Corporation | Command module for a motor control system |
| CN2876847Y (en) * | 2006-03-24 | 2007-03-07 | 南京埃斯顿工业自动化有限公司 | Single axis positioning device integrated in servo-system |
| CN105703666A (en) * | 2014-11-25 | 2016-06-22 | 建准电机工业股份有限公司 | Motor slow startup control system |
| CN104902174A (en) * | 2015-05-19 | 2015-09-09 | 广东欧珀移动通信有限公司 | Method for controlling rotation of camera, and terminal |
| CN107817823A (en) * | 2017-11-24 | 2018-03-20 | 深圳禾苗通信科技有限公司 | Head and head closedown method |
| CN108750128A (en) * | 2018-05-18 | 2018-11-06 | 沈阳无距科技有限公司 | Helicopter control method, device, helicopter and readable storage medium storing program for executing |
| CN110603504A (en) * | 2018-07-26 | 2019-12-20 | 深圳市大疆创新科技有限公司 | Multi-cradle-head control method and device, unmanned aerial vehicle, medium and electronic equipment |
| CN110537364A (en) * | 2018-08-30 | 2019-12-03 | 深圳市大疆创新科技有限公司 | Control method, clouds terrace system and the computer readable storage medium of clouds terrace system |
| CN110785990A (en) * | 2018-10-31 | 2020-02-11 | 深圳市大疆创新科技有限公司 | Video shooting method and device and control equipment |
| CN110187721A (en) * | 2019-05-05 | 2019-08-30 | 湖北久之洋红外系统股份有限公司 | One kind thousand indexes accurate holder motion control device and method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113645399A (en) * | 2021-06-29 | 2021-11-12 | 浙江大华技术股份有限公司 | Method and device for determining running position of holder equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2021146908A1 (en) | 2021-07-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108521814B (en) | Control method and controller of cloud deck and cloud deck | |
| WO2018098784A1 (en) | Unmanned aerial vehicle controlling method, device, equipment and unmanned aerial vehicle controlling system | |
| CN108496137B (en) | Remote controller, holder and holder control method, device and system | |
| WO2019227441A1 (en) | Video control method and device of movable platform | |
| CN113086228A (en) | Method for switching operating modes of holder, controller and image stability augmentation equipment | |
| CN111279113B (en) | Handheld holder control method and handheld holder | |
| CN111213002B (en) | Cloud deck control method, equipment, cloud deck, system and storage medium | |
| WO2020041969A1 (en) | Method for marking target position of gimbal, gimbal, and camera device | |
| US20220205583A1 (en) | Gimbal control method, gimbal and machine-readable storage medium | |
| US20220163166A1 (en) | Handheld gimbal, gimbal control method and computer-readable storage medium | |
| CN108513652B (en) | Control method and device of holder | |
| WO2022061537A1 (en) | Control method, handheld gimbal, system, and computer-readable storage medium | |
| US20210243357A1 (en) | Photographing control method, mobile platform, control device, and storage medium | |
| CN110832423A (en) | Control method of holder, mobile platform and computer readable storage medium | |
| WO2020019212A1 (en) | Video playback speed control method and system, control terminal, and mobile platform | |
| WO2021134644A1 (en) | Gimbal control method and gimbal | |
| US20200249703A1 (en) | Unmanned aerial vehicle control method, device and system | |
| EP3751837A1 (en) | Method and apparatus for controlling handheld gimbal, and handheld gimbal | |
| CN111656298A (en) | Control method of holder, movable platform and readable storage medium | |
| CN112543896A (en) | Cloud platform and control method thereof | |
| WO2021168821A1 (en) | Mobile platform control method and device | |
| CN113454557A (en) | Unmanned aerial vehicle, control method and device thereof, remote control terminal and unmanned aerial vehicle system | |
| WO2022021092A1 (en) | Gimbal control method and apparatus, device, and computer-readable storage medium | |
| WO2022041013A1 (en) | Control method, handheld gimbal, system, and computer readable storage medium | |
| CN112119362A (en) | Holder system and control method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |