CN103286783A - Movement speed control method for cable-driven camera robot - Google Patents
Movement speed control method for cable-driven camera robot Download PDFInfo
- Publication number
- CN103286783A CN103286783A CN2013101920567A CN201310192056A CN103286783A CN 103286783 A CN103286783 A CN 103286783A CN 2013101920567 A CN2013101920567 A CN 2013101920567A CN 201310192056 A CN201310192056 A CN 201310192056A CN 103286783 A CN103286783 A CN 103286783A
- Authority
- CN
- China
- Prior art keywords
- control
- robot
- handle
- shooting robot
- control model
- 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.)
- Granted
Links
Images
Abstract
The invention discloses a movement speed control method for a cable-driven camera robot. The method includes the steps of initializing a control device, selecting a control mode, processing received data, controlling a camera to move, stopping movement of the camera and the like. Movement speed of the camera robot is controlled in a point-motion control mode and a handle control mode; in the point-motion control mode, the movement speed of the camera robot is increased from zero to a constant speed to keep the camera robot moving at the constant speed by controlling a point-motion knob; in the handle control mode, the movement speed of the camera robot changes with change of rocking angle of a handle by controlling the handle, a control program of a camera robot actuator controls telescoping speed and length of four cables of the camera robot according to a transmitted speed vector, and the camera robot is controlled to be in stable three-dimensional motion in the specified space according to the specified speed vector.
Description
Technical field
The invention belongs to field of mechanical technique, further relate to the movement velocity control method that a kind of rope in the mechanical movement control field draws the shooting robot.The present invention can realize to rope traction shooting robot in the space specified scope so that speed is steadily mobile in any direction arbitrarily.
Background technology
Traditional aerial shooting equipment such as system, the lift truck camera system of cranking arm of taking photo by plane by rocking arm video camera, helicopter are realized.These image pickup methods all are subjected to certain condition restriction on shooting angle and zone.The hoisting depth of rocking arm video camera is very limited, and can only be fixed in the very little scope of radius and take.When helicopter is taken photo by plane, because the influence of noise and vibrations can only be taken at a distance, can't reflect the details of reference object, and the cost of taking photo by plane is higher.It is the important means of taking apart from the motion object long that track is taken, but it can only rely on the support on ground, motion in one plane, can't in the space, be described reference object, because movement velocity is difficult for accurately controlling, the individual skill that track is taken the cameraman requires very high simultaneously.Design and the realization of the movement velocity control method of rope traction shooting robot can remedy the aerial deficiency of taking of above-mentioned tradition effectively.
The method that the control object carries out three-dimensional motion has the displacement control method.This method is that control device arrives appointed positions according to predetermined object of which movement amount control controlled object.The advantage of this method is that controlled object displacement is constant, and the offset deviation that arrives the assigned address generation can be smaller.But the shortcoming of this method is object is difficult to control at the process medium velocity that moves to the target location from current location, controlled object is the possible speed instability in moving process, be easy to generate vibration, the control that especially this method is used for video camera can produce camera review and catch problem of unstable.
Beijing Jiashi Interactive Technology Co., Ltd. is at patent " control method and device that the control controlled object carries out the three-dimensional motion " (application number 201010153658.8 of its application, applying date 2010.04.20, application publication number CN102270033A) control method and the device that controlled object carries out three-dimensional motion openly controlled in application.In this patent application specification file when the description control controlled object carries out three-dimensional motion, relate to a kind of control controlled object movement technique, when movement of objects, after control module obtains the mobile side-play amount of target, move according to this side-play amount control object.The deficiency that the control method that this patent application provides exists is: in the process that the control controlled object moves, translational speed is effectively control not, and controlled object may produce in mobile process and impact and the motion problem of unstable.
Sony Corp is in the patent " camera chain, control device and control method " (application number 200910203852.X, applying date 2006.08.21, publication number CN101568020A) of its application open camera chain, control device and control method.In this patent application specification file in the process that the description control video camera moves, relate to a kind of method that video camera moves of controlling: specify the direction of motion of video camera from a position to another position by dragging mouse, change the speed that video camera moves according to the distance between 2 of mouse drag on the control display.The deficiency that the control method of this patent disclosure exists is: in mouse control video camera moving process, mouse can only carry out the planar motion, so will produce limitation when the control video camera carries out the space three-dimensional motion.
Garrett W.Brown is at patent " device that is used for support and transmission suspension cable system; as video camera (SUSPENSION SYSTEM FOR SUPPORTING AND CONVEYING EQUIPMENT; SUCH AS A CAMERA) " (application number 760390 of its application, applying date 1985.07.30, the patent No. 4710819) in the process that the description control video camera moves, relates to a kind of method that video camera moves of controlling in the specification document: by the velocity variations of controlling gentle Suo Changdu realize the making a video recording velocity variations of robot.Deficiency in this patent is: specifically do not provide a kind of implementation method of controlling the variation of video camera translational speed, and how to realize video camera speed smooth change.
Summary of the invention
The objective of the invention is to overcome above-mentioned problems of the prior art, the movement velocity control method that provides a kind of rope traction to make a video recording robot.
For achieving the above object, concrete thinking of the present invention is: the velocity that sends the shooting robot by the handle on the switch board and inching button to PC, PC sends to executing agency after above-mentioned velocity is handled by analysis, moved by speed and the direction of appointment by actuating mechanism controls shooting robot, thereby realize that the shooting robot can be with the purpose of arbitrary speed easy motion in three dimensions.
Specific implementation step of the present invention is as follows:
(1) initialization control device:
1a) start control device: the control device of shooting robot is installed, and after control device installed, the user opened the control lock on the shooting robot switch board, starts control device, selects crawl or handle control model according to the control rate demand;
1b) set the initial position of shooting robot: the user adjusts to the initial position of demarcation by the inching button on the switch board or the handle robot that will make a video recording before control shooting robot moves;
(2) select control model:
2a) crawl control model: the control model switch on the switch board is pushed the crawl control model, the user will be with the movement of crawl control model control shooting robot, the translational speed of shooting robot is started from scratch and is increased to a constant speed and moves with this constant speed under this pattern, and moving direction is the direction of inching button representative;
2b) handle control model: the control model switch on the switch board is pushed the handle control model, the user is with the movement of handle control model control shooting robot, and the translational speed of shooting robot and moving direction will be according to the size of handle deviation angle and offset directions and real time altering under this pattern;
(3) handle the reception data:
Control program in the PC becomes the velocity vector value of shooting robot all directions with the data transaction of sending under each control model in the step (2), and the velocity vector value of conversion is sent to the executing agency of shooting robot;
(4) the control video camera moves:
The velocity data transaction that the control program of shooting robot actuating mechanism sends step (3) becomes the umber of pulse of control motor rotation, motor determines it to drive the number of turns of winding mechanism rotation according to the pulse number that obtains, and then the variation of the gentle Suo Changdu of control on the winding mechanism realize the making a video recording mobile control of robot;
(5) stop to move:
If the shooting robot is under the crawl control model, the stop button that the user presses on the switch board makes the shooting robot stop to move; The shooting robot is if under the handle control model, and then the user moves to meta namely stop the to make a video recording movement of robot with handle.
The present invention compared with prior art has following advantage:
First, because the present invention adopts the method dollying machine people of speed control, the shooting robot moves to the process of target location from a position, its movement velocity is steadily controlled, overcome and produced sudden change with displacement control at the motion process medium velocity of realizing the shooting robot in the prior art, the shortcoming of bumpy motion makes that the present invention has that control procedure is simple, the steady controlled advantage of movement velocity.
Second, because adopting, the present invention shakes the movement that the handle method is controlled the shooting robot, make that the shooting robot can be in the three dimensions freely-movable, in space specified, can move to any position easily, solve the problem that three-dimensional motion was difficult to realize when prior art adopted mouse control shooting robot to move, made the present invention have the advantage that control method is simple, moving range is wide.
Description of drawings
Fig. 1 is control flow chart of the present invention;
Fig. 2 is switch board schematic diagram of the present invention;
Fig. 3 is executing agency of the present invention schematic diagram.
The specific embodiment
The present invention is by the implementation space three-dimensional motion of rope control device traction shooting robot.This device mainly is made up of user's switch board, PC and executing agency.Switch board links to each other with PC, and the velocity that is used for the user is produced when shaking directional lever or pressing inching button sends to PC; PC links to each other with executing agency, and the velocity that PC sends switch board converts the execution command of executing agency to, sends to executing agency, and actuating mechanism controls shooting robot moves by speed and the direction of appointment.
There are two kinds of control models in the shooting robot among the present invention: crawl control model and handle control model.Select crawl or handle control model according to the control rate demand; If select the crawl control model, then the control model knob is switched to the crawl control model, the translational speed of shooting robot will be started from scratch and is increased to a constant speed and move with this constant speed under this pattern; If select the handle control model, then the control model knob is switched to the handle control model, the translational speed of shooting robot will change along with the variation of handle waving angle under this pattern, can realize that speed Control shooting robot moves.When executing agency begins control shooting robot motion, must select the control model of shooting robot earlier.
Below in conjunction with accompanying drawing 1, the present invention is described in further detail.
Step 1, the initialization control device
Start control device: the control device that the shooting robot is installed, switch board, PC and executing agency are connected, guarantee that switch board and PC and PC and executing agency can carry out proper communication, after the control device of the robot that will make a video recording installs, the user can open the control lock on the shooting robot switch board, start control device, the control device indicator lamp on the switch board will brighten at this moment;
Set the initial position of shooting robot: size and user according to shooting robot place of living in control principle easily, the user adjusts to the initial position of demarcation by the inching button on the switch board and the handle robot that will make a video recording before control shooting robot moves.
Step 2 is selected control model
Crawl control model: if want with a constant speed control shooting robot motion, the user pushes the crawl control model with the control model switch on the switch board, but six inching buttons on the switch board will be in running status at this moment, the user presses the inching button control shooting robot that represents different directions and moves to the direction of this button representative, and the translational speed of shooting robot is started from scratch and is increased to a constant speed and moves with this constant speed under this pattern.
Handle control model: if want with a real-time variable speed control shooting robot motion, the user can push the handle control model with the control model switch on the switch board, but the directional lever on the switch board will be in running status at this moment, the user can shake handle to all directions, the angular dimension of handle skew will represent the movement velocity size of shooting robot, the moving direction of the direction representative shooting robot of skew, the translational speed of shooting robot will be according to the size of handle deviation angle and real time altering under this pattern.
Step 3 handles receiving data
When the control model of shooting robot is the crawl control model, for preventing making a video recording robot at motion initial time velocity jump, produce structural impact, must adopt a kind of control method of having delayed and having reached a constant velocity amplitude fast.The boundary condition that this method should satisfy: at first, the initial boundary condition setting that the shooting robot has delayed speed constantly and acceleration is zero; The speed of robot of making a video recording subsequently increases fast, makes acceleration reduce to zero when reaching the acceleration time, and continues to keep this speed, and the acceleration time is 0.5 second here; Namely get following expression:
v(0)＝0，v′(0)＝0，v′(0.5)＝0
Wherein, v (0) expression shooting robot has delayed movement velocity constantly, v ' (0) expression shooting robot delay acceleration of motion constantly, and v ' (0.5) expression is made a video recording robot to the accekeration of appointment during the acceleration time, t represent to make a video recording running time of robot.
According to above-mentioned boundary condition, can obtain the translational speed that following rate equation is controlled the shooting robot:
v
1＝-40St
3+30St
2 (0＜t＜0.5)
v
2＝2.5S (t≥0.5)
Wherein, v
1, v
2Expression shooting robot is in t real-time translational speed constantly, t represent the to make a video recording run duration of robot, and S represent the to make a video recording movement velocity adjustment factor of robot, in the specific implementation process, v
1, v
2Unit be meter per second, the unit of t is second, as t during less than 0.5 second, the real-time translational speed of video camera is v
1As t during more than or equal to 0.5 second, the real-time translational speed of video camera is v
2, v
2Be a constant speed, the control of the span of S is selected the value of S according to the demand of control rate between 1～5, and when the needs control rate was big, the value of S can be selected greatly, otherwise the value of S can be selected littler.
After the user presses and represents the inching button that video camera device people moves to all directions on the switch board, single-chip microcomputer handling procedure in the switch board sends to PC with the shooting robot moving velocity vector that obtains in the above-mentioned rate equation, control program in the PC sends to the executing agency of shooting robot after with this velocity analyzing and processing, the control program of shooting robot actuating mechanism is according to stretching speed and the collapsing length of four ropes of the velocity control traction shooting robot that sends, the final shooting robot that realizes moves with the velocity of regulation, and this process is carried out once every 20ms; This control procedure robot translational speed of can guaranteeing to make a video recording is increased to the process of steady state value from zero, and the change curve of speed and acceleration is all continuous, and speed all starts from scratch with acceleration, the robot speed's smooth transition of making a video recording, and structure does not have impact.
When the control model of shooting robot is the handle control model, in order to be that the translational speed that realizes the shooting robot can change and the purpose of conversion according to the handle move angle, adopt the translational speed of following rate equation control shooting robot level and vertical:
v＝0.4SU-S
Wherein, v represent the to make a video recording real-time translational speed of robot level or vertical, U represents that handle sends to the magnitude of voltage of single-chip microcomputer handling procedure, S represent the to make a video recording movement velocity adjustment factor of robot, in concrete implementation procedure, the unit of v is metre per second (m/s), and the span control of S is selected the value of S according to the demand of control rate between 1～12, when the needs control rate is big, the value of S can be selected greatly, otherwise the value of S can be selected littler.
When the user shakes both direction handle on the switch board, size and offset direction according to each handle deviation angle, single-chip microcomputer handling procedure in the switch board will obtain three magnitudes of voltage between 0～5v, the single-chip microcomputer handling procedure sends to PC with these three magnitudes of voltage, send to the executing agency of shooting robot after three velocity components that control program in the PC converts these three magnitudes of voltage to shooting robot level and vertical move according to above-mentioned rate equation and the velocity with this three velocity component blended spaces three-dimensional motion, the control program of shooting robot actuating mechanism is according to stretching speed and the collapsing length of four ropes of the velocity control traction shooting robot that sends, the final shooting robot that realizes moves with the velocity of both direction handle planning, and this process is carried out once every 20ms; This control procedure can guarantee that the translational speed of robot camera and moving direction can change according to the change of handle deviation angle and offset direction, and the speed of shooting robot is steadily controlled.
Step 4, the control video camera moves
Control program in the shooting robot actuating mechanism becomes the velocity data transaction of sending in the step 3 umber of pulse of each motor rotation of control, each motor determines it to drive the number of turns of winding mechanism rotation according to the pulse number that obtains, and then the variation of the gentle Suo Changdu of control on the winding mechanism realize the making a video recording mobile control of robot.
Step 5 stops mobile
If the shooting robot is under the crawl control model, the stop button that the user presses on the switch board makes the shooting robot stop to move; The shooting robot is if under the handle control model, and then the user moves to meta can stop the to make a video recording movement of robot with handle.
Below in conjunction with Fig. 2 and Fig. 3 control device of the present invention is described in further detail.
Fig. 2 is shooting of the present invention robot switch board schematic diagram, switch board is provided with switch lock 1, control model knob 2, data connecting line 3, control device indicator lamp 4, directional lever 5 and 11, inching button 6,7,8,10,12,14, crawl stop button 9,13, wherein, the switch lock 1 of switch board is used for the switch of camera control system; Control model knob 2 is used for selecting the control model of shooting robot; Data connecting line 3 is used for switch board and PC communicates; Control device indicator lamp 4 is used for showing whether camera control unit is in running status; Directional lever 5,11 is respectively applied to control level and vertical moving direction and the translational speed of shooting robot; When being used for the crawl pattern, inching button 6,7,8,10 controls video camera device people's the direction that moves horizontally, control video camera device people's vertical moving direction when inching button 12,14 is used for the crawl control model; Crawl stop button 9,13 is respectively applied to stop the crawl control model of level and vertical.
Fig. 3 is executing agency's schematic diagram of shooting of the present invention robot, and executing agency is by gentle rope 15, pylon 16, motor 17, video camera 18, winding mechanism 19, data connecting line 20 is formed, wherein, gentle rope 15 links to each other with winding mechanism 19, is used for control shooting robot in displacement and the speed of spatial movement; Pylon 16 is used for support cameras device people's gentle rope 15; Motor 17 links to each other with winding mechanism 19, is used for the motion number of turns of control winding mechanism; Video camera 18 is hung in the place by the gentle rope of four variable-lengths; The command communication that data connecting line 20 is used between PC and executing agency.
Claims (3)
1. rope draws the movement velocity control method of shooting robot, and the specific implementation step is as follows:
(1) initialization control device:
1a) start control device: the control device of shooting robot is installed, and after control device installed, the user opened the control lock on the shooting robot switch board, starts control device, selects crawl or handle control model according to the control rate demand;
1b) set the initial position of shooting robot: the user adjusts to the initial position of demarcation by the inching button on the switch board or the handle robot that will make a video recording before control shooting robot moves;
(2) select control model:
2a) crawl control model: the control model switch on the switch board is pushed the crawl control model, the user will be with the movement of crawl control model control shooting robot, the translational speed of shooting robot is started from scratch and is increased to a constant speed and moves with this constant speed under this pattern, and moving direction is the direction of inching button representative;
2b) handle control model: the control model switch on the switch board is pushed the handle control model, the user is with the movement of handle control model control shooting robot, and the translational speed of shooting robot and moving direction will be according to the size of handle deviation angle and offset directions and real time altering under this pattern;
(3) handle the reception data:
Control program in the PC becomes the velocity vector value of shooting robot all directions with the data transaction of sending under each control model in the step (2), and the velocity vector value of conversion is sent to the executing agency of shooting robot;
(4) the control video camera moves:
The velocity data transaction that the control program of shooting robot actuating mechanism sends step (3) becomes the umber of pulse of control motor rotation, motor determines it to drive the number of turns of winding mechanism rotation according to the pulse number that obtains, and then the variation of the gentle Suo Changdu of control on the winding mechanism realize the making a video recording mobile control of robot;
(5) stop to move:
If the shooting robot is under the crawl control model, the stop button that the user presses on the switch board makes the shooting robot stop to move; The shooting robot is if under the handle control model, and then the user moves to meta namely stop the to make a video recording movement of robot with handle.
2. rope according to claim 1 draws the movement velocity control method of shooting robot, and it is characterized in that: the operation of the crawl control model described in the step (2) is as follows:
The first step starts the crawl control model:
Control model switch on the switch board is pushed the crawl control model, and the user presses and represents the inching button that video camera device people moves to certain direction on the switch board;
Second step, the translational speed of definite robot that makes a video recording:
Adopt following rate equation obtain the making a video recording real time kinematics speed of robot:
v
1＝-40St
3+30St
2 0＜t＜0.5
v
2＝2.5S t≥0.5
Wherein, v
1, v
2Expression shooting robot is in t real-time translational speed constantly, t represent the to make a video recording run duration of robot, S represent the to make a video recording movement velocity adjustment factor of robot;
The 3rd step, the operating process of crawl control model:
After the user presses inching button on the switch board, single-chip microcomputer handling procedure in the switch board sends to PC with the shooting robot moving velocity vector that obtains in second step, control program in the PC sends to the executing agency of shooting robot after with this velocity analyzing and processing, the control program of shooting robot actuating mechanism is according to stretching speed and the collapsing length of four ropes of the velocity control traction shooting robot that sends, realize that the shooting robot moves with the velocity that obtains in second step, this process is carried out once every 20ms.
3. rope according to claim 1 draws the movement velocity control method of shooting robot, and it is characterized in that: the operation of the handle control model described in the step (2) is as follows:
Step 1, the starting handle control model:
Control model switch on the switch board is pushed the handle control model, and the user is by translational speed and the moving direction of the control of the both direction handle on switch board video camera;
Step 2, the translational speed of definite shooting robot level and vertical:
Adopt following rate equation obtain the making a video recording real time kinematics speed of robot level and vertical:
v＝0.4SU-S
Wherein, v represent the to make a video recording real time kinematics speed of robot level or vertical, U represents that handle sends to the magnitude of voltage of single-chip microcomputer handling procedure, S represent the to make a video recording movement velocity adjustment factor of robot;
Step 3, the operating process of handle control model:
When the user shakes both direction handle on the switch board, size and offset direction according to each handle deviation angle, single-chip microcomputer handling procedure in the switch board will obtain three magnitudes of voltage between 0～5v, the single-chip microcomputer handling procedure sends to PC with these three magnitudes of voltage, send to the executing agency of shooting robot after three velocity components that control program in the PC converts these three magnitudes of voltage to shooting robot level and vertical move according to the algorithm in the step 2 and the velocity with this three velocity component blended spaces three-dimensional motion, the control program of shooting robot actuating mechanism is according to stretching speed and the collapsing length of four ropes of the velocity control traction shooting robot that sends, realize that the velocity that the shooting robot determines with the both direction handle moves, this process is carried out once every 20ms.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310192056.7A CN103286783B (en) | 2013-05-13 | 2013-05-13 | The movement velocity control method of rope traction cameras people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310192056.7A CN103286783B (en) | 2013-05-13 | 2013-05-13 | The movement velocity control method of rope traction cameras people |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103286783A true CN103286783A (en) | 2013-09-11 |
| CN103286783B CN103286783B (en) | 2015-11-25 |
Family
ID=49088579
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310192056.7A Expired - Fee Related CN103286783B (en) | 2013-05-13 | 2013-05-13 | The movement velocity control method of rope traction cameras people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103286783B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107015568A (en) * | 2015-10-07 | 2017-08-04 | 松下知识产权经营株式会社 | The control method of autonomous flight device, autonomous flight device |
| CN110405796A (en) * | 2019-07-28 | 2019-11-05 | 南京驭逡通信科技有限公司 | A kind of industrial machinery people execution unit velocity adjustment apparatus |
| CN111741199A (en) * | 2020-06-30 | 2020-10-02 | 北京飞影科技有限公司 | Method and device for keeping shooting picture |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3043444A (en) * | 1958-10-09 | 1962-07-10 | Gen Mills Inc | Controlled motion crane |
| DE2632658A1 (en) * | 1975-07-23 | 1977-02-10 | Robert Jackson Kennedy | AIRPLANE GAME |
| US4718667A (en) * | 1985-10-28 | 1988-01-12 | Shoemaker Stephen P Jr | Amusement device |
| US20020011121A1 (en) * | 2000-05-12 | 2002-01-31 | Potain | Method and device for the simulation of loads on lifting appliances |
| US20060249909A1 (en) * | 2005-04-20 | 2006-11-09 | Kenji Yumiya | Crane game machine |
| CN102117075A (en) * | 2011-01-28 | 2011-07-06 | 西安电子科技大学 | Control method for position of photograph camera hauled by suspension cable |
-
2013
- 2013-05-13 CN CN201310192056.7A patent/CN103286783B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3043444A (en) * | 1958-10-09 | 1962-07-10 | Gen Mills Inc | Controlled motion crane |
| DE2632658A1 (en) * | 1975-07-23 | 1977-02-10 | Robert Jackson Kennedy | AIRPLANE GAME |
| US4718667A (en) * | 1985-10-28 | 1988-01-12 | Shoemaker Stephen P Jr | Amusement device |
| US20020011121A1 (en) * | 2000-05-12 | 2002-01-31 | Potain | Method and device for the simulation of loads on lifting appliances |
| US20060249909A1 (en) * | 2005-04-20 | 2006-11-09 | Kenji Yumiya | Crane game machine |
| CN102117075A (en) * | 2011-01-28 | 2011-07-06 | 西安电子科技大学 | Control method for position of photograph camera hauled by suspension cable |
Non-Patent Citations (1)
| Title |
|---|
| 周金朋: "3T三自由度绳牵引机器人研究与设计", 《中国优秀硕士学位论文全文数据库 信息科技辑》, no. 04, 15 April 2013 (2013-04-15) * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107015568A (en) * | 2015-10-07 | 2017-08-04 | 松下知识产权经营株式会社 | The control method of autonomous flight device, autonomous flight device |
| CN110405796A (en) * | 2019-07-28 | 2019-11-05 | 南京驭逡通信科技有限公司 | A kind of industrial machinery people execution unit velocity adjustment apparatus |
| CN110405796B (en) * | 2019-07-28 | 2021-01-29 | 南京驭逡通信科技有限公司 | Speed adjusting device for execution unit of industrial robot |
| CN111741199A (en) * | 2020-06-30 | 2020-10-02 | 北京飞影科技有限公司 | Method and device for keeping shooting picture |
| CN111741199B (en) * | 2020-06-30 | 2022-02-01 | 北京飞影科技有限公司 | Method and device for keeping shooting picture |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103286783B (en) | 2015-11-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9459624B2 (en) | Semi-autonomous dolly | |
| US20200387150A1 (en) | Robotic programming and motion control | |
| CN207292469U (en) | Multi-pose sensor cradle head device, camera and unmanned plane during flying device | |
| CN103286783A (en) | Movement speed control method for cable-driven camera robot | |
| CN109885105A (en) | Cloud platform control method, device and holder | |
| CN108375983A (en) | A kind of remote control, control system and control method | |
| CN103375662A (en) | Three-dimensional suspension movement control suspension system for high-altitude shooting and movably shooting method thereof | |
| CN108249303A (en) | A kind of crane period prevents waving control method | |
| CN104281114B (en) | Smart machine kinetic control system | |
| CN110413011B (en) | Binocular holder control method and device and storage medium | |
| CN103873848B (en) | Three-dimensional ropeway platform for video camera and apply the three-dimensional ropeway camera system of this platform | |
| WO2023036260A1 (en) | Image acquisition method and apparatus, and aerial vehicle and storage medium | |
| JP2022160552A (en) | Robotic system with dynamic motion adjustment mechanism and method for operating the same | |
| CN111230876B (en) | Method and device for moving article, intelligent equipment and storage medium | |
| CN114211497A (en) | High-speed motion control method and system for semiconductor wafer conveying mechanical arm | |
| CN104898833B (en) | 3D weather display methods and device | |
| WO2019148348A1 (en) | Tripod head control method and apparatus | |
| JP2017041705A (en) | Imaging device | |
| CN108317379A (en) | Control holds the method, apparatus of holder and hand-held holder | |
| CN205560162U (en) | Three -dimensional camera system of three -dimensional cableway | |
| US11947350B2 (en) | Devices, systems, and methods for operating intelligent vehicles using separate devices | |
| CN107320980B (en) | Eight-axis traction three-dimensional multi-attitude aircraft and control method | |
| Miyoshi et al. | Entertainment multi-rotor robot that realises direct and multimodal interaction | |
| US11858786B2 (en) | Systems and methods for dampening torsional oscillations of cranes | |
| CN211761653U (en) | Single-arm robot, robot controller and robot control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151125 Termination date: 20200513 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |