CN103901897A - Control method of cloud platform and control system of cloud platform - Google Patents

Control method of cloud platform and control system of cloud platform Download PDF

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Publication number
CN103901897A
CN103901897A CN201410096067.XA CN201410096067A CN103901897A CN 103901897 A CN103901897 A CN 103901897A CN 201410096067 A CN201410096067 A CN 201410096067A CN 103901897 A CN103901897 A CN 103901897A
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user
motion
movement
load
expected
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CN103901897B (en
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王铭钰
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SZ DJI Osmo Technology Co Ltd
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SZ DJI Technology Co Ltd
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Priority to CN201710518332.2A priority Critical patent/CN107352038B/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/08—Arrangements of cameras
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
  • Accessories Of Cameras (AREA)
  • Toys (AREA)
  • Studio Devices (AREA)

Abstract

The invention discloses a control method of a cloud platform, wherein the cloud platform is used for carrying a load, and the control method comprises the following steps: detecting the motion state of the holder or the load; judging whether the motion of the holder or the load is the expected motion of the user or the unexpected motion of the user according to the motion state; if the motion direction is not the motion direction expected by the user, the load is controlled by the holder to move in the opposite direction relative to the motion direction of the motion direction expected by the user, so that the load keeps the original direction; and if the user expects to move, controlling the load to move together according to the movement direction of the expected movement of the user through the holder. The invention also discloses a control system of the cradle head corresponding to the control method of the cradle head.

Description

The control method of The Cloud Terrace and the control system of The Cloud Terrace
Technical field
The present invention relates to cradle head control technical field, particularly relate to a kind of control method of The Cloud Terrace and the control system of The Cloud Terrace.
Background technology
Camera is in the time of shooting picture, shake has a great impact the image quality of its shooting, and this shake comprises x, y, the small translation of z axle and around x, y, the rotation of z, people are insensitive to translation conventionally, and rotation can cause the problem of " a small discrepancy; leading to great error ", i.e. small rotation can cause the acute variation of image content, has a strong impact on the quality of shooting picture.
Therefore, people are seeking a kind of effective mode and are eliminating the shake of camera, the camera of prior art is in the time rotating, cannot judge that user is conscious change shooting angle (user's desired movement) or unconscious shake (non-user's desired movement), therefore, usually user's desired movement is eliminated by mistake, can not accurately be eliminated the shake of camera.
Therefore, need to provide a kind of control method of The Cloud Terrace and the control system of The Cloud Terrace, to address the above problem.
Summary of the invention
The invention provides a kind of control method of The Cloud Terrace and the control system of The Cloud Terrace, can solve in prior art, cannot judge that camera is that user's desired movement is also that non-user's desired movement causes user's desired movement mistake to be eliminated, and causes camera not reach the shooting angle of expection.
For solving the problems of the technologies described above, the technical scheme that the present invention adopts is: a kind of control method of The Cloud Terrace is provided, and The Cloud Terrace is used for carrying a load, and this control method comprises: the motion state that detects The Cloud Terrace or load; Judge that according to motion state the motion of The Cloud Terrace or load is that user's desired movement is also non-user's desired movement; If non-user's desired movement, carries out counter motion by cradle head control load with respect to the direction of motion of non-user's desired movement, and then makes load keep original orientation; If user's desired movement, together moves by the direction of motion of described user's desired movement by cradle head control load.
Wherein, the step of the motion state of detection The Cloud Terrace or load is specially: the rotational angle that detects The Cloud Terrace; Judge that according to motion state the motion of The Cloud Terrace or load is that user's desired movement is also that the step of non-user's desired movement is specially: judge whether rotational angle exceedes default angle threshold, if, the motion of The Cloud Terrace is user's desired movement, if not, the motion of The Cloud Terrace is non-user's desired movement.
Wherein, angle threshold is less than the maximum rotation angle of The Cloud Terrace.
Wherein, the step of the motion state of detection The Cloud Terrace or load is specially: the angular velocity that detects load.Judge that according to motion state the motion of The Cloud Terrace or load is that user's desired movement is also that the step of non-user's desired movement is specially: judge whether angular velocity exceedes default angular velocity threshold value, if, the motion of load is user's desired movement, if not, the motion of load is non-user's desired movement.
Wherein, The Cloud Terrace is installed on a movable body, and the step that detects the motion state of The Cloud Terrace or load is specially: detect the control signal that movable body receives.Judge that according to motion state the motion of The Cloud Terrace or load is that user's desired movement is also that the step of non-user's desired movement is specially: judge whether to exist the control signal corresponding with the motion of movable body, if, the motion of The Cloud Terrace is user's desired movement, if not, the motion of The Cloud Terrace is non-user's desired movement.
For solving the problems of the technologies described above, another technical solution used in the present invention is: a kind of control system of The Cloud Terrace is provided, and The Cloud Terrace is used for carrying a load, and this control system comprises: sensor and controller, sensor is for detection of the motion state of The Cloud Terrace or load.Controller is for judging that according to motion state the motion of The Cloud Terrace or load is that user's desired movement is also non-user's desired movement, if and non-user's desired movement, by cradle head control load with respect to non-user's desired movement direction of motion carry out counter motion, and then make load keep original orientation, if user's desired movement, together moves by the direction of motion of described user's desired movement by cradle head control load.
Wherein, sensor is for detection of the rotational angle of The Cloud Terrace, and controller is for judging whether rotational angle exceedes default angle threshold, and if so, the motion of The Cloud Terrace is user's desired movement, and if not, the motion of The Cloud Terrace is non-user's desired movement.
Wherein, angle threshold is less than the maximum rotation angle of The Cloud Terrace.
Wherein, sensor is for detection of the angular velocity of load, and controller is for judging whether angular velocity exceedes default angular velocity threshold value, and if so, the motion of load is user's desired movement, and if not, the motion of load is non-user's desired movement.
Wherein, The Cloud Terrace is installed on a movable body, the control signal that controller receives for detection of movable body and the control signal for judging whether that existence is corresponding with the motion of movable body, if, the motion of The Cloud Terrace is user's desired movement, and if not, the motion of The Cloud Terrace is non-user's desired movement.
The invention has the beneficial effects as follows: the situation that is different from prior art, the present invention is by detecting the motion state of The Cloud Terrace or load and judging that according to motion state the motion of The Cloud Terrace is that user's desired movement is also non-user's desired movement, thereby can eliminate accurately non-user's desired movement, avoid user's desired movement to eliminate.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of control method first embodiment of The Cloud Terrace of the present invention;
Fig. 2 is the process flow diagram of control method second embodiment of The Cloud Terrace of the present invention;
Fig. 3 is the process flow diagram of control method the 3rd embodiment of The Cloud Terrace of the present invention;
Fig. 4 is the process flow diagram of control method the 4th embodiment of The Cloud Terrace of the present invention;
Fig. 5 is the module diagram of the control system of The Cloud Terrace of the present invention.
Embodiment
Below in conjunction with drawings and Examples, the present invention will be described in detail.
Refer to Fig. 1, Fig. 1 is the process flow diagram of control method first embodiment of The Cloud Terrace of the present invention.This The Cloud Terrace is used for carrying a load, and in the present embodiment, this load is a camera, and the control method of this The Cloud Terrace comprises the following steps:
Step S11: the motion state that detects this The Cloud Terrace or this load.
Step S12: judge that according to motion state the motion of this The Cloud Terrace or this load is that user's desired movement is also non-user's desired movement.
In step S12, if non-user's desired movement performs step S13: carry out counter motion by this load of cradle head control with respect to the direction of motion of this non-user's desired movement, and then make load keep original orientation; If user's desired movement, performs step S14: together move by the direction of motion of this user's desired movement by this cradle head control load.
It should be noted that load that this user's desired movement in the present embodiment refers to that user is desired or the motion of The Cloud Terrace, and this non-user's desired movement refers to the motion of the less desirable load of user or The Cloud Terrace.
Refer to Fig. 2, Fig. 2 is the process flow diagram of control method second embodiment of The Cloud Terrace of the present invention.This The Cloud Terrace is used for carrying a load, and in the present embodiment, this load is a camera, and the control method of this The Cloud Terrace comprises the following steps:
Step S21: the rotational angle that detects this The Cloud Terrace.
At step S21: in the present embodiment, hold cloud platform rotation by people and drive camera to rotate.In other embodiments, also can rotate and drive camera to rotate by other devices.
Step S22: judge whether rotational angle exceedes default angle threshold.
In step S22, default angle threshold is less than the maximum rotation angle of The Cloud Terrace, in the present embodiment, predetermined angle threshold value is 15 degree, the maximum rotation angle of The Cloud Terrace is 30 degree, in other embodiments, predetermined angle threshold value can be also other values, and the maximum rotation angle of The Cloud Terrace can be also other values.
In step S22, if so, the motion of The Cloud Terrace is user's desired movement, execution step S23: together move by this user's desired movement by this camera of this cradle head control; If not, the motion of The Cloud Terrace is non-user's desired movement, execution step S24: expect that with respect to this non-user rotation direction carries out counter motion by this camera of cradle head control, and then make camera keep original orientation.
In step S23, the motion of this The Cloud Terrace is user's desired movement, its objective is the shooting angle in order to change camera, and this cradle head control camera together moves with The Cloud Terrace, thereby can help this camera can at the uniform velocity change rotation shooting angle, make the picture taken in rotation process more stable.
In step S24, the motion of this The Cloud Terrace is non-user's desired movement, and this cradle head control camera carries out reciprocal rotation with respect to the rotation direction of this The Cloud Terrace, and then makes the original orientation of maintenance of camera.
Refer to Fig. 3, Fig. 3 is the process flow diagram of control method the 3rd embodiment of The Cloud Terrace of the present invention.This The Cloud Terrace is used for carrying a load, and in the present embodiment, this The Cloud Terrace is installed on an aircraft, and this load is a camera, and in other embodiments, this The Cloud Terrace also can be installed on vehicle or other movable bodies.In the present embodiment, this cloud platform control method comprises the following steps:
Step S31: the angular velocity that detects this load.
In step S31, detect the angular velocity of load, load generally comprises three kinds of rotations, the first is that (take aircraft horizontal flight time be load rotation in surface level with aircraft for benchmark) rotated in the course of course axle, the second is that (load is wing rotation in perpendicular around fuselage with aircraft and direction) rotated in the roll of roll axle, the third is the pitch rotation (load is fuselage rotation in perpendicular around wing with aircraft and direction) of pitch axis, rotate as example take course wherein, for detecting axle course, course rotational angular velocity.
Step S32: judge whether angular velocity exceedes default angular velocity threshold value.
In step S32, if so, the motion of load is user's desired movement, execution step S33: together move by the direction of motion of this user's desired movement by cradle head control load; If not, the motion of this load is non-user's desired movement, execution step S34: carry out counter motion by cradle head control load with respect to the direction of motion of this non-user's desired movement, and then make load keep original orientation.
When the angular velocity detecting is thought the rotation (non-user's desired movement) with little angular velocity of camera that aircraft unstable in flight course (encountering cloud layer or air-flow) causes while being less than default angular velocity threshold value, carry out counter motion by cradle head control camera with respect to the rotation direction of this The Cloud Terrace, and then make camera keep original orientation.In the time detecting that angular velocity is greater than default angular velocity threshold value, think that aircraft need to change course (user's desired movement), together rotates with this The Cloud Terrace by this cradle head control camera.
Refer to Fig. 4, Fig. 4 is the process flow diagram of control method the 4th embodiment of The Cloud Terrace of the present invention.In the present embodiment, this The Cloud Terrace is used for carrying a load.This The Cloud Terrace is installed on a movable body, and in the present embodiment, this movable body is an aircraft.In other embodiments, this movable body also can be vehicle or other movable bodies.In the present embodiment, this cloud platform control method comprises the following steps:
Step S41: detect the control signal that this movable body receives.
Step S42: judge whether to exist the control signal corresponding with the motion of this movable body.
In step S42, if so, the motion of this The Cloud Terrace is user's desired movement, execution step S43: together move by the direction of motion of this user's desired movement by cradle head control load; If not, the motion of this The Cloud Terrace is non-user's desired movement, execution step S44: carry out counter motion by this cradle head control load with respect to the direction of motion of this non-user's desired movement, and then make load keep original orientation.
The control signal that sense aircraft is received, judge whether to exist the control signal corresponding with the motion of aircraft, the for example control signal corresponding with the motion of aircraft can be the control signal of rotating course for controlling aircraft of the telepilot transmitting of aircraft or aircraft, sort signal is the desired control signal of user, if exist and can judge that the motion of The Cloud Terrace is user's desired movement, together move with The Cloud Terrace by cradle head control camera, the motion that can judge The Cloud Terrace if do not exist is non-user's desired movement, rotate backward with respect to the rotation direction of The Cloud Terrace by cradle head control camera, and then make camera keep original orientation.
Refer to Fig. 5, Fig. 5 is the module diagram of the control system of The Cloud Terrace of the present invention.In the present embodiment, The Cloud Terrace is used for carrying a load, and load is a camera.
Control system comprises: sensor 10 and controller 20.
Sensor 10 is for detection of the motion state of this The Cloud Terrace or load.
Controller 20 is for judging that according to motion state the motion of this The Cloud Terrace or load is that user's desired movement is also non-user's desired movement, if and non-user's desired movement, carry out counter motion by cradle head control load with respect to the direction of motion of this non-user's desired movement, and then make load keep original orientation, if user's desired movement, together moves by the direction of motion of this user's desired movement by cradle head control load.
Particularly, sensor 10 is for detection of the rotational angle of The Cloud Terrace, and controller 20 is for judging whether rotational angle exceedes default angle threshold, and if so, the motion of this The Cloud Terrace is user's desired movement, and if not, the motion of this The Cloud Terrace is non-user's desired movement.Preferably, angle threshold is less than the maximum rotation angle of The Cloud Terrace, and angle threshold is preferably 15 degree, and the maximum rotation angle of The Cloud Terrace is 30 degree.
This sensor 10 is also for detection of the angular velocity of load, also there is the control signal corresponding with the motion of movable body for judging whether in controller 20, if so, the motion of movable body is user's desired movement, if not, the motion of movable body is non-user's desired movement.
The Cloud Terrace is installed on a movable body, the control signal that controller 20 receives for detection of movable body and the control signal for judging whether that existence is corresponding with the motion of movable body, if so, the motion of The Cloud Terrace is user's desired movement, if not, the motion of The Cloud Terrace is non-user's desired movement.
Be different from prior art, the present invention is by detecting the motion state of The Cloud Terrace or load and judging that according to motion state the motion of The Cloud Terrace or load is that user's desired movement is also non-user's desired movement, thereby can eliminate accurately non-user's desired movement, avoid user's desired movement to eliminate.
The foregoing is only embodiments of the present invention; not thereby limit the scope of the claims of the present invention; every equivalent structure or conversion of equivalent flow process that utilizes instructions of the present invention and accompanying drawing content to do; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.

Claims (10)

1.一种云台的控制方法，其特征在于，所述云台用于搭载一负载，所述控制方法包括：1. a kind of control method of cloud platform, it is characterized in that, described cloud platform is used for carrying a load, and described control method comprises: 检测所述云台或所述负载的运动状态；Detecting the movement state of the pan/tilt or the load; 根据所述运动状态判断所述云台或所述负载的运动是用户预期运动还是非用户预期运动；judging whether the motion of the gimbal or the load is a user-intended motion or an un-user-intended motion according to the motion state; 若为非用户预期运动，则通过所述云台控制所述负载相对于所述非用户预期运动的运动方向进行反向运动，进而使得所述负载保持原有方位；If it is an unintended movement by the user, the gimbal controls the load to perform a reverse movement relative to the movement direction of the unintended movement by the user, so that the load maintains the original orientation; 若为用户预期运动，则通过所述云台控制所述负载按所述用户预期运动的运动方向一同运动。If the movement is expected by the user, the load is controlled by the platform to move along with the movement direction of the expected movement of the user. 2.根据权利要求1所述的控制方法，其特征在于，所述检测所述云台或所述负载的运动状态的步骤具体为：2. The control method according to claim 1, wherein the step of detecting the motion state of the pan/tilt or the load is specifically: 检测所述云台的转动角度；detecting the rotation angle of the pan/tilt; 所述根据所述运动状态判断所述云台的运动是用户预期运动还是非用户预期运动的步骤具体为：The step of judging whether the motion of the pan/tilt according to the motion state is the user's expected motion or the non-user's expected motion is specifically: 判断所述转动角度是否超过预设的角度阈值，若是，则所述云台的运动是用户预期运动，若否，则所述云台的运动是非用户预期运动。Judging whether the rotation angle exceeds a preset angle threshold, if yes, the motion of the pan/tilt is the motion expected by the user, and if not, the motion of the pan/tilt is not the motion expected by the user. 3.根据权利要求2所述的控制方法，其特征在于，所述角度阈值小于所述云台的最大转动角度。3. The control method according to claim 2, wherein the angle threshold is smaller than the maximum rotation angle of the pan/tilt. 4.根据权利要求1所述的控制方法，其特征在于，所述检测所述云台或所述负载的运动状态的步骤具体为：4. The control method according to claim 1, wherein the step of detecting the motion state of the pan/tilt or the load is specifically: 检测所述负载的角速度；detecting the angular velocity of the load; 所述根据所述运动状态判断所述负载的运动是用户预期运动还是非用户预期运动的步骤具体为：The step of judging whether the movement of the load is expected by the user or not expected by the user according to the movement state is as follows: 判断所述角速度是否超过预设的角速度阈值，若是，则所述负载的运动是用户预期运动，若否，则所述负载的运动是非用户预期运动。It is judged whether the angular velocity exceeds a preset angular velocity threshold, if yes, the motion of the load is the motion expected by the user, and if not, the motion of the load is not the motion expected by the user. 5.根据权利要求1所述的控制方法，其特征在于，所述云台安装于一运动体上，所述检测所述云台或所述负载的运动状态的步骤具体为：5. The control method according to claim 1, wherein the pan-tilt is installed on a moving body, and the step of detecting the motion state of the pan-tilt or the load is specifically: 检测所述运动体所接收的控制信号；detecting a control signal received by the moving body; 所述根据所述运动状态判断所述云台或所述负载的运动是用户预期运动还是非用户预期运动的步骤具体为：The step of judging whether the movement of the pan/tilt or the load is the user expected movement or the non-user expected movement according to the movement state is specifically as follows: 判断是否存在与所述运动体的运动相对应的控制信号，若是，则所述云台的运动是用户预期运动，若否，则所述云台的运动是非用户预期运动。Judging whether there is a control signal corresponding to the motion of the moving body, if yes, the motion of the pan/tilt is the motion expected by the user, if not, the motion of the pan/tilt is not the motion expected by the user. 6.一种云台的控制系统，其特征在于，所述云台用于搭载一负载，所述控制系统包括：6. a kind of control system of cloud platform, it is characterized in that, described cloud platform is used for carrying a load, and described control system comprises: 传感器，用于检测所述云台或所述负载的运动状态；a sensor for detecting the motion state of the pan/tilt or the load; 控制器，用于根据所述运动状态判断所述云台或所述负载的运动是用户预期运动还是非用户预期运动，并且若为非用户预期运动，则通过所述云台控制所述负载相对于所述非用户预期运动的运动方向进行反向运动，进而使得所述负载保持原有方位，若为用户预期运动，则通过所述云台控制所述负载按所述用户预期运动的运动方向一同运动。The controller is configured to judge whether the movement of the pan/tilt or the load is expected by the user or not intended by the user according to the movement state, and if it is not expected by the user, control the relative movement of the load through the pan/tilt. Reverse movement in the direction of movement that is not expected by the user, so that the load maintains its original orientation. If it is the movement expected by the user, the load is controlled by the pan/tilt to follow the direction of movement expected by the user Exercise together. 7.根据权利要求6所述的控制系统，其特征在于，所述传感器用于检测所述云台的转动角度，所述控制器用于判断所述转动角度是否超过预设的角度阈值，若是，则所述云台的运动是用户预期运动，若否，则所述云台的运动是非用户预期运动。7. The control system according to claim 6, wherein the sensor is used to detect the rotation angle of the pan/tilt, and the controller is used to judge whether the rotation angle exceeds a preset angle threshold, and if so, Then the movement of the pan/tilt is the movement expected by the user, if not, the movement of the pan/tilt is not the movement expected by the user. 8.根据权利要求7所述的控制系统，其特征在于，所述角度阈值小于所述云台的最大转动角度。8. The control system according to claim 7, wherein the angle threshold is smaller than the maximum rotation angle of the pan/tilt. 9.根据权利要求6所述的控制系统，其特征在于，所述传感器用于检测所述负载的角速度，所述控制器用于判断所述角速度是否超过预设的角速度阈值，若是，则所述负载的运动是用户预期运动，若否，则所述负载的运动是非用户预期运动。9. The control system according to claim 6, wherein the sensor is used to detect the angular velocity of the load, and the controller is used to judge whether the angular velocity exceeds a preset angular velocity threshold, and if so, the The movement of the payload is a movement expected by the user, and if not, the movement of the payload is a movement not expected by the user. 10.根据权利要求6所述的控制系统，其特征在于，所述云台安装于一运动体上，所述控制器用于检测所述运动体所接收的控制信号且用于判断是否存在与所述运动体的运动相对应的控制信号，若是，则所述云台的运动是用户预期运动，若否，则所述云台的运动是非用户预期运动。10. The control system according to claim 6, wherein the pan/tilt is installed on a moving body, and the controller is used to detect the control signal received by the moving body and to judge whether there is a The control signal corresponding to the movement of the moving body, if yes, the movement of the pan-tilt is the movement expected by the user, if not, the movement of the pan-tilt is the movement not expected by the user.
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