CN103926940B - The method of the holder and control holder of control device and its application - Google Patents
The method of the holder and control holder of control device and its application Download PDFInfo
- Publication number
- CN103926940B CN103926940B CN201410179306.8A CN201410179306A CN103926940B CN 103926940 B CN103926940 B CN 103926940B CN 201410179306 A CN201410179306 A CN 201410179306A CN 103926940 B CN103926940 B CN 103926940B
- Authority
- CN
- China
- Prior art keywords
- holder
- control
- instruction
- rocking bar
- optical device
- 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.)
- Active
Links
Landscapes
- Studio Devices (AREA)
- Accessories Of Cameras (AREA)
Abstract
The invention discloses a kind of methods of the holder and control holder of control device and its application.The holder executes movement for control optical device comprising control device, the control assembly connecting with the control device, and the executive module connecting with the control assembly；The control device includes for receiving action command and generating the rocking bar to control assembly transmission control instruction, and the rocking bar includes rocking handle and the current potential device assembly connecting with the rocking handle；The control instruction that the control assembly is used to be sent according to the control device, which generates, realizes executing instruction for corresponding actions, and executes instruction to described in executive module transmission；The executive module realizes the direction controlling of the optical device for executing instruction according to.Holder of the invention sends control instruction due to using the rocking bar, not only easy to operate, but also operating handle is preferable.
Description
Technical field
The present invention relates to the support and control structure of camera shooting, photograph and/or monitoring more particularly to a kind of control device and
Its holder applied and the method for controlling holder.
Background technique
Currently, being equipped with the carrier of video camera or camera, example in technical fields such as photography, photograph and/or monitorings
Such as: aircraft, automobile, steamer, robot and human body, in the process of running, because there is high-frequency vibration in itself in carrier etc.
And low-frequency vibration, stable self-balancing holder is needed to configure to carry video camera, camera etc. to realize steady shot.Meanwhile
Holder is widely used in holder described in the model plane such as amusement and recreation and model plane camera shooting, passes through multiple keys or remote controler wireless control phase
The execution of the directions such as rotation, the pitching of the camera lenses such as machine movement, to shoot the outstanding photograph and/or video in various directions.It is described
Holder is for supporting the optical device, such as video camera, camera, telescope, remote camera and measuring instrument, according to these
The operation of the optical device, it is required that the holder has stable fixation supporting role and the easily controllable adjustment optics
The direction of equipment, this fixing and orientation can pass through the holder of two axis of gyroscope type dynamic self-balance and/or three axis reality
It is existing.
It is a kind of in the prior art, the holder is by multiple keys or remote controler wirelessly to control the optical device
The directions such as rotation and pitching are executed, to shoot the video and/or photograph in various directions.Key and distant is used in the prior art
The wireless technical solution of device is controlled, by multiple angles for pressing key control pitching and/or direction of rotation, feel is bad and executes dynamic
The accuracy of work is lower, in addition, remote controler by wireless method, is needed using receiver, not only inconvenient for operation, Er Qie
In specific situation, such as more people are needed to operate simultaneously for holder described in hand-held etc..
Summary of the invention
The technical problem to be solved in the present invention is that for holder in the prior art by multiple keys or remote controler without
Line executes the directions such as rotation, pitching to control the optical device, leads to the technical problem that in terms of operating not and feel is poor, mentions
More convenient and good hand touch control device is operated, using the holder and the control holder of the control device for a kind of
Method.
The technical solution adopted by the present invention to solve the technical problems is:
The embodiment of the present invention provides a kind of holder, executes movement for control optical device, wherein the holder
Including control device, the control assembly being connect with the control device, and the executive module being connect with the control assembly；
The control device includes sending shaking for control instruction for receiving action command and generating to the control assembly
Bar, the rocking bar include rocking handle and the current potential device assembly connecting with the rocking handle；
The control instruction that the control assembly is used to be sent according to the control device generates the execution for realizing corresponding actions
Instruction, and executed instruction to described in executive module transmission；
The executive module realizes the direction controlling of the optical device for executing instruction according to.
Preferably, the current potential device assembly includes controlling the first potentiometer and the control institute of the optical device pitching motion
State the second potentiometer of optical device spinning movement.
Preferably, the rocking bar further includes the key for switching the holder operating mode.
Preferably, the control device further includes the support arm for supporting the rocking bar and the branch positioned at the support arm end
Frame.
Preferably, the support arm is in tubbiness.
Preferably, the executive module include the first rotating member, the second rotating member being connected with first rotating member, with
The first electricity that the connected load-bearing part of second rotating member, driving second rotating member are rotated relative to first rotating member
Machine and the second motor for driving the load-bearing part to rotate relative to second rotating member.
The present invention separately provides a kind of control device, for controlling the movement of holder, wherein the control device includes being used for
Receive control instruction and rocking bar from the control instruction to control assembly that send, the rocking bar include rocking handle and with the rocking handle
The current potential device assembly of connection.
Preferably, the current potential device assembly includes the first potentiometer by the cradle head control optical device pitching motion
With the second potentiometer by optical device spinning movement described in the cradle head control.
Preferably, the rocking bar further includes the key for switching the holder operating mode.
The present invention also provides a kind of methods for controlling holder, and the movement for controlling optical device executes, wherein this method
Include the following steps:
Rocking bar receives action command and generates control instruction；
The control instruction is sent to control assembly；
It is generated according to the control instruction and realizes executing instruction for corresponding actions, and sent the execution to executive module and refer to
It enables；
The executive module realizes the direction controlling of the optical device for executing instruction according to.
Preferably, the current potential device assembly includes the first potentiometer by the cradle head control optical device pitching motion
With the second potentiometer by optical device spinning movement described in the cradle head control.
Preferably, the rocking bar further includes the key for switching the holder operating mode.
The embodiment of the present invention can realize following technical effect: sending control instruction due to using the rocking bar, not only grasp
Facilitate, and operating handle is preferable.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of holder of the invention.
Fig. 2 is the perspective view of the rocking bar of holder of the invention.
Fig. 3 is the partial structure diagram of the rocking bar of holder of the invention.
Fig. 4 is the perspective view of the executive module of holder of the invention.
Fig. 5 is the method flow diagram of control holder of the invention.
Specific embodiment
For a clearer understanding of the technical characteristics, objects and effects of the present invention, it is described in detail now in conjunction with attached drawing
A specific embodiment of the invention.
The present invention provides a kind of holder, can carry optical device thereon, such as video camera, camera, telescope, remotely takes the photograph
Camera and measuring instrument etc., to realize the optical device fixation, arbitrarily adjust the optical device posture (such as: change
Become the height of the optical device, inclination angle, shooting direction and/or be stably held in the optical device in determining posture),
With shooting and/or the photograph etc. for realizing high quality.
As shown in Figures 1 to 4, the embodiment of the present invention provides a kind of holder 100 for carrying optical device, controls the light
That learns equipment executes movement, and pitching and/or rotation that can realize the optical device etc. acts comprising control device 1 and
The control assembly 2 and the executive module 3 being connect with the control assembly 2 that the control device 1 connects.It is described in the present embodiment
Control assembly 2 is set between the control device 1 and the executive module 3.
The control device 1 includes the action command for receiving user's transmission and generates to the control assembly 2 transmission
The rocking bar 11 of control instruction.The rocking bar 11 includes rocking handle 12 and the current potential device assembly 13 connecting respectively with the rocking handle 12 and presses
Key 14.
The rocking handle 12 can be moved along upper direction A1, lower direction A2 is moved, left direction B1 is moved, right direction B2 is moved and by
Press direction C movement.
The current potential device assembly 13 includes controlling described in the first potentiometer 131 and the control of the optical device pitching motion
Second potentiometer 132 of optical device spinning movement.
The key 14 is used to switch the operating mode of the holder 100.The operating mode of the holder 100 includes following
Mode and locking mode.The follow the mode can filter out the swing in 100 moving process of holder, the optical device
Shooting direction can follow the moving direction of the holder 100 servo-actuated again.The locking mode is regardless of the holder 100
Mobile, the shooting direction of the optical device by being locked in specified direction (inceptive direction of such as optical device) always.With
Upper both of which is suitable for one while carrying out optical device shooting and controlling the direction of optical device.
The control assembly 2 is connected with the control device 1, the control instruction for being sent according to the control device 1
It generates and realizes executing instruction for corresponding actions, and send described execute instruction to the executive module 3.
The executive module 3 realizes the action control of the optical device for executing instruction according to.
Further, the control device 1 further includes supporting the support arm 15 of the rocking bar 11 and positioned at the support arm
The bracket 16 of 15 ends.The support arm 15 is in hollow tubbiness.
The executive module 3 includes the first rotating member 304, the second rotation being rotatedly connected with first rotating member 304
Part 306, the load-bearing part 308 being connected with second rotating member 306, driving second rotating member 306 relative to described the
The first motor 301 of one rotating member 304 rotation, the driving load-bearing part 308 rotated relative to second rotating member 306 the
Two motors 302.The optical device is equipped on the load-bearing part 308.The first motor 301 drives second rotating member
306 rotate relative to first rotating member 304, so that the optical device being mounted on the load-bearing part 308 be made to realize
Pitching motion；Second motor 302 drives the load-bearing part 308 to rotate relative to second rotating member 306, to make to take
The optical device being loaded on the load-bearing part 308 realizes spinning movement (that is, left-leaning or Right deviation movement).
Further, in embodiment of the present invention, by controlling the rocking handle 12, Yong Huke in the control device 1
It is that short push action instruction, long push action instruction, press-out refer to respectively to send six kinds of action commands to the rocking bar 11
Enable, under push away action command, a left side pushes away action command and the right side pushes away action command.In present embodiment, the short push action instruction is
When referring to that the rocking handle 12 is in the middle position of the rocking bar 11, user presses the rocking handle 12 along the pressing direction C in short-term；
When the long push action instruction refers to that the rocking handle 12 is in the non-intermediate positions of the rocking bar 11, user is along the pressing side
To rocking handle 12 described in C long pressing." in short-term " was less than 3 seconds；" when long " is greater than 3 seconds.Certainly, described " in short-term " and
The time of " when long " can adjust according to actual needs.Relative to the middle position of the rocking bar 11, the press-out instruction
Refer to that user pushes the rocking handle 12 along upper direction A1；Pushed away under described action command refer to user along lower direction A2 push described in shake
Handle 12；The left side pushes away action command and refers to that user pushes the rocking handle 12 along left direction B1；The right side pushes away action command and refers to use
Family pushes the rocking handle 12 along right direction B2.
When user, which sends the press-out to the rocking bar 11, to be instructed, i.e., user pushes the rocking handle 12 along upper direction
When A1 is moved, the first motor 301 is positive to be accelerated.
When user send to the rocking bar 11 it is described under push away action command when, i.e., user pushes the rocking handle 12 along lower direction
When A2 is moved, the first motor 301 reversely accelerates.
When user, which sends the left side to the rocking bar 11, pushes away action command, i.e., user pushes the rocking handle 12 along left direction
When B1 is moved, second motor 302 is positive to be accelerated.
When user, which sends the right side to the rocking bar 11, pushes away action command, i.e., user pushes the rocking handle 12 along right direction
When B2 is moved, second motor 302 reversely accelerates.
When the rocking handle 12 is in an intermediate position and when user sends short push action instruction to the rocking bar 11,
When i.e. user presses the rocking handle 12 along the pressing direction C in short-term, the holder 100 is switched to another from a kind of operating mode
Kind operating mode.In present embodiment, the holder 100 includes two kinds of operating modes of follow the mode and locking mode.For example, working as
The holder 100 is in follow the mode, and user sends the short push action instruction to the rocking bar 11, then by the holder
100 operating mode is switched to locking mode.Alternatively, user sends out to the rocking bar 11 when the holder 100 is in locking mode
The short push action instruction is sent, then the operating mode of the holder 100 is switched to follow the mode.
When the rocking handle 12 is in non-intermediate positions, user sends the long push action instruction to the rocking bar 11
When, the rocking handle 12 then returns middle position.
In addition, the first motor 301 and second motor 302 are in quiet when the rocking handle 12 is in an intermediate position
Only state, but need to be powered on to keep torque.
The control instruction of the control device 1 includes looking up control instruction, overlooking control instruction, left-leaning control instruction, the right side
Incline control instruction, return in control instruction and switching control instruction.
The control assembly 2 execute instruction including look up execute instruction, overlook execute instruction, "Left"-deviationist executes instruction, right
Incline and executes instruction, keeps executing instruction and switching executes instruction.
When specifically used, when user sends press-out instruction to the rocking bar 11, i.e., user pushes the rocking handle
12 along upper direction A1 when moving, and the rocking handle 12 is contacted with first potentiometer 131, and the rocking handle 12 passes through first electricity
Position device 131 sends to the control assembly 2 and described looks up control instruction；The control assembly 2, which receives, described to be looked up control and refers to
After order, generate realize the holder 100 execute look up movement it is described look up execute instruction and by it is described look up execute instruction to
The executive module 3 is sent；The executive module 3 receive it is described look up execute instruction after, control the execution of holder 100 and look up
Movement, i.e., the described first motor 301 drive second rotating member 306 to rotate clockwise relative to first rotating member 304,
So that movement is looked up in the optical device realization being mounted on the load-bearing part 308, to obtain the camera shooting at corresponding visual angle
And/or photo etc..Wherein, the control assembly 2 receives control instruction and sends the technical solution executed instruction as known to industry
The prior art, no longer describe herein.
User to the rocking bar 11 send it is described under push away action command when, the rocking handle 12 and first potentiometer 131
Contact, the rocking handle 12 send the vertical view control instruction to the control assembly 2 by first potentiometer 131；It is described
After control assembly 2 receives the vertical view control instruction, generates and realize that the holder 100 executes the vertical view that vertical view acts and holds
Row instructs and executes instruction the vertical view to the executive module 3 and sends；The executive module 3 receives the vertical view execution and refers to
After order, control the holder 100 and execute vertical view movement, i.e., the described first motor 301 drive second rotating member 306 relative to
First rotating member 304 rotates counterclockwise, so that the optical device realization being mounted on the load-bearing part 308 is bowed
Depending on corresponding actions, with camera shooting and/or the photo etc. for obtaining corresponding more appropriate visual angle.
When user sends the left side to the rocking bar 11 and pushes away action command, the rocking handle 12 and second potentiometer 132
Contact, the rocking handle 12 send the left-leaning control instruction to the control assembly 2 by second potentiometer 132；It is described
After control assembly 2 receives the left-leaning control instruction, generates and realize that the holder 100 executes the left-leaning "Left"-deviationist acted and holds
Row instructs and executes instruction the "Left"-deviationist to the executive module 3 and sends；The executive module 3 receives left-leaning execute and refers to
It after order, controls the holder 100 and executes left-leaning movement, i.e., described second motor 302 drives the load-bearing part 308 relative to described
Second rotating member 306 is to rotating clockwise, so that the optical device being mounted on the load-bearing part 308 is realized to the left
Inclined corresponding actions, with camera shooting and/or the photo etc. for obtaining corresponding more appropriate visual angle.
When user sends the right side to the rocking bar 11 and pushes away action command, the rocking handle 12 and second potentiometer 132
Contact, the rocking handle 12 send the Right deviation control instruction to the control assembly 2 by second potentiometer 132；It is described
After control assembly 2 receives the Right deviation control instruction, generates and realize that the holder 100 executes the Right deviation that Right deviation acts and holds
Row instructs and executes instruction the Right deviation to the executive module 3 and sends；The executive module 3 receives the Right deviation execution and refers to
It after order, controls the holder 100 and executes Right deviation movement, i.e., described second motor 302 drives the load-bearing part 308 relative to described
Second rotating member 306 turns right, so that the optical device realization being mounted on the load-bearing part 308 rotates to the right
Corresponding actions, with camera shooting and/or the photo etc. for obtaining corresponding more appropriate visual angle.
When the rocking handle 12 is in an intermediate position and when user sends short push action instruction to the rocking bar 11,
The rocking handle 12 is contacted with the key 14, and the rocking handle 12 sends described cut to the control assembly 2 by the key 14
Control instruction is changed to generate after the control assembly 2 receives the switching control instruction and realize that the holder 100 executes work
The switching of pattern switching executes instruction and executes instruction the switching to the executive module 3 and sends；The execution group
Part 3 receive it is described switching execute instruction after, switch the operating mode of the holder 100.For example, when the holder 100 be in
With mode, user sends the short push action instruction to the rocking bar 11, then is switched to the operating mode of the holder 100
Locking mode.Alternatively, user sends the short push action to the rocking bar 11 and refers to when the holder 100 is in locking mode
It enables, then the operating mode of the holder 100 is switched to follow the mode.
When the rocking handle 12 is maintained at intermediate upward direction A1 or the position of A2 in downward direction, user is to the rocking bar
11 send the long push action instruction, the first potentiometer 131 described in 12 long-pressing of rocking handle, and the rocking handle 12 passes through described the
One potentiometer 131 sends control instruction in described return to the control assembly 2；The control assembly 2 receives control in described return
After system instruction, generates and realize that the holder 100 keeps the holding of current posture to execute instruction and refer to holding execution
It enables and being sent to the executive module 3；The executive module 3 receive it is described holding execute instruction after, the first motor 301 is in
Stationary state, but need to be powered on to keep torque.At this point, the rocking handle 12 returns middle position.
When the rocking handle 12 is maintained at the position of intermediate left direction B1 or right direction B2, user is to the rocking bar 11
The long push action instruction, the second potentiometer 132 described in 12 long-pressing of rocking handle are sent, the rocking handle 12 passes through described second
Potentiometer 132 sends control instruction in described return to the control assembly 2；The control assembly 2 receives control in described return
After instruction, generates and realize that the holder 100 keeps the holding of current posture to execute instruction and execute instruction the holding
It is sent to the executive module 3；The executive module 3 receive it is described holding execute instruction after, second motor 302 be in it is quiet
Only state, but need to be powered on to keep torque.At this point, the rocking handle 12 returns middle position.
The holder 100 provided in an embodiment of the present invention sends control instruction due to using the rocking bar 11, not only grasps
Facilitate, and operating handle is preferable.
Incorporated by reference to referring to figs. 1 to shown in Fig. 5, the embodiment of the present invention also provides a kind of side for controlling the holder 100 and acting
Method, the movement for controlling optical device execute comprising following steps:
S1: the rocking bar 11 receives the action command and generates control instruction.The rocking bar 11 include rocking handle 12 and with
The current potential device assembly 13 and key 14 that the rocking handle 12 connects.The current potential device assembly 13 includes being controlled by the holder 100
First potentiometer 131 of the optical device pitching motion and the optical device spinning movement is controlled by the holder 100
The second potentiometer 132.The key 14 is used to switch the operating mode of the holder 100.
User can send six kinds of action commands to the rocking bar 11, be respectively: short push action instruction, long push action
Instruction, press-out instruction, under push away action command, a left side pushes away action command and the right side pushes away action command.
The control instruction is respectively: looking up control instruction, vertical view control instruction, left-leaning control instruction, Right deviation and controls and refer to
Control instruction and switching control instruction in enabling, returning.
When user, which sends the press-out to the rocking bar 11, to be instructed, i.e., user pushes the rocking handle 12 along upper direction
When A1 is moved, the rocking handle 12 contacts to look up control instruction described in generation with first potentiometer 131.
When user send to the rocking bar 11 it is described under push away action command when, i.e., user pushes the rocking handle 12 along lower direction
When A2 is moved, the rocking handle 12 contacts to generate the vertical view control instruction with first potentiometer 131.
When user, which sends the left side to the rocking bar 11, pushes away action command, i.e., user pushes the rocking handle 12 along left direction
When B1 is moved, the rocking handle 12 contacts to generate the left-leaning control instruction with second potentiometer 132.
When user, which sends the right side to the rocking bar 11, pushes away action command, i.e., user pushes the rocking handle 12 along right direction
When B2 is moved, the rocking handle 12 contacts to generate the Right deviation control instruction with second potentiometer 132.
When the rocking handle 12 is in an intermediate position and when user sends short push action instruction to the rocking bar 11,
When i.e. user presses the rocking handle 12 in short-term, the rocking handle 12 contacts to refer to generate the switching control with the key 14
It enables.The holder 100 is switched to another operating mode from a kind of operating mode.In present embodiment, the holder 100 includes
Two kinds of operating modes of follow the mode and locking mode.For example, when the holder 100 is in follow the mode, user is to the rocking bar
11 send the short push action instruction, then the operating mode of the holder 100 are switched to locking mode.Alternatively, when described
Holder 100 is in locking mode, and user sends the short push action instruction to the rocking bar 11, then by the holder 100
Operating mode is switched to follow the mode.
When the rocking handle 12 is in non-intermediate positions, user sends the long push action instruction to the rocking bar 11
When, the rocking handle 12 contacts to generate control in described return with first potentiometer 131 or second potentiometer 132 and refers to
It enables.The rocking handle 12 then returns middle position.
In addition, the first motor 301 and second motor 302 are in quiet when the rocking handle 12 is in an intermediate position
Only state, but need to be powered on to keep torque.
S2: the control instruction is sent to control assembly 2；
When user manipulates the 11 upward direction A1 of rocking bar by the rocking handle 12 and pushes, the rocking bar 11 passes through described the
One potentiometer 131 sends the control instruction for looking up movement to the control assembly 2；User manipulates described shake by the rocking handle 12
When the A2 promotion in downward direction of bar 11, the rocking bar 11 sends to overlook and move by first potentiometer 131 to the control assembly 2
The control instruction of work；When user manipulates the 11 left direction B1 of rocking bar promotion by the rocking handle 12, the rocking bar 11 passes through
Second potentiometer 132 sends the control instruction for rotating to the left movement to the control assembly 2；User passes through the rocking handle 12
When manipulating the 11 right direction B2 of rocking bar and pushing, the rocking bar 11 is by second potentiometer 132 to the control assembly 2
Send the control instruction for rotating to the right movement.When the rocking bar 11 is in an intermediate position, user presses the rocking handle 12 in short-term
When, the rocking bar 11 sends the switching control to the control assembly 2 by the key 14 and instructs.At the rocking bar 11
When non-intermediate positions, when rocking handle 12 described in user's long pressing, the rocking bar 11 passes through first potentiometer 131 or described
Second potentiometer 132 sends control instruction in described return to the control assembly 2.
S3: generating according to the control instruction and realize executing instruction for corresponding actions, and sends described hold to executive module 3
Row instruction.
The control assembly 2 execute instruction including look up execute instruction, overlook execute instruction, "Left"-deviationist executes instruction, right
Incline and executes instruction, keeps executing instruction and switching executes instruction.
The control assembly 2 receives described after looking up control instruction, generates and realizes that movement is looked up in the execution of holder 100
It is described look up execute instruction and by it is described look up to execute instruction to the executive module 3 send；
After the control assembly 2 receives the vertical view control instruction, generates and realize that the holder 100 executes vertical view movement
The vertical view execute instruction and the vertical view executed instruction to the executive module 3 and sent；
After the control assembly 2 receives the left-leaning control instruction, generates and realize that the holder 100 executes left-leaning movement
The left-leaning control instruction and the left-leaning control instruction is sent to the executive module 3；
After the control assembly 2 receives the Right deviation control instruction, generates and realize that the holder 100 executes Right deviation movement
The Right deviation execute instruction and execute instruction the Right deviation to the executive module 3 and send；
The control assembly 2 receives in described return after control instruction, and generation realizes that the holder 100 executes and keeps current
The holding of posture executes instruction and executes instruction the holding to the executive module 3 and sends.
After the control assembly 2 receives the switching control instruction, generates and realize that the holder 100 executes switch operating
The switching of mode executes instruction and executes instruction the switching to the executive module 3 and sends.
S4: the executive module 3 realizes the direction controlling of the optical device for executing instruction according to.
The executive module 3 receive it is described look up execute instruction after, control the holder 100 and execute the movement looked up, i.e.,
The first motor 301 drives second rotating member 306 to rotate clockwise relative to first rotating member 304, to make
The optical device that must be mounted on the load-bearing part 308 realizes the corresponding actions looked up, to obtain the camera shooting at corresponding visual angle
And/or photo etc..Wherein, the control assembly 2 receives control instruction and sends the technical solution executed instruction as known to industry
The prior art, no longer describe herein.
The executive module 3 receives after the vertical view executes instruction, and controls the holder 100 and executes the movement overlooked,
The i.e. described first motor 301 drives second rotating member 306 to rotate counterclockwise relative to first rotating member 304, thus
So that the optical device being mounted on the load-bearing part 308 realizes the corresponding actions overlooked, it is corresponding more appropriate to obtain
The camera shooting at visual angle and/or photo etc..
The executive module 3 receives after the "Left"-deviationist executes instruction, control the holder 100 execute rotate to the left it is dynamic
Make, i.e., described second motor 302 drives the load-bearing part 308 to rotate clockwise relative to second rotating member 306, to make
The optical device that must be mounted on the load-bearing part 308 realizes the corresponding actions rotated to the left, is accordingly more closed with obtaining
The camera shooting at suitable visual angle and/or photo etc..
The executive module 3 receives after the Right deviation executes instruction, control the holder 100 execute it is dextrorotary dynamic
Make, i.e., described second motor 302 drives the load-bearing part 308 to rotate counterclockwise relative to second rotating member 306, to make
The optical device that must be mounted on the load-bearing part 308 realizes dextrorotary corresponding actions, is accordingly more closed with obtaining
The camera shooting at suitable visual angle and/or photo etc..
The executive module 3 receive it is described holding execute instruction after, control the holder 100 and keep current posture,
The i.e. described first motor 301 and second motor 302 remain static, but need to be powered on to keep torque.
The executive module 3 receive it is described switching execute instruction after, switch the current operating mode of the holder 100.
For example, the operating mode of the holder 100 is then switched to locking mode when the holder 100 is in follow the mode.Alternatively,
When the holder 100 is in locking mode, then the operating mode of the holder 100 is switched to follow the mode.
The method of the operation holder 100 provided in an embodiment of the present invention refers to due to using the rocking bar and sending to control
It enables, it is not only easy to operate, and also operating handle is preferable.
Better embodiment of the invention is described above in conjunction with attached drawing, protection scope of the present invention is not with institute
Embodiment to be stated to be limited, the specific embodiment is only schematical, rather than limitation, ordinary skill
Personnel under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, in the present invention
Enlightenment under, without breaking away from the scope protected by the purposes and claims of the present invention, it is revealed according to the present invention in
Equivalent modification made by holding or variation, should be included in the scope of the protection described in the claims.
Claims (8)
1. a kind of holder, movement is executed for control optical device, it is characterised in that: the holder includes: control device, with
The control assembly of the control device connection, and the executive module being connect with the control assembly；
Wherein, the control device includes for receiving action command and generating the control instruction sent to the control assembly
Rocking bar, the rocking bar includes rocking handle and the current potential device assembly connecting with the rocking handle, and the rocking handle is along upper direction, lower section
With the potentiometer component touch when being pushed to, left direction and right direction, the control device further includes supporting the rocking bar
Support arm, the support arm be in tubbiness；
The control instruction that the control assembly is used to be sent according to the control device, which generates, realizes executing instruction for corresponding actions,
And it is executed instruction to described in executive module transmission；
The executive module realizes the direction controlling of the optical device for executing instruction according to；
The rocking bar further includes the key for switching the holder operating mode, is sent out by the key to the control assembly
Send the switching control instruction for switching the holder operating mode；
The operating mode of the holder includes follow the mode and locking mode: the follow the mode can filter out the holder and move
Swing during dynamic, the shooting direction of the optical device can follow the moving direction of the holder servo-actuated again；The locking
Mode is regardless of the holder moves, and the shooting direction of the optical device by being locked in specified direction always.
2. holder according to claim 1, it is characterised in that: the current potential device assembly includes controlling the optical device to bow
It faces upward the first potentiometer of movement and controls the second potentiometer of the optical device spinning movement.
3. holder according to claim 1, it is characterised in that: the control device further includes being located at the support arm end
Bracket.
4. holder according to claim 1, it is characterised in that: the executive module includes the first rotating member, with described the
The second connected rotating member of one rotating member, with the load-bearing part that second rotating member is connected, drive second rotating member opposite
Second rotated in the first motor and the driving load-bearing part of first rotating member rotation relative to second rotating member
Motor.
5. a kind of control device, the control device is arranged on holder, for controlling the movement of holder, it is characterised in that: institute
Stating control device includes the rocking bar for receiving control instruction and sending the control instruction to control assembly, the control dress
Setting further includes the support arm for supporting the rocking bar, and the support arm is in tubbiness, and the rocking bar includes rocking handle and connects with the rocking handle
The current potential device assembly connect, and when the rocking handle is pushed along upper direction, lower direction, left direction and right direction with the potentiometer
Component touch；
The rocking bar further includes the key for switching the holder operating mode, is sent out by the key to the control assembly
Send the switching control instruction for switching the holder operating mode；
The operating mode of the holder includes follow the mode and locking mode: the follow the mode can filter out the holder and move
Swing during dynamic, the shooting direction of optical device can follow the moving direction of the holder servo-actuated again；The locking mode
It is regardless of the holder moves, the shooting direction of the optical device by being locked in specified direction always.
6. control device according to claim 5, it is characterised in that: the current potential device assembly includes passing through the holder control
First potentiometer of optical device pitching motion processed and by optical device spinning movement described in the cradle head control second electricity
Position device.
7. a kind of method for controlling holder, the movement for controlling optical device is executed, which is characterized in that the holder includes control
Device processed, the control device include rocking bar, and the rocking bar includes rocking handle and the current potential device assembly connecting with the rocking handle, described
Control device further includes the support arm for supporting the rocking bar, and the support arm is in tubbiness, and the rocking handle is along upper direction, lower section
With the potentiometer component touch when being pushed to, left direction and right direction, this method comprises the following steps:
To rocking bar send press-out instruction, under push away action command, a left side pushes away action command or the right side pushes away action command；
Rocking bar receives action command and generates control instruction；
The control instruction is sent to control assembly；
It is generated according to the control instruction and realizes executing instruction for corresponding actions, and executed instruction to described in executive module transmission；
The executive module realizes the direction controlling of the optical device for executing instruction according to；
The rocking bar further includes the key for switching the holder operating mode, is sent out by the key to the control assembly
Send the switching control instruction for switching the holder operating mode；
The operating mode of the holder includes follow the mode and locking mode: the follow the mode can filter out the holder and move
Swing during dynamic, the shooting direction of the optical device can follow the moving direction of the holder servo-actuated again；The locking
Mode is regardless of the holder moves, and the shooting direction of the optical device by being locked in specified direction always.
8. according to the method described in claim 7, it is characterized by: the current potential device assembly includes passing through the cradle head control light
Learn the first potentiometer of equipment pitching motion and the second potentiometer by optical device spinning movement described in the cradle head control.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410179306.8A CN103926940B (en) | 2014-04-30 | 2014-04-30 | The method of the holder and control holder of control device and its application |
| CN201811501687.1A CN109458529B (en) | 2014-04-30 | 2014-04-30 | Control device, holder applied to control device and method for controlling holder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410179306.8A CN103926940B (en) | 2014-04-30 | 2014-04-30 | The method of the holder and control holder of control device and its application |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811501687.1A Division CN109458529B (en) | 2014-04-30 | 2014-04-30 | Control device, holder applied to control device and method for controlling holder |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103926940A CN103926940A (en) | 2014-07-16 |
| CN103926940B true CN103926940B (en) | 2019-01-25 |
Family
ID=51145198
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811501687.1A Active CN109458529B (en) | 2014-04-30 | 2014-04-30 | Control device, holder applied to control device and method for controlling holder |
| CN201410179306.8A Active CN103926940B (en) | 2014-04-30 | 2014-04-30 | The method of the holder and control holder of control device and its application |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811501687.1A Active CN109458529B (en) | 2014-04-30 | 2014-04-30 | Control device, holder applied to control device and method for controlling holder |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN109458529B (en) |
Families Citing this family (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DK3139239T3 (en) * | 2014-04-30 | 2019-04-15 | Sz Dji Osmo Technology Co Ltd | Control unit, cradle head for use and cradle control method |
| EP3505808B1 (en) | 2014-07-29 | 2021-08-11 | SZ DJI Osmo Technology Co., Ltd. | Systems and methods for payload stabilization |
| US10208887B2 (en) * | 2015-04-13 | 2019-02-19 | Yuneec Technology Co., Limited | Gimbal handheld holder |
| CN105992903B (en) * | 2015-05-15 | 2019-04-12 | 深圳市大疆灵眸科技有限公司 | Holder |
| CN110254734A (en) * | 2015-05-27 | 2019-09-20 | 高途乐公司 | Use the gimbal system of stable gimbal |
| CN109032191A (en) * | 2015-07-03 | 2018-12-18 | 深圳市大疆灵眸科技有限公司 | Cloud platform control method and holder |
| CN106444394A (en) * | 2015-08-13 | 2017-02-22 | 天津永兴泰科技有限公司 | Internet of Things-based smart home remote control system |
| CN112901958B (en) | 2015-08-27 | 2022-11-08 | 深圳市大疆灵眸科技有限公司 | Handle holder and control method thereof |
| CN105611155B (en) * | 2015-12-22 | 2019-01-01 | 深圳市浩瀚卓越科技有限公司 | A kind of method that hand-held cradle head control mobile terminal is photographed and hand-held holder |
| CN105468028A (en) * | 2015-12-26 | 2016-04-06 | 武汉智能鸟无人机有限公司 | Hand-held cloud platform implementing motion control by rocker |
| CN107077155B (en) * | 2016-08-22 | 2019-09-13 | 深圳市大疆灵眸科技有限公司 | Imaging apparatus control method, system and equipment |
| CN107135375A (en) * | 2017-05-04 | 2017-09-05 | 浙江大华技术股份有限公司 | A kind of monitoring system control method and device |
| CN109154836A (en) * | 2017-09-26 | 2019-01-04 | 深圳市大疆灵眸科技有限公司 | Control method, control equipment and the holder of holder |
| KR102387819B1 (en) * | 2017-12-27 | 2022-04-15 | 에스지 디제이아이 테크놀러지 코., 엘티디 | How to switch gimbal operating mode, controller and image stabilization device |
| 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 |
| US10827123B1 (en) | 2018-01-05 | 2020-11-03 | Gopro, Inc. | Modular image capture systems |
| CN110383199B (en) * | 2018-03-21 | 2021-11-23 | 深圳市大疆创新科技有限公司 | Multi-rocker control method, holder and system |
| CN109164833B (en) * | 2018-08-14 | 2023-03-24 | 北京和光飞翼机电科技有限公司 | Angle control system capable of carrying out automatic adjustment and control method thereof |
| CN110785726A (en) * | 2018-09-29 | 2020-02-11 | 深圳市大疆创新科技有限公司 | Control method of holder, handheld holder and handheld equipment |
| US11215990B2 (en) * | 2018-11-02 | 2022-01-04 | Lingdong Technology (Beijing) Co. Ltd | Manual direction control component for self-driving vehicle |
| CN112154653B (en) * | 2019-08-13 | 2022-07-29 | 深圳市大疆创新科技有限公司 | Shooting method based on handheld cloud deck, handheld cloud deck and storage medium |
| CN110580054B (en) * | 2019-08-21 | 2022-06-14 | 东北大学 | Control system and method of photoelectric pod based on autonomous visual tracking |
| WO2022016323A1 (en) * | 2020-07-20 | 2022-01-27 | 深圳市大疆创新科技有限公司 | Photographic system and control method and apparatus therefor, and computer storage medium |
| WO2022021427A1 (en) * | 2020-07-31 | 2022-02-03 | 深圳市大疆创新科技有限公司 | Control method for gimbal camera, gimbal camera, and storage medium |
| CN114198455A (en) * | 2021-12-15 | 2022-03-18 | 上海新纪元机器人有限公司 | Self-balancing vibration damping system mounted on carrying equipment |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1921499A1 (en) * | 2005-08-09 | 2008-05-14 | Yongijan Yang | The camera pan head having two clamps locked connector |
| CN101837931A (en) * | 2009-03-20 | 2010-09-22 | 郭鹏飞 | Tripod head tractor |
| CN201795243U (en) * | 2010-08-04 | 2011-04-13 | 叶建平 | Wire controlled camera cradle head |
| CN202306227U (en) * | 2011-10-25 | 2012-07-04 | 浙江电化教育发展公司 | Cloud deck control system of video camera |
| EP2759480A1 (en) * | 2011-09-09 | 2014-07-30 | SZ DJI Technology Co., Ltd. | Dual-axis ball head for use in small unmanned aerial vehicle and triple-axis ball head for use in small unmanned aerial vehicle |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7755668B1 (en) * | 1998-04-09 | 2010-07-13 | Johnston Gregory E | Mobile surveillance system |
| US8179078B2 (en) * | 2005-04-27 | 2012-05-15 | Sidman Adam D | Handheld or vehicle-mounted platform stabilization system |
| ITPD20060162A1 (en) * | 2006-04-27 | 2007-10-28 | Lino Manfrotto & Co Spa | SYSTEM FOR REMOTE CONTROL OF THE ADJUSTMENT COMMAND OF A ADJUSTABLE SUPPORT HEAD FOR OPTICAL AND / OR PHOTO-FILM PLACEMENTS |
| CN100555057C (en) * | 2007-03-14 | 2009-10-28 | 哈尔滨工程大学 | Automatic levelling and angle modulating tripod |
| JP5328616B2 (en) * | 2009-11-16 | 2013-10-30 | 富士フイルム株式会社 | AF frame automatic tracking system |
| JP5591006B2 (en) * | 2010-07-26 | 2014-09-17 | キヤノン株式会社 | Control device for automatic tracking camera system and automatic tracking camera system having the same |
| CN201957175U (en) * | 2011-01-27 | 2011-08-31 | 杭州华三通信技术有限公司 | Monitor |
| CN102238258A (en) * | 2011-05-03 | 2011-11-09 | 杨建忠 | Rocking bar QWERT mobile phone full keyboard |
| CN202353755U (en) * | 2011-12-09 | 2012-07-25 | 广东九联科技股份有限公司 | Set top box using rocker button |
| CN202769211U (en) * | 2012-07-26 | 2013-03-06 | 王鹏 | Electronic control pan-tilt |
| CN203324879U (en) * | 2013-08-02 | 2013-12-04 | 中船重工中南装备有限责任公司 | 4D Hall type control rod |
| CN103472859A (en) * | 2013-09-17 | 2013-12-25 | 梁辛 | Handheld shooting calibration method and handheld shooting electronic auxiliary instrument |
-
2014
- 2014-04-30 CN CN201811501687.1A patent/CN109458529B/en active Active
- 2014-04-30 CN CN201410179306.8A patent/CN103926940B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1921499A1 (en) * | 2005-08-09 | 2008-05-14 | Yongijan Yang | The camera pan head having two clamps locked connector |
| CN101837931A (en) * | 2009-03-20 | 2010-09-22 | 郭鹏飞 | Tripod head tractor |
| CN201795243U (en) * | 2010-08-04 | 2011-04-13 | 叶建平 | Wire controlled camera cradle head |
| EP2759480A1 (en) * | 2011-09-09 | 2014-07-30 | SZ DJI Technology Co., Ltd. | Dual-axis ball head for use in small unmanned aerial vehicle and triple-axis ball head for use in small unmanned aerial vehicle |
| CN202306227U (en) * | 2011-10-25 | 2012-07-04 | 浙江电化教育发展公司 | Cloud deck control system of video camera |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109458529A (en) | 2019-03-12 |
| CN103926940A (en) | 2014-07-16 |
| CN109458529B (en) | 2021-08-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103926940B (en) | The method of the holder and control holder of control device and its application | |
| US11692668B2 (en) | Control device for a gimbal and method of controlling the same | |
| WO2019153293A1 (en) | Pan-tilt device and control method thereof, and unmanned aerial vehicle | |
| JP2018534490A (en) | Stabilizer to stabilize the load | |
| KR101633502B1 (en) | Camera gimbal | |
| GB2521865A (en) | Camera stabilisation mounting | |
| JP2021513117A5 (en) | ||
| CN105697947B (en) | Stable shooting cradle head | |
| CN110785601A (en) | Control method of handheld cloud deck and handheld cloud deck | |
| KR101753645B1 (en) | Multi purpose robot arm having camera stabilizing function | |
| CN111699341B (en) | Control method of holder system and holder system | |
| KR20170099073A (en) | Gimbal apparatus of image photograping type for hand-held having tri-axis stabilized device | |
| CN110573786A (en) | Stability augmentation device and handheld cloud platform device | |
| CN112207801B (en) | Control device, control system and control method of robot | |
| WO2019183799A1 (en) | Control module and handheld device | |
| CN211574714U (en) | Portable mobile phone clamping three-axis holder camera | |
| CN108513605B (en) | Three-axis pan-tilt and control method thereof | |
| JP7053230B2 (en) | Micro manipulator | |
| CN206402327U (en) | Hand-held head | |
| JP2007127974A (en) | Micromanipulator | |
| JPH09186924A (en) | Remote controller for on-vehicle multi-axis video camera equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20170316 Address after: 518057 Guangdong city of Shenzhen province Nanshan District South Road four No. 18 SKYWORTH semiconductor design building west block 12 layer Applicant after: Shenzhen City, Jiang Mou Ling Technology Co. Ltd. Address before: 518057 Guangdong province Shenzhen city Nanshan District high tech Zone South Hing a No. 9 Hongkong, Shenzhen building 6 floor Applicant before: Shenzhen Dji Technology Co., Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |