CN106155105A - Control device and the clouds terrace system of The Cloud Terrace - Google Patents
Control device and the clouds terrace system of The Cloud Terrace Download PDFInfo
- Publication number
- CN106155105A CN106155105A CN201510163564.1A CN201510163564A CN106155105A CN 106155105 A CN106155105 A CN 106155105A CN 201510163564 A CN201510163564 A CN 201510163564A CN 106155105 A CN106155105 A CN 106155105A
- Authority
- CN
- China
- Prior art keywords
- cloud terrace
- signal
- attitude
- motor
- controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 claims description 9
- 230000000386 athletic effect Effects 0.000 claims description 4
- 230000005389 magnetism Effects 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract description 7
- 230000007547 defect Effects 0.000 abstract description 5
- 239000011435 rock Substances 0.000 abstract description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
Landscapes
- Control Of Position Or Direction (AREA)
- Studio Devices (AREA)
Abstract
The invention discloses a kind of device controlling The Cloud Terrace and clouds terrace system, including a controller, one IMU, at least one motor and at least one encoder, a picture pick-up device it is installed with on The Cloud Terrace, IMU is for obtaining the attitude of The Cloud Terrace and sending an attitude signal to controller, motor is used for driving The Cloud Terrace to move, encoder is for detecting the corner of motor and sending a feedback signal to controller, controller is for exporting a correction signal according to attitude signal and feedback signal after the targeted attitude signal obtaining a targeted attitude being used for characterizing described The Cloud Terrace, motor adjusts the attitude of described The Cloud Terrace according to correction signal.Encoder is combined by the present invention with IMU, the attitude making The Cloud Terrace trends towards targeted attitude, avoid The Cloud Terrace in the vibrations produced by external environment, rock and the picture pick-up device that causes obtains not fogging defect clear, slack, improve the control accuracy to The Cloud Terrace, achieve well following The Cloud Terrace targeted attitude, there is more preferable shooting effect.
Description
Technical field
The present invention relates to a kind of device controlling The Cloud Terrace and clouds terrace system.
Background technology
Along with the development of society and advancing by leaps and bounds of industry, unmanned plane is taken photo by plane and is applied the field the widest,
To the requirement taken photo by plane the most increasingly specialty, it is desirable to the control with The Cloud Terrace three spindle motor is also more and more accurate.
But, prior art generally uses IMU (Inertial measurement unit, inertia measurement
Unit, is Measuring Object three-axis attitude angle (or angular speed) and the device of acceleration) information feedback
Obtaining the angle information of video camera, such information feedback system can be used for specialty is required be not the highest
Setting of taking photo by plane, but cannot meet professional other equipment of taking photo by plane.
Summary of the invention
The technical problem to be solved in the present invention is to control setting of camera angle in prior art to overcome
The defect that standby precision is the highest, it is provided that a kind of device controlling The Cloud Terrace and clouds terrace system.
The present invention solves above-mentioned technical problem by following technical proposals:
A kind of device controlling The Cloud Terrace, its feature is, including a controller, an IMU, at least one electricity
Machine and at least one encoder, described The Cloud Terrace is installed with a picture pick-up device, and described IMU is used for obtaining institute
Stating the attitude of The Cloud Terrace and send an attitude signal extremely described controller, described motor is used for driving described The Cloud Terrace
Motion, described encoder is used for detecting the corner of described motor and sending a feedback signal to described controller,
Described controller is for obtaining one after the targeted attitude signal of the targeted attitude characterizing described The Cloud Terrace
Exporting a correction signal according to described attitude signal and described feedback signal, described motor is according to described correction
Signal adjusts the attitude of described The Cloud Terrace.
Wherein, picture pick-up device can be the equipment of the shooting imaging such as video camera, photographing unit, the attitude bag of The Cloud Terrace
Include one or more in the information such as the position of The Cloud Terrace, speed, angle.By encoder detection motor
Corner so that motor can be corrected by controller according to the operating condition that motor is current, so that cloud
The attitude of platform trends towards targeted attitude, it is to avoid The Cloud Terrace the vibrations that produced by external environment, rock and
The picture pick-up device caused obtains not fogging defect clear, slack, improves the control accuracy to The Cloud Terrace,
Achieve well following The Cloud Terrace targeted attitude, there is more preferable shooting effect.
It is preferred that the quantity of described motor is 3, the quantity of described encoder is 3,3 motors
It is separately positioned on orthogonal three direction of principal axis of described The Cloud Terrace, to adjust described The Cloud Terrace at three direction of principal axis
On athletic posture.
Wherein, by controlling the attitude of The Cloud Terrace at three direction of principal axis so that the The Cloud Terrace that controller gets
Attitude information amount bigger, thus the highest to the motion attitude control precision of The Cloud Terrace.
It is preferred that be wherein provided with a slip ring in the motor on an axle, detection is provided with the motor of described slip ring
The encoder of corner is photoelectric encoder, and the encoder of the corner detecting the motor on two other axle is
Magnetism encoder.
For having the motor of slip ring, can be more preferable when using photoelectric encoder to detect the corner of this motor
Ground coordinates with the structure of motor.
It is preferred that the device of described control The Cloud Terrace also includes that a temperature sensor and adds thermal resistance, described
Adding thermal resistance gyroscope in making described IMU and keep stationary temperature, described temperature sensor is used
In detecting the temperature of described gyroscope and sending a temperature signal to described controller, described controller passes through
A signal of telecommunication, described IMU is sent to described IMU with the mode that described temperature sensor shares a holding wire
According to the described signal of telecommunication make described in add thermal resistance and be turned on or off.
Specifically, when temperature gyroscope being detected is higher, then adds thermal resistance described in disconnection, work as detection
To gyroscope temperature relatively low time, then conducting adds thermal resistance the temperature of gyroscope to be raised.Relative to tradition
Connected mode for, i.e. controller directly controls to add conducting and the disconnection of thermal resistance, this Shen by line
Directly share the mode of a holding wire with described temperature sensor, control this by IMU and add thermal resistance
Be turned on or off, temperature same as the prior art can also be reached while decreasing this line and control effect
Really.
It is preferred that the device of described control The Cloud Terrace also includes that a receiver, described controller connect described in passing through
The targeted attitude signal that transmitter outside the acquisition of receipts machine is launched.
When using receiver, it is possible to achieve remotely control.
It is preferred that described targeted attitude signal is the signal preset in described controller.Use default letter
Number time be capable of the control of automatic The Cloud Terrace attitude.
It is preferred that described controller is connected by an order wire and an aircraft.Energy when being connected with aircraft
Enough realize taking photo by plane of higher precision.
It is preferred that described controller is connected by an order wire and a hand-held support.It is connected with hand-held support
Time be capable of ground shooting operation.
The present invention also provides for a kind of clouds terrace system, and its feature is, including controlling The Cloud Terrace as above
Device and The Cloud Terrace therein.
The most progressive effect of the present invention is: encoder is combined by the present invention with IMU, passes through
The corner of encoder detection motor so that controller can the rotary state of continuous correcting motor so that
The attitude of The Cloud Terrace trends towards targeted attitude, it is to avoid The Cloud Terrace in the vibrations produced by external environment, rock
And the picture pick-up device caused obtains not fogging defect clear, slack, improve the essence of the control to The Cloud Terrace
Degree, it is achieved that to well following of The Cloud Terrace targeted attitude, there is more preferable shooting effect.
Accompanying drawing explanation
Fig. 1 is the structural representation of the device controlling The Cloud Terrace of the embodiment of the present invention 1.
Fig. 2 is the structural representation of the device controlling The Cloud Terrace of the embodiment of the present invention 2.
Detailed description of the invention
Further illustrate the present invention below by the mode of embodiment, but the most therefore limit the present invention to
Among described scope of embodiments.
Embodiment 1
The present embodiment provides a kind of device controlling The Cloud Terrace, as it is shown in figure 1, include a controller 100,
Controller 100 is a single-chip microcomputer, an IMU101, motor 102 and an encoder 103, a described cloud
Being installed with a video camera on platform, described IMU101 is for obtaining the attitude of described The Cloud Terrace and sending an attitude
Signal is to described controller 100, and described motor 102 is used for driving described The Cloud Terrace to move, in the present embodiment
Described motor 102 is driven to operate by motor driver 1021, controller 100 and motor driver 1021
Being arranged on same circuit board 200, described encoder 103 is for detecting turning of described motor 102
Angle also sends a feedback signal to described controller, and described controller 100 is for being used for characterizing in acquisition one
According to described attitude signal and described feedback signal after the targeted attitude signal of the targeted attitude of described The Cloud Terrace
Exporting a correction signal, described motor adjusts the attitude of described The Cloud Terrace according to described correction signal.
In FIG, fancy arrow represents only power supply transmission, and single lined arrows represents only signal transmission,
Thick-line arrow represents that existing power supply transmits, and has again signal to transmit.Wherein, controller can be obtained by receiver
Obtain targeted attitude signal, it is possible to obtain by the way of internal preset.
In the present embodiment, encoder can detect the corner of motor in real time, it is possible to turning of periodic detection motor
Angle, by the encoder feedback to motor corner so that controller can the rotation shape of correcting motor in time
State, thus realize the model-following control of the targeted attitude to The Cloud Terrace.
The present embodiment uses a motor and an encoder to realize the gesture stability to The Cloud Terrace, it practice,
Multiple motor and multiple encoder can also be used to realize The Cloud Terrace gesture stability on multiple direction of principal axis,
The quantity needing to control the axle of athletic posture can be set as required.
Embodiment 2
The present embodiment provides a kind of device controlling The Cloud Terrace, as in figure 2 it is shown, the present embodiment and embodiment
Difference is: the present embodiment includes 3 motors and 3 encoders, and 3 motors are separately positioned on described
On orthogonal three direction of principal axis of The Cloud Terrace, to adjust described The Cloud Terrace athletic posture on three direction of principal axis.
Wherein, the corner of each encoder one motor of detection, wherein it is provided with one in the motor on an axle sliding
Ring, the encoder of the corner that detection is provided with the motor of described slip ring is photoelectric encoder, detects two other
The encoder of the corner of the motor on axle is magnetism encoder.Specifically he, the present embodiment is on a vertical axis
Encoder be photoelectric encoder 1031, encoder on the horizontal axis is magnetism encoder 1032,
During actually used, also the image of picture pick-up device can be realized remote transmission.
The present embodiment is while obtaining the effect of embodiment 1, and the attitude of the The Cloud Terrace that controller gets is believed
Breath amount is bigger, the highest to the motion attitude control precision of The Cloud Terrace, and for having the motor of slip ring, makes
Can preferably coordinate with the structure of motor when detecting the corner of this motor with photoelectric encoder.
Embodiment 3
The present embodiment provides a kind of device controlling The Cloud Terrace, and the present embodiment is with the difference of embodiment 2:
The device controlling The Cloud Terrace in the present embodiment also includes that a receiver, described controller are obtained by described receiver
Obtain the targeted attitude signal that outside transmitter is launched.The device of described control The Cloud Terrace also includes that a temperature passes
Sensor and one adds thermal resistance, described in add thermal resistance gyroscope in making described IMU and keep constant
Temperature, described temperature sensor is for detecting the temperature of described gyroscope and sending a temperature to described controller
Degree signal, described controller by the way of sharing a holding wire with described temperature sensor to described IMU
Send a signal of telecommunication, described IMU according to the described signal of telecommunication make described in add thermal resistance and be turned on or off.
When temperature gyroscope being detected is higher, then add thermal resistance, when gyroscope being detected described in disconnection
When temperature is relatively low, then conducting adds thermal resistance the temperature of gyroscope to be raised.Relative to traditional connection side
For formula, i.e. controller directly controls to add conducting and the disconnection of thermal resistance by line, and this Shen is directly and institute
State temperature sensor and share the mode of a holding wire, by IMU control this conducting adding thermal resistance or
Disconnect, temperature control effect same as the prior art while decreasing this line, can also be reached.
Additionally, described controller is connected by an order wire and an aircraft, when using receiver, permissible
Realizing remotely controlling, this aircraft is capable of taking photo by plane of higher precision.
Encoder is combined by the present invention with IMU, by the corner of encoder detection motor so that
Controller can the rotary state of continuous correcting motor so that the attitude of The Cloud Terrace trends towards targeted attitude,
Avoid The Cloud Terrace in the vibrations produced by external environment, rock and the picture pick-up device that causes obtains image not
Clearly, slack defect, improve the control accuracy to The Cloud Terrace, it is achieved that to The Cloud Terrace targeted attitude
Well follow, there is more preferable shooting effect.
Although the foregoing describing the detailed description of the invention of the present invention, but those skilled in the art should managing
Solving, these are merely illustrative of, and protection scope of the present invention is defined by the appended claims.This
The technical staff in field, can be to these embodiment party on the premise of without departing substantially from the principle of the present invention and essence
Formula makes various changes or modifications, but these changes and amendment each fall within protection scope of the present invention.
Claims (9)
1. the device controlling The Cloud Terrace, it is characterised in that include a controller, an IMU, at least
One motor and at least one encoder, described The Cloud Terrace is installed with a picture pick-up device, and described IMU is used for obtaining
Taking the attitude of described The Cloud Terrace and send an attitude signal to described controller, described motor is used for driving described
The Cloud Terrace moves, and described encoder is for detecting the corner of described motor and sending a feedback to described controller
Signal, described controller is for obtaining one for characterizing the targeted attitude letter of the targeted attitude of described The Cloud Terrace
Exporting a correction signal according to described attitude signal and described feedback signal after number, described motor is according to described
Correction signal adjusts the attitude of described The Cloud Terrace.
2. the device controlling The Cloud Terrace as claimed in claim 1, it is characterised in that the number of described motor
Amount is 3, and the quantity of described encoder is 3, and 3 motors are separately positioned on the mutual of described The Cloud Terrace
On three vertical direction of principal axis, to adjust described The Cloud Terrace athletic posture on three direction of principal axis.
3. the device controlling The Cloud Terrace as claimed in claim 2, it is characterised in that wherein on an axle
Being provided with a slip ring in motor, the encoder of the corner that detection is provided with the motor of described slip ring is photoelectric encoder,
The encoder of the corner detecting the motor on two other axle is magnetism encoder.
4. the device controlling The Cloud Terrace as claimed in claim 1, it is characterised in that described control The Cloud Terrace
Device also include that a temperature sensor and adds thermal resistance, described in add thermal resistance for making described IMU
Interior gyroscope keeps stationary temperature, and described temperature sensor is for detecting the temperature of described gyroscope also
Sending a temperature signal to described controller, described controller is by sharing a letter with described temperature sensor
The mode of number line sends a signal of telecommunication to described IMU, described IMU according to the described signal of telecommunication make described in add
Thermal resistance is turned on or off.
5. the device controlling The Cloud Terrace as described in any one in claim 1-4, it is characterised in that
The device of described control The Cloud Terrace also includes a receiver, and described controller obtains outside by described receiver
Transmitter launch targeted attitude signal.
6. the device controlling The Cloud Terrace as described in any one in claim 1-4, it is characterised in that
Described targeted attitude signal is the signal preset in described controller.
7. the device controlling The Cloud Terrace as claimed in claim 5, it is characterised in that described controller leads to
Cross an order wire and an aircraft connects.
8. the device controlling The Cloud Terrace as described in any one in claim 1-4, it is characterised in that
Described controller is connected by an order wire and a hand-held support.
9. a clouds terrace system, it is characterised in that include as described in any one in claim 1-8
Control the device of The Cloud Terrace and The Cloud Terrace therein.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510163564.1A CN106155105A (en) | 2015-04-08 | 2015-04-08 | Control device and the clouds terrace system of The Cloud Terrace |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510163564.1A CN106155105A (en) | 2015-04-08 | 2015-04-08 | Control device and the clouds terrace system of The Cloud Terrace |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106155105A true CN106155105A (en) | 2016-11-23 |
Family
ID=57335483
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510163564.1A Pending CN106155105A (en) | 2015-04-08 | 2015-04-08 | Control device and the clouds terrace system of The Cloud Terrace |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106155105A (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107074348A (en) * | 2016-12-30 | 2017-08-18 | 深圳市大疆创新科技有限公司 | Control method, device, equipment and unmanned vehicle |
| CN107315340A (en) * | 2017-05-27 | 2017-11-03 | 中国科学院上海技术物理研究所 | It is a kind of that the steady as device and control method of feedback is measured based on micro electromechanical IMU |
| CN108279708A (en) * | 2017-12-31 | 2018-07-13 | 深圳市秦墨科技有限公司 | A kind of holder automatic calibrating method, device and holder |
| CN108287799A (en) * | 2017-12-28 | 2018-07-17 | 深圳科瑞技术股份有限公司 | A kind of AGT data coupling process realized based on serial communication |
| CN108427407A (en) * | 2017-02-13 | 2018-08-21 | 昊翔电能运动科技(昆山)有限公司 | Cloud platform control method, cloud platform control system and tripod head equipment |
| CN108513651A (en) * | 2017-06-27 | 2018-09-07 | 深圳市大疆灵眸科技有限公司 | Hand-held cradle head device and its control method and computer readable storage medium |
| WO2018184467A1 (en) * | 2017-04-06 | 2018-10-11 | 亿航智能设备（广州）有限公司 | Method and device for detecting posture of ball head |
| CN108700252A (en) * | 2017-04-21 | 2018-10-23 | 深圳市大疆灵眸科技有限公司 | The control method and holder of holder |
| CN109542125A (en) * | 2018-11-21 | 2019-03-29 | 东南大学 | A kind of laser aid measuring unmanned aerial vehicle onboard camera vibration |
| WO2019084709A1 (en) * | 2017-10-30 | 2019-05-09 | 深圳市大疆创新科技有限公司 | Method for controlling pan-tilt head, pan-tilt head, control system, and movable device |
| WO2020220232A1 (en) * | 2019-04-30 | 2020-11-05 | 深圳市大疆创新科技有限公司 | Camera mount simulation control method and device, apparatus, and computer storage medium |
| CN112462807A (en) * | 2019-09-06 | 2021-03-09 | 中国科学院长春光学精密机械与物理研究所 | Conductive slip ring position control method, control device and computer readable storage medium |
| WO2022105291A1 (en) * | 2020-11-17 | 2022-05-27 | 四川鼎鸿智电装备科技有限公司 | Construction machinery motion attitude control method and apparatus, device, and storage medium |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110264427A1 (en) * | 2009-10-26 | 2011-10-27 | U.S. Government As Represented By The Secretary Of The Army | Calibration and Synchronization of Micro Air Vehicle Autopilots |
| CN102230801A (en) * | 2011-03-30 | 2011-11-02 | 北京航空航天大学 | Light-type triaxial ISP (inertially stabilized platform) system using aerial remote sensing technology |
| CN102420975A (en) * | 2011-11-01 | 2012-04-18 | 上海海事大学 | Anti-swaying device and method of sea-wrecking searching system |
-
2015
- 2015-04-08 CN CN201510163564.1A patent/CN106155105A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110264427A1 (en) * | 2009-10-26 | 2011-10-27 | U.S. Government As Represented By The Secretary Of The Army | Calibration and Synchronization of Micro Air Vehicle Autopilots |
| CN102230801A (en) * | 2011-03-30 | 2011-11-02 | 北京航空航天大学 | Light-type triaxial ISP (inertially stabilized platform) system using aerial remote sensing technology |
| CN102420975A (en) * | 2011-11-01 | 2012-04-18 | 上海海事大学 | Anti-swaying device and method of sea-wrecking searching system |
Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107074348A (en) * | 2016-12-30 | 2017-08-18 | 深圳市大疆创新科技有限公司 | Control method, device, equipment and unmanned vehicle |
| WO2018120132A1 (en) * | 2016-12-30 | 2018-07-05 | 深圳市大疆创新科技有限公司 | Control method, device, and apparatus, and unmanned aerial vehicle |
| US11703886B2 (en) | 2016-12-30 | 2023-07-18 | SZ DJI Technology Co., Ltd. | Control method, apparatus, and device, and UAV |
| US11216013B2 (en) | 2016-12-30 | 2022-01-04 | SZ DJI Technology Co., Ltd. | Control method, apparatus, and device, and UAV |
| CN107074348B (en) * | 2016-12-30 | 2021-06-15 | 深圳市大疆创新科技有限公司 | Control method, device and equipment and unmanned aerial vehicle |
| CN108427407B (en) * | 2017-02-13 | 2021-03-05 | 昊翔电能运动科技(昆山)有限公司 | Holder control method, holder control system and holder equipment |
| CN108427407A (en) * | 2017-02-13 | 2018-08-21 | 昊翔电能运动科技(昆山)有限公司 | Cloud platform control method, cloud platform control system and tripod head equipment |
| WO2018184467A1 (en) * | 2017-04-06 | 2018-10-11 | 亿航智能设备（广州）有限公司 | Method and device for detecting posture of ball head |
| WO2018191964A1 (en) * | 2017-04-21 | 2018-10-25 | 深圳市大疆灵眸科技有限公司 | Camera mount control method, and camera mount |
| CN108700252A (en) * | 2017-04-21 | 2018-10-23 | 深圳市大疆灵眸科技有限公司 | The control method and holder of holder |
| CN108700252B (en) * | 2017-04-21 | 2020-02-21 | 深圳市大疆灵眸科技有限公司 | Control method of holder and holder |
| CN107315340A (en) * | 2017-05-27 | 2017-11-03 | 中国科学院上海技术物理研究所 | It is a kind of that the steady as device and control method of feedback is measured based on micro electromechanical IMU |
| WO2019000239A1 (en) * | 2017-06-27 | 2019-01-03 | 深圳市大疆灵眸科技有限公司 | Handheld pan-tilt device, control method therefor and computer readable storage medium |
| CN108513651A (en) * | 2017-06-27 | 2018-09-07 | 深圳市大疆灵眸科技有限公司 | Hand-held cradle head device and its control method and computer readable storage medium |
| WO2019084709A1 (en) * | 2017-10-30 | 2019-05-09 | 深圳市大疆创新科技有限公司 | Method for controlling pan-tilt head, pan-tilt head, control system, and movable device |
| CN108287799A (en) * | 2017-12-28 | 2018-07-17 | 深圳科瑞技术股份有限公司 | A kind of AGT data coupling process realized based on serial communication |
| CN108279708B (en) * | 2017-12-31 | 2021-08-27 | 深圳市越疆科技有限公司 | Automatic cradle head calibration method and device and cradle head |
| CN108279708A (en) * | 2017-12-31 | 2018-07-13 | 深圳市秦墨科技有限公司 | A kind of holder automatic calibrating method, device and holder |
| CN109542125A (en) * | 2018-11-21 | 2019-03-29 | 东南大学 | A kind of laser aid measuring unmanned aerial vehicle onboard camera vibration |
| CN109542125B (en) * | 2018-11-21 | 2021-06-25 | 东南大学 | Laser device for measuring vibration of airborne camera of unmanned aerial vehicle |
| WO2020220232A1 (en) * | 2019-04-30 | 2020-11-05 | 深圳市大疆创新科技有限公司 | Camera mount simulation control method and device, apparatus, and computer storage medium |
| CN112462807A (en) * | 2019-09-06 | 2021-03-09 | 中国科学院长春光学精密机械与物理研究所 | Conductive slip ring position control method, control device and computer readable storage medium |
| CN112462807B (en) * | 2019-09-06 | 2022-03-22 | 中国科学院长春光学精密机械与物理研究所 | Conductive slip ring position control method, control device and computer readable storage medium |
| WO2022105291A1 (en) * | 2020-11-17 | 2022-05-27 | 四川鼎鸿智电装备科技有限公司 | Construction machinery motion attitude control method and apparatus, device, and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204650286U (en) | Control device and the clouds terrace system of The Cloud Terrace | |
| CN106155105A (en) | Control device and the clouds terrace system of The Cloud Terrace | |
| US11106118B2 (en) | Motor, gimbal having the motor, and image capturing device having the gimbal | |
| US10666868B2 (en) | Fast attitude error correction | |
| US11930273B2 (en) | Vibration damping gimbal sleeve for an aerial vehicle | |
| US9458963B1 (en) | 360-degree gimbal system | |
| US20160327389A1 (en) | Calibration Transfer Between Two Devices | |
| CN203557388U (en) | Target pose obtaining mechanism target grabbing system of explosive-handling robot | |
| CN111742544A (en) | Modular image capture system | |
| US10150576B2 (en) | Vibration damping gimbal sleeve for an aerial vehicle | |
| CN204372480U (en) | Three axles are dynamically from steady The Cloud Terrace | |
| CN108443680B (en) | Mobile device, mobile device control system and control method | |
| CN108235702A (en) | A kind of holder, unmanned plane and its control method | |
| US20200256506A1 (en) | Method for controlling gimbal, gimbal, control system, and movable device | |
| CN108762324A (en) | Horizontal stage electric machine angle and angular speed evaluation method, device, holder and aircraft | |
| US20170227831A1 (en) | Motor and gimbal having the same | |
| EP3118508B1 (en) | Control method for pan tilt and control system of pan tilt | |
| CN108427407A (en) | Cloud platform control method, cloud platform control system and tripod head equipment | |
| CN110132309B (en) | Calibration method of rocker arm inertia/vision combined attitude determination device of coal mining machine | |
| CN104158378A (en) | Motor module and stabilizer with same | |
| CN105045293A (en) | Cradle head control method, external carrier control method and cradle head | |
| WO2021037047A1 (en) | Yaw angle correction method and apparatus for aircraft, and aircraft | |
| CN206975509U (en) | A kind of airborne three axles clouds terrace system | |
| CN108438244A (en) | A kind of airborne aerial device and the unmanned plane containing it | |
| KR102476705B1 (en) | Device of driving camera, driving method thereof and jimbal apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161123 |