CN107883122A - Handle head and its control method - Google Patents
Handle head and its control method Download PDFInfo
- Publication number
- CN107883122A CN107883122A CN201711309169.5A CN201711309169A CN107883122A CN 107883122 A CN107883122 A CN 107883122A CN 201711309169 A CN201711309169 A CN 201711309169A CN 107883122 A CN107883122 A CN 107883122A
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- Prior art keywords
- handle
- bracing strut
- load
- translation
- handle head
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- 238000000034 method Methods 0.000 title claims abstract description 38
- 230000001965 increasing effect Effects 0.000 claims abstract description 46
- 230000003028 elevating effect Effects 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims description 3
- 230000008034 disappearance Effects 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 1
- 230000000694 effects Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B17/00—Details of cameras or camera bodies; Accessories therefor
- G03B17/56—Accessories
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Accessories Of Cameras (AREA)
- Prostheses (AREA)
- Studio Devices (AREA)
Abstract
The present invention provides a kind of handle head and its control method.The handle head includes handle, the steady component of increasing for being installed on described handle one end, the posture acquisition element and controller for being arranged at the load increased on steady component and being arranged on the handle or the steady component of increasing.The posture obtains the attitude information that element is used to obtain the handle.The controller is used to receive the attitude information acquired in the posture acquisition element, and according to the attitude information control load automatically into the pattern corresponding with the posture of the handle.The handle head of the present invention can support user to use different grips in use, and be applied to different usage scenarios, alleviate the usage experience for using fatigue, optimizing user of user.
Description
The application is to submit Patent Office of the People's Republic of China, Application No. 201510630919.3, invention name on 09 29th, 2015
The referred to as divisional application of the Chinese patent application of " handle head and its control method ".
Technical field
The present invention relates to cradle head control technical field, more particularly to a kind of handle head and its control method.
Background technology
Handle head compact, it is easy to carry, small-sized filming apparatus, such as video camera, camera, intelligence can be installed
Can mobile phone etc., and control filming apparatus to be maintained in the posture of determination while immediate stability can be reached when being shot on the move
Effect.In order to obtain good picture of finding a view, usually require to be controlled head posture when shooting using head.However, mesh
The head that the handle head of preceding in the market only provides horizontal direction increases surely, i.e., existing handle head only supports a kind of gripping appearance
Gesture, user only just can ensure that head normal use according to correct grip.If user's grip is incorrect, have very much
Head operation irregularity may be caused, do not work even damage head.In addition, if only a kind of grip, user can not bases
Different usage scenarios adjusts grip, also can not just use the increasing steady function of head carry out other directions, such as erect
The shooting of direction or upside down orientation etc., so as to be brought inconvenience to shooting.
The content of the invention
In view of this, it is necessary to a kind of handle head and its control method are proposed, to solve the above problems.
A kind of handle head, the handle head include handle, the steady component of increasing for being installed on described handle one end and setting
In the load increased on steady component, the handle head also includes：
Posture obtains element, is arranged at the handle or increases on steady component, and obtains the attitude information of the handle；And
Controller, it is arranged at the handle or increases on steady component, and controls the load and the steady component of increasing；
Wherein, the controller receives the attitude information acquired in the posture acquisition element, and is believed according to the posture
The breath control load is automatically into the pattern corresponding with the posture of the handle.
Further, the load is filming apparatus.
Further, the steady component of increasing includes at least one support for being rotatably connected at the handle, described negative
Load is arranged on the support and supported by the support.
Further, the controller controls the use pattern of the handle head more always according to the attitude information
Switch between individual use pattern.
Further, multiple use patterns of the handle head include the first use pattern, and the controller is described
Handle head controls the handle head to enter the first use pattern when being under open state, the handle head is described
Erectility is in when under one use pattern.
Further, under first use pattern, the lens direction of the load loads what is obtained with described
The direction of picture is consistent.
Further, multiple use patterns of the handle head also include other use patterns, when the handle head
Handle with respect to the first use pattern lower handle position and/or described increase steady component with respect to increasing steady component under the first use pattern
Position rotate predetermined angle after, the controller controls the handle head to enter other use patterns.
Further, the steady component of increasing includes pitching bracing strut, and the load is arranged on the pitching bracing strut, when
The handle is more than 45 degree and less than after 135 degree around pitch axes, and the controller control handle head is into second
Use pattern.
Further, the handle head is in the state that couches under second use pattern.
Further, under second use pattern, the lens direction of the load loads what is obtained with described
The direction of picture is consistent.
Further, the handle head also includes the Schema control key being arranged on the handle, the Schema control
Key is used to trigger the camera lens direction loaded described in the controller lock.
Further, the controller is used for the camera lens direction for obtaining the load of locking, and in the handle head
During entering second use pattern under the locked state of camera lens direction of the load, the pitch axis branch is controlled
Frame rotates, to keep the camera lens of the load towards constant.
Further, under second use pattern, camera lens direction and the angle between the handle of the load
Less than 45 degree.
Further, the roll bracing strut and pitching bracing strut for increasing steady component and including being rotatablely connected, the load are set
It is placed on the pitching bracing strut, after the handle is rotated more than 135 degree around pitch axis or roll axle and is less than 225 degree, institute
Stating controller controls the handle head to enter the 3rd use pattern.
Further, the handle head is in inversion state under the 3rd use pattern.
Further, under the 3rd use pattern, the lens direction of the load loads what is obtained with described
The angle in the direction of picture is 180 degree.
Further, the deviation range of the angle is positive and negative 45 degree.
Further, when the handle head enters three use patterns or after the 3rd use pattern of entrance, if described
Angle is less than 180 degree, then the controller controls the pitching bracing strut or roll bracing strut to rotate, and reaches the angle
180 degree, that is, the lens direction of the load is caused to load the in opposite direction of the picture to be obtained, and the controller with described
The picture automatic turning 180 degree for controlling the load to obtain.
Further, the roll bracing strut and pitching bracing strut for increasing steady component and including being rotatablely connected, the load are set
It is placed on the pitching bracing strut, the controller is used for when the handle is rotated more than 45 degree and less than 135 degree around roll axle
Afterwards, the handle head is controlled to enter the 4th use pattern.
Further, the handle head is in state of lying on one's side under the 4th use pattern.
Further, under the 4th use pattern, the lens direction of the load loads what is obtained with described
The angle in the direction of picture is 90 degree.
Further, the deviation range of the angle is positive and negative 45 degree.
Further, the controller is used for when the handle head enters four use patterns or entered the 4th and uses
After pattern, if the angle is less than 90 degree, control the roll bracing strut to rotate, the lens direction of the load is born with described
The direction of the load picture to be obtained is vertical, and the picture for controlling the load to obtain is rotated by 90 ° automatically.
Further, under the 4th use pattern, the screening-mode of the camera lens of the load is perpendicular bat pattern.
Further, described to increase steady component also including translating bracing strut and pitching bracing strut, the load is arranged at described
On pitching bracing strut, described translation bracing strut one end is rotatably connected at the handle, the other end and the pitching bracing strut
Connection, the controller are used in the case where the handle head is in specific use pattern, when the translation bracing strut or translation shaft
When support and the relatively described handle of pitching bracing strut turn an angle, the lens direction of the load and the load institute are controlled
The angle in the direction for the picture to be obtained changes.
Further, the posture obtains element and is used to obtain the translation bracing strut or translation bracing strut and pitch axis branch
The angle that frame rotates relative to the handle, if the angle that the controller is used for the rotation is more than or equal to predetermined threshold value,
The lens direction and the angle in the direction of the load picture to be obtained for controlling the load change 90 degree.
Further, the steady component of increasing also includes roll bracing strut, described roll bracing strut one end is rotatably coupled
In the translation bracing strut, the other end is rotatably connected at the pitching bracing strut, and it is each that the posture obtains element acquisition
Relative rotation angle between support, if the controller is used for the translation bracing strut or translation bracing strut and pitching bracing strut
Remaining stents relatively rotate during rotation, then when on the translation bracing strut or translation bracing strut and pitching bracing strut
After suffered rotation driving force disappears, the translation bracing strut or translation bracing strut and the revolution of pitching bracing strut are controlled.
Further, the posture obtains element and is used to obtain the translation bracing strut or translation bracing strut and pitch axis branch
The angle that frame rotates relative to the handle, it is described if the angle that the controller is used for the rotation is less than predetermined threshold value
After translating bracing strut or translating rotation driving force disappearance suffered on bracing strut and pitching bracing strut, the translation bracing strut is controlled
Or translation bracing strut and the revolution of pitching bracing strut, make the lens direction of the load and the side for loading the picture to be obtained
To angle revert to angle under proterotype.
Further, the predetermined threshold value is 90 degree.
Further, the handle head also includes Schema control key, and the controller is used to work as the Schema control key
During by predetermined push action, the handle head is controlled to enter predetermined posture.
Further, when the Schema control key is pressed three times, the controller controls the handle head to enter
5th use pattern.
Further, the camera lens that is loaded described in the 5th use pattern towards with described in first use pattern
The camera lens of load is towards conversely.
Further, the 5th use pattern is self-timer mode, and control-rod is additionally provided with the handle of the handle head,
The camera lens of the load is towards the side that the control-rod is provided with the handle under 5th use pattern.
Further, when the Schema control key is pressed twice, the controller controls the appearance for increasing steady component
State is adjusted to posture of starting shooting.
Further, the controller passes through the camera lens direction for increasing the steady component control load, making the load
It is vertical with the handle.
Further, the described roll for increasing pitching bracing strut of the steady component including control elevating movement, controlling roll motion
Bracing strut and the translation bracing strut for controlling translational motion, one end of the pitching bracing strut are rotatably connected at described bear
Carry, the other end is rotatably connected at one end of the roll bracing strut, and the other end of the roll bracing strut rotationally connects
One end of the translation bracing strut is connected to, the other end of the translation bracing strut is rotatably connected at the handle.
Further, the attitude information of the handle be the posture obtain element obtain the handle around pitch axis,
Roll axle or the angle of translation shaft rotation.
Further, the handle head also includes control-rod, the control-rod and each support for increasing steady component
It is electrically connected, the control is sent for receiving the operation of user and generating corresponding control instruction, and to corresponding support
Instruction；Each support responds the control instruction received and rotated clockwise or counterclockwise respectively, so as to realize respective party
To adjustment, the load is obtained the video and/or picture at corresponding visual angle.
Further, the handle of the handle head includes grip part and the operating portion being connected with the grip part, described
Control-rod is on the operating portion.
Further, it is at least one of Inertial Measurement Unit, turn meter and potentiometer that the posture, which obtains element,.
Further, the handle is hollow cavity, and battery compartment is provided with cavity, for installing battery, so as to be institute
State the power supply of handle head.
A kind of handle cloud platform control method, for controlling handle head as described above, the handle head include handle,
It is installed on the steady component of increasing of described handle one end and is arranged at the load increased on steady component, methods described includes step：
Obtain the attitude information of the handle；And
According to the attitude information control load automatically into the pattern corresponding with the posture of the handle.
Further, the load is camera device.
Further, the handle cloud platform control method also includes step：The handle is controlled according to the attitude information
The use pattern of head switches between multiple use patterns.
Further, multiple use patterns of the handle head include the first use pattern, described according to the posture
The step of information controls the use pattern of the handle head to switch between multiple use patterns includes：
The handle head is controlled to enter the first use pattern, the hand when the handle head is under open state
Erectility is in when handle head is under first use pattern.
Further, under first use pattern, the lens direction of the load loads what is obtained with described
The direction of picture is consistent.
Further, multiple use patterns of the handle head also include other use patterns, described according to the appearance
The step of state information controls the use pattern of the handle head to switch between multiple use patterns also includes：
It is relative with respect to the position of the first use pattern lower handle and/or the steady component of increasing in the handle of the handle head
After the position rotation predetermined angle for increasing steady component under first use pattern, the handle head is controlled to enter other use patterns.
Further, the step of control handle head enters other use patterns includes：When the handle around
After pitch axes are more than 45 degree and are less than 135 degree, the handle head is controlled to enter the second use pattern.
Further, the handle head is in the state that couches under second use pattern.
Further, under second use pattern, the lens direction of the load loads what is obtained with described
The direction of picture is consistent.
Further, the handle head also includes the Schema control key being arranged on the handle, the handle head
Control method also includes step：Rotate the handle head with enter the second use pattern when, press the Schema control key with
Lock the camera lens direction of the load.
Further, the step of control handle head enters other use patterns includes：Obtain the institute of locking
The camera lens direction of load is stated, and enters second under camera lens direction locked state of the handle head in the load and uses
During pattern, the load is controlled around pitch axes, to keep the camera lens of the load towards constant.
Further, under second use pattern, the camera lens direction of the load is small with the angle between the handle
In 45 degree.
Further, the roll bracing strut and pitching bracing strut for increasing steady component and including being rotatably coupled, the control
Making the step of handle head enters other use patterns includes：It is more than when the handle rotates around pitch axis or roll axle
135 degree and less than after 225 degree, the handle head is controlled to enter the 3rd use pattern.
Further, the handle head is in inversion state under the 3rd use pattern.
Further, under the 3rd use pattern, the lens direction of the load loads what is obtained with described
The angle in the direction of picture is 180 degree.
Further, the deviation range of the angle is positive and negative 45 degree.
Further, the step of control handle head enters other use patterns also includes：When the handle
When head enters three use patterns or after entering the 3rd use pattern, if the angle is less than 180 degree, the load is controlled
Rotated around pitch axis or roll axle, the angle is reached 180 degree, that is, cause the lens direction of the load and the load institute
The picture automatic turning 180 degree in opposite direction, and controlling the load to obtain for the picture to be obtained.
Further, the steady component of increasing includes roll bracing strut and pitching bracing strut, and the load is arranged at described bow
Face upward on bracing strut, described the step of controlling the handle head to enter other use patterns includes：When the handle is around roll axle
Rotate after being more than 45 degree and being less than 135 degree, control the handle head to enter the 4th use pattern.
Further, the handle head is in state of lying on one's side under the 4th use pattern.
Further, under the 4th use pattern, the lens direction of the load loads what is obtained with described
The angle in the direction of picture is 90 degree.
Further, the deviation range of the angle is positive and negative 45 degree.
Further, the step of control handle head enters other use patterns includes：When the handle cloud
When platform enters four use patterns or after entering the 4th use pattern, if the angle is less than 90 degree, control it is described load around
Roll axle rotates, and makes the lens direction of the load vertical with the direction of the load picture to be obtained, and described in control
The picture that load obtains is rotated by 90 ° automatically.
Further, under the 4th use pattern, the screening-mode of the camera lens of the load is perpendicular bat pattern.
Further, the handle head also includes translation bracing strut and pitching bracing strut, and the load is arranged at described
On pitching bracing strut, described translation bracing strut one end is rotatably connected at the handle, the other end and the pitching bracing strut
Connection, the handle cloud platform control method also include step：In the case where the handle head is in specific use pattern, when the hand
The translation bracing strut or the handle of translation bracing strut and the relatively described handle head of pitching bracing strut of handle head turn an angle
When, change the lens direction of the load and the angle in the direction of the load picture to be obtained.
Further, described handle cloud platform control method also includes step：Obtain the translation bracing strut or translation shaft
The angle that support and pitching bracing strut rotate relative to the handle, if the angle of the rotation is more than or equal to predetermined threshold value,
The lens direction and the angle in the direction of the load picture to be obtained for controlling the load change 90 degree.
Further, the steady component of increasing also includes roll bracing strut, and described roll bracing strut one end is rotatably coupled
In the translation bracing strut, the other end is rotatably connected at the pitching bracing strut, and the handle cloud platform control method also wraps
Include step：The rotational angle between each support of the handle head is monitored, if in the translation bracing strut or translation shaft branch
Remaining stents relatively rotate during frame and pitch axis holder pivots, then when the translation bracing strut or translation bracing strut
After being disappeared with rotation driving force suffered on pitching bracing strut, the translation bracing strut or translation bracing strut and pitch axis branch are controlled
Frame turns round.
Further, the handle cloud platform control method also includes step：Monitor the translation relatively described hand of bracing strut
The angle that handle rotates, if the translation bracing strut or translation bracing strut and pitching bracing strut are small relative to the angle that the handle rotates
In predetermined threshold value, then when rotation driving force suffered on the translation bracing strut or translation bracing strut and pitching bracing strut disappears
Afterwards, the translation bracing strut or translation bracing strut and the revolution of pitching bracing strut are controlled, make the lens direction of the load with it is described
The angle in the direction of the load picture to be obtained reverts to the angle under proterotype.
Further, the predetermined threshold value is 90 degree.
Further, the handle head also includes Schema control key, and the handle cloud platform control method also includes step：
When the Schema control key of the handle head is by predetermined push action, the handle head is controlled to enter predetermined posture.
Further, the handle cloud platform control method also includes step：When the Schema control key is pressed three times,
The handle head is controlled to enter the 5th use pattern.
Further, the camera lens that is loaded described in the 5th use pattern towards with described in first use pattern
The camera lens of load is towards conversely.
Further, the 5th use pattern is self-timer mode.
Further, the handle cloud platform control method also includes step：When the Schema control key is pressed twice,
The pose adjustment for increasing steady component is controlled to start posture.
Further, obtaining the attitude information of the handle includes following at least one：The handle is obtained around pitch axis
The angle of rotation, obtain the angle that the angle, the acquisition handle that the handle rotate around roll axle rotate around translation shaft.
Relative to prior art, handle head of the invention can according to the attitude information of handle control load automatically into
The corresponding pattern of the posture of the handle, so as to support user to use different grips in use, and it is applicable
In different usage scenarios, alleviate the usage experience for using fatigue, optimizing user of user, additionally can control described in being installed on
The direction of the shooting picture of load on handle head is to optimize shooting effect.
Brief description of the drawings
Fig. 1 is the stereogram when handle head of the embodiment of the present invention is in the first use pattern.
Fig. 2 is another angular views when Fig. 1 handle head is in the first use pattern.
Fig. 3 is the functional block diagram of Fig. 1 handle head.
Fig. 4 is a kind of stereogram of embodiment when Fig. 1 handle head is in the second use pattern.
Fig. 5 is the stereogram of another embodiment when Fig. 1 handles head is in the second use pattern.
Fig. 6 is stereogram when Fig. 1 handle head is in three use patterns.
Fig. 7 is another angular views when Fig. 6 handle head is in three use patterns.
Fig. 8 is another angular views when Fig. 6 handle head is in three use patterns.
Fig. 9 is stereogram when Fig. 1 handle head is in four use patterns.
Figure 10 is another angular views when Fig. 9 handle head is in four use patterns.
Figure 11 is stereogram when Fig. 1 handle head is in five use patterns.
Figure 12 is a kind of schematic flow sheet of handle cloud platform control method of the embodiment of the present invention.
Figure 13 is the refinement schematic flow sheet of the embodiment of step 1,203 one in Figure 12.
Main element symbol description
Handle head 100
Handle 20
Grip part 21
Operating portion 22
Increase steady component 30
Pitching bracing strut 31
Roll bracing strut 32
Translate bracing strut 33
First linking arm 34
Second linking arm 35
Control-rod 41
Schema control key 42
Posture obtains element 43
Controller 44
Load 200
Step 1201-1203,1301-1302
Following embodiment will combine above-mentioned accompanying drawing and further illustrate the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
As shown in figure 1, provide a kind of handle head 100 in an embodiment of the present invention, including handle 20, be installed on it is described
The steady component 30 of increasing of the one end of handle 20 and the load 200 being arranged on the steady component 30 of increasing.In the present embodiment, it is described negative
It is filming apparatus to carry 200, such as high-resolution digital camera, optical camera etc..It is described to increase steady component 30 including at least one
The support of the handle 20 is rotatably connected at, the load 200 is arranged on the support and supported by the support.
In the present embodiment, it is described to increase pitching bracing strut 31 of the steady component 30 including control elevating movement, control roll
The roll bracing strut 32 of motion and the translation bracing strut 33 for controlling translational motion.Wherein, one end of the pitching bracing strut 31
The load 200 is rotatably connected at, the other end is rotatably connected at the roll bracing strut by the first linking arm 34
32 one end, as shown in Fig. 2 the other end of the roll bracing strut 32 be rotatably connected at by the second linking arm 35 it is described
One end of bracing strut 33 is translated, the other end of the translation bracing strut 33 is rotatably connected at the handle 20.
In the present embodiment, the handle head 100 further comprises control-rod 41, the control-rod 41 and the increasing
Each support 31,32 and 33 of steady component 30 is electrically connected, and is received the operation of user and generated corresponding control instruction, and
The control instruction is sent to corresponding support 31,32 or 33.Each support 31,32 or 33 responds the control received respectively
System is instructed and rotated clockwise or counterclockwise, and so as to realize the adjustment of respective direction, and then realizes the direction control of the load 200
System, the load 200 is set to obtain the video and/or picture at corresponding visual angle.
In the present embodiment, the handle 20 of the handle head 100 includes grip part 21 and connected with the grip part 21
The operating portion 22 connect, the control-rod 41 is on the operating portion 22, in order to which user is gripping the grip part 21 naturally
When operate the control-rod 41.
In the present embodiment, the handle head 100 further comprises the Schema control being arranged on the handle 20
Key 42.In the present embodiment, the Schema control key 42 located at the operating portion 22 back to the side of the control-rod 41, with
It is easy to user to operate the Schema control key 42 when gripping naturally.It is appreciated that the Schema control key 42 can also with it is described
Control-rod 41 is arranged at the same side, convenient for the user to operate.
As shown in figure 3, the handle head 100 further comprises that posture obtains element 43 and controller 44.In this reality
Apply in mode, the controller 44 is arranged at the handle 20 or increased on steady component 30, and with the Schema control key 42 and
The posture obtains element 43 and connected respectively.In the present embodiment, the Schema control key 42 is used to trigger the controller
The direction of the camera lens of the 44 lockings load 200.In the present embodiment, when pressing the Schema control key 42 with described in locking
Load 200 camera lens towards when, it is described load 200 shooting direction remain towards assigned direction.When the release pattern
During operating key 42, the shooting direction of the load 200 follows the rotation of the handle 20 and rotated.
Specifically, when the camera lens of the load 200 is towards front, Schema control key 42 and rotational handle 20 are pressed, then
During the handle 20 rotates, 200 camera lens is loaded all the time towards front, relative turn is produced between load and handle 20
It is dynamic.If decontroling Schema control key 42 and rotational handle 20, it is motionless to load 200 opposite handles 20, i.e., with the handle 20 1
With rotation.
The posture obtains element 43 and is arranged at the handle 20 or increases on steady component 30, and obtains the appearance of the handle 20
State information.In the present embodiment, the posture obtains element 43 and obtains the handle 20 respectively around pitch axis P (such as Fig. 1 institutes
Show), the angle of roll axle R or translation shaft Y rotations (as shown in Figure 2), so as to draw the attitude information of the handle 20.In this reality
Apply in mode, it can be at least one of Inertial Measurement Unit, turn meter and potentiometer that the posture, which obtains element 43,.Can be with
Understanding, the number of the posture acquiring unit 43 can be one, can also be multiple, can be the sensor of single kind,
It can also be the sensor of multiple species, may be provided at handle 20 and/or increase the diverse location of steady component 30.
It is appreciated that the action bars 41 and the Schema control key 42 may also be arranged on other portions in addition to handle 20
Part, it is 200 first-class such as to increase steady component 30, load；Also can one be located on handle 20, another is located in other elements.
The load 200 can also be the other equipment in addition to camera device, such as laser scanner, CT scanner, swash
Light gun etc..
In the present embodiment, the controller 44, which can control the steady component 30 of the increasing and receive the posture, obtains member
Attitude information acquired in part 43, and according to the attitude information control it is described load 200 automatically into the handle 20
The corresponding pattern of posture.
In the present embodiment, the controller 44 controls making for the handle head 100 always according to the attitude information
Switched with pattern between multiple use patterns.In the present embodiment, the multiple use pattern comprise at least first and second,
3rd, four, five use pattern.
In the present embodiment, the controller 44 handle when the handle head 100 is under open state
Head 100 is the first use pattern.As shown in Figure 1-2, in the present embodiment, the handle head 100 makes described first
Erectility is in during with pattern, it is specifically, described to increase steady component 30 positioned at the top of handle 20.Used described first
The camera lens direction of the load 200 under pattern is vertical with the handle 20, and is provided with the control-rod back to the handle 20
41 side, i.e. the camera lens is directed away from the direction of user.
In the present embodiment, under first use pattern, the lens direction of the load 200 and the load
The direction of 200 pictures to be obtained is consistent, i.e., upright effect is presented in the video and/or photo captured by described load 200.Its
In, camera lens direction of the present invention and lens direction are different, and camera lens is towards the direction referred to where the axis of camera lens, and mirror
Head direction is then the direction of camera lens in itself.
In the present embodiment, when the position of the relative first use pattern lower handle 20 of the handle 20 of the handle head 100
Put after rotating predetermined angle, the controller 44 controls the handle head 100 to enter other use patterns.
In the present embodiment, after the handle 20 is rotated more than 45 degree around pitch axis P and is less than 135 degree, such as Fig. 4 institutes
Show, the controller 44 controls the handle head 100 to be in the second use pattern.Wherein, the handle head 100 is described
In the state that couches, lens direction and 200 pictures to be obtained of the load of the load 200 under second use pattern
Direction is consistent.
In one embodiment, as shown in figure 4, when the handle 20 when the Schema control key 42 is not pressed around
Pitch axis P is rotated, and after the handle head 100 is entered second use pattern, the camera lens of the load 200 towards with
Rotated with the rotation of the handle 20, i.e. the controller 44 passes through the mirror for increasing steady component 30 and controlling the load 200
Head direction is vertical with the handle 20.
In another embodiment, as shown in figure 5, when rotating the handle 20 to enter the second use pattern, institute
Schema control key 42 is stated to be pressed and trigger the camera lens direction that the controller 44 locks the load 200.The controller 44
Obtain the camera lens direction of the load 200 of locking, and the handle head 100 the load 200 camera lens towards quilt
During entering second use pattern under lock-out state, the pitching bracing strut 31 is controlled to rotate, to keep described negative
200 camera lens is carried towards constant, i.e., the camera lens of described load 200 is remained towards assigned direction, obtains torch mode.
In the another embodiment, under second use pattern, it is described load 200 camera lens towards and the handle 20 it
Between angle be less than 45 degree.
In the present embodiment, when the handle 20 is rotated more than 135 degree and less than 225 degree around pitch axis P or roll axle R
Afterwards, as shown in figs 6-8, the controller 44 controls the handle head 100 to enter the 3rd use pattern, such as inversion mode.
Wherein, the handle head 100 is in inversion state under the 3rd use pattern, the camera lens of the load 200 towards with
The handle 20 is vertical, and the lens direction and the angle in the direction of 200 pictures to be obtained of the load of the load 200 are
180 degree.
In the present embodiment, the angle can have positive and negative 45 degree of deviation range.In the present embodiment, when described
It is described if the angle is less than 180 degree during three use pattern of entrance of handle head 100 or after the 3rd use pattern of entrance
Controller 44 controls the pitching bracing strut 31 or translation bracing strut and pitching bracing strut 32 to rotate, and makes the mirror of the load 200
Head direction is in opposite direction with 200 pictures to be obtained of the load, and the controller 44 controls the load 200 to obtain
Picture automatic turning.Wherein, camera lens of the present invention is hardware in itself, it is impossible at will inverts, therefore handle 20 is inverted
When, the direction of camera lens in itself is to be put back, and now needs the controller 44 to pass through built in gyroscope etc. or filming apparatus
Application software etc. is by image turning, to be presented to one upright picture of user.
In the present embodiment, when the handle 20 around roll axle R rotate more than 45 degree and be less than 135 degree after, as Fig. 9-
Shown in 10, the controller 44 controls the handle head 100 to enter the 4th use pattern, such as perpendicular bat pattern.Wherein, it is described
Handle head 100 is under the 4th use pattern in state of lying on one's side, camera lens direction and the handle 20 of the load 200
Vertically, the lens direction of the load 200 and the angle in the direction of 200 pictures to be obtained of the load are 90 degree.
In the present embodiment, the angle can have positive and negative 45 degree of deviation range.In the present embodiment, when described
During four use pattern of entrance of handle head 100 or after the 4th use pattern of entrance, if the angle is less than 90 degree, the control
Device 44 processed controls the roll bracing strut 32 to rotate, and the lens direction and the load 200 for making the load 200 to be obtained
The direction of picture is vertical.
Under 4th use pattern, the screening-mode of the camera lens of the load 200 is perpendicular bat pattern, i.e. the load
200 pictures obtained are endways, and the picture that the controller 44 controls the load 200 to obtain is rotated by 90 ° automatically.Can
To understand, if being rotated by 90 ° picture, user sees that people or tree in picture etc. is all sidewards, as we use hand
Machine is taken pictures equally, is positive in mobile phone, but is put into when being opened inside computer with picture software, it is necessary to the clockwise or inverse time
Pin is rotated by 90 °, and turns to be presented to user exactly because mobile phone has carried out picture automatic rotary.
In the present embodiment, in the case where the handle head 100 is in specific use pattern, when the translation bracing strut 33
When relatively described handle 20 turns an angle, the controller 44 controls the lens direction of the load 200 and the load
The angle in the direction of 200 pictures to be obtained changes.Specifically, the specific use pattern is the second use pattern and the 4th
Use pattern, i.e. torch mode and perpendicular bat pattern.
In the present embodiment, the posture obtains element 43 and obtains translation relatively described 20 turns of the handle of bracing strut 33
Dynamic angle, if the angle of the rotation is more than or equal to predetermined threshold value, the controller 44 controls the mirror of the load 200
The angle in head direction and the direction of 200 pictures to be obtained of the load changes 90 degree.For example, as shown in figure 5, make second
With the translation bracing strut 33 is moved under pattern manually, the translation bracing strut 33 is set to rotate 90 degree i.e. relative to the handle 20
Torch mode can be changed into perpendicular bat pattern；Equally, perpendicular bat mode back can also be broken and turn 90 degrees, to go back to flashlight again
Pattern.Or as shown in figure 9, move the translation bracing strut 33 and pitching bracing strut 31 manually under the 4th use pattern, make
The translation bracing strut 33 and pitching bracing strut 31 rotate 90 degree relative to the handle 20 to be changed into torch by perpendicular bat pattern
Cylinder mould formula.
In the present embodiment, the posture acquisition element 43 obtains the rotational angle between each support, if described
Translation bracing strut 33 or translation bracing strut 33 and pitching bracing strut 31 rotate during remaining stents relatively rotate, then when
After the translation bracing strut 33 or the rotation driving force translated suffered by bracing strut 33 and pitching bracing strut 31 disappear, the control
Device 44 controls the translation bracing strut 33 or translation bracing strut 33 and pitching bracing strut 31 to turn round.
In the present embodiment, if the translation bracing strut 33 or translation bracing strut 33 and pitching bracing strut 31 are relatively described
The angle that handle 20 rotates is less than predetermined threshold value, then when the translation bracing strut 33 or translation bracing strut 33 and pitching bracing strut 31
After upper suffered rotation driving force disappears, the controller 44 controls the translation bracing strut 33 or translation bracing strut 33 and pitching
Bracing strut 31 turns round, and makes the lens direction of the load 200 and the angle in the direction of 200 pictures to be obtained of the load extensive
It is the angle under proterotype again.
In the present embodiment, the predetermined threshold value be 90 degree, it will be understood that other values can also be set to, as 30 degree, 45
Spend, 60 degree, 75 degree etc..
In the present embodiment, when the Schema control key 42 is by predetermined push action, the controller 44 controls
The handle head 100 enters predetermined posture.
In one embodiment, when the Schema control key 42 is pressed three times, the controller 44 controls described
Handle head 100 enters the 5th use pattern.In a kind of embodiment, the 5th use pattern is self-timer mode,
As shown in figure 11, under the 5th use pattern camera lens of the load 200 towards vertical with the handle 20, and with the hand
It is provided with that the side of the control-rod 41 is in the same direction on handle 20, i.e., the camera lens of described load 200 is turned to towards user, and described
The camera lens of load 200 described in first use pattern is towards conversely.
In another embodiment, when the Schema control key 42 is pressed twice, the controller 44 controls institute
State and increase during steady component 30 returns, that is, control the pose adjustment for increasing steady component 30 to enter to posture of starting shooting, the handle head 100
First use pattern, the camera lens direction of the load 200 are vertical with the handle 20.
In the present embodiment, the handle 20 is hollow cavity, and battery compartment is provided with cavity, for installing battery,
So as to be powered for the handle head 100.
It is appreciated that the steady component 30 of increasing, which may also comprise, realizes that a direction rotates, both direction rotates or including more
The support of multi-direction rotation.When including can around translation shaft Y rotate support when, the handle head 100 can realize the first use
Pattern, the 5th use pattern.When the support including being rotated around roll axle R, the handle head 100 can realize that first uses mould
Formula, the 4th use pattern.When the support including being rotated around pitch axis P, the handle head 100 can realize that first uses mould
Formula, the second use pattern.If therefore wherein each rotation can be realized including more than one runing rest, the handle head 100
The achievable function of support adds up.
As shown in figure 12, the present invention also provides a kind of handle cloud platform control method.Methods described comprises the following steps：
Step 1201, the posture obtains the attitude information that element 43 obtains the handle 20.
In the present embodiment, the attitude information of the handle 20 includes following at least one：The handle 20 is around pitching
The angle that the angle of axle rotation, the angle that is rotated around roll axle of the handle 20, the handle 20 rotate around translation shaft.
Step 1202, the controller 44 receives the attitude information acquired in the posture acquisition element 43, and according to institute
The attitude information control load 200 is stated automatically into the pattern corresponding with the posture of the handle 20.
Step 1203, the controller 44 controls the use pattern of the handle head 100 to exist according to the attitude information
Switched between multiple use patterns.In the present embodiment, the multiple use pattern comprise at least first, second and third,
4th, five use pattern.
As shown in figure 13, in the present embodiment, the step 1203 specifically includes：
Step 1301, when the handle head 100 is under open state, the controller 44 controls the handle cloud
Platform 100 enters the first use pattern.
In the present embodiment, the handle head 100 under first use pattern when be in erectility, i.e.
It is described to increase steady component 30 positioned at the top of handle 20.Under first use pattern it is described load 200 camera lens towards with
The handle 20 is vertical, and the side of the control-rod 41 is provided with back to the handle 20.
In the present embodiment, under first use pattern, the lens direction of the load 200 and the load
The direction of 200 pictures to be obtained is consistent, i.e., upright effect is presented in the video and/or photo captured by described load 200.
Step 1302, rotated in the handle 20 of the handle head 100 relative to the position of the first use pattern lower handle 20
After predetermined angle, the controller 44 controls the handle head 100 to enter other use patterns.
In one embodiment, the implementation of the step 1302 is specially：
After the handle 20 is rotated more than 45 degree around pitch axis P and is less than 135 degree, the controller 44 controls the hand
Handle head 100 enters the second use pattern, such as torch mode.Wherein, the handle head 100 uses mould described second
It is consistent with the direction of 200 pictures to be obtained of the load in the state that couches, the lens direction of the load 200 under formula.
In a kind of embodiment, when the handle 20 when the Schema control key 42 is not pressed around pitch axis
P is rotated after the handle head 100 is entered second use pattern, and the camera lens of the load 200 is described towards following
The rotation of handle 20 and rotate, i.e. the controller 44 passes through the camera lens direction for increasing steady component 30 and controlling the load 200
It is vertical with the handle 20.
Or when rotating the handle 20 to enter the second use pattern, the Schema control key 42 is pressed and touched
Send out controller 44 described and lock the camera lens direction of the load 200.The controller 44 obtains the mirror of the load 200 of locking
Head direction, and enter described second under camera lens direction locked state of the handle head 100 in the load 200 and use
During pattern, control the pitching bracing strut 31 to rotate, to keep the camera lens of the load 200 towards constant, i.e., described in
The camera lens of load 200 is remained towards assigned direction.In the another embodiment, in second use pattern
Under, the camera lens of the load 200 is less than 45 degree towards with the angle between the handle 20.
In another embodiment, the implementation of the step 1302 is specially：
After the handle 20 is rotated more than 135 degree around pitch axis P or roll axle R and is less than 225 degree, the controller 44
The handle head 100 is controlled to enter the 3rd use pattern, such as inversion mode.Wherein, the handle head 100 is described
Inversion state is under three use patterns, the camera lens direction of the load 200 is vertical with the handle 20, the load 200
Lens direction and the angle in the direction of 200 pictures to be obtained of the load are 180 degree.
In the another embodiment, the angle can have positive and negative 45 degree of deviation range.When the handle cloud
During three use pattern of entrance of platform 100 or after the 3rd use pattern of entrance, if the angle is less than 180 degree, the controller
The 44 controls pitching bracing strut 31 or roll bracing strut 32 rotate, and the load 200 is rotated around pitch axis or roll axle, and
The lens direction of the load 200 is set to load the in opposite direction of 200 pictures to be obtained with described, and the controller 44 is controlled
Make the picture automatic turning 180 degree that the load 200 obtains.
In another embodiment, the implementation of the step 1302 is specially：
After the handle 20 is rotated more than 45 degree around roll axle R and is less than 135 degree, the controller 44 controls the hand
Handle head 100 enters the 4th use pattern, such as perpendicular bat pattern.Wherein, the handle head 100 is in the 4th use pattern
It is lower in state of lying on one's side, the camera lens of the load 200 towards vertical with the handle 20, the lens direction of the load 200 and
The angle in the direction of 200 pictures to be obtained of the load is 90 degree.
In the another embodiment, the angle can have positive and negative 45 degree of deviation range.When the handle cloud
During four use pattern of entrance of platform 100 or after the 4th use pattern of entrance, if the angle is less than 90 degree, the controller 44
Control the roll bracing strut 32 to rotate, the load 200 is rotated around roll axle, and make the lens direction of the load 200
It is vertical with the direction of 200 pictures to be obtained of the load.
Under the 4th use pattern, the screening-mode of the camera lens of the load 200 is perpendicular bat pattern, i.e. described negative
It is endways to carry 200 pictures obtained, and the picture that the controller 44 controls the load 200 to obtain is rotated by 90 ° automatically.
In another embodiment, the implementation of the step 1302 is specially：
In the case where the handle head 100 is in specific use pattern, when the translation bracing strut 33 or translation bracing strut 33
When being turned an angle with the relatively described handle 20 of pitching bracing strut 31, the controller 44 controls the camera lens of the load 200
The angle in direction and the direction of 200 pictures to be obtained of the load changes.
In another described embodiment, the posture obtains element 43 and obtains the translation bracing strut 33 or translation shaft
The angle that support 33 and pitching bracing strut 31 rotate relative to the handle 20, if the angle of the rotation is more than or equal to default threshold
It is worth, then the controller 44 controls lens direction and the direction of 200 pictures to be obtained of the load of the load 200
Angle changes 90 degree.For example, as shown in figure 5, move the translation bracing strut 33 manually under the second use pattern, make described flat
Torch mode can be changed into perpendicular bat pattern for 90 degree relative to the handle 20 rotation by moving bracing strut 33；Conversely, will be described perpendicular
Translation shaft 33 under bat pattern moves 90 degree in opposite direction, then from perpendicular bat pattern switchback torch mode.Or such as Figure 10
It is shown, move the translation bracing strut 33 and pitching bracing strut 31 manually under the 4th use pattern, make the translation bracing strut
33 and pitching bracing strut 31 relative to the handle 20 rotate 90 degree perpendicular bat pattern can be changed into torch mode.
In another described embodiment, the posture acquisition element 43 obtains the rotational angle between each support,
The controller 44 monitors the rotational angle between each support, if in the translation bracing strut 33 or translation bracing strut 33
Remaining stents relatively rotate during being rotated with pitching bracing strut 31, then when the translation bracing strut 33 or translation shaft branch
After suffered rotation driving force disappears on frame 33 and pitching bracing strut 31, the controller 44 control the translation bracing strut 33 or
Translation bracing strut 33 and pitching bracing strut 31 turn round.
In another described embodiment, if the translation bracing strut 33 or translation bracing strut 33 and pitching bracing strut 31
The angle rotated relative to the handle 20 is less than predetermined threshold value, then when the translation bracing strut 33 or translation bracing strut 33 and pitching
After suffered rotation driving force disappears on bracing strut 31, the controller 44 controls the translation bracing strut 33 or translation bracing strut
33 and pitching bracing strut 31 turn round, make it is described load 200 lens direction with it is described load 200 pictures to be obtained direction
Angle revert to angle under proterotype.
In another described embodiment, the predetermined threshold value is 90 degree.
In other embodiments, the implementation of the step 1302 is specially：
When the Schema control key 42 is by predetermined push action, the controller 44 controls the handle head 100
Into predetermined posture.
In a kind of other embodiments, when the Schema control key 42 is pressed three times, the controller 44 controls
The handle head 100 enters the 5th use pattern.In a kind of embodiment, the 5th use pattern is self-timer mould
Formula, as shown in figure 11, under the 5th use pattern camera lens of the load 200 towards vertical with the handle 20, and with institute
State be provided with handle 20 control-rod 41 side it is in the same direction, i.e., it is described load 200 camera lens turn to towards user, with
The camera lens of load 200 described in first use pattern is towards conversely.
In other another embodiments, when the Schema control key 42 is pressed twice, the controller 44 is controlled
Make it is described increase during steady component 30 returns, that is, control the pose adjustment for increasing steady component 30 to posture of starting shooting, the handle head 100
Into the first use pattern, the camera lens direction of the load 200 is vertical with the handle 20.
The handle head 100 of the present invention has a variety of different use patterns, and can be believed according to the posture of the handle 20
Breath control load 200 is automatically into the pattern corresponding with the posture of the handle 20, so as to support user in use
Using different grips, and it is applied to different usage scenarios, alleviate user uses fatigue, and optimize user uses body
Test, the bat for adjusting the load 200 being installed on the handle head 100 can be additionally controlled according to the use pattern of handle head
The direction of picture is taken the photograph to optimize shooting effect.
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although reference
The present invention is described in detail for preferred embodiment, it will be understood by those within the art that, can be to the present invention's
Technical scheme is modified or equivalent substitution, without departing from the spirit and scope of technical solution of the present invention.
Claims (36)
- A kind of 1. handle head, it is characterised in that：The handle head includes handle, is installed on steady group of the increasing of described handle one end Part and the load being arranged on the steady component of increasing, the handle head also include：Posture obtains element, is arranged at the handle or increases on steady component, and obtains the attitude information of the handle；AndController, it is arranged at the handle or increases on steady component, and controls the load and the steady component of increasing；Wherein, the controller receives the attitude information acquired in the posture acquisition element, and according to the attitude information control The load is made automatically into the pattern corresponding with the posture of the handle；The controller always according to the attitude information, The use pattern of the handle head is controlled to switch between multiple use patterns；Multiple use patterns of the handle head include the first use pattern, and the handle head is in first use pattern Erectility will be in when lower；The roll bracing strut and pitching bracing strut for increasing steady component and including being rotatablely connected, the load are arranged at the pitch axis On support, the controller is used to after the handle is rotated more than 45 degree around roll axle and is less than 135 degree, control the handle Head enters the 4th use pattern.
- 2. handle head as claimed in claim 1, it is characterised in that：The load is filming apparatus.
- 3. handle head as claimed in claim 2, it is characterised in that：The steady component of increasing rotationally connects including at least one The support of the handle is connected to, the load is arranged on the support and supported by the support.
- 4. handle head as claimed in claim 3, it is characterised in that：The controller is in start shape in the handle head The handle head is controlled to enter the first use pattern when under state.
- 5. handle head as claimed in claim 4, it is characterised in that：Under first use pattern, the mirror of the load Head direction is consistent with the direction of the load picture to be obtained.
- 6. handle head as claimed in claim 4, it is characterised in that：The handle head is in side under the 4th use pattern Lie state.
- 7. handle head as claimed in claim 4, it is characterised in that：Under the 4th use pattern, the mirror of the load The angle in head direction and the direction of the load picture to be obtained is 90 degree.
- 8. handle head as claimed in claim 7, it is characterised in that：The deviation range of the angle is positive and negative 45 degree.
- 9. handle head as claimed in claim 8, it is characterised in that：The controller is used for when the handle head enters the During four use patterns or after the 4th use pattern of entrance, if the angle is less than 90 degree, controls the roll bracing strut to rotate, make The lens direction of load picture vertical, and controlling the load to obtain with the direction of the load picture to be obtained Automatically it is rotated by 90 °.
- 10. handle head as claimed in claim 7, it is characterised in that：Under 4th use pattern, the camera lens of the load Screening-mode be perpendicular bat pattern.
- 11. handle head as claimed in claim 4, it is characterised in that：It is described to increase steady component also including translation bracing strut and bow Bracing strut is faced upward, the load is arranged on the pitching bracing strut, and described translation bracing strut one end is rotatably connected at described Handle, the other end are connected with the pitching bracing strut, and the controller is used to be in specific use pattern in the handle head Under, when it is described translation bracing strut or translation bracing strut and the relatively described handle of pitching bracing strut turn an angle when, control institute The lens direction and the angle in the direction of the load picture to be obtained for stating load change.
- 12. handle head as claimed in claim 11, it is characterised in that：The posture obtains element and is used to obtain the translation The angle that bracing strut or translation bracing strut and pitching bracing strut rotate relative to the handle, if the controller is used for the rotation Angle when being more than or equal to predetermined threshold value, control the side of the lens direction and the load picture to be obtained of the load To angle change 90 degree.
- 13. handle head as claimed in claim 12, it is characterised in that：The steady component of increasing also includes roll bracing strut, institute State roll bracing strut one end and be rotatably connected at the translation bracing strut, the other end is rotatably connected at the pitch axis branch Frame, the posture obtains element and is used to obtain the relative rotation angle between each support, if the controller is used for described put down Remaining stents relatively rotate during moving bracing strut or translation bracing strut and pitch axis holder pivots, then the translation shaft After suffered rotation driving force disappears on support or translation bracing strut and pitching bracing strut, the translation bracing strut or translation are controlled Bracing strut and the revolution of pitching bracing strut.
- 14. handle head as claimed in claim 11, it is characterised in that：The posture obtains element and is used to obtain the translation The angle that bracing strut or translation bracing strut and pitching bracing strut rotate relative to the handle, if the controller is used for the rotation Angle when being less than predetermined threshold value, then the translation bracing strut or translate rotation driving suffered on bracing strut and pitching bracing strut After power disappears, the translation bracing strut or translation bracing strut and the revolution of pitching bracing strut are controlled, makes the lens direction of the load The angle under proterotype is reverted to the angle in the direction of the load picture to be obtained.
- 15. the handle head as described in claim 12 or 14, the predetermined threshold value is 90 degree.
- 16. handle head as claimed in claim 1, it is characterised in that：It is described to increase steady component bowing including control elevating movement Bracing strut is faced upward, control the roll bracing strut of roll motion and controls the translation bracing strut of translational motion, the pitching bracing strut One end be rotatably connected at the load, the other end is rotatably connected at one end of the roll bracing strut, the horizontal stroke The other end of roller support is rotatably connected at one end of the translation bracing strut, and the other end of the translation bracing strut can turn The handle is connected to dynamicly.
- 17. handle head as claimed in claim 16, it is characterised in that：The attitude information of the handle obtains for the posture The angle that the handle that element obtains rotates around pitch axis, roll axle or translation shaft.
- 18. handle head as claimed in claim 16, it is characterised in that：The handle head also includes control-rod, the control Bar processed is electrically connected with each support for increasing steady component, is referred to for receiving the operation of user and generating corresponding control Order, and send the control instruction to corresponding support；Each support responds the control instruction received respectively and up time Pin rotates counterclockwise, and so as to realize the adjustment of respective direction, the load is obtained the video and/or picture at corresponding visual angle.
- 19. handle head as claimed in claim 18, it is characterised in that：The handle of the handle head include grip part and with The operating portion of the grip part connection, the control-rod is on the operating portion.
- 20. handle head as claimed in claim 1, it is characterised in that：It is Inertial Measurement Unit, angle that the posture, which obtains element, At least one of speedometer and potentiometer.
- 21. handle head as claimed in claim 1, it is characterised in that：The handle is hollow cavity, and electricity is provided with cavity Chi Cang, for installing battery, so as to be powered for the handle head.
- 22. a kind of handle cloud platform control method, for controlling the handle head as described in claim 1-21 any one, it is special Sign is：The handle head includes handle, is installed on the steady component of increasing of described handle one end and is arranged at the steady component of increasing On load, the described method comprises the following steps：Obtain the attitude information of the handle；AndAccording to the attitude information control load automatically into the pattern corresponding with the posture of the handle, specific bag Include：The use pattern for controlling the handle head according to the attitude information switches between multiple use patterns, the handle Multiple use patterns of head include the first use pattern, in upright when the handle head is under first use pattern State, and the steady component of increasing includes roll bracing strut and pitching bracing strut, the load is arranged on the pitching bracing strut, After the handle is rotated more than 45 degree around roll axle and is less than 135 degree, the handle head is controlled to enter the 4th use pattern.
- 23. cloud platform control method as claimed in claim 22, it is characterised in that：The load is camera device.
- 24. handle cloud platform control method as claimed in claim 23, it is characterised in that：It is described to be controlled according to the attitude information The step of use pattern of the handle head switches between multiple use patterns includes：The handle head is controlled to enter the first use pattern when the handle head is under open state.
- 25. handle cloud platform control method as claimed in claim 24, it is characterised in that：Under first use pattern, institute The lens direction for stating load is consistent with the direction of the load picture to be obtained.
- 26. handle cloud platform control method as claimed in claim 25, it is characterised in that：The handle head uses mould the 4th In state of lying on one's side under formula.
- 27. handle cloud platform control method as claimed in claim 25, it is characterised in that：Under the 4th use pattern, institute The lens direction and the angle in the direction of the load picture to be obtained for stating load are 90 degree.
- 28. handle cloud platform control method as claimed in claim 27, it is characterised in that：The deviation range of the angle is positive and negative 45 degree.
- 29. handle cloud platform control method as claimed in claim 28, it is characterised in that：The control handle head enters The step of other use patterns, includes：When the handle head enters four use patterns or after the 4th use pattern of entrance, if the angle is less than 90 degree, Then control the load to be rotated around roll axle, make the direction of the lens direction and the load picture to be obtained of the load Vertically, and the control picture obtained that loads is rotated by 90 ° automatically.
- 30. handle cloud platform control method as claimed in claim 27, it is characterised in that：It is described under 4th use pattern The screening-mode of the camera lens of load is perpendicular bat pattern.
- 31. handle cloud platform control method as claimed in claim 25, it is characterised in that：The handle head also includes translation shaft Support and pitching bracing strut, the load are arranged on the pitching bracing strut, and described translation bracing strut one end rotationally connects The handle is connected to, the other end is connected with the pitching bracing strut, and the handle cloud platform control method also includes step：In the case where the handle head is in specific use pattern, when the handle head translation bracing strut or translation bracing strut and When the handle of the relatively described handle head of pitching bracing strut turns an angle, the lens direction for changing the load is born with described Carry the angle in the direction for the picture to be obtained.
- 32. handle cloud platform control method as claimed in claim 31, it is characterised in that：Also include step：Obtain the translation bracing strut or translate the angle that bracing strut and pitching bracing strut rotate relative to the handle, if described turn Dynamic angle is more than or equal to predetermined threshold value, then controls the lens direction of the load and the load picture to be obtained The angle in direction changes 90 degree.
- 33. handle cloud platform control method as claimed in claim 32, it is characterised in that：The steady component of increasing also includes roll axle Support, described roll bracing strut one end are rotatably connected at the translation bracing strut, and the other end is rotatably connected at described Pitching bracing strut, the handle cloud platform control method also include step：The relative rotation angle between each support of the handle head is monitored, if in the translation bracing strut or translation shaft branch Remaining stents relatively rotate during frame and pitch axis holder pivots, then when the translation bracing strut or translation bracing strut After being disappeared with rotation driving force suffered on pitching bracing strut, the translation bracing strut or translation bracing strut and pitch axis branch are controlled Frame turns round.
- 34. handle cloud platform control method as claimed in claim 31, it is characterised in that：Also include step：The angle that the translation bracing strut rotates relative to the handle is monitored, if described translate bracing strut or translation bracing strut and bow Face upward bracing strut and be less than predetermined threshold value relative to the angle that the handle rotates, then translate bracing strut or translation bracing strut when described and bow After facing upward rotation driving force disappearance suffered on bracing strut, the translation bracing strut or translation bracing strut and pitching bracing strut is controlled to return Turn, make the lens direction of the load and the angle in the direction of the load picture to be obtained reverts to folder under proterotype Angle.
- 35. the handle cloud platform control method as described in claim 32 or 34, the predetermined threshold value is 90 degree.
- 36. handle cloud platform control method as claimed in claim 22, it is characterised in that：Obtain the attitude information bag of the handle Include following at least one：Obtain angle that the handle rotates around pitch axis, obtain angle that the handle rotates around roll axle, Obtain the angle that the handle rotates around translation shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711309169.5A CN107883122B (en) | 2015-09-29 | 2015-09-29 | Handle holder and its control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510630919.3A CN105090695B (en) | 2015-09-29 | 2015-09-29 | Handle head and its control method |
| CN201711309169.5A CN107883122B (en) | 2015-09-29 | 2015-09-29 | Handle holder and its control method |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510630919.3A Division CN105090695B (en) | 2015-09-29 | 2015-09-29 | Handle head and its control method |
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| Publication Number | Publication Date |
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| CN107883122A true CN107883122A (en) | 2018-04-06 |
| CN107883122B CN107883122B (en) | 2019-11-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510630919.3A Active CN105090695B (en) | 2015-09-29 | 2015-09-29 | Handle head and its control method |
| CN201711311676.2A Expired - Fee Related CN107883123B (en) | 2015-09-29 | 2015-09-29 | Handle holder and its control method |
| CN201711309169.5A Expired - Fee Related CN107883122B (en) | 2015-09-29 | 2015-09-29 | Handle holder and its control method |
| CN201711309171.2A Active CN107975661B (en) | 2015-09-29 | 2015-09-29 | Handle holder and control method thereof |
| CN201711309172.7A Expired - Fee Related CN108061218B (en) | 2015-09-29 | 2015-09-29 | Handle holder and control method thereof |
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| CN201510630919.3A Active CN105090695B (en) | 2015-09-29 | 2015-09-29 | Handle head and its control method |
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| CN201711309172.7A Expired - Fee Related CN108061218B (en) | 2015-09-29 | 2015-09-29 | Handle holder and control method thereof |
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- 2015-09-29 CN CN201711309169.5A patent/CN107883122B/en not_active Expired - Fee Related
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| CN110869283A (en) * | 2018-08-30 | 2020-03-06 | 深圳市大疆创新科技有限公司 | Control method and device of cloud deck, cloud deck system and unmanned aerial vehicle |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN107883123B (en) | 2019-11-01 |
| CN107975661B (en) | 2020-03-03 |
| CN105090695A (en) | 2015-11-25 |
| CN108061218B (en) | 2020-04-07 |
| CN108061218A (en) | 2018-05-22 |
| CN105090695B (en) | 2018-01-16 |
| CN107883123A (en) | 2018-04-06 |
| CN107975661A (en) | 2018-05-01 |
| CN107883122B (en) | 2019-11-01 |
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