CN108061218B

CN108061218B - Handle holder and control method thereof

Info

Publication number: CN108061218B
Application number: CN201711309172.7A
Authority: CN
Inventors: 蓝玉钦; 周力; 潘立忠; 郭灼; 王岩
Original assignee: SZ DJI Osmo Technology Co Ltd
Current assignee: SZ DJI Osmo Technology Co Ltd
Priority date: 2015-09-29
Filing date: 2015-09-29
Publication date: 2020-04-07
Anticipated expiration: 2035-09-29
Also published as: CN108061218A; CN107975661A; CN105090695B; CN107975661B; CN107883122B; CN107883122A; CN105090695A; CN107883123A; CN107883123B

Abstract

The invention provides a handle holder and a control method thereof. The handle cloud platform includes the handle, install in the increase steady subassembly of handle one end, set up in increase the load on the steady subassembly, and set up in gesture acquisition element and controller on handle or the increase steady subassembly. The posture acquisition element is used for acquiring the posture information of the handle. The controller is used for receiving the attitude information acquired by the attitude acquisition element and controlling the load to automatically enter a mode corresponding to the attitude of the handle according to the attitude information. The handle holder can support a user to adopt different holding postures in the using process, is suitable for different using scenes, relieves the using fatigue of the user, and optimizes the using experience of the user.

Description

Handle holder and control method thereof

The application is a divisional application of Chinese patent application with application number 201510630919.3 and invented name "handle holder and control method thereof" filed by the Chinese patent office at 29/09.2015.

Technical Field

The invention relates to the technical field of holder control, in particular to a handle holder and a control method thereof.

Background

The handle holder is small in size and convenient to carry, can be provided with a small shooting device such as a video camera, a camera and a smart phone, and can achieve the effect of rapidly and stably controlling the shooting device to be kept in a determined posture when shooting in movement. In order to obtain a good view frame, the posture of the pan/tilt head is generally required to be controlled when the pan/tilt head is used for shooting. However, the handle holders on the market only provide holder stabilization in the horizontal direction, that is, the existing handle holders only support one holding posture, and the user can only ensure the normal use of the holder according to the correct holding posture. If the holding posture of the user is incorrect, the holder is likely to be abnormal in work, out of work or even damaged. In addition, if there is only one holding posture, the user cannot adjust the holding posture according to different use scenes, and the stability enhancement function of the pan/tilt head cannot be used to perform shooting in other directions, such as an upright direction or an inverted direction, which may cause inconvenience to the shooting.

Disclosure of Invention

In view of the above, it is desirable to provide a handle holder and a control method thereof to solve the above problems.

The utility model provides a handle cloud platform, handle cloud platform include the handle, install in the steady subassembly that increases of handle one end and set up in increase the load on the steady subassembly, handle cloud platform still includes:

the posture acquisition element is arranged on the handle or the stability augmentation component and acquires the posture information of the handle; and

the controller is arranged on the handle or the stability augmentation component and controls the load and the stability augmentation component;

the controller receives the attitude information acquired by the attitude acquisition element and controls the load to automatically enter a mode corresponding to the attitude of the handle according to the attitude information.

Further, the load is a camera.

Further, the stability augmentation assembly includes at least one bracket rotatably connected to the handle, the load being disposed on and supported by the bracket.

Further, the controller controls the use mode of the handle holder to be switched among a plurality of use modes according to the attitude information.

Further, the plurality of use modes of the handle holder include a first use mode, the controller controls the handle holder to enter the first use mode when the handle holder is in the power-on state, and the handle holder is in the upright state when the handle holder is in the first use mode.

Further, in the first usage mode, the lens direction of the load is consistent with the direction of a picture to be acquired by the load.

Furthermore, a plurality of modes of use of handle cloud platform still include other modes of use, work as the handle of handle cloud platform is the position of handle under the relative first mode of use and/or the position of increasing steady subassembly and rotating the preset angle under the relative first mode of use of steady subassembly, controller control the handle cloud platform gets into other modes of use.

Further, the stability augmentation component comprises a pitch shaft support, the load is arranged on the pitch shaft support, and after the handle rotates around the pitch shaft by more than 45 degrees and less than 135 degrees, the controller controls the handle holder to enter a second use mode.

Further, the handle holder is in a lying state in the second use mode.

Further, in the second usage mode, the lens direction of the load is consistent with the direction of a picture to be acquired by the load.

Further, the handle holder further comprises a mode control key arranged on the handle, and the mode control key is used for triggering the controller to lock the orientation of the lens of the load.

Further, the controller is used for acquiring the lens orientation of the locked load, and controlling the pitching shaft support to rotate to keep the lens orientation of the load unchanged during the process that the handle holder enters the second use mode in the state that the lens orientation of the load is locked.

Further, in the second use mode, an included angle between the orientation of the lens of the load and the handle is smaller than 45 degrees.

Further, the stability augmentation component comprises a roll shaft support and a pitch shaft support which are connected in a rotating mode, the load is arranged on the pitch shaft support, and after the handle rotates around the pitch shaft or the roll shaft for more than 135 degrees and less than 225 degrees, the controller controls the handle holder to enter a third use mode.

Further, the handle holder is in an inverted state in the third use mode.

Further, in the third usage mode, an included angle between the lens direction of the load and the direction of the picture to be acquired by the load is 180 degrees.

Further, the deviation range of the included angle is plus or minus 45 degrees.

Further, when the handle holder enters a third use mode or after entering the third use mode, if the included angle is smaller than 180 degrees, the controller controls the rotation of the pitch shaft support or the roll shaft support to make the included angle reach 180 degrees, that is, the lens direction of the load is opposite to the direction of the picture to be acquired by the load, and the controller controls the picture acquired by the load to automatically turn over by 180 degrees.

Further, the stability augmentation component comprises a roll shaft support and a pitch shaft support which are connected in a rotating mode, the load is arranged on the pitch shaft support, and the controller is used for controlling the handle holder to enter a fourth use mode after the handle rotates around the roll shaft by more than 45 degrees and less than 135 degrees.

Further, the handle holder is in a lying-on-side state in the fourth use mode.

Further, in the fourth usage mode, an included angle between the lens direction of the load and the direction of the picture to be acquired by the load is 90 degrees.

Further, the deviation range of the included angle is plus or minus 45 degrees.

Further, the controller is configured to control the rolling shaft support to rotate when the handle holder enters a fourth use mode or after the handle holder enters the fourth use mode, if the included angle is smaller than 90 degrees, so that the lens direction of the load is perpendicular to the direction of the picture to be acquired by the load, and the picture acquired by the load is controlled to automatically rotate by 90 degrees.

Further, in the fourth usage mode, the shooting mode of the loaded lens is a vertical shooting mode.

The controller is used for controlling the included angle between the lens direction of the load and the direction of the picture to be acquired by the load to change when the translation shaft support or the translation shaft support and the pitching shaft support rotate a certain angle relative to the handle when the handle holder is in a specific use mode.

Further, the attitude obtaining element is configured to obtain a rotation angle of the translation shaft bracket or the translation shaft bracket and the pitch shaft bracket with respect to the handle, and the controller is configured to control an included angle between a lens direction of the load and a direction of a picture to be obtained by the load to change by 90 degrees if the rotation angle is greater than or equal to a preset threshold.

Further, the stability augmentation assembly further comprises a roll shaft support, one end of the roll shaft support is rotatably connected to the translation shaft support, the other end of the roll shaft support is rotatably connected to the pitch shaft support, the posture acquisition element acquires relative rotation angles among the supports, and the controller is used for controlling the rotation of the translation shaft support or the translation shaft support and the pitch shaft support when the rotation driving force exerted on the translation shaft support or the translation shaft support and the pitch shaft support disappears if the rest supports rotate relatively in the rotation process of the translation shaft support or the translation shaft support and the pitch shaft support.

Further, the attitude obtaining element is configured to obtain a rotation angle of the translation shaft bracket or the translation shaft bracket and the pitch shaft bracket relative to the handle, and the controller is configured to control the translation shaft bracket or the translation shaft bracket and the pitch shaft bracket to rotate after a rotation driving force applied to the translation shaft bracket or the translation shaft bracket and the pitch shaft bracket disappears if the rotation angle is smaller than a preset threshold, so that an included angle between a lens direction of the load and a direction of a picture to be obtained by the load is restored to an included angle in an original mode.

Further, the preset threshold is 90 degrees.

Further, the handle holder further comprises a mode control key, and the controller is used for controlling the handle holder to enter a preset posture when the mode control key is pressed by a preset action.

Further, when the mode control key is pressed for three times, the controller controls the handle holder to enter a fifth use mode.

Further, the lens orientation of the load in the fifth use mode is opposite to the lens orientation of the load in the first use mode.

Further, the fifth service mode is a self-shooting mode, a control rod is further arranged on a handle of the handle holder, and the lens of the load faces towards one side, provided with the control rod, of the handle in the fifth service mode.

Further, when the mode control key is pressed twice, the controller controls the posture of the stability augmentation component to be adjusted to the starting posture.

Further, the controller controls the load through the stability augmentation component, so that the lens of the load faces to be perpendicular to the handle.

Further, the stability augmentation assembly includes a pitch shaft bracket for controlling a pitch motion, a roll shaft bracket for controlling a roll motion, and a translation shaft bracket for controlling a translation motion, one end of the pitch shaft bracket is rotatably connected to the load, the other end of the pitch shaft bracket is rotatably connected to one end of the roll shaft bracket, the other end of the roll shaft bracket is rotatably connected to one end of the translation shaft bracket, and the other end of the translation shaft bracket is rotatably connected to the handle.

Further, the attitude information of the handle is an angle of rotation of the handle around a pitch axis, a roll axis, or a translation axis acquired by the attitude acquisition element.

The handle holder further comprises a control rod, wherein the control rod is electrically connected with each support of the stability augmentation assembly respectively and is used for receiving the operation of a user, generating a corresponding control instruction and sending the control instruction to the corresponding support; and each bracket respectively responds to the received control instruction and rotates clockwise or anticlockwise, so that the adjustment in the corresponding direction is realized, and the load obtains videos and/or pictures of corresponding visual angles.

Further, the handle of the handle holder comprises a holding part and an operating part connected with the holding part, and the control rod is arranged on the operating part.

Further, the attitude acquisition element is at least one of an inertial measurement unit, an angular velocity meter, and a potentiometer.

Further, the handle is hollow cavity, is equipped with the battery compartment in the cavity for the installation battery, thereby does the power supply of handle cloud platform.

A control method of a handle holder is used for controlling the handle holder, the handle holder comprises a handle, a stability augmentation component arranged at one end of the handle and a load arranged on the stability augmentation component, and the method comprises the following steps:

acquiring posture information of the handle; and

and controlling the load to automatically enter a mode corresponding to the posture of the handle according to the posture information.

Further, the load is an image pickup device.

Further, the handle holder control method further comprises the following steps: and controlling the use mode of the handle holder to be switched among a plurality of use modes according to the attitude information.

Further, the plurality of usage modes of the handle holder includes a first usage mode, and the step of controlling the usage mode of the handle holder to switch between the plurality of usage modes according to the posture information includes:

when the handle holder is in the starting-up state, the handle holder is controlled to enter a first use mode, and the handle holder is in the vertical state in the first use mode.

Further, the plurality of usage modes of the handle holder further include other usage modes, and the step of controlling the usage mode of the handle holder to switch between the plurality of usage modes according to the attitude information further includes:

and after the position of the handle holder relative to the handle in the first use mode and/or the position of the stability augmentation component relative to the stability augmentation component in the first use mode rotates by a preset angle, the handle holder is controlled to enter other use modes.

Further, the step of controlling the handle holder to enter other use modes comprises: and when the handle rotates more than 45 degrees and less than 135 degrees around the pitch axis, controlling the handle holder to enter a second use mode.

Further, the handle holder is in a lying state in the second use mode.

Further, the handle holder further comprises a mode control key arranged on the handle, and the handle holder control method further comprises the following steps: and when the handle holder is rotated to enter a second use mode, the mode control key is pressed to lock the orientation of the lens of the load.

Further, the step of controlling the handle holder to enter other use modes comprises: and acquiring the orientation of the lens of the locked load, and controlling the load to rotate around a pitch axis in the process that the handle holder enters a second use mode in the state that the orientation of the lens of the load is locked so as to keep the orientation of the lens of the load unchanged.

Further, under the second use mode, an included angle between the orientation of the lens of the load and the handle is smaller than 45 degrees.

Further, the stability augmentation assembly comprises a roll shaft support and a pitch shaft support which are rotatably connected, and the step of controlling the handle holder to enter other use modes comprises the following steps: and when the handle rotates by more than 135 degrees and less than 225 degrees around the pitch axis or the roll axis, controlling the handle holder to enter a third use mode.

Further, the handle holder is in an inverted state in the third use mode.

Further, the deviation range of the included angle is plus or minus 45 degrees.

Further, the step of controlling the handle holder to enter other use modes further comprises: when the handle holder enters a third use mode or after the handle holder enters the third use mode, if the included angle is smaller than 180 degrees, the load is controlled to rotate around the pitching shaft or the transverse roller, so that the included angle reaches 180 degrees, namely the direction of a lens of the load is opposite to the direction of a picture to be acquired by the load, and the picture acquired by the load is controlled to automatically turn over for 180 degrees.

Further, the stability augmentation assembly comprises a roll shaft support and a pitch shaft support, the load is arranged on the pitch shaft support, and the step of controlling the handle holder to enter other use modes comprises: and when the handle rotates for more than 45 degrees and less than 135 degrees around the transverse rolling shaft, controlling the handle holder to enter a fourth use mode.

Further, the handle holder is in a lying-on-side state in the fourth use mode.

Further, the deviation range of the included angle is plus or minus 45 degrees.

Further, the step of controlling the handle holder to enter other use modes comprises: when the handle holder enters the fourth use mode or after the handle holder enters the fourth use mode, if the included angle is smaller than 90 degrees, the load is controlled to rotate around the transverse roller, the direction of the lens of the load is perpendicular to the direction of the picture to be acquired by the load, and the picture acquired by the load is controlled to automatically rotate by 90 degrees.

Further, the handle pan/tilt head further includes a pan shaft bracket and a tilt shaft bracket, the load is disposed on the tilt shaft bracket, one end of the pan shaft bracket is rotatably connected to the handle, and the other end of the pan shaft bracket is connected to the tilt shaft bracket, and the handle pan/tilt head control method further includes the steps of: when the handle holder is in a specific use mode, when the translation shaft support or the translation shaft support and the pitching shaft support of the handle holder rotate for a certain angle relative to the handle of the handle holder, the included angle between the lens direction of the load and the direction of the picture to be acquired by the load is changed.

Further, the control method of the handle holder further comprises the following steps: and acquiring the rotation angle of the translation shaft support or the translation shaft support and the pitching shaft support relative to the handle, and if the rotation angle is greater than or equal to a preset threshold value, controlling the included angle between the lens direction of the load and the direction of the picture to be acquired by the load to change by 90 degrees.

Further, the stability augmentation assembly further comprises a roll shaft support, one end of the roll shaft support is rotatably connected to the translation shaft support, and the other end of the roll shaft support is rotatably connected to the pitch shaft support, and the handle holder control method further comprises the steps of: and monitoring the rotation angle among all the supports of the handle holder, and if the rest supports rotate relatively in the process of rotating the translation shaft support or the translation shaft support and the pitching shaft support, controlling the translation shaft support or the translation shaft support and the pitching shaft support to rotate after the rotation driving force borne on the translation shaft support or the translation shaft support and the pitching shaft support disappears.

Further, the handle holder control method further comprises the following steps: monitoring the rotation angle of the translation shaft support relative to the handle, and if the rotation angle of the translation shaft support or the translation shaft support and the pitch shaft support relative to the handle is smaller than a preset threshold, controlling the translation shaft support or the translation shaft support and the pitch shaft support to rotate after the rotation driving force borne on the translation shaft support or the translation shaft support and the pitch shaft support disappears, so that the included angle between the lens direction of the load and the direction of the picture to be acquired by the load is recovered to the included angle in the original mode.

Further, the preset threshold is 90 degrees.

Further, the handle holder further comprises a mode control key, and the handle holder control method further comprises the steps of: and when the mode control key of the handle holder is subjected to a preset pressing action, controlling the handle holder to enter a preset posture.

Further, the handle holder control method further comprises the following steps: and when the mode control key is pressed for three times, controlling the handle holder to enter a fifth use mode.

Further, the fifth use mode is a self-timer mode.

Further, the handle holder control method further comprises the following steps: and when the mode control key is pressed twice, controlling the posture of the stability augmentation component to be adjusted to the starting posture.

Further, the acquiring of the posture information of the handle includes at least one of: the method comprises the steps of obtaining the rotation angle of the handle around a pitching shaft, obtaining the rotation angle of the handle around a rolling shaft and obtaining the rotation angle of the handle around a translation shaft.

Compared with the prior art, the handle holder disclosed by the invention can control the load to automatically enter the mode corresponding to the posture of the handle according to the posture information of the handle, so that a user is supported to adopt different holding postures in the using process, the handle holder is suitable for different using scenes, the use fatigue of the user is relieved, the use experience of the user is optimized, and in addition, the direction of a shooting picture of the load arranged on the handle holder can be controlled to optimize the shooting effect.

Drawings

Fig. 1 is a perspective view of a handle holder according to an embodiment of the present invention in a first mode of use.

Fig. 2 is another angular view of the handle-holder of fig. 1 in a first mode of use.

Fig. 3 is a functional block diagram of the handle stage of fig. 1.

FIG. 4 is a perspective view of one embodiment of the handle platform of FIG. 1 in a second mode of use.

Fig. 5 is a perspective view of another embodiment of the handle-holder of fig. 1 in a second mode of use.

Fig. 6 is a perspective view of the handle bar platform of fig. 1 in a third mode of use.

Fig. 7 is another angular view of the handle platform of fig. 6 in a third mode of use.

Fig. 8 is a further angular view of the handle stage of fig. 6 in a third mode of use.

Fig. 9 is a perspective view of the handle bar platform of fig. 1 in a fourth mode of use.

Fig. 10 is another angular view of the handle stage of fig. 9 in a fourth mode of use.

Fig. 11 is a perspective view of the handle bar platform of fig. 1 in a fifth mode of use.

Fig. 12 is a flowchart illustrating a control method for a handle pan/tilt according to an embodiment of the present invention.

FIG. 13 is a flowchart illustrating a detailed process of step 1203 in FIG. 12.

Description of the main elements

Handle holder 100

Handle 20

Grip part 21

Operation part 22

Stability augmentation assembly 30

Pitch shaft holder 31

Roller axle support 32

Translation shaft support 33

First connecting arm 34

Second connecting arm 35

Control lever 41

Mode control key 42

Attitude acquisition element 43

Controller 44

Load 200

Steps

1201 and 1203, 1301 and 1302

The following detailed description will further illustrate the invention in conjunction with the above-described figures.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1, in an embodiment of the present invention, a handle holder 100 is provided, which includes a handle 20, a stability increasing component 30 installed at one end of the handle 20, and a load 200 disposed on the stability increasing component 30. In the present embodiment, the load 200 is an imaging device, such as a high-resolution digital camera or an optical video camera. The stability augmentation assembly 30 includes at least one bracket rotatably connected to the handle 20, on which the load 200 is disposed and supported.

In the present embodiment, the stability augmentation unit 30 includes a pitch shaft support 31 that controls a pitch motion, a roll shaft support 32 that controls a roll motion, and a translation shaft support 33 that controls a translation motion. Wherein one end of the pitch shaft bracket 31 is rotatably connected to the load 200 and the other end thereof is rotatably connected to one end of the roll shaft bracket 32 through a first connecting arm 34, as shown in fig. 2, the other end of the roll shaft bracket 32 is rotatably connected to one end of the translation shaft bracket 33 through a second connecting arm 35, and the other end of the translation shaft bracket 33 is rotatably connected to the handle 20.

In this embodiment, the handle holder 100 further includes a control rod 41, and the control rod 41 is electrically connected to each of the

brackets

31, 32, and 33 of the stability augmentation component 30, receives an operation of a user, generates a corresponding control command, and transmits the control command to the

corresponding bracket

31, 32, or 33. Each

bracket

31, 32 or 33 respectively responds to the received control instruction to rotate clockwise or counterclockwise, so as to realize adjustment of a corresponding direction, further realize direction control of the load 200, and enable the load 200 to obtain videos and/or pictures of corresponding visual angles.

In the present embodiment, the handle 20 of the handle holder 100 includes a holding portion 21 and an operating portion 22 connected to the holding portion 21, and the control lever 41 is provided on the operating portion 22 so that the user can operate the control lever 41 while naturally holding the holding portion 21.

In the present embodiment, the handle holder 100 further includes a mode control key 42 provided on the handle 20. In the present embodiment, the mode control key 42 is disposed on a side of the operation portion 22 opposite to the control lever 41, so that the mode control key 42 is operated when the user naturally holds the operation portion. It is understood that the mode control key 42 may be disposed on the same side as the control lever 41 for user operation.

As shown in fig. 3, the handle holder 100 further includes a posture acquiring element 43 and a controller 44. In the present embodiment, the controller 44 is provided on the handle 20 or the stability increasing assembly 30, and is connected to the mode control key 42 and the posture acquiring element 43, respectively. In this embodiment, the mode control key 42 is used to trigger the controller 44 to lock the orientation of the lens of the load 200. In the present embodiment, when the mode control key 42 is pressed to lock the lens orientation of the load 200, the shooting direction of the load 200 is always kept oriented in a specified direction. When the mode control key 42 is released, the photographing direction of the load 200 is rotated following the rotation of the handle 20.

Specifically, when the lens of the load 200 is oriented forward, the mode control key 42 is pressed and the handle 20 is rotated, so that the lens of the load 200 is always oriented forward during the rotation of the handle 20, and the relative rotation between the load and the handle 20 is generated. When the mode control key 42 is released and the handle 20 is rotated, the load 200 is immobilized with respect to the handle 20, i.e., rotates with the handle 20.

The posture acquiring element 43 is provided on the handle 20 or the stability increasing assembly 30, and acquires posture information of the handle 20. In the present embodiment, the posture acquiring element 43 acquires the angles of rotation of the grip 20 about the pitch axis P (shown in fig. 1), the roll axis R, or the translation axis Y (shown in fig. 2), respectively, to thereby derive the posture information of the grip 20. In the present embodiment, the attitude acquisition element 43 may be at least one of an inertial measurement unit, an angular velocity meter, and a potentiometer. It is understood that the number of the posture acquiring units 43 may be one, multiple, single kind of sensor, multiple kinds of sensors, and may be disposed at different positions of the handle 20 and/or the stability enhancing assembly 30.

It is understood that the operating lever 41 and the mode control key 42 may be provided on other components besides the handle 20, such as the stability enhancement assembly 30, the load 200, etc.; one may be provided on the handle 20 and the other on other elements.

The load 200 may also be other than a camera, such as a laser scanner, an electronic scanner, a laser gun, etc.

In the present embodiment, the controller 44 may control the stability increasing assembly 30 and receive the posture information acquired by the posture acquiring element 43, and control the load 200 to automatically enter a mode corresponding to the posture of the handle 20 according to the posture information.

In the present embodiment, the controller 44 further controls the usage mode of the handle-holder 100 to switch between a plurality of usage modes according to the attitude information. In this embodiment, the plurality of usage modes includes at least a first, second, third, fourth, and fifth usage mode.

In the present embodiment, the controller 44 sets the handle holder 100 to the first use mode when the handle holder 100 is in the on state. As shown in fig. 1-2, in the present embodiment, the handle holder 100 is in an upright state when in the first use mode, and specifically, the stability augmentation component 30 is located above the handle 20. In the first usage mode, the lens of the load 200 faces perpendicular to the handle 20 and faces away from the side of the handle 20 on which the control rod 41 is disposed, i.e., the lens faces away from the user.

In the present embodiment, in the first usage mode, the lens direction of the load 200 is consistent with the direction of the picture to be acquired by the load 200, that is, the video and/or the photo taken by the load 200 shows an upright effect. The direction of the lens is different from the direction of the lens, wherein the direction of the lens refers to the direction of the axis of the lens, and the direction of the lens is one direction of the lens.

In this embodiment, after the handle 20 of the handle holder 100 rotates by a preset angle relative to the position of the handle 20 in the first usage mode, the controller 44 controls the handle holder 100 to enter another usage mode.

In the present embodiment, after the handle 20 rotates more than 45 degrees and less than 135 degrees around the pitch axis P, as shown in fig. 4, the controller 44 controls the handle holder 100 to be in the second use mode. The handle holder 100 is in a lying state in the second use mode, and the lens direction of the load 200 is consistent with the direction of the picture to be acquired by the load 200.

In one embodiment, as shown in fig. 4, when the handle 20 is rotated about the pitch axis P when the mode control key 42 is not pressed, so that the handle holder 100 enters the second use mode, the lens orientation of the load 200 is rotated following the rotation of the handle 20, that is, the controller 44 controls the lens orientation of the load 200 to be perpendicular to the handle 20 through the stability augmentation component 30.

In another embodiment, as shown in fig. 5, upon turning the handle 20 to enter the second mode of use, the mode control key 42 is depressed to trigger the controller 44 to lock the lens orientation of the load 200. The controller 44 obtains the lens orientation of the locked load 200, and controls the rotation of the tilt shaft bracket 31 during the process that the handle holder 100 enters the second use mode in the state that the lens orientation of the load 200 is locked, so as to keep the lens orientation of the load 200 unchanged, that is, the lens of the load 200 always keeps facing a specific direction, and obtain the flashlight mode. In the other embodiment, in the second mode of use, the angle between the lens orientation of the load 200 and the handle 20 is less than 45 degrees.

In the present embodiment, after the handle 20 rotates more than 135 degrees and less than 225 degrees around the pitch axis P or the roll axis R, as shown in fig. 6 to 8, the controller 44 controls the handle holder 100 to enter a third use mode, for example, an inverted mode. The handle holder 100 is in an inverted state in the third usage mode, the lens orientation of the load 200 is perpendicular to the handle 20, and an included angle between the lens direction of the load 200 and the direction of the picture to be acquired by the load 200 is 180 degrees.

In this embodiment, the included angle may have a deviation range of plus or minus 45 degrees. In this embodiment, when the handle holder 100 enters the third use mode or after the third use mode, if the included angle is smaller than 180 degrees, the controller 44 controls the rotation of the pitch shaft bracket 31 or the translation shaft bracket and the pitch shaft bracket 32, so that the lens direction of the load 200 is opposite to the direction of the picture to be acquired by the load 200, and the controller 44 controls the picture acquired by the load 200 to automatically turn. The lens of the present invention is hardware, and cannot be turned over randomly, so that when the handle 20 is turned upside down, the direction of the lens is turned over, and at this time, the controller 44 needs to turn over the image through a gyroscope or application software built in the photographing device, so as to present a standing image to the user.

In the present embodiment, after the handle 20 rotates more than 45 degrees and less than 135 degrees around the horizontal axis R, as shown in fig. 9-10, the controller 44 controls the handle holder 100 to enter a fourth use mode, such as a vertical shooting mode. The handle holder 100 is in a lying state in the fourth usage mode, the lens orientation of the load 200 is perpendicular to the handle 20, and an included angle between the lens direction of the load 200 and the direction of the picture to be acquired by the load 200 is 90 degrees.

In this embodiment, the included angle may have a deviation range of plus or minus 45 degrees. In this embodiment, when the handle holder 100 enters the fourth use mode or after the fourth use mode, if the included angle is smaller than 90 degrees, the controller 44 controls the roll shaft bracket 32 to rotate, so that the lens direction of the load 200 is perpendicular to the direction of the picture to be acquired by the load 200.

In the fourth usage mode, the shooting mode of the lens of the load 200 is a portrait mode, that is, the picture obtained by the load 200 is upright, and the controller 44 controls the picture obtained by the load 200 to automatically rotate by 90 degrees. It can be understood that if the picture is not rotated by 90 degrees, the user sees that people or trees in the picture are all horizontal, and the picture is just right when being taken by the mobile phone, but when the picture is placed in a computer and opened by picture software, the picture needs to be rotated by 90 degrees clockwise or counterclockwise, and the picture is automatically rotated by the mobile phone and presented to the user.

In the present embodiment, when the handle holder 100 is in a specific use mode, when the translation shaft bracket 33 rotates by a certain angle relative to the handle 20, the controller 44 controls the angle between the lens direction of the load 200 and the direction of the image to be captured by the load 200 to be changed. In particular, the specific usage modes are a second usage mode and a fourth usage mode, i.e. a flashlight mode and a portrait mode.

In this embodiment, the posture acquiring element 43 acquires the rotation angle of the translation shaft bracket 33 with respect to the handle 20, and if the rotation angle is greater than or equal to a preset threshold, the controller 44 controls the angle between the lens direction of the load 200 and the direction of the picture to be acquired by the load 200 to change by 90 degrees. For example, as shown in fig. 5, in the second use mode, the flashlight mode can be changed to the portrait mode by manually pulling the translation shaft bracket 33 to rotate the translation shaft bracket 33 by 90 degrees relative to the handle 20; likewise, the vertical shooting mode can be reversed to turn back 90 degrees to turn back to flashlight mode. Alternatively, as shown in fig. 9, in the fourth use mode, the pan shaft bracket 33 and the tilt shaft bracket 31 are manually pulled, and the pan shaft bracket 33 and the tilt shaft bracket 31 are rotated by 90 degrees with respect to the handle 20, so that the portrait mode can be changed to the flashlight mode.

In the present embodiment, the attitude obtaining element 43 obtains the rotation angle between the respective supports, and if the remaining supports rotate relatively during the rotation of the translation shaft support 33 or the translation shaft support 33 and the pitch shaft support 31, the controller 44 controls the rotation of the translation shaft support 33 or the translation shaft support 33 and the pitch shaft support 31 when the rotational driving force applied to the translation shaft support 33 or the translation shaft support 33 and the pitch shaft support 31 disappears.

In this embodiment, if the angle of rotation of the pan shaft bracket 33 or the pan shaft bracket 33 and the tilt shaft bracket 31 with respect to the handle 20 is smaller than the predetermined threshold, the controller 44 controls the pan shaft bracket 33 or the pan shaft bracket 33 and the tilt shaft bracket 31 to rotate so that the angle between the lens direction of the load 200 and the direction of the screen to be acquired by the load 200 is returned to the angle in the original mode when the rotational driving force applied to the pan shaft bracket 33 or the pan shaft bracket 33 and the tilt shaft bracket 31 disappears.

In the present embodiment, the preset threshold is 90 degrees, but it is understood that other values may be set, such as 30 degrees, 45 degrees, 60 degrees, 75 degrees, and the like.

In the present embodiment, when the mode control key 42 is subjected to a predetermined pressing motion, the controller 44 controls the handle pan/tilt head 100 to enter a predetermined attitude.

In one embodiment, when the mode control key 42 is pressed three times, the controller 44 controls the handle platform 100 to enter the fifth mode of use. In the embodiment, the fifth mode of use is a self-timer mode, as shown in fig. 11, the lens of the load 200 in the fifth mode of use is oriented perpendicular to the handle 20 and in the same direction as the side of the handle 20 on which the lever 41 is disposed, i.e., the lens of the load 200 is rotated to face the user, which is opposite to the orientation of the lens of the load 200 in the first mode of use.

In another embodiment, when the mode control key 42 is pressed twice, the controller 44 controls the stability increasing assembly 30 to go back to the neutral position, that is, controls the posture of the stability increasing assembly 30 to be adjusted to the power-on posture, the handle-holder 100 enters the first use mode, and the lens of the load 200 is oriented perpendicular to the handle 20.

In this embodiment, the handle 20 is a hollow cavity, and a battery compartment is disposed in the cavity for installing a battery, so as to supply power to the handle holder 100.

It will be appreciated that the stability augmentation assembly 30 may also include a bracket that enables one direction of rotation, two directions of rotation, or more directions of rotation. When the holder is rotatable about the translation axis Y, the handle holder 100 can implement a first usage mode and a fifth usage mode. When the holder rotating around the traverse axis R is included, the handle holder 100 can implement a first use mode and a fourth use mode. When the holder rotating around the pitch axis P is included, the handle holder 100 can implement a first use mode and a second use mode. If more than one rotating bracket is included, the handle holder 100 can achieve the accumulation of the functions that each rotating bracket can achieve.

As shown in fig. 12, the invention also provides a control method of the handle holder. The method comprises the following steps:

in step 1201, the posture acquiring unit 43 acquires posture information of the handle 20.

In the present embodiment, the posture information of the handle 20 includes at least one of: the angle of rotation of the handle 20 about the pitch axis, the angle of rotation of the handle 20 about the roll axis, and the angle of rotation of the handle 20 about the translation axis.

In step 1202, the controller 44 receives the posture information acquired by the posture acquiring element 43, and controls the load 200 to automatically enter a mode corresponding to the posture of the handle 20 according to the posture information.

At step 1203, the controller 44 controls the usage mode of the handle holder 100 to switch between multiple usage modes according to the posture information. In this embodiment, the plurality of usage modes includes at least a first, second, third, fourth, and fifth usage mode.

As shown in fig. 13, in this embodiment, the step 1203 specifically includes:

step 1301, when the handle holder 100 is in the on state, the controller 44 controls the handle holder 100 to enter the first usage mode.

In the present embodiment, the handle holder 100 is in an upright state when in the first use mode, that is, the stability-enhancing assembly 30 is located above the handle 20. In the first usage mode, the lens of the load 200 faces perpendicular to the handle 20 and faces away from the side of the handle 20 on which the control rod 41 is disposed.

In the present embodiment, in the first usage mode, the lens direction of the load 200 is consistent with the direction of the picture to be obtained by the load 200, that is, the video and/or the photo taken by the load 200 exhibits the upright effect.

In step 1302, after the handle 20 of the handle holder 100 rotates by a preset angle relative to the position of the handle 20 in the first usage mode, the controller 44 controls the handle holder 100 to enter another usage mode.

In an embodiment, the implementation manner of the step 1302 is specifically:

after the handle 20 rotates more than 45 degrees and less than 135 degrees around the pitch axis P, the controller 44 controls the handle holder 100 to enter a second use mode, such as a flashlight mode. The handle holder 100 is in a lying state in the second use mode, and the lens direction of the load 200 is consistent with the direction of the picture to be acquired by the load 200.

In the one embodiment, when the handle 20 rotates around the pitch axis P when the mode control key 42 is not pressed to enable the handle holder 100 to enter the second use mode, the lens orientation of the load 200 rotates along with the rotation of the handle 20, that is, the controller 44 controls the lens orientation of the load 200 to be perpendicular to the handle 20 through the stability enhancement assembly 30.

Alternatively, when the handle 20 is rotated to enter the second mode of use, the mode control key 42 is depressed to trigger the controller 44 to lock the lens orientation of the load 200. The controller 44 obtains the lens orientation of the locked load 200, and controls the rotation of the tilt shaft bracket 31 to keep the lens orientation of the load 200 unchanged, that is, the lens orientation of the load 200 is always kept facing a specific direction, during the process that the handle holder 100 enters the second use mode in the state that the lens orientation of the load 200 is locked. In the other embodiment, in the second mode of use, the angle between the lens orientation of the load 200 and the handle 20 is less than 45 degrees.

In another embodiment, the implementation manner of step 1302 is specifically:

after the handle 20 is rotated more than 135 degrees and less than 225 degrees about the pitch axis P or roll axis R, the controller 44 controls the handle platform 100 to enter a third use mode, such as an inverted mode. The handle holder 100 is in an inverted state in the third usage mode, the lens orientation of the load 200 is perpendicular to the handle 20, and an included angle between the lens direction of the load 200 and the direction of the picture to be acquired by the load 200 is 180 degrees.

In the alternative embodiment, the included angle may have a range of plus or minus 45 degrees. When the handle holder 100 enters the third usage mode or after the third usage mode, if the included angle is smaller than 180 degrees, the controller 44 controls the pitch shaft bracket 31 or the roll shaft bracket 32 to rotate, so that the load 200 rotates around the pitch shaft or the roll shaft, the lens direction of the load 200 is opposite to the direction of the picture to be acquired by the load 200, and the controller 44 controls the picture acquired by the load 200 to automatically turn over by 180 degrees.

In another embodiment, the implementation manner of the step 1302 specifically is:

after the handle 20 rotates more than 45 degrees and less than 135 degrees around the horizontal axis R, the controller 44 controls the handle holder 100 to enter a fourth use mode, such as a vertical shooting mode. The handle holder 100 is in a lying state in the fourth usage mode, the lens orientation of the load 200 is perpendicular to the handle 20, and an included angle between the lens direction of the load 200 and the direction of the picture to be acquired by the load 200 is 90 degrees.

In the further embodiment, the included angle may have a deviation range of plus or minus 45 degrees. When the handle holder 100 enters the fourth use mode or after the fourth use mode, if the included angle is smaller than 90 degrees, the controller 44 controls the roll shaft bracket 32 to rotate, so that the load 200 rotates around the roll shaft, and the lens direction of the load 200 is perpendicular to the direction of the picture to be acquired by the load 200.

In the fourth usage mode, the photographing mode of the lens of the load 200 is a portrait mode, that is, the picture acquired by the load 200 is upright, and the controller 44 controls the picture acquired by the load 200 to automatically rotate by 90 degrees.

In another embodiment, the implementation manner of step 1302 is specifically:

when the pan-tilt-zoom-lens 100 is in a specific use mode, the controller 44 controls the angle between the lens direction of the load 200 and the direction of the image to be captured by the load 200 to be changed when the translation-axis bracket 33 or the translation-axis bracket 33 and the tilt-axis bracket 31 rotate by a certain angle relative to the handle 20.

In the further embodiment, the posture acquiring element 43 acquires the rotation angle of the translation shaft bracket 33 or the translation shaft bracket 33 and the pitch shaft bracket 31 with respect to the handle 20, and if the rotation angle is greater than or equal to a preset threshold, the controller 44 controls the angle between the lens direction of the load 200 and the direction of the picture to be acquired by the load 200 to be changed by 90 degrees. For example, as shown in fig. 5, in the second use mode, the flashlight mode can be changed to the portrait mode by manually pulling the translation shaft bracket 33 to rotate the translation shaft bracket 33 by 90 degrees relative to the handle 20; conversely, the translation shaft 33 in the vertical shooting mode is pulled by 90 degrees in the opposite direction, and then the flashlight mode is switched back from the vertical shooting mode. Alternatively, as shown in fig. 10, in the fourth use mode, the pan shaft bracket 33 and the tilt shaft bracket 31 are manually pulled, and the pan shaft bracket 33 and the tilt shaft bracket 31 are rotated by 90 degrees with respect to the handle 20, so that the portrait mode can be changed to the flashlight mode.

In the further embodiment, the attitude obtaining element 43 obtains the rotation angle between the respective supports, the controller 44 monitors the rotation angle between the respective supports, and if the remaining supports rotate relatively during the rotation of the translation-shaft support 33 or the translation-shaft support 33 and the pitch-shaft support 31, the controller 44 controls the rotation of the translation-shaft support 33 or the translation-shaft support 33 and the pitch-shaft support 31 when the rotational driving force applied to the translation-shaft support 33 or the translation-shaft support 33 and the pitch-shaft support 31 disappears.

In the further embodiment, if the rotation angle of the pan shaft bracket 33 or the pan shaft bracket 33 and the tilt shaft bracket 31 with respect to the handle 20 is smaller than the preset threshold, after the rotation driving force applied to the pan shaft bracket 33 or the pan shaft bracket 33 and the tilt shaft bracket 31 disappears, the controller 44 controls the pan shaft bracket 33 or the pan shaft bracket 33 and the tilt shaft bracket 31 to rotate, so that the angle between the lens direction of the load 200 and the direction of the picture to be acquired by the load 200 is returned to the angle in the original mode.

In the further embodiment, the preset threshold is 90 degrees.

In other embodiments, the implementation manner of step 1302 is specifically:

when the mode control key 42 is pressed by a predetermined pressing motion, the controller 44 controls the handle pan/tilt head 100 to enter a predetermined posture.

In another embodiment, when the mode control key 42 is pressed three times, the controller 44 controls the handle platform 100 to enter the fifth mode of use. In the embodiment, the fifth mode of use is a self-timer mode, as shown in fig. 11, the lens of the load 200 in the fifth mode of use is oriented perpendicular to the handle 20 and in the same direction as the side of the handle 20 on which the lever 41 is disposed, i.e., the lens of the load 200 is rotated to face the user, which is opposite to the orientation of the lens of the load 200 in the first mode of use.

The handle holder 100 of the present invention has a plurality of different usage modes, and can control the load 200 to automatically enter a mode corresponding to the posture of the handle 20 according to the posture information of the handle 20, thereby supporting the user to adopt different holding postures in the usage process, being suitable for different usage scenes, relieving the usage fatigue of the user, optimizing the usage experience of the user, and in addition, controlling and adjusting the direction of the shooting picture of the load 200 installed on the handle holder 100 according to the usage mode of the handle holder to optimize the shooting effect.

Finally, it should be noted that the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A handle cloud platform which characterized in that: the handle cloud platform includes the handle, install in the steady subassembly that increases of handle one end and set up in increase the load on the steady subassembly, the handle cloud platform still includes:

the controller receives the attitude information acquired by the attitude acquisition element and controls the load to automatically enter a mode corresponding to the attitude of the handle according to the attitude information; the controller also controls the use mode of the handle holder to be switched among a plurality of use modes according to the attitude information;

the plurality of using modes of the handle holder comprise a first using mode, and the handle holder is in an upright state when in the first using mode;

the stability augmentation component comprises a pitching shaft support, the load is arranged on the pitching shaft support, and when the handle rotates around the pitching shaft by more than 45 degrees and less than 135 degrees, the controller controls the handle holder to enter a second use mode.

2. A handle pan/tilt head according to claim 1, wherein: the load is a camera.

3. A handle pan/tilt head according to claim 2, wherein: and the controller controls the handle holder to enter a first use mode when the handle holder is in a starting state.

4. A handle pan/tilt head according to claim 3, wherein: in the first use mode, the lens direction of the load is consistent with the direction of a picture to be acquired by the load.

5. A handle pan/tilt head according to claim 3, wherein: the handle holder is in a lying state in the second use mode.

6. A handle pan/tilt head according to claim 3, wherein: in the second use mode, the lens direction of the load is consistent with the direction of a picture to be acquired by the load.

7. A handle pan/tilt head according to claim 3, wherein: the handle holder further comprises a mode control key arranged on the handle, and the mode control key is used for triggering the controller to lock the orientation of the lens of the load.

8. The handle pan/tilt head of claim 7, wherein: the controller is used for acquiring the locked lens orientation of the load, and controlling the pitching shaft support to rotate in the process that the handle holder enters the second use mode in the state that the lens orientation of the load is locked so as to keep the lens orientation of the load unchanged.

9. The handle pan/tilt head of claim 8, wherein: in the second use mode, the included angle between the orientation of the lens of the load and the handle is less than 45 degrees.

10. A handle pan/tilt head according to claim 3, wherein: the stability augmentation assembly further comprises a translation shaft support, one end of the translation shaft support is rotatably connected to the handle, the other end of the translation shaft support is connected with the pitching shaft support, and the controller is used for controlling the change of an included angle between the direction of a lens of the load and the direction of a picture to be acquired by the load when the translation shaft support or the translation shaft support and the pitching shaft support rotate for a certain angle relative to the handle when the handle holder is in a specific use mode.

11. A handle pan/tilt head according to claim 10, wherein: the controller is used for controlling an included angle between the direction of the lens of the load and the direction of the picture to be acquired by the load to change by 90 degrees if the rotating angle is larger than or equal to a preset threshold value.

12. A handle pan/tilt head according to claim 11, wherein: the stability augmentation assembly further comprises a rolling shaft support, one end of the rolling shaft support is rotatably connected to the translation shaft support, the other end of the rolling shaft support is rotatably connected to the pitching shaft support, the posture acquisition element is used for acquiring a relative rotation angle between the supports, and the controller is used for controlling the rotation of the translation shaft support or the translation shaft support and the pitching shaft support after a rotation driving force borne by the translation shaft support or the translation shaft support and the pitching shaft support disappears if the rest supports rotate relatively in the rotation process of the translation shaft support or the translation shaft support and the pitching shaft support.

13. A handle pan/tilt head according to claim 10, wherein: the controller is used for controlling the translation shaft support or the translation shaft support and the pitching shaft support to rotate after the rotation driving force borne by the translation shaft support or the translation shaft support and the pitching shaft support disappears if the rotation angle is smaller than a preset threshold value, so that the included angle between the lens direction of the load and the direction of the picture to be acquired by the load is recovered to the included angle in the original mode.

14. A handle pan/tilt head according to claim 11 or 13, wherein: the preset threshold is 90 degrees.

15. A handle pan/tilt head according to claim 1, wherein: the stability augmentation assembly further comprises a roll shaft support controlling roll motion and a translation shaft support controlling translation motion, the pitch shaft support controlling pitch motion, one end of the pitch shaft support is rotatably connected to the load, the other end of the pitch shaft support is rotatably connected to one end of the roll shaft support, the other end of the roll shaft support is rotatably connected to one end of the translation shaft support, and the other end of the translation shaft support is rotatably connected to the handle.

16. A handle pan/tilt head according to claim 15, wherein: the attitude information of the handle is the angle of rotation of the handle around the pitch axis, the roll axis or the translation axis, which is acquired by the attitude acquisition element.

17. A handle pan/tilt head according to claim 15, wherein: the handle holder also comprises a control rod, and the control rod is electrically connected with each bracket of the stability augmentation component respectively and is used for receiving the operation of a user, generating a corresponding control instruction and sending the control instruction to the corresponding bracket; and each bracket respectively responds to the received control instruction and rotates clockwise or anticlockwise, so that the adjustment in the corresponding direction is realized, and the load obtains videos and/or pictures of corresponding visual angles.

18. A handle pan/tilt head according to claim 17, wherein: the handle of the handle holder comprises a holding part and an operating part connected with the holding part, and the control rod is arranged on the operating part.

19. A handle pan/tilt head according to claim 1, wherein: the attitude acquisition element is at least one of an inertial measurement unit, an angular velocity meter, and a potentiometer.

20. A handle pan/tilt head according to claim 1, wherein: the handle is a hollow cavity, and a battery bin is arranged in the cavity and used for installing a battery, so that the handle holder supplies power.

21. A control method of a handle holder is characterized in that: a handle holder for controlling a handle according to any one of claims 1 to 20, said handle holder comprising a handle, a stability enhancing component mounted at one end of said handle and a load arranged on said stability enhancing component, said method comprising the steps of:

acquiring posture information of the handle; and

controlling the load to automatically enter a mode corresponding to the posture of the handle according to the posture information, and specifically comprising the following steps:

and controlling the using mode of the handle holder to be switched among a plurality of using modes according to the attitude information, wherein the plurality of using modes of the handle holder comprise a first using mode, the handle holder is in an upright state when in the first using mode, the stability augmentation component comprises a pitching shaft bracket, the load is arranged on the pitching shaft bracket, and after the handle rotates around the pitching shaft for more than 45 degrees and less than 135 degrees, the handle holder is controlled to enter a second using mode.

22. The handle pan/tilt control method of claim 21, wherein: the load is a camera device.

23. The handle pan/tilt control method of claim 22, wherein: the step of controlling the use mode of the handle holder to switch among a plurality of use modes according to the attitude information comprises the following steps:

and controlling the handle holder to enter a first use mode when the handle holder is in a starting state.

24. The handle pan/tilt control method of claim 23, wherein: in the first use mode, the lens direction of the load is consistent with the direction of a picture to be acquired by the load.

25. The handle pan/tilt control method of claim 24, wherein: the handle holder is in a lying state in the second use mode.

26. The handle pan/tilt control method of claim 24, wherein: in the second use mode, the lens direction of the load is consistent with the direction of a picture to be acquired by the load.

27. The handle pan/tilt control method of claim 24, wherein: the handle cloud platform still including set up in mode control key on the handle still includes the step:

and when the handle holder is rotated to enter a second use mode, the mode control key is pressed to lock the orientation of the lens of the load.

28. The handle pan/tilt control method of claim 27, wherein: the step of controlling the handle holder to enter a second use mode comprises:

and acquiring the orientation of the lens of the locked load, and controlling the load to rotate around a pitch axis in the process that the handle holder enters a second use mode in the state that the orientation of the lens of the load is locked so as to keep the orientation of the lens of the load unchanged.

29. The handle pan/tilt control method of claim 28, wherein: in the second use mode, an included angle between the orientation of the lens of the load and the handle is smaller than 45 degrees.

30. The handle pan/tilt control method of claim 24, wherein: the handle holder further comprises a translation shaft support, one end of the translation shaft support is rotatably connected to the handle, and the other end of the translation shaft support is connected with the pitching shaft support, and the handle holder control method further comprises the following steps:

when the handle holder is in a specific use mode, when the translation shaft support or the translation shaft support and the pitching shaft support of the handle holder rotate for a certain angle relative to the handle of the handle holder, the included angle between the lens direction of the load and the direction of the picture to be acquired by the load is changed.

31. The handle pan/tilt control method of claim 30, wherein: further comprising the steps of:

and acquiring the rotation angle of the translation shaft support or the translation shaft support and the pitching shaft support relative to the handle, and if the rotation angle is greater than or equal to a preset threshold value, controlling the included angle between the lens direction of the load and the direction of the picture to be acquired by the load to change by 90 degrees.

32. The handle pan/tilt control method of claim 31, wherein: the stability augmentation assembly further comprises a roll shaft support, one end of the roll shaft support is rotatably connected to the translation shaft support, the other end of the roll shaft support is rotatably connected to the pitch shaft support, and the handle holder control method further comprises the steps of:

and monitoring the relative rotation angle between the supports of the handle holder, and if the rest supports rotate relatively in the process of rotating the translation shaft support or the translation shaft support and the pitching shaft support, controlling the translation shaft support or the translation shaft support and the pitching shaft support to rotate after the rotation driving force borne on the translation shaft support or the translation shaft support and the pitching shaft support disappears.

33. The handle pan/tilt control method of claim 30, wherein: further comprising the steps of:

monitoring the rotation angle of the translation shaft support relative to the handle, and if the rotation angle of the translation shaft support or the translation shaft support and the pitch shaft support relative to the handle is smaller than a preset threshold, controlling the translation shaft support or the translation shaft support and the pitch shaft support to rotate after the rotation driving force borne on the translation shaft support or the translation shaft support and the pitch shaft support disappears, so that the included angle between the lens direction of the load and the direction of the picture to be acquired by the load is recovered to the included angle in the original mode.

34. The handle pan/tilt control method of claim 31 or 33, wherein: the preset threshold is 90 degrees.

35. The handle pan/tilt control method of claim 21, wherein: the acquiring of the posture information of the handle comprises at least one of the following steps: the method comprises the steps of obtaining the rotation angle of the handle around a pitching shaft, obtaining the rotation angle of the handle around a rolling shaft and obtaining the rotation angle of the handle around a translation shaft.