CN108268065A - A kind of method for controlling number of revolution and its device, hand-held holder - Google Patents
A kind of method for controlling number of revolution and its device, hand-held holder Download PDFInfo
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- CN108268065A CN108268065A CN201711494792.2A CN201711494792A CN108268065A CN 108268065 A CN108268065 A CN 108268065A CN 201711494792 A CN201711494792 A CN 201711494792A CN 108268065 A CN108268065 A CN 108268065A
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- China
- Prior art keywords
- rotating speed
- speed pattern
- hand
- electric machine
- rotary electric
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
Abstract
The present invention relates to holder technical field, more particularly to a kind of method for controlling number of revolution and its device, hand-held holder.Wherein, the method for controlling number of revolution, applied to hand-held holder, including：Determine to treat the rotating speed pattern of rotary electric machine；According to rotating speed pattern, determine that the output power of rotary electric machine rotation is treated in driving；Treat that rotary electric machine rotates according to output power driving.Therefore, a variety of rotating speed mode activateds can flexibly be selected to treat the rotation of rotary electric machine, so as to match a variety of implement scenes and picture pick-up device rapidly is moved to desired locations.
Description
Technical field
The present invention relates to holder technical field, more particularly to a kind of method for controlling number of revolution and its device, hand-held holder.
Background technology
Hand-held holder is widely used in amusement and recreation and model plane camera shooting etc., can pass through multiple buttons or wireless remote control
The execution of the directions such as device, the rotation and pitching of the control camera lenses such as camera action, with shoot the outstanding photograph in various directions and/
Or video.
Traditional technology provides a kind of hand-held holder, hand-held holder hold intelligent camera apparatus and with intelligent camera apparatus without
Line communicates, and realizes the incision for increasing steady pattern well.
Inventor in the implementation of the present invention, it is found that traditional technology has at least the following problems：In the case where increasing steady pattern,
When the hand-held holder carrying picture pick-up device of operation is taken pictures, motor rotation is corresponded to according to single rotating speed mode activated, to carry camera shooting
Equipment is moved to desired locations completion and takes pictures.However, in some application demands, due under single rotating speed pattern, Yong Huxu
To pass through repeatedly adjusting can be moved to picture pick-up device desired locations, and operation is cumbersome, and user experience is poor.
Invention content
A purpose of the invention is intended to provide a kind of method for controlling number of revolution and its device, hand-held holder, and which solve tradition
Technology there is technical issues that operate hand-held holder under single rotating speed pattern.
In order to solve the above technical problems, the present invention provides following technical scheme：
In a first aspect, the present invention provides a kind of method for controlling number of revolution, applied to hand-held holder, the method includes：Really
Surely the corresponding rotating speed pattern of rotary electric machine is treated；According to the rotating speed pattern, determine to treat the output of rotary electric machine rotation described in driving
Power；Treat that rotary electric machine rotates according to output power driving.
Optionally, in the hand-held holder and mobile terminal communication, the rotating speed pattern for determining to treat rotary electric machine, packet
It includes：Receive the pre- shooting image of the mobile terminal acquisition；According to the pre- shooting image, determine to treat the rotating speed mould of rotary electric machine
Formula.
Optionally, it is described according to the rotating speed pattern, it determines to treat the output power of rotary electric machine rotation, packet described in driving
It includes：When the rotating speed pattern is the coarse adjustment rotating speed pattern, the output power for determining to treat rotary electric machine rotation described in driving is
First output power；When the rotating speed pattern is the accurate adjustment rotating speed pattern, determine to treat rotary electric machine rotation described in driving
Output power is the second output power；Wherein, first output power is more than second output power.
Optionally, after rotary electric machine rotation is treated according to output power driving, the method further includes：System
Count operation duration of the hand-held holder under the accurate adjustment rotating speed pattern；Judge whether the operation duration is more than preset reference
Duration；If more than, by the current accurate adjustment rotating speed mode adjustment of the hand-held holder be coarse adjustment rotating speed pattern；If being less than, continue to tie up
Hold the current accurate adjustment rotating speed pattern of the hand-held holder.
In second aspect, the present invention provides a kind of revolution speed control device, applied to hand-held holder, including：First determining mould
Block, for determining to treat the rotating speed pattern of rotary electric machine；Second determining module, for according to the rotating speed pattern, determining driving institute
State the output power for treating rotary electric machine rotation；Drive module, for treating that rotary electric machine turns according to output power driving
It is dynamic.
Optionally, in the hand-held holder and mobile terminal communication, first determining module includes：Receiving unit,
For receiving the pre- shooting image of the mobile terminal acquisition；Adjustment unit, for according to the pre- shooting image, described in adjustment
The rotating speed pattern of hand-held holder.
Optionally, the rotating speed pattern includes coarse adjustment rotating speed pattern and accurate adjustment rotating speed pattern；The adjustment unit includes：Sentence
Disconnected subelement, for according to image analysis algorithm, it to seem the no image for including the target subject to judge the pre- shooting figure；
The first adjustment subelement, if for comprising it is the accurate adjustment rotating speed pattern to determine the rotating speed pattern for treating rotary electric machine；Second
Subelement is adjusted, if for not including, it is the coarse adjustment rotating speed pattern to determine the rotating speed pattern for treating rotary electric machine.
Optionally, second determining module includes：First determination unit, for working as the rotating speed pattern for the coarse adjustment
During rotating speed pattern, the output power for determining to treat rotary electric machine rotation described in driving is the first output power；Second determination unit is used
In when the rotating speed pattern is the accurate adjustment rotating speed pattern, determining to treat that the output power of rotary electric machine rotation is the described in driving
Two output powers；Wherein, first output power is more than second output power.
Optionally, described device further includes：Statistical module, for counting the hand-held holder in the accurate adjustment rotating speed pattern
Under operation duration；Judgment module, for judging whether the operation duration is more than preset reference duration；Module is adjusted, is used for
If more than, by the current accurate adjustment rotating speed mode adjustment of the hand-held holder be coarse adjustment rotating speed pattern；Maintenance module, if for small
In continuing to the current accurate adjustment rotating speed pattern of the hand-held holder.
In the third aspect, the present invention provides a kind of hand-held holder, and the hand-held holder includes at least one processor；And
The memory being connect at least one processor；Wherein, be stored with can be by least one processor for the memory
The instruction repertorie of execution, described instruction program is performed by least one processor, so that at least one processor energy
Enough perform any one of them method for controlling number of revolution.
In fourth aspect, the present invention provides a kind of non-volatile computer readable storage medium storing program for executing, described computer-readable to deposit
Storage media is stored with computer executable instructions, when the computer executable instructions are performed by hand-held holder, makes the hand
It holds holder and performs any one of them method for controlling number of revolution.
In the present invention, it by determining to treat the corresponding rotating speed pattern of rotary electric machine, according to rotating speed pattern, determines to drive and waits to turn
The output power of dynamic motor rotation treats that rotary electric machine rotates according to output power driving.Therefore, a variety of turns can flexibly be selected
Fast mode drives the rotation for treating rotary electric machine, so as to match a variety of implement scenes and rapidly move picture pick-up device
To desired locations.
Description of the drawings
One or more embodiments are illustrated by the picture in corresponding attached drawing, these exemplary theorys
The bright restriction not formed to embodiment, the element for having same reference numbers label in attached drawing are expressed as similar element, remove
Non- have a special statement, and composition does not limit the figure in attached drawing.
Fig. 1 provides a kind of structure diagram of hand-held holder for the embodiment of the present invention；
Fig. 2 is that the embodiment of the present invention provides a kind of structure diagram of mobile terminal；
Fig. 3 is that the embodiment of the present invention provides a kind of electrical block diagram of hand-held holder；
Fig. 4 is that the embodiment of the present invention provides a kind of structure diagram of revolution speed control device；
Fig. 5 is that the embodiment of the present invention provides a kind of structure diagram of first determining module；
Fig. 6 is that the embodiment of the present invention provides a kind of structure diagram of adjustment unit；
Fig. 7 is that the embodiment of the present invention provides a kind of structure diagram of second determining module；
Fig. 8 is that another embodiment of the present invention provides a kind of structure diagram of revolution speed control device；
Fig. 9 is that the embodiment of the present invention provides a kind of flow diagram of method for controlling number of revolution；
Figure 10 is that the embodiment of the present invention provides a kind of flow diagram of step 91；
Figure 11 is that the embodiment of the present invention provides a kind of flow diagram of step 912；
Figure 12 is that the embodiment of the present invention provides a kind of flow diagram of step 92；
Figure 13 is that another embodiment of the present invention provides the flow diagram that a kind of hand-held holder increases steady method.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, it is right
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, not
For limiting the present invention.
It please refers to Fig.1, Fig. 1 provides a kind of structure diagram of hand-held holder for the embodiment of the present invention.It as shown in Figure 1, should
Hand-held holder includes clamping device 1 and the head assembly 2 for clamping device 1 to be driven to rotate, wherein, clamping device 1 is used to fill
Press from both sides picture pick-up device 3.
Head assembly 2 includes translation spindle motor 10, roll spindle motor 20 and pitching spindle motor 30, translation spindle motor 10, horizontal stroke
Roller motor 20 and pitching spindle motor 30 are in the orthogonal thereto distribution in space, by translating spindle motor 10, roll spindle motor 20 and pitching
Spindle motor 30 drives clamping device 1 to carry out three-axis moving in space, realizes the 3 various dimensions rotation of control picture pick-up device.
Translation spindle motor 10 includes translation shaft fixed part 11 and translation shaft rotation moves portion 12, and roll spindle motor 20 includes roll axis
Fixed part 21 and roll axis rotation section 22, pitching spindle motor 30 include pitch axis fixed part 31 and pitch axes portion 32.
Optionally, it translates at least one using brushless direct-current in spindle motor 10, roll spindle motor 20 and pitching spindle motor 30
Motor is realized.Brshless DC motor has the following advantages：(1) dependable performance reduces abrasion and/or failure rate, and due to tool
There is the electronics commutation instead of mechanical commutator, service life is longer than brush motor (about six times)；(2) low no-load electric current, because
Brshless DC motor is static motor；(3) it is efficient；(4) it is small.
Head assembly 2 further includes vertical linking arm 40 and lateral connection arm 50, and vertical linking arm 40 is in be vertically arranged, and perpendicular
It is fixedly connected respectively with translation shaft rotation section 12 and roll axis fixed part 21 to the both ends of linking arm 40；Lateral connection arm 50 is in horizontal stroke
To arrangement, and the both ends of lateral connection arm 50 are fixedly connected respectively with roll axis rotation section 22 and pitch axis fixed part 31.
Specifically, the rotation of translation shaft rotation section 12 drives vertical linking arm 40 to rotate, the horizontal stroke being connect with vertical linking arm 40
Roller bearing fixed part 21 rotates；The rotation of roll axis rotation section 22 drives lateral connection arm 50 to rotate, and is connect with lateral connection arm 50
Pitch axis fixed part 31 rotates, in this way, picture pick-up device 3 is in the clamping of clamping device 1 and in translation shaft rotation section 12, roll axis
Under the rotation of rotation section 22 and pitch axes portion 32 totally three shafts drives, realize that three shaft rotations are moved in space, it is achieved thereby that
Control the rotation of 3 various dimensions of picture pick-up device.
11 bottom of translation shaft fixed part is connected with handle 4, and the setting of handle 4 is convenient for holding for people, while can also be in hand
4 inside setting control panel of handle is electrically connected to picture pick-up device 3, and setting control is pressed outside handle 4 simultaneously by control panel
Button, in this way, the open and close of picture pick-up device 3 and the startup of each function and closing can be controlled by pressing control button.
The hand-held holder is internally provided with detection element and processor, and detection element is used to detecting or obtaining hand-held holder
Status information, for example, handle 4, translation spindle motor 10, roll spindle motor 20 and pitching spindle motor 30 status information；Processing
Device is used to calculate the attitude information of hand-held holder according to above-mentioned status information, and exports one or more according to above-mentioned attitude information
Motor signal.
Detection element may include Inertial Measurement Unit, compass, velocity sensor, acceleration transducer, magnetic coder or
Other kinds of measuring cell or sensor, status information may include angle, linear speed, acceleration and the position of hand-held holder
The similar informations such as information, for example, handle 4, translation spindle motor 10, roll spindle motor 20 and pitching spindle motor 30 angle, linear
Speed, acceleration and location information etc.；Status information further includes the status information of translation shaft, roll axis, pitch axis, for example, flat
Move axis, roll axis, the angle of pitch axis, linear speed and acceleration etc..
Processor is used to calculate the attitude information of hand-held holder according to above-mentioned status information, and attitude information may include translating
Axis, roll axis, the direction of pitch axis or inclination angle, speed and/or acceleration etc., also handle 4, translation spindle motor 10, roll axis
Motor 20 and pitching spindle motor 30 are relative to translation shaft, roll axis, the direction of pitch axis or inclination angle, speed and/or acceleration etc..
In some cases, above-mentioned attitude information can be based on angular velocity information calculating.In some cases, above-mentioned attitude information can be based on
Angular velocity information and linear acceleration both information calculate, for example, linear acceleration information can be used to change and/or correct angle speed
Spend information.
Processor is based on above-mentioned attitude information and exports one or more motor signals, and motor signal is used to drive translation shaft electric
Machine 10, the rotating forward of roll spindle motor 20 and pitching spindle motor 30, reversion and adjusting rotating speed.Translate spindle motor 10, roll spindle motor
20 and pitching spindle motor 30 can accordingly be rotated according to one or more motor signals so that clamping device 1 can be around translation shaft, roll
At least one of axis, pitch axis rotation so that picture pick-up device 3 turns to scheduled direction, position or keeps scheduled position
Or posture.
The inside of the hand-held holder is additionally provided with wireless communication unit.Wireless communication unit can include can be in hand-held cloud
Wireless communication is realized between platform and picture pick-up device 3 or is realized between the network at hand-held holder and picture pick-up device 3 wireless
At least one module of communication.For example, wireless communication unit includes broadcasting reception module, mobile communication module, wireless Internet
Module, short-range communication module and location information module.
Broadcasting reception module receives broadcast singal from external broadcast management server via broadcast channel and/or broadcast is related
Information.Here, broadcast channel can include satellite channel and terrestrial channel.Broadcast management server refers to service as follows
Device, i.e.,：It generates and sends broadcast singal and/or broadcast related information or receives the broadcast singal that has generated and/or wide
It broadcasts relevant information and the broadcast singal generated and/or broadcast related information is sent to terminal.Broadcast singal not only can be with
Including television broadcasting signal, radio signals and data broadcasting signal, but also including with data broadcasting signal and electricity
The broadcast singal of form engaged depending on broadcast singal or radio reception broadcast singal.
Broadcast related information can refer to and broadcasting channel, broadcast program or the relevant information of broadcast service provider.May be used also
To provide broadcast related information by mobile communications network.In such a case it is possible to broadcast is received by mobile communication module
Relevant information.Broadcast related information can be according to digital multimedia broadcasting (DMB) electronic program guides (EPG) or hand-held number
The form of the electronic service guidebooks (ESG) of video broadcasting (DVB-H) exists.
Broadcasting reception module can receive digital broadcast signal using digit broadcasting system, digit broadcasting system such as
T-DMB (DMB-T), digital multimedia broadcast (dmb) via satellite (DMB-S), only media forward link (MediaFLO),
Hand-held digital video broadcast (DVB-H) or Terrestrial Integrated Service digital broadcasting (ISDB-T).It should be noted that broadcast reception can be included
Module to be not only suitable for above-mentioned digit broadcasting system, and is suitable for other broadcast systems.It is received by broadcasting reception module
To broadcast singal and/or broadcast related information can also store in memory.
At least one party in base station of the mobile communication module on mobile communications network, exterior terminal and server sends nothing
Line signal can receive wireless signal from at least one party in base station, exterior terminal and server.Here, according to character/
Multimedia Message sends and receivees, and wireless signal can include voice call signal, video call signal or various forms of
Data.
Wireless Internet module refers to the module for wireless internet connection, and can be internal or external at hand-held
Holder.Such as Wireless LAN (WLAN) (Wi-Fi), WiMAX (Wibro), World Interoperability for Microwave Access, WiMax can be used
(Wimax), wireless Internet technologies as high-speed slender body theory (HSDPA).
Short-range communication module refers to the module for carrying out short haul connection.Such as bluetooth can be used
(Bluetooth), radio frequency identification (RFID), Infrared Data Association (IrDA), ultra wide band (UWB) or short distance as ZigBee
The communication technology.Location information module is the module for obtaining the position of mobile terminal, such as global positioning system (GPS) mould
Block.
The inside of the hand-held holder is additionally provided with data storage medium.Data storage medium closes for storing with hand-held holder
The operation sequence of connection can be also used for provisionally storing input/output data (for example, address list, message, still image, video
Deng).
Data storage medium can include the storage medium of following at least one type：Flash-type memory, hard disk type are deposited
Reservoir, Multimedia Micro Cards type memory, card type reservoir (for example, SD or XD memories), random access memory (RAM), static state
It is random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only
Memory (PROM), magnetic memory, disk and CD.
The inside of the hand-held holder is additionally provided with charging module.For charging to picture pick-up device 3, this is filled charging module
Electric module has charging interface, such as：USB interface etc..Charging module is completed to set camera shooting under the control logic of processor
Standby 3 power supply power supply and the power output of each motor.
Corresponding, the inside of the hand-held holder is additionally provided with capacity prompt module.Capacity prompt module is used to prompt to hold
The current electric quantity information of holder, so that user knows the state of charge of hand-held holder.
In embodiments of the present invention, picture pick-up device 3 can be understood as the mobile terminal with camera function, the mobile terminal
It can be with mobile phone, tablet computer or camera etc..
Referring to Fig. 2, Fig. 2, which is the embodiment of the present invention, provides a kind of structure diagram of mobile terminal.As shown in Fig. 2, it moves
Dynamic terminal 200 includes wireless communication unit 21, control unit 22, display unit 23 and charhing unit 24.
Wireless communication unit 21 is under the control of control unit 22, between the wireless communication unit in completion and hand-held holder
Communication.Such as：The wireless communication unit 21 of mobile terminal 200 is all bluetooth mould with the wireless communication unit in hand-held holder
Group, the two by bluetooth connection complete between communication.
Display unit 23 is used to show the information that (output) is handled in mobile terminal 200.For example, work as mobile terminal
200 when being in call model, the display user interface (UI) related with calling or graphic user interface (GUI).When terminal is in
When in video call mode or screening-mode, image that is taking and/or receiving, UI or GUI are shown.
Display unit 23 can include liquid crystal display (LCD), Thin Film Transistor-LCD (TFT LCD), organic
At least one of light emitting diode indicator (OLED), flexible display and three-dimensional (3D) display.
Charhing unit 24 is used to provide power supply for each circuit unit in mobile terminal 200.It is clamped in mobile terminal 200
During hand-held holder, hand-held holder provides power supply by charging interface for mobile terminal 200.
Mobile terminal 200 supports the installation of various multipads, one in such as following multipad or
The multiple multipads of person：Hand-held holder application program, drawing application program, demonstration applications, text processing application journey
Sequence, spreadsheet applications, game application, telephony application, videoconference application, e-mail applications journey
Application program, photo application, digital camera application program, digital video recorder are supported in sequence, instant message application program, training
It application program, web page browsing application program, digital music player application, video frequency player application program and waits
Deng.
In the present embodiment, user can download the corresponding installation kit of hand-held holder application program from application market and move
In dynamic terminal 200, and hand-held holder application program is installed in mobile terminal 200.
Further, when user is by hand-held cradle head control mobile terminal 200, user can open hand-held holder application
Program and the bluetooth module of mobile terminal 200, hand-held holder are communicated by bluetooth connection and mobile terminal 200.Further,
User holds holder by operation, by hand-held holder application program, completes the interaction between mobile terminal 200, such as：Control
Mobile terminal 200 processed realizes shooting function etc..
In embodiments of the present invention, a variety of rotating speed scheme controls can be selected to hold holder.Specifically, hand-held holder is true
Surely the corresponding rotating speed pattern of rotary electric machine is treated.Motor herein includes above-mentioned translation spindle motor 10, roll spindle motor 20 and pitching
Any one in spindle motor 30.When user needs to adjust the posture of hand-held holder, need to adjust the output of particular motor, to change
Become the posture of hand-held holder.At this point, the particular motor is to treat rotary electric machine, for example：User needs that spindle motor 10 will be translated
When being rotated counterclockwise by current 30 degree to 60 degree, the translation spindle motor is treats rotary electric machine.
Treat that rotary electric machine can work under different rotating speeds pattern, user can be according to product demand to treat that rotary electric machine is determined
Several rotating speed patterns of justice.For example：Hand-held holder includes 10 different grades of rotating speed patterns, treats rotary electric machine first etc.
Rotating speed highest under the rotating speed pattern of grade, takes second place compared with the rotating speed under the rotating speed pattern of lower level.
In some embodiments, each rotating speed pattern is all corresponding with the different output power of motor, wherein, the output power
For the rotation of driving motor, the rotating speed of motor can be changed by changing output power.Therefore, when hand-held holder determines to treat
It, can be with to treat that corresponding rotating speed is configured in rotary electric machine during the rotating speed pattern of rotary electric machine.
Determine to treat that various ways are presented in the rotating speed pattern of rotary electric machine, for example：In the hand-held holder of operation, Yong Huke
With voice " translation spindle motor enters the rotating speed pattern of the first estate " the hand-held holder of input, the voice acquisition device of hand-held holder is adopted
Collect the voice, and semantic analysis is carried out to the voice, go out crucial words " translation spindle motor " and " the first estate from the speech analysis
Rotating speed pattern ", then, hand-held holder can determine to treat the rotating speed pattern of rotary electric machine.Again for example：Hand-held holder is
User provides user interface, and user can input in the user interface and treat the motor type of rotary electric machine and rotating speed mould
Formula, such as " pitching spindle motor " and " the rotating speed pattern of the second grade ".
After determining to treat the rotating speed pattern of rotary electric machine, hand-held holder can determine that driving is treated according to rotating speed pattern
The output power of rotary electric machine rotation.Generally, as previously mentioned, each rotating speed pattern all corresponds to different output powers, hand
It holds holder the mapping relations between rotating speed pattern and output power are stored in contingency table.When searching output power every time, hand
It holds holder and accesses contingency table, output power corresponding with rotating speed pattern is found out out of contingency table.
After determining to treat the output power of rotary electric machine, hand-held holder can drive according to output power treats rotation electricity
Machine rotates.For example：When treating rotary electric machine as translation spindle motor, rotating speed pattern is the rotating speed pattern of the first estate, then, hand
It is 30W to hold the output power that holder determines, therefore, hand-held holder can drive the translation spindle motor inverse time under 30W output powers
Needle rotates 120 degree.When treating rotary electric machine as translation spindle motor, rotating speed pattern is the rotating speed pattern of the second grade, then, holds cloud
The output power that platform determines is 20W, and therefore, hand-held holder can drive translation spindle motor to turn counterclockwise under 20W output powers
It is 90 degree dynamic.
In some embodiments, it holds holder and treats that rotary electric machine rotates according to rotating speed mode activated, such mode is suitable for
Demand based on the different phase under same destination.For example：When hand-held holder carries mobile terminal photographic subjects object,
Start angle to this section of child's hair twisted in a knot-childhood angle value of purpose angle can angle in two stages, for first stage angle, starting
The location of angular distance object is bigger, and therefore, the rotating speed of corresponding motor can be turned up in hand-held holder so that hand-held cloud
Platform carry mobile terminal posture rapidly, expeditiously towards object, therefore, so as to fulfill coarse adjustment.For second-order
Section the location of angle, start angle distance objective object is smaller, and therefore, hand-held holder can turn down turning for corresponding motor
Speed so that the posture that hand-held holder carries mobile terminal approaches object, more meticulously reaches the expectation shooting position of object
It puts, therefore, so as to fulfill accurate adjustment.
Therefore, a variety of rotating speed mode activateds can flexibly be selected to treat the rotation of rotary electric machine, so as to match
Picture pick-up device is simultaneously rapidly moved to desired locations by a variety of implement scenes.
In some embodiments, other than above-mentioned introduction determines to treat the mode of the rotating speed pattern of rotary electric machine, may be used also
Determine to treat the rotating speed pattern of rotary electric machine in a manner of by Image Acquisition.For example：In hand-held holder and mobile terminal communication
When, user's operation holds holder, controls mobile terminal photographic subjects subject.In shooting process, mobile terminal acquisition is pre- claps
Image is taken the photograph, and pre- shooting image is transferred to hand-held holder by wireless communication mode.Wherein, which includes having
The image of target subject and the image without target subject.Hand-held holder receives the pre- shooting image, and according to pre-
Image is shot, determines to treat the rotating speed pattern of rotary electric machine.
In some embodiments, hold holder is according to the mode that pre- shooting image determines to treat the rotating speed pattern of rotary electric machine
It is existing a variety of, for example：It can be according to image analysis algorithm, and it seems the no figure for including target subject to judge pre- shooting figure
Picture；If comprising the rotating speed pattern for determining to treat rotary electric machine is accurate adjustment rotating speed pattern；If not including, determine to treat turning for rotary electric machine
Fast mode is coarse adjustment rotating speed pattern.When rotating speed pattern is coarse adjustment rotating speed pattern, determine that the output of rotary electric machine rotation is treated in driving
Power is the first output power；When rotating speed pattern is accurate adjustment rotating speed pattern, determine that the output work of rotary electric machine rotation is treated in driving
Rate is the second output power；Wherein, the first output power is more than the second output power.Since the first output power is defeated more than second
Go out power, therefore, in contrast, hand-held holder is according to the corresponding high-speed rotation for treating rotary electric machine of the first output power driving, hand
It holds holder and slowly running for rotary electric machine is treated according to the second output power driving correspondence.When rotary electric machine high-speed rotation, hand
Holding holder can rapidly coarse adjustment mobile terminal.When rotary electric machine slowly runs, hand-held holder can with low speed accurate adjustment shifting
Dynamic terminal.Wherein, the first output power can be self-defined according to product demand by user with the second output power.
For example：Target subject, which is located at when hand-held holder carries mobile terminal, corresponds to posture as rectangle and upward 60
Degree.Therefore, between 0 degree to 60 degree, target subject is not present in the shooting picture of mobile terminal, also, at 60 degree
To between 70 degree, target subject is appeared in the shooting picture of mobile terminal.Then, user's operation holds holder, and control moves
Dynamic terminal rotation.Detailed process is：Between 0 degree to 60 degree, due to holding the pre- shooting figure of holder analysis mobile terminal acquisition
As there is not target subject, then, hand-held holder is rapidly rotated with the first output power driving motor so that hand-held cloud
Platform carries mobile terminal and can rapidly arrive near target subject.And then, between 60 degree to 70 degree, holder is held
It is slower speeds rotated with the second output power driving motor so that motor exports minor rotation angle, so that hand-held holder is taken
The optimum position of user's expectation photographic subjects subject can be constantly approached with mobile terminal.
Therefore, using such mode, different rotating speed patterns can be matched for user by stages so that user can
It rapidly, accurately operates hand-held holder and carries mobile terminal to desired locations.
Generally, when user's operation holds the shooting of cradle head control mobile terminal, since for erroneous judgement, user prematurely operates
Hand-held holder is operated under accurate adjustment rotating speed pattern.Since the motor speed under accurate adjustment rotating speed pattern is slow, when need rapidly will move
The camera of dynamic terminal is rotated in desired locations, it is clear that the hand-held holder being operated under accurate adjustment rotating speed pattern is the failure to meet
It is current it is expected.Then, in some embodiments, when hand-held holder is operated in accurate adjustment rotating speed pattern, can also count hand-held
Operation duration of the holder under accurate adjustment rotating speed pattern.Such as：Hand-held holder is from fine mode is initially entered to current, hand-held holder
Operation duration be 10 seconds.And then, it holds holder and judges whether operation duration is more than preset reference duration, if more than by hand
The current accurate adjustment rotating speed mode adjustment for holding holder is coarse adjustment rotating speed pattern；If being less than, the current accurate adjustment of hand-held holder is continued to
Rotating speed pattern.Such as：A length of 8 seconds during preset reference, since the operation duration for holding holder is more than preset reference duration 8 in 10 seconds
Second, it is coarse adjustment rotating speed pattern by the current accurate adjustment rotating speed mode adjustment of hand-held holder then.
Therefore, using such mode, rotating speed pattern can be neatly adjusted, shooting efficiency is improved, so as to promote user
Experience sense.
In above-mentioned each embodiment, as shown in figure 3, hand-held holder 300 includes：At least one processor 31 and with institute
State the memory 32 that at least one processor 31 communicates to connect；Wherein, in Fig. 3 by taking a processor 31 as an example.31 He of processor
Memory 32 can be connected by bus or other modes, in Fig. 3 for being connected by bus.
Wherein, memory 32 is stored with the instruction that can be performed by least one processor 31, and described instruction is described
At least one processor 31 performs, so that at least one processor 31 can be used in performing method for controlling number of revolution.
As the another aspect of the embodiment of the present invention, the embodiment of the present invention provides a kind of revolution speed control device.The rotating speed control
Device processed can be stored in Fig. 3 and illustrate in hand-held holder as software systems.The revolution speed control device includes several fingers
It enables, which is stored in memory, and processor can access the memory, and call instruction is performed, in completion
State revolution speed control device.
As shown in figure 4, the revolution speed control device 400 is applied to hand-held holder, including：First determining module 41, second
Determining module 42 and drive module 43.
First determining module 41 is used to determine to treat the rotating speed pattern of rotary electric machine；
Second determining module 42 is used for according to rotating speed pattern, determines that the output power of rotary electric machine rotation is treated in driving；
Drive module 43 is used to treat that rotary electric machine rotates according to output power driving.
Therefore, a variety of rotating speed mode activateds can flexibly be selected to treat the rotation of rotary electric machine, so as to match
Picture pick-up device is simultaneously rapidly moved to desired locations by a variety of implement scenes.
In some embodiments, in hand-held holder and mobile terminal communication, as shown in figure 5, the first determining module 41 is wrapped
It includes：Receiving unit 411 and adjustment unit 412.
Receiving unit 411 is used to receive the pre- shooting image of mobile terminal acquisition；
Adjustment unit 412 is used to, according to pre- shooting image, adjust the rotating speed pattern of hand-held holder.
In some embodiments, rotating speed pattern includes coarse adjustment rotating speed pattern and accurate adjustment rotating speed pattern.As shown in fig. 6, adjustment
Unit 412 includes：Judgment sub-unit 4121, the first adjustment subelement 4122 and second adjustment subelement 4123.
Judgment sub-unit 4121 is used for according to image analysis algorithm, judges that pre- shooting figure seems no comprising target subject
Image；
If the first adjustment subelement 4122 is used for comprising the rotating speed pattern for determining to treat rotary electric machine is accurate adjustment rotating speed pattern；
For second adjustment subelement 4123 if for not including, the rotating speed pattern for determining to treat rotary electric machine is coarse adjustment rotating speed mould
Formula.
In some embodiments, as shown in fig. 7, the second determining module 42 includes：First determination unit 421 and second determines
Unit 422.
First determination unit 421 is used for when rotating speed pattern is coarse adjustment rotating speed pattern, determines that driving treats that rotary electric machine rotates
Output power be the first output power；
Second determination unit 422 is used for when rotating speed pattern is accurate adjustment rotating speed pattern, determines that driving treats that rotary electric machine rotates
Output power be the second output power；
Wherein, the first output power is more than the second output power.
In some embodiments, as shown in figure 8, the revolution speed control device 400 further includes：Statistical module 44, judgment module
45th, module 46 and maintenance module 47 are adjusted.
Statistical module 45 is used to count operation duration of the hand-held holder under accurate adjustment rotating speed pattern；
Judgment module 46 is used to judge whether operation duration is more than preset reference duration；
It adjusts module 47 and is used to be coarse adjustment rotating speed pattern by the current accurate adjustment rotating speed mode adjustment of hand-held holder；
If maintenance module 48 continues to the current accurate adjustment rotating speed pattern of the hand-held holder for being less than.
Since device embodiment and above-mentioned each embodiment are based on same design, in the not mutual conflicting premise of content
Under, the content of device embodiment can quote above-mentioned each embodiment, and this will not be repeated here.
As the another aspect of the embodiment of the present invention, the embodiment of the present invention provides a kind of method for controlling number of revolution.The present invention
The function of the method for controlling number of revolution of embodiment by the software systems of the revolution speed control device described in above-mentioned Fig. 4 to Fig. 8 in addition to coming
It performs, can also be performed by hardware platform.
The corresponding function of method for controlling number of revolution of following each embodiments is that hand-held holder is stored in the form of instruction
On memory, when the corresponding function of the method for controlling number of revolution that perform following each embodiments, the processor for holding holder is visited
It asks memory, transfer and performs corresponding instruction, to realize the corresponding function of method for controlling number of revolution of following each embodiments.
Memory as a kind of non-volatile computer readable storage medium storing program for executing, available for storage non-volatile software program,
Non-volatile computer executable program and module, as the 400 corresponding program of revolution speed control device in above-described embodiment refers to
Order/module (for example, modules and unit described in Fig. 4 to Fig. 8) or the corresponding step of following embodiment method for controlling number of revolution
Suddenly.Processor is by running non-volatile software program stored in memory, instruction and module, so as to perform rotating speed control
The modules of following embodiment revolution speed control devices 400 are realized in the various function application of device 400 processed and data processing
The function of step corresponding to the steady method of holder increasing is held with the function of unit or following embodiments.
Described program instruction/module is stored in the memory, when being performed by one or more of processors,
The method for controlling number of revolution in above-mentioned any means embodiment is performed, for example, performing shown in Fig. 9 to Figure 13 of following embodiment descriptions
Each step；Also attached drawing 4 can be realized to the modules and the function of unit described in Fig. 8.
As shown in figure 9, the method for controlling number of revolution 900 is applied to hand-held holder.Wherein, which includes：
Step 91 determines to treat the rotating speed pattern of rotary electric machine；
Step 92, according to rotating speed pattern, determine that the output power of rotary electric machine rotation is treated in driving；
Step 93 treats that rotary electric machine rotates according to output power driving.
Therefore, a variety of rotating speed mode activateds can flexibly be selected to treat the rotation of rotary electric machine, so as to match
Picture pick-up device is simultaneously rapidly moved to desired locations by a variety of implement scenes.
In hand-held holder and mobile terminal communication, in some embodiments, as shown in Figure 10, step 91 includes：
Step 911, the pre- shooting image for receiving mobile terminal acquisition；
Step 912 shoots image according to pre-, determines to treat the rotating speed pattern of rotary electric machine.
In some embodiments, rotating speed pattern includes coarse adjustment rotating speed pattern and accurate adjustment rotating speed pattern.As shown in figure 11, step
912 include：
Step 9121, according to image analysis algorithm, it seems the no image for including target subject to judge pre- shooting figure；
If step 9122, comprising the rotating speed pattern for determining to treat rotary electric machine is accurate adjustment rotating speed pattern；
If step 9123 does not include, the rotating speed pattern for determining to treat rotary electric machine is coarse adjustment rotating speed pattern.
In some embodiments, as shown in figure 12, step 92 includes：
Step 921, when rotating speed pattern be coarse adjustment rotating speed pattern when, determine driving treat rotary electric machine rotation output power be
First output power；
Step 922, when rotating speed pattern be accurate adjustment rotating speed pattern when, determine driving treat rotary electric machine rotation output power be
Second output power, wherein, the first output power is more than the second output power.
In some embodiments, as shown in figure 13, which further includes：
Hand-held operation duration of the holder under accurate adjustment rotating speed pattern of step 94, statistics；
Step 95 judges whether operation duration is more than preset reference duration；
Step 96, if more than, by the current accurate adjustment rotating speed mode adjustment of hand-held holder be coarse adjustment rotating speed pattern；
If step 97 is less than, the current accurate adjustment rotating speed pattern of hand-held holder is continued to.
Since device embodiment and embodiment of the method are to be based on same design, under the premise of content does not conflict mutually, side
The content of method embodiment can quote device embodiment, and this will not be repeated here.
As the another aspect of the embodiment of the present invention, the embodiment of the present invention provides a kind of non-volatile computer readable storage
Medium, above computer readable storage medium storing program for executing are stored with computer executable instructions, when the computer executable instructions are by hand
When holding holder execution, hand-held holder is made to perform any one of them method for controlling number of revolution.
Therefore, a variety of rotating speed mode activateds can flexibly be selected to treat the rotation of rotary electric machine, so as to match
Picture pick-up device is simultaneously rapidly moved to desired locations by a variety of implement scenes.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；At this
It under the thinking of invention, can also be combined between the technical characteristic in above example or different embodiment, step can be with
It is realized with random order, and there are many other variations of different aspect present invention as described above, for simplicity, they do not have
Have and provided in details；Although the present invention is described in detail referring to the foregoing embodiments, the ordinary skill people of this field
Member should understand that：It can still modify to the technical solution recorded in foregoing embodiments or to which part skill
Art feature carries out equivalent replacement；And these modifications or replacement, each reality of the application that it does not separate the essence of the corresponding technical solution
Apply the range of a technical solution.
Claims (12)
1. a kind of method for controlling number of revolution, applied to hand-held holder, which is characterized in that including：
Determine to treat the rotating speed pattern of rotary electric machine；
According to the rotating speed pattern, determine to treat the output power of rotary electric machine rotation described in driving；
Treat that rotary electric machine rotates according to output power driving.
It is 2. described according to the method described in claim 1, it is characterized in that, in the hand-held holder and during mobile terminal communication
Determine to treat the rotating speed pattern of rotary electric machine, including：
Receive the pre- shooting image of the mobile terminal acquisition；
According to the pre- shooting image, determine to treat the rotating speed pattern of rotary electric machine.
3. according to the method described in claim 2, it is characterized in that, the rotating speed pattern includes coarse adjustment rotating speed pattern and accurate adjustment turn
Fast mode；
It is described to determine to treat the rotating speed pattern of rotary electric machine according to the pre- shooting image, including：
According to image analysis algorithm, it seems the no image for including target subject to judge the pre- shooting figure；
If comprising it is the accurate adjustment rotating speed pattern to determine the rotating speed pattern for treating rotary electric machine；
If not including, it is the coarse adjustment rotating speed pattern to determine the rotating speed pattern for treating rotary electric machine.
4. according to the method described in claim 3, it is characterized in that, described according to the rotating speed pattern, determine to treat described in driving
The output power of rotary electric machine rotation, including：
When the rotating speed pattern is the coarse adjustment rotating speed pattern, the output power for determining to treat rotary electric machine rotation described in driving is
First output power；
When the rotating speed pattern is the accurate adjustment rotating speed pattern, the output power for determining to treat rotary electric machine rotation described in driving is
Second output power；
Wherein, first output power is more than second output power.
5. according to the method described in claim 3, it is characterized in that, treating rotary electric machine according to output power driving
After rotation, the method further includes：
Count operation duration of the hand-held holder under the accurate adjustment rotating speed pattern；
Judge whether the operation duration is more than preset reference duration；
If more than, by the current accurate adjustment rotating speed mode adjustment of the hand-held holder be coarse adjustment rotating speed pattern；
If being less than, the current accurate adjustment rotating speed pattern of the hand-held holder is continued to.
6. a kind of revolution speed control device, applied to hand-held holder, which is characterized in that including：
First determining module, for determining to treat the rotating speed pattern of rotary electric machine；
Second determining module, for according to the rotating speed pattern, determining to treat the output power of rotary electric machine rotation described in driving；
Drive module, for treating that rotary electric machine rotates according to output power driving.
7. device according to claim 6, which is characterized in that described in the hand-held holder and mobile terminal communication
First determining module includes：
Receiving unit, for receiving the pre- shooting image of the mobile terminal acquisition；
Adjustment unit, for according to the pre- shooting image, adjusting the rotating speed pattern of the hand-held holder.
8. device according to claim 7, which is characterized in that the rotating speed pattern includes coarse adjustment rotating speed pattern and turns with accurate adjustment
Fast mode；
The adjustment unit includes：
Judgment sub-unit, for according to image analysis algorithm, judging that the pre- shooting figure seems no comprising the target subject
Image；
The first adjustment subelement, if for comprising it is the accurate adjustment rotating speed pattern to determine the rotating speed pattern for treating rotary electric machine；
Second adjustment subelement, if for not including, it is the coarse adjustment rotating speed mould to determine the rotating speed pattern for treating rotary electric machine
Formula.
9. device according to claim 8, which is characterized in that second determining module includes：
First determination unit, for when the rotating speed pattern is the coarse adjustment rotating speed pattern, determining to treat rotation electricity described in driving
The output power of machine rotation is the first output power；
Second determination unit, for when the rotating speed pattern is the accurate adjustment rotating speed pattern, determining to treat rotation electricity described in driving
The output power of machine rotation is the second output power；
Wherein, first output power is more than second output power.
10. device according to claim 8, which is characterized in that described device further includes：
Statistical module, for counting operation duration of the hand-held holder under the accurate adjustment rotating speed pattern；
Judgment module, for judging whether the operation duration is more than preset reference duration；
Adjust module, for if more than, by the current accurate adjustment rotating speed mode adjustment of the hand-held holder be coarse adjustment rotating speed pattern；
If maintenance module for being less than, continues to the current accurate adjustment rotating speed pattern of the hand-held holder.
11. a kind of hand-held holder, which is characterized in that including：
At least one processor；And
The memory being connect at least one processor；Wherein,
The memory is stored with the instruction repertorie that can be performed by least one processor, described instruction program by it is described extremely
A few processor performs, so that at least one processor is able to carry out such as claim 1-5 any one of them rotating speeds
Control method.
12. a kind of non-volatile computer readable storage medium storing program for executing, which is characterized in that the computer-readable recording medium storage has
Computer executable instructions when the computer executable instructions are performed by hand-held holder, make the hand-held holder perform such as
Claim 1-5 any one of them method for controlling number of revolution.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711494792.2A CN108268065B (en) | 2017-12-31 | 2017-12-31 | Rotating speed control method and device and handheld cloud deck |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711494792.2A CN108268065B (en) | 2017-12-31 | 2017-12-31 | Rotating speed control method and device and handheld cloud deck |
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| CN108268065B (en) | 2021-09-21 |
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