CN108496137A

CN108496137A - Remote controler, holder and cloud platform control method, device, system

Info

Publication number: CN108496137A
Application number: CN201780004498.0A
Authority: CN
Inventors: 苏铁; 潘立忠
Original assignee: SZ DJI Osmo Technology Co Ltd
Current assignee: SZ DJI Osmo Technology Co Ltd
Priority date: 2017-04-21
Filing date: 2017-04-21
Publication date: 2018-09-04
Anticipated expiration: 2037-04-21
Also published as: WO2018191963A1; CN108496137B

Abstract

A kind of remote controler of present invention offer, holder and cloud platform control method, device, system, wherein the control system of holder includes the remote controler (100) of control holder (200), in the case where holder is in first state, remote controler, which is sent, to be used to indicate holder and switches to the first switching command of manual calibration pattern to holder；The holder switches to manual calibration pattern after detecting first switching command；Under manual calibration pattern, the remote controler receives update information input by user；The holder receives the update information that the remote controler is sent, and is modified to the parameter of holder according to the update information.By the way that manual calibration pattern is arranged, the parameter of holder can be modified using the update information of user side input at any time, the parameter of holder is adjusted by manual intervention at any time, so that the practical Attitude estimation of holder is accurate, and the parameter that holder is adjusted under manual calibration pattern will not be influenced by states such as line acceleration so that holder drift is smaller.

Description

Remote controler, holder and cloud platform control method, device, system

Technical field

The present invention relates to a kind of control field more particularly to remote controler, holder and cloud platform control method, device, systems.

Background technology

Holder is to increase steady system for load.Using holder establishing shot equipment, can increase surely for capture apparatus, even if The picture for stablizing smoothness can also be shot under moving condition.However, using holder establishing shot equipment, fixed machine is being used When position or fitness machine bit length time shooting fixed scene, each axis of holder (such as yaw axis, pitch axis, roll axis, it corresponds to respectively Yaw axis, pitch axis, roll axis) it can drift about, cause the picture of shooting also to drift about therewith, reduces shooting quality.

Currently, holder is mainly using Inertial Measurement Unit as feedback element, using the driving motor of each axis of holder as output Element controls the posture of holder, wherein and during to the control of holder posture, controlled quentity controlled variable is the posture of holder, By giving a targeted attitude, by feedback control by holder current pose to the targeted attitude amendment so that holder from Current pose is approached to targeted attitude, to prevent holder from generating drift.

In some cases, it is desirable to by holder carry on sports equipment, such as by holder carry on vehicle, into driving It claps, and vehicle is in accelerated motion or retarded motion, holder posture can be influenced by linear acceleration and estimate mistake, cause to pacify The camera lens of capture apparatus on holder generates offset, and then causes to shoot less than required picture.

Invention content

A kind of remote controler of present invention offer, holder and cloud platform control method, device, system.

According to the first aspect of the invention, a kind of control method of holder is provided, the method includes：It is used for if detecting It indicates that holder switches to the first switching command of manual calibration pattern, then switches to manual calibration pattern；In manual calibration pattern Under, receive the update information that user side returns；The parameter of holder is modified according to the update information.

According to the second aspect of the invention, a kind of control device of holder is provided, described device includes：First processor； Wherein, the first processor is configured as：It is used to indicate the first switching that holder switches to manual calibration pattern if detecting Instruction, then switch to manual calibration pattern；Under manual calibration pattern, the update information that user side returns is received；According to described Update information is modified the parameter of holder.

According to the third aspect of the invention we, a kind of computer readable storage medium is provided, computer program is stored thereon with, The program realizes following steps when being executed by first processor：Manual calibration pattern is switched to if detecting and being used to indicate holder First switching command then switches to manual calibration pattern；Under manual calibration pattern, the update information that user side returns is received； The parameter of holder is modified according to the update information.

According to the fourth aspect of the invention, a kind of holder is provided, the control dress of gyroscope, accelerometer and holder is included It sets, the control device of the holder includes first processor；Wherein, the first processor is configured as：It is used for if detecting It indicates that holder switches to the first switching command of manual calibration pattern, then switches to manual calibration pattern；In manual calibration pattern Under, receive the update information that user side returns；The parameter of holder is modified according to the update information.

According to the fifth aspect of the invention, a kind of control method of holder is provided, the method includes：It is in the in holder Under one state, sends and be used to indicate holder and switch to the first switching command of manual calibration pattern to holder；Receive user's input Update information；It sends the update information and is sent to holder, be used to indicate holder according to the update information to holder Parameter is modified.

According to the sixth aspect of the invention, a kind of control device of holder is provided, described device includes：Second processor； Wherein, the second processor is configured as：In the case where holder is in first state, transmission is used to indicate holder and switches to manual school First switching command of quasi-mode is to holder；Receive update information input by user；It sends the update information and is sent to cloud Platform is used to indicate holder and is modified to the parameter of holder according to the update information.

According to the seventh aspect of the invention, a kind of computer readable storage medium is provided, computer program is stored thereon with, The program realizes following steps when being executed by second processor：In the case where holder is in first state, transmission is used to indicate holder and cuts The first switching command of manual calibration pattern is shifted to holder；Receive update information input by user；Send the update information And it is sent to holder, it is used to indicate holder and the parameter of holder is modified according to the update information.

According to the eighth aspect of the invention, a kind of remote controler is provided, for controlling holder, the remote controler includes at second Device is managed, the second processor is configured as：After holder is in first state, transmission is used to indicate holder and switches to manual school First switching command of quasi-mode is to holder；Receive update information input by user；It sends the update information and is sent to cloud Platform is used to indicate holder and is modified to the parameter of holder according to the update information.

According to the ninth aspect of the invention, a kind of control system of holder is provided, includes the remote controler of control holder, in cloud Platform is under first state, and the remote controler transmission is used to indicate holder and switches to the first switching command of manual calibration pattern extremely The holder；The holder switches to manual calibration pattern after detecting first switching command；In manual calibration pattern Under, the remote controler receives update information input by user；The holder receives the update information that the remote controler is sent, and root The parameter of holder is modified according to the update information.

It, can be with by the above technical solution provided in an embodiment of the present invention as it can be seen that the present invention is by being arranged manual calibration pattern The update information of Shi Liyong user sides input is modified the parameter of holder, i.e., adjusts holder by manual intervention at any time Parameter so that the practical Attitude estimation of holder is accurate, and under manual calibration pattern adjust holder parameter will not be added by line The influence of the states such as speed so that holder drift is smaller.

Description of the drawings

To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for For those of ordinary skill in the art, without having to pay creative labor, it can also be obtained according to these attached drawings His attached drawing.

Fig. 1 is the installation condition schematic diagram of holder in one embodiment of the invention；

Fig. 2 is flow diagram of the control method in holder side of holder in one embodiment of the invention；

Fig. 3 is flow diagram of the control method in holder side of holder in another embodiment of the present invention；

Fig. 4 is the total flow diagram of the control method of holder in one embodiment of the invention；

Fig. 5 is flow diagram of the control method in user side equipment of holder in one embodiment of the invention；

Fig. 6 is the structural schematic diagram of holder in one embodiment of the invention；

Fig. 7 is the structural schematic diagram of remote controler in another embodiment of the present invention

Fig. 8 is the structural schematic diagram at remote controller displays interface in one embodiment of the invention；

Fig. 9 is the structural schematic diagram of cloud platform control system in one embodiment of the invention；

Figure 10 is the structural schematic diagram of cloud platform control system in another embodiment of the present invention.

Specific implementation mode

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.

Below in conjunction with the accompanying drawings, remote controler, holder and the cloud platform control method, device, system of the present invention are carried out specifically It is bright.In the absence of conflict, the feature in following embodiment and embodiment can be combined with each other.

Inertial measurement component (IMU) in holder includes mainly gyroscope and accelerometer, and gyroscope can measure holder The angular speed of the rotation of each axis integrates the current pose that can determine holder by the angular speed obtained to measurement (pitch, roll, yaw), but the output of the angular speed of each axis of gyroscope has zero bias, if moreover, zero bias problem cannot obtain To improvement, the current pose of the holder of the angular speed output integral acquisition measured with gyroscope is inaccurate.Currently, mainly making Holder attitude reference is given with accelerometer, the current pose that the holder obtained is integrated to the angular speed that gyroscope measures is repaiied Just, final holder obtains relatively stable posture.However, accelerometer itself has drift, the data correction of acceleration is used Current pose also will produce drift, and the posture of holder is not to stablize very much from the point of view of for a long time, leads to the shooting being erected on holder Equipment cannot shoot the scene of fixed seat in the plane for a long time；In addition, when correcting the current pose of holder using accelerometer, it can only Pitch axis and roll axis for holder are corrected, and cannot be corrected for the yaw axis of holder, therefore gyroscope integrates out Yaw axis postures be possible to that drift will soon be generated, eventually lead to and the scene of fixed seat in the plane shot using holder When entire holder yaw axis constantly move in one direction, also resulting in the capture apparatus being erected on holder in this way cannot The scene of fixed seat in the plane is shot for a long time.

The holder of the embodiment of the present invention can be two axle The Cloud Terraces, or three axis holders, for the ease of explaining, such as Fig. 1 institutes Show, is schematically illustrated in embodiments of the present invention with three axis holders 200.Wherein, capture apparatus 9 is fixedly installed to cloud On capture apparatus fixed mechanism 6 on platform 200, wherein the fixed mechanism 6 can be fixed with the armshaft 7 of the pitch axis of holder Or flexible connection, wherein Inertial Measurement Unit may be mounted on the fixed mechanism 6 of capture apparatus, is solid with the fixed mechanism 6 Surely any other component being fixedly connected on the component connected or with the armshaft 7 of pitch axis, in shooting process, holder are to clap It takes the photograph equipment to increase surely, during capture apparatus is shot, Inertial Measurement Unit can measure the posture of capture apparatus 9.Wherein, There are many expression-forms for posture, and quaternary number is a kind of representation method of posture information, in addition commonly use the common expression-form of posture Also Eulerian angles, matrix etc..First posture information can be the attitude angle (Eulerian angles) of the first posture, can also be the first posture Corresponding quaternary number, does not limit specifically herein.It can be the corresponding posture of posture that aftermentioned part, which is related to posture information, herein Angle can also be the corresponding quaternary number of posture, hereafter just not explain still further.In addition, for convenience of describing, hereinafter by holder Roll axis, yaw axis and pitch axis X-axis, Y-axis and Z axis substitute.

In conjunction with Fig. 2 to Fig. 5, the embodiment of the present invention provides a kind of cloud platform control method.Wherein, embodiment one and embodiment two The control method for carrying out holder from the user side equipment of holder side and control holder respectively is illustrated.Wherein, the user side is set It is standby to be dedicated remote control (control device for being used to control holder movement) or the smart machine of APP (such as hand is installed The mobile devices such as machine, PAD).

Embodiment one

Referring to Fig. 2, the control method of holder described in holder side may include step：

S101：It is used to indicate the first switching command that holder switches to manual calibration pattern if detecting, switches to hand Dynamic calibration mode；

In certain embodiments, first switching command is sent by user side.Optionally, first switching command can It is directly inputted on holder by user.For example, the holder is equipped with the first switching switch for generating the first switching command, user I.e. first switching command of input of the first switching switch is pressed to holder, to indicate that holder switches to manual calibration pattern.This In embodiment, the first switching switch can be physical switches or virtual switch.In other example, the holder packet Operation interface is included, the operation interface is equipped with the input frame etc. for inputting the first switching command, and user can be directly by first Switching command is input to the input frame, to indicate that holder switches to manual calibration pattern.Optionally, first switching command It is sent by user side equipment.In one embodiment, the user side equipment is dedicated remote control, and the dedicated remote control is equipped with The first switching switch of the first switching command is inputted, after user presses the first switching switch, dedicated remote control sends first Switching command is to the holder.In another embodiment, the user side equipment is to be equipped with the intelligence of APP (application software) to set Standby, the interface of the APP, which is equipped with, sends the first switching command to the first switching switch of holder or for inputting the first switching The input frame of instruction.

In the present embodiment, user side equipment sends the first switching command to holder and can be received at the holder in user side It is executed after the information of first state, the first state includes one kind in accelerated motion state and retarded motion state.Its In, holder is in first state and shows holder it is possible that drifting about, and the drift is corrected by Inertial Measurement Unit, is used to Property measuring unit can be influenced by linear acceleration caused by correct inaccurate problem, and it is directly right under manual calibration pattern The drift of gyroscope is adjusted such that the posture of holder accurately will not then be accelerated to be influenced by line, and can be to holder reality The drift of generation is adjusted in real time so that the posture accuracy of holder is high.

In certain embodiments, described detect is used to indicate the first switching command that holder switches to manual calibration pattern Include before：Receive the information that holder is in first state.First state shows holder it is possible that drifting about, and the drift Inertial Measurement Unit is crossed to correct by Mobile Communication, and Inertial Measurement Unit is corrected caused by being influenced by linear acceleration and inaccurately asked Topic, and the posture of holder accurately then will not be by line directly to be adjusted such that the drift of gyroscope under manual calibration pattern The influence of acceleration, and the drift that practical to holder can be generated is adjusted in real time so that and the posture accuracy of holder is high.Optionally, First switching command is generated by holder after receiving the holder and being in the information of first state.Produced by holder Raw first switching command realizes the automatic switchover of manual calibration pattern, and the timeliness of switching is high, and then ensures subsequent adjustment holder The promptness of parameter.

Optionally, the motion state for the equipment (such as vehicle) that first state can carry holder by detection obtains, that is, takes Carry holder equipment motion state be acceleration and deceleration in it is a kind of when, holder i.e. be in first state.And holder with The angle of travel direction will not have an impact the motion state of holder.Such as holder is transported with travel direction in 90 ° of acceleration and deceleration It is dynamic also to illustrate that holder is in first state.

Optionally, setting is filled for detecting the detection of holder motion state in the equipment of the holder or carrying holder It sets (such as velocity sensor), the motion state of the holder detected can be sent to user side equipment by the detection device, from And it is automatically generated by user side equipment and is used to indicate holder and switches to the first switching command of manual calibration pattern or by user Directly first switching command is inputted in user side equipment.

S102：Under manual calibration pattern, the update information that user side returns is received；

In certain embodiments, described detect is used to indicate the first switching command that holder switches to manual calibration pattern Afterwards, further include：The image that holder is monitored is sent to user side equipment.Optionally, the figure that user side equipment can will receive As being compared with benchmark image, to judge whether holder generates drift.In the present embodiment, user side equipment is judging it When received image is inconsistent with benchmark image, then judge that holder generates drift, user side equipment can be according to the image Update information is returned to holder with the comparison result of benchmark image；Otherwise, holder is without drift.Optionally, user side equipment receives To image be directly to be presented to user, judge whether holder generates drift according to the image by user, and according to the image Update information is sent to holder by Introduced Malaria information to user side equipment, then by user side equipment.

In certain embodiments, described detect is used to indicate the first switching command that holder switches to manual calibration pattern Afterwards, further include：Holder current pose is sent to user side equipment.Optionally, user side equipment can work as the holder received Preceding posture is compared with holder reference attitude, to judge whether holder generates drift.In the present embodiment, user side equipment exists When judging that holder current pose is inconsistent with holder reference attitude, then judge that holder generates drift, user side equipment can root Update information is returned to holder according to holder current pose and the comparison result of holder reference attitude；Otherwise, holder is without drift.It is optional Ground, the holder current pose that user side equipment receives is directly to be presented to user, by user according to the holder current pose Judge whether holder generates drift, and will be repaiied to user side equipment, then by user side equipment according to the image Introduced Malaria information Positive information is sent to holder.

It should be noted that user side equipment judge holder generate drift after, if not repaiied to the drift of holder Just, then with the accumulation of time, the drift of holder can be increasing.

In some embodiments, the user side equipment communicated based on communication with the holder, it can be achieved that To the remote control of holder parameters revision, cable winds problem caused by cable connection is also avoided.Optionally, the wireless communication Mode is radio communication mode or other communications.Certainly, user side equipment also can directly pass through with the holder The mode of cable is communicatively coupled.

S103：The parameter of holder is modified according to the update information.

In the embodiment of the present invention, by be arranged manual calibration pattern, can at any time using user side input update information come The parameter of holder is modified, i.e., adjusts the parameter of holder by manual intervention at any time so that the practical posture of holder is estimated Meter is accurate, and the parameter that holder is adjusted under manual calibration pattern will not be influenced by states such as line acceleration so that holder drifts about It is smaller.

Wherein, the parameter of the holder includes gyroscope one or more axis (such as roll axis, pitch axis, yaw axis) Drift value (it is obtained by the zero bias of gyroscope as linearly integrates).

In certain embodiments, described that the posture of holder is modified according to the update information, including：According to described Update information adjusts the drift value of gyroscope one or more axis, so that posture of the holder on each axis is more accurate. Specifically, the update information includes regulated value size and the corresponding adjusting direction of the regulated value.In addition, the update information Further include the axis of gyroscope adjusted needed for regulated value is corresponding, to according to the regulated value and the corresponding adjusting of the regulated value Direction, required adjusting axis of gyroscope, be modified come the corresponding drift value of axis of gyroscope to required adjusting, realize holder drift The accuracy of transposition section.In the present embodiment, the adjusting direction may include positive direction or negative direction, for example, for the inclined of holder Navigate axis, sets a reference position, the right side of the reference position is positive direction, and left side is negative direction；For the pitch axis of holder, A reference position is set, the lower section of the reference position is positive direction, and top is negative direction；For the roll axis of holder, also set The right bank of one reference position, the reference position is positive direction, and left bank is negative direction.Certainly, positive direction and negative direction can roots According to needing to be set as other forms.Optionally, the drift that gyroscope one or more axis is adjusted according to the update information Value, including：According to the regulated value size, positive direction or losing side are carried out to the drift value of the gyroscope one or more axis To adjusting, to being modified to the drift value for the axis of the gyroscope to drift about occur so that gyroscope subtracts in the drift of the axis It is small, to reduce the drift of holder.

It should be noted that no matter holder is under which kind of motion state, the drift of gyroscope is all as linearly is tired What product occurred, therefore, the mode of manual calibration can at any time be adjusted this drift.

In conjunction with Fig. 3 and Fig. 4, the method may also include step：

S1：It is used to indicate the second switching command that holder switches to automatic calibration mode if detecting, is switched to automatic Calibration mode；

Wherein, the acquisition modes of the first switching command are opposite with the acquisition modes of the first switching command in step S101 It answers.

In certain embodiments, second switching command is sent by user side.Optionally, second switching command can It is directly inputted on holder by user.For example, the holder is equipped with the second switching switch for generating the second switching command, user I.e. second switching command of input of the second switching switch is pressed to holder, to indicate that holder switches to manual calibration pattern.This In embodiment, the second switching switch can be physical switches or virtual switch.In other example, the holder packet Operation interface is included, the operation interface is equipped with the input frame etc. for inputting the second switching command, and user can be directly by second Switching command is input to the input frame, to indicate that holder switches to manual calibration pattern.Optionally, second switching command It is sent by user side equipment.In one embodiment, the user side equipment is dedicated remote control, and the dedicated remote control is equipped with The second switching switch for inputting the second switching command, after user presses the second switching switch, dedicated remote control is sent Second switching command is to the holder.In the present embodiment, the second switching switch can be physical switches or virtual switch. In another embodiment, the user side equipment is the smart machine for being equipped with APP, and the interface of the APP is equipped with transmission second and cuts Instruction is changed to the second switching switch of holder or the input frame for inputting the second switching command.

In certain embodiments, user side equipment, which sends the second switching command to holder, to receive the cloud in user side Platform executes after being in the information of the second state, and second state includes one kind in uniform speed motion state and stationary state. Under second state, holder automatically adjust its drift about accuracy it is higher, and be not necessarily to manual intervention, it is simple and convenient.

In certain embodiments, second switching command is produced by holder after holder detects that it is in the second state Raw, i.e. holder generates the second switching command, switching holder to automatic calibrating die immediately after detecting that it is in the second state Formula, the time for generating the second switching command is fast, so that holder is automatically adjusted with faster speed.

Optionally, the motion state for the equipment (such as vehicle) that the second state also can carry holder by detection obtains, i.e., Carry holder equipment motion state be at the uniform velocity with it is static in it is a kind of when, holder i.e. be in the second state.Second shape State is also the detection device by being mounted in the equipment of holder or carrying holder.

S2：Under automatic calibration mode, the first posture information of holder is obtained using gyroscope；

S3：The second posture information of holder is obtained using accelerometer；

It should be noted that the sequence of step S1 and step S3 can be executed successively in order in the embodiment of the present invention, In specific sequencing do not limit specifically, in addition step S2 and step S3 can also be performed simultaneously.

S4：The posture and/or parameter of holder are repaiied according to first posture information and second posture information Just.

Specifically, it since the gyroscope in Inertial Measurement Unit is when carrying out DATA REASONING, drifts about since gyroscope exists, The posture information measured is caused to be inaccurate, therefore, the second posture obtained according to the accelerometer in Inertial Measurement Unit Information is realized to the posture and/or parameter of holder (such as gyroscope according to the first posture information and second posture information The drift value of one or more axis) it is modified.In the embodiment of the present invention, believed by the first posture information and the second posture Breath, come to holder posture or parameter be modified, to reduce the drift of holder, in addition, the mode calibrated automatically is realized Relatively simple convenience and timeliness height.

In certain embodiments, it is described according to first posture information and second posture information to the posture of holder It is modified, including：The error posture letter of the holder is determined according to first posture information and second posture information Breath, and first posture information is corrected according to the error posture information and is believed with the current pose and/or parameter that obtain holder Breath, using Closed-loop Control Strategy, according to the error posture information to the first posture information for being obtained by gyroscope measurement into Row is corrected to obtain the current posture information of holder, to accurately be adjusted to the drift of holder.Optionally, the error appearance Posture difference information of the state information between first posture information and second posture information.When the first posture of holder is believed Breath and the second posture information be in the form of quaternary number when being indicated, then can be according to the quaternary of second posture information The quaternary number of number and first posture information determines the error posture information, specifically, can believe second posture The quaternary number of breath is multiplied with the quaternary number of first posture information, determines that error posture is believed according to obtained quaternary number is multiplied Breath, the quaternary number after multiplication can indicate the error posture information between the second posture information and the first posture information, after multiplication Obtained quaternary number is the quaternary number of error posture information.It can be conversed according to the quaternary number of the error posture information The corresponding Eulerian angles of error posture information can survey inertia according to the quaternary number of determining error posture information or Eulerian angles First posture information of amount unit or gyroscope is modified.In addition, in the quaternary number for determining the second posture information, can incite somebody to action The quaternary number of second posture information changes corresponding Eulerian angles into, and the first posture information is determined according to inertia observing unit or gyroscope Corresponding Eulerian angles change corresponding Eulerian angles by comparing the quaternary number of the second posture information and the first posture information are corresponding Eulerian angles can obtain the error posture information between the second posture information and the first posture information, the error posture information energy The drift for enough indicating gyroscope, can be by the Eulerian angles of the second posture information Euler corresponding with the first posture information by conversion The difference at angle is converted into the corresponding quaternary number of error posture information.Optionally, the error posture information includes the posture of roll axis At least one of the posture difference information of poor information and pitch axis.

It is described that first posture information is corrected to obtain the current pose information of holder according to the error posture information Including：It is repaiied according to the error posture information using one or more in Extended Kalman filter, complementary filter, smothing filtering Just described first posture information is to obtain the current pose information of holder.Specifically, following several feasible modes may be used Using in Extended Kalman filter, complementary filter, smothing filtering it is one or more according to the error posture information correct institute State the first posture information：

A kind of feasible mode is：Revised posture information is filtered, using filtered posture information as cloud The current pose information of platform；

Another feasible mode：The error attitude rectification amount of unit interval is filtered, according to filtered error Attitude rectification amount is modified to obtain the current of holder the first posture information to Inertial Measurement Unit or gyroscope determination Posture information.

Embodiment two

Referring to Fig. 5, in the user side equipment of control holder, the method may include step：

S201：In the case where holder is in first state, transmission, which is used to indicate holder and switches to the first of manual calibration pattern, cuts Instruction is changed to holder；

Wherein, the first state includes one kind in accelerated motion state and retarded motion state.Holder is in first State shows holder it is possible that drift, and the drift is corrected by Inertial Measurement Unit, and Inertial Measurement Unit can be by Correct inaccurate problem caused by the influence of linear acceleration, and under manual calibration pattern directly to the drift of gyroscope into Row is adjusted so that the posture of holder accurately will not then be accelerated to be influenced by line, and the drift that practical to holder can be generated is real-time It adjusts so that the posture accuracy of holder is high.

The motion state for the equipment (such as vehicle) that first state can carry holder by detection obtains, that is, carries holder The motion state of equipment be acceleration and deceleration in it is a kind of when, holder i.e. be in first state.And holder and travel direction Angle the motion state of holder will not be had an impact.Such as holder also illustrates with travel direction in 90 ° of acceleration and deceleration motion Holder is in first state.

In certain embodiments, the user side equipment is dedicated remote control, and it is defeated that the dedicated remote control is equipped with user Enter the first switching switch of the first switching command, after user presses the first switching switch, dedicated remote control sends first and cuts Instruction is changed to the holder.In the present embodiment, the first switching switch can be physical switches or virtual switch.

In certain embodiments, the user side equipment is the smart machine for being equipped with APP, and the interface of the APP is equipped with User sends the first switching command to the first switching switch of holder or the input frame for inputting the first switching command.

S202：Receive update information input by user；

Specifically, the update information includes size and the corresponding adjusting direction of the regulated value of regulated value.In addition, institute It further includes the axis of gyroscope adjusted needed for regulated value is corresponding to state update information, so that holder can be according to the regulated value It is corresponding with the regulated value adjust direction, required adjusting axis of gyroscope, drift corresponding to the axis of gyroscope of required adjusting Shifting value is modified, and realizes the accuracy that holder drift is adjusted.In the present embodiment, the adjusting direction may include positive direction or negative Direction sets a reference position, the right side of the reference position is positive direction, and left side is losing side for example, for the yaw axis of holder To；For the pitch axis of holder, a reference position is also set, the lower section of the reference position is positive direction, and top is negative direction；It is right In the roll axis of holder, a reference position is also set, the right bank of the reference position is positive direction, and left bank is negative direction (this Text is by taking the adjusting direction of above-mentioned roll axis, pitch axis and yaw axis as an example).Certainly, positive direction and negative direction can be set as needed It is set to other forms.

In some examples, it is described receive the update information that user returns be to user show the image that is monitored of holder or Person's holder current pose information, and receive image that user is monitored according to the holder or holder current pose information returns Update information, i.e. update information is user according to set by the image or holder current pose information monitored described in holder , to reduce the drift of holder.

Optionally, what the image or holder current pose information that the reception user is monitored according to the holder returned Update information, including：The size for the regulated value that reception user repeatedly returns according to the image that the holder is monitored and the tune The corresponding adjusting direction of section value.Optionally, user side equipment the image received can be compared with benchmark image, to sentence Whether disconnected holder generates drift.In the present embodiment, user side equipment is judging the image received by it with benchmark image not When consistent, then judge that holder generates drift, user can be according to the comparison result Introduced Malaria information of the image and benchmark image To the user side equipment；Otherwise, holder is without drift.Optionally, the image that user side equipment receives is directly to be presented to user , judge whether holder generates drift according to the image by user, and according to the image Introduced Malaria information to user side equipment, Update information is sent to holder by user side equipment again.

Optionally, what the image or holder current pose information that the reception user is monitored according to the holder returned Update information, including：The size for the regulated value that reception user repeatedly returns according to the holder current pose information and the tune The corresponding adjusting direction of section value.Optionally, user side equipment can by the holder current pose received and holder reference attitude into Row compares, to judge whether holder generates drift.In the present embodiment, user side equipment is judging holder current pose and cloud When stage fiducial posture is inconsistent, then judge that holder generates drift, user is according to holder current pose and holder reference attitude Comparison result Introduced Malaria information is to the user side equipment；Otherwise, holder is without drift.Optionally, user side equipment receives Holder current pose is directly to be presented to user, judges whether holder generates drift according to the holder current pose by user, And update information is sent to by holder to user side equipment, then by user side equipment according to the image Introduced Malaria information.

Optionally, referring to Fig. 8, the user side equipment further includes multiple adjusting knobs, respectively roll axis rotation 2, pitching Axis knob 3 and yaw axis knob 4, the corresponding drift value for correcting gyroscope roll axis, pitch axis and yaw axis.Each adjusting knob It can be adjusted towards increasing and reducing direction, by adjusting the adjusting knob towards the direction increased or reduced to reduce the top Drift value of the spiral shell instrument in corresponding axis direction, to reduce the drift of holder respective shaft, until drift is not present in each axis of holder, Stop the control to the adjusting knob.For example, showing that the image that holder is monitored is left avertence shifting, upper offset to user when described With at least one of left bank state or holder current pose information indicate holder posture be left avertence move, upper offset and a left side When at least one of heeling condition, the corresponding adjusting knob is adjusted towards augment direction, to reduce holder respective shaft Drift.Wherein, the left avertence is moved, upper offset and left bank state correspond to yaw axis, pitch axis and roll axis respectively.When described Show that the image that holder is monitored is that at least one of right avertence shifting, lower offset and right bank state or holder are worked as to user When preceding posture information indicates that holder posture is at least one of right avertence shifting, lower offset and right bank state, the corresponding tune It saves knob and is adjusted towards direction is reduced, to reduce the drift of holder respective shaft.Wherein, the right avertence shifting, lower offset and Right deviation Ramp-like state corresponds to yaw axis, pitch axis and roll axis respectively.

S203：It sends the update information and is sent to holder, be used to indicate holder according to the update information to holder Parameter be modified.

In the embodiment of the present invention, by the way that manual calibration pattern is arranged, pass through the interaction of user and user side equipment, realization pair Update information at any time, flexibly control, to trigger update information that holder is inputted using user side at any time come the ginseng to holder Number is modified, i.e., adjusts the parameter of holder by manual intervention at any time so that the practical Attitude estimation of holder is accurate, and hand The parameter of holder is adjusted under dynamic calibration mode to be influenced by states such as line acceleration so that holder drift is smaller.

In some embodiments, the user side equipment communicated based on communication with the holder, it can be achieved that To the remote control of holder parameters revision, cable winds problem caused by cable connection is also avoided.Optionally, the wireless communication Mode is radio communication mode or other communications.Certainly, user side equipment also can directly pass through line with the holder The mode of cable is communicatively coupled.

In certain embodiments, after corresponding adjusting is pressed, the update information which generates is sent Reduce the drift of holder to holder to be modified in real time to the parameter of holder.For each adjusting knob, user often towards By next time, the regulated value is fixed value for increased direction or the direction of reduction, for example, the fixed value is 0.1 °/S (single Position：Degrees second).

In certain embodiments, it is to receive amendment confirmation instruction input by user to send update information to the holder It executes afterwards, to ensure the correctness of update information.Optionally, the display interface, which is equipped with, corrects ACK button, Yong Huduo It is secondary press corresponding adjusting knob after, press the amendment ACK button, user side equipment can send out final update information It send to holder, the program exists and cannot be modified in real time to the parameter of holder.In the present embodiment, each adjusting is revolved Button, for user often towards increased direction or the direction of reduction by next time, the regulated value will increase or reduce a fixed value, example Such as, the fixed value is 0.1 °/S (units：Degrees second).

In addition, the method may also include：After determining that the holder is in the second state, transmission is used to indicate holder switching To the second switching command of automatic calibration mode to holder, to indicate that the holder automatically adjusts to its parameter.

In certain embodiments, the user side equipment is dedicated remote control, and the dedicated remote control is equipped with for defeated Enter the second switching switch of the second switching command, after user presses the second switching switch, dedicated remote control sends second and cuts Instruction is changed to the holder.In the present embodiment, the second switching switch can be physical switches or virtual switch.

In certain embodiments, the user side equipment is the smart machine for being equipped with APP, and the interface of the APP is equipped with User sends the second switching command to the second switching switch of holder or the input frame for inputting the second switching command.

The embodiment of the present invention is switched by setting the first switching switch and the second switching, to form switching switch, realizes cloud The free switching of platform manual calibration pattern and automatic calibration mode, it is convenient and efficient.

In addition, holder lateral root, which is modified the parameter of holder according to the update information, can be found in embodiment one, herein not Illustrate again.

Embodiment three and example IV correspond to the control of the holder of the embodiment of the present invention from holder side, user equipment side respectively Device illustrates.

Embodiment three

Referring to Fig. 6, the embodiment of the present invention provides a kind of control device of holder, and the control device of the holder may include Gyroscope 202, the accelerometer 203 of one processor 201, the first processor and holder are respectively connected with.Wherein, described first Processor 201 is used for the step of executing the cloud platform control method described in above-described embodiment one.

It should be noted that under automatic calibration mode, gyroscope 202 and accelerometer 203 need respectively by the first appearance State information and the second posture information are sent to the first processor 201, are executed by the first processor 201 and carry out automatic school It is accurate.

Example IV

Referring to Fig. 7, the embodiment of the present invention provides a kind of control device of holder, and the control device of the holder may include Two processors 101, wherein the second processor 101 is used to execute the step of the cloud platform control method described in above-described embodiment two Suddenly.

Embodiment five

The embodiment provides a kind of computer storage media, have program stored therein finger in the computer storage media It enables, have program stored therein instruction in the computer storage media, and described program executes above-described embodiment one or the holder of embodiment two Control method.

Embodiment six

Again referring to Fig. 6, the embodiment of the present invention provides a kind of holder, and the holder 200 may include gyroscope 202, acceleration The control device of meter 203 and holder.Wherein, the control device of the holder is the control of the holder described in above-described embodiment three Device.The gyroscope 202, accelerometer 203 are connected with the first processor 201 in the control device of the holder respectively.

Embodiment seven

Again referring to Fig. 7, the embodiment of the present invention provides a kind of remote controler, and the remote controler 100 is described in above-described embodiment four Holder control device.

In certain embodiments, the remote controler 100 includes and operation interface 102 described in second processor 101.

In certain embodiments, the operation interface 102 is equipped with the switching switch 1.Switching switch includes the One switching switch and the second switching switch, and the switching switch 1 includes that the first switching switch and the second switching switch.Wherein, institute The first switching switch is stated for inputting the first switching command, the second switching switch is for inputting the second switching command.User The first switching command or the second switching command are then generated by pressing the first switching switch or the second switching switch, remote controler, and First switching command of generation or the second switching command are sent to holder.In the present embodiment, the second switching switch can be Physical switches or virtual switch.

In certain embodiments, referring to Fig. 8, the user side equipment further includes multiple adjusting knobs, respectively roll axis Rotation 2, pitch axis knob 3 and yaw axis knob 4, the corresponding drift value for correcting gyroscope roll axis, pitch axis and yaw axis.Each Adjusting knob can be adjusted towards increasing and reducing direction, by adjusting the adjusting knob towards the direction increased or reduced to subtract Drift value of the small gyroscope in corresponding axis direction, to reduce the drift of holder respective shaft, until each axis of holder is not There are drifts, stop the control to the adjusting knob.For example, showing that the image that holder is monitored is left avertence to user when described Move, upper offset and at least one of left bank state or holder current pose information indicate holder posture be left avertence move, on When at least one of offset and left bank state, the corresponding adjusting knob is adjusted towards augment direction, to reduce cloud The drift of platform respective shaft.Wherein, the left avertence is moved, upper offset and left bank state correspond to yaw axis, pitch axis and roll respectively Axis.The image that holder is monitored is shown as at least one of right avertence shifting, lower offset and right bank state to user when described, or It is corresponding when person's holder current pose information indicates that holder posture is at least one of right avertence shifting, lower offset and right bank state The adjusting knob towards reduce direction adjust, to reduce the drift of holder respective shaft.Wherein, the right avertence moves, is lower inclined It moves and right bank state corresponds to yaw axis, pitch axis and roll axis respectively.

In certain embodiments, the remote controler 100 communicated based on communication with the holder, it can be achieved that To the remote control of holder parameters revision, cable winds problem caused by cable connection is also avoided.Optionally, the wireless communication Mode is radio communication mode or other communications.Certainly, user side equipment also can directly pass through line with the holder The mode of cable is communicatively coupled.

Optionally, the display interface is equipped with amendment ACK button and is pressed after corresponding adjusting knob is depressed multiple times in user Under the amendment ACK button, final update information can be sent to holder by user side equipment, and the program exists cannot be real When the parameter of holder is modified.

Embodiment eight

In conjunction with Fig. 9 and Figure 10, the embodiment of the present invention provides a kind of control system of holder, the control system packet of the holder Include the remote controler 100 of control holder 200.The holder is the holder described in above-described embodiment six.Specifically, the holder 200 Control device including gyroscope 202, accelerometer 203 and holder.The gyroscope 202, accelerometer 203 respectively with it is described Second processor 201 in the control device of holder is connected.The remote controler is the remote controler described in above-described embodiment seven.

Wherein, in the case where holder 200 is in first state, the transmission of the remote controler 100 is used to indicate holder 200 and switches to hand First switching command of dynamic calibration mode is to the holder 200；The holder 200 after detecting first switching command, Switch to manual calibration pattern；Under manual calibration pattern, the remote controler 100 receives update information input by user；The cloud Platform 200 receives the update information of the transmission of the remote controler 100, and is repaiied to the parameter of holder 200 according to the update information Just.

Optionally, the first state includes one kind in accelerated motion state, retarded motion state.

Optionally, the holder 200 is after receiving the holder 200 and being in the information of first state, generates described the One switching command.

Optionally, the parameter of the holder 200 includes the drift value of the gyroscope one or more axis, the remote controler 100 include multiple adjusting knobs, and the multiple adjusting knob is multiple with corresponding amendment gyroscope for generating update information respectively The drift value of axis.

Optionally, the multiple axis includes roll axis, pitch axis and yaw axis.

Optionally, the update information includes regulated value size and the corresponding adjusting direction of the regulated value.

Optionally, it is that remote controler 100 shows holder to user that the remote controler 100, which receives update information input by user, 200 current pose information of 200 images monitored or holder, and receive the image that user is monitored according to the holder 200 Or the update information that 200 current pose information of holder returns.

Optionally, the adjusting knob includes roll axis knob, pitch axis knob and yaw axis knob, each adjusts rotation Button can be adjusted towards increasing and reducing direction, described to reduce by adjusting the adjusting knob towards the direction increased or reduced Drift value of the gyroscope in corresponding axis direction.

Optionally, the image for showing that holder 200 is monitored to user is that left avertence is moved, in upper offset and left bank state At least one or 200 current pose information of holder indicate 200 posture of holder be left avertence move, it is upper offset and left bank state At least one of when, the corresponding adjusting knob is adjusted towards augment direction, wherein the left avertence is moved, upper offset and "Left"-deviationist Ramp-like state corresponds to yaw axis, pitch axis and roll axis respectively.

Optionally, the image for showing that holder 200 is monitored to user is that right avertence is moved, in lower offset and right bank state At least one or 200 current pose information of holder indicate 200 posture of holder be right avertence move, it is lower offset and right bank state At least one of when, the corresponding knob is adjusted towards direction is reduced,

The wherein described right avertence is moved, lower offset and right bank state correspond to yaw axis, pitch axis and roll axis respectively.

Optionally, the image or holder 200 that the reception of the remote controler 100 user is monitored according to the holder 200 are worked as The regulated value size and corresponding adjusting direction that preceding posture information repeatedly returns, the holder 200 is according to the tune repeatedly returned Section value size and the corresponding drift value for adjusting direction and adjusting gyroscope respective shaft successively.

Optionally, the holder 200 is according to the regulated value size, to the drift value of the gyroscope one or more axis Carry out the adjusting of positive direction or negative direction.

Optionally, the remote controler 100 is communicated with the holder 200 based on communication.

Optionally, the communication is radio communication mode.

Optionally, in the case where the holder 200 is in the second state, the transmission of the remote controler 100 is used to indicate holder 200 and cuts The second switching command of automatic calibration mode is shifted to holder 200；The holder 200 is detecting second switching command, Then switch to automatic calibration mode；Under automatic calibration mode, the holder 200 obtains the first of holder 200 using gyroscope Posture information, and the second posture information of holder 200 is obtained using accelerometer, according to first posture information and described the Two posture informations are modified the posture and/or parameter of holder 200.

Optionally, the holder 200 determines the holder according to first posture information and second posture information 200 error posture information；And first posture information is corrected to obtain working as holder 200 according to the error posture information Preceding posture and/or parameter information.

Optionally, the holder 200 utilizes one or more in Extended Kalman filter, complementary filter, smothing filtering First posture information is corrected to obtain the current pose information of holder 200 according to the error posture information.

Optionally, posture of the error posture information between first posture information and second posture information Poor information.

Optionally, the error posture information includes in the posture difference information of roll axis and the posture difference information of pitch axis It is at least one.

It should be noted that in the present embodiment, the remote controler can be by having the smart machine of APP (such as mobile phone, PAD Deng) substitute.

For device embodiments, since it corresponds essentially to embodiment of the method, so related place is referring to method reality Apply the part explanation of example.The apparatus embodiments described above are merely exemplary, wherein described be used as separating component The unit of explanation may or may not be physically separated, and the component shown as unit can be or can also It is not physical unit, you can be located at a place, or may be distributed over multiple network units.It can be according to actual It needs that some or all of module therein is selected to achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not In the case of making the creative labor, you can to understand and implement.

The description of " specific example " or " some examples " etc. means the specific spy described in conjunction with the embodiment or example Sign, structure, material or feature are included at least one embodiment or example of the invention.In the present specification, to above-mentioned The schematic representation of term may not refer to the same embodiment or example.Moreover, the specific features of description, structure, material Or feature can be combined in any suitable manner in any one or more of the embodiments or examples.

Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes It is one or more for realizing specific logical function or process the step of executable instruction code module, segment or portion Point, and the range of the preferred embodiment of the present invention includes other realization, wherein sequence that is shown or discussing can not be pressed, Include according to involved function by it is basic simultaneously in the way of or in the opposite order, to execute function, this should be by the present invention's Embodiment person of ordinary skill in the field is understood.

Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for Instruction execution system, device or equipment (system of such as computer based system including processor or other can be held from instruction The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set It is standby and use.For the purpose of this specification, " computer-readable medium " can any can be included, store, communicating, propagating or passing Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment It sets.The more specific example (non-exhaustive list) of computer-readable medium includes following：Electricity with one or more wiring Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory (ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable Medium, because can be for example by carrying out optical scanner to paper or other media, then into edlin, interpretation or when necessary with it His suitable method is handled electronically to obtain described program, is then stored in computer storage.

It should be appreciated that each section of the present invention can be realized with hardware, software, firmware or combination thereof.Above-mentioned In embodiment, software that multiple steps or method can in memory and by suitable instruction execution system be executed with storage or Firmware is realized.For example, if realized with hardware, in another embodiment, following skill well known in the art can be used Any one of art or their combination are realized：With for data-signal realize logic function logic gates from Logic circuit is dissipated, the application-specific integrated circuit with suitable combinational logic gate circuit, programmable gate array (PGA), scene can compile Journey gate array (FPGA) etc..

Those skilled in the art are appreciated that realize all or part of step that above-mentioned implementation carries It is that relevant hardware can be instructed to complete by program, the program can be stored in a kind of computer readable storage medium In, which includes the steps that one or a combination set of embodiment of the method when being executed.

In addition, each functional unit in each embodiment of the present invention can be integrated in a processing module, it can also That each unit physically exists alone, can also two or more units be integrated in a module.Above-mentioned integrated mould The form that hardware had both may be used in block is realized, can also be realized in the form of software function module.The integrated module is such as Fruit is realized in the form of software function module and when sold or used as an independent product, can also be stored in a computer In read/write memory medium.

Storage medium mentioned above can be read-only memory, disk or CD etc..Although having been shown and retouching above The embodiment of the present invention is stated, it is to be understood that above-described embodiment is exemplary, and should not be understood as the limit to the present invention System, those skilled in the art can be changed above-described embodiment, change, replace and become within the scope of the invention Type.

Claims

1. a kind of control method of holder, which is characterized in that the method includes：

It is used to indicate the first switching command that holder switches to manual calibration pattern if detecting, switches to manual calibration mould Formula；

Under manual calibration pattern, the update information that user side returns is received；

The parameter of holder is modified according to the update information.

2. according to the method described in claim 1, it is characterized in that, described detect that being used to indicate holder switches to manual calibration Before first switching command of pattern, including：

The information that holder is in first state is received, the first state includes in accelerated motion state, retarded motion state One kind.

3. according to the method described in claim 2, it is characterized in that, first switching command is being received at the holder It is generated by holder after the information of first state.

4. according to the method described in claim 1, it is characterized in that, described detect that being used to indicate holder switches to manual calibration After first switching command of pattern, further include：

The image that holder is monitored is sent to user side equipment.

5. according to the method described in claim 1, it is characterized in that, described detect that being used to indicate holder switches to manual calibration After first switching command of pattern, further include：

Holder current pose is sent to user side equipment.

6. according to the method described in claim 1, it is characterized in that, the update information includes regulated value size and the adjusting It is worth corresponding adjusting direction.

7. method according to claim 1 or 6, which is characterized in that it is described according to the update information to the posture of holder It is modified, including：

The drift value of gyroscope one or more axis is adjusted according to the update information.

8. the method according to the description of claim 7 is characterized in that it is described according to the update information adjust gyroscope one or The drift value of multiple axis, including：

According to the regulated value size, positive direction or negative direction are carried out to the drift value of the gyroscope one or more axis It adjusts.

9. according to the method described in claim 1, it is characterized in that, the user side equipment is dedicated remote control or is equipped with The smart machine of APP.

10. according to the method described in claim 9, it is characterized in that, the user side equipment and the reception update information Equipment is communicated based on communication.

11. according to the method described in claim 10, it is characterized in that, the communication is radio communication mode.

12. according to the method described in claim 1, it is characterized in that, the method further includes：

It is used to indicate the second switching command that holder switches to automatic calibration mode if detecting, switches to automatic calibrating die Formula；

Under automatic calibration mode, the first posture information of holder is obtained using gyroscope；

The second posture information of holder is obtained using accelerometer；

The posture and/or parameter of holder are modified according to first posture information and second posture information.

13. according to the method for claim 12, which is characterized in that second switching command is to detect that holder is in It is generated by holder after second state.

14. according to the method for claim 12, which is characterized in that described according to first posture information and described second Posture information is modified the posture of holder, including：

The error posture information of the holder is determined according to first posture information and second posture information；

First posture information, which is corrected, according to the error posture information is believed with the current pose and/or parameter that obtain holder Breath.

15. according to the method for claim 14, which is characterized in that described to correct described the according to the error posture information One posture information includes with the current pose information for obtaining holder：

It is repaiied according to the error posture information using one or more in Extended Kalman filter, complementary filter, smothing filtering Just described first posture information is to obtain the current pose information of holder.

16. according to the method for claim 14, which is characterized in that the error posture information is first posture information Posture difference information between second posture information.

17. according to the method for claim 16, which is characterized in that the error posture information includes that the posture of roll axis is poor At least one of the posture difference information of information and pitch axis.

18. a kind of control device of holder, which is characterized in that described device includes：

First processor；

Wherein, the first processor is configured as：

The parameter of holder is modified according to the update information.

19. device according to claim 18, which is characterized in that the first processor is additionally configured to：

It is described detect be used to indicate the first switching command that holder switches to manual calibration pattern before further include：

20. device according to claim 19, which is characterized in that the first processor is additionally configured to：

First switching command is generated after receiving the holder and being in the information of first state.

21. device according to claim 18, which is characterized in that the first processor is additionally configured to：

It is described detect that being used to indicate holder switches to the first switching command of manual calibration pattern after, figure that holder is monitored As being sent to user side equipment.

22. device according to claim 18, which is characterized in that the first processor is additionally configured to：

It is described detect that being used to indicate holder switches to the first switching command of manual calibration pattern after, holder current pose is sent out It send to user side equipment.

23. device according to claim 18, which is characterized in that the update information includes regulated value size and the tune The corresponding adjusting direction of section value.

24. the device according to claim 18 or 23, which is characterized in that the first processor is additionally configured to：

It is described according to the update information to the posture of holder be modified including：

25. device according to claim 24, which is characterized in that the first processor is additionally configured to：

It is described according to the update information adjust gyroscope one or more axis drift value include：

26. device according to claim 18, which is characterized in that the user side equipment is dedicated remote control or installation There is the smart machine of APP.

27. device according to claim 26, which is characterized in that the user side equipment and the reception update information Equipment is communicated based on communication.

28. device according to claim 27, which is characterized in that the communication is radio communication mode.

29. device according to claim 18, which is characterized in that the first processor is additionally configured to：

The second posture information of holder is obtained using accelerometer；

30. device according to claim 29, which is characterized in that the first processor is additionally configured to：

Second switching command is generated after detecting that holder is in the second state.

31. device according to claim 29, which is characterized in that the first processor is additionally configured to：

It is described according to first posture information and second posture information to the posture of holder be modified including：

32. device according to claim 31, which is characterized in that the first processor is additionally configured to：

It is described first posture information is corrected according to the error posture information to include with the current pose information for obtaining holder：

33. device according to claim 31, which is characterized in that the error posture information is first posture information Posture difference information between second posture information.

34. device according to claim 33, which is characterized in that the error posture information includes that the posture of roll axis is poor At least one of the posture difference information of information and pitch axis.

35. a kind of holder, including gyroscope, accelerometer, which is characterized in that further include described in any one of claim 18 to 34 Holder control device, the gyroscope and the accelerometer are connect with the control device of the holder respectively.

36. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by first Manage the step of realizing the control method of claim 1 to 17 any one of them holder when device executes.

37. a kind of control method of holder, which is characterized in that the method includes：

In the case where holder is in first state, sends and be used to indicate holder and switch to the first switching command of manual calibration pattern to cloud Platform；

Receive update information input by user；

It sends the update information and is sent to holder, be used to indicate holder and the parameter of holder is carried out according to the update information It corrects.

38. according to the method for claim 37, which is characterized in that the first state includes accelerated motion state and deceleration One kind in motion state.

39. according to the method for claim 37, which is characterized in that the update information includes the size of regulated value and described The corresponding adjusting direction of regulated value.

40. according to the method for claim 37, which is characterized in that the update information for receiving user's return is to user The image that is monitored of displaying holder or holder current pose information, and receive image that user is monitored according to the holder or The update information that person's holder current pose information returns.

41. according to the method for claim 40, which is characterized in that the figure for receiving user and being monitored according to the holder The update information that picture or holder current pose information return, including：

Receive the image that is monitored according to the holder of user or regulated value that holder current pose information repeatedly returns it is big The corresponding adjusting direction of small and described regulated value.

42. according to the method for claim 37, which is characterized in that the equipment for sending update information and the holder base It is communicated in communication.

43. according to the method for claim 42, which is characterized in that the communication is radio communication mode.

44. according to the method for claim 37, which is characterized in that it is to receive use to send update information to the holder It is executed after the amendment confirmation instruction of family input.

45. according to the method for claim 37, which is characterized in that the method further includes：

In the case where the holder is in the second state, transmission is used to indicate the second switching command that holder switches to automatic calibration mode To holder, to indicate that the holder automatically adjusts to its posture.

46. a kind of control device of holder, which is characterized in that described device includes：

Second processor；

Wherein, the second processor is configured as：

Receive update information input by user；

47. device according to claim 46, which is characterized in that the first state includes accelerated motion state and deceleration One kind in motion state.

48. device according to claim 46, which is characterized in that the update information includes the size of regulated value and described The corresponding adjusting direction of regulated value.

49. device according to claim 46, which is characterized in that the update information for receiving user's return is to user The image that is monitored of displaying holder or holder current pose information, and receive image that user is monitored according to the holder or The update information that person's holder current pose information returns.

50. device according to claim 49, which is characterized in that the second processor is additionally configured to：

It is described to receive the image that user is monitored according to the holder or the update information packet that holder current pose information returns It includes：

51. device according to claim 46, which is characterized in that the equipment for sending update information and the holder base It is communicated in communication.

52. device according to claim 51, which is characterized in that the communication is radio communication mode.

53. device according to claim 46, which is characterized in that it is to receive use to send update information to the holder It is executed after the amendment confirmation instruction of family input.

54. device according to claim 46, which is characterized in that the second processor is additionally configured to：

In the case where the holder is in the second state, transmission is used to indicate the second switching command that holder switches to automatic calibration mode To holder, to indicate that the holder automatically adjusts to its parameter.

55. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by second Manage the step of realizing the control method of claim 35 to 46 any one of them holder when device executes.

56. a kind of remote controler, for controlling holder, the remote controler includes second processor, which is characterized in that at described second Reason device is configured as：

Receive update information input by user；

57. remote controler according to claim 56, which is characterized in that the first state includes accelerated motion state and subtracts One kind in fast motion state.

58. remote controler according to claim 56, which is characterized in that the parameter of the holder includes gyroscope one or more The drift value of a axis,

The remote controler further includes the multiple adjusting knobs being connected with the second processor, and the multiple adjusting knob is for dividing Update information is not generated, with the corresponding drift value for correcting the multiple axis of gyroscope.

59. remote controler according to claim 58, which is characterized in that the multiple axis include roll axis, pitch axis and partially Navigate axis.

60. remote controler according to claim 59, which is characterized in that the update information includes size and the institute of regulated value State the corresponding adjusting direction of regulated value.

61. remote controler according to claim 60, which is characterized in that the adjusting knob includes roll axis knob, pitching Axis knob and yaw axis knob, each adjusting knob can be adjusted towards increasing and reducing direction, increased or reduced by direction Direction adjust the adjusting knob to reduce drift value of the gyroscope in corresponding axis direction.

62. remote controler according to claim 61, which is characterized in that it is described receive update information input by user be to The image or holder current pose information that family displaying holder is monitored, and receive the image that user is monitored according to the holder Or the update information that holder current pose information returns.

63. remote controler according to claim 62, which is characterized in that described to show that the image that holder is monitored is to user At least one of left avertence shifting, upper offset and left bank state,

Or holder current pose information indicates that holder posture is at least one of left avertence shifting, upper offset and left bank state When, the corresponding adjusting knob is adjusted towards augment direction；

The wherein described left avertence is moved, upper offset and left bank state correspond to yaw axis, pitch axis and roll axis respectively.

64. remote controler according to claim 62, which is characterized in that described to show that the image that holder is monitored is to user At least one of right avertence shifting, lower offset and right bank state,

Or holder current pose information indicates that holder posture is at least one of right avertence shifting, lower offset and right bank state When, the corresponding adjusting knob is adjusted towards direction is reduced,

65. remote controler according to claim 60, which is characterized in that the second processor is additionally configured to：

66. remote controler according to claim 56, which is characterized in that the remote controler is based on wireless communication with the holder Mode is communicated.

67. remote controler according to claim 66, which is characterized in that the communication is radio communication mode.

68. remote controler according to claim 56, which is characterized in that it is to receive to send update information to the holder It is executed after amendment confirmation instruction input by user.

69. remote controler according to claim 56, which is characterized in that the second processor is additionally configured to：

70. a kind of control system of holder includes the remote controler of control holder, which is characterized in that

In the case where holder is in first state, remote controler transmission, which is used to indicate holder and switches to the first of manual calibration pattern, cuts Instruction is changed to the holder；

The holder switches to manual calibration pattern after detecting first switching command；

Under manual calibration pattern, the remote controler receives update information input by user；

The holder receives the update information that the remote controler is sent, and is repaiied to the parameter of holder according to the update information Just.

71. system according to claim 70, which is characterized in that the first state includes accelerated motion state, slows down One kind in motion state.

72. system according to claim 71, which is characterized in that the holder is in the first shape receiving the holder After the information of state, first switching command is generated.

73. system according to claim 70, which is characterized in that the parameter of the holder includes gyroscope one or more The drift value of axis,

The remote controler includes multiple adjusting knobs, and the multiple adjusting knob is repaiied for generating update information respectively with correspondence The drift value of the multiple axis of positive gyroscope.

74. system according to claim 70, which is characterized in that the multiple axis includes roll axis, pitch axis and yaw Axis.

75. system according to claim 74, which is characterized in that the update information includes regulated value size and the tune The corresponding adjusting direction of section value.

76. according to the system described in claim 75, which is characterized in that the remote controler, which receives update information input by user, is Remote controler shows the image or holder current pose information that holder is monitored to user, and receives user according to the holder institute The update information that the image or holder current pose information of monitoring return.

77. according to the system described in claim 76, which is characterized in that the adjusting knob includes roll axis knob, pitch axis Knob and yaw axis knob, each adjusting knob can be adjusted towards increasing and reducing direction, increased or reduced by direction Direction adjusts the adjusting knob to reduce drift value of the gyroscope in corresponding axis direction.

78. according to the system described in claim 77, which is characterized in that the image for showing that holder is monitored to user is a left side At least one of offset, upper offset and left bank state,

Or holder current pose information indicates that holder posture is at least one of left avertence shifting, upper offset and left bank state When, the corresponding adjusting knob is adjusted towards augment direction,

79. according to the system described in claim 77, which is characterized in that the image for showing that holder is monitored to user is the right side At least one of offset, lower offset and right bank state,

Or holder current pose information indicates that holder posture is at least one of right avertence shifting, lower offset and right bank state When, the corresponding knob is adjusted towards direction is reduced,

80. according to the system described in claim 76, which is characterized in that the remote controler receives what user was monitored according to holder The regulated value size and corresponding adjusting direction that image or holder current pose information repeatedly return,

The holder adjusts gyroscope respective shaft successively according to the regulated value size repeatedly returned and the corresponding direction that adjusts Drift value.

81. according to the system described in claim 80, which is characterized in that the holder is according to the regulated value size, to described The drift value of gyroscope one or more axis carries out the adjusting of positive direction or negative direction.

82. system according to claim 70, which is characterized in that the remote controler is based on side wireless communication with the holder Formula is communicated.

83. according to the system described in claim 82, which is characterized in that the communication is radio communication mode.

84. system according to claim 70, which is characterized in that the holder packet gyroscope and accelerometer；

In the case where the holder is in the second state, the remote controler, which is sent, is used to indicate holder switches to automatic calibration mode the Two switching commands are to holder；

The holder is detecting second switching command, then switches to automatic calibration mode；

Under automatic calibration mode, the holder obtains the first posture information of holder using gyroscope, and utilizes accelerometer The second posture information for obtaining holder, according to first posture information and second posture information to the posture of holder and/ Or parameter is modified.

85. according to the system described in claim 84, which is characterized in that the holder is according to first posture information and described Second posture information determines the error posture information of the holder；

And first posture information is corrected according to the error posture information and is believed with the current pose and/or parameter that obtain holder Breath.

86. according to the system described in claim 85, which is characterized in that the holder utilizes Extended Kalman filter, complementary filter One or more in wave, smothing filtering correct first posture information to obtain holder according to the error posture information Current pose information.

87. according to the system described in claim 85, which is characterized in that the error posture information is first posture information Posture difference information between second posture information.

88. according to the system described in claim 87, which is characterized in that the error posture information includes that the posture of roll axis is poor At least one of the posture difference information of information and pitch axis.