CN108513652A

CN108513652A - The control method and device of holder

Info

Publication number: CN108513652A
Application number: CN201780004531.XA
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: 2018-09-07
Anticipated expiration: 2037-04-21
Also published as: WO2018191969A1; CN108513652B

Abstract

A kind of control method and device of holder, wherein this method includes：Obtain posture sequence, the posture sequence includes the corresponding holder posture information of at least three postures and the corresponding switching condition of each posture, which is used to indicate holder and switches to the corresponding next posture (S101) of current pose in posture sequence by the corresponding current pose of switching condition:Receive sign on (S102):After receiving sign on, according to the Posture exchange (S103) of posture sequence control holder.By the way that posture sequence is arranged, hand-held holder is allow to switch its posture according to posture sequence, the Posture exchange of holder is more intelligent, possible operation error when holder is manually operated in user can be reduced and cause to take useless picture so that efficient, shooting picture the repeatability that user shoots more scene switching camera lenses is high.

Description

The control method and device of holder

Technical field

The present invention relates to control field more particularly to a kind of control method and device of holder.

Background technology

With the development of technique for taking, hand-held holder is also increasingly liked by user.Currently, hand-held holder is being shot During, need the movement of the manual real-time operation holder of user so that the video camera alignment needs carried on holder were shot Target.Once and user's operation is slipped up, and be may result in the video camera carried on holder and is taken useless picture.In addition, also Cloud is manually operated using user for example, repeating the camera lens of one group of transformation scene of shooting in the case where needing to repeat to shoot there are some The mode of platform cannot reach holder handoff scenario repeatability, cannot be satisfied the actual demand of user.

Invention content

The present invention provides a kind of control method and device of holder.

According to the first aspect of the invention, a kind of control method of holder is provided, the method includes：

Receive sign on；

Posture sequence is obtained, the posture sequence includes the corresponding holder posture information of at least three postures and each appearance The corresponding switching condition of state, the switching condition are used to indicate the holder and are switched by the corresponding current pose of the switching condition To the corresponding next posture of current pose described in the posture sequence；

After receiving the sign on, according to the Posture exchange of the posture sequence control holder.

According to the second aspect of the invention, a kind of control device of holder is provided, described device includes first processor, Described in first processor be configured as：

Receive sign on；

According to the third aspect of the invention we, a kind of control method of holder is provided, the method includes：

Receive startup order input by user；

After receiving the startup order, sign on is sent to holder, the sign on is used to indicate the cloud Platform obtains posture sequence, and carries out the switching of posture according to the posture sequence, and the posture sequence includes at least three appearances The corresponding holder posture information of state and the corresponding switching condition of each posture, the switching condition be used to indicate the holder by The corresponding current pose of the switching condition switches to the corresponding next posture of current pose described in the posture sequence.

According to the fourth aspect of the invention, a kind of control device of holder is provided, described device includes second processor, Described in second processor be configured as：

Receive startup order input by user；

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 posture sequence so that hand-held Holder can switch its posture according to posture sequence, and the Posture exchange of holder is more intelligent, can reduce user's manual operation Possible operation error when holder and cause to take useless picture so that user shoots the efficiency of more scene switching camera lenses High, shooting picture repeatability is high.

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 the holder of 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 flow diagram of the control method in holder side of holder in further embodiment of this invention；

Fig. 5 is the schematic diagram of holder attitude rectification in one embodiment of the invention；

Fig. 6 is flow diagram of the control method in user side equipment of holder in one embodiment of the invention；

Fig. 7 is user side equipment display interface schematic diagram in one embodiment of the invention；

Fig. 8 is the structural schematic diagram of the control device of holder in one embodiment of the invention；

Fig. 9 is the structural schematic diagram of the control device of another holder in one embodiment of the invention；

Figure 10 is the high-level schematic functional block diagram of the control device of holder in one embodiment of the invention；

Figure 11 is the high-level schematic functional block diagram of the control device of another holder in one embodiment of the invention；

Figure 12 is the structural schematic diagram of cloud platform control system in one embodiment of the invention；

Figure 13 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, the control method and device of the holder of the present invention are described in detail.In the feelings not conflicted Under condition, the feature in following embodiment and embodiment can be combined with each other.

Holder is for carrying video camera, and in the embodiment of the present invention, the holder can be two axle The Cloud Terraces, or three axis clouds Platform is schematically illustrated with three axis holders 200 in embodiments of the present invention.

Referring to Fig. 1, capture apparatus 9 is fixedly installed on the capture apparatus fixed mechanism 6 on holder 200, wherein described Fixed mechanism 6 can be with the 7 fixed or movable connection of armshaft of the pitch axis of holder, wherein attitude transducer may be mounted at bat Armshaft 7 on the component take the photograph on the fixed mechanism 6 of equipment, being fixedly connected with the fixed mechanism 6 or with pitch axis, which is fixed, to be connected Any other component connect, in shooting process, holder are that capture apparatus increases surely, during capture apparatus is shot, Attitude transducer is the posture that can measure capture apparatus 9, i.e. the first posture information of holder, wherein attitude transducer may include Inertial Measurement Unit or gyroscope, for convenience of description, it is following herein will be using Inertial Measurement Unit or gyroscope as appearance State sensor is schematically illustrated.Wherein, there are many expression-forms for posture, and quaternary number is a kind of expression side of posture information Method, the common expression-form in addition commonly using posture also have Eulerian angles, matrix etc..

In conjunction with Fig. 2 to Fig. 4 and Fig. 6, the embodiment of the present invention provides a kind of cloud platform control method.

Embodiment one and embodiment two carry out the control method of holder from the user side equipment of holder side and control holder respectively It is illustrated.Wherein, the user side equipment can be dedicated remote control (i.e. be used for control holder movement control device) or The smart machine (such as the mobile devices such as mobile phone, PAD) of APP is installed.

Embodiment one

Referring to Fig. 2, in holder side, the method may include following steps：

S101：Obtain posture sequence, the posture sequence include the corresponding holder posture information of at least three postures and The corresponding switching condition of each posture, the switching condition are used to indicate the holder by the corresponding current appearance of the switching condition State switches to the corresponding next posture of current pose described in the posture sequence；

Specifically, the posture sequence can be the posture sequence or user side equipment preservation that holder locally preserves in advance Posture sequence.Optionally, the posture sequence is what holder pre-saved, and holder directly invokes after receiving sign on The posture sequence locally preserved.Optionally, the posture sequence is the posture sequence that user side equipment preserves, and holder is connecing After receiving sign on, the request for obtaining posture sequence is sent to user side equipment, to obtain posture sequence from user side equipment Row；Alternatively, user side equipment directly transmits posture sequence to holder before or after sending sign on to holder；Or Sign on and posture sequence are sent to holder by person, user side equipment simultaneously.In some embodiments, holder is receiving appearance After state sequence, the posture sequence that will be received is needed to be saved in local cache.In addition, holder is receiving the posture sequence simultaneously Further include after preserving：Receive new posture information and its corresponding switching condition, and by the new posture information and Its corresponding switching condition is added in the posture sequence, so as to which posture sequence is set dynamically according to actual needs.One In a little embodiments, display interface is additionally provided on holder, the new posture sequence is by user directly in the display interface of holder Input.In some embodiments, the new posture sequence can in real time be sent by user side equipment.

In some instances, the holder posture information may include：The angle information of holder.The angle information is pitching At least one of angle, yaw angle and roll angle.In some embodiments, the holder posture information may also include holder one Or the collapsing length etc. of multiple axis.

The switching condition is set according to shooting demand.

In some instances, the switching condition includes：The holder is switched to the time of next posture by current pose Information, so that holder can automatically switch posture according to posture sequence, the repeatability of holder Posture exchange is high.

Optionally, the temporal information that holder is switched to next posture by current pose includes：The holder is in each appearance Stay time in state.After the stay time is used to indicate holder by a upper Posture exchange to current pose, in current pose Residence time, to meet shooting demand.In some instances, holder is switched to the temporal information of next posture by current pose In can not also include stay time of the holder in each posture, when which may be selected to be the stop of holder acquiescence It is long, to simplify calculating process, and the reading of data is reduced, accelerates the operation of system.

Optionally, the temporal information that holder is switched to next posture by current pose includes：The holder is by current pose Switch to the time interval of next posture.For example, set holder switches to the time interval of next posture as 10s by current pose (unit：Second).Wherein, the time interval switched between each two posture can be set according to actual needs, for example, can be by each two appearance The time interval switched between state be arranged to it is equal, alternatively, according to actual needs (for example, between the time switched between some postures It is longer every requiring, camera supervised to slowly varying image in favor of holder) will be between the time switched between each two posture It is different every being arranged to.In some instances, switched to by current pose can not also in the temporal information of next posture for holder The time interval of next posture is switched to by current pose including holder, when which may be selected to be the switching of holder acquiescence Between, to simplify the calculating process of the switching rate, and the reading of data is reduced, accelerates the operation of system.

Optionally, the temporal information includes：Switching instant of the holder in each posture.For example, the posture sequence At least three postures for including described in row be respectively reference attitude (i.e. the first posture), the second posture ..., N-1 postures and N postures (i.e. last posture), wherein N are natural number and N >=3.Need one group of sunset camera lens repeated of shooting, posture sequence In the switching condition of reference attitude be：6: 01 cuttings shift to the second posture, and the switching condition of second posture is：6: 03 Cutting shifts to third posture etc..

The temporal information that next posture is switched to by current pose in holder include holder switched to by current pose it is next The time interval of posture or including holder in the embodiment of the switching instant of each posture, the switching condition can also wrap It includes：The holder is switched to the change information of the switching rate of next posture by current pose.The change information is used to indicate cloud Platform is moved to the variation of the rate of next posture by current pose.Since holder is switched to by current pose the time of next posture What information was to determine, what current pose and next posture were also to determine, holder can be determined according to the change information of switching rate The rate at each moment between being switched to next posture by current pose.Specifically, holder is corresponded to according to the current pose Posture information and the corresponding next posture information of the current pose calculate the switching displacement between two postures, according to described Switching displacement, holder current pose switch to the temporal information of next posture and the change information of switching rate and can calculate Holder is switched to the switching rate of next posture by current pose.Optionally, the change information of the switching rate specifically indicates Switching rate is at the uniform velocity.Optionally, the change information of switching rate can indicate switching rate be it is non-at the uniform velocity, and indicate holder The relationship being switched to by current pose between the speed during next posture on each time point.In some instances, it cuts The condition of changing can not also include holder be switched to by current pose next posture switching rate change information, then holder by The rate that current pose switches to next posture may be selected to be holder acquiescence at the uniform velocity, to simplify calculating process, and reduce number According to reading, accelerate the operation of system.

It is further to note that in the present embodiment, the quantity of posture included by posture sequence also can be according to actual demand Setting.

S102：Receive sign on；

The sequence of step S101 and step S102 can be executed successively in order in the embodiment of the present invention, wherein specifically Sequencing does not limit specifically, and in addition step 101 and step S102 can also be performed simultaneously.

Specifically, the sign on is sent to holder by user side.

Optionally, sign on is directly inputted by user on the holder.In some instances, the holder is equipped with The operation button of sign on is generated, user presses the operation button and inputs sign on to holder.It is described in the present embodiment Operation button can be entity button or virtual push button.In other example, the holder includes operation interface, the behaviour Make interface equipped with the input frame etc. for inputting sign on, sign on directly can be input to the input frame by user.

Optionally, the sign on is sent by user side equipment.In one embodiment, the user side equipment is special With remote controler, the dedicated remote control is equipped with the operation button of sign on, after user presses the operation button, special remote control Device sends sign on to the holder.In the present embodiment, the operation button can be entity button or virtual push button. In another embodiment, the user side equipment is the smart machine for being equipped with APP, and the interface of the APP, which is equipped with to send, to be started to refer to Enable the input frame to the operation button of holder or for inputting sign on.

S104：It is described according to the Posture exchange of the posture sequence control holder after receiving the sign on Posture sequence includes the corresponding holder posture information of at least three postures and the corresponding switching condition of each posture, the switching Condition is used to indicate the holder and is switched to described in the posture sequence currently by the corresponding current pose of the switching condition The corresponding next posture of posture.

Specifically, referring to Fig. 3, the Posture exchange according to preset posture sequence control holder, including：According to described The posture information of the corresponding posture information of holder current pose and the corresponding next posture of current pose calculates each rotation of holder The posture of axis is poor, and poor according to the posture of each rotation axis of the holder, controls the holder and is switched to by the current pose Next posture.For example, posture information is holder pitch axis angle and roll shaft angle degree, the holder current pose is corresponding Posture information is (0 °, 10 °), and the posture information of the corresponding next posture of holder current pose is (10 °, 20 °), then calculates cloud The posture difference of platform pitch axis and roll axis is (10 °, 10 °), and holder is then poor (10 °, 10 °) according to posture is calculated, from current appearance State switches to next posture.

In the embodiment of the present invention, by the way that posture sequence is arranged so that hand-held holder can switch it according to posture sequence The Posture exchange of posture, holder is more intelligent, can reduce possible operation error when holder is manually operated in user and cause to clap Take the photograph useless picture so that efficient, shooting picture the repeatability that user shoots more scene switching camera lenses is high.

In the present embodiment, after step s 102, the holder further includes：The holder is resetted to the posture sequence Reference attitude improves the repeatability of shooting so that the holder is respectively positioned on identical posture after each start.It is optional Ground, the reference attitude for resetting holder to the posture sequence is to judge that the current pose of the holder is described It is executed after final carriage in posture sequence.Optionally, holder resets the holder to the reference attitude of the posture sequence It is executed between step S102 and step S103.

Currently, holder mainly using Inertial Measurement Unit as feedback element, with each axis of holder (yaw axis, pitch axis, Roll axis) driving motor the posture of holder is controlled for output element, wherein in the control process to holder posture In, controlled quentity controlled variable is the posture of holder, by giving a targeted attitude, by feedback control by holder current pose to the mesh Attitude rectification is marked, so that holder is approached from current pose to targeted attitude.

Inertial measurement component (IMU) includes mainly gyroscope and accelerometer, and gyroscope can measure each axis of holder The angular speed of rotation, by the obtained angular speed of measurement is integrated can determine holder current pose (pitch, roll, Yaw), but the output of the angular speed of each axis of gyroscope has zero bias, moreover, zero bias cannot completely eliminate, therefore uses gyro The current pose for the holder that the angular speed output integral that instrument measures obtains is inaccurate.Currently, mainly being given using accelerometer Determine holder attitude reference, the current pose that the holder obtained is integrated to the angular speed that gyroscope measures is modified, final holder Obtain relatively stable posture.However, there is drift in accelerometer itself, using the data correction current pose of acceleration, Drift is will produce, the posture of holder is not to stablize very much from the point of view of for a long time, causes the capture apparatus being erected on holder that cannot grow Temporally shoot the scene of fixed seat in the plane；In addition, when correcting the current pose of holder using accelerometer, holder can only be directed to Pitch axis and roll axis are corrected, and cannot be corrected for the yaw axis of holder, therefore the yaw axis postures that gyro integrates out have Drift may will soon be generated, eventually lead to the entire holder when being shot to the scene of fixed seat in the plane using holder Yaw axis constantly moves in one direction, and also resulting in the capture apparatus being erected on holder in this way cannot shoot for a long time The scene of fixed seat in the plane.

The case where may will produce drift for the posture of each axis of holder, in the present embodiment, referring to Fig. 4, holder is every Further include after the posture of the secondary switching holder：

S1：Determine the first posture information of holder；

Wherein, the first posture information can be the attitude angle (Eulerian angles) of the first posture, can also be that the first posture corresponds to Quaternary number, do not limit specifically herein.It can be the corresponding attitude angle of posture that aftermentioned part, which is related to posture information, herein, It can be the corresponding quaternary number of posture, hereafter just not explain still further.

S2：Determine the angle of the driving motor rotation of one or more axis of holder；

Specifically, as shown in Figure 1, the armshaft 8 of the roll axis of holder 200 is used to support the armshaft 7 and pitch of pitch axis The driving motor 1 of axis, the armshaft 5 of the yaw axis of holder 200 are used to support the driving motor of the driving motor 3 and roll axis of yaw axis 2, the armshaft 7 of the pitch axis of holder is used to support capture apparatus 9, the driving motor (driving of pitch axis of each axis of holder 200 The driving motor 3 of motor 1, the driving motor 2 of roll axis, yaw axis) in can be with setting angle sensor, wherein in driving motor Circuit board is set, and the angular transducer can be electrically connected with the circuit board, in the driving motor rotation of holder, be passed through Angular transducer can measure the angle of driving motor rotation, and wherein angular transducer can be potentiometer, Hall sensor, volume It is one or more in code device.Wherein, holder can be connect by pedestal 4 with hand-held rod (not shown) or moveable platform connects It connects.

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

S3：The error posture information of attitude transducer is determined according to first posture information and the rotational angle；

Specifically, after measuring the rotational angle of driving motor for the one or more axis for obtaining holder, according to described turn Dynamic angle and it is described using Inertial Measurement Unit or gyroscope determine the first posture information of holder determine Inertial Measurement Unit or The error posture information of gyroscope, i.e. the error posture information can indicate the drift of Inertial Measurement Unit or gyroscope.

S4：First posture information is corrected to obtain the current pose information of holder according to the error posture information.

Specifically, since Inertial Measurement Unit or gyroscope are when carrying out DATA REASONING, due to Inertial Measurement Unit or top There is drift in spiral shell instrument, the posture information measured is caused to be inaccurate, and therefore, Inertial Measurement Unit or gyroscope be indicated determining After the error posture information of drift, you can Closed-loop Control Strategy is used, according to the error posture information to passing through inertia measurement The first posture information that unit or gyroscope measurement obtain is modified to obtain the current posture information of holder.Wherein, specifically Ground, using at least one of Extended Kalman filter, complementary filter or smothing filtering according to the error posture information pair First posture information is modified to obtain the current pose information of holder.

In the embodiment of the present invention, pass through the angle and inertia measurement of the driving motor rotation of one or more axis of holder The first posture information that unit or gyroscope measure, determines the error posture information of Inertial Measurement Unit or gyroscope, according to institute It states the first posture information of error posture information pair to be modified, can be effectively prevented from and use accelerometer to used in the prior art Property the posture information that obtains of unit or gyroscope existing drifting problem when being modified, the holder appearance obtained after amendment can be made State can keep stable for a long time, the capture apparatus being erected on holder can be allow to shoot fixed machine for a long time in this way Shooting angle drifting problem of the scene of position without generating capture apparatus, by the technical solution, holder can both shoot movement The scene of seat in the plane can shoot the scene of fixed seat in the plane for a long time again, expand the application range of holder.

In certain embodiments, the reference posture information that holder is determined according to the rotational angle refers to appearance according to described State information and first posture information determine the error posture information of Inertial Measurement Unit or gyroscope.Specifically, work as use Holder sets up capture apparatus when being shot to fixed scene, the first posture information that Inertial Measurement Unit or gyroscope are measured To drifting about, therefore, it is modified in the first posture information obtained to the Inertial Measurement Unit of holder or gyroscope measurement When, it is necessary to a modified reference standard of posture information is given, that is, refers to posture information, passes through one of holder in the present embodiment Or the rotational angle of the driving motor of multiple axis is determined with reference to posture information, after determining with reference to posture information, will refer to appearance The first posture information that state information and gyroscope or Inertial Measurement Unit measurement obtain is compared, and appearance is referred to by comparing determining Error posture information between state information and the first posture information.It will be explained below through one or more axis of holder The rotational angle of driving motor determines the detailed process with reference to posture information.

In certain embodiments, by each corresponding quaternary number of conversion in the rotational angle, according to the rotation The quaternary number of angle determines the reference posture information of holder.Wherein, in three axis (pitch axis, yaw axis, the roll for determining holder Axis) driving motor rotational angle after, the rotational angle of the driving motor of three axis can be converted into corresponding four respectively First number is determined according to three quaternary numbers are obtained after conversion with reference to posture information.

In certain embodiments, the posture information of the pedestal of holder is set, according to the posture information of the pedestal and described Rotational angle determines the reference posture information of holder.Wherein, the posture information of the pedestal of holder herein can be solidificated in holder Processor or memory in, can also be to be carried out by the interactive device configured on the control terminal that is connect with holder, holder It is arranged.Specifically, the posture information of the pedestal of holder can be related to the installation situation of pedestal, shooting is being set up using holder When equipment shoots the scene of fixed seat in the plane for a long time, it is generally recognized that the pedestal of holder is approximate fixed, therefore can will The posture information of the pedestal of holder is set as a fixed posture information, at this point, when known to the posture information of the pedestal of holder And when fixing, in the rotational angle of the driving motor for each axis for determining holder, you can the reference appearance of holder is calculated State information.The posture information that the pedestal according to the rotational angle and holder is described in detail below is determined with reference to posture information Detailed process.

In certain embodiments, the quaternary number of the posture of the pedestal of holder is set, according to the quaternary of the posture of the pedestal The quaternary number that each conversion obtains in number and the rotational angle determines the reference posture information of holder.Specifically, can profit The angle that the rotation of each driving motor is determined with the angular transducer on the driving motor of each axis of holder, will be each A angle is converted into corresponding quaternary number, such as holder is three axis holders, is passed according to the angle on three driving motors Sensor measures the angle of the driving motor rotation of the yaw axis of holder, pitch axis and roll axis respectively, can be obtained by conversion The corresponding quaternary number of angle rotated to the driving motor of yaw axis, pitch axis and roll axis, is arranged the quaternary of the pedestal of holder Number, such as the quaternary number of the posture of pedestal could be provided as (1,0,0,0).Further, by the quaternary of the posture of the pedestal Number is multiplied respectively with the quaternary number that each conversion obtains in the rotational angle, and institute is determined according to the quaternary number obtained after multiplication It states and refers to posture information, i.e., turn the quaternary number of the posture of pedestal with the driving motor of yaw axis, pitch axis and roll axis respectively The corresponding quaternary number of dynamic angle is multiplied, and since the multiplication of quaternary number is to indicate to rotate, is multiplied by quaternary number, you can to know Payload carries out postrotational posture letter by rotation axis of yaw axis, pitch axis and roll axis respectively on the basis of pedestal Breath, thus, the quaternary number obtained after being multiplied to can indicate the quaternary number of the reference posture of holder, i.e., according to being obtained after multiplication Quaternary number determine the reference posture information of holder.

In certain embodiments, described to determine inertia measurement with reference to posture information and first posture information according to described The error posture information of unit or gyroscope could be provided as：According to the quaternary number with reference to posture and first posture four First number determines the error posture information.Wherein, the error posture information be the first posture information with reference to posture information it Between posture difference information, when the reference posture information of holder indicates that first posture is with quaternary number in the form of quaternary number When form is indicated, then the mistake can be being determined according to the quaternary number with reference to posture and first attitude quaternion The quaternary number with reference to posture can specifically be multiplied by poor posture information with the quaternary number of first posture information, root Error posture information is determined according to obtained quaternary number is multiplied, and the quaternary number after multiplication can be indicated with reference to posture and the first posture Between error posture, the quaternary number obtained after multiplication is the quaternary number of error posture, according to the quaternary of the error posture Number can converse the corresponding Eulerian angles of error posture, according to the quaternary number or Eulerian angles of determining error posture information It is modified with the first posture information to Inertial Measurement Unit or gyroscope.In addition, when determining the quaternary number with reference to posture, Corresponding Eulerian angles can will be changed into reference to the quaternary number of posture, determine that the first posture is believed according to inertia observing unit or gyroscope Corresponding Eulerian angles are ceased, corresponding Eulerian angles and the corresponding Europe of the first posture information are changed by comparing the quaternary number with reference to posture Draw angle that can obtain with reference to the error posture between posture and the first posture, which can indicate Inertial Measurement Unit Or the drift of gyroscope, it can be by the difference turn of the corresponding Eulerian angles of Eulerian angles and the first posture information with reference to posture by conversion Change the corresponding quaternary number of error posture information into.

It should be noted that quaternary number is a kind of mathematical notation mode of posture, usually, quaternary number can be with q=w+xi+ The form of yj+zk indicates.Wherein q=w+xi+yj+zk can be divided into scale w and vector x i+yj+zk, so table for convenience Show, q is expressed as (S, V), wherein S indicates scale w, and V indicates vector x i+yj+zk, so quaternary number multiplication can indicate again For：Q1*q2=(S1+V1) * (S2+V2)=S1*S2-V1*V2+V1XV2+S1*V2+S2*V1.Eulerian angles are the another kinds of posture It can mutually be converted by corresponding formula between representation, wherein quaternary number and Eulerian angles.In addition, being converted into from Eulerian angles The specific formula of quaternary number isIn addition Eulerian angles are converted into corresponding quaternary number Specific formula be

It is explained below and is believed with the current pose for obtaining holder according to the first posture information of the error posture information amendment The one of which embodiment of breath, those skilled in the art can also use the technological means other than the present embodiment according to the error The first posture information of posture information amendment is to obtain the current pose information of holder.Specifically, as shown in figure 5, arriving the t1 times 0 Interior, since gyroscope is when measuring, there is drift in output data, if not to the of the measurement of Inertial Measurement Unit or gyroscope One posture information is modified, then in 0 to the t1 times, passes through Inertial Measurement Unit or the first posture information of gyroscope determination Att1 may be as shown, the curve of wherein the first posture information att1 be intended merely to be schematically illustrated.Therefore it has to The first posture information obtained to Inertial Measurement Unit or gyroscope measurement is modified.When at the t1 moment, by as previously described Method the first appearance with reference to posture information att1-mot1, obtained by Inertial Measurement Unit or gyroscope measurement is calculated State information att1-gyr1, by comparing referring to the error between posture information att1-mot1 and the first posture information att1-gyr Posture information att1-d1, within t1 to the t2 times, according to error posture information att1-d1 to Inertial Measurement Unit and gyroscope First posture information of output is modified to obtain the current pose information att1-r1 of revised holder, if in t1 to t2 In when not being modified to the first posture information, the data of Inertial Measurement Unit or gyroscope output will continue to drift about, and obtain The first posture information arrived is then att1-f.When at the t2 moment, it can be calculated by foregoing method and be believed with reference to posture Att1-mot2, the first posture information att1-gyr2 obtained by Inertial Measurement Unit or gyroscope measurement are ceased, by comparing Referring to the error posture information att1-d2 between posture information att1-mot1 and the first posture information att1-gyr, then arrived in t2 The first posture information can be modified to obtain holder according to error posture information att1-d2 in t3 time (not shown) and worked as Preceding posture information att1-r2, in this way, repeating above-mentioned makeover process, you can to obtain revised first posture information.In addition, The posture information obtained after amendment can also be filtered, be believed filtered posture information as the current pose of holder Breath.It can make the current posture information of holder more smooth in this way, reduce issuable error in makeover process.

In certain embodiments, first posture information is corrected to obtain working as holder according to the error posture information Preceding posture information could be provided as：The error attitude rectification amount that the unit interval is determined according to the error posture information, according to institute Error posture information the first posture information of correction amount pair is stated to be modified.Wherein, with continued reference to Fig. 5, at the t1 moment, error posture Information is att1-d1, then is att1- relative to the drift value with reference to posture information, the first posture information in 0 to the t1 times D1, then in 0 to the t1 times, the calibration corrections of unit interval are att1-d1/t1, in the error appearance for determining the unit interval After state correction amount, within t1 to the t2 times, you can with according to the error attitude rectification amount of unit interval to Inertial Measurement Unit or The first posture information that gyroscope determines is modified, specifically, can be true by each moment Inertial Measurement Unit or gyroscope The first fixed posture information subtracts or plus error attitude rectification amount to obtain holder current pose information.

It is further to note that holder under different postures, can select different acquisition parameters, such as focal length, Whether flash lamp etc. is opened.

Embodiment two

Referring to Fig. 6, in the user side equipment of control holder, the method may include following steps：

S201：Posture sequence input by user is obtained, the posture sequence includes the corresponding holder appearance of at least three postures State information and the corresponding switching condition of each posture, the switching condition are used to indicate the holder by the switching condition pair The current pose answered switches to the corresponding next posture of current pose described in the posture sequence；

In the present embodiment, the posture sequence is directly inputted on the user side equipment by user.In some instances, Posture sequence is directly sent to holder by user side equipment after receiving posture sequence input by user.

In some instances, user side equipment needs the appearance that will be received after receiving posture sequence input by user State sequence is saved in the local cache of user side equipment.In one embodiment, user side equipment is sending sign on to cloud Before or after platform, posture sequence is directly transmitted to holder；Alternatively, user side equipment is simultaneously by sign on and posture sequence It is sent to holder.In one embodiment, user side equipment be receive posture sequence send triggering command after, just can be by local guarantor The posture sequence deposited is sent to holder.Optionally, it is that holder is sent out to user side equipment that the posture sequence, which sends triggering command, The acquisition posture sequence of requests sent.For example, holder is after receiving sign on, sends and obtain the request of posture sequence to user Side apparatus, to obtain posture sequence from user side equipment.Optionally, institute's posture transmission triggering command is user directly described It is inputted on user side equipment.

In some real-time examples, the posture sequence can real-time update.Optionally, user is directly in the display interface of holder New posture is inputted, and is updated in posture sequence.In some embodiments, posture sequence is sent to holder by user side equipment Afterwards, if receiving new posture input by user, user side equipment is sent out immediately after receiving new posture input by user It send to holder, in the posture sequence for locally preserved new posture renewal to holder by holder.

Specifically, the holder posture information may include：The angle information of holder.The angle information be pitch angle, partially Boat at least one of angle and roll angle.In some embodiments, the holder posture information may also include holder one or more The collapsing length etc. of a axis.

The switching condition is set according to shooting demand.In some instances, the switching condition includes：The cloud Platform is switched to the temporal information of next posture by current pose, so that holder can automatically switch posture according to posture sequence, The repeatability of holder Posture exchange is high.Optionally, the temporal information includes：The holder is switched to next by current pose The time interval of posture.For example, set holder switches to the time interval of next posture as 10s (units by current pose：Second). Wherein, the time interval switched between each two posture can set according to actual needs, for example, can will switch between each two posture Time interval be arranged to it is equal, alternatively, according to actual needs (for example, between some postures), by what is switched between each two posture Time interval is arranged to different.Optionally, the temporal information includes：Switching instant of the holder in each posture.Example Such as, at least three postures for including described in the posture sequence are respectively reference attitude (i.e. the first posture), the second appearance State ..., N-1 postures and N postures (i.e. last posture), wherein N is natural number and N >=3.It needs to shoot one group of repetition Sunset camera lens, the switching condition of the reference attitude in posture sequence is：6: 01 cuttings shift to the second posture, second appearance The switching condition of state is：6: 03 cuttings shift to third posture etc..

In some instances, the switching condition may include：The holder switches to cutting for next posture by current pose The change information of throw-over rate.The change information is used to indicate the variation that holder is moved to the rate of next posture by current pose. Since holder current pose switches to what the temporal information of next posture was to determine, current pose and next posture are also to determine , holder can be determined between being switched to next posture by current pose each moment according to the change information of switching rate Rate.Specifically, holder is believed according to the corresponding next posture of the corresponding posture information of the current pose and the current pose Breath calculates switching displacement between two postures, according to the switching displacement, holder current pose switch to next posture when Between the change information of information and switching rate can calculate the switching rate that holder is switched to next posture by current pose. In some embodiments, the change information of the switching rate specifically indicates that switching rate is at the uniform velocity.In some embodiments, it cuts The change information of throw-over rate may indicate that switching rate be it is non-at the uniform velocity.

In some instances, the switching condition includes：Stay time of the holder in each posture.The stop After duration is used to indicate holder by a upper Posture exchange to current pose, in the residence time of current pose, to meet shooting Demand.Optionally, the stay time may be selected to be holder acquiescence time accelerate system to reduce the reading of data Operation.Optionally, each posture of posture sequence further includes stay time of the holder in the posture, so as in user side spirit Setting holder living meets different shooting demands in the residence time of each posture.

S202：The posture sequence and sign on are sent to holder, the sign on be used to indicate the holder by The switching of posture is carried out according to the posture sequence.

In step S202, posture sequence and sign on can be sent to holder according to sequencing, specific priority Sequence is not especially limited, and in addition posture sequence and sign on can also be sent to holder simultaneously.

In the embodiment of the present invention, by the interaction between user and user side equipment, posture sequence can be flexibly set, passed through Setting holds holder and switches its posture according to posture sequence so that the Posture exchange of holder is more intelligent, can reduce user Possible operation error when holder is manually operated and cause to take useless picture so that user shoots more scene switchings Efficient, shooting picture the repeatability of camera lens is high.

In the present embodiment, the user side equipment further includes display interface.Wherein, the display interface can also liquid crystal board or Person other can be used in show and input panel.

In certain embodiments, the transmission sign on further includes later to holder：Show that the holder carries out posture The progress status of switching.By showing that holder carries out the progress status of Posture exchange on display interface, to intuitively show The current switching progress of holder is to user.Optionally, the progress status is at least one of progress value and progress bar.Its In, the progress value is the ratio of the first displacement and second displacement, and the progress bar is corresponding with the progress value, for example, will The ratio is converted into percentage, and the position of the percentage is then shown on the progress bar.Optionally, first displacement is The holder is switched to the displacement of the current pose by the reference attitude of the posture sequence, and the second displacement is the cloud Platform is switched to the displacement of the final carriage of the posture sequence by the reference attitude of the posture sequence.Optionally, the holder By the first Posture exchange to the second posture, first displacement is that the holder moves to current pose by the first Posture exchange Displacement, the second displacement are the holder by the first Posture exchange to the displacement of the second posture.

In certain embodiments, the acquisition posture sequence input by user, including：Display is for showing the posture sequence The figure of posture information in row；It receives user and drags the attitudes vibration information that the figure generates, and receiving addition letter Using the posture in the figure corresponding to the addition information as new posture renewal to the posture sequence after breath.That is posture sequence Each posture in row can in real time be added by way of dragging figure so that the addition of holder posture it is more convenient with Intuitively.

In certain embodiments, it needs to be adjusted the rotational angle of holder pitch axis and the rotational angle of roll axis, It can be then graphically displayed at described in two-dimensional coordinate system, one of described two-dimensional coordinate system reference axis is for indicating that holder is bowed The rotational angle of axis is faced upward, another reference axis of the two-dimensional coordinate system is used to indicate the rotational angle of holder roll axis.User Figure is dragged in two-dimensional coordinate system, you can the holder posture needed for it is added to user side equipment.It should be noted that The figure for showing the posture information in posture sequence be determined according to the quantity of the attitude parameter of the holder of required adjusting, and It is not limited to two-dimensional coordinate system, for example, when need to adjust the pitch axis of holder, the angle of rotation of roll axis and yaw axis these three axis When spending, the figure for indicating posture information in posture sequence can be showed by three-dimensional system of coordinate.

In some embodiments, the display interface, which is equipped with, is used to indicate the addition that user side equipment generates addition instruction Button, after user presses the addition button, the addition will be instructed the posture in corresponding figure to make by user side equipment For new posture renewal to the posture sequence.In some embodiments, user clicks directly on the display interface and generates and adds Add instruction, to using the posture in the figure corresponding to the clicking operation as new posture renewal to the posture sequence.

In certain embodiments, the transmission sign on further includes later to holder：Show the current appearance of holder of setting The posture information of state, to which the holder current pose information of addition to be intuitively presented to the user.Optionally, it is shown on display interface Show the numerical value by posture information, for example, holder posture information includes pitch axis angle and roll shaft angle degree, sets the current appearance of holder The pitch axis angle and roll shaft angle degree of state are (10 °, 20 °), then can directly display " pitch axis angle=10 °, roll shaft angle degree =20 ° ".Optionally, the posture information of each posture of holder of graphical display setting is utilized on display interface.In setting posture sequence During row, the figure is dynamic change, user can by the posture added needed for click on a user interface or Person directly drags the figure to add new posture.After setting posture sequence, after starting user side equipment next time, institute It states figure to be directly displayed in display interface, is used to show each posture in pre-set posture sequence.

In certain embodiments, the method further includes：Show that the holder switches to next posture by current pose The information of holder Posture exchange is further intuitively presented to the user by real-time switching time.

In certain embodiments, the transmission sign on further includes later to holder：It controls the holder and switches to finger Determine posture, and record the corresponding posture information of the specified posture, is recorded according to holder is real-time attitude so that posture sequence Setting it is more accurate.Optionally, specified posture is switched to come the control holder by dedicated remote control, and passes through the tool There is the smart machine of APP to record the corresponding posture information of the specified posture.Optionally, the control holder switches to It specifies posture and records the corresponding posture information of the specified posture and executed by dedicated remote control.

In certain embodiments, further include after the record specifies the corresponding posture information of posture：It sends described specified To holder, holder is receiving the specified posture for the corresponding posture information of posture and the corresponding switching condition of the specified posture After corresponding posture information and switching condition, the posture sequence that meeting real-time update locally preserves is full to realize the addition of posture The sufficient diversified demand of user.Wherein, the switching condition is by for what is inputted on the user side equipment, user is described After inputting the switching condition of corresponding posture on user side equipment, user side equipment is then corresponding to preserve the posture and its corresponding appearance State information and switching condition facilitate subsequent digital independent and identification.Optionally, described to record the corresponding appearance of the specified posture State information executes after the holder switches to specified posture and keeps preset time, ensures holder in the specified posture The record of corresponding posture information is just carried out after stable state, it is ensured that the accuracy of posture information.Optionally, the method Further include：Show the stay time that the holder switches to after the specified posture, to by holder be located at specified posture when Between be intuitively presented to user, by user according to the stay time of the specified posture intuitively shown come judge user side equipment record At the time of the specified posture.

In certain embodiments, the record, which specifies the corresponding posture information of posture, is executed after receiving addition instruction , it is further ensured that the accuracy of the specified posture recorded.Optionally, the display interface is equipped with and is used to indicate user side Equipment generates the addition button of addition instruction, and after user presses the addition button, user side equipment will be by the current of holder Posture is added in posture sequence.For example, user can be in the stop after the holder of display switches to the current pose A length of preset time value (such as：After 10s), the addition button is pressed, holder records the current pose to the posture In sequence.

In certain embodiments, the transmission sign on further includes later to holder：It receives and deletes instruction, delete institute It states to delete described in posture sequence and instructs corresponding specified posture, to which posture sequence be flexibly arranged.Optionally, described Display interface, which is equipped with, is used to indicate the delete button that user side equipment generates deletion instruction, and user presses the delete button Afterwards, the deletion will be instructed corresponding specified posture to be deleted from posture sequence by user side equipment, to realize posture sequence The flexible setting of row.

In a feasible embodiment, referring to Fig. 7, display interface is equipped with two-dimensional coordinate system XY, start button 1021, cross Roller bearing posture information display field 1023, pitch axis posture information display field 1024, progress status column 1025, addition button 1026, Delete button 1027, holder movement duration column 1028 and holder are on the stay time column 1029 of current pose.User, which presses, to open After dynamic button 1021 (start button 1021 of the present embodiment is two), two-dimensional coordinate system XY is shown for showing in posture sequence The figure 1022 of the posture information (for example, X-axis indicates that roll axis posture, pitch axis indicate pitch axis posture) of each posture, wherein In figure 1022, the point of black represents each posture in posture sequence, and white point represents the posture information of holder current pose, is Facilitate description, the point of black in figure 1022 is named as a little 1, point 2, point 3 and point 4 successively from left to right.

User drags the addition that new posture can be realized in figure 1022, for example, the position of dragging point 4, roll axis posture The roll axis posture of information columns 1023, pitch axis posture information 1024 real-time displays of display field holder current pose to be set Information, pitch axis posture information, after dragging stops, user presses addition button 1026, that is, completes the addition to new posture. Accordingly, it is desirable to by when a certain posture is deleted in posture sequence, user clicks point to be deleted on figure 1022, and presses deletion The delete operation to posture can be completed in button 1027.

During posture sequence is set, the mobile duration column 1028 on display interface is cut between can be used for setting two postures The temporal information changed, stay time column 1029 can user set holder in the stay time of a certain posture, user can be when moving Temporal information and holder that holder is switched to next posture by current pose are inputted in long column 1028, stay time column 1029 respectively Rest on the stay time of current pose.

After setting posture sequence, during holder carries out Posture exchange according to the posture sequence set, display interface On mobile duration column 1028 can be used for showing the real-time duration that switches between two postures, stay time column 1029 can user show Real-time stay time of the holder in a certain posture.In addition, also showing the real-time attitude position (figure of holder on figure 1022 White point in 1022).Progress status column 1025 is used to show the switching progress percentage (reference attitude of posture sequence of holder Switch to the ratio of the displacement and the total displacement of holder Installation posture sequence switching of holder current pose), to facilitate user to obtain Know current progress.

In conjunction with Fig. 8 and Fig. 9, the embodiment of the present invention additionally provides a kind of control device of holder, embodiment three and embodiment Four illustrate the concrete structure of the tripod head controlling device from holder side and user side equipment respectively.

Embodiment three

Referring to Fig. 8, the embodiment of the present invention provides a kind of control device of holder, including first processor 201, and described first The gyroscope 202 of processor and holder, accelerometer 203 are respectively connected with.Wherein, the first processor 201 is for executing The step of stating the cloud platform control method described in embodiment one.

Example IV

Referring to Fig. 9, the embodiment of the present invention provides a kind of control device of holder, including second processor 101, wherein institute State the step of second processor 101 is for executing the cloud platform control method described in above-described embodiment two.

In conjunction with Figure 10 and Figure 11, the embodiment of the present invention additionally provides a kind of control device of holder, embodiment five and implementation Example six illustrates the concrete structure of the tripod head controlling device from holder side and user side equipment respectively.

Embodiment five

Referring to Figure 10, the embodiment of the present invention provides a kind of control device of holder, including：

Input module, for obtaining posture sequence, the posture sequence includes the corresponding holder posture of at least three postures Information and the corresponding switching condition of each posture, the switching condition are used to indicate the holder and are corresponded to by the switching condition Current pose switch to the corresponding next posture of current pose described in the posture sequence；

First receiving module, for receiving sign on；

First control module, after receiving the sign on, according to the posture of the posture sequence control holder Switching.

Optionally, the switching condition includes：The holder is switched to the temporal information of next posture by current pose.

Optionally, the temporal information includes：The holder by current pose switch to next posture time interval or Switching instant of the holder described in person in each posture.

Optionally, the switching condition further includes：The holder is switched to the switching rate of next posture by current pose Change information.

Optionally, the switching condition includes：Stay time of the holder in each posture.

Optionally, the holder posture information includes：The angle information of holder, the angle information are pitch angle, yaw At least one of angle and roll angle.

Optionally, first control module is additionally operable to：According to the corresponding posture information of the holder current pose and work as The posture information of the corresponding next posture of preceding posture, the posture for calculating each rotation axis of holder are poor；According to each turn of the holder The posture of moving axis is poor, controls the holder and switches to next posture by the current pose.

Optionally, first receiving module is additionally operable to：It receives the posture sequence and preserves.

Optionally, first receiving module is additionally operable to：

It is described to receive the posture sequence and further include after preserving：

Receive new posture information and its corresponding switching condition, and by the new posture information and its is corresponding Switching condition is added in the posture sequence.

Optionally, the posture sequence is sent by user side equipment.

Optionally, the user side equipment is dedicated remote control or the smart machine for being equipped with APP

Optionally, described device further includes：Reseting module, for first receiving module receive sign on it Afterwards, the holder is resetted to the reference attitude of the posture sequence.

Optionally, described device further includes：Judgment module, for judging whether the current pose of the holder is the appearance Final carriage in state sequence.The reference attitude that the reseting module resets the holder to the posture sequence is to judge mould Block judges the current pose of the holder to execute after the final carriage in the posture sequence.

Optionally, first control module is additionally operable to：

Switch every time after the posture of the holder and further includes：

Determine the first posture information of holder；

Determine the rotational angle of the driving motor of one or more axis of holder；

The error posture information of attitude transducer is determined according to first posture information and the rotational angle；

First posture information is corrected to obtain the current pose information of holder according to the error posture information.

Optionally, the error posture that attitude transducer is determined according to first posture information and the rotational angle Information includes：The reference posture information that holder is determined according to the rotational angle, according to described with reference to posture information and described the One posture information determines the error posture information of attitude transducer.

Optionally, described to determine that the reference posture information of holder includes according to the rotational angle：By the rotational angle In each corresponding quaternary number of converting, the reference posture information of holder is determined according to the quaternary number of the rotational angle.

Optionally, described to determine that the reference posture information of holder includes according to the rotational angle：The pedestal of holder is set Posture information；The reference posture information of holder is determined according to the posture information of the pedestal and the rotational angle.

Optionally, the error posture information is the posture difference information between the first posture information and reference posture information.

Optionally, described that first posture information is corrected to obtain the current appearance of holder according to the error posture information State information includes：The error attitude rectification amount that the unit interval is determined according to the error posture information, according to the error posture The first posture information of Information revision amount pair is modified to obtain the current pose information of holder.

Its not deployed part please refers to the same or similar part of control method in above example one, no longer superfluous herein It states.

Embodiment six

Referring to Figure 11, the embodiment of the present invention provides a kind of control device of holder, including：

Acquisition module, for obtaining posture sequence input by user, the posture sequence is corresponded to including at least three postures Holder posture information and the corresponding switching condition of each posture, the switching condition be used to indicate the holder and cut by described It changes the corresponding current pose of condition and switches to the corresponding next posture of current pose described in the posture sequence；

Sending module, for sending the posture sequence and sign on to holder, the sign on is used to indicate institute Holder is stated according to the posture sequence to carry out the switching of posture.

Optionally, described device further includes：Display module, for the sending module send sign on to holder it Afterwards, show that the holder carries out the progress status of Posture exchange.

Optionally, the progress status is at least one of progress value and progress bar.

Optionally, the progress value be the first displacement and second displacement ratio, first displacement be the holder by The reference attitude of the posture sequence switches to the displacement of the current pose, and the second displacement is the holder by the appearance The reference attitude of state sequence switches to the displacement of the final carriage of the posture sequence；The progress bar is opposite with the progress value It answers.

Optionally, described device further includes add module, and the display module is shown for showing in the posture sequence Posture information figure；The receiving module is used to receive user and drags the attitudes vibration information that the figure generates, described Add module is used for the posture in the corresponding figure of the addition instruction after the receiving module receives addition instruction As new posture renewal to the posture sequence.

Optionally, described to be graphically displayed in two-dimensional coordinate system, a reference axis of the two-dimensional coordinate system is for showing The rotational angle of holder pitch axis, another reference axis are used to show the rotational angle of holder roll axis.

Optionally, the display module is additionally operable to：After the transmission sign on to holder, the holder of setting is shown The posture information of current pose.

Optionally, the display module is additionally operable to：After the transmission sign on to holder, set using graphical display Each posture of holder posture information.

Optionally, the display module is additionally operable to：Show that the holder switches to the real-time of next posture by current pose Switching time.

Optionally, described device further includes the second control module and logging modle, and second control module is used in institute Stating sending module transmission sign on, controlling the holder switches to specified posture later to holder；The logging modle is for remembering Record the corresponding posture information of the specified posture.

Optionally, the sending module is additionally operable to：The logging modle record specify posture corresponding posture information it Afterwards, the specified corresponding posture information of posture and the corresponding switching condition of the specified posture are sent to holder.

Optionally, it is to switch to finger in the holder that the logging modle, which records the corresponding posture information of the specified posture, Determine posture and keeps executing after preset time.

Optionally, the display module is additionally operable to：Show the stay time that the holder switches to after the specified posture.

Optionally, described device also wraps the second receiving module, and the logging modle record specifies the corresponding posture letter of posture Breath executes after second receiving module receives addition instruction.

Optionally, described device also packet removing module, after the sending module sends sign on to holder, described the Two receiving modules, which receive, deletes instruction, and the removing module, which is deleted to delete described in the posture sequence, instructs corresponding specified appearance State.

Its not deployed part please refers to the same or similar part of control method in above example two, no longer superfluous herein It states.

Embodiment seven

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 eight

Again referring to Fig. 8, 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. The wherein described holder can be two axle The Cloud Terraces, or three axis holders.

Embodiment nine

Again referring to Fig. 9, the embodiment of the present invention provides a kind of user side equipment, and the user side equipment 100 includes above-mentioned reality Apply the control device of the holder described in example four.Wherein, the user side equipment 100 includes remote controler and the intelligence for being equipped with APP At least one of equipment.

Embodiment ten

Referring to Figure 12, the embodiment of the present invention provides a kind of control system of holder, and the control system of the holder includes control The user side equipment 100 of holder 200 processed.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 user side equipment is the user side described in above-described embodiment seven Equipment.

In a feasible embodiment, referring to Figure 13, user side equipment is simultaneously including remote controler and the intelligence for being equipped with APP Equipment (such as mobile phone) runs to appearance to be added by remote control control holder 200 first when carrying out the addition of posture sequence Then state clicks the posture information for recording the posture to be added after adding confirming button by APP on the interfaces APP, meanwhile, user The Posture exchange to be added can be set on APP to the handover information of next posture, for example, the when a length of 10s of setting switching, In addition, user can also set the duration that holder is stopped in the posture to be added on APP, for example, 20s, to complete posture The input of sequence.

In the description of this specification, reference term " one embodiment ", " some embodiments ", " illustrative examples ", The description of " example ", " specific example " or " some examples " etc. mean the specific features described in conjunction with the embodiment or example, Structure, material or feature are included at least one embodiment or example of the invention.In the present specification, to above-mentioned term Schematic representation may not refer to the same embodiment or example.Moreover, description specific features, 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：

Posture sequence is obtained, the posture sequence includes the corresponding holder posture information of at least three postures and each posture pair The switching condition answered, the switching condition are used to indicate the holder and switch to institute by the corresponding current pose of the switching condition State the corresponding next posture of current pose described in posture sequence；

Receive sign on；

2. according to the method described in claim 1, it is characterized in that, the switching condition includes：The holder is by current pose Switch to the temporal information of next posture.

3. according to the method described in claim 2, it is characterized in that, the temporal information includes：The holder is by current pose Switch to next posture time interval or the holder each posture switching instant.

4. according to the method described in claim 3, it is characterized in that, the switching condition further includes：The holder is by current appearance State switches to the switching rate change information of next posture.

5. according to the method described in claim 1, it is characterized in that, the switching condition includes：The holder is in each appearance Stay time in state.

6. according to the method described in claim 1, it is characterized in that, the holder posture information includes：The angle information of holder, The angle information is at least one of pitch angle, yaw angle and roll angle.

7. according to the method described in claim 1, it is characterized in that, the posture according to preset posture sequence control holder Switching, including：

According to the posture information of the corresponding posture information of the holder current pose and the corresponding next posture of current pose, calculate The posture of each rotation axis of holder is poor；

Posture according to each rotation axis of the holder is poor, controls the holder and switches to next appearance by the current pose State.

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

It receives the posture sequence and preserves.

9. according to the method described in claim 8, it is characterized in that, described receive the posture sequence and preserve, also wrap later It includes：

Receive new posture information and its corresponding switching condition, and by the new posture information and its corresponding switching Condition is added in the posture sequence.

10. according to the method described in claim 8, it is characterized in that, the posture sequence is sent by user side equipment.

11. according to the method described in claim 10, it is characterized in that, the user side equipment is dedicated remote control or installation There is the smart machine of APP.

12. according to the method described in claim 1, it is characterized in that, described receive sign on, further include later：

The holder is resetted to the reference attitude of the posture sequence.

13. according to the method described in claim 1, it is characterized in that, described reset the holder rising to the posture sequence Beginning posture is executed after the current pose for judging the holder is the final carriage in the posture sequence.

14. according to the method described in claim 1, it is characterized in that, switch the posture of the holder every time, further include later：

Determine the first posture information of holder；

15. according to the method for claim 14, which is characterized in that described according to first posture information and the rotation The error posture information of angle-determining attitude transducer includes：

The reference posture information that holder is determined according to the rotational angle refers to posture information and first posture according to described Information determines the error posture information of attitude transducer.

16. according to the method for claim 15, which is characterized in that the reference for determining holder according to the rotational angle Posture information includes：

By each corresponding quaternary number of conversion in the rotational angle, holder is determined according to the quaternary number of the rotational angle Reference posture information.

17. method according to claim 15 or 16, which is characterized in that described to determine holder according to the rotational angle Include with reference to posture information：

The posture information of the pedestal of holder is set；

The reference posture information of holder is determined according to the posture information of the pedestal and the rotational angle.

18. method according to claim 15 or 16, which is characterized in that

The error posture information is the posture difference information between the first posture information and reference posture information.

19. 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：

The error attitude rectification amount that the unit interval is determined according to the error posture information, according to the error posture information amendment Amount is modified the first posture information to obtain the current pose information of holder.

20. a kind of control device of holder, which is characterized in that described device includes first processor, wherein first processing Device is configured as：

Receive sign on；

21. device according to claim 20, which is characterized in that the switching condition includes：The holder is by current appearance State switches to the temporal information of next posture.

22. device according to claim 21, which is characterized in that the temporal information includes：The holder is by current appearance State switch to next posture time interval or the holder each posture switching instant.

23. device according to claim 22, which is characterized in that the switching condition further includes：The holder is by current Posture exchange to next posture switching rate change information.

24. device according to claim 20, which is characterized in that the switching condition includes：The holder is at each Stay time in posture.

25. device according to claim 20, which is characterized in that the holder posture information includes：The angle of holder is believed Breath, the angle information is at least one of pitch angle, yaw angle and roll angle.

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

The Posture exchange according to preset posture sequence control holder, including：

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

It receives the posture sequence and preserves.

28. device according to claim 27, which is characterized in that the first processor is additionally configured to：

It is described to receive the posture sequence and preserve, further include later：

29. device according to claim 27, which is characterized in that the posture sequence is sent by user side equipment.

30. device according to claim 29, which is characterized in that the user side equipment is dedicated remote control or installation There is the smart machine of APP.

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

It is described to receive sign on, further include later：

The holder is resetted to the reference attitude of the posture sequence.

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

It is institute that the reference attitude for resetting holder to the posture sequence, which is in the current pose for judging the holder, It states and executes after the final carriage in posture sequence.

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

The posture for switching the holder every time further includes later：

Determine the first posture information of holder；

34. device according to claim 33, which is characterized in that the first processor is additionally configured to：

It is described to determine that the error posture information of attitude transducer includes according to first posture information and the rotational angle：

35. device according to claim 34, which is characterized in that the first processor is additionally configured to：

It is described to determine that the reference posture information of holder includes according to the rotational angle：

36. the device according to claim 34 or 35, which is characterized in that the first processor is additionally configured to：

The posture information of the pedestal of holder is set；

37. the device according to claim 34 or 35, which is characterized in that the first processor is additionally configured to：

38. device according to claim 33, 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：

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

Obtain posture sequence input by user, the posture sequence include the corresponding holder posture information of at least three postures and The corresponding switching condition of each posture, the switching condition are used to indicate the holder by the corresponding current appearance of the switching condition State switches to the corresponding next posture of current pose described in the posture sequence；

The posture sequence and sign on are sent to holder, the sign on is used to indicate the holder according to the posture Sequence carries out the switching of posture.

40. according to the method for claim 39, which is characterized in that the switching condition includes：The holder is by current appearance State switches to the temporal information of next posture.

41. according to the method for claim 40, which is characterized in that the temporal information includes：The holder is by current appearance State switch to next posture time interval or the holder each posture switching instant.

42. according to the method for claim 41, which is characterized in that the switching condition further includes：The holder is by current Posture exchange to next posture switching rate change information.

43. according to the method for claim 39, which is characterized in that the switching condition includes：The holder is at each Stay time in posture.

44. according to the method for claim 39, which is characterized in that the transmission sign on further includes later to holder：

Show that the holder carries out the progress status of Posture exchange.

45. according to the method for claim 44, which is characterized in that the progress status be in progress value and progress bar extremely Few one kind.

46. according to the method for claim 45, which is characterized in that the progress value is the ratio of the first displacement and second displacement Value, first displacement are the displacement that the holder is switched to the current pose by the reference attitude of the posture sequence, institute State the position that second displacement is the final carriage that the holder is switched to the posture sequence by the reference attitude of the posture sequence It moves；

The progress bar is corresponding with the progress value.

47. according to the method for claim 39, which is characterized in that the acquisition posture sequence input by user, including：

Show the figure for showing the posture information in the posture sequence；

It receives user and drags the attitudes vibration information that the figure generates, and instruct the addition after receiving addition instruction Posture in corresponding figure is as new posture renewal to the posture sequence.

48. according to the method for claim 47, which is characterized in that it is described to be graphically displayed in two-dimensional coordinate system, described two One reference axis of dimension coordinate system is used to show the rotational angle of holder pitch axis, another reference axis is for showing holder roll The rotational angle of axis.

49. according to the method for claim 39, which is characterized in that the transmission sign on further includes later to holder：

Show the posture information of the holder current pose of setting.

50. according to the method for claim 49, which is characterized in that the transmission sign on further includes later to holder：

Utilize the posture information of each posture of holder of graphical display setting.

51. according to the method for claim 39, which is characterized in that the method further includes：

Show that the holder is switched to the real-time switching time of next posture by current pose.

52. according to the method for claim 39, which is characterized in that the holder posture information includes：The angle of holder is believed Breath, the angle information is at least one of pitch angle, yaw angle and roll angle.

53. according to the method for claim 39, which is characterized in that the transmission sign on further includes later to holder：

It controls the holder and switches to specified posture；

Record the corresponding posture information of the specified posture.

54. method according to claim 53, which is characterized in that the record specifies the corresponding posture information of posture, it After further include：

The corresponding posture information of the specified posture and the corresponding switching condition of the specified posture are sent to holder.

55. method according to claim 54, which is characterized in that described to record the corresponding posture information of the specified posture It is executed after the holder switches to specified posture and keeps preset time.

56. method according to claim 55, which is characterized in that the method further includes：

Show the stay time that the holder switches to after the specified posture.

57. method according to claim 53, which is characterized in that it is described record specify the corresponding posture information of posture be It is executed after receiving addition instruction.

58. method according to claim 53, which is characterized in that the transmission sign on further includes later to holder：

It receives and deletes instruction, delete and delete the corresponding specified posture of instruction described in the posture sequence.

59. a kind of control device of holder, which is characterized in that described device includes second processor；The wherein described second processing Device is configured as：

60. device according to claim 59, which is characterized in that the switching condition includes：The holder is by current appearance State switches to the temporal information of next posture.

61. device according to claim 60, which is characterized in that the temporal information includes：The holder is by current appearance State switch to next posture time interval or the holder each posture switching instant.

62. device according to claim 61, which is characterized in that the switching condition further includes：The holder is by current Posture exchange to next posture switching rate change information.

63. device according to claim 59, which is characterized in that the switching condition includes：The holder is at each Stay time in posture.

64. device according to claim 59, which is characterized in that the second processor is additionally configured to：

The transmission sign on further includes later to holder：

Show that the holder carries out the progress status of Posture exchange.

65. device according to claim 64, which is characterized in that the progress status be in progress value and progress bar extremely Few one kind.

66. device according to claim 65, which is characterized in that the progress value is the ratio of the first displacement and second displacement Value, first displacement are the displacement that the holder is switched to the current pose by the reference attitude of the posture sequence, institute State the position that second displacement is the final carriage that the holder is switched to the posture sequence by the reference attitude of the posture sequence It moves；

The progress bar is corresponding with the progress value.

67. device according to claim 59, which is characterized in that the second processor is additionally configured to：

The acquisition posture sequence input by user, including：

Show the figure for showing the posture information in the posture sequence；

68. device according to claim 67, which is characterized in that it is described to be graphically displayed in two-dimensional coordinate system, described two One reference axis of dimension coordinate system is used to show the rotational angle of holder pitch axis, another reference axis is for showing holder roll The rotational angle of axis.

69. device according to claim 59, which is characterized in that the second processor is additionally configured to：

The transmission sign on further includes later to holder：

Show the posture information of the holder current pose of setting.

70. device according to claim 69, which is characterized in that the second processor is additionally configured to：

The transmission sign on further includes later to holder：

71. device according to claim 59, which is characterized in that the second processor is additionally configured to：

72. device according to claim 59, which is characterized in that the holder posture information includes：The angle of holder is believed Breath, the angle information is at least one of pitch angle, yaw angle and roll angle.

73. device according to claim 59, which is characterized in that the second processor is additionally configured to：

The transmission sign on further includes later to holder：

It controls the holder and switches to specified posture；

Record the corresponding posture information of the specified posture.

74. according to the device described in claim 73, which is characterized in that the second processor is additionally configured to：

The record specifies the corresponding posture information of posture, further includes later：

75. device according to claim 74, which is characterized in that the second processor is additionally configured to：

The corresponding posture information of the specified posture that records is when the holder switches to specified posture and keeps default Between after execute.

76. according to the device described in claim 75, which is characterized in that the second processor is additionally configured to：

Show the stay time that the holder switches to after the specified posture.

77. according to the device described in claim 73, which is characterized in that the second processor is additionally configured to：

The record specifies the corresponding posture information of posture to be executed after receiving addition instruction.

78. according to the device described in claim 73, which is characterized in that the second processor is additionally configured to：

The transmission sign on further includes later to holder：