CN109032191A - Cloud platform control method and holder - Google Patents
Cloud platform control method and holder Download PDFInfo
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- CN109032191A CN109032191A CN201810528475.6A CN201810528475A CN109032191A CN 109032191 A CN109032191 A CN 109032191A CN 201810528475 A CN201810528475 A CN 201810528475A CN 109032191 A CN109032191 A CN 109032191A
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Abstract
A kind of cloud platform control method and holder.Wherein, holder includes at least one axis, which is characterized in that be the described method comprises the following steps: lock instruction is received, into locking mode；Under the locking mode, lock at least one axis of holder rotation, it is described into locking mode step include: rotation of the holder described in manual locking at least one axis；Feed back the lock state；Lock instruction is sent according to the feedback；Holder receives lock instruction, enters locking mode according to the lock instruction.
Description
The application is that application No. is the 201510383100.1 Chinese invention patent application (applyings date: on July 3rd, 2015；
Denomination of invention: cloud platform control method and holder) divisional application.
Technical field
The present invention relates to a kind of cloud platform control method and the holders controlled using the control method.
Background technique
Holder is generally used to carry camera, the image documentation equipments such as video camera, and by the motion control to clouds terrace system come
Realize the motion control to image documentation equipment.Common holder is classified according to freedom degree, is divided into single axle, twin axle and triple axle
Holder.The movement for usually automatically adjusting holder on holder by motor, may be implemented the function automatically with bat.
By taking triple axle holds holder as an example, three axis holders generally include pitching (pitch) in the coordinate system of motion control
Axis translates (yaw) axis and roll (roll) axis.Three axis holders are rotated around the pitch axis for adjusting holder in vertical direction
Pitch angle, around the translation shaft rotate for adjusting holder flat-moving angle in the horizontal direction, around the roll axis rotation then use
In the angle of heel for adjusting holder.
For general three axis holder during with clapping, response action can be slow, and holder is difficult to keep up in real time, influences shooting effect
Fruit.
Summary of the invention
In view of this, the present invention provides the cloud platform control method and carry out using the control method that one kind can follow in real time
The holder of control.
A kind of cloud platform control method, wherein holder includes at least one axis, be the described method comprises the following steps:
Lock instruction is received, into locking mode；
Under the locking mode, the rotation of at least one axis of holder is locked,
It is described to include: into locking mode step
Rotation of the holder described in manual locking at least one axis；
Feed back the lock state；
Lock instruction is sent according to the feedback；
Holder receives lock instruction, enters locking mode according to the lock instruction.
Further, under the locking mode, the rotation step of locking at least one axis of holder includes:
Unclamp driving element corresponding to locked axis；
Mechanically the locked axis and the element of the locked axis connection are locked, follow the element
The locked axis moves together.
Further, the reception lock instruction step includes:
The lock instruction that reception carrys out the lock instruction of self-control device or user is inputted by holder.
Further, holder described in the manual locking includes: in the rotation step of at least one axis
Mechanically the locked axis and the element of the locked axis connection are locked, make the locked axis
The element is followed to move together.
Further, the translation shaft of the holder is locked in the member that the translation shaft is connected by the cloud platform control method
On part.
Further, the cloud platform control method further include:
Receive exit instruction；
Locking mode is exited according to the exit instruction.
A kind of holder, including at least one drive shaft assembly, the drive shaft assembly include axis and driving element, feature
It is, the holder includes control system, and the control system controls the holder and enter locking mould for receiving lock instruction
Formula locks the rotation of at least one axis of holder under the locking mode；
It is described to include: into locking mode
Rotation of the holder described in manual locking at least one axis；
Feed back the lock state；
Lock instruction is sent according to the feedback.
Further, the drive shaft assembly includes pitching shaft assembly, roll shaft assembly and translation shaft assembly；Or
The holder includes communication unit, and communication unit is used for the data communication established between holder and control device, institute
It states holder and receives the lock instruction and/or exit instruction for sending self-control device by communication unit；The control system of holder is rung
The rotation of lock instruction locking at least one axis of holder, or the response exit instruction is answered to release at least one axis of holder
Rotation locking；Or
The translation shaft of the holder is locked on the element connected with the translation shaft.
Further, the driving element is driving motor, and the holder includes at least one mechanical locking device, the machine
Tool locking member removably connects the holder and driving element, connects by least one axis of the holder and with the axis
The element locking connect.
Further, the mechanical locking device is locked out pin.
A kind of moveable platform, including support base and above-mentioned holder, the holder carry is in the support base.
Using the holder of above-mentioned cloud platform control method, at least one axis in holder can be locked, while other
Unblocked kinematic axis to increase steady function constant with amiable.To realize during with clapping, avoid locked axis with bat
The slower defect of response action.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the holder of an embodiment of the present invention.
Fig. 2 is the module architectures schematic diagram of the holder in Fig. 1.
Fig. 3 is the cloud platform control method flow chart in an embodiment of the present invention.
Fig. 4 be an embodiment in Fig. 3 in step S11 sub-process figure.
Fig. 5 be an embodiment in Fig. 3 in step S12 sub-process figure.
Fig. 6 be another embodiment in Fig. 3 in step S12 sub-process figure.
Main element symbol description
The present invention that the following detailed description will be further explained with reference to the above drawings.
Specific embodiment
Referring to FIG. 1, the structural schematic diagram of the holder 100 in an embodiment of the present invention.In the present embodiment, described
Holder 100 be three axis holders, the coordinate system of the motion control of holder 100 includes pitching (pitch) axis, translate (yaw) axis and
Roll (roll) axis.The holder 100 can be three axis holders on hand-held three axis holders, vehicle-mounted three axis holder or unmanned vehicle
Deng being used to carry filming apparatus, such as camera, video camera carry out shooting operation.The adjustable a variety of appearances of holder 100
The filming apparatus is adjusted to be suitble to angle and/or the position of shooting by state.
The holder 100 includes bracket component 20 and drive shaft assembly.In the present embodiment, it is with triple axle holder
Example, the drive shaft assembly include pitching shaft assembly 10, roll shaft assembly 30 and translation shaft assembly 40.Wherein, the bracket
Component 20 is for installing the filming apparatus such as video camera, camera.The pitching shaft assembly 10, roll shaft assembly 30 and translation shaft
Component 40 is adjusted for driving arm component 20 with the posture to capture apparatus, to realize to carrying on holder 100
The gesture stability of filming apparatus.
Specifically, in the present embodiment, the bracket component 20 of holder 100 is set on the pitching shaft assembly 10, it is horizontal
Roller assembly 30 and the pitching shaft assembly 10 are rotatablely connected and the pitching shaft assembly 10 can be driven to rotate, and translate shaft assembly 40
It is rotatablely connected with the roll shaft assembly 30 and the roll shaft assembly 30 can be driven to rotate.The holder 100 is hand-held holder,
It further include handle part 50.
Please also refer to Fig. 2, the pitching shaft assembly 10 includes pitch axis driving assembly 11, and pitch axis driving assembly 11 is used
It rotates in driving arm component 20 around the pitch axis, to adjust the pitch angle of holder 100, i.e., pacifies on adjusting bracket component 20
Pitch angle of the filming apparatus of dress in vertical direction.
The roll shaft assembly 30 includes roll axis driving assembly 31, and roll axis driving assembly 31 can drive the pitch axis
Component 10 and bracket component 20 are rotated around the roll axis together, to adjust the angle of heel of holder 100, i.e. adjusting bracket group
The angle of heel for the filming apparatus installed on part 20.
The translation shaft assembly 40 includes translation shaft driving assembly 41, and translation shaft driving assembly 41 can drive the roll axis
Component 30, pitching shaft assembly 10 and bracket component 20 are rotated around the translation shaft together, to adjust the translation of holder 100
Angle, i.e., the filming apparatus flat-moving angle in the horizontal direction installed on adjusting bracket component 20.
In other embodiments, the pitch axis driving assembly 11, roll axis driving assembly 31 and translation shaft driving
Connection and driving method between component 41 can according to need setting, it is only necessary to meet pitch angle to bracket component 20, side
The adjustment of inclination angle and flat-moving angle reaches the pose adjustment to holder 100.
In the present embodiment, the pitch axis driving assembly 11, roll axis driving assembly 31 and translation shaft driving group
Part 41 may include brushless motor.
Fig. 2 is please combined together, and the holder 100 further includes (the Inertial measurement of Inertial Measurement Unit 70
Units, IMU), control system 80 and communication unit 90.
The Inertial Measurement Unit 70 is used to obtain the attitude parameter information of holder 100, and the attitude parameter information includes
But it is not limited to triaxial attitude angle (or angular speed) and acceleration etc. of the bracket component 20 of the holder 100 in space.?
In present embodiment, the Inertial Measurement Unit 70 is installed on the position of the center of gravity of the holder 100, more accurate to obtain
The attitude parameter information of the holder 100.
The communication unit 90 is for establishing holder 100 and control device (not shown go out), such as remote controler, between data
Communication.Communication mode between communication unit 90 and control device include but is not limited to be bluetooth, 2.4G network or 5.8G network
Etc. modes.The communication unit 90 can be the element of the acceptable signals such as signal receiver, transceiver.In the present embodiment,
The communication unit 90 can be used for receiving the control instruction for carrying out self-control device, wherein the control device can be remote controler.
User can input posture of the gesture stability instruction so as to adjust the holder 100, the communication unit 90 by remote controler
Gesture stability instruction is received, and the gesture stability received instruction is sent to control system 80.
The control system 80 is used for the instruction for executing preparatory typing or being stored in memory element, to control holder
100 are reached or are kept particular pose with specific motion state.Specifically, control system 80 can be according to Inertial Measurement Unit 70
The attitude parameter information of detecting determines the posture of holder 100, to determine the appearance for the filming apparatus being installed on bracket component 20
State.Control system 80 is also used to receive the attitude parameter information of the transmission of Inertial Measurement Unit 70 and/or communication unit 90 passes
The gesture stability instruction sent, sends corresponding driving instruction to the pitching shaft assembly 10, roll shaft assembly 30 and translation shaft
Component 40 is reached with specific motion state to control the holder 100 or keeps particular pose, such as the shootings such as follows dynamic
Make.Specifically, the control system 80 can by send corresponding driving instruction to pitching shaft assembly 10, roll shaft assembly 30 with
And translation shaft assembly 40, it is corresponding on the pitching shaft assembly 10, roll shaft assembly 30 and translation shaft assembly 40 by controlling
Motor realizes the gesture stability of holder 100.
For example, when the gesture stability instruction can be turn to angle of heel be+60 °, control system 80 is according to inertia measurement
The attitude parameter information that unit 70 is detected determines that the posture of holder 100 is+30 ° of angle of heel, and control system 80 controls horizontal roller groups
Part 30 drives the pitching shaft assembly 10 and bracket component 20 to rotate+30 ° around the roll axis together, so that holder 100 reaches
The posture for being+60 ° to angle of heel.
The holder 100 has locking mode, and in a locking mode, holder 100 is locked in the rotation of at least one axis,
That is, the holder 100 is locked at least one of pitch axis, roll axis and translation shaft.It is only locked below with translation shaft
For fixed mode, to illustrate the locking mode of holder 100, it is possible to understand that, the locking structure and lock mode of translation shaft are same
Sample is suitable for pitch axis and roll axis, and details are not described herein.
In the present embodiment, the translation shaft driving assembly 41 includes position sensor 411, translation shaft control module
412 and translation shaft driving element 413.
Translation shaft driving element 413 is for driving holder 100 in the adjustment of the flat-moving angle of translation shaft.Specifically, translation shaft
Driving element 413 is connect with roll shaft assembly 30, and translation shaft driving element 413 is used to drive the roll shaft assembly 30, so that
The roll shaft assembly 30, and the pitching shaft assembly 10 and bracket component 20 that connect with roll shaft assembly 30 are together around described flat
Axis rotation is moved, thus the filming apparatus installed on adjusting bracket component 20 flat-moving angle in the horizontal direction.
The position sensor 411 is used to detect between the opposite element being connected with translation shaft of locked translation shaft
Rotational angle is poor, and the rotational angle difference is fed back to control system 80.In the present embodiment, the element can be cloud
The roll shaft assembly 30 being connected on platform 100 with translation shaft assembly 40, pitching shaft assembly 10 and bracket component 20.In other realities
It applies in mode, the element may be the element of 100 carries of ontology or holder of holder 100.
For example, holder 100 is in handheld state or when being carried on the load-bearing parts such as aircraft, since user is to holder
100 posture carries out the motion transform of transformation or load-bearing part itself, causes holder 100 in the rotation of translation shaft, position sensing
The rotational angle that device 411 is detected between translation shaft and roll shaft assembly 30 is poor, and the rotational angle difference is fed back to control system
System 80.
Translation shaft control module 412 is electrically connected with the position sensor 411 and translation shaft driving element 413 respectively, institute
Translation shaft control module 412 is stated also to be electrically connected with control system 80.Translation shaft control module 412 receives what control system 80 was sent
Driving instruction, and control according to driving instruction the driving of the translation shaft driving element 413.Specifically, in the present embodiment,
The translation shaft control module 412 can be three close-loop control system, which includes electric current loop 4121, speed
Spend ring 4122 and position ring 4123.Wherein, the position ring 4123 can be used for detecting translation shaft and be connected with translation shaft
Element between rotational angle it is poor.In one embodiment, the position sensor 411 can be position ring 4123.
The position ring 4123 can be also used for locking the holder 100 in the rotation of translation shaft.Specifically, position sensing
Device 411 detects translation shaft and rotational angle between roll shaft assembly 30 is poor, and the rotational angle difference is fed back to control
System 80, control system 80 controls the locked translation shaft rotation of the driving of position ring 4123, to reduce the rotational angle
Difference, so that roll shaft assembly 30, and the pitching shaft assembly 10 and bracket component 20 that connect with roll shaft assembly 30 are opposite
Without relative rotation, i.e. locking of the realization holder 100 in the rotation of translation shaft between translation shaft assembly 40.
In the present embodiment, the translation shaft driving assembly 41 further includes mechanical locking device 414.Mechanical locking device
414 dismountable connection translation shaft driving elements 413 and roll shaft assembly 30, to realize translation shaft driving element 413 and cross
The unlatching and disconnection of transmission between roller assembly 30.Specifically, mechanical locking device 414 is in the on state, mechanical connection
The translation shaft driving element 413 and roll shaft assembly 30, between the rotor and roll shaft assembly 30 of translation shaft driving element 413
Transmission be to open, translation shaft driving element 413 drives the roll shaft assembly 30 so that the roll shaft assembly 30, with
And the pitching shaft assembly 10 and bracket component 20 connecting with roll shaft assembly 30 are rotated around the translation shaft together.Mechanical caging member
Part 414 unclamps the driving of translation shaft driving element 413, translation shaft driving element 413 and roll shaft assembly 30 in off-state
Between transmission disconnect, roll shaft assembly 30 is locked out relative to the rotation of translation shaft, that is, roll shaft assembly 30, Yi Jiyu
The pitching shaft assembly 10 and bracket component 20 that roll shaft assembly 30 connects follow translation shaft assembly to move together, thus described in realizing
Holder 100 is locked in the flat-moving angle of translation shaft.
For example, the mechanical locking device 414 can be positioning pin, which can removably be inserted in translation shaft
The pin hole opened up on the pin hole (not shown go out) and roll shaft assembly 30 opened up on the rotor (not shown go out) of driving element 413
In (not shown go out), to realize the rotor of translation shaft driving element 413 and the connection of roll shaft assembly 30, and translation shaft is realized
Transmission between driving element 413 and roll shaft assembly 30.When positioning pin is deviate from from the pin hole, translation shaft driving element
Connection between 413 and roll shaft assembly 30 disconnects, the transmission between the translation shaft driving element 413 and roll shaft assembly 30
Also corresponding to disconnect；At this point, roll shaft assembly 30, and the pitching shaft assembly 10 and bracket component 20 that are connect with roll shaft assembly 30
Rotation relative to translation shaft is locked, i.e., holder 100 is locked in the flat-moving angle of translation shaft.
In other embodiments, the mechanical locking device 414 can also be other mechanical structures such as buckle, as long as energy
The Mechanical locking features of the rotor and roll shaft assembly 30 of realizing translation shaft driving element 413 being connected and disconnected from are used equally for this
Mechanical locking device 414.
The mechanical locking device 414 can also be the Mechanical locking features comprising drive motor, pass through the control of holder 100
Control of the system 80 processed to drive motor, to realize the automation control to mechanical locking device 414, the automation control
Mode with it is identical in the prior art, details are not described herein.In other embodiments, the mechanical locking device 414 can also be with
The switching between open state and off-state is realized by user's manual operation.
The operating mode of the translation shaft assembly 40 of the holder 100 includes: locking mode and follow the mode.
Under follow the mode, the rotation between the translation shaft assembly 40 and handle part 50 is to open, translation shaft control
Module 412 receives the driving instruction that control system 80 is sent, and controls the translation shaft driving element 413 according to driving instruction and drive
It moves the translation shaft assembly 40 and is rotated relative to the handle part 50 around translation shaft.To adjust holder 100 in the translation of translation shaft
Angle, so that the filming apparatus installed on bracket component 20 reaches specific posture.
In a locking mode, the rotation between the translation shaft assembly 40 and handle part 50 is locked out, i.e. translation shaft group
It is not relatively rotated between part 40 and handle part 50, flat-moving angle of the holder 100 on translation shaft is locked, and handle part 50 is transported
When dynamic, the translation shaft assembly 40 follows the handle part 50 to move together.In the present embodiment, holder 100 is in locking mould
Under formula, the rotation of pitching shaft assembly 10 and roll shaft assembly 30 follows and increases the other functions such as steady and remains unchanged.
In the present embodiment, user can send translation shaft lock instruction by remote controler or other control systems
To holder 100, the communication unit 90 of holder 100 receives the lock instruction, and sends the lock instruction to control system 80.
In other embodiments, user can also input the lock instruction by holder 100.
Control system 80 is by controlling the locked translation shaft rotation of the driving of position ring 4123, to reduce the rotation
Differential seat angle, i.e. locking of the realization holder 100 in the rotation of translation shaft.Specifically, position sensor 411 detect translation shaft and with cross
Rotational angle between roller assembly 30 is poor, and the differential seat angle is fed back to control system 80, and control system 80 controls described
The locked translation shaft rotation of the driving of position ring 4123, it is poor to reduce the rotational angle, thus reach translation shaft assembly 40 with
Without relative rotation between handle part 50, i.e. realization holder 100 makes holder 100 work in locking in the locking of the rotation of translation shaft
Under mode.
In one embodiment, when mechanical locking device 414 is the mechanical locking of automation control, control system
80 send locking signal to mechanical locking device 414 according to lock instruction.Mechanical locking device 414 can respond the locking letter
Number, under automatic operation, the transmission between translation shaft driving element 413 and holder 100 is disconnected, holder 100 is made to work in lock
Under mould-fixed.
In another embodiment, user can disconnect translation shaft driving member by operating the mechanical locking device 414
Transmission between part 413 and holder 100 locks the translation shaft assembly 40 with the handle part 50, holder 100 is made to work
Under locking mode.External do can also be resisted by being locked using mechanical locking device 414 to translation shaft driving element 413
It disturbs, saves electricity.Specifically, user disconnected by operating the mechanical locking device 414 translation shaft driving element 413 with
After transmission between holder 100, user passes through holder 100 again and inputs, and remote controler input or other control systems send lock
Fixed instruction enters locking mode to holder 100, holder 100.In other embodiments, in user by operating the mechanical lock
Determine element 414 come after disconnecting the transmission between translation shaft driving element 413 and holder 100, the feedback lock of translation shaft control module 412
Determining state, perhaps the other control systems control system 80, remote controler or other controls fill to control system 80, remote controler
It sets according to the lock state, generates lock instruction.
When holder is under locking mode, holder 100 is detected at the relatively dynamic angle of translation shaft in position sensor 41l
When degree difference exceeds pre-set interval, control system 80 controls the locked translation shaft rotation of the driving of position ring 4123, with
It is poor to reduce the rotational angle, so that holder 100 be made to keep locking mode, that is, keeps between translation shaft assembly 40 and handle part 50
It does not relatively rotate or relative rotation as small as possible, the locking both realized.When position sensor 411 detects holder
100 translation shaft angle of rotation angle value pre-set interval it is interior when, position ring 4123 does not drive locked translation shaft,
I.e. it is believed that the relative rotation angle of the two is in dead zone at this time.
Holder 100 can also respond exit instruction, and control system 80 exits signal to translation shaft according to exit instruction transmission
Control module 412, the translation shaft control module 412 exit signal according to this and reply the translation shaft driving element 413 and cloud
Transmission between platform 100 works in holder 100 under follow the mode.Wherein, the pre-set interval can be user's setting
, it is also possible to be pre-stored in position sensor 411.Wherein, the exit instruction can be reception self-control device
Exit instruction or user pass through the exit instruction that inputs of holder 100.
In addition, the invention further relates to a kind of moveable platform (not shown), the moveable platform includes support base and above-mentioned
Holder 100, this holder carry is on the support base of moveable platform.It is appreciated that the moveable platform can be carry
The aircraft of holder 100, hand-held holder or other delivery vehicles.
It is the cloud platform control method 300 in an embodiment of the present invention, the cloud platform control method please also refer to Fig. 3
300 can be realized using Fig. 1 and holder shown in Fig. 2 100.The cloud platform control method 300 the following steps are included:
Step S11 receives lock instruction, into locking mode.
Step S12 locks the rotation of 100 at least one axis of holder under the locking mode.
Step S13 receives exit instruction.
Step S14 exits locking mode according to the exit instruction.
It is appreciated that step S13 and S14 can be omitted, locking mode can be always maintained at.
Referring to FIG. 4, in an embodiment, the specific sub-process figure of step S11, step in cloud platform control method 300
S11 may include following sub-step:
Step S111, the rotation of 100 at least one axis of holder described in manual locking.Specifically, user by grasping manually
Make mechanical locking device 414, the element for mechanically being connect the locked axis with it locks, and makes described locked
The element that axis follows it to be connected moves together, to lock holder 100 in the rotation of at least one axis.It, will in the present embodiment
The translation shaft assembly 40 is locked with the handle part 50, it will be understood that can also be by roll shaft assembly 30 and translation shaft assembly
40 lockings, move the roll shaft assembly 30 with the translation shaft assembly 40.In addition, 40 He of shaft assembly can also will be translated
Handle part 50 locks, and the pitching shaft assembly 10 and the roll shaft assembly 30 are locked, to guarantee the translation shaft group
Part 40 is moved with the handle part 50 and pitching shaft assembly 10 is moved with roll shaft assembly 30.It can also be its other party
The combination of formula.
Step S112 feeds back the lock state.Specifically, 412 feedback lock state of translation shaft control module is to control
System 80, remote controler or other control systems.
Step S113 sends lock instruction according to the feedback.Specifically, the control system 80 responds the feedback letter
It ceases and generates lock instruction；Or remote controler or other control systems generate lock instruction according to the lock state, and by the lock
Fixed instruction is sent to holder 100.
Step S114, holder receive lock instruction, enter locking mode according to the lock instruction.Wherein, the locking
Instruction can be the lock instruction that control system 80 is fed back according to lock state, and the locking for being also possible to receive self-control device refers to
The lock instruction that order or user are inputted by holder.
Referring to FIG. 5, in an embodiment, the specific sub-process figure of step S12, step in cloud platform control method 300
S12 includes following sub-step:
Step S121 unclamps driving element corresponding to locked axis.
Step S122, the element that mechanically the locked axis is connected and the locked axis lock, and make
The axis that the element that the locked axis is connected follows it to be connected moves together.
Fig. 6 is please combined together, is the specific sub-process of step S12 in cloud platform control method 300 in another embodiment
Figure, step S12 includes following sub-step:
Step S123, position sensor detect turning for the locked axis opposite with the element that the locked axis is connected
Dynamic differential seat angle.
Step S124 controls the locked axis rotation, poor to reduce the rotational angle.Specifically, step S124
Further include: judge whether the rotational angle difference is greater than predetermined angle, if so, the control locked kinematic axis follows and turns
It is dynamic poor to reduce the rotational angle.
It, can be in translation shaft, pitch axis or roll axis using the holder 100 of above-mentioned cloud platform control method 300
One or more is locked, while locking, other unblocked kinematic axis to increase steady function constant with amiable.Example
Such as, when translation shaft is locked, the rotation of pitching shaft assembly 10 and roll shaft assembly 30 follows and increases the other functions such as steady
Remain unchanged.Holder 100 translation shaft fast move with clap during, translation shaft can be locked, avoid translation shaft with
The slower defect of the response action of bat.
Those skilled in the art it should be appreciated that more than embodiment be intended merely to illustrate the present invention,
And be not used as limitation of the invention, as long as within spirit of the invention, it is to the above embodiments
Appropriate change and variation are all fallen within the scope of protection of present invention.
Claims (11)
1. a kind of cloud platform control method, wherein holder includes at least one axis, which is characterized in that the method includes following steps
It is rapid:
Lock instruction is received, into locking mode；
Under the locking mode, the rotation of at least one axis of holder is locked,
It is described to include: into locking mode step
Rotation of the holder described in manual locking at least one axis；
Feed back the lock state；
Lock instruction is sent according to the feedback；
Holder receives lock instruction, enters locking mode according to the lock instruction.
2. cloud platform control method as described in claim 1, which is characterized in that under the locking mode, locking holder is extremely
The rotation step of an axis includes: less
Unclamp driving element corresponding to locked axis；
Mechanically the locked axis and the element of the locked axis connection are locked, follow the element described
Locked axis moves together.
3. cloud platform control method as claimed in claim 1 or 2, which is characterized in that the reception lock instruction step includes:
The lock instruction that reception carrys out the lock instruction of self-control device or user is inputted by holder.
4. cloud platform control method as claimed in claim 2, which is characterized in that holder described in the manual locking is at least one
The rotation step of axis includes:
Mechanically the locked axis and the element of the locked axis connection are locked, follow the locked axis
The element moves together.
5. cloud platform control method as described in claim 1, it is characterised in that: be locked in the translation shaft of the holder described flat
It moves on the element that axis is connected.
6. cloud platform control method as described in claim 1, which is characterized in that further include:
Receive exit instruction；
Locking mode is exited according to the exit instruction.
7. a kind of holder, including at least one drive shaft assembly, the drive shaft assembly include axis and driving element, feature exists
In the holder includes control system, and the control system controls the holder and enter locking mould for receiving lock instruction
Formula locks the rotation of at least one axis of holder under the locking mode；
It is described to include: into locking mode
Rotation of the holder described in manual locking at least one axis；
Feed back the lock state；
Lock instruction is sent according to the feedback.
8. holder as claimed in claim 7, which is characterized in that
The drive shaft assembly includes pitching shaft assembly, roll shaft assembly and translation shaft assembly；Or
The holder includes communication unit, and communication unit is used for the data communication established between holder and control device, the cloud
Platform receives the lock instruction and/or exit instruction for sending self-control device by communication unit；The control system of holder responds institute
The rotation of lock instruction locking at least one axis of holder is stated, or the response exit instruction releases turning at least one axis of holder
Dynamic locking；Or
The translation shaft of the holder is locked on the element connected with the translation shaft.
9. holder as claimed in claim 7, which is characterized in that the driving element is driving motor, and the holder includes extremely
A few mechanical locking device, which removably connects the holder and driving element, by the holder
At least one axis and locked with the element of the axis connection.
10. holder as claimed in claim 9, which is characterized in that the mechanical locking device is locked out pin.
11. a kind of moveable platform, it is characterised in that: the moveable platform includes any in support base and claim 7-10
Holder described in, the holder carry is in the support base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810528475.6A CN109032191A (en) | 2015-07-03 | 2015-07-03 | Cloud platform control method and holder |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510383100.1A CN104965527B (en) | 2015-07-03 | 2015-07-03 | Cloud platform control method and holder |
| CN201810528475.6A CN109032191A (en) | 2015-07-03 | 2015-07-03 | Cloud platform control method and holder |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510383100.1A Division CN104965527B (en) | 2015-07-03 | 2015-07-03 | Cloud platform control method and holder |
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| CN109032191A true CN109032191A (en) | 2018-12-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810528475.6A Pending CN109032191A (en) | 2015-07-03 | 2015-07-03 | Cloud platform control method and holder |
| CN201510383100.1A Active CN104965527B (en) | 2015-07-03 | 2015-07-03 | Cloud platform control method and holder |
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| CN201510383100.1A Active CN104965527B (en) | 2015-07-03 | 2015-07-03 | Cloud platform control method and holder |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113645399A (en) * | 2021-06-29 | 2021-11-12 | 浙江大华技术股份有限公司 | Method and device for determining running position of holder equipment |
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| CN104965527B (en) | 2018-07-10 |
| CN104965527A (en) | 2015-10-07 |
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