CN109076101B

CN109076101B - Holder control method, device and computer readable storage medium

Info

Publication number: CN109076101B
Application number: CN201780022801.XA
Authority: CN
Inventors: 苏铁; 潘立忠
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2017-12-29
Filing date: 2017-12-29
Publication date: 2021-07-23
Anticipated expiration: 2037-12-29
Also published as: CN109076101A; WO2019127341A1

Abstract

A holder control method, apparatus and computer-readable storage medium, the method comprising: acquiring operation parameters used by a designated user; setting the operating parameters for the holder; and controlling the holder according to the operating parameters. By applying the embodiment of the invention, the user does not need to manually set the operating parameters of the holder on the interface, thereby saving the energy of the user. Moreover, the operating parameters acquired by the holder are relatively accurate operating parameters, so that the level of using the holder by a user can be improved.

Description

Holder control method, device and computer readable storage medium

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to a holder control method, holder control equipment and a computer readable storage medium.

Background

Drones, such as unmanned aerial vehicles, have been developed for use in various fields, including consumer applications and industrial applications. For example, drones may be manipulated for entertainment, photography/video, surveillance, delivery, or other applications, which extend the aspects of personal life.

The unmanned aerial vehicle is provided with a cloud platform for fixing shooting equipment (such as a camera, a video camera and the like), and images at different visual angles can be shot by the shooting equipment under different postures by adjusting the posture of the cloud platform.

In order to enable the cradle head to work normally, an interface can be provided, and a user sets the operating parameters of the cradle head on the interface manually. In order to set accurate operation parameters, a user needs to spend a long time to learn, a great deal of effort is occupied for the user, and the level of using the holder by the user is influenced due to the inaccurate setting of the operation parameters.

Disclosure of Invention

The invention provides a holder control method, holder control equipment and a computer readable storage medium.

In a first aspect of the present invention, a method for controlling a pan/tilt apparatus is provided, which is applied to a pan/tilt apparatus, and includes:

acquiring operation parameters used by a designated user;

setting the operating parameters for the holder;

and controlling the holder according to the operating parameters.

In a second aspect of the present invention, a pan/tilt control method is provided, applied to a server, and includes:

acquiring operation parameters used by a designated user;

and sending the operation parameters used by the appointed user to a cloud deck so that the cloud deck sets the operation parameters, and controlling the cloud deck according to the operation parameters.

In a third aspect of the present invention, a pan/tilt control method is provided, which is applied to a pan/tilt, and includes:

sending the operation habit information corresponding to the holder to a server;

receiving operation parameters corresponding to the operation habit information returned by the server;

setting the operating parameters for the holder;

and controlling the holder according to the operating parameters.

The fourth aspect of the present invention provides a pan/tilt control method, applied to a server, including:

acquiring operation habit information corresponding to a holder;

acquiring operation parameters corresponding to the operation habit information;

and sending the operation parameters corresponding to the operation habit information to a cloud deck so as to enable the cloud deck to set the operation parameters, and controlling the cloud deck according to the operation parameters.

In a fifth aspect of the present invention, there is provided a pan/tilt head comprising: a memory and a processor; the memory for storing program code; the processor, configured to invoke the program code, when the program code is executed, the processor is configured to: acquiring operation parameters used by a designated user; setting the operating parameters for the holder; and controlling the holder according to the operating parameters.

In a sixth aspect of the present invention, there is provided a server comprising: a memory and a processor;

the memory for storing program code;

the processor, configured to invoke the program code, when the program code is executed, the processor is configured to: acquiring operation parameters used by a designated user;

In a seventh aspect of the present invention, a holder, a memory and a processor are provided;

the memory for storing program code;

the processor, configured to invoke the program code, when the program code is executed, the processor is configured to: sending the operation habit information corresponding to the holder to a server; receiving operation parameters corresponding to the operation habit information returned by the server; setting the operating parameters for the holder; and controlling the holder according to the operating parameters.

In an eighth aspect of the invention, a server, a memory and a processor are provided;

the memory for storing program code;

the processor, configured to invoke the program code, when the program code is executed, the processor is configured to: acquiring operation habit information corresponding to a holder;

In a ninth aspect of the present invention, a computer-readable storage medium is provided, on which computer instructions are stored, and when executed, the computer instructions implement the above-mentioned pan/tilt control method.

Based on the technical scheme, in the embodiment of the invention, the cradle head can automatically acquire the operation parameters, set the operation parameters for the cradle head and control the cradle head according to the operation parameters. The mode does not need the user to manually set the operating parameters of the holder on the interface, so that the energy of the user can be saved. Moreover, the operating parameters acquired by the holder are relatively accurate operating parameters, so that the level of using the holder by a user can be improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments of the present invention or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings may be obtained according to the drawings of the embodiments of the present invention.

FIG. 1 is a schematic diagram of an embodiment of a pan-tilt control method;

FIG. 2 is a schematic diagram of another embodiment of a pan-tilt control method;

3A-3C are diagrams of an application scenario of an embodiment;

FIG. 3D is a schematic diagram of an embodiment of another pan-tilt control method;

FIG. 4A is a schematic diagram of an application scenario of another embodiment;

FIG. 4B is a schematic diagram of an embodiment of another pan-tilt control method;

FIG. 5 is a schematic diagram of another embodiment of a pan/tilt head control method;

FIG. 6 is a schematic diagram of another embodiment of a pan/tilt head control method;

FIG. 7A is a schematic view of another embodiment of a pan/tilt head control method;

FIG. 7B is a schematic diagram of an embodiment of another pan-tilt control method;

FIG. 8A is a block diagram of one embodiment of a pan and tilt head;

FIG. 8B is a block diagram of one embodiment of a server.

Detailed Description

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

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein and in the claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should be understood that the term "and/or" as used herein is meant to encompass any and all possible combinations of one or more of the associated listed items.

Although the terms first, second, third, etc. may be used herein to describe various information, these information should not be limited to these terms. These terms are used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present invention. Depending on the context, moreover, the word "if" may be used is interpreted as "at … …," or "at … …," or "in response to a determination.

Example 1:

the embodiment of the invention provides a holder control method, which can be applied to a holder, and is shown in fig. 1, which is a flow schematic diagram of the holder control method, and the method can comprise the following steps:

step 101, obtaining operation parameters used by a designated user.

The obtaining of the operation parameters used by the designated user may include: the first mode is that the operating parameters used by the appointed user and sent by the server are received, namely the server provides the operating parameters used by the appointed user to the cloud deck. Or, in the second mode, the operation parameter shared by the other cradle head to the designated user of the cradle head is received, that is, the operation parameter shared by the other cradle head to the cradle head by the designated user.

In the first mode, before the cradle head receives the operation parameters used by the specified user and sent by the server, a parameter request message can be sent to the server, and the parameter request message carries the user information of the specified user. And the server acquires the operation parameters used by the appointed user according to the parameter request message and returns the operation parameters used by the appointed user to the holder. In this way, the cradle head can receive the operation parameters used by the designated user.

The server can record the corresponding relationship between the user information and the operation parameters, and based on the corresponding relationship, after receiving the parameter request message, the server can inquire the corresponding relationship through the user information of the specified user carried in the parameter request message, so that the operation parameters used by the specified user can be obtained.

In an example, before receiving the operation parameter used by the specified user and sent by the server, the cradle head may further obtain the operation parameter set on the cradle head, and send the operation parameter and the user information of the cradle head to the server, so that the server records the corresponding relationship between the user information and the operation parameter.

In the above embodiment, the cradle head communicates with the server through the application client on the control device.

And 102, setting operation parameters used by a designated user for the holder.

And 103, controlling the holder according to the operation parameters.

In an example, after the cradle head is controlled according to the operating parameters, the operating parameters (i.e., the operating parameters used by the designated user) set on the cradle head can be shared with another cradle head.

In the above embodiment, the cradle head communicates with another cradle head through an application client on the control device.

In the above embodiments, the operating parameters may include, but are not limited to, one or any combination of the following: motor parameters; following the parameter; remote control parameters; mounting mode; the following mode. Further, the motor parameters may include, but are not limited to, one or any combination of the following: strength information, filtering information, and advance control information; the following parameters may include, but are not limited to, one or any combination of the following: speed information, dead zone information, acceleration information; the remote control parameters may include, but are not limited to, one or any combination of the following: speed information, dead zone information, acceleration information.

Example 2:

an embodiment of the present invention provides a pan/tilt control method, which may be applied to a server, and is shown in fig. 2, where the method is a schematic flow diagram of the pan/tilt control method, and the method may include the following steps:

step 201, obtaining the operation parameters used by the appointed user.

The obtaining of the operation parameters used by the designated user may include: and receiving a parameter request message sent by the holder, wherein the parameter request message carries user information of a specified user. Analyzing the user information of the appointed user from the parameter request message, and acquiring the operation parameters corresponding to the user information of the appointed user.

In order to record the corresponding relationship between the user information of the designated user and the operation parameters used by the designated user, the server may further obtain the user information of the designated user and the operation parameters used by the designated user, and record the corresponding relationship between the user information of the designated user and the operation parameters used by the designated user.

Step 202, sending the operation parameters used by the appointed user to the pan-tilt so that the pan-tilt can set the operation parameters used by the appointed user, and controlling the pan-tilt according to the operation parameters.

In the above embodiment, the server communicates with the pan/tilt head through the application client on the control device.

Example 3:

referring to fig. 3A, a schematic diagram of the application scenario may include a cradle head, a control device, and a server, where the control device is provided with an application client (i.e., APP) capable of communicating with the server and with the cradle head. The application client can communicate with the server, and the connection mode between the application client and the server may be wired connection or wireless connection, which is not limited, and fig. 3A illustrates wireless connection (such as WiFi, OcuSync, Lightbridge, Auxiliary, etc.). The application client can communicate with the pan/tilt, the connection mode between the application client and the pan/tilt may be wired connection or wireless connection, and the connection mode is not limited, and fig. 3A illustrates wireless connection (such as WiFi, OcuSync, Lightbridge, Auxiliary, etc.).

In an example, the cradle head may be a handheld cradle head, and may also be other types of cradle heads, which is not limited to this. In addition, the cloud platform can be independent cloud platform, is the cloud platform that is used for carrying on the shooting equipment, and not dispose on unmanned aerial vehicle, and the cloud platform also can be the cloud platform of disposing on unmanned aerial vehicle, does not do the restriction to this.

Referring to fig. 3B, the schematic diagram of the cloud deck deployed on the drone is shown. 30 represents the aircraft nose of unmanned aerial vehicle, 31 represents the screw of unmanned aerial vehicle, 32 represents the fuselage of unmanned aerial vehicle, 33 represents the foot rest of unmanned aerial vehicle, 34 represents the cloud platform on the unmanned aerial vehicle, 35 represents the shooting equipment that cloud platform 34 carried, and shooting equipment 35 is connected with the fuselage 32 of unmanned aerial vehicle through

cloud platform

34, and 36 represents the shooting lens of shooting equipment, and 37 is the target object.

In the above embodiment, the pan/tilt head may be a three-axis (e.g., Roll axis, Pitch axis, Yaw axis, etc.) pan/tilt head, that is, the pan/tilt head 34 rotates around the Roll axis, Pitch axis, and Yaw axis of the pan/tilt head. As shown in fig. 3B, 1 denotes a Roll axis of the pan/tilt head, 2 denotes a Pitch axis of the pan/tilt head, and 3 denotes a Yaw axis of the pan/tilt head. When the holder rotates by taking a Roll shaft as an axis, the Roll attitude of the holder changes; when the tripod head rotates by taking the Pitch shaft as an axis, the pitching attitude of the tripod head changes; when the holder rotates by taking the Yaw axis as the axis, the Yaw attitude of the holder changes. Further, when the pan/tilt head rotates about one or more of the Roll axis, the Pitch axis, and the Yaw axis, the photographing apparatus 35 rotates following the rotation of the pan/tilt head 34, so that the photographing apparatus 35 can photograph the target object 37 from different photographing directions and photographing angles. In one example, the pan/tilt head may be controlled to rotate around one or more of a Roll axis, a Pitch axis, and a Yaw axis.

Further, referring to fig. 3C, which is a structural diagram of a three-axis pan/tilt head (labeled as pan/tilt head 34), the pan/tilt head 34 mainly includes: a pitch axis motor 341, a roll axis motor 342, a yaw axis motor 343, a pan-tilt base 344, a yaw axis arm 345, a camera fixing mechanism 346, a pitch axis arm 347, a roll axis arm 348, and a camera 349 (including an inertial measurement unit IMU inside, of course, the IMU may also be disposed on the fixing mechanism 346, and the position of the IMU is not limited). Wherein, roll axle arm 348 is used for supporting pitch axle arm 347 and pitch axle motor 341, yaw axle arm 345 is used for supporting yaw axle motor 343 and roll axle motor 342, pitch axle arm 347 is used for supporting shooting equipment 349, can install angle sensor in pitch axle motor 341, roll axle motor 342, yaw axle motor 343 (these three motors can be collectively called driving motor), set up the circuit board, angle sensor can with circuit board electric connection, when driving motor rotates, the angle sensor through driving motor installation can measure driving motor pivoted angle, angle sensor can be one or more in potentiometre, hall sensor, the encoder.

In one example, the pan/tilt mainly uses an inertia measurement unit as a feedback element and a driving motor of each axis (yaw axis, pitch axis, roll axis) of the pan/tilt as an output element to form a closed-loop control system to control the attitude of the pan/tilt, wherein in the process of controlling the attitude of the pan/tilt, a controlled variable is the attitude of the pan/tilt, a target attitude is given, and the current attitude of the pan/tilt is corrected to the target attitude through feedback control, so that the pan/tilt approaches to the target attitude from the current attitude, and finally reaches the target attitude.

In one example, the control devices may include, but are not limited to: a remote control, a smartphone/cell phone, a tablet, a Personal Digital Assistant (PDA), a laptop computer, a desktop computer, a media content player, a video game station/system, a virtual reality system, an augmented reality system, a wearable device (e.g., a watch, glasses, gloves, headwear (e.g., a hat, a helmet, a virtual reality headset, an augmented reality headset, a Head Mounted Device (HMD), a headband), a pendant, an armband, a leg loop, a shoe, a vest), a gesture recognition device, a microphone, any electronic device capable of providing or rendering image data.

In the above application scenario, as shown in fig. 3D, a flowchart of the pan/tilt control method may include:

step 301, the cradle head sends a parameter request message to the server, and the parameter request message carries user information of a specified user. In addition, the parameter request message can also carry the user information of the holder.

In one example, the cradle head may send the parameter request message to an application client of the control device, and the application client of the control device sends the parameter request message to the server.

Step 302, after receiving the parameter request message, the server parses the user information of the specified user from the parameter request message, and obtains the operation parameter corresponding to the user information of the specified user.

The server may maintain a mapping table, where the mapping table is used to record a corresponding relationship between user information and an operation parameter, as shown in table 1, and is an example of the mapping table, and of course, the mapping table may further include more corresponding relationships, which is not limited to table 1, and is described as an example.

TABLE 1

User information	Operating parameters
		Zhang San	Operating parameter A
Li Si	Operating parameter B

The server may obtain user information (such as a user name) of the specified user, an operation parameter used by the specified user, and record a corresponding relationship between the user information and the operation parameter in the mapping table. For example, the server acquires the corresponding relationship between the user "zhang san" and the operation parameter a, and records the corresponding relationship between the user "zhang san" and the operation parameter a in the mapping table. Based on the mapping table, the server can query the mapping table through the user information of the specified user carried in the parameter request message, so as to obtain the operation parameters used by the specified user. For example, if the user information of the specified user carried in the parameter request message is user "zhang san", the operation parameter a used by user "zhang san" is obtained by looking up table 1.

For example, the user "zhang san" is a professional user (such as a professional photographer, etc.), the operation parameters set by the user "zhang san" are relatively accurate, in order to share the operation parameters used by the user "zhang san" to a general user (the operation parameters set by the general user may be inaccurate, or the general user does not set the operation parameters by himself but uses the operation parameters of the professional user), the server may obtain the operation parameters a used by the user "zhang san", and the obtaining manner is not limited, for example, the user "zhang san" actively notifies the server, etc. Then, the server can record the corresponding relationship between the user "zhang san" and the operation parameter a in the mapping table.

Further, when the ordinary user uses the cloud platform, the ordinary user does not need to set the operation parameters for the cloud platform, but wants to use the operation parameters of "zhang san" of the user. Therefore, the pan-tilt sends a parameter request message to the server, and the user information of the specified user carried in the parameter request message is user "zhang san". After receiving the parameter request message, the server may obtain an operation parameter a used by the user "zhang san" by querying table 1 by the user "zhang san", and may send the operation parameter a to the pan/tilt head.

For another example, the user "li four" is a common user, and the common user can set the operation parameter by himself, and the operation parameter is an operation parameter that conforms to the habit of the common user, and can also be set more accurately. In order to share the operating parameter used by the user "lie four" to the user "lie four" itself, the server may acquire the operating parameter B used by the user "lie four", for example, the operating parameter B used by the user "lie four" on the pan/tilt head a, and the acquisition mode is not limited, for example, the user "lie four" actively notifies the server, and the like. Then, the server can record the corresponding relation between the user 'lie four' and the operation parameter B in the mapping table.

Further, when the user "lie four" uses a new pan/tilt head B, the user "lie four" does not need to set the operating parameters for pan/tilt head B again, but wants to use the operating parameters used by the user "lie four" on pan/tilt head a. Therefore, the pan/tilt head B sends a parameter request message to the server, and the user information of the specified user carried in the parameter request message is the user "lie four". After receiving the parameter request message, the server may obtain an operation parameter B used by the user "liquad" through the user "liquad" look-up table 1, and may send the operation parameter B to the pan/tilt head B, that is, the operation parameter B used by the user "liquad" on the pan/tilt head a.

In addition, when other common users request the operating parameters used by the user "lie four", the parameter request message carrying the user "lie four" can also be sent to the server through the pan-tilt, and the user "lie four" can be a professional user for other common users. The server can also send the operation parameter B used by the user 'Liquan' on the pan-tilt A to other common users, and the process is not limited.

In an example, when the cradle head sends the parameter request message to the server, if the cradle head currently has the operation parameters (which may be the operation parameters set by the user, or default operation parameters, or the operation parameters used by the cradle head last time, etc., and the operation parameters are not limited to this), the operation parameters (such as the operation parameters C) set on the cradle head may also be obtained, and the parameter request message may also carry the operation parameters C of the cradle head.

Further, after receiving the parameter request message, the server may further analyze the user information of the pan/tilt head (i.e., the user information of the pan/tilt head, such as user "wang five") and the operation parameter C of the pan/tilt head from the parameter request message, so that the server may further record the corresponding relationship between user "wang five" and the operation parameter C in the mapping table, which is shown in table 2 and is an example of the updated mapping table.

TABLE 2

User information	Operating parameters
		Zhang San	Operating parameter A
Li Si	Operating parameter B
		Wang Wu	Operating parameter C

In an example, after receiving the parameter request message, the server may further analyze the user information of the pan/tilt head (i.e., the user information using the pan/tilt head, such as the user "wang five" + password 123456) from the parameter request message, and if it is determined that the parameter request message is sent by a legitimate user according to the user information, execute "obtaining an operation parameter corresponding to the user information of the designated user", and execute the subsequent steps; and if the user information confirms that the user information is not the parameter request message sent by the legal user, refusing to provide the operating parameters for the holder.

And step 303, the server sends the operation parameters used by the appointed user to the holder.

In one example, the server may send the operating parameters used by the specified user to the application client of the control device, which sends the operating parameters to the pan/tilt head.

And step 304, the cradle head receives the operation parameters used by the appointed user and sent by the server.

And 305, setting the operation parameters used by the appointed user for the cradle head by the cradle head.

After the cradle head receives the operation parameters used by the appointed user, if the cradle head is currently provided with the operation parameters, the operation parameters used by the appointed user can be used for replacing the currently set operation parameters, and therefore the setting of the operation parameters is completed. If the operation parameters are not set currently, the operation parameters used by the appointed user can be directly set to the cloud platform, so that the setting of the operation parameters is completed.

And step 306, controlling the cradle head according to the operation parameters used by the appointed user.

After the operating parameters used by the appointed user are set for the cradle head, the cradle head can be controlled by using the operating parameters, and the control process is not limited. For example, the operating parameters may include, but are not limited to, one or any combination of the following: motor parameters; following the parameter; remote control parameters; mounting mode; the following mode. Therefore, the motor parameter can be used for controlling the motor of the holder, the following parameter can be used for controlling the following condition of the holder, the mounting mode can be used for controlling the mounting condition of the holder, and the like.

Of course, the operating parameters are not limited to "motor parameters; following the parameter; remote control parameters; mounting mode; following mode ", there may be other operating parameters as well, such as operating parameters may also include, but are not limited to, one or any combination of the following: push switches, suitcase modes, base platforms, and the like, without limitation.

The motor parameters may include, but are not limited to: strength information of a Roll axis, strength information of the Roll axis, filtering information of the Roll axis and advance control information of the Roll axis; the system comprises force information of a Pitch axis, strength information of the Pitch axis, filtering information of the Pitch axis and advance control information of the Pitch axis; the dynamic information of the Yaw axis, the strength information of the Yaw axis, the filtering information of the Yaw axis and the advance control information of the Yaw axis.

The following parameters may include, but are not limited to: speed information of a Roll axis, dead zone information of the Roll axis and acceleration information of the Roll axis; speed information of a Pitch axis, dead zone information of the Pitch axis, and acceleration information of the Pitch axis; velocity information of the Yaw axis, dead zone information of the Yaw axis, and acceleration information of the Yaw axis.

Remote control parameters may include, but are not limited to: speed information of a Roll axis, dead zone information of the Roll axis and acceleration information of the Roll axis; speed information of a Pitch axis, dead zone information of the Pitch axis, and acceleration information of the Pitch axis; velocity information of the Yaw axis, dead zone information of the Yaw axis, and acceleration information of the Yaw axis.

In the above embodiment, the operation parameter (e.g., operation parameter a, operation parameter B, operation parameter C, etc.) may be an operation parameter table, which may include a large number of parameters, and is not limited thereto.

Based on the technical scheme, in the embodiment of the invention, the cloud deck can automatically acquire the operation parameters from the server, set the operation parameters for the cloud deck, and control the cloud deck according to the operation parameters. The mode does not need the user to manually set the operating parameters of the holder on the interface, so that the energy of the user can be saved. Moreover, the operating parameters acquired by the holder are relatively accurate operating parameters, so that the level of using the holder by a user can be improved. Moreover, the cradle head can automatically learn the operating parameters of the photographer, and the operating parameters of the cradle head can be set according to the learned operating parameters so as to adapt to the shooting habit of the photographer. Moreover, the cradle head can automatically learn the commonly used operating parameters, and shooting is convenient. Can let the cameraman share own operating parameter fast, recommend cameraman's operating parameter automatically, help other cameramen to use the cloud platform fast.

Example 4:

referring to fig. 4A, the schematic diagram of the application scenario includes a pan/tilt head 41, a pan/tilt head 43, a pan/tilt head 45, a control device 42, a control device 44, and a control device 46, where the control device 42 is provided with an application client 420 capable of communicating with the pan/tilt head 41, the control device 44 is provided with an application client 440 capable of communicating with the pan/tilt head 43, and the control device 46 is provided with an application client 460 capable of communicating with the pan/tilt head 45. The connection mode between the application client and the pan/tilt head may be a wired connection or a wireless connection, and the connection mode is not limited thereto, and fig. 4A takes a wireless connection (such as WiFi, OcuSync, Lightbridge, Auxiliary, etc.) as an example.

Moreover, the application client 420 can communicate with the application client 440, the application client 440 can communicate with the application client 460, and the application client 420 can communicate with the application client 460. The connection mode between the application client and the application client may be a wired connection or a wireless connection, which is not limited, and in fig. 4A, a wireless connection (such as bluetooth, WiFi, OcuSync, Lightbridge, Auxiliary, etc.) is taken as an example.

Of course, in practical applications, the holders may communicate directly instead of through the application client. For example, the connection mode between the pan/tilt head may be wired connection or wireless connection.

For the related content of the pan/tilt and the related content of the control device, see embodiment 3.

In the above application scenario, as shown in fig. 4B, a flowchart of the pan/tilt control method may include:

in step 401, the cradle head 41 obtains the operation parameters used by the designated user.

In step 402, the cradle head 41 sends the operation parameters used by the designated user to the cradle head 43.

The cradle head 41 sends the operation parameters used by the specified user to the application client 420 of the control device 42, the application client 420 sends the operation parameters used by the specified user to the application client 440 of the control device 44, and the application client 440 sends the operation parameters used by the specified user to the cradle head 43.

The user using the pan/tilt head 41 can be a designated user (e.g., a professional user), and the designated user can set the operation parameters in the pan/tilt head 41, where the set operation parameters are relatively accurate. Moreover, the designated user may share the operation parameter with a general user (the operation parameter set by the general user may be inaccurate, or the general user does not set the operation parameter by himself, but uses the operation parameter of a professional user).

Therefore, the pan/tilt head 41 can determine the operation parameters currently used by the pan/tilt head 41 as the operation parameters used by the designated user, and send the operation parameters used by the designated user to the pan/tilt head 43.

In step 403, the pan/tilt head 43 receives the operation parameters shared by the pan/tilt head 41 and used by the designated user.

In step 404, the cradle head 43 sets the operation parameters used by the designated user for the cradle head 43.

In step 405, the cradle head 43 controls the cradle head 43 according to the operation parameters used by the designated user.

For steps 404 to 405, refer to steps 305 to 306, which are not described herein again.

In step 406, the cradle head 43 sends the operation parameters used by the designated user to the cradle head 45.

The console 43 sends the operation parameters used by the designated user to the application client 440 of the control device 44, the application client 440 sends the operation parameters used by the designated user to the application client 460 of the control device 46, and the application client 460 sends the operation parameters used by the designated user to the console 45.

After the operating parameters used by the designated user are set, the cradle head 43 can share the operating parameters to other common users, that is, the cradle head 43 can send the operating parameters to the cradle head 45.

In step 407, the pan/tilt head 45 receives the operation parameters shared by the pan/tilt head 43 and used by the designated user.

And step 408, the cradle head 45 sets the operation parameters used by the appointed user for the cradle head 45.

And step 409, controlling the holder 45 by the holder 45 according to the operation parameters used by the appointed user.

Based on the technical scheme, in the embodiment of the invention, the cloud deck can automatically acquire the operating parameters from another cloud deck, set the operating parameters for the cloud deck, and control the cloud deck according to the operating parameters. The mode does not need the user to manually set the operating parameters of the holder on the interface, so that the energy of the user can be saved. Moreover, the operating parameters acquired by the holder are relatively accurate operating parameters, so that the level of using the holder by a user can be improved. Can let the automatic operational parameter who learns photographer of cloud platform, can set up the operational parameter of cloud platform according to the operational parameter who learns to adapt to photographer's shooting custom. Moreover, the cradle head can automatically learn the commonly used operating parameters, and shooting is convenient. Can let the cameraman share own operating parameter fast, recommend cameraman's operating parameter automatically, help other cameramen to use the cloud platform fast.

Example 5:

the embodiment of the invention provides a holder control method, which can be applied to a holder, and is shown in fig. 5, which is a flow schematic diagram of the holder control method, and the method can comprise the following steps:

and step 501, sending the operation habit information corresponding to the holder to a server.

Wherein, the operation habit information that corresponds with the cloud platform is sent to the server, can include: collecting operation habit information corresponding to the holder; and sending the operation habit information corresponding to the holder to a server.

Wherein, the operation habit information may include, but is not limited to, one or any combination of the following: the accelerometer value, gyroscope value, attitude shake amount, and rotational speed are not limited thereto.

And 502, receiving the operation parameters corresponding to the operation habit information returned by the server.

In an example, before performing step 501, the cradle head may send the operation habit information corresponding to the cradle head and the operation parameter set by the cradle head to the server, so that the server trains the corresponding relationship between the operation habit information and the operation parameter according to the operation habit information and the operation parameter. For example, the pan-tilt sends the operation habit information and the operation parameters to the server for 100 times, and the server trains the corresponding relationship between the operation habit information and the operation parameters by using the operation habit information and the operation parameters for 100 times.

Based on this, in step 501 and step 502, the cradle head may send the operation habit information to the server, and the server may query the correspondence relationship (i.e., the correspondence relationship between the operation habit information and the operation parameters) trained before through the operation habit information, so as to obtain the operation parameters corresponding to the operation habit information, and then, the server may return the operation parameters corresponding to the operation habit information to the cradle head.

In another example, before performing step 501, the cradle head may send the operation habit information and the user information corresponding to the cradle head and the operation parameters set by the cradle head to the server, so that the server trains the corresponding relationship between the user information, the operation habit information, and the operation parameters according to the operation habit information, the user information, and the operation parameters. For example, the pan-tilt sends 100 times of user information, operation habit information, and operation parameters to the server, and the server trains the corresponding relationship between the user information, the operation habit information, and the operation parameters by using the 100 times of user information, operation habit information, and operation parameters.

Based on this, in step 501 and step 502, the cradle head may send the user information and the operation habit information corresponding to the cradle head to the server, so that the server obtains the operation parameters corresponding to the user information and the operation habit information. For example, the server may query a correspondence relationship (i.e., a correspondence relationship between the user information, the operation habit information, and the operation parameter) trained before through the user information and the operation habit information, so as to obtain the operation parameter corresponding to the user information and the operation habit information, and then, the server may return the operation parameter corresponding to the user information and the operation habit information to the cradle head.

Step 503, setting an operation parameter corresponding to the operation habit information for the cradle head.

Wherein, set up the operating parameter who corresponds with this operation habit information for this cloud platform, include: and if the user allows to modify the operation parameters of the cradle head, setting the operation parameters corresponding to the operation habit information for the cradle head. And if the user does not allow the operation parameters of the cradle head to be modified, refusing to change the operation parameters of the cradle head.

And 504, controlling the cradle head according to the operation parameters corresponding to the operation habit information.

In one example, the cradle head may also share the operating parameters (i.e., the operating parameters corresponding to the operating habit information) set on the cradle head to another cradle head, thereby implementing the sharing of the operating parameters.

The cloud deck communicates with another cloud deck through an application client on the control device.

Example 6:

an embodiment of the present invention provides a pan/tilt control method, which may be applied to a server, and is shown in fig. 6, where the method is a schematic flow diagram of the pan/tilt control method, and the method may include the following steps:

step 601, obtaining operation habit information corresponding to the pan/tilt, that is, operation habit information sent by the pan/tilt.

Step 602, obtaining an operation parameter corresponding to the operation habit information.

In an example, before performing step 601, the cradle head may send the operation habit information corresponding to the cradle head and the operation parameters set by the cradle head to the server. The server can acquire the operation habit information corresponding to the holder and the operation parameters set by the holder, train the corresponding relationship between the operation habit information and the operation parameters according to the operation habit information and the operation parameters, and record the corresponding relationship between the operation habit information and the operation parameters in the mapping table. For example, the pan-tilt sends the operation habit information and the operation parameters to the server for 100 times, and the server can train the corresponding relationship between the operation habit information and the operation parameters by using the operation habit information and the operation parameters for 100 times, and record the corresponding relationship in the mapping table.

Based on this, in step 601, the cradle head sends the operation habit information to the server, and the server obtains the operation habit information. In step 602, obtaining the operation parameters corresponding to the operation habit information may include: inquiring a mapping table through the operation habit information to obtain an operation parameter corresponding to the operation habit information; the mapping table is used for recording the corresponding relation between the operation habit information and the operation parameters.

In another example, before step 601, the cradle head may send the operation habit information and the user information corresponding to the cradle head and the operation parameter set by the cradle head to the server, and the server obtains the operation habit information and the user information corresponding to the cradle head and the operation parameter set by the cradle head, trains the corresponding relationship between the user information, the operation habit information and the operation parameter according to the operation habit information, the user information and the operation parameter, and records the corresponding relationship between the user information, the operation habit information and the operation parameter in the mapping table. For example, the pan-tilt sends 100 times of user information, operation habit information, and operation parameters to the server, and the server trains the corresponding relationship among the user information, the operation habit information, and the operation parameters by using the 100 times of user information, operation habit information, and operation parameters, and records the corresponding relationship in the mapping table.

Based on this, in step 601, the cradle head sends the user information and the operation habit information corresponding to the cradle head to the server, and the server obtains the user information and the operation habit information corresponding to the cradle head and obtains the operation parameters corresponding to the user information and the operation habit information. The obtaining of the operation parameters corresponding to the user information and the operation habit information may include: querying a mapping table through the user information and the operation habit information to obtain operation parameters corresponding to the user information and the operation habit information; the mapping table is used for recording the corresponding relation among the user information, the operation habit information and the operation parameters.

Step 603, sending the operation parameters corresponding to the operation habit information to the pan-tilt so that the pan-tilt can set the operation parameters corresponding to the operation habit information, and controlling the pan-tilt according to the operation parameters.

Example 7: the application scenario of embodiment 7 is similar to that of embodiment 3, and the description thereof is not repeated here.

In practical application, the photographer has own operating habit when shooing, and if there is the photographer who often shoots the picture of fiercely fighting, some photographers often shoot the picture that the juddenness is releived, and some photographers like to be used for the car with the cloud platform and take, and some photographers like to be used for handheld shooting with the cloud platform, and in the face of different operating habits, can set up different operating parameters to the cloud platform to reach the best shooting effect. Based on this, can save the corresponding relation of cameraman's operation habit and operating parameter, like this, can let the cloud platform go to adapt to cameraman's operation habit, and the cloud platform is automatic to be transferred and is got the operating parameter who corresponds with cameraman's operation habit promptly.

To achieve the above functions, a training phase and a use phase may be included. In the training stage, the server records the corresponding relation among the user information, the operation habit information and the operation parameters. In the using stage, the server recommends the operation parameters to the user by using the corresponding relation among the user information, the operation habit information and the operation parameters.

In the training phase, when the user a (subsequently, taking the user a as an example, such as a user name of a photographer) uses the cloud platform each time, the cloud platform may collect the operation habit information corresponding to the cloud platform and the operation parameters set by the cloud platform, and send the user information (i.e., the user a), the operation habit information, and the operation parameters to the server. The server can train a corresponding relationship between the operation habit information and the operation parameters according to the operation habit information and the operation parameters, wherein the corresponding relationship is a corresponding relationship trained by the user a.

In the training process, the server may collect N times (for example, 100 times) of operation habit information and operation parameters for the user a, and if the 100 times of operation habit information are all the operation habit a and the total 98 times of operation parameters are the operation parameters a, the corresponding relationship between the user a, the operation habit a, and the operation parameters a may be trained. If there are 60 operation habits a in the 100 operation habit information, the 60 operation habits a correspond to 59 operation parameters a, there are 40 operation habits B, and the 40 operation habits B correspond to 40 operation parameters B, the corresponding relationship among the user a, the operation habits a, and the operation parameters a can be trained, and the corresponding relationship among the user a, the operation habits B, and the operation parameters B can be trained, as shown in table 3.

TABLE 3

User information	Information on operation habits	Operating parameters
			User A	Operating habit A	Operating parameter A
User A	Operating habit B	Operating parameter B

Of course, the above-described process is only one example of the training process, and is not limited thereto. For example, 60 times of operation habits a correspond to 30 times of operation parameters a and 30 times of operation parameters C, and the operation parameters a and the operation parameters C may be processed (e.g., averaged), and the processing manner is not limited to obtain the processed operation parameters D, so as to train the corresponding relationship between the user a, the operation habits a, and the operation parameters D.

In the above application scenario, in the use stage, the pan/tilt control method is shown in fig. 7A, and includes:

and 701, the cradle head sends the operation habit information and the user information corresponding to the cradle head to a server.

The cradle head can acquire the operation habit information (namely the running condition) of the cradle head in the shooting process, such as an acceleration value, a gyroscope value, an attitude shake amount, a rotating speed and the like, and the shooting habit of a user can be analyzed through the operation habit information without limitation. Then, the cradle head may transmit the operation habit information and the user information (i.e., the user using the cradle head, such as user a) to the server.

And step 702, the server receives the user information and the operation habit information sent by the holder.

Step 703, the server queries the mapping table in the training phase according to the user information and the operation habit information to obtain the operation parameters corresponding to the user information and the operation habit information.

For example, when the server queries table 3 through user a and operation habit a, operation parameter a is obtained.

Step 704, the server sends the operation parameters corresponding to the user information and the operation habit information to the cradle head, and the cradle head receives the operation parameters corresponding to the user information and the operation habit information.

In one example, the server may send the operating parameter to an application client of the control device, which sends the operating parameter to the pan/tilt head.

Step 705, the cradle head sets operation parameters corresponding to the user information and the operation habit information for the cradle head. If the operating parameters of the cradle head are set currently and the user allows to modify the operating parameters of the cradle head, the cradle head can set the operating parameters for the cradle head; and if the user does not allow the operation parameters of the cradle head to be modified, the cradle head can refuse to change the operation parameters of the cradle head. If this cloud platform does not set up operating parameter at present, then the cloud platform can directly set up this operating parameter for this cloud platform, and no longer give details to this process.

And step 706, controlling the cradle head according to the operation parameters.

In the above embodiment, the operation parameter (e.g., operation parameter a, operation parameter B, etc.) may be an operation parameter table, which may include a large number of parameters, but is not limited thereto.

Based on the technical scheme, in the embodiment of the invention, the cradle head can automatically acquire the operation parameters corresponding to the operation habit information from the server, set the operation parameters for the cradle head, and control the cradle head according to the operation parameters. The mode does not need the user to manually set the operating parameters of the holder on the interface, so that the energy of the user can be saved. Moreover, the operating parameters acquired by the pan-tilt are the operating parameters corresponding to the operating habit information, so that the level of using the pan-tilt by a user can be improved, and the shooting habit of a photographer can be adapted.

In the above embodiment, when the operation parameter corresponding to the operation habit information is recommended to the user, the following effect can be achieved, so that the operation parameter of the pan/tilt head is adapted to the operation habit information of the user, and the user experience is improved.

For example, mounting mode differentiation: when the attitude jitter amount (operation habit information) of the cradle head is mostly high-frequency jitter (such as over 60 Hz), the user can know that the cradle head is mounted on the flying platform for aerial photography, and the operation parameters correspond to the operation habit, so that the aerial photography effect is better; when the attitude jitter amount of the pan-tilt is mostly low-frequency jitter (such as about 10 Hz), the user can know that the pan-tilt is mounted on the vehicle for shooting, and the operation parameters correspond to the operation habit, so that the vehicle shooting effect is better; when the attitude jitter amount of the cradle head is mostly very low frequency jitter (such as about 1 Hz), the user can be known to use the cradle head for handheld shooting, and the operation parameters correspond to the operation habit, so that the handheld shooting effect is better.

User rotation speed distinction: when the rotational speed (operation habit information) of cloud platform is great rotational speed usually, then learn that the user often big rotational speed follows, the follow-up speed of setting is great, when the rotational speed of cloud platform is less rotational speed usually, then learn that the user often little rotational speed follows, the follow-up speed of setting is less.

And (3) distinguishing dead zones: when the working mode recorded by the cradle head is that a user works in a handheld mode, if the working mode is that the cradle head is in a straight line following shooting mode, the attitude peak value (operation habit information) of the cradle head is often larger than the dead zone value, the poor motion pace when the user shoots can be known, the dead zone value is required to be improved, the cradle head following sensitivity is reduced, the following of the cradle head to the user pace is reduced, if the working mode is that the cradle head is in a straight line following shooting mode, the attitude peak value of the cradle head is often smaller than the dead zone value, the fine motion pace when the user shoots can be known, the dead zone value is required to be reduced, the cradle head following sensitivity is improved, and the cradle head can more accurately follow the motion on the hand of the user.

Of course, the above-described process is only a few examples, and the process is not limited.

In an example, after the server obtains the operation habit information of the pan/tilt, the server may also directly recommend the operation parameters to the pan/tilt, that is, the operation parameters are recommended by using the above strategy, which is not described again.

Example 8: the application scenario of embodiment 8 is similar to that of embodiment 3, and the description thereof is not repeated here.

Embodiment 8 differs from embodiment 7 in that, in the training phase, the server records the correspondence between the operation habit information and the operation parameters. In the using stage, the server recommends the operation parameters to the user by using the corresponding relation between the operation habit information and the operation parameters. That is, the server may train a correspondence between the operation habit information and the operation parameters by using the operation habit information and the operation parameters of all the users, and the correspondence is not specific to a certain user, but may be applicable to all the users. For example, the server may train the correspondence as shown in table 4, in which obviously no user information is included anymore.

TABLE 4

Information on operation habits	Operating parameters
		Operating habit A	Operating parameter A
Operating habit B	Operating parameter B

In the using stage, the pan-tilt control method may be as shown in fig. 7B, and the method may include:

and 711, sending the operation habit information corresponding to the cradle head to a server by the cradle head.

And step 712, the server receives the operation habit information sent by the holder.

In step 713, the server queries the mapping table in the training phase according to the operation habit information to obtain the operation parameters corresponding to the operation habit information. The operating parameter a is obtained, for example, by looking up table 4 by operating habit a.

In step 714, the server sends the operation parameters corresponding to the operation habit information to the cradle head, and the cradle head receives the operation parameters corresponding to the operation habit information.

And 715, setting an operation parameter corresponding to the operation habit information for the cradle head by the cradle head.

And 716, controlling the cradle head according to the operating parameters.

In the above embodiments, the operation parameters in embodiments 1 to 4 may be referred to as a custom parameter table, and the operation parameters in embodiments 5 to 8 may be referred to as a system recommendation parameter table. Based on this, if the user selects the custom parameter table, the technical solutions of the embodiments 1 to 4 may be adopted, and if the user selects the system recommended parameter table, the technical solutions of the embodiments 5 to 8 may be adopted.

Example 9:

based on the same inventive concept as the above method, an embodiment of the present invention further provides a cradle head, including: a memory and a processor; fig. 8A is a schematic view of the cradle head. In addition, an embodiment of the present invention further provides a server, including: a memory and a processor; fig. 8B is a schematic structural diagram of the pan/tilt head. The cradle head and the server are described below with reference to 4 specific embodiments.

One, the embodiment of the present invention provides a pan-tilt, including: a memory and a processor; the memory for storing program code; the processor, configured to invoke the program code, when the program code is executed, the processor is configured to: acquiring operation parameters used by a designated user; setting the operating parameters for the holder; and controlling the holder according to the operating parameters.

In one example, the processor is specifically configured to, when obtaining the operation parameter for the designated user: and receiving the operation parameters used by the designated user and sent by the server.

In one example, the processor is further configured to:

sending a parameter request message to a server, wherein the parameter request message carries user information of a specified user, so that the server acquires operation parameters used by the specified user according to the parameter request message;

the server records the corresponding relation between the user information and the operation parameters.

In one example, the processor is further configured to:

the method comprises the steps of obtaining operating parameters set on a cloud deck, and sending the operating parameters and user information of the cloud deck to a server, so that the server records the corresponding relation between the user information and the operating parameters.

In one example, the processor is specifically configured to, when obtaining the operation parameter for the designated user: and receiving an operation parameter shared by another cradle head to a designated user of the cradle head.

In one example, the processor is further configured to:

and sharing the operating parameters set on the cloud deck to another cloud deck.

An embodiment of the present invention provides a server, including: a memory and a processor; the memory for storing program code; the processor, configured to invoke the program code, when the program code is executed, the processor is configured to: acquiring operation parameters used by a designated user; and sending the operation parameters used by the appointed user to a cloud deck so that the cloud deck sets the operation parameters, and controlling the cloud deck according to the operation parameters.

In one example, the processor is specifically configured to, when obtaining the operation parameter for the designated user: receiving a parameter request message sent by a holder; analyzing the user information of the appointed user from the parameter request message; and acquiring the operation parameters corresponding to the user information of the specified user.

In one example, the processor is further configured to:

acquiring user information of the designated user and operation parameters used by the designated user;

and recording the corresponding relation between the user information of the specified user and the operation parameters used by the specified user.

Third, an embodiment of the present invention provides a cradle head, including: a memory and a processor; the memory for storing program code; the processor, configured to invoke the program code, when the program code is executed, the processor is configured to: sending the operation habit information corresponding to the holder to a server; receiving operation parameters corresponding to the operation habit information returned by the server; setting the operating parameters for the holder; and controlling the holder according to the operating parameters.

In one example, when the processor sends the operation habit information corresponding to the pan/tilt to the server, the processor is specifically configured to: collecting operation habit information corresponding to the holder; and sending the operation habit information corresponding to the holder to a server.

In one example, the processor is further configured to:

and sending the user information corresponding to the holder to the server so that the server acquires the operation parameters corresponding to the user information and the operation habit information.

In one example, the processor is further configured to:

and sending the operation habit information and the user information corresponding to the cloud deck and the operation parameters set by the cloud deck to the server, so that the server trains the corresponding relation among the user information, the operation habit information and the operation parameters according to the operation habit information, the user information and the operation parameters.

In one example, the processor is further configured to:

and sending the operation habit information corresponding to the holder and the operation parameters set by the holder to the server, so that the server trains the corresponding relation between the operation habit information and the operation parameters according to the operation habit information and the operation parameters.

In one example, the processor is further configured to:

Fourth, an embodiment of the present invention provides a server, including: a memory and a processor; the memory for storing program code; the processor, configured to invoke the program code, when the program code is executed, the processor is configured to: acquiring operation habit information corresponding to a holder; acquiring operation parameters corresponding to the operation habit information; and sending the operation parameters corresponding to the operation habit information to a cloud deck so as to enable the cloud deck to set the operation parameters, and controlling the cloud deck according to the operation parameters.

In one example, the processor is specifically configured to, when obtaining the operation parameter corresponding to the operation habit information: acquiring user information corresponding to the holder; and acquiring operation parameters corresponding to the user information and the operation habit information.

In one example, the processor is specifically configured to, when obtaining the operation parameters corresponding to the user information and the operation habit information: inquiring a mapping table through the user information and the operation habit information to obtain operation parameters corresponding to the user information and the operation habit information; the mapping table is used for recording the corresponding relation among the user information, the operation habit information and the operation parameters.

In one example, the processor is further configured to:

acquiring operation habit information and user information corresponding to the cradle head and operation parameters set by the cradle head, and training the corresponding relation among the user information, the operation habit information and the operation parameters according to the acquired operation habit information, the user information and the operation parameters;

and recording the corresponding relation among the user information, the operation habit information and the operation parameters in the mapping table.

The processor is specifically configured to, when obtaining the operation parameter corresponding to the operation habit information: inquiring a mapping table according to the operation habit information to obtain operation parameters corresponding to the operation habit information; the mapping table is used for recording the corresponding relation between the operation habit information and the operation parameters.

In one example, the processor is further configured to:

acquiring operation habit information corresponding to the holder and operation parameters set by the holder, and training the corresponding relation between the operation habit information and the operation parameters according to the operation habit information and the operation parameters; and recording the corresponding relation between the operation habit information and the operation parameters in the mapping table.

Example 10:

the embodiment of the invention also provides a computer-readable storage medium, wherein computer instructions are stored on the computer-readable storage medium, and when the computer instructions are executed, the holder control method is realized.

The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by an article of manufacture with certain functionality. A typical implementation device is a computer, which may take the form of a personal computer, laptop computer, cellular telephone, camera phone, smart phone, personal digital assistant, media player, navigation device, email messaging device, game console, tablet computer, wearable device, or a combination of any of these devices.

For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functions of the units may be implemented in the same software and/or hardware or in a plurality of software and/or hardware when implementing the invention.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

Furthermore, these computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

The above description is only an example of the present invention, and is not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A holder control method is characterized by being applied to a holder, and the method comprises the following steps:

obtaining operation parameters used by a designated user, wherein the operation parameters comprise at least one of the following: motor parameters, following parameters, remote control parameters, mounting modes and following modes;

setting the operating parameters for the holder;

and controlling the holder according to the operating parameters.

2. The method of claim 1,

the acquiring of the operation parameters used by the designated user comprises the following steps:

and receiving the operation parameters used by the designated user and sent by the server.

3. The method of claim 2,

before receiving the operation parameters used by the designated user and sent by the server, the method further comprises the following steps:

4. The method of claim 2,

5. The method according to any one of claims 2 to 4,

and the cloud deck is communicated with the server through an application client on the control equipment.

6. The method of claim 1,

and receiving an operation parameter shared by another cradle head to a designated user of the cradle head.

7. The method of claim 1,

after the control of the holder according to the operating parameters, the method further comprises:

8. The method according to claim 6 or 7,

and the cloud deck is communicated with another cloud deck through an application client on the control equipment.

9. The method of claim 1, wherein the motor parameters comprise one or any combination of: strength information, filtering information, and advance control information; the following parameters comprise one or any combination of the following: speed information, dead zone information, acceleration information; the remote control parameters comprise one or any combination of the following: speed information, dead zone information, acceleration information.

10. A holder control method is applied to a server, and the method comprises the following steps:

11. The method of claim 10,

receiving a parameter request message sent by a holder;

analyzing the user information of the appointed user from the parameter request message;

and acquiring the operation parameters corresponding to the user information of the specified user.

12. The method of claim 11,

before the obtaining of the operation parameter corresponding to the user information of the specified user, the method further includes:

13. The method according to any one of claims 10 to 12,

and the server is communicated with the holder through an application client on the control equipment.

14. The method of claim 10, wherein the motor parameters comprise one or any combination of: strength information, filtering information, and advance control information; the following parameters comprise one or any combination of the following: speed information, dead zone information, acceleration information; the remote control parameters comprise one or any combination of the following: speed information, dead zone information, acceleration information.

15. A holder control method is characterized by being applied to a holder, and the method comprises the following steps:

setting the operating parameters for the holder;

and controlling the holder according to the operating parameters.

16. The method of claim 15,

the operation habit information that corresponds cloud platform is sent to the server, include:

collecting operation habit information corresponding to the holder;

and sending the operation habit information corresponding to the holder to a server.

17. The method of claim 16,

the operation habit information comprises one or any combination of the following:

accelerometer value, gyroscope value, attitude shake amount, and rotation speed.

18. The method of claim 15,

set up for the cloud platform operating parameter includes:

and if the user allows to modify the operating parameters of the cradle head, setting the operating parameters for the cradle head.

19. The method according to claim 15, wherein before receiving the operation parameters corresponding to the operation habit information returned by the server, the method further comprises:

20. The method of claim 15, further comprising:

21. The method of claim 15, further comprising:

22. The method of any one of claims 15-21,

23. The method of claim 15,

24. The method of claim 23,

25. The method of claim 15, wherein the operating parameters comprise one or any combination of: motor parameters; following the parameter; remote control parameters; mounting mode; the following mode.

26. The method of claim 25, wherein the motor parameters comprise one or any combination of: strength information, filtering information, and advance control information; the following parameters comprise one or any combination of the following: speed information, dead zone information, acceleration information; the remote control parameters comprise one or any combination of the following: speed information, dead zone information, acceleration information.

27. A holder control method is applied to a server, and the method comprises the following steps:

acquiring operation habit information corresponding to a holder;

28. The method of claim 27,

29. The method of claim 27,

the obtaining of the operation parameters corresponding to the operation habit information includes:

acquiring user information corresponding to the holder;

and acquiring operation parameters corresponding to the user information and the operation habit information.

30. The method of claim 29,

the obtaining of the operation parameters corresponding to the user information and the operation habit information includes:

inquiring a mapping table through the user information and the operation habit information to obtain operation parameters corresponding to the user information and the operation habit information; the mapping table is used for recording the corresponding relation among the user information, the operation habit information and the operation parameters.

31. The method of claim 30, further comprising:

32. The method of claim 27,

inquiring a mapping table according to the operation habit information to obtain operation parameters corresponding to the operation habit information; the mapping table is used for recording the corresponding relation between the operation habit information and the operation parameters.

33. The method of claim 32, further comprising:

34. The method of any one of claims 27-33,

35. The method of claim 27, wherein the operating parameters comprise one or any combination of: motor parameters; following the parameter; remote control parameters; mounting mode; the following mode.

36. The method of claim 35, wherein the motor parameters comprise one or any combination of: strength information, filtering information, and advance control information; the following parameters comprise one or any combination of the following: speed information, dead zone information, acceleration information; the remote control parameters comprise one or any combination of the following: speed information, dead zone information, acceleration information.

37. A head, comprising: a memory and a processor; the memory for storing program code; the processor, configured to invoke the program code, when the program code is executed, the processor is configured to: obtaining operation parameters used by a designated user, wherein the operation parameters comprise at least one of the following: motor parameters, following parameters, remote control parameters, mounting modes and following modes; setting the operating parameters for the holder; and controlling the holder according to the operating parameters.

38. A head according to claim 37, wherein said processor, when acquiring operating parameters destined for use by a user, is configured to: and receiving the operation parameters used by the designated user and sent by the server.

39. A head according to claim 38, wherein said processor is further configured to:

40. A head according to claim 38, wherein said processor is further configured to:

41. A head according to claim 37,

the processor, when obtaining the operation parameter used by the designated user, is specifically configured to: and receiving an operation parameter shared by another cradle head to a designated user of the cradle head.

42. A head according to claim 37, wherein said processor is further configured to:

43. A server, comprising: a memory and a processor;

the memory for storing program code;

the processor, configured to invoke the program code, when the program code is executed, the processor is configured to: obtaining operation parameters used by a designated user, wherein the operation parameters comprise at least one of the following: motor parameters, following parameters, remote control parameters, mounting modes and following modes;

44. The server according to claim 43,

the processor, when obtaining the operation parameter used by the designated user, is specifically configured to: receiving a parameter request message sent by a holder; analyzing the user information of the appointed user from the parameter request message; and acquiring the operation parameters corresponding to the user information of the specified user.

45. The server according to claim 44, wherein the processor is further configured to:

46. A head, comprising: a memory and a processor;

the memory for storing program code;

47. A holder according to claim 46, wherein said processor is adapted to, when sending the information of the operational habits corresponding to the holder to the server: collecting operation habit information corresponding to the holder; and sending the operation habit information corresponding to the holder to a server.

48. A head according to claim 46, wherein said processor is further configured to:

49. A head according to claim 46, wherein said processor is further configured to:

50. A head according to claim 46, wherein said processor is further configured to:

51. A head according to claim 46, wherein said processor is further configured to:

52. A server, comprising: a memory and a processor;

the memory for storing program code;

53. The server according to claim 52, wherein the processor, when obtaining the operation parameters corresponding to the operation habit information, is specifically configured to: acquiring user information corresponding to the holder; and acquiring operation parameters corresponding to the user information and the operation habit information.

54. The server according to claim 53,

the processor is specifically configured to, when obtaining the operation parameters corresponding to the user information and the operation habit information: inquiring a mapping table through the user information and the operation habit information to obtain operation parameters corresponding to the user information and the operation habit information; the mapping table is used for recording the corresponding relation among the user information, the operation habit information and the operation parameters.

55. The server according to claim 54, wherein the processor is further configured to:

56. The server according to claim 52,

57. The server according to claim 56, wherein the processor is further configured to:

58. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon computer instructions which, when executed, implement the pan-tilt control method of any one of claims 1-9, or claims 10-14, or claims 15-26, or claims 27-36.