CN110242841A - Holder - Google Patents

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Publication number
CN110242841A
CN110242841A CN201910514784.2A CN201910514784A CN110242841A CN 110242841 A CN110242841 A CN 110242841A CN 201910514784 A CN201910514784 A CN 201910514784A CN 110242841 A CN110242841 A CN 110242841A
Authority
CN
China
Prior art keywords
axis
holder
driving motor
information
armshaft
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201910514784.2A
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Chinese (zh)
Other versions
CN110242841B (en
Inventor
王岩
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Osmo Technology Co Ltd
Original Assignee
SZ DJI Osmo Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Osmo Technology Co Ltd filed Critical SZ DJI Osmo Technology Co Ltd
Priority to CN201910514784.2A priority Critical patent/CN110242841B/en
Publication of CN110242841A publication Critical patent/CN110242841A/en
Application granted granted Critical
Publication of CN110242841B publication Critical patent/CN110242841B/en
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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/08—Arrangements of cameras
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/043—Allowing translations
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories

Abstract

A kind of holder, wherein be provided on holder photographic device (12), holder includes at least one driving motor (1,9,10,18)；Holder method of adjustment includes: to obtain the moment information (S101) of at least one driving motor；According to moment information and the preset gravitation information of photographic device, the offset information (S102) of the center of gravity of photographic device with respect to the motor shaft of at least one driving motor is determined；(S103) is adjusted to the center of gravity of holder automatically according to offset information；The holder overcomes when being adjusted to holder, it is difficult to complete for the user not inputted, and since human error influences whether the accuracy of acquired offset and offset direction, and then the problem of influencing the reliability that holder uses, and then it ensure that the accurate reliability of holder adjustment, while also improving the reliability that holder uses.

Description

Holder
The application is application No. is 2016800031577, and the applying date is on May 31st, 2016, entitled holder tune Adjusting method, system, the divisional application of device and holder.
Technical field
The present invention relates to holder adjustment technology field more particularly to holders.
Background technique
Holder is the support equipment of installation, fixed video camera, during holder is mounted on unmanned vehicle, if cloud Platform works in the case where not regulating, may cause following problems: the holder not regulated can generate uneven torque, and pacify Motor on holder exports electric current persistently to provide uneven torque, generates heat, causes energy loss, while motor is sent out Heat, if center of gravity adjust it is poor and using may cause motor damage in time longer situation；Motor provides uneven torque, It may cause the decline of clouds terrace system performance, influence the performance of image stability augmentation.
In the prior art when holder is adjusted, most method of adjustment is to judge cloud by artificial experience The offset of platform and offset direction, however offset and offset direction by obtaining are adjusted holder, in this way to correlation Technology is difficult to complete for understanding the user that does not input, and since human error influences whether acquired offset and partially The accuracy in direction is moved, and then influences the reliability that holder uses.
Summary of the invention
In view of the above-mentioned drawbacks in the prior art, the present invention provides a kind of existing in the prior art to cloud for solving When platform is adjusted, it is difficult to complete for the relevant technologies understand the user not inputted, and since human error will affect To the accuracy of acquired offset and offset direction, and then the problem of influence the reliability that holder uses.
The first aspect of the invention is to provide for a kind of holder method of adjustment, is provided with photographic device on holder, institute Stating holder includes at least one driving motor；The described method includes:
Obtain the moment information of at least one driving motor；
According to moment information and the preset gravitation information of photographic device, determine the center of gravity of the photographic device relatively it is described extremely The offset information of the motor shaft of a few driving motor；
It is adjusted according to center of gravity of the offset information to the holder.
The second aspect of the invention is to provide for another holder method of adjustment, is provided with photographic device on holder, The holder includes at least one driving motor, and the holder and a display device communicate to connect；The described method includes:
Obtain the moment information of at least one driving motor；
According to moment information and the preset gravitation information of photographic device, determine the center of gravity of the photographic device relatively it is described extremely The offset information of the motor shaft of a few driving motor；
The offset information is shown by the display device, so that user is according to shown offset information to institute The center of gravity for stating holder is adjusted.
The third aspect of the invention is to provide for a kind of holder adjustment system, is provided with photographic device on holder, institute Stating holder includes at least one driving motor；The holder adjusts system
First obtains module, for obtaining the moment information of at least one driving motor；
First processing module, for determining the camera shooting dress according to moment information and the preset gravitation information of photographic device The offset information of the motor shaft of at least one relatively described driving motor of the center of gravity set；
Module is adjusted, for being adjusted according to center of gravity of the offset information to the holder.
The fourth aspect of the invention is to provide for another holder adjustment system, is provided with photographic device on holder, The holder includes at least one driving motor；The holder adjusts system
Second obtains module, for obtaining the moment information of at least one driving motor；
Second processing module, for determining the camera shooting dress according to moment information and the preset gravitation information of photographic device The offset information of the motor shaft of at least one relatively described driving motor of the center of gravity set；
Display module is communicated to connect with the holder, for showing the offset information, so that user is according to shown Offset information the center of gravity of the holder is adjusted.
The fifth aspect of the invention is to provide for a kind of holder adjustment device, is provided with photographic device on holder, institute Stating holder includes at least one driving motor；Holder adjustment device includes: the first data acquisition device and with described first The first processor of data acquisition device communication connection；
First data acquisition device, for obtaining the moment information of at least one driving motor；
The first processor, for determining the camera shooting according to moment information and the preset gravitation information of photographic device The offset information of the motor shaft of at least one relatively described driving motor of the center of gravity of device；
The first processor is also used to be adjusted according to center of gravity of the offset information to the holder.
The sixth aspect of the invention is to provide for another holder adjustment device, is provided with photographic device on holder, The holder includes at least one driving motor, and the holder and a display device communicate to connect；The holder adjusts device packet Include: the second data acquisition device and second processor, the second processor and the display device communicate to connect；
Second data acquisition device, for obtaining the moment information of at least one driving motor；
The second processor, for determining the camera shooting according to moment information and the preset gravitation information of photographic device The offset information of the motor shaft of at least one relatively described driving motor of the center of gravity of device,
The display device, for showing the offset information, so that user is according to shown offset information pair The center of gravity of the holder is adjusted.
The seventh aspect of the invention is to provide for a kind of holder, comprising: holder ontology；
Camera shooting bracket on the holder ontology is set, and the camera shooting bracket is for being arranged photographic device；
The camera shooting bracket includes at least one driving motor, and at least one connecting with the driving motor can Flexible armshaft；
Detection device, the torque for detecting the center of gravity of the photographic device and the motor shaft of at least one driving motor are believed Breath；
Regulating device, for being adjusted according to center of gravity of the moment information to the holder.
In a kind of optional embodiment of the seventh aspect of the invention, at least one described driving motor is connected with Telescopic motor armshaft, the camera shooting bracket are connected with a motor armshaft；
The regulating device is also used to automatically adjust the length of the motor armshaft according to the offset information It is whole.
In a kind of optional embodiment of the seventh aspect of the invention, the detection device includes: gravity sensitive Device, torque measurer and data processor；
The gravity sensor is set on camera shooting bracket, for detecting the gravitation information of photographic device；
The torque measurer, for obtaining the moment information of at least one driving motor；
The data processor is electrically connected with the torque measurer and the gravity sensor, for being believed according to torque Breath and the preset gravitation information of photographic device determine the electricity of at least one relatively described driving motor of the center of gravity of the photographic device The offset information of arbor.
In a kind of optional embodiment of the seventh aspect of the invention, the torque measurer includes:
Current detection module is connected at least one driving motor, for detecting the current information of driving motor；
Processing module is electrically connected with the current detection module, for determining the torque of driving motor according to current information Information.
In a kind of optional embodiment of the seventh aspect of the invention, at least one driving motor includes: setting X-axis driving motor on the holder ontology, the X-axis driving motor are connected with telescopic X-axis armshaft；
The regulating device includes: the X-axis adjuster for adjusting the length of X-axis armshaft, the X-axis adjuster with it is described X-axis armshaft is connected.
In a kind of optional embodiment of the seventh aspect of the invention, at least one driving motor includes: setting In the orthogonal X-axis driving motor of on the holder ontology and motor shaft and Y-axis driving motor, the X-axis driving motor It is connected with telescopic X-axis armshaft, the Y-axis driving motor is connected with telescopic Y-axis armshaft；
The regulating device includes: X-axis adjuster for adjusting the length of X-axis armshaft and for adjusting Y-axis armshaft The Y-axis adjuster of length, the X-axis adjuster are connected with the X-axis armshaft, the Y-axis adjuster and the Y-axis armshaft phase Connection.
In a kind of optional embodiment of the seventh aspect of the invention, at least one driving motor includes: setting In on the holder ontology and motor shaft X-axis driving motor perpendicular to each other, Y-axis driving motor and Z axis driving motor, institute It states X-axis driving motor and is connected with telescopic X-axis armshaft, the Y-axis driving motor is connected with telescopic Y-axis armshaft, the Z Axis driving motor is connected with telescopic Z axis armshaft；
The regulating device includes: the X-axis adjuster for adjusting the length of X-axis armshaft, the length for adjusting Y-axis armshaft The Z axis adjuster of the Y-axis adjuster of degree and the length for adjusting Z axis armshaft, the X-axis adjuster and the X-axis armshaft It is connected, the Y-axis adjuster is connected with the Y-axis armshaft, and the Z axis adjuster is connected with the Z axis armshaft.
In a kind of optional embodiment of the seventh aspect of the invention, the regulating device include at least one with The linear electric machine that motor armshaft is connected, the motor armshaft include at least one in X-axis armshaft, Y-axis armshaft and Z axis armshaft It is a.
In a kind of optional embodiment of the seventh aspect of the invention, the regulating device includes: at least one The driving motor being connected with motor armshaft, the driving motor are connected with lead screw, and screw is provided on the lead screw, described Screw is fixedly connected with motor armshaft, wherein the motor armshaft include in X-axis armshaft, Y-axis armshaft and Z axis armshaft at least One.
In a kind of optional embodiment of the seventh aspect of the invention, the X-axis armshaft and the Z axis armshaft are in L-type structure, the Y-axis armshaft are in I type structure.
In a kind of optional embodiment of the seventh aspect of the invention, the holder ontology further includes pedestal, institute Z axis driving motor is stated to be set on the pedestal.
In a kind of optional embodiment of the seventh aspect of the invention, the driving motor is connected with telescopic Armshaft, the regulating device are specifically used for that the length of the armshaft is adjusted automatically according to the offset information.
The eighth aspect of the invention is to provide for another holder, including holder ontology；
Camera shooting bracket on the holder ontology is set, and the camera shooting bracket is for being arranged photographic device；
The camera shooting bracket includes at least one driving motor, and at least one connecting with the driving motor can Flexible armshaft；
Detection device, the torque for detecting the center of gravity of the photographic device and the motor shaft of at least one driving motor are believed Breath, the detection device are electrically connected with display device；
The display device is for showing the offset information, so that user is by the regulating device, according to described The center of gravity of photographic device and the moment information are adjusted the center of gravity of the holder.
In a kind of optional embodiment of the eighth aspect of the invention, each driving motor is respectively connected with scalable Motor armshaft, be provided with calibration information on the motor armshaft, the camera shooting bracket is connected with a motor armshaft；
The display device is also used to show the offset information, so that user is according to shown offset information With the calibration information, it is adjusted by length of the regulating device to the motor armshaft.
In a kind of optional embodiment of the eighth aspect of the invention, the detection device includes: gravity sensitive Device, torque measurer and data processor；
The gravity sensor is set on camera shooting bracket, for detecting the gravitation information of photographic device；
The torque measurer, for obtaining the moment information of at least one driving motor；
The data processor is electrically connected with the torque measurer and the gravity sensor, for being believed according to torque Breath and the preset gravitation information of photographic device determine the electricity of at least one relatively described driving motor of the center of gravity of the photographic device The offset information of arbor.
In a kind of optional embodiment of the eighth aspect of the invention, the torque measurer includes:
Current detection module is connected at least one driving motor, for detecting the current information of driving motor；
Processing module is electrically connected with the current detection module, for determining the torque of driving motor according to current information Information.
In a kind of optional embodiment of the eighth aspect of the invention, at least one driving motor includes: setting X-axis driving motor on the holder ontology, the X-axis driving motor are connected with telescopic X-axis armshaft, the X-axis axis X-axis calibration information is provided on arm；
The regulating device includes: the X-axis adjuster for adjusting the length of X-axis armshaft, the X-axis adjuster with it is described X-axis armshaft is connected.
In a kind of optional embodiment of the eighth aspect of the invention, at least one driving motor includes: setting In the orthogonal X-axis driving motor of on the holder ontology and motor shaft and Y-axis driving motor, the X-axis driving motor It is connected with telescopic X-axis armshaft, X-axis calibration information is provided on the X-axis armshaft, the Y-axis driving motor is connected with can Flexible Y-axis armshaft is provided with Y-axis calibration information on the Y-axis armshaft；
The regulating device includes: X-axis adjuster for adjusting the length of X-axis armshaft and for adjusting Y-axis armshaft The Y-axis adjuster of length, the X-axis adjuster are connected with the X-axis armshaft, the Y-axis adjuster and the Y-axis armshaft phase Connection.
In a kind of optional embodiment of the eighth aspect of the invention, at least one driving motor includes: setting In on the holder ontology and motor shaft X-axis driving motor perpendicular to each other, Y-axis driving motor and Z axis driving motor, institute It states X-axis driving motor and is connected with telescopic X-axis armshaft, X-axis calibration information, the Y-axis driving are provided on the X-axis armshaft Motor is connected with telescopic Y-axis armshaft, and Y-axis calibration information, the Z axis driving motor connection are provided on the Y-axis armshaft There is telescopic Z axis armshaft, is provided with Z axis calibration information on the Z axis armshaft；
The regulating device includes: the X-axis adjuster for adjusting the length of X-axis armshaft, the length for adjusting Y-axis armshaft The Z axis adjuster of the Y-axis adjuster of degree and the length for adjusting Z axis armshaft, the X-axis adjuster and the X-axis armshaft It is connected, the Y-axis adjuster is connected with the Y-axis armshaft, and the Z axis adjuster is connected with the Z axis armshaft.
In a kind of optional embodiment of the eighth aspect of the invention, the X-axis armshaft and the Z axis armshaft are in L-type structure, the Y-axis armshaft are in I type structure.
In a kind of optional embodiment of the eighth aspect of the invention, the holder ontology further includes pedestal, institute Z axis driving motor is stated to be set on the pedestal.
In a kind of optional embodiment of the eighth aspect of the invention, the driving motor is connected with telescopic Armshaft, the regulating device are specifically used for that the length of the armshaft is adjusted automatically according to the offset information.
Holder provided by the invention, by obtaining the moment information of at least one driving motor, and according to moment information and The preset gravitation information of photographic device determines the motor shaft of at least one relatively described driving motor of the center of gravity of the photographic device Offset information, by obtaining offset information after accurately calculating, and according to the offset information to the weight of the holder The heart is adjusted, and is effectively overcomed in the prior art when being adjusted to holder, is not inputted to the relevant technologies understanding It is difficult to complete for user, and since human error influences whether the accuracy of acquired offset and offset direction, into And the problem of influencing the reliability that holder uses, and then ensure that the accurate reliability of holder adjustment, it also improves simultaneously The reliability that holder uses, is conducive to the popularization and application in market.
Detailed description of the invention
Fig. 1 is the flow diagram for the holder method of adjustment that the embodiment of the present invention one provides；
Fig. 2 is the flow diagram of holder method of adjustment provided by Embodiment 2 of the present invention；
Fig. 3 is the flow diagram for the holder method of adjustment that the embodiment of the present invention three provides；
Fig. 4 is the flow diagram for the holder method of adjustment that the embodiment of the present invention four provides；
Fig. 5 is the flow diagram for the holder method of adjustment that the embodiment of the present invention five provides；
Fig. 6 is the flow diagram for the holder method of adjustment that the embodiment of the present invention six provides；
Fig. 7 is the flow diagram for the holder method of adjustment that the embodiment of the present invention seven provides；
Fig. 8 is the flow diagram for the holder method of adjustment that the embodiment of the present invention eight provides；
Fig. 9 is the flow diagram for the holder method of adjustment that the embodiment of the present invention nine provides；
Figure 10 is the flow diagram for the holder method of adjustment that the embodiment of the present invention ten provides；
Figure 11 is the flow diagram for the holder method of adjustment that the embodiment of the present invention 11 provides；
Figure 12 is the flow diagram for the holder method of adjustment that the embodiment of the present invention 12 provides；
Figure 13 is the flow diagram for the holder method of adjustment that the embodiment of the present invention 13 provides；
Figure 14 is the flow diagram for the holder method of adjustment that the embodiment of the present invention 14 provides；
Figure 15 is the flow diagram for the holder method of adjustment that the embodiment of the present invention 15 provides；
Figure 16 is the flow diagram for the holder method of adjustment that the embodiment of the present invention 16 provides；
Figure 17 is the flow diagram for the holder method of adjustment that the embodiment of the present invention 17 provides；
Figure 18 is the flow diagram for the holder method of adjustment that the embodiment of the present invention 18 provides；
Figure 19 is the structural schematic diagram that the holder that one embodiment of the invention provides adjusts device；
Figure 20 be another embodiment of the present invention provides holder adjust device structural schematic diagram；
Figure 21 is the structural schematic diagram one of holder provided in an embodiment of the present invention；
Figure 22 is the structural schematic diagram two of holder provided in an embodiment of the present invention；
Figure 23 is the structural schematic diagram that the holder that one embodiment of the invention provides adjusts system；
Figure 24 be another embodiment of the present invention provides holder adjust system structural schematic diagram.
Specific embodiment
With reference to the accompanying drawing, it elaborates to some embodiments of the present invention.In the absence of conflict, following Feature in embodiment and embodiment can be combined with each other.
Embodiment one
A kind of holder method of adjustment is present embodiments provided, Fig. 1 is the holder method of adjustment that the embodiment of the present invention one provides Flow diagram；With reference to shown in attached drawing 1, the method for adjustment is for being adjusted the center of gravity of holder, so that holder is kept Steadily, it avoids the need to keep holder steady and the generation of multiple motor movement compensation torque situations occur, and then ensure that cloud The reliability that platform uses；Specifically, being provided with photographic device on the holder, wherein photographic device can for video camera or The filming apparatus such as person's mobile phone；Holder includes at least one driving motor；The holder method of adjustment includes:
S101: the moment information of at least one driving motor is obtained；
Wherein, without limitation for the specific number for the driving motor being arranged on the holder, it such as can be set driving electricity The number of machine is set as 1,2 or 3 etc.；In addition, obtaining for the moment information that obtains at least one driving motor It takes mode without limitation, such as mode can be will acquire and be set as presetting, pass through measurement, calculate acquisition or artificially inputting Etc. modes, as long as the moment information of at least one driving motor can be obtained accurately, reliably, details are not described herein.
S102: according to moment information and the preset gravitation information of photographic device, the center of gravity of photographic device is determined relatively at least The offset information of the motor shaft of one driving motor；
Wherein, the various means of use in advance that are preset as in the preset gravitation information of photographic device have got photographic device Gravitation information, but for obtain gravitation information concrete mode without limitation, for example, photographic device can be set to holder On, user can carry out weighing operation to photographic device in advance, the gravitation information of photographic device be obtained, then by the gravity of acquisition Information is pre-entered into computing system, is used for calculating；Alternatively, the concrete model information of photographic device can also be obtained, The standard weights information for the photographic device bound in advance with above-mentioned type information can be confirmed by above-mentioned concrete model information, such as The type information of available smart phone is apple 5S, and the standard of apple 5S can be acquired according to specific type information Weight information, and the weight information got is sent to holder by way of wired or wireless (bluetooth, WIFI etc.), with It is used for calculating；Alternatively, the gravitation information section of a photographic device can also be preset, determined by preset gravitation information section Corresponding photographic device, for example, set in gravitation information section in iPhone 5 to the weight range of iPhone 6s, into And corresponding photographic device can be chosen according to above-mentioned gravitation information section；In addition, the number of offset information among the above with The number of driving motor is corresponding, and if the number of driving motor is one, then offset information is that the center of gravity of photographic device is opposite The offset information of the motor shaft of one driving motor；If the number of driving motor is two, respectively the first driving motor and the Two driving motors, then offset information include: photographic device center of gravity relative to the first driving motor motor shaft first The second offset information of offset information and the center of gravity of photographic device relative to the motor shaft of the second poor motor, and so on, When the number of driving motor is more, the number of the offset information of acquisition can be more, correspondingly, holder can be made to adjust Parameter can be more, so that holder adjustment can be more accurate, reliable.
S103: it is adjusted according to center of gravity of the offset information to holder.
Wherein, after being adjusted by the above-mentioned center of gravity to holder, since photographic device is arranged on holder, The center of gravity of holder and the center of gravity of photographic device are in one-to-one relationship, and then during the center of gravity to holder is adjusted, The center of gravity of photographic device can be made almost nil with respect to the offset information of the motor shaft of at least one driving motor, be at this time The steady state for realizing holder ensure that the reliability that holder uses.
Holder method of adjustment provided in this embodiment, by obtaining the moment information of at least one driving motor, and according to Moment information and the preset gravitation information of photographic device, determine motor of the center of gravity with respect at least one driving motor of photographic device The offset information of axis is carried out by obtaining offset information after accurately calculating, and according to center of gravity of the offset information to holder Adjustment, effectively overcomes in the prior art when being adjusted to holder, and the relevant technologies are understood with the user not inputted comes It says and is difficult to complete, and since human error influences whether the accuracy of acquired offset and offset direction, and then influence The problem of reliability that holder uses, and then ensure that the accurate reliability of holder adjustment, while also improving holder and make Reliability is conducive to the popularization and application in market.
Embodiment two
Fig. 2 is the flow diagram of holder method of adjustment provided by Embodiment 2 of the present invention；In the base of above-described embodiment one On plinth, with continued reference to attached drawing 1-2 it is found that the present embodiment is for obtaining the acquisition modes of the moment information of at least one driving motor Without limitation, wherein it is more preferred, it will acquire the moment information of at least one driving motor, be set as specifically including:
S1011: the current information of at least one driving motor is obtained；
Wherein, the current information of at least one above-mentioned driving motor is the practical electricity of driving motor in normal operation Stream information does not include driving motor under abnormal operating state (when driving motor starts, when closing or when damaging) Current information and rated current information；In addition, for obtain current information specific implementation without limitation, such as: Each driving motor can be electrically connected a current detection means (such as: ammeter), can be got by current detection means The current information of driving motor, alternatively, under rated voltage by the operating voltage setting of driving motor, then driving motor at this time Current information be rated current information.
S1012: according to current information, the moment information of driving motor is determined.
Wherein, the current information in this step is the current information of above-mentioned at least one acquired driving motor, electric current The number of information and the number of driving motor are identical, when the number of driving motor is multiple, then there is also more for current information It is a, and correspondingly, the moment information of identified driving motor there is also multiple, specifically, for determining according to current information Without limitation, those skilled in the art can carry out the implementation of the moment information of driving motor according to specific design requirement Setting, wherein it is more preferred, the moment information of driving motor will be determined according to current information, be set as specifically including:
S10121: the moment information of driving motor is determined according to M=K*I, wherein M is the moment information of driving motor, K For the torque constant of driving motor, I is the current information of driving motor.
Wherein, the torque constant of driving motor is parameter related with driving motor self character, the type of motor to be driven Number determine after, the torque constant of the driving motor also determines therewith, and therefore, the torque constant of the driving motor in above-mentioned formula can To be obtained according to driving motor, as pre-set known parameters；When the current information of driving motor is multiple, then root According to above-mentioned formula, the available moment information to multiple driving motors gets current information by above-mentioned, and passes through formula Calculating gets moment information, can effectively guarantee that the accurate of moment information of at least one accessed driving motor can By property, and then improve the reliability that the holder method of adjustment uses.
Embodiment three
Fig. 3 is the flow diagram for the holder method of adjustment that the embodiment of the present invention three provides；In above-described embodiment one or two On the basis of, with continued reference to attached drawing 3 it is found that the present embodiment is for determining the center of gravity of photographic device with respect at least one driving motor Motor shaft offset information realization process without limitation, more preferably, will be pre- according to moment information and photographic device If gravitation information, determine the offset information of the center of gravity of photographic device with respect to the motor shaft of at least one driving motor, setting To specifically include:
S1021: determine the center of gravity of photographic device relative to the offset of the motor shaft of at least one driving motor according to M=L*G Measure information, wherein M is the moment information of driving motor, and L is offset information, and G is the preset gravitation information of photographic device.
Wherein, motor of the center of gravity relative at least one driving motor of photographic device is got by above-mentioned calculation formula The offset information of axis is effectively guaranteed the accurate reliability of offset information acquisition, since offset information directly affects To the accurate reliability to holder centre of gravity adjustment, this improves the accuracies to holder centre of gravity adjustment, further ensure this The practicability of holder method of adjustment.
Example IV
Fig. 4 is the flow diagram for the holder method of adjustment that the embodiment of the present invention four provides；On the basis of above-described embodiment On, with reference to attached drawing 4 it is found that the present embodiment specifically limits the number of driving motor, specifically, at least one is driven Motor is set as including X-axis driving motor, in turn, this method further include:
S201: the X-axis moment information of X-axis driving motor is obtained；
Wherein, X-axis driving motor among the above may be mounted at any one horizontal plane on holder, not merely Representative is mounted on the horizontal length direction of holder, such as: X-axis driving motor can be mounted on holder, so that X-axis drives The motor shaft of motor is parallel with the horizontal width direction of holder, or makes the motor shaft of X-axis driving motor and the height of holder It is parallel etc. to spend direction；In addition, for obtain X-axis driving motor X-axis moment information acquisition modes without limitation, such as Mode can be will acquire to be set as presetting, the modes such as obtain or artificially input by measuring, calculating, as long as being capable of essence Really, the X-axis moment information of X-axis driving motor is reliably obtained, details are not described herein.
S202: according to X-axis moment information and the preset gravitation information of photographic device, determine the center of gravity of photographic device with respect to X The offset information of the motor shaft of axis driving motor；
Wherein, photographic device is set on holder, and user can carry out weighing operation to photographic device in advance, is imaged Then the gravitation information of acquisition is pre-entered into computing system by the gravitation information of device, use for calculating.
S203: the center of gravity of holder is adjusted in X-direction automatically according to offset information.
Wherein, by it is above-mentioned the center of gravity of holder is adjusted automatically after, due to photographic device be arranged on holder, Therefore the center of gravity of holder and the center of gravity of photographic device are in one-to-one relationship, and then the process being adjusted in the center of gravity to holder In, the center of gravity of photographic device can be made almost nil with respect to the offset information of the motor shaft of X-axis driving motor, it is i.e. real at this time The steady state for having showed holder ensure that the reliability that holder uses.
Embodiment five
Fig. 5 is the flow diagram for the holder method of adjustment that the embodiment of the present invention five provides；In the base of above-described embodiment four On plinth, with continued reference to attached drawing 5 it is found that the present embodiment for according to offset information automatically to the center of gravity of holder X-direction into The specific implementation of row adjustment is without limitation, wherein more preferred, can set X-axis driving motor to being connected with can Flexible X-axis armshaft, X-axis armshaft are connected with photographic device, and are provided on X-axis armshaft for adjusting X-axis armshaft length Regulating device；
The center of gravity of holder is adjusted automatically in X-direction according to offset information, is specifically included:
S2031: regulating device is automatically adjusted the length of X-axis armshaft according to offset information, so that holder Center of gravity is adjusted in X-direction.
Wherein, without limitation for the specific structure of regulating device, more preferably, regulating device can be set as wrapping Include: at least one linear electric machine being connected with motor armshaft, the motor armshaft include X-axis armshaft, Y-axis armshaft and Z axis armshaft At least one of, implementation method includes: the linear electric machine according to offset information progress stretching motion, to adjust motor armshaft Length so that the center of gravity of holder is adjusted in the corresponding direction；Alternatively, regulating device can also be set to include: At least one driving motor being connected with motor armshaft, driving motor are connected with lead screw, screw, screw are provided on lead screw It is fixedly connected with motor armshaft, wherein motor armshaft includes at least one of X-axis armshaft, Y-axis armshaft and Z axis armshaft, is implemented Method includes: that the driving motor is rotated according to offset information drive lead screw, to realize that passing through screw drives motor armshaft Stretching motion is carried out, so that the center of gravity of holder is adjusted in the corresponding direction；Suitable for the embodiment, it can will adjust Device is set as including the linear electric machine being connected with X-axis armshaft, when linear electric machine receives the adjustment instruction of controller transmission When, it will do it work and then X-axis armshaft driven to carry out stretching motion, by adjusting the length of X-axis armshaft, realize the weight of holder Heart adjustment；Alternatively, can also set regulating device to including driving motor, which is connected with lead screw, sets on lead screw It is equipped with screw, screw is connected with X-axis armshaft, when driving motor receives the adjustment instruction of controller transmission, will do it and turns It is dynamic, and the circular motion of driving motor can be converted to linear movement by lead screw and screw, i.e., screw is in the enterprising line fortune of lead screw It is dynamic, and because screw is connected with X-axis armshaft, it is thereby achieved that driving motor drives the process of X-axis armshaft progress stretching motion； Furthermore it is also possible to set regulating device to include hydraulic cylinder, which is directly connected to X-axis armshaft, by hydraulic The stretching motion of cylinder drives the stretching motion of X-axis armshaft, that is, realizes regulating device according to offset information automatically to X-axis axis The length of arm is adjusted, so that the process that the center of gravity of holder is adjusted in X-direction；And then effectively improve the cloud The intelligence and the degree of automation of platform method of adjustment, save cost of labor, ensure that the efficiency of adjusting, and then improve the tune The reliability that section method uses.
Embodiment six
Fig. 6 is the flow diagram for the holder method of adjustment that the embodiment of the present invention six provides；On the basis of above-described embodiment On, with continued reference to attached drawing 6 it is found that the present embodiment again specifically limits the number of driving motor, specifically, will at least One driving motor includes the orthogonal X-axis driving motor of motor shaft and Y-axis driving motor, method further include:
S301: the X-axis moment information of X-axis driving motor and the Y-axis moment information of Y-axis driving motor are obtained；
Wherein, among the above X-axis driving motor and Y-axis driving motor may be mounted at any one horizontal plane on holder Place not merely represents and is mounted on the horizontal length direction or horizontal width direction of holder, such as: X-axis can be driven Dynamic motor is mounted on holder, so that the motor shaft of X-axis driving motor is parallel with the horizontal width direction of holder, or is made The motor shaft of X-axis driving motor and the short transverse of holder are parallel etc., likewise, Y-axis driving motor can be mounted on On holder, so that the motor shaft of Y-axis driving motor is parallel with the horizontal length direction of holder, or make Y-axis driving motor Motor shaft it is parallel with the short transverse of holder etc.；As long as can guarantee the motor shaft and Y-axis driving electricity of X-axis driving motor The motor shaft of machine is perpendicular, in this manner it is achieved that effectively being adjusted in two-dimensional surface to holder；In addition, for upper It states and obtains the acquisition modes of X-axis moment information and Y-axis moment information without limitation, such as mode can be will acquire and be set as preparatory Setting is obtained or the modes such as artificial input by measuring, calculating, if can accurately, reliably obtain X-axis moment information and Y-axis moment information, details are not described herein.
S302: according to X-axis moment information and the preset gravitation information of photographic device, determine the center of gravity of photographic device with respect to X The X-axis offset information of the motor shaft of axis driving motor；
The realization process of this step and the realization process and realization for realizing the step S202 in effect and above-described embodiment Effect is identical, specifically refers to above statement content, details are not described herein.
S303: according to Y-axis moment information and the preset gravitation information of photographic device, determine the center of gravity of photographic device with respect to Y The Y-axis offset information of the motor shaft of axis driving motor；
The realization process of this step and the realization process and realization for realizing the step S202 in effect and above-described embodiment Effect is similar, wherein distinct point is: what is obtained in above-mentioned steps S202 is X-axis offset information, and in this step Acquisition is Y-axis offset information, specifically refers to above statement content, details are not described herein.
S304: the center of gravity of holder is adjusted in X/Y plane automatically according to X-axis offset information and Y-axis offset information It is whole.
Wherein, for it is above-mentioned according to X-axis offset information and Y-axis offset information to the center of gravity of holder in X/Y plane into The realization of row adjustment passes through Y particular by being adjusted in X-axis by X-axis offset information to the center of gravity of holder respectively Axle offset amount information is adjusted the center of gravity of holder in Y-axis, also, the adjustment to the center of gravity of holder in X-axis and in Y-axis To realize independently of each other, it can first adjusted in X-axis to the center of gravity of holder, after being adjusted in X-axis, then to the weight of holder The heart is adjusted in Y-axis；Alternatively, first the center of gravity of holder can also be adjusted in Y-axis, after being adjusted in Y-axis, Again to being adjusted in X-axis；Alternatively, can also be adjusted in X-axis and in Y-axis to the center of gravity of holder simultaneously.
By it is above-mentioned the center of gravity of holder is adjusted automatically after, due to photographic device be arranged on holder, cloud The center of gravity of platform and the center of gravity of photographic device are in one-to-one relationship, and then during the center of gravity to holder is adjusted, can So that offset information of the center of gravity of photographic device with respect to the motor shaft of X-axis driving motor and the motor shaft of Y-axis driving motor It is almost nil, the steady state of holder is realized at this time, ensure that the reliability that holder uses.
Embodiment seven
Fig. 7 is the flow diagram for the holder method of adjustment that the embodiment of the present invention seven provides；In the base of above-described embodiment six On plinth, with continued reference to attached drawing 7 it is found that the present embodiment for according to X-axis offset information and Y-axis offset information automatically to holder The implementation that is adjusted in X/Y plane of center of gravity without limitation, wherein it is more preferred, X-axis driving motor is arranged To be connected with telescopic X-axis armshaft, X-axis armshaft is connected with Y-axis driving motor, and Y-axis driving motor is connected with telescopic Y Axis armshaft, Y-axis armshaft are connected with photographic device, and the X-axis tune for adjusting X-axis armshaft length is provided on X-axis armshaft Regulating device is provided with the Y-axis regulating device for adjusting Y-axis armshaft length on Y-axis armshaft；
The center of gravity of holder is adjusted automatically in X/Y plane according to X-axis offset information and Y-axis offset information, is had Body includes:
S3041:X axis adjustment device is automatically adjusted the length of X-axis armshaft according to X-axis offset information, so that The center of gravity of holder is adjusted in X-direction；
Wherein, the specific structure of the X-axis regulating device in this step, operating process and realization effect and above-described embodiment Regulating device specific structure, operating process and realization effect in middle step S2031 is identical, specifically refers in above statement Hold, details are not described herein；In addition, the realization of the realization process and realization effect and step S2031 in above-described embodiment of this step Process is identical with effect is realized, specifically refers to above statement content, details are not described herein.
S3042:Y axis adjustment device is automatically adjusted the length of Y-axis armshaft according to Y-axis offset information, so that The center of gravity of holder is adjusted in Y direction.
Wherein, the specific structure of the Y-axis regulating device in this step, operating process and realization effect and above-described embodiment Regulating device specific structure, operating process and realization effect in middle step S2031 is identical, specifically refers in above statement Hold, details are not described herein；In addition, the realization of the realization process and realization effect and step S2031 in above-described embodiment of this step Process is similar with effect is realized, wherein being so that the center of gravity of holder is in X-axis side in above-mentioned steps S2031 unlike existing To being adjusted, and in this step when, is adjusted the center of gravity of holder in Y direction, specifically refers in above statement Hold, details are not described herein.
By the X-axis regulating device and Y-axis regulating device of setting, holder can be carried out certainly on two dimensions Dynamic adjustment, effectively improves the intelligence degree and the degree of automation of the holder method of adjustment, saves cost of labor, simultaneously It ensure that the speed and efficiency of adjusting, and then improve the reliability that the adjusting method uses.
Embodiment eight
Fig. 8 is the flow diagram for the holder method of adjustment that the embodiment of the present invention eight provides；On the basis of above-described embodiment On, with reference to attached drawing 8 it is found that the present embodiment is specifically limited further to the number of driving motor, specifically, will at least one A driving motor is set as including motor shaft X-axis driving motor perpendicular to each other, Y-axis driving motor and Z axis driving motor, method Further include:
S401: X-axis moment information, the Y-axis moment information of Y-axis driving motor and the Z axis driving of X-axis driving motor are obtained The Z axis moment information of motor；
Wherein, among the above X-axis driving motor, Y-axis driving motor and Z axis driving motor may be mounted at appointing on holder It anticipates at a horizontal plane, not merely represents the horizontal length direction for being mounted on holder, horizontal width direction or longitudinal high It spends on direction, such as: X-axis driving motor can be mounted on holder, so that the water of the motor shaft of X-axis driving motor and holder Flat width direction is parallel, or make the motor shaft of X-axis driving motor parallel with the short transverse of holder etc., equally , Y-axis driving motor can be mounted on holder, so that the horizontal length direction of the motor shaft of Y-axis driving motor and holder It is parallel, or make the motor shaft of Y-axis driving motor parallel with the short transverse of holder etc., Z axis can be driven into electricity Machine is mounted on holder, so that the motor shaft of Z axis driving motor is parallel with the horizontal length direction of holder, or makes Z axis The motor shaft of driving motor is parallel with the horizontal width direction of holder etc.；As long as can guarantee the motor of X-axis driving motor The motor shaft of axis, the motor shaft of Y-axis driving motor and Z axis driving motor is perpendicular two-by-two, in this manner it is achieved that cloud Platform is effectively adjusted in three-dimensional space；In addition, turning for above-mentioned acquisition X-axis moment information, Y-axis moment information and Z axis The acquisition modes of square information without limitation, such as can will acquire mode be set as presetting, by measurement, calculate obtain or Person such as artificially inputs at the modes, as long as X-axis moment information, Y-axis moment information and Z axis moment information can be obtained accurately, reliably , details are not described herein.
S402: according to X-axis moment information and the preset gravitation information of photographic device, determine the center of gravity of photographic device with respect to X The X-axis offset information of the motor shaft of axis driving motor；
The realization process of this step and the realization process and realization for realizing the step S302 in effect and above-described embodiment Effect is identical, specifically refers to above statement content, details are not described herein.
S403: according to Y-axis moment information and the preset gravitation information of photographic device, determine the center of gravity of photographic device with respect to Y The Y-axis offset information of the motor shaft of axis driving motor；
The realization process of this step and the realization process and realization for realizing the step S303 in effect and above-described embodiment Effect is identical, specifically refers to above statement content, details are not described herein.
S404: according to Z axis moment information and the preset gravitation information of photographic device, determine the center of gravity of photographic device with respect to Z The Z axis offset information of the motor shaft of axis driving motor；
The realization process of this step and the realization process and realization for realizing the step S303 in effect and above-described embodiment Effect is similar, wherein distinct point is: what is obtained in above-mentioned steps S303 is Y-axis offset information, and in this step Acquisition is Z axis offset information, specifically refers to above statement content, details are not described herein.
S405: existed automatically to the center of gravity of holder according to X-axis offset information, Y-axis offset information and Z axis offset information It is adjusted in XYZ space.
Wherein, for above-mentioned according to X-axis offset information, Y-axis offset information and Z axis offset information to the weight of holder The realization that the heart is adjusted in XYZ space particular by respectively pass through X-axis offset information to the center of gravity of holder in X-axis It is adjusted, is adjusted in Y-axis by center of gravity of the Y-axis offset information to holder, by Z axis offset information to holder Center of gravity be adjusted on Z axis, also, mutually indepedent reality is adjusted in X-axis, on Y-axis and Z axis to the center of gravity of holder It is existing, it can first the center of gravity of holder is adjusted in X-axis, after being adjusted in X-axis, then it is enterprising in Y-axis to the center of gravity of holder Row adjustment, after being adjusted in Y-axis, then being adjusted on Z axis to the center of gravity of holder；Alternatively, can also be first to holder Center of gravity be adjusted in Y-axis, after being adjusted in Y-axis, then to being adjusted in X-axis, after being adjusted in X-axis, Being adjusted on Z axis to the center of gravity of holder again；Alternatively, can also be simultaneously to the center of gravity of holder in X-axis, Y-axis and Z axis On be adjusted, the center of gravity of holder is adjusted in XYZ space automatically as long as can be realized.
By it is above-mentioned the center of gravity of holder is adjusted automatically after, due to photographic device be arranged on holder, cloud The center of gravity of platform and the center of gravity of photographic device are in one-to-one relationship, and then during the center of gravity to holder is adjusted, can So that the center of gravity of photographic device drives electricity with respect to the motor shaft of X-axis driving motor, the motor shaft of Y-axis driving motor and Z axis The offset information of the motor shaft of machine is almost nil, the adjustment process to holder is realized from three dimensions, so that holder Held stationary state ensure that the reliability that holder uses.
Embodiment nine
Fig. 9 is the flow diagram for the holder method of adjustment that the embodiment of the present invention nine provides；In the base of above-described embodiment eight On plinth, with continued reference to attached drawing 9 it is found that the present embodiment is for according to X-axis offset information, Y-axis offset information and Z axis offset Without limitation, more preferably, X-axis is driven for the implementation that information is automatically adjusted the center of gravity of holder in XYZ space Dynamic motor is set as being connected with telescopic X-axis armshaft, and X-axis armshaft is connected with Y-axis driving motor, the connection of Y-axis driving motor There is telescopic Y-axis armshaft, Y-axis armshaft is connected with photographic device, and Z axis driving motor is connected with telescopic Z axis armshaft, Z Axis armshaft is connected with X-axis driving motor, and the X-axis being provided on X-axis armshaft for adjusting X-axis armshaft length adjusts dress It sets, the Y-axis regulating device for adjusting Y-axis armshaft length is provided on Y-axis armshaft, is provided on Z axis armshaft for adjusting Z axis The Z axis regulating device of armshaft length；
According to X-axis offset information, Y-axis offset information and Z axis offset information automatically to the center of gravity of holder in XYZ sky It is interior to be adjusted, it specifically includes:
S4051:X axis adjustment device is automatically adjusted the length of X-axis armshaft according to X-axis offset information, so that The center of gravity of holder is adjusted in X-direction；
Wherein, the specific structure of the X-axis regulating device in this step, operating process and realization effect and above-described embodiment X-axis regulating device specific structure, operating process and realization effect in middle step S3041 is identical, specifically refers to above-mentioned old Content is stated, details are not described herein；In addition, step S3041 in the realization process and realization effect and above-described embodiment of this step Realization process is identical with effect is realized, specifically refers to above statement content, details are not described herein.
S4052:Y axis adjustment device is automatically adjusted the length of Y-axis armshaft according to Y-axis offset information, so that The center of gravity of holder is adjusted in Y direction；
Wherein, the specific structure of the Y-axis regulating device in this step, operating process and realization effect and above-described embodiment Y-axis regulating device specific structure, operating process and realization effect in middle step S3042 is identical, specifically refers to above-mentioned old Content is stated, details are not described herein；In addition, step S3042 in the realization process and realization effect and above-described embodiment of this step Realization process is identical with effect is realized, specifically refers to above statement content, details are not described herein.
S4053:Z axis adjustment device is automatically adjusted the length of Z axis armshaft according to Z axis offset information, so that The center of gravity of holder is adjusted in Z-direction.
Wherein, the specific structure of the Z axis regulating device in this step, operating process and realization effect and above-described embodiment Y-axis regulating device specific structure, operating process and realization effect in middle step S3042 is identical, specifically refers to above-mentioned old Content is stated, details are not described herein；In addition, step S3042 in the realization process and realization effect and above-described embodiment of this step Realization process is similar with effect is realized, wherein being so that the center of gravity of holder is in Y in above-mentioned steps S3042 unlike existing Axis direction is adjusted, and in this step when is adjusted the center of gravity of holder in Z-direction, specifically refers to above statement Content, details are not described herein.
It is realized respectively by the X-axis regulating device, Y-axis regulating device and Z axis regulating device of setting to holder center of gravity It adjusts, holder can be automatically adjusted in three dimensions, effectively improve the intelligence of the holder method of adjustment Degree and the degree of automation can be changed, save cost of labor, while ensure that the speed and efficiency of adjusting, and then improve the tune The reliability that section method uses.
Embodiment ten
Figure 10 is the flow diagram for the holder method of adjustment that the embodiment of the present invention ten provides；With reference to attached drawing 10 it is found that originally Embodiment provides another holder method of adjustment, and photographic device is provided on the holder, and holder includes at least one driving electricity Machine, wherein be not specifically limited for the number of driving motor, such as can be set to include 1,2 or 3 driving motor Etc.；Holder communication with a display device communicate to connect, wherein display device include but is not limited to intelligent terminal, desktop computer, Tablet computer, liquid crystal display or other display equipment etc.；Specifically, the holder method of adjustment includes:
S501: the moment information of at least one driving motor is obtained；
The realization process of this step and the realization process and realization for realizing the step S101 in effect and above-described embodiment Effect is identical, specifically refers to above statement content, details are not described herein.
S502: according to moment information and the preset gravitation information of photographic device, the center of gravity of photographic device is determined relatively at least The offset information of the motor shaft of one driving motor；
The realization process of this step and the realization process and realization for realizing the step S102 in effect and above-described embodiment Effect is identical, specifically refers to above statement content, details are not described herein.
S503: by display device display offset amount information, so that user is according to shown offset information to holder Center of gravity be adjusted.
It wherein, may include offset direction and offset distance by offset information shown by display device, with convenient Prompt user is adjusted the center of gravity of holder, for example, offset information are as follows: deviate to the left, offset distance 1cm, then using Family can be adjusted according to center of gravity of the above-mentioned offset information to holder, so that the center of gravity of photographic device is with respect at least one The motor shaft of driving motor moves right 2cm, to guarantee that the center of gravity of photographic device is fallen in as far as possible on the motor shaft of driving motor, this When as holder steady state；
In addition, the realization process being adjusted for user according to center of gravity of the offset information to holder is without limitation, such as User can be adjusted according to installation site of the offset information to photographic device, since photographic device is mounted on holder, Therefore, when photographic device is adjusted, the position of centre of gravity of holder can change with the change of photographic device installation site, It is thereby achieved that the adjustment process of holder center of gravity；Alternatively, each driving motor is respectively connected with telescopic motor armshaft, User can realize the adjusting to the center of gravity of holder by the length of the motor armshaft of each driving motor of adjusting.
Holder method of adjustment provided in this embodiment, by obtaining the moment information of at least one driving motor, and according to Moment information and the preset gravitation information of photographic device, determine motor of the center of gravity with respect at least one driving motor of photographic device The offset information of axis is shown by display device and obtains offset information after accurately calculating, and user is according to shown offset Amount information is adjusted the center of gravity of holder, effectively overcomes in the prior art when being adjusted to holder, to related skill Art is difficult to complete for understanding the user not inputted, and since human error influences whether acquired offset and offset The accuracy in direction, and then the problem of influence the reliability that holder uses, and then ensure that the accurate reliable of holder adjustment Property, while the reliability that holder uses is also improved, be conducive to the popularization and application in market.
Embodiment 11
Figure 11 is the flow diagram for the holder method of adjustment that the embodiment of the present invention 11 provides；In above-described embodiment ten On the basis of, with continued reference to attached drawing 10-11 it is found that the present embodiment is for obtaining the acquisition of the moment information of at least one driving motor Mode without limitation, more preferably, will acquire the moment information of at least one driving motor, be set as specifically including:
S5011: the current information of at least one driving motor is obtained；
The realization process of this step and the realization process and realization for realizing the step S1011 in effect and above-described embodiment Effect is identical, specifically refers to above statement content, details are not described herein.
S5012: according to current information, the moment information of driving motor is determined.
Wherein, the current information in this step is the current information of above-mentioned at least one acquired driving motor, electric current The number of information and the number of driving motor are identical, when the number of driving motor is multiple, then there is also more for current information It is a, and correspondingly, the moment information of identified driving motor there is also multiple, specifically, for determining according to current information Without limitation, those skilled in the art can carry out the implementation of the moment information of driving motor according to specific design requirement Setting, wherein it is more preferred, the moment information of driving motor will be determined according to current information, be set as specifically including:
S50121: the moment information of driving motor is determined according to M=K*I, wherein M is the moment information of driving motor, K For the torque constant of driving motor, I is the current information of driving motor.
Wherein, the torque constant of driving motor is parameter related with driving motor self character, the type of motor to be driven Number determine after, the torque constant of the driving motor also determines therewith, and therefore, the torque constant of the driving motor in above-mentioned formula can To be obtained according to driving motor, as pre-set known parameters；When the current information of driving motor is multiple, then root According to above-mentioned formula, the available moment information to multiple driving motors gets current information by above-mentioned, and passes through formula Calculating gets moment information, can effectively guarantee that the accurate of moment information of at least one accessed driving motor can By property, and then improve the reliability that the holder method of adjustment uses.
Embodiment 12
Figure 12 is the flow diagram for the holder method of adjustment that the embodiment of the present invention 12 provides；In above-described embodiment ten or On the basis of 11, with continued reference to attached drawing 12 it is found that the present embodiment is for determining the center of gravity of photographic device with respect at least one drive The realization process of the offset information of the motor shaft of dynamic motor without limitation, more preferably, will be according to moment information and camera shooting The preset gravitation information of device determines that the center of gravity of photographic device is believed with respect to the offset of the motor shaft of at least one driving motor Breath, is set as specifically including:
S5021: determine the center of gravity of photographic device relative to the offset of the motor shaft of at least one driving motor according to M=L*G Measure information, wherein M is the moment information of driving motor, and L is offset information, and G is the preset gravitation information of photographic device.
Wherein, motor of the center of gravity relative at least one driving motor of photographic device is got by above-mentioned calculation formula The offset information of axis is effectively guaranteed the accurate reliability of offset information acquisition, since offset information directly affects To the accurate reliability to holder centre of gravity adjustment, this improves the accuracies to holder centre of gravity adjustment, further ensure this The practicability of holder method of adjustment.
Embodiment 13
Figure 13 is the flow diagram for the holder method of adjustment that the embodiment of the present invention 13 provides；In the base of above-described embodiment On plinth, with reference to attached drawing 13 it is found that the present embodiment specifically limits the number of driving motor, specifically, by least one Driving motor is set as including X-axis driving motor, and telescopic X-axis armshaft is connected on X-axis driving motor, is set on X-axis armshaft It is equipped with the regulating device for adjusting X-axis armshaft length, in turn, this method further include:
S601: the X-axis moment information of X-axis driving motor is obtained；
The realization process of this step and the realization process and realization for realizing the step S201 in effect and above-described embodiment Effect is identical, specifically refers to above statement content, details are not described herein.
S602: according to X-axis moment information and the preset gravitation information of photographic device, determine the center of gravity of photographic device with respect to X The offset information of the motor shaft of axis driving motor；
The realization process of this step and the realization process and realization for realizing the step S202 in effect and above-described embodiment Effect is identical, specifically refers to above statement content, details are not described herein.
S603: X-axis offset information is shown by display device, so that user passes through regulating device, and is deviated according to X-axis The length of X-axis armshaft is adjusted in amount information.
Wherein, for regulating device and X-axis armshaft connection type and specific structure without limitation, such as: can be with Rotation being set by regulating device to be connected on X-axis armshaft, wherein X-axis armshaft includes first connecting portion and second connecting portion, the One interconnecting piece is connected with second connecting portion by regulating device, and first connecting portion is that rack-and-pinion is connect with regulating device Structure by rotation adjustment device, so that first connecting portion carries out stretching motion, realizes in turn and adjusts X-axis armshaft length Effect.
After being adjusted by center of gravity of the above-mentioned user to holder, since photographic device is arranged on holder, cloud The center of gravity of platform and the center of gravity of photographic device are in one-to-one relationship, and then during the center of gravity to holder is adjusted, can So that the center of gravity of photographic device is almost nil with respect to the offset information of the motor shaft of X-axis driving motor, realize at this time The steady state of holder ensure that the reliability that holder uses.
Embodiment 14
Figure 14 is the flow diagram for the holder method of adjustment that the embodiment of the present invention 14 provides；In the base of above-described embodiment On plinth, with continued reference to attached drawing 14 it is found that the present embodiment again specifically limits the number of driving motor, specifically, will At least one driving motor is set as including that the orthogonal X-axis driving motor of motor shaft and Y-axis driving motor, method are also wrapped It includes:
S701: X-axis moment information, the Y-axis moment information of Y-axis driving motor of X-axis driving motor are obtained；
The realization process of this step and the realization process and realization for realizing the step S301 in effect and above-described embodiment Effect is identical, specifically refers to above statement content, details are not described herein.
S702: according to X-axis moment information and the preset gravitation information of photographic device, determine the center of gravity of photographic device with respect to X The X-axis offset information of the motor shaft of axis driving motor；
The realization process of this step and the realization process and realization for realizing the step S302 in effect and above-described embodiment Effect is identical, specifically refers to above statement content, details are not described herein.
S703: according to Y-axis moment information and the preset gravitation information of photographic device, determine the center of gravity of photographic device with respect to Y The Y-axis offset information of the motor shaft of axis driving motor；
The realization process of this step and the realization process and realization for realizing the step S303 in effect and above-described embodiment Effect is identical, specifically refers to above statement content, details are not described herein.
S704: X-axis offset information and Y-axis offset information are shown by display device, so that user deviates according to X-axis Amount information and Y-axis offset information are adjusted the center of gravity of holder in X/Y plane.
Wherein, the display strategy of X-axis offset information and Y-axis offset information is shown without limitation for display device, Such as: display device can be arranged and first show X-axis offset information, so that user is according to shown X-axis offset information pair The center of gravity of holder is adjusted in X-axis, wherein X-axis offset information may include X-axis offset direction and offset distance；To User, to after the centre of gravity adjustment of holder, shows Y-axis offset information according to X-axis offset information again in display device, with It is adjusted user in Y-axis to the center of gravity of holder according to shown Y-axis offset information；Alternatively, can also in display device First to show Y-axis offset information, after center of gravity of the user to holder is adjusted in Y-axis, then show that X-axis offset is believed Breath, so that user is adjusted the center of gravity of holder according to shown X-axis offset information in X-axis；Alternatively, can also incite somebody to action Display device is set as showing X-axis offset information and Y-axis offset information simultaneously, and user according to personal habits or can set Meter demand come select adjustment sequence；Wherein, shown X-axis offset information and Y-axis offset for convenience of user to watch Display device can be divided into two different display areas by information, so that X-axis offset information and Y-axis offset information It is shown respectively in different display areas, to facilitate user to watch.
In addition, the reality being adjusted according to X-axis offset information and Y-axis offset information to the center of gravity of holder for user Show process without limitation, if user can be adjusted according to installation site of the offset information to photographic device, due to camera shooting Device is mounted on holder, and therefore, when photographic device is adjusted, the position of centre of gravity of holder can be installed with photographic device The change of position and change, it is thereby achieved that the adjustment process of holder center of gravity；Alternatively, each driving motor is respectively connected with Telescopic motor armshaft, user can realize the center of gravity to holder by the length of the motor armshaft of each driving motor of adjusting Adjusting.
By the way that driving motor is set as including X-axis driving motor and Y-axis driving motor, and X-axis driving motor and Y-axis The motor shaft of driving motor is perpendicular, and user is on two dimensions adjusted the center of gravity of holder, improves cloud The accuracy of platform adjustment；In addition, by X-axis offset information and Y-axis offset information shown by display device, it can be intuitive Be shown to user's adjusting parameter, allow user do not have to understand holder working principle holder can accurately be adjusted It is whole, the learning cost of user is reduced, and then improve the practicability of the holder method of adjustment, is conducive to the popularization in market and answers With.
Embodiment 15
Figure 15 is the flow diagram for the holder method of adjustment that the embodiment of the present invention 15 provides；In the base of above-described embodiment On plinth, with continued reference to attached drawing 15 it is found that the present embodiment is for showing X-axis offset information and Y-axis offset by display device Information, so that user was adjusted the center of gravity of holder according to X-axis offset information and Y-axis offset information in X/Y plane Realization process without limitation, more preferably, will be set as being connected with telescopic X-axis armshaft on X-axis driving motor, Y-axis is driven It is connected with telescopic Y-axis armshaft on dynamic motor, the X-axis for adjusting X-axis armshaft length is additionally provided on X-axis armshaft and adjusts dress It sets, the Y-axis regulating device for adjusting Y-axis armshaft length is additionally provided on Y-axis armshaft；
X-axis offset information and Y-axis offset information are shown by display device, so that user believes according to X-axis offset Breath and Y-axis offset information are adjusted the center of gravity of holder in X/Y plane, specifically include:
S7041: X-axis offset information and Y-axis offset information are shown by display device, so that user: passing through X-axis tune Regulating device, and be adjusted according to length of the X-axis offset information to X-axis armshaft；By Y-axis regulating device, and it is inclined according to Y-axis The length of Y-axis armshaft is adjusted in shifting amount information.
Wherein, the specific structure of the X-axis regulating device in the present embodiment and Y-axis regulating device, realization process and realization Effect is identical as the specific structure of the regulating device in the step S603 in above-described embodiment, realization process and realization effect, Above statement content is specifically referred to, details are not described herein.
By above-mentioned user to the center of gravity of holder in the X-axis direction be adjusted in Y direction after, realize to cloud Adjustment of the center of gravity of platform in two-dimentional dimension improves the accuracy to holder adjustment；Specifically, since photographic device setting exists On holder, therefore the center of gravity of holder and the center of gravity of photographic device are in one-to-one relationship, and then are adjusted in the center of gravity to holder In whole process, the center of gravity of photographic device can be made with respect to the motor shaft of X-axis driving motor and the motor of Y-axis driving motor The offset information of axis is almost nil, realizes the steady state of holder at this time, ensure that holder uses reliable and stable Property.
Embodiment 16
Figure 16 is the flow diagram for the holder method of adjustment that the embodiment of the present invention 16 provides；In the base of above-described embodiment On plinth, with continued reference to attached drawing 16 it is found that the present embodiment is specifically limited further to the number of driving motor, specifically, At least one driving motor is set to include motor shaft X-axis driving motor perpendicular to each other, Y-axis driving motor and Z axis driving Motor, method further include:
S801: X-axis moment information, the Y-axis moment information of Y-axis driving motor and the Z axis driving of X-axis driving motor are obtained The Z axis moment information of motor；
The realization process of this step and the realization process and realization for realizing the step S401 in effect and above-described embodiment Effect is identical, specifically refers to above statement content, details are not described herein.
S802: according to X-axis moment information and the preset gravitation information of photographic device, determine the center of gravity of photographic device with respect to X The X-axis offset information of the motor shaft of axis driving motor；
The realization process of this step and the realization process and realization for realizing the step S402 in effect and above-described embodiment Effect is identical, specifically refers to above statement content, details are not described herein.
S803: according to Y-axis moment information and the preset gravitation information of photographic device, determine the center of gravity of photographic device with respect to Y The Y-axis offset information of the motor shaft of axis driving motor；
The realization process of this step and the realization process and realization for realizing the step S403 in effect and above-described embodiment Effect is identical, specifically refers to above statement content, details are not described herein.
S804: according to Z axis moment information and the preset gravitation information of photographic device, determine the center of gravity of photographic device with respect to Z The Z axis offset information of the motor shaft of axis driving motor；
The realization process of this step and the realization process and realization for realizing the step S404 in effect and above-described embodiment Effect is identical, specifically refers to above statement content, details are not described herein.
S805: showing X-axis offset information, Y-axis offset information and Z axis offset information by display device, so that User according to X-axis offset information, Y-axis offset information and Z axis offset information to the center of gravity of holder in XYZ space into Row adjustment.
Wherein, the aobvious of X-axis offset information, Y-axis offset information and Z axis offset information is shown for display device Show strategy without limitation, such as: display device can be arranged and first show X-axis offset information, so that user is according to shown X Axle offset amount information is adjusted the center of gravity of holder in X-axis, wherein X-axis offset information may include X-axis offset direction And offset distance；To user Y-axis is shown to after the centre of gravity adjustment of holder according to X-axis offset information again in display device Offset information finally exists so that user is adjusted the center of gravity of holder according to shown Y-axis offset information in Y-axis In display Z axis offset information in display device, so that user exists to the center of gravity of holder according to shown Z axis offset information It is adjusted on Z axis；Alternatively, Y-axis offset information can also be first shown in display device, to user to the center of gravity of holder in Y After being adjusted on axis, then X-axis offset information is shown, so that user is according to shown X-axis offset information to holder Center of gravity is adjusted in X-axis, finally shows Z axis offset information again, so that user is according to shown Z axis offset information The center of gravity of holder is adjusted on Z axis, wherein X-axis offset information, Y-axis offset information are shown for display device Any setting can be carried out according to the demand of user with the display order of Z axis offset information；Alternatively, can also be by display device It is set as showing X-axis offset information, Y-axis offset information and Z axis offset information simultaneously, user can practise according to individual Used or design requirement selects the sequence of adjustment；Wherein, shown X-axis offset information, Y-axis for convenience of user to watch Display device can be divided into three different display areas, so that X-axis is inclined by offset information and Z axis offset information Shifting amount information, Y-axis offset information and Z axis offset information are shown in different display areas respectively, to facilitate use Family viewing.
In addition, for user according to X-axis offset information, Y-axis offset information and Z axis offset information to holder The realization process that center of gravity is adjusted without limitation, as user can according to offset information to the installation site of photographic device into Row is adjusted, since photographic device is mounted on holder, when photographic device is adjusted, the position of centre of gravity meeting of holder Change with the change of photographic device installation site, it is thereby achieved that the adjustment process of holder center of gravity；Alternatively, by each Driving motor is respectively connected with telescopic motor armshaft, and user can pass through the length of the motor armshaft of each driving motor of adjusting Realize the adjusting to the center of gravity of holder.
By the way that driving motor is set as including X-axis driving motor, Y-axis driving motor and Z axis driving motor, and X The motor shaft of axis driving motor, the motor shaft of Y-axis driving motor and Z axis driving motor is perpendicular two-by-two, so that user can be with The center of gravity of holder is adjusted in three dimensions, improves the accuracy of holder adjustment；In addition, being shown by display device X-axis offset information, Y-axis offset information and the Z axis offset information shown can intuitively be shown to user and adjust ginseng Number, the working principle for allowing user not have to understand holder can accurately be adjusted holder, reduce the study of user Cost, and then the practicability of the holder method of adjustment is improved, be conducive to the popularization and application in market.
Embodiment 17
Figure 17 is the flow diagram for the holder method of adjustment that the embodiment of the present invention 17 provides；In the base of above-described embodiment On plinth, with continued reference to attached drawing 17 it is found that the present embodiment is for showing that X-axis offset information, Y-axis offset are believed by display device Breath and Z axis offset information, so that user is according to X-axis offset information, Y-axis offset information and Z axis offset information pair The specific implementation process that the center of gravity of holder is adjusted in XYZ space is without limitation, wherein and it is more preferred, X-axis is driven It is set as being connected with telescopic X-axis armshaft on motor, telescopic Y-axis armshaft, Z axis driving is connected on Y-axis driving motor It is connected with telescopic Z axis armshaft on motor, the X-axis for adjusting X-axis armshaft length is additionally provided on X-axis armshaft and adjusts dress It sets, the Y-axis regulating device for adjusting Y-axis armshaft length is additionally provided on Y-axis armshaft, is additionally provided on Z axis armshaft for adjusting Save the Z axis regulating device of Z axis armshaft length；
X-axis offset information, Y-axis offset information and Z axis offset information are shown by display device, so that user's root The center of gravity of holder is adjusted in XYZ space according to X-axis offset information, Y-axis offset information and Z axis offset information It is whole, it specifically includes:
S8051: showing X-axis offset information, Y-axis offset information and Z axis offset information by display device, so that User:
It is adjusted by X-axis regulating device, and according to length of the X-axis offset information to X-axis armshaft；Pass through Y-axis tune Regulating device, and be adjusted according to length of the Y-axis offset information to Y-axis armshaft；By Z axis regulating device, and it is inclined according to Z axis The length of Z axis armshaft is adjusted in shifting amount information.
Wherein, the X-axis regulating device in the present embodiment, the specific structure of Y-axis regulating device and Z axis regulating device, reality Existing process and realize the specific structure of regulating device in step S603 in effect and above-described embodiment, realize process and It realizes that effect is identical, specifically refers to above statement content, details are not described herein.
After being adjusted in the X-axis direction, in Y direction and in Z-direction by center of gravity of the above-mentioned user to holder, The adjustment to the center of gravity of holder in three dimensions is realized, the accuracy to holder adjustment is improved；Specifically, due to camera shooting Device is arranged on holder, therefore the center of gravity of holder and the center of gravity of photographic device are in one-to-one relationship, and then to holder During center of gravity is adjusted, the center of gravity of photographic device can be made to drive electricity with respect to the motor shaft of X-axis driving motor, Y-axis The offset information of the motor shaft of the motor shaft and Z axis driving motor of machine is almost nil, realizes the flat of holder at this time Steady state ensure that the reliability that holder uses.
Embodiment 18
Figure 18 is the flow diagram for the holder method of adjustment that the embodiment of the present invention 18 provides；In the base of above-described embodiment On plinth, with continued reference to attached drawing 18 it is found that in order to improve the practicability of the holder method of adjustment, further, set holder to Also communication link is connected to processor, in offset letter of the center of gravity for determining photographic device with respect to the motor shaft of at least one driving motor After breath, further includes:
S901: processor determines offset adjustable strategies information according to offset information, and will offset adjustable strategies information hair It send to display device；
Wherein, the offset adjustable strategies information in this step can be configured according to specific design requirement, such as can be with Offset adjustable strategies information is set as including specific operation adjustment step, such as: if at least one driving motor includes X-axis Driving motor, Y-axis driving motor and Z axis driving motor are obtaining the center of gravity of photographic device relative to above-mentioned each driving motor X-axis offset information, after Y-axis offset information and Z axis offset information, processor determines X according to X-axis offset information Axle offset adjustable strategies information, likewise, determining that Y-axis deviates adjustable strategies according to Y-axis offset information and Z axis offset information Information and Z axis deviate adjustable strategies information, wherein and offset information includes offset direction and offset distance information, such as: to A left side, offset distance 1cm, and at this point, user also needs to compensate calculating according to offset information shown above, that is, it uses The practical operation at family is to move right 2cm, and set-up procedure can be directly displayed by deviating adjustable strategies information, without user again into Row compensation calculation, for example, offset adjustable strategies information are as follows: please adjust 1cm to the left, please adjust 1.5cm etc. to the right, is i.e. offset is adjusted Whole policy information intuitively can guide user to be adjusted, and then effectively improve and regulate the speed and efficiency.
S902: by display device display offset adjustable strategies information, so that user is according to offset adjustable strategies information pair The center of gravity of holder is adjusted.
Wherein, the specific implementation being adjusted to the center of gravity of holder for user according to offset adjustable strategies information is not It limits, the position for the photographic device being arranged on holder is adjusted for example, can be set to user；Alternatively, on holder Driving motor be connected with telescopic motor armshaft, user can be adjusted the length of motor armshaft, with realize to cloud The center of gravity of platform is adjusted；Wherein, more preferably, user is set to the length of telescopic motor armshaft by implementation It is adjusted, wherein specific regulative mode can adjust the length of motor armshaft using regulating device among the above, in this way It is simple, convenient, improve the practicability of holder adjustment.
Since offset adjustable strategies information is the visual information for guiding user to be operated, user can direct root It is adjusted according to offset adjustable strategies information shown in display device, saves the time of user's calculating, reduced artificial Labour, improves the speed and efficiency of holder adjustment, and ensure that the accuracy of holder adjustment, ensure that holder uses steady Determine reliability.
Embodiment 19
On the basis of the above embodiments, in order to further increase the accuracy that user adjusts holder center of gravity, by each drive It is set as being connected with telescopic motor armshaft on dynamic motor, calibration information is provided on each motor armshaft, in processor According to offset information determine offset adjustable strategies information, and will offset adjustable strategies information be sent to display device after, In, which includes: adjusting directional information corresponding with motor armshaft and corresponding with motor armshaft Sized information, this method further include:
S903: adjusting directional information corresponding with motor armshaft and opposite with motor armshaft is shown by display device The sized information answered, so that user compares calibration information according to shown adjusting directional information and sized information pair The length of corresponding motor armshaft is adjusted.
Wherein, without limitation for the particular content of offset adjustable strategies information, more preferably, policy information will be deviated It is set as including adjusting directional information corresponding with motor armshaft and sized information corresponding with motor armshaft, example Such as: motor armshaft includes X-axis armshaft, Y-axis armshaft and Z axis armshaft, and after calculating after testing, confirmation is needed to above three electricity Arbor arm is adjusted separately, then in order to clearly show that specific offset corresponding to each motor armshaft is adjusted to user Whole policy information, then can be opposite with corresponding motor armshaft by shown adjusting directional information and sized information It answers, such as: X-axis armshaft, adjusting direction is to adjust to the left, and sized information is 1cm or adjusts specific size lattice number；Y Axis armshaft, adjusting direction is to adjust inwardly, and sized information is the specific size lattice number of 2cm or adjusting；Z axis armshaft, Adjusting direction is to adjust upward, and sized information is the specific size format of 2cm or adjusting, can be clear in this way to User shows the offset adjustable strategies information, and then improves the practicability of this method, and user can also be by can stretch The offset tune that the center of gravity to realize to holder is adjusted, and shows in display device is adjusted in the length of the motor armshaft of contracting Whole policy information intuitively can guide user to be adjusted operating procedure, in order to further increase the accurate reliable of user's adjustment Property, calibration information is provided on telescopic motor armshaft, it is inclined that calibration information can intuitively remind user to be adjusted Therefore shifting amount can effectively guarantee the accurate reliability of holder adjustment, further improve what the holder method of adjustment used Reliability is conducive to the popularization and application in market.
Embodiment 20
Figure 19 is the structural schematic diagram that the holder that one embodiment of the invention provides adjusts device；With reference to attached drawing 19 it is found that originally The another aspect of embodiment provides a kind of holder adjustment device, and holder adjustment device is for adjusting the center of gravity of holder It is whole, to realize that the center of gravity for the photographic device being mounted on holder falls in the motor shaft for each driving motor being mounted on holder On, so that holder is in stable working condition, specifically, being provided with photographic device on the holder, holder includes at least One driving motor 1；It includes: the first data acquisition device 2 and first processor 3 that holder, which adjusts device, wherein the first data are adopted Acquisition means 2 and first processor 3 communicate to connect；
First data acquisition device 2, for obtaining the moment information of at least one driving motor；
First processor 3, for determining the weight of photographic device according to moment information and the preset gravitation information of photographic device Offset information of the heart with respect to the motor shaft of at least one driving motor；
First processor 3 is also used to be adjusted according to center of gravity of the offset information to holder.
Wherein, for the first data acquisition device 2 and first processor 3 communication connection mode without limitation, such as can be with Wired connection, wireless connection, bluetooth connection etc. are set by communication connection mode, as long as can be realized the first data acquisition dress 2 and the realization data interaction of first processor 3 are set, details are not described herein；Furthermore it is possible to which the first data acquisition device 2 is set It is set to including torque measurer, which is used to obtain the moment information of at least one driving motor；In addition, this implementation The specific implementation process and realization for the functional effect that the first data acquisition device 2 and first processor 3 in example are realized Effect in the step S101-S103 in above-described embodiment one realization process and realize effect it is identical, specifically refer to Those set forth is stated, details are not described herein.
Holder provided in this embodiment adjusts device, obtains at least one driving motor by the first data acquisition device 2 Moment information, and by first processor 3 according to moment information and the preset gravitation information of photographic device, determine photographic device Center of gravity with respect at least one driving motor motor shaft offset information, by obtaining offset information after accurately calculating, And the center of gravity of holder is adjusted automatically according to offset information, it effectively overcomes and is adjusted in the prior art to holder When whole, it is difficult to complete for the relevant technologies understand the user not inputted, and acquired in human error influences whether Offset and offset direction accuracy, and then the problem of influence the reliability that holder uses, and then ensure that holder The accurate reliability of adjustment, while also improving the reliability that holder adjustment device uses.
Embodiment 21
On the basis of the above embodiments, with continued reference to attached drawing 19 it is found that the present embodiment is for the first data acquisition device 2 Obtain the specific implementation process of the moment information of at least one driving motor without limitation, wherein it is more preferred, by the first number It is set as being specifically used for according to acquisition device 2:
Obtain the current information of at least one driving motor；
According to current information, the moment information of driving motor is determined.
Wherein, the first data acquisition device 2 determines the specific implementation side of the moment information of driving motor according to current information Method are as follows:
The moment information of driving motor is determined according to M=K*I, wherein M is the moment information of driving motor, and K is driving electricity The torque constant of machine, I are the current information of driving motor.
The specific implementation process and reality of above-mentioned the realized operating procedure of the first data acquisition device 2 in the present embodiment It existing effect and the realization process in step S1011-S1012, S10121 in above-described embodiment two and realizes that effect is identical, has Body can refer to above statement content, and details are not described herein.
Current information is got by aforesaid operations step, and moment information is got by formula calculating, it can be effective Ground guarantees the accurate reliability of the moment information of at least one accessed driving motor, and then improves holder adjustment dress Set the reliability used.
Embodiment 22
On the basis of the above embodiments, with continued reference to attached drawing 19 it is found that the present embodiment for first processor 3 according to turn Square information and the preset gravitation information of photographic device, determine motor shaft of the center of gravity with respect at least one driving motor of photographic device Offset information operating process without limitation, wherein it is more preferred, first processor 3 is set as being specifically used for:
The offset information of the motor shaft of at least one opposite driving motor of center of gravity of photographic device is determined according to M=L*G, Wherein, M is the moment information of driving motor, and L is offset information, and G is the preset gravitation information of photographic device.
Wherein, first processor 3 gets the center of gravity of photographic device relative at least one drive by above-mentioned calculation formula The offset information of the motor shaft of dynamic motor, is effectively guaranteed the accurate reliability of offset information acquisition, due to offset Information directly influences the accurate reliability to holder centre of gravity adjustment, this improves the accuracy to holder centre of gravity adjustment, into One step ensure that the practicability of holder adjustment device.
Embodiment 23
On the basis of the above embodiments, with continued reference to attached drawing 19 it is found that the present embodiment can be to the number of driving motor It is specifically limited, for example, setting at least one driving motor to include X-axis driving motor；It is so, corresponding,
First data acquisition device 2 is also used to obtain the X-axis moment information of X-axis driving motor；
First processor 3 is also used to determine camera shooting dress according to X-axis moment information and the preset gravitation information of photographic device Offset information of the center of gravity set with respect to the motor shaft of X-axis driving motor；According to offset information automatically to the center of gravity of holder in X Axis direction is adjusted.
The specific reality for the functional effect that the first data acquisition device 2 and first processor 3 in the present embodiment are realized Existing process and realization effect and realization process and realization effect phase in the step S201-S203 in above-described embodiment four Together, above statement content is specifically referred to, details are not described herein.
By it is above-mentioned the center of gravity of holder is adjusted automatically after, due to photographic device be arranged on holder, cloud The center of gravity of platform and the center of gravity of photographic device are in one-to-one relationship, and then during the center of gravity to holder is adjusted, can So that the center of gravity of photographic device is almost nil with respect to the offset information of the motor shaft of X-axis driving motor, realize at this time The steady state of holder ensure that the reliability that holder uses.
Embodiment 24
On the basis of the above embodiments, with continued reference to attached drawing 19 it is found that the present embodiment is automatic for first processor 3 right The realization process that the center of gravity of holder is adjusted is without limitation, wherein and it is more preferred, X-axis driving motor can be set to It is connected with telescopic X-axis armshaft, X-axis armshaft is connected with photographic device, and is provided on X-axis armshaft for adjusting X-axis The regulating device of armshaft length, regulating device are electrically connected with first processor 3；
First processor 3 automatically carries out the length of X-axis armshaft according to offset information specifically for controling adjustment device It adjusts, so that the center of gravity of holder is adjusted in X-direction.
The process and realize in effect and above-described embodiment that the first processor 3 is realized by controling adjustment device The realization process of step S2031 is identical with effect is realized, specifically refers to above statement content.
By the regulating device of setting, the intelligence and the degree of automation of holder adjustment device, section are effectively improved Cost of labor has been saved, the speed and efficiency of adjusting are improved, and then has improved the reliability that the regulating device uses.
Embodiment 25
On the basis of the above embodiments, with continued reference to attached drawing 19 it is found that the present embodiment can be to the number of driving motor Further limited, for example, by least one driving motor be set as include the orthogonal X-axis driving motor of motor shaft and Y-axis driving motor；It is corresponding,
First data acquisition device 2 is also used to obtain the X-axis moment information of X-axis driving motor and the Y of Y-axis driving motor Shaft torque information；
First processor 3, is also used to: according to X-axis moment information and the preset gravitation information of photographic device, determining camera shooting dress X-axis offset information of the center of gravity set with respect to the motor shaft of X-axis driving motor；It is default according to Y-axis moment information and photographic device Gravitation information, determine the Y-axis offset information of the center of gravity of photographic device with respect to the motor shaft of Y-axis driving motor；It is inclined according to X-axis Shifting amount information and Y-axis offset information are automatically adjusted the center of gravity of holder in X/Y plane.
The specific reality for the functional effect that the first data acquisition device 2 and first processor 3 in the present embodiment are realized Existing process and realization effect and realization process and realization effect phase in the step S301-S304 in above-described embodiment six Together, above statement content is specifically referred to, details are not described herein.
By above-mentioned first processor 3 according to X-axis offset information and Y-axis offset information automatically to the center of gravity of holder into After row adjustment, since photographic device is arranged on holder, the center of gravity of holder and the center of gravity of photographic device are in one-to-one correspondence Relationship, and then during the center of gravity to holder is adjusted, the center of gravity of photographic device can be made with respect to X-axis driving motor Motor shaft and Y-axis driving motor motor shaft offset information it is almost nil, realize the steady state of holder at this time, It ensure that the reliability that holder uses.
Embodiment 26
On the basis of the above embodiments, with continued reference to attached drawing 19 it is found that the present embodiment for first processor 3 according to X Axle offset amount information and Y-axis offset information automatically do not limit the realization process that the center of gravity of holder is adjusted in X/Y plane It is fixed, wherein it is more preferred, it sets X-axis driving motor to be connected with telescopic X-axis armshaft, X-axis armshaft and Y-axis drive Motor is connected, and Y-axis driving motor is connected with telescopic Y-axis armshaft, and Y-axis armshaft is connected with photographic device, and X-axis axis The X-axis regulating device for adjusting X-axis armshaft length is provided on arm, X-axis regulating device is electrically connected with first processor 3, Y-axis The Y-axis regulating device for adjusting Y-axis armshaft length is provided on armshaft, Y-axis regulating device is electrically connected with first processor 3；
First processor 3, is specifically used for: control X-axis regulating device is according to X-axis offset information automatically to X-axis armshaft Length is adjusted, so that the center of gravity of holder is adjusted in X-direction；Y-axis regulating device is controlled to be believed according to Y-axis offset Breath is automatically adjusted the length of Y-axis armshaft, so that the center of gravity of holder is adjusted in Y direction.
The specific implementation process of the functional effect that first processor 3 in the present embodiment is realized and realize effect with it is upper It states the realization process in the step S3041-S3042 in embodiment seven and realizes that effect is identical, specifically refer to above statement Content, details are not described herein.
Control X-axis regulating device and Y-axis regulating device by first processor 3, allow holder on two dimensions It can be automatically adjusted, effectively improve the intelligence degree and the degree of automation of holder adjustment device, save people Work cost, while ensure that the speed and efficiency of adjusting, and then improve the reliability that the regulating device uses.
Embodiment 27
On the basis of the above embodiments, with continued reference to attached drawing 19 it is found that the present embodiment can be to the number of driving motor It is further limited, for example, setting at least one driving motor to include motor shaft X-axis driving motor perpendicular to each other, Y Axis driving motor and Z axis driving motor；
First data acquisition device 2 is also used to obtain the X-axis moment information of X-axis driving motor, the Y-axis of Y-axis driving motor The Z axis moment information of moment information and Z axis driving motor；
First processor 3, is also used to: according to X-axis moment information and the preset gravitation information of photographic device, determining camera shooting dress X-axis offset information of the center of gravity set with respect to the motor shaft of X-axis driving motor；It is default according to Y-axis moment information and photographic device Gravitation information, determine the Y-axis offset information of the center of gravity of photographic device with respect to the motor shaft of Y-axis driving motor；Turned according to Z axis Square information and the preset gravitation information of photographic device determine the Z axis of the center of gravity of photographic device with respect to the motor shaft of Z axis driving motor Offset information；Existed automatically to the center of gravity of holder according to X-axis offset information, Y-axis offset information and Z axis offset information It is adjusted in XYZ space.
The specific reality for the functional effect that the first data acquisition device 2 and first processor 3 in the present embodiment are realized Existing process and realization effect and realization process and realization effect phase in the step S401-S405 in above-described embodiment eight Together, above statement content is specifically referred to, details are not described herein.
It is automatic according to X-axis offset information, Y-axis offset information and Z axis offset information by above-mentioned first processor 3 After being adjusted to the center of gravity of holder, since photographic device is arranged on holder, the center of gravity of holder and photographic device Center of gravity is in one-to-one relationship, and then during the center of gravity to holder is adjusted, can make the center of gravity of photographic device The offset letter of the motor shaft of the motor shaft of opposite X-axis driving motor, the motor shaft of Y-axis driving motor and Z axis driving motor Breath is almost nil, the adjustment process to holder is realized from three dimensions, so that holder held stationary state, ensure that cloud The reliability that platform uses.
Embodiment 28
On the basis of the above embodiments, with continued reference to attached drawing 19 it is found that the present embodiment for first processor 3 according to X Axle offset amount information, Y-axis offset information and Z axis offset information are automatically adjusted the center of gravity of holder in XYZ space Realization process without limitation, wherein it is more preferred, X-axis driving motor is set to be connected with telescopic X-axis armshaft, X Axis armshaft is connected with Y-axis driving motor, and Y-axis driving motor is connected with telescopic Y-axis armshaft, Y-axis armshaft and photographic device It is connected, Z axis driving motor is connected with telescopic Z axis armshaft, and Z axis armshaft is connected with X-axis driving motor, and X-axis axis The X-axis regulating device for adjusting X-axis armshaft length is provided on arm, X-axis regulating device is electrically connected with first processor 3, Y-axis The Y-axis regulating device for adjusting Y-axis armshaft length is provided on armshaft, Y-axis regulating device is electrically connected with first processor 3, Z The Z axis regulating device for adjusting Z axis armshaft length is provided on axis armshaft, Z axis regulating device is electrically connected with first processor 3 It connects；
First processor 3, is specifically used for: control X-axis regulating device is according to X-axis offset information automatically to X-axis armshaft Length is adjusted, so that the center of gravity of holder is adjusted in X-direction；Y-axis regulating device is controlled to be believed according to Y-axis offset Breath is automatically adjusted the length of Y-axis armshaft, so that the center of gravity of holder is adjusted in Y direction；It controls Z axis and adjusts dress It sets and the length of Z axis armshaft is adjusted automatically according to Z axis offset information, so that the center of gravity of holder is carried out in Z-direction Adjustment.
The specific implementation process of the functional effect that first processor 3 in the present embodiment is realized and realize effect with it is upper It states the realization process in the step S4051-S4053 in embodiment nine and realizes that effect is identical, specifically refer to above statement Content, details are not described herein.
X-axis regulating device, Y-axis regulating device and the realization pair of Z axis regulating device are controlled by the first processor 3 of setting The adjusting of holder center of gravity be automatically adjusted holder can in three dimensions, effectively improve the holder tune The intelligence degree and the degree of automation of engagement positions, save cost of labor, while ensure that the speed and efficiency of adjusting, improve The reliability that the regulating device uses.
Embodiment 29
Figure 20 be another embodiment of the present invention provides holder adjust device structural schematic diagram；With reference to attached drawing 20 it is found that Another holder adjustment device is present embodiments provided, holder adjustment device is equally used for being adjusted the center of gravity of holder, To guarantee the steady state of holder, specifically, being provided with photographic device on the holder, holder includes at least one driving motor, Holder and a display device 6 communicate to connect；Holder adjustment device includes: the second data acquisition device 4 and second processor 5, the Two processors 4 are communicated to connect with second processor 5, and second processor 5 and display device 6 communicate to connect；
Second data acquisition device 4, for obtaining the moment information of at least one driving motor；
Second processor 5, for determining the weight of photographic device according to moment information and the preset gravitation information of photographic device The heart with respect to the motor shaft of at least one driving motor offset information,
Display device 6 is used for display offset amount information, so that user is according to shown offset information to the weight of holder The heart is adjusted.
Wherein, the communication connection mode of the second data acquisition device 4, second processor 5 and display device 6 is not done It limits, such as communication connection mode can be set to wired connection, wireless connection, bluetooth connection, as long as enabling to the Two processors 5 and the second data acquisition device 4 and display device 6 realize data interaction；In addition, being acquired for the second data The specific structure of device 4, second processor 5 and display device 6 without limitation, such as can be by the second data acquisition device 4 It is set as including torque measurer, which is used to obtain the moment information of at least one driving motor；In addition, this reality Apply the specific implementation for the functional effect that the second data acquisition device 4, second processor 5 and display device 6 in example are realized Process and realize effect in the step S501-S503 in above-described embodiment ten realization process and realization effect it is identical, Specifically refer to above statement content.
Holder provided in this embodiment adjusts device, obtains at least one driving motor by the second data acquisition device 4 Moment information, and by second processor 5 according to moment information and the preset gravitation information of photographic device, determine photographic device Center of gravity with respect at least one driving motor motor shaft offset information, by display device 6 display accurately calculate after obtain Offset information is obtained, user is adjusted according to center of gravity of the shown offset information to holder, effectively overcomes existing In technology when being adjusted holder, it is difficult to complete for the relevant technologies understand the user not inputted, and due to people The accuracy of acquired offset and offset direction is influenced whether for error, and then influences the reliability that holder uses Problem, and then ensure that the accurate reliability of holder adjustment, while also improving the reliability that holder uses, be conducive to city The popularization and application of field.
Embodiment 30
On the basis of the above embodiments, with continued reference to attached drawing 20 it is found that the present embodiment is for the second data acquisition device 4 Obtain the realization process of the moment information of at least one driving motor without limitation, those skilled in the art can be according to specific Design requirement is configured, wherein and it is more preferred,
Second data acquisition device 4 can be set as being specifically used for: obtain the current information of at least one driving motor； According to current information, the moment information of driving motor is determined.
Wherein, the specific reality of the moment information of driving motor is determined according to current information for the second data acquisition device 4 Existing process is without limitation, wherein and it is more preferred, the second data acquisition device is set as being specifically used for:
The moment information of driving motor is determined according to M=K*I, wherein M is the moment information of driving motor, and K is driving electricity The torque constant of machine, I are the current information of driving motor.
The specific implementation process and realization effect for the functional effect that the second data acquisition device 4 in the present embodiment is realized Fruit in step S5011-S5012, S50121 in above-described embodiment 11 realization process and realize effect it is identical, specifically It can refer to above statement content, details are not described herein.
When the current information of driving motor is multiple, then according to above-mentioned formula, it is available to arrive multiple driving motors Moment information, get current information by above-mentioned, and moment information is got by formula calculating, can effectively guarantee The accurate reliability of the moment information of at least one accessed driving motor, and then improve holder adjustment device and use Reliability.
Embodiment 31
On the basis of the above embodiments, with continued reference to attached drawing 20 it is found that the present embodiment for second processor 5 according to turn Square information and the preset gravitation information of photographic device, determine motor shaft of the center of gravity with respect at least one driving motor of photographic device Offset information specific implementation process without limitation, wherein it is more preferred, second processor 5 is set as specifically using In:
The offset information of the motor shaft of at least one opposite driving motor of center of gravity of photographic device is determined according to M=L*G, Wherein, M is the moment information of driving motor, and L is offset information, and G is the preset gravitation information of photographic device.
Wherein, second processor 5 gets the center of gravity of photographic device relative at least one drive by above-mentioned calculation formula The offset information of the motor shaft of dynamic motor, is effectively guaranteed the accurate reliability of offset information acquisition, due to offset Information directly influences the accurate reliability to holder centre of gravity adjustment, this improves the accuracy to holder centre of gravity adjustment, into One step ensure that the practicability of holder adjustment device.
Embodiment 32
On the basis of the above embodiments, with continued reference to attached drawing 20 it is found that the present embodiment for driving motor number into Row is specific to be limited, specifically, including X-axis driving motor by least one driving motor, is connected on X-axis driving motor scalable X-axis armshaft, the regulating device for adjusting X-axis armshaft length is provided on X-axis armshaft；It is corresponding,
Second data acquisition device 4 is also used to obtain the X-axis moment information of X-axis driving motor；
Second processor 5 is also used to determine camera shooting dress according to X-axis moment information and the preset gravitation information of photographic device X-axis offset information of the center of gravity set with respect to the motor shaft of X-axis driving motor；
Display device 6, for showing X-axis offset information, so that user passes through regulating device, and according to X-axis offset The length of X-axis armshaft is adjusted in information.
Wherein, the display equipment 6 in the embodiment may include it is following any one: mobile phone, tablet computer, LED are shown Screen, liquid crystal display；In addition, the second data acquisition device 4, second processor 5 and 6 institute of display device in the present embodiment are real The specific implementation process and realization effect of existing functional effect and the reality in the step S601-S603 in above-described embodiment 13 Existing process and realization effect are identical, specifically refer to above statement content, details are not described herein.
After being adjusted by center of gravity of the above-mentioned user to holder, since photographic device is arranged on holder, cloud The center of gravity of platform and the center of gravity of photographic device are in one-to-one relationship, and then during the center of gravity to holder is adjusted, can So that the center of gravity of photographic device is almost nil with respect to the offset information of the motor shaft of X-axis driving motor, realize at this time The steady state of holder ensure that the reliability that holder uses.
Embodiment 33
On the basis of the above embodiments, with continued reference to attached drawing 20 it is found that the present embodiment is again for of driving motor Number is specifically limited, specifically, including the orthogonal X-axis driving motor of motor shaft and Y-axis by least one driving motor Driving motor；
Second data acquisition device 4 is also used to obtain the X-axis moment information of X-axis driving motor, the Y-axis of Y-axis driving motor Moment information；
Second processor 5, is also used to: according to X-axis moment information and the preset gravitation information of photographic device, determining camera shooting dress X-axis offset information of the center of gravity set with respect to the motor shaft of X-axis driving motor；It is default according to Y-axis moment information and photographic device Gravitation information, determine the Y-axis offset information of the center of gravity of photographic device with respect to the motor shaft of Y-axis driving motor；
Display device 6 is also used to show X-axis offset information and Y-axis offset information, so that user is inclined according to X-axis Shifting amount information and Y-axis offset information are adjusted the center of gravity of holder in X/Y plane.
The function effect that the second data acquisition device 4, second processor 5 and display device 6 in the present embodiment are realized The specific implementation process of fruit and realize realization process in step S701-S704 in effect and above-described embodiment 14 and It realizes that effect is identical, specifically refers to above statement content.
By the way that driving motor is set as including X-axis driving motor and Y-axis driving motor, and X-axis driving motor and Y-axis The motor shaft of driving motor is perpendicular, and user is on two dimensions adjusted the center of gravity of holder, improves cloud The accuracy of platform adjustment；In addition, by X-axis offset information and Y-axis offset information shown by display device, it can be intuitive Be shown to user's adjusting parameter, allow user do not have to understand holder working principle holder can accurately be adjusted It is whole, the learning cost of user is reduced, and then improve the practicability of holder adjustment device, is conducive to the popularization in market and answers With.
Embodiment 34
On the basis of the above embodiments, with continued reference to attached drawing 20 it is found that the present embodiment is used to show for display device 6 X-axis offset information and Y-axis offset information, so that user is according to X-axis offset information and Y-axis offset information to holder The specific implementation process that is adjusted in X/Y plane of center of gravity without limitation, wherein it is more preferred, by X-axis driving motor On be connected with telescopic X-axis armshaft, telescopic Y-axis armshaft is connected on Y-axis driving motor, is additionally provided on X-axis armshaft For adjusting the X-axis regulating device of X-axis armshaft length, the Y-axis tune for adjusting Y-axis armshaft length is additionally provided on Y-axis armshaft Regulating device；
Display device 6 is specifically used for display X-axis offset information and Y-axis offset information, so that user is so that handy Family: the length of X-axis armshaft is adjusted by X-axis regulating device, and according to X-axis offset information and X-axis calibration information；It is logical Y-axis regulating device is crossed, and the length of Y-axis armshaft is adjusted according to Y-axis offset information and Y-axis calibration information.
Wherein, the specific structure of the X-axis regulating device in the present embodiment and Y-axis regulating device, realization process and realization Effect is identical as the specific structure of the regulating device in the step S603 in above-described embodiment, realization process and realization effect, Above statement content is specifically referred to, details are not described herein.
By X-axis offset information shown by display device 6 and Y-axis offset information, allow user quickly, have Effect ground to the center of gravity of holder in the X-axis direction be adjusted in Y direction, realize to the center of gravity of holder in two-dimentional dimension Adjustment, improve to holder adjustment accuracy；Specifically, since photographic device is arranged on holder, the weight of holder The center of gravity of the heart and photographic device is in one-to-one relationship, and then during the center of gravity to holder is adjusted, can be made The center of gravity of photographic device is several with respect to the offset information of the motor shaft of X-axis driving motor and the motor shaft of Y-axis driving motor It is zero, realizes the steady state of holder at this time, ensure that the reliability that holder uses.
Embodiment 35
On the basis of the above embodiments, with continued reference to attached drawing 20 it is found that the present embodiment is further to driving motor Number is specifically limited, specifically, setting at least one driving motor to include that motor shaft X-axis perpendicular to each other drives electricity Machine, Y-axis driving motor and Z axis driving motor；
Second data acquisition device 4 is also used to obtain the X-axis moment information of X-axis driving motor, the Y-axis of Y-axis driving motor The Z axis moment information of moment information and Z axis driving motor；
Second processor 5, is also used to: according to X-axis moment information and the preset gravitation information of photographic device, determining camera shooting dress X-axis offset information of the center of gravity set with respect to the motor shaft of X-axis driving motor；It is default according to Y-axis moment information and photographic device Gravitation information, determine the Y-axis offset information of the center of gravity of photographic device with respect to the motor shaft of Y-axis driving motor；Turned according to Z axis Square information and the preset gravitation information of photographic device determine the Z axis of the center of gravity of photographic device with respect to the motor shaft of Z axis driving motor Offset information；
Display device 6, be also used to show X-axis offset information, Y-axis offset information and Z axis offset information so that User according to X-axis offset information, Y-axis offset information and Z axis offset information to the center of gravity of holder in XYZ space into Row adjustment.
The function effect that the second data acquisition device 4, second processor 5 and display device 6 in the present embodiment are realized The specific implementation process of fruit and realize realization process in step S801-S805 in effect and above-described embodiment 16 and It realizes that effect is identical, specifically refers to above statement content.
By the way that driving motor is set as including X-axis driving motor, Y-axis driving motor and Z axis driving motor, and X The motor shaft of axis driving motor, the motor shaft of Y-axis driving motor and Z axis driving motor is perpendicular two-by-two, so that user can be with The center of gravity of holder is adjusted in three dimensions, improves the accuracy of holder adjustment；In addition, being shown by display device X-axis offset information, Y-axis offset information and the Z axis offset information shown can intuitively be shown to user and adjust ginseng Number, the working principle for allowing user not have to understand holder can accurately be adjusted holder, reduce the study of user Cost, and then the practicability of holder adjustment device is improved, be conducive to the popularization and application in market.
Embodiment 36
On the basis of the above embodiments, with continued reference to attached drawing 20 it is found that the present embodiment is used to show for display device 6 X-axis offset information, Y-axis offset information and Z axis offset information are so that user deviates according to X-axis offset information, Y-axis The realization process that amount information and Z axis offset information are adjusted the center of gravity of holder in XYZ space without limitation, In, more preferably, it will be set as being connected with telescopic X-axis armshaft on X-axis driving motor, be connected on Y-axis driving motor Telescopic Y-axis armshaft is connected with telescopic Z axis armshaft on Z axis driving motor, is additionally provided on X-axis armshaft for adjusting X The X-axis regulating device of axis armshaft length is additionally provided with the Y-axis regulating device for adjusting Y-axis armshaft length, Z axis on Y-axis armshaft The Z axis regulating device for adjusting Z axis armshaft length is additionally provided on armshaft；
Display device 6, be specifically used for display X-axis offset information, Y-axis offset information and Z axis offset information so that Obtain user:
It is adjusted by X-axis regulating device, and according to length of the X-axis offset information to X-axis armshaft；Pass through Y-axis tune Regulating device, and be adjusted according to length of the Y-axis offset information to Y-axis armshaft；By Z axis regulating device, and it is inclined according to Z axis The length of Z axis armshaft is adjusted in shifting amount information.
Wherein, the X-axis regulating device in the present embodiment, the specific structure of Y-axis regulating device and Z axis regulating device, reality Existing process and realize the specific structure of regulating device in step S603 in effect and above-described embodiment, realize process and It realizes that effect is identical, specifically refers to above statement content, details are not described herein.
After being adjusted in the X-axis direction, in Y direction and in Z-direction by center of gravity of the above-mentioned user to holder, The adjustment to the center of gravity of holder in three dimensions is realized, the accuracy to holder adjustment is improved；Specifically, due to camera shooting Device is arranged on holder, therefore the center of gravity of holder and the center of gravity of photographic device are in one-to-one relationship, and then to holder During center of gravity is adjusted, the center of gravity of photographic device can be made to drive electricity with respect to the motor shaft of X-axis driving motor, Y-axis The offset information of the motor shaft of the motor shaft and Z axis driving motor of machine is almost nil, realizes the flat of holder at this time Steady state ensure that the reliability that holder uses.
Embodiment 37
On the basis of the above embodiments, with continued reference to attached drawing 20 it is found that in order to improve the practical of holder adjustment device Property, increase the processing function of second processor 5, specifically,
Second processor 5 is also used in the center of gravity for the determining photographic device motor shaft of at least one driving motor relatively After offset information, offset adjustable strategies information is determined according to offset information, and offset adjustable strategies information is sent to Display device 6；
Display device 6 is used for display offset adjustable strategies information, so that user is according to offset adjustable strategies information to cloud The center of gravity of platform is adjusted.
The specific implementation process for the functional effect that second processor 5 and display device 6 in the present embodiment are realized with And realize effect in the step S901-S902 in above-described embodiment 18 realization process and realization effect it is identical, specifically It can refer to above statement content, details are not described herein.
Since offset adjustable strategies information is the visual information for guiding user to be operated, user can direct root It is adjusted according to offset adjustable strategies information shown in display device 6, saves the time of user's calculating, reduced artificial Labour, improves the speed and efficiency of holder adjustment, and ensure that the accuracy of holder adjustment, ensure that holder uses steady Determine reliability.
Embodiment 38
On the basis of the above embodiments, with continued reference to attached drawing 20 it is found that adjusting holder weight to further increase user The accuracy of the heart will be set as being connected with telescopic motor armshaft on each driving motor, be respectively provided on each motor armshaft There is calibration information；
Display device 6 is also used to determine offset adjustable strategies information according to offset information in processor, and offset is adjusted Whole policy information is sent to after display device, wherein offset adjustable strategies information includes: adjusting corresponding with motor armshaft Directional information and sized information corresponding with motor armshaft show adjusting directional information corresponding with motor armshaft And sized information corresponding with motor armshaft, so that user compares calibration information and according to shown adjusting direction Information and sized information are adjusted the length of corresponding motor armshaft.
The realization process of display device 6 and the reality of the step S903 in realization effect and above-described embodiment in the present embodiment Existing process is identical with effect is realized, specifically refers to above statement content, details are not described herein.
By the display device 6 of setting, it can be clear to user and show the offset adjustable strategies information, and then improve The practicability of this method, and user can also be adjusted to realize to cloud by the length to telescopic motor armshaft The center of gravity of platform is adjusted, and the offset adjustable strategies information shown in display device 6 intuitively can guide user to adjust Whole operating procedure is provided with scale on telescopic motor armshaft to further increase the accurate reliability of user's adjustment Information, calibration information can intuitively remind the offset that user is adjusted, therefore effectively guarantee the accurate of holder adjustment Reliability, and then the reliability that holder adjustment device uses is improved, be conducive to the popularization and application in market.
Embodiment 39
Figure 21 is the structural schematic diagram one of holder provided in an embodiment of the present invention, and Figure 22 is cloud provided in an embodiment of the present invention The structural schematic diagram two of platform, with reference to attached drawing 21-22 it is found that present embodiments providing a kind of holder, which is used for photographic device 12 stabilizer, plays the role of balance and stability, specifically, the holder includes: holder ontology and is arranged on holder ontology Bracket 11, at least one driving motor, detection device and regulating device 13 are imaged, images and is provided with a photographic device on bracket 11 12, detection device is electrically connected with regulating device 13；
Detection device, the offset for detecting the center of gravity of photographic device 12 and the motor shaft of at least one driving motor are believed Breath；
Regulating device 13, for being adjusted according to center of gravity of the offset information to holder.
Wherein, without limitation for the specific structure of camera shooting bracket 11, such as U-shaped knot can be arranged in camera shooting bracket 11 Structure clamps the camera shooting bracket 11 of U structure steadily to the two sides up and down of photographic device 12, ensure that camera shooting Device 12 is mounted on the reliability on holder；In addition, the implementation being electrically connected for detection device with regulating device 13 Without limitation, such as can will test device be set as with 13 wired connection of regulating device, wireless connection or bluetooth connection, As long as can be realized the communication connection of regulating device 13 and detection device, details are not described herein.
In addition, the realization process and realization of the operating procedure that detection device and regulating device 13 are realized in the present embodiment The realization process and realization effect of step S102-S103 in effect and embodiment one, specifically refers to above statement content, Details are not described herein.
Holder provided in this embodiment detects the center of gravity and at least one driving motor of photographic device 12 by detection device Motor shaft offset information, by the offset information of detection, regulating device 13 is according to offset information to the weight of holder The heart is adjusted, and is effectively overcomed in the prior art when being adjusted to holder, is not inputted to the relevant technologies understanding It is difficult to complete for user, and since human error influences whether the accuracy of acquired offset and offset direction, into And the problem of influencing the reliability that holder uses, and then ensure that the accurate reliability of holder adjustment, it also improves simultaneously The reliability that holder uses, is conducive to the popularization and application in market.
Example IV ten
On the basis of the above embodiments, with reference to attached drawing 21-22 it is found that the present embodiment for regulating device 13 according to offset The specific implementation process that amount information is automatically adjusted the center of gravity of holder without limitation, such as: regulating device 13 can be set It is set to the installation site for adjusting the photographic device 12 being mounted on camera shooting bracket 11, by 12 installation position of photographic device The adjustment set, realization are adjusted the center of gravity of holder；Wherein, more preferably, each driving motor is disposed as connecting There is telescopic motor armshaft, camera shooting bracket 11 is connected with a motor armshaft, wherein the connection of camera shooting bracket 11 and motor shaft It can be to be fixedly connected or be detachably connected etc.；
Regulating device 13 is also used to automatically be adjusted the length of motor armshaft according to offset information.
Wherein, the process and realize effect and the step S2031's in above-described embodiment which is realized Realization process is identical with effect is realized, specifically refers to above statement content.
By the regulating device 13 of setting, effectively improves the holder and use the intelligence with operation and automate journey Degree, save cost of labor, improve holder adjusting speed and efficiency, and then improve the holder use it is reliable and stable Property.
Example IV 11
On the basis of the above embodiments, with reference to attached drawing 21-22 it is found that the present embodiment for detection device specific structure Without limitation, wherein it is more preferred, it will test device and be set as including: gravity sensor, torque measurer and data processing Device；
Gravity sensor is set on camera shooting bracket 11, for detecting the gravitation information of photographic device 12；
Torque measurer, for obtaining the moment information of at least one driving motor；
Data processor is electrically connected with torque measurer and gravity sensor, for according to according to moment information and camera shooting The preset gravitation information of device 12 determines the offset of the center of gravity of photographic device 12 with respect to the motor shaft of at least one driving motor Information.
Wherein, the realization for the operating procedure that above-mentioned gravity sensor, torque measurer and data processor are realized Journey and the realization process and realization effect for realizing effect and the operating procedure of the step S101-S102 in above-described embodiment one It is identical, above statement content is specifically referred to, details are not described herein.
The gravity of photographic device 12 can be accurately and efficiently got by the gravity sensor and torque measurer of setting The moment information of information and driving motor is effectively guaranteed the accurate reliability of gravitation information and moment information acquisition, into one Step, gravitation information and moment information are analyzed and processed by data processor, photographic device 12 can be effectively obtained Center of gravity with respect at least one driving motor motor shaft offset information, further ensure offset information acquisition standard True reliability, and then the accuracy of holder adjustment is improved, it ensure that the reliability that holder uses, improve making for holder With effect, while the service life of holder is also extended, is conducive to the popularization and application in market.
Example IV 12
On the basis of the above embodiments, with reference to attached drawing 21-22 it is found that the present embodiment for torque measurer specific knot Structure is without limitation, wherein it is more preferred, set torque measurer to include:
Current detection module is connected at least one driving motor, for detecting the current information of driving motor；
Processing module is electrically connected with current detection module, for determining the moment information of driving motor according to current information.
Wherein, the realization process for the aforesaid operations step realized for current detection module and processing module and realization Effect is identical as the realization process of the step S1011-S1012 in embodiment two and realization effect, specifically refers to above-mentioned old Content is stated, details are not described herein.
Current information is got by current detection module, and moment information is got by processing module, it can be effective Ground guarantees the accurate reliability of the moment information of at least one accessed driving motor, and then improves holder adjustment Accuracy, and then ensure that the using effect of holder, improve the market competitiveness of holder.
Example IV 13
On the basis of the above embodiments, with reference to attached drawing 21-22 it is found that can be for being arranged on holder in the present embodiment The number of driving motor carries out any setting, for example, setting at least one driving motor to include: to be set on holder ontology X-axis driving motor 9, X-axis driving motor 9 is connected with telescopic X-axis armshaft 91；
Regulating device 13 includes: the X-axis adjuster for adjusting the length of X-axis armshaft 91, X-axis adjuster and X-axis armshaft 91 are connected, wherein for X-axis armshaft 91 concrete shape structure without limitation, such as I can be set by X-axis armshaft 91 Type structure or L-type structure etc..
Wherein, without limitation for the specific structure of X-axis adjuster, more preferably, X-axis adjuster can be set to It include: the linear electric machine that at least one is connected with motor armshaft, motor armshaft includes X-axis armshaft, Y-axis armshaft and Z axis armshaft At least one of；Alternatively, can also set X-axis adjuster to includes: drive that at least one is connected with motor armshaft Dynamic motor, driving motor are connected with lead screw, screw are provided on lead screw, and screw is fixedly connected with motor armshaft, wherein motor shaft Arm includes at least one of X-axis armshaft, Y-axis armshaft and Z axis armshaft；Suitable for the embodiment, X-axis adjuster can be set It is set to the linear electric machine including being connected with X-axis armshaft, when linear electric machine receives adjustment instruction, will do it work and then band Dynamic X-axis armshaft carries out stretching motion, by adjusting the length of X-axis armshaft, realizes the centre of gravity adjustment of holder；Alternatively, can also be with It sets X-axis adjuster to include driving motor, which is connected with lead screw, and screw, screw and X-axis are provided on lead screw Armshaft is connected, and when driving motor receives adjustment instruction, will do it rotation, and lead screw and screw can be by the circles of driving motor Zhou Yundong is converted to linear movement, i.e. screw carries out linear movement on lead screw, and because screw is connected with X-axis armshaft, therefore, Realize the process that driving motor drives X-axis armshaft to carry out stretching motion；Furthermore it is also possible to set X-axis adjuster to include Hydraulic cylinder, the hydraulic cylinder are directly connected to X-axis armshaft, drive the flexible of X-axis armshaft by the stretching motion of hydraulic cylinder Movement, that is, realize X-axis adjuster and the length of X-axis armshaft be adjusted automatically according to offset information, so that holder The process that center of gravity is adjusted in X-direction；By the X-axis adjuster of setting, holder adjustment device is effectively improved Intelligent and the degree of automation, saves cost of labor, ensure that adjusting efficiency.
Example IV 14
On the basis of the above embodiments, with reference to attached drawing 21-22 it is found that can be for being arranged on holder in the present embodiment The number of driving motor carries out any setting, for example, setting at least one driving motor to include: to be set on holder ontology And the orthogonal X-axis driving motor 9 of motor shaft and Y-axis driving motor 10, X-axis driving motor 9 be connected with telescopic X Axis armshaft 91, Y-axis driving motor 10 are connected with telescopic Y-axis armshaft 101, wherein for X-axis armshaft 91 and Y-axis armshaft 101 Concrete shape structure without limitation, for example, X-axis armshaft 91 and Y-axis armshaft 101 can be respectively set to I type structure and L-type X-axis armshaft 91 and Y-axis armshaft 101 are either disposed as I type structure or L-type structure etc. by structure etc.；
Regulating device 13 includes: X-axis adjuster for adjusting the length of X-axis armshaft 91 and for adjusting Y-axis armshaft 101 Length Y-axis adjuster, X-axis adjuster is connected with X-axis armshaft 91, and Y-axis adjuster is connected with Y-axis armshaft 101.
Wherein, for X-axis adjuster and Y-axis adjuster specific structure without limitation, specific structure can with it is above-mentioned The specific structure of X-axis adjuster in embodiment is consistent, specifically refers to above statement content, details are not described herein；In addition, right In the operating process that X-axis adjuster, Y-axis adjuster use and realize effect and the step S3041- in above-described embodiment seven The operating process of S3042 and realization effect are identical, specifically refer to above statement content, details are not described herein.
By the X-axis adjuster and Y-axis adjuster of setting, holder can be adjusted automatically on two dimensions It is whole, the intelligence degree and the degree of automation of holder adjustment are effectively improved, saves cost of labor, while ensure that cloud The speed and efficiency that platform is adjusted, and then the reliability that the holder uses is improved, be conducive to the popularization and application in market.
Example IV 15
On the basis of the above embodiments, with reference to attached drawing 21-22 it is found that can be for being arranged on holder in the present embodiment The number of driving motor carries out any setting, for example, setting at least one driving motor to include: to be set on holder ontology And motor shaft X-axis driving motor 9 perpendicular to each other, Y-axis driving motor 10 and Z axis driving motor 8, X-axis driving motor 9 connect It is connected to telescopic X-axis armshaft 91, Y-axis driving motor 10 is connected with telescopic Y-axis armshaft 101, and Z axis driving motor 8 connects There is telescopic Z axis armshaft 81, wherein for the concrete shape structure of X-axis armshaft 91, Y-axis armshaft 101 and Z axis armshaft 81 Without limitation, wherein it is more preferred, X-axis armshaft 91 and the setting of Z axis armshaft 81 can be of an L-shaped structure, Y-axis armshaft 101 is set Setting is in I type structure so that it is convenient to be adjusted on three dimensions to holder, improves the comfort level of holder adjustment；
Regulating device 13 includes: X-axis adjuster for adjusting the length of X-axis armshaft 91, for adjusting Y-axis armshaft 101 Length Y-axis adjuster and the length for adjusting Z axis armshaft 81 Z axis adjuster, X-axis adjuster and X-axis armshaft 91 It is connected, Y-axis adjuster is connected with Y-axis armshaft 101, and Z axis adjuster is connected with Z axis armshaft 81.
Wherein, for X-axis adjuster, Y-axis adjuster and Z axis adjuster specific structure without limitation, it is specific to tie Structure can be consistent with the specific structure of regulating device 13 in above-described embodiment, specifically refers to above statement content, herein not It repeats again；In addition, for X-axis adjuster, Y-axis adjuster and Z axis adjuster using operating process and realize effect with The operating process of step S4051-S4053 in above-described embodiment nine and realization effect are identical, specifically refer to above statement Content, details are not described herein.
The adjusting to holder center of gravity is realized by the X-axis adjuster, Y-axis adjuster and Z axis adjuster of setting respectively, is made Holder can be automatically adjusted in three dimensions, effectively improve the holder adjustment intelligence degree and from Dynamicization degree saves cost of labor, while ensure that speed and efficiency that holder is adjusted, and then improve what the holder used Reliability.
Example IV 16
On the basis of the above embodiments, with reference to attached drawing 21-22 it is found that during the installation process and being torn open in order to facilitate holder Placement and management during unloading, holder ontology is also configured to include pedestal 7, and Z axis driving motor is set on pedestal 7.
Wherein, without limitation for the concrete shape structure of pedestal 7, such as: rectangular block, side can be set by pedestal 7 Block or cylindrical structure etc., wherein since pedestal 7 is connected with Z axis driving motor, in order to improve holder entirety Aesthetic measure more preferably set cylindrical structure for pedestal 7；Since pedestal 7 is in planar structure, it can stablize Ground effectively supports other devices being arranged on holder ontology, and also facilitates placement, therefore, passes through the pedestal of setting 7, the degree easy to use of holder is effectively improved, the practicability of holder is further improved.
Example IV 17
With continued reference to attached drawing 21-22 it is found that present embodiments providing another holder, the holder is for photographic device 12 Stabilizer plays the role of balance and stability, specifically, the holder includes: holder ontology and the camera shooting that is arranged on holder ontology Bracket 11, at least one driving motor, detection device, display device and regulating device 13 image and are provided with one on bracket 11 and take the photograph As device 12, detection device with display device for being electrically connected；
Detection device, the offset for detecting the center of gravity of photographic device 12 and the motor shaft of at least one driving motor are believed Breath, so that display device display offset amount information, and make user according to shown offset information, pass through regulating device 13 The center of gravity of holder is adjusted.
Wherein, in the specific structure and function and above-described embodiment 39 of the camera shooting bracket 11 in the present embodiment Camera shooting bracket 11 specific structure and function it is identical, specifically refer to above statement content, details are not described herein；Separately Outside, the implementation being electrically connected with regulating device 13 for detection device without limitation, can such as will test device be set as with 13 wired connection of regulating device, wireless connection or bluetooth connection etc., as long as can be realized regulating device 13 and detection device Communication connection, details are not described herein；In addition, for display device specific structure without limitation, for example, can will show Showing device is set as including at least one of: mobile phone, tablet computer, LED display or liquid crystal display etc., as long as energy Enough realize above-mentioned functional effect, details are not described herein.
In addition, the realization process and realization effect of the operating procedure that detection device and display device are realized in the present embodiment The realization process and realization effect of step S502-S503 in fruit and embodiment ten, specifically refers to above statement content, This is repeated no more.
Holder provided in this embodiment detects the center of gravity of photographic device 12 with respect at least one driving electricity by detection device The offset information of the motor shaft of machine shown by display device and obtains offset information after accurately calculating, and user is according to showing The offset information shown is adjusted the center of gravity of holder, effectively overcomes in the prior art when being adjusted to holder, It is difficult to complete for the relevant technologies understand the user not inputted, and since human error influences whether acquired offset The problem of measuring the accuracy with offset direction, and then influencing the reliability that holder uses, and then ensure that holder adjustment Accurate reliability, while the reliability that holder uses is also improved, be conducive to the popularization and application in market.
Example IV 18
On the basis of the above embodiments, with continued reference to attached drawing 21-22 it is found that the present embodiment is for 13 basis of regulating device The specific implementation process that offset information is automatically adjusted the center of gravity of holder without limitation, such as: can be by regulating device 13 are provided for the installation site for the photographic device 12 that adjustment is mounted on camera shooting bracket 11, are pacified by this to photographic device 12 The adjustment of holding position, realization are adjusted the center of gravity of holder；Wherein, more preferably, each driving motor is disposed as Be connected with telescopic motor armshaft, be provided with the calibration information for identifying size on the motor armshaft, camera shooting bracket 11 with One motor armshaft is connected, wherein camera shooting bracket 11 can be to be fixedly connected or be detachably connected with the connection of motor shaft Deng；
Display device is also used to display offset amount information, so that user believes according to shown offset information and scale Breath, is adjusted by length of the regulating device 13 to motor armshaft.
Wherein, the realization process and realization effect and above-described embodiment ten for the operating procedure realized for display device The realization process and realization effect of step S603 in three is similar, specifically refers to above statement content, no longer superfluous herein It states.
After being shown by display device, user is adjusted the center of gravity of holder, since photographic device 12 is arranged in holder On, therefore the center of gravity of holder and the center of gravity of photographic device 12 are in one-to-one relationship, and then are adjusted in the center of gravity to holder During, it can make the center of gravity of photographic device 12 to be almost with respect to the offset information of the motor shaft of X-axis driving motor 9 Zero, the steady state of holder is realized at this time, ensure that the reliability that holder uses.
Example IV 19
On the basis of the above embodiments, with continued reference to attached drawing 21-22 it is found that the present embodiment is for the specific of detection device Structure is without limitation, wherein and it is more preferred, it will test device and be set as including: gravity sensor, torque measurer and data Processor；
Gravity sensor is set on camera shooting bracket 11, for detecting the gravitation information of photographic device 12；
Torque measurer, for obtaining the moment information of at least one driving motor；
Data processor is electrically connected with torque measurer and gravity sensor, for according to according to moment information and camera shooting The preset gravitation information of device 12 determines the offset of the center of gravity of photographic device 12 with respect to the motor shaft of at least one driving motor Information.
Wherein, the specific structure of the gravity sensor in the present embodiment, torque measurer and data processor, realized Operating process and realize gravity sensor, torque measurer and data processing in effect and above-described embodiment 41 It specific structure in device, the operating process realized and realizes that effect is identical, specifically refers to above statement content, herein not It repeats again.
The gravity of photographic device 12 can be accurately and efficiently got by the gravity sensor and torque measurer of setting The moment information of information and driving motor is effectively guaranteed the accurate reliability of gravitation information and moment information acquisition, into one Step, gravitation information and moment information are analyzed and processed by data processor, photographic device 12 can be effectively obtained Center of gravity with respect at least one driving motor motor shaft offset information, further ensure offset information acquisition standard True reliability, and then the accuracy of holder adjustment is improved, it ensure that the reliability that holder uses, improve making for holder With effect, while the service life of holder is also extended, is conducive to the popularization and application in market.
Embodiment 50
On the basis of the above embodiments, with continued reference to attached drawing 21-22 it is found that the present embodiment for torque measurer tool Body structure is without limitation, wherein it is more preferred, set torque measurer to include:
Current detection module is connected at least one driving motor, for detecting the current information of driving motor；
Processing module is electrically connected with current detection module, for determining the moment information of driving motor according to current information.
Wherein, the current detection module in the present embodiment and the specific structure of processing module, the operating process realized And it realizes the specific structure of current detection module and processing module in effect and above-described embodiment 42, realized Operating process and realization effect are identical, specifically refer to above statement content, details are not described herein.
Current information is got by current detection module, and moment information is got by processing module, it can be effective Ground guarantees the accurate reliability of the moment information of at least one accessed driving motor, and then improves holder adjustment Accuracy, and then ensure that the using effect of holder, improve the market competitiveness of holder.
Embodiment 51
On the basis of the above embodiments, with continued reference to attached drawing 21-22 it is found that can be for being set on holder in the present embodiment The number for the driving motor set carries out any setting, for example, setting at least one driving motor to include: to be set to holder sheet X-axis driving motor 9 on body, X-axis driving motor 9 are connected with telescopic X-axis armshaft 91, and X-axis quarter is provided on X-axis armshaft 91 Spend information；
Regulating device 13 includes: the X-axis adjuster for adjusting the length of X-axis armshaft 91, X-axis adjuster and X-axis armshaft 91 are connected.
Wherein, the specific structure of the X-axis adjuster in the present embodiment, the operating process realized and realize effect with it is upper The specific structure for stating the X-axis adjuster in example IV 13, the operating process realized and realization effect are identical, specifically may be used With reference to above statement content, details are not described herein.
By the X-axis adjuster of setting, the intelligence degree and the degree of automation of holder adjustment, section are effectively improved Cost of labor has been saved, the speed and efficiency of holder adjusting has been improved, further improves the reliability that the holder uses.
Embodiment 52
On the basis of the above embodiments, with continued reference to attached drawing 21-22 it is found that can be for being set on holder in the present embodiment The number for the driving motor set carries out any setting, for example, setting at least one driving motor to include: to be set to holder sheet The orthogonal X-axis driving motor 9 of on body and motor shaft and Y-axis driving motor 10, X-axis driving motor 9 are connected with scalable X-axis armshaft 91, be provided with X-axis calibration information on X-axis armshaft 91, Y-axis driving motor 10 is connected with telescopic Y-axis armshaft 101, Y-axis calibration information is provided on Y-axis armshaft 101；
Regulating device 13 includes: X-axis adjuster for adjusting the length of X-axis armshaft 91 and for adjusting Y-axis armshaft 101 Length Y-axis adjuster, X-axis adjuster is connected with X-axis armshaft 91, and Y-axis adjuster is connected with Y-axis armshaft 101.
Wherein, the specific structure of the X-axis adjuster in the present embodiment and Y-axis adjuster, the operating process realized and The specific structure for realizing the X-axis adjuster and Y-axis adjuster in effect and above-described embodiment 44, the operating process realized And realize that effect is identical, above statement content is specifically referred to, details are not described herein.
By the X-axis adjuster and Y-axis adjuster of setting, holder can be adjusted automatically on two dimensions It is whole, the intelligence degree and the degree of automation of holder adjustment are effectively improved, saves cost of labor, while ensure that cloud The speed and efficiency that platform is adjusted, and then the reliability that the holder uses is improved, be conducive to the popularization and application in market.
Embodiment 53
On the basis of the above embodiments, with continued reference to attached drawing 21-22 it is found that can be for being set on holder in the present embodiment The number for the driving motor set carries out any setting, for example, setting at least one driving motor to include: to be set to holder sheet On body and motor shaft X-axis driving motor 9 perpendicular to each other, Y-axis driving motor 10 and Z axis driving motor 8, X-axis driving motor 9 are connected with telescopic X-axis armshaft 91, X-axis calibration information are provided on X-axis armshaft 91, Y-axis driving motor 10, which is connected with, to be stretched The Y-axis armshaft 101 of contracting is provided with Y-axis calibration information on Y-axis armshaft 101, and Z axis driving motor 8 is connected with telescopic Z axis axis Arm 81 is provided with Z axis calibration information on Z axis armshaft 81, wherein for X-axis armshaft 91, Y-axis armshaft 101 and Z axis armshaft 81 Concrete shape structure without limitation, more preferably, can by X-axis armshaft 91 and Z axis armshaft 81 setting be of an L-shaped structure, Y-axis The setting of armshaft 101 is in I type structure so that it is convenient to be adjusted on three dimensions to holder, improves the convenience of holder adjustment Degree；
Regulating device 13 includes: X-axis adjuster for adjusting the length of X-axis armshaft 91, for adjusting Y-axis armshaft 101 Length Y-axis adjuster and the length for adjusting Z axis armshaft 81 Z axis adjuster, X-axis adjuster and X-axis armshaft 91 It is connected, Y-axis adjuster is connected with Y-axis armshaft 101, and Z axis adjuster is connected with Z axis armshaft 81.
Wherein, the X-axis adjuster in the present embodiment, the specific structure of Y-axis adjuster and Z axis adjuster, the behaviour that is realized Make process and realizes the tool of X-axis adjuster in effect and above-described embodiment 45, Y-axis adjuster and Z axis adjuster Body structure, the operating process realized and realization effect are identical, specifically refer to above statement content, details are not described herein.
The adjusting to holder center of gravity is realized by the X-axis adjuster, Y-axis adjuster and Z axis adjuster of setting respectively, is made Holder can be automatically adjusted in three dimensions, effectively improve the holder adjustment intelligence degree and from Dynamicization degree saves cost of labor, while ensure that speed and efficiency that holder is adjusted, and then improve what the holder used Reliability.
Embodiment 54
On the basis of the above embodiments, with continued reference to attached drawing 21-22 it is found that for convenience holder during the installation process with And placement and management in disassembly process, holder ontology is also configured to include pedestal 7, Z axis driving motor is set to pedestal 7 On.
Wherein, without limitation for the concrete shape structure of pedestal 7, such as: rectangular block, side can be set by pedestal 7 Block or cylindrical structure etc., wherein since pedestal 7 is connected with Z axis driving motor, in order to improve holder entirety Aesthetic measure more preferably set cylindrical structure for pedestal 7；Since pedestal 7 is in planar structure, can stablize in this way Ground effectively supports other devices being arranged on holder ontology, and also facilitates placement, further improves holder Practicability.
Embodiment 55
Figure 23 is the structural schematic diagram that the holder that one embodiment of the invention provides adjusts system；With reference to attached drawing 23 it is found that originally Embodiment provides a kind of holder adjustment system, and holder adjustment system is for being adjusted the center of gravity of holder, to realize peace The center of gravity of photographic device on holder is fallen on the motor shaft for being mounted on each driving motor on holder, so that cloud Platform is in stable working condition, specifically, being provided with photographic device on holder, which includes at least one driving motor； Holder adjusts system
First obtains module 14, for obtaining the moment information of at least one driving motor；
First processing module 15, for determining photographic device according to moment information and the preset gravitation information of photographic device Center of gravity with respect at least one driving motor motor shaft offset information；
Module 16 is adjusted, for being adjusted according to center of gravity of the offset information to holder.
Wherein, module 14, first processing module 15 are obtained for first and adjusts the communication connection mode of module 16 not It limits, such as communication connection mode can be set to wired connection, wireless connection, bluetooth connection, as long as can be realized Data interaction may be implemented between first acquisition module 14, first processing module 15 and adjustment module 16, herein no longer It repeats；In addition, for first obtain module 14, first processing module 15 and adjust module 16 specific structure without limitation, Such as can be set as including torque measurer by the first acquisition module 14, the torque measurer is for obtaining at least one driving The moment information of motor；In addition, first in the present embodiment obtains module 14, first processing module 15 and adjustment 16 institute of module The specific implementation process and realization effect of the functional effect of realization and the reality in the step S101-S103 in above-described embodiment one Existing process and realization effect are identical, specifically refer to above statement content, details are not described herein.
Holder provided in this embodiment adjusts system, obtains module 14 by first and obtains turning at least one driving motor Square information, and photographic device is determined according to moment information and the preset gravitation information of photographic device by first processing module 15 Center of gravity with respect at least one driving motor motor shaft offset information, by obtaining offset information after accurately calculating, And the center of gravity of holder is adjusted automatically according to offset information, it effectively overcomes and is adjusted in the prior art to holder When whole, it is difficult to complete for the relevant technologies understand the user not inputted, and acquired in human error influences whether Offset and offset direction accuracy, and then the problem of influence the reliability that holder uses, and then ensure that holder The accurate reliability of adjustment, while also improving the reliability that holder adjustment system uses.
Embodiment 56
On the basis of the above embodiments, with continued reference to attached drawing 23 it is found that the present embodiment obtains the first acquisition module 14 Take the specific implementation process of the moment information of at least one driving motor without limitation, wherein it is more preferred, first is obtained Module 14 is set as being specifically used for:
Obtain the current information of at least one driving motor；
According to current information, the moment information of driving motor is determined.
Wherein, first module 14 is obtained according to current information, determine the concrete methods of realizing of the moment information of driving motor Are as follows:
The moment information of driving motor is determined according to M=K*I, wherein M is the moment information of driving motor, and K is driving electricity The torque constant of machine, I are the current information of driving motor.
First in the present embodiment obtains the specific implementation process and realization of above-mentioned the realized operating procedure of module 14 Effect in step S1011-S1012, S10121 in above-described embodiment two realization process and realize effect it is identical, specifically It can refer to above statement content, details are not described herein.
Current information is got by aforesaid operations step, and moment information is got by formula calculating, it can be effective Ground guarantees the accurate reliability of the moment information of at least one accessed driving motor, and then improves holder adjustment system The reliability that system uses.
Embodiment 57
On the basis of the above embodiments, with continued reference to attached drawing 23 it is found that the present embodiment is for first processing module 15 According to moment information and the preset gravitation information of photographic device, electricity of the center of gravity with respect at least one driving motor of photographic device is determined The operating process of the offset information of arbor is without limitation, wherein and it is more preferred, first processing module 15 is set as having Body is used for:
The offset information of the motor shaft of at least one opposite driving motor of center of gravity of photographic device is determined according to M=L*G, Wherein, M is the moment information of driving motor, and L is offset information, and G is the preset gravitation information of photographic device.
Wherein, first processing module 15 gets the center of gravity of photographic device relative at least one by above-mentioned calculation formula The offset information of the motor shaft of driving motor is effectively guaranteed the accurate reliability of offset information acquisition, due to offset Amount information directly influences the accurate reliability to holder centre of gravity adjustment, this improves the accuracy to holder centre of gravity adjustment, Further ensure the practicability of holder adjustment system.
Embodiment 58
On the basis of the above embodiments, with continued reference to attached drawing 23 it is found that the present embodiment can be to the number of driving motor It is specifically limited, for example, setting at least one driving motor to include X-axis driving motor；It is so, corresponding,
First obtains module 14, is also used to obtain the X-axis moment information of X-axis driving motor；
First processing module 15 is also used to determine camera shooting according to X-axis moment information and the preset gravitation information of photographic device Offset information of the center of gravity of device with respect to the motor shaft of X-axis driving motor；
Module 16 is adjusted, is also used to automatically be adjusted the center of gravity of holder in X-direction according to offset information.
The function effect that the first acquisition module 14, first processing module 15 and adjustment module 16 in the present embodiment are realized The specific implementation process and realization effect of fruit and the realization process and reality in the step S201-S203 in above-described embodiment four Existing effect is identical, specifically refers to above statement content, details are not described herein.
By it is above-mentioned the center of gravity of holder is adjusted automatically after, due to photographic device be arranged on holder, cloud The center of gravity of platform and the center of gravity of photographic device are in one-to-one relationship, and then during the center of gravity to holder is adjusted, can So that the center of gravity of photographic device is almost nil with respect to the offset information of the motor shaft of X-axis driving motor, realize at this time The steady state of holder ensure that the reliability that holder uses.
Embodiment 59
On the basis of the above embodiments, with continued reference to attached drawing 23 it is found that the present embodiment is automatic for adjustment module 16 right The realization process that the center of gravity of holder is adjusted is without limitation, wherein and it is more preferred, X-axis driving motor can be set to It is connected with telescopic X-axis armshaft, X-axis armshaft is connected with photographic device, and is provided on X-axis armshaft for adjusting X-axis The regulating device of armshaft length, regulating device are electrically connected with adjustment module 16；
Module 16 is adjusted, the length of X-axis armshaft is carried out automatically according to offset information specifically for controling adjustment device It adjusts, so that the center of gravity of holder is adjusted in X-direction.
Wherein, the process and realize effect and the step S2031's in above-described embodiment which is realized Realization process is identical with effect is realized, specifically refers to above statement content.
By the adjustment module 16 of setting, the intelligence and the degree of automation of holder adjustment system are effectively improved, Cost of labor is saved, the speed and efficiency of adjusting are improved, and then improves the reliability that the regulating system uses.
Embodiment 60
On the basis of the above embodiments, with continued reference to attached drawing 23 it is found that the present embodiment can be to the number of driving motor Further limited, for example, by least one driving motor be set as include the orthogonal X-axis driving motor of motor shaft and Y-axis driving motor；It is corresponding,
First obtains module 14, and the Y-axis of the X-axis moment information and Y-axis driving motor that are also used to obtain X-axis driving motor turns Square information；
First processing module 15 is also used to determine camera shooting according to X-axis moment information and the preset gravitation information of photographic device X-axis offset information of the center of gravity of device with respect to the motor shaft of X-axis driving motor；It is pre- according to Y-axis moment information and photographic device If gravitation information, determine the Y-axis offset information of the center of gravity of photographic device with respect to the motor shaft of Y-axis driving motor；
Module 16 is adjusted, is also used to according to X-axis offset information and Y-axis offset information automatically to the center of gravity of holder in XY It is adjusted in plane.
The function effect that the first acquisition module 14, first processing module 15 and adjustment module 16 in the present embodiment are realized The specific implementation process and realization effect of fruit and the realization process and reality in the step S301-S304 in above-described embodiment six Existing effect is identical, specifically refers to above statement content, details are not described herein.
By above-mentioned first processing module 15 according to X-axis offset information and Y-axis offset information automatically to the weight of holder After the heart is adjusted, since photographic device is arranged on holder, the center of gravity of holder and the center of gravity of photographic device are in one by one Corresponding relationship, and then during the center of gravity to holder is adjusted, the center of gravity of photographic device can be made to drive with respect to X-axis The offset information of the motor shaft of the motor shaft and Y-axis driving motor of motor is almost nil, realizes the steady of holder at this time State ensure that the reliability that holder uses.
Embodiment 61
On the basis of the above embodiments, with continued reference to attached drawing 23 it is found that the present embodiment is for adjusting module 16 according to X-axis Offset information and Y-axis offset information automatically do not limit the realization process that the center of gravity of holder is adjusted in X/Y plane It is fixed, wherein it is more preferred, it sets X-axis driving motor to be connected with telescopic X-axis armshaft, X-axis armshaft and Y-axis drive Motor is connected, and Y-axis driving motor is connected with telescopic Y-axis armshaft, and Y-axis armshaft is connected with photographic device, and X-axis axis The X-axis regulating device for adjusting X-axis armshaft length is provided on arm, X-axis regulating device is electrically connected with first processing module 15, The Y-axis regulating device for adjusting Y-axis armshaft length is provided on Y-axis armshaft, Y-axis regulating device is electrically connected with adjustment module 16 It connects；Adjust module 16, be specifically used for: control X-axis regulating device according to X-axis offset information automatically to the length of X-axis armshaft into Row is adjusted, so that the center of gravity of holder is adjusted in X-direction；It is automatic according to Y-axis offset information to control Y-axis regulating device The length of Y-axis armshaft is adjusted, so that the center of gravity of holder is adjusted in Y direction.
The specific implementation process of the functional effect that adjustment module 16 in the present embodiment is realized and realize effect with it is upper It states the realization process in the step S3041-S3042 in embodiment seven and realizes that effect is identical, specifically refer to above statement Content, details are not described herein.
X-axis regulating device and Y-axis regulating device are controlled by adjusting module 16, holder on two dimensions may be used To be automatically adjusted, the intelligence degree and the degree of automation of holder adjustment system are effectively improved, is saved artificial Cost, while ensure that the speed and efficiency of adjusting, and then improve the reliability that the regulating system uses.
Embodiment 62
On the basis of the above embodiments, with continued reference to attached drawing 23 it is found that the present embodiment can be to the number of driving motor It is further limited, for example, setting at least one driving motor to include motor shaft X-axis driving motor perpendicular to each other, Y Axis driving motor and Z axis driving motor；
First obtains module 14, is also used to obtain the X-axis moment information of X-axis driving motor, the Y-axis of Y-axis driving motor turns The Z axis moment information of square information and Z axis driving motor；
First processing module 15 is also used to determine camera shooting according to X-axis moment information and the preset gravitation information of photographic device X-axis offset information of the center of gravity of device with respect to the motor shaft of X-axis driving motor；It is pre- according to Y-axis moment information and photographic device If gravitation information, determine the Y-axis offset information of the center of gravity of photographic device with respect to the motor shaft of Y-axis driving motor；According to Z axis Moment information and the preset gravitation information of photographic device determine the Z of the center of gravity of photographic device with respect to the motor shaft of Z axis driving motor Axle offset amount information；
Module 16 is adjusted, is also used to: automatic according to X-axis offset information, Y-axis offset information and Z axis offset information The center of gravity of holder is adjusted in XYZ space.
The function effect that the first acquisition module 14, first processing module 15 and adjustment module 16 in the present embodiment are realized The specific implementation process and realization effect of fruit and the realization process and reality in the step S401-S405 in above-described embodiment eight Existing effect is identical, specifically refers to above statement content, details are not described herein.
It is automatic according to X-axis offset information, Y-axis offset information and Z axis offset information by above-mentioned adjustment module 16 After being adjusted to the center of gravity of holder, since photographic device is arranged on holder, the center of gravity of holder and photographic device Center of gravity is in one-to-one relationship, and then during the center of gravity to holder is adjusted, can make the center of gravity of photographic device The offset letter of the motor shaft of the motor shaft of opposite X-axis driving motor, the motor shaft of Y-axis driving motor and Z axis driving motor Breath is almost nil, the adjustment process to holder is realized from three dimensions, so that holder held stationary state, ensure that cloud The reliability that platform uses.
Embodiment 63
On the basis of the above embodiments, with continued reference to attached drawing 23 it is found that the present embodiment is for adjusting module 16 according to X-axis What offset information, Y-axis offset information and Z axis offset information were automatically adjusted the center of gravity of holder in XYZ space Realization process is without limitation, wherein and it is more preferred, X-axis driving motor is set to be connected with telescopic X-axis armshaft, X-axis Armshaft is connected with Y-axis driving motor, and Y-axis driving motor is connected with telescopic Y-axis armshaft, Y-axis armshaft and photographic device phase Connection, Z axis driving motor are connected with telescopic Z axis armshaft, and Z axis armshaft is connected with X-axis driving motor, and X-axis armshaft On be provided with X-axis regulating device for adjusting X-axis armshaft length, X-axis regulating device is electrically connected with adjustment module 16, Y-axis axis The Y-axis regulating device for adjusting Y-axis armshaft length is provided on arm, Y-axis regulating device is electrically connected with first processor 3, Z axis The Z axis regulating device for adjusting Z axis armshaft length is provided on armshaft, Z axis regulating device is electrically connected with adjustment module 16；
Adjust module 16, be specifically used for: control X-axis regulating device is according to X-axis offset information automatically to the length of X-axis armshaft Degree is adjusted, so that the center of gravity of holder is adjusted in X-direction；Y-axis regulating device is controlled according to Y-axis offset information Automatically the length of Y-axis armshaft is adjusted, so that the center of gravity of holder is adjusted in Y direction；Control Z axis regulating device The length of Z axis armshaft is adjusted automatically according to Z axis offset information, so that the center of gravity of holder is adjusted in Z-direction It is whole.
The specific implementation process of the functional effect that adjustment module 16 in the present embodiment is realized and realize effect with it is upper It states the realization process in the step S4051-S4053 in embodiment nine and realizes that effect is identical, specifically refer to above statement Content, details are not described herein.
It is real that X-axis regulating device, Y-axis regulating device and Z axis regulating device are controlled by the adjustment module 16 of setting respectively Now to the adjusting of holder center of gravity, holder can be automatically adjusted in three dimensions, effectively improve the cloud Platform adjusts the intelligence degree and the degree of automation of system, saves cost of labor, while ensure that the speed and efficiency of adjusting, And then improve the reliability that the regulating system uses.
Embodiment 64
Figure 24 be another embodiment of the present invention provides holder adjust system structural schematic diagram, with reference to attached drawing 24 it is found that Another holder adjustment system is present embodiments provided, holder adjustment device is equally used for being adjusted the center of gravity of holder, To guarantee the steady state of holder, specifically, being provided with photographic device on holder, holder includes at least one driving motor；Cloud Platform adjusts system
Second obtains module 17, for obtaining the moment information of at least one driving motor；
Second processing module 18, for determining photographic device according to moment information and the preset gravitation information of photographic device Center of gravity with respect at least one driving motor motor shaft offset information；
Display module 19 is communicated to connect with holder, display offset amount information is used for, so that user is according to shown offset Amount information is adjusted the center of gravity of holder.
Wherein, the communication connection mode of module 17, Second processing module 18 and display module 19 is obtained not for second It limits, such as communication connection mode can be set to wired connection, wireless connection, bluetooth connection, as long as enabling to Second, which obtains module 17, Second processing module 18 and display module 19, realizes data interaction, and details are not described herein；Separately Outside, for second obtain module 17, Second processing module 18 and display module 19 specific structure without limitation, such as can be with Second acquisition module 17 is set as including torque measurer, which is used to obtain turning at least one driving motor Square information；In addition, the function that the second acquisition module 17, Second processing module 18 and the display module 19 in the present embodiment are realized Can effect specific implementation process and realize the realization process in step S501-S503 in effect and above-described embodiment ten with And realize that effect is identical, above statement content is specifically referred to, details are not described herein.
Holder provided in this embodiment adjusts system, obtains module 17 by second and obtains turning at least one driving motor Square information, and photographic device is determined according to moment information and the preset gravitation information of photographic device by Second processing module 18 Center of gravity with respect at least one driving motor motor shaft offset information, by display module 19 display accurately calculate after obtain Offset information is obtained, user is adjusted according to center of gravity of the shown offset information to holder, effectively overcomes existing In technology when being adjusted holder, it is difficult to complete for the relevant technologies understand the user not inputted, and due to people The accuracy of acquired offset and offset direction is influenced whether for error, and then influences the reliability that holder uses Problem, and then ensure that the accurate reliability of holder adjustment, while also improving the reliability that holder uses, be conducive to city The popularization and application of field.
Embodiment 65
On the basis of the above embodiments, with continued reference to attached drawing 24 it is found that the present embodiment obtains the second acquisition module 17 Take the realization process of the moment information of at least one driving motor without limitation, wherein it is more preferred, second can be obtained Module 17 is set as being specifically used for:
Obtain the current information of at least one driving motor；
According to current information, the moment information of driving motor is determined.
Wherein, module 17 is obtained according to current information for second, determine the specific implementation of the moment information of driving motor Process is without limitation, wherein and it is more preferred, the second data acquisition device is set as being specifically used for:
The moment information of driving motor is determined according to M=K*I, wherein M is the moment information of driving motor, and K is driving electricity The torque constant of machine, I are the current information of driving motor.
The specific implementation process and realization effect for the functional effect that the second acquisition module 17 in the present embodiment is realized With in step S5011-S5012, S50121 in above-described embodiment 11 realization process and realize effect it is identical, specifically may be used With reference to above statement content, details are not described herein.
When the current information of driving motor is multiple, then according to above-mentioned formula, it is available to arrive multiple driving motors Moment information, get current information by above-mentioned, and moment information is got by formula calculating, can effectively guarantee The accurate reliability of the moment information of at least one accessed driving motor, and then improve holder adjustment system and use Reliability.
Embodiment 66
On the basis of the above embodiments, with continued reference to attached drawing 24 it is found that the present embodiment is for Second processing module 18 According to moment information and the preset gravitation information of photographic device, electricity of the center of gravity with respect at least one driving motor of photographic device is determined The specific implementation process of the offset information of arbor is without limitation, wherein and it is more preferred, by Second processing module 18, setting For specifically for:
The offset information of the motor shaft of at least one opposite driving motor of center of gravity of photographic device is determined according to M=L*G, Wherein, M is the moment information of driving motor, and L is offset information, and G is the preset gravitation information of photographic device.
Wherein, Second processing module 18 gets the center of gravity of photographic device relative at least one by above-mentioned calculation formula The offset information of the motor shaft of driving motor is effectively guaranteed the accurate reliability of offset information acquisition, due to offset Amount information directly influences the accurate reliability to holder centre of gravity adjustment, this improves the accuracy to holder centre of gravity adjustment, Further ensure the practicability of holder adjustment system.
Embodiment 67
On the basis of the above embodiments, with continued reference to attached drawing 24 it is found that the present embodiment for driving motor number into Row is specific to be limited, specifically, including X-axis driving motor by least one driving motor, is connected on X-axis driving motor scalable X-axis armshaft, the regulating device for adjusting X-axis armshaft length is provided on X-axis armshaft；It is corresponding,
Second obtains module 17, is also used to obtain the X-axis moment information of X-axis driving motor；
Second processing module 18 is also used to determine camera shooting according to X-axis moment information and the preset gravitation information of photographic device X-axis offset information of the center of gravity of device with respect to the motor shaft of X-axis driving motor；
Display module 19 is also used to show X-axis offset information, so that user passes through regulating device, and is deviated according to X-axis The length of X-axis armshaft is adjusted in amount information.
Wherein, the second acquisition module 17, Second processing module 18 and the display module 19 in the present embodiment are realized The specific implementation process and realization effect of functional effect and the realization in the step S601-S603 in above-described embodiment 13 Journey and realization effect are identical, specifically refer to above statement content, details are not described herein.
After being adjusted by center of gravity of the above-mentioned user to holder, since photographic device is arranged on holder, cloud The center of gravity of platform and the center of gravity of photographic device are in one-to-one relationship, and then during the center of gravity to holder is adjusted, can So that the center of gravity of photographic device is almost nil with respect to the offset information of the motor shaft of X-axis driving motor, realize at this time The steady state of holder ensure that the reliability that holder uses.
Embodiment 68
On the basis of the above embodiments, with continued reference to attached drawing 24 it is found that the present embodiment is again for of driving motor Number is specifically limited, specifically, including the orthogonal X-axis driving motor of motor shaft and Y-axis by least one driving motor Driving motor；It is corresponding,
Second obtains module 17, is also used to obtain the X-axis moment information of X-axis driving motor, the Y-axis of Y-axis driving motor turns Square information；
Second processing module 18 is also used to determine camera shooting according to X-axis moment information and the preset gravitation information of photographic device X-axis offset information of the center of gravity of device with respect to the motor shaft of X-axis driving motor；It is pre- according to Y-axis moment information and photographic device If gravitation information, determine the Y-axis offset information of the center of gravity of photographic device with respect to the motor shaft of Y-axis driving motor；
Display module 19 is also used to show X-axis offset information and Y-axis offset information, so that user deviates according to X-axis Amount information and Y-axis offset information are adjusted the center of gravity of holder in X/Y plane.
The function effect that the second acquisition module 17, Second processing module 18 and display module 19 in the present embodiment are realized The specific implementation process of fruit and realize realization process in step S701-S704 in effect and above-described embodiment 14 and It realizes that effect is identical, specifically refers to above statement content, details are not described herein.
By the way that driving motor is set as including X-axis driving motor and Y-axis driving motor, and X-axis driving motor and Y-axis The motor shaft of driving motor is perpendicular, and user is on two dimensions adjusted the center of gravity of holder, improves cloud The accuracy of platform adjustment；In addition, by X-axis offset information and Y-axis offset information shown by display device, it can be intuitive Be shown to user's adjusting parameter, allow user do not have to understand holder working principle holder can accurately be adjusted It is whole, the learning cost of user is reduced, and then improve the practicability of holder adjustment system, is conducive to the popularization in market and answers With.
Embodiment 69
On the basis of the above embodiments, with continued reference to attached drawing 24 it is found that the present embodiment is used to show for display module 19 Show X-axis offset information and Y-axis offset information, so that user is according to X-axis offset information and Y-axis offset information to cloud The specific implementation process that the center of gravity of platform is adjusted in X/Y plane is without limitation, wherein and it is more preferred, X-axis is driven into electricity It is connected with telescopic X-axis armshaft on machine, telescopic Y-axis armshaft is connected on Y-axis driving motor, is also set up on X-axis armshaft There is the X-axis regulating device for adjusting X-axis armshaft length, the Y-axis for adjusting Y-axis armshaft length is additionally provided on Y-axis armshaft Regulating device；
Display module 19 is specifically used for display X-axis offset information and Y-axis offset information, so that user: passing through X-axis Regulating device, and be adjusted according to length of the X-axis offset information to X-axis armshaft；By Y-axis regulating device, and according to Y-axis The length of Y-axis armshaft is adjusted in offset information.
Wherein, the specific structure of the X-axis regulating device in the present embodiment and Y-axis regulating device, realization process and realization Effect is identical as the specific structure of the regulating device in the step S603 in above-described embodiment, realization process and realization effect, Above statement content is specifically referred to, details are not described herein.
By X-axis offset information shown by display module 19 and Y-axis offset information, allow user quickly, Effectively to the center of gravity of holder in the X-axis direction be adjusted in Y direction, realize to the center of gravity of holder in two-dimentional dimension Interior adjustment improves the accuracy to holder adjustment；Specifically, since photographic device is arranged on holder, holder Center of gravity and the center of gravity of photographic device are in one-to-one relationship, and then during the center of gravity to holder is adjusted, can be made The center of gravity for obtaining photographic device is equal with respect to the offset information of the motor shaft of X-axis driving motor and the motor shaft of Y-axis driving motor It is almost nil, the steady state of holder is realized at this time, ensure that the reliability that holder uses.
Embodiment 70
On the basis of the above embodiments, with continued reference to attached drawing 24 it is found that the present embodiment is further to driving motor Number is specifically limited, specifically, setting at least one driving motor to include that motor shaft X-axis perpendicular to each other drives electricity Machine, Y-axis driving motor and Z axis driving motor；It is corresponding,
Second obtains module 17, is also used to obtain the X-axis moment information of X-axis driving motor, the Y-axis of Y-axis driving motor turns The Z axis moment information of square information and Z axis driving motor；
Second processing module 18 is also used to determine camera shooting according to X-axis moment information and the preset gravitation information of photographic device X-axis offset information of the center of gravity of device with respect to the motor shaft of X-axis driving motor；It is pre- according to Y-axis moment information and photographic device If gravitation information, determine the Y-axis offset information of the center of gravity of photographic device with respect to the motor shaft of Y-axis driving motor；According to Z axis Moment information and the preset gravitation information of photographic device determine the Z of the center of gravity of photographic device with respect to the motor shaft of Z axis driving motor Axle offset amount information；
Display module 19 is also used to show X-axis offset information, Y-axis offset information and Z axis offset information, so that User according to X-axis offset information, Y-axis offset information and Z axis offset information to the center of gravity of holder in XYZ space into Row adjustment.
The function effect that the second acquisition module 17, Second processing module 18 and display module 19 in the present embodiment are realized The specific implementation process of fruit and realize realization process in step S801-S805 in effect and above-described embodiment 16 and It realizes that effect is identical, specifically refers to above statement content, details are not described herein.
By the way that driving motor is set as including X-axis driving motor, Y-axis driving motor and Z axis driving motor, and X The motor shaft of axis driving motor, the motor shaft of Y-axis driving motor and Z axis driving motor is perpendicular two-by-two, so that user can be with The center of gravity of holder is adjusted in three dimensions, improves the accuracy of holder adjustment；In addition, being shown by display device X-axis offset information, Y-axis offset information and the Z axis offset information shown can intuitively be shown to user and adjust ginseng Number, the working principle for allowing user not have to understand holder can accurately be adjusted holder, reduce the study of user Cost, and then the practicability of holder adjustment system is improved, be conducive to the popularization and application in market.
Embodiment 71
On the basis of the above embodiments, with continued reference to attached drawing 24 it is found that the present embodiment is used to show for display module 19 Show X-axis offset information, Y-axis offset information and Z axis offset information so that user is inclined according to X-axis offset information, Y-axis The realization process that shifting amount information and Z axis offset information are adjusted the center of gravity of holder in XYZ space without limitation, In, more preferably, it will be set as being connected with telescopic X-axis armshaft on X-axis driving motor, be connected on Y-axis driving motor Telescopic Y-axis armshaft is connected with telescopic Z axis armshaft on Z axis driving motor, is additionally provided on X-axis armshaft for adjusting X The X-axis regulating device of axis armshaft length is additionally provided with the Y-axis regulating device for adjusting Y-axis armshaft length, Z axis on Y-axis armshaft The Z axis regulating device for adjusting Z axis armshaft length is additionally provided on armshaft；
Display module 19 is specifically used for display X-axis offset information, Y-axis offset information and Z axis offset information, with Make user:
It is adjusted by X-axis regulating device, and according to length of the X-axis offset information to X-axis armshaft；Pass through Y-axis tune Regulating device, and be adjusted according to length of the Y-axis offset information to Y-axis armshaft；By Z axis regulating device, and it is inclined according to Z axis The length of Z axis armshaft is adjusted in shifting amount information.
Wherein, the X-axis regulating device in the present embodiment, the specific structure of Y-axis regulating device and Z axis regulating device, reality Existing process and realize the specific structure of regulating device in step S603 in effect and above-described embodiment, realize process and It realizes that effect is identical, specifically refers to above statement content, details are not described herein.
After being adjusted in the X-axis direction, in Y direction and in Z-direction by center of gravity of the above-mentioned user to holder, The adjustment to the center of gravity of holder in three dimensions is realized, the accuracy to holder adjustment is improved；Specifically, due to camera shooting Device is arranged on holder, therefore the center of gravity of holder and the center of gravity of photographic device are in one-to-one relationship, and then to holder During center of gravity is adjusted, the center of gravity of photographic device can be made to drive electricity with respect to the motor shaft of X-axis driving motor, Y-axis The offset information of the motor shaft of the motor shaft and Z axis driving motor of machine is almost nil, realizes the flat of holder at this time Steady state ensure that the reliability that holder uses.
Embodiment 72
On the basis of the above embodiments, with continued reference to attached drawing 24 it is found that in order to improve the practical of holder adjustment device Property, increase the processing function of Second processing module 18, specifically,
Second processing module 18 is also used to the motor shaft in the center of gravity for determining photographic device with respect at least one driving motor Offset information after, according to offset information determine offset adjustable strategies information, and will offset adjustable strategies information send To display module 19；
Display module 19 is also used to display offset adjustable strategies information, so that user is according to offset adjustable strategies information pair The center of gravity of holder is adjusted.
The specific implementation for the functional effect that Second processing module 18 and display module 19 in the present embodiment are realized Journey and realize effect in the step S901-S902 in above-described embodiment 18 realization process and realization effect it is identical, Above statement content is specifically referred to, details are not described herein.
Since offset adjustable strategies information is the visual information for guiding user to be operated, user can direct root It is adjusted according to offset adjustable strategies information shown on display module 19, saves the time of user's calculating, reduce people Work labour, improves the speed and efficiency of holder adjustment, and ensure that the accuracy of holder adjustment, ensure that holder used Reliability.
Embodiment 73
On the basis of the above embodiments, with continued reference to attached drawing 24 it is found that adjusting holder weight to further increase user The accuracy of the heart will be set as being connected with telescopic motor armshaft on each driving motor, be respectively provided on each motor armshaft There is calibration information；
Display module 19 is also used to determine offset adjustable strategies information according to offset information in processor, and will deviate Adjustable strategies information is sent to after display device, wherein offset adjustable strategies information includes: tune corresponding with motor armshaft Directional information and sized information corresponding with motor armshaft are saved, shows adjusting direction letter corresponding with motor armshaft Breath and sized information corresponding with motor armshaft, so that user compares calibration information and according to shown adjusting side The length of corresponding motor armshaft is adjusted to information and sized information.
The specific implementation process and reality for the functional effect that processor and display module 19 in the present embodiment are realized Existing effect in the step S901-S902 in above-described embodiment 18 realization process and realization effect it is identical, can specifically join It is admitted to and states those set forth, details are not described herein.
User can be intuitively guided to be adjusted operation by the offset adjustable strategies information shown on display module 19 Step is provided with calibration information on telescopic motor armshaft to further increase the accurate reliability of user's adjustment, carves Degree information can intuitively remind the offset that user is adjusted, and therefore, can effectively guarantee that the accurate of holder adjustment can By property, the reliability that holder adjustment system uses is further improved, the popularization and application in market is conducive to.
In several embodiments provided by the present invention, it should be understood that disclosed relevant apparatus and method, Ke Yitong Other modes are crossed to realize.For example, the apparatus embodiments described above are merely exemplary, for example, module or unit It divides, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components It can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, it is shown or The mutual coupling, direct-coupling or communication connection discussed can be through some interfaces, the indirect coupling of device or unit It closes or communicates to connect, can be electrical property, mechanical or other forms.
Unit may or may not be physically separated as illustrated by the separation member, shown as a unit Component may or may not be physical unit, it can and it is in one place, or may be distributed over multiple networks On unit.It can some or all of the units may be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list Member both can take the form of hardware realization, can also realize in the form of software functional units.
It, can if integrated unit is realized in the form of SFU software functional unit and when sold or used as an independent product To be stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention substantially or Say that all or part of the part that contributes to existing technology or the technical solution can embody in the form of software products Out, which is stored in a storage medium, including some instructions are used so that computer processor (processor) all or part of the steps of each embodiment method of the present invention is executed.And storage medium above-mentioned include: USB flash disk, Mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), the various media that can store program code such as disk or CD.
The above is only the embodiment of the present invention, are not intended to limit the scope of the invention, all to be said using the present invention Equivalent structure or equivalent flow shift made by bright book and accompanying drawing content is applied directly or indirectly in other relevant technology necks Domain is included within the scope of the present invention.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution The range of scheme.

Claims (10)

1. a kind of holder characterized by comprising
Holder ontology；
Camera shooting bracket on the holder ontology is set, and the camera shooting bracket is for being arranged photographic device；
The camera shooting bracket includes at least one driving motor, and at least one connecting with the driving motor is scalable Armshaft；
Detection device, for detecting the moment information of the center of gravity of the photographic device and the motor shaft of at least one driving motor；
Regulating device, for being adjusted according to center of gravity of the moment information to the holder.
2. holder according to claim 1, which is characterized in that at least one described driving motor is connected with telescopic electricity Arbor arm, the camera shooting bracket are connected with a motor armshaft；
The regulating device is also used to automatically be adjusted the length of the motor armshaft according to the moment information.
3. holder according to claim 1, which is characterized in that the detection device includes: gravity sensor, torque measurement Instrument and data processor；
The gravity sensor is set on camera shooting bracket, for detecting the gravitation information of photographic device；
The torque measurer, for obtaining the moment information of at least one driving motor；
The data processor is electrically connected with the torque measurer and the gravity sensor, for according to moment information and The preset gravitation information of photographic device determines the motor shaft of at least one relatively described driving motor of the center of gravity of the photographic device Offset information.
4. holder according to claim 3, which is characterized in that the torque measurer includes:
Current detection module is connected at least one driving motor, for detecting the current information of driving motor；
Processing module is electrically connected with the current detection module, for determining the moment information of driving motor according to current information.
5. holder according to claim 2, which is characterized in that at least one driving motor includes: to be set to the holder X-axis driving motor on ontology, the X-axis driving motor are connected with telescopic X-axis armshaft；
The regulating device includes: the X-axis adjuster for adjusting the length of X-axis armshaft, the X-axis adjuster and the X-axis Armshaft is connected.
6. holder according to claim 2, which is characterized in that at least one driving motor includes: to be set to the holder The orthogonal X-axis driving motor of on ontology and motor shaft and Y-axis driving motor, the X-axis driving motor are connected with and can stretch The X-axis armshaft of contracting, the Y-axis driving motor are connected with telescopic Y-axis armshaft；
The regulating device includes: the X-axis adjuster for adjusting the length of X-axis armshaft and the length for adjusting Y-axis armshaft Y-axis adjuster, the X-axis adjuster is connected with the X-axis armshaft, and the Y-axis adjuster is connected with the Y-axis armshaft It connects.
7. holder according to claim 2, which is characterized in that at least one driving motor includes: to be set to the holder On ontology and motor shaft X-axis driving motor perpendicular to each other, Y-axis driving motor and Z axis driving motor, the X-axis driving electricity Machine is connected with telescopic X-axis armshaft, and the Y-axis driving motor is connected with telescopic Y-axis armshaft, the Z axis driving motor It is connected with telescopic Z axis armshaft；
The regulating device includes: the X-axis adjuster for adjusting the length of X-axis armshaft, the length for adjusting Y-axis armshaft The Z axis adjuster of Y-axis adjuster and the length for adjusting Z axis armshaft, the X-axis adjuster are connected with the X-axis armshaft It connects, the Y-axis adjuster is connected with the Y-axis armshaft, and the Z axis adjuster is connected with the Z axis armshaft.
8. the holder according to any one of claim 5-7, which is characterized in that the regulating device includes at least one The linear electric machine being connected with motor armshaft, the motor armshaft include at least one in X-axis armshaft, Y-axis armshaft and Z axis armshaft It is a.
9. the holder according to any one of claim 5-7, which is characterized in that the regulating device includes: at least one A driving motor being connected with motor armshaft, the driving motor are connected with lead screw, and screw, institute are provided on the lead screw Screw is stated to be fixedly connected with motor armshaft, wherein the motor armshaft include in X-axis armshaft, Y-axis armshaft and Z axis armshaft extremely It is one few.
10. holder according to claim 7, which is characterized in that the X-axis armshaft and the Z axis armshaft are of an L-shaped structure, The Y-axis armshaft is in I type structure.
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WO2023102696A1 (en) * 2021-12-06 2023-06-15 深圳市大疆创新科技有限公司 Gimbal, wireless communication device, gimbal control method, and device and gimbal system

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