CN110242841B - Cloud platform - Google Patents

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Publication number
CN110242841B
CN110242841B CN201910514784.2A CN201910514784A CN110242841B CN 110242841 B CN110242841 B CN 110242841B CN 201910514784 A CN201910514784 A CN 201910514784A CN 110242841 B CN110242841 B CN 110242841B
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China
Prior art keywords
axis
driving motor
information
arm
adjusting
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CN201910514784.2A
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Chinese (zh)
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CN110242841A (en
Inventor
王岩
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SZ DJI Osmo Technology Co Ltd
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SZ DJI Osmo Technology Co Ltd
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Publication of CN110242841A publication Critical patent/CN110242841A/en
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    • 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 head, wherein a camera device (12) is arranged on the head, the head comprising at least one drive motor (1,9,10, 18); the holder adjusting method comprises the following steps: acquiring torque information of at least one driving motor (S101); determining the offset information of the gravity center of the camera device relative to the motor shaft of at least one driving motor according to the torque information and the gravity information preset by the camera device (S102); automatically adjusting the gravity center of the holder according to the offset information (S103); the cradle head overcomes the problems that when the cradle head is adjusted, the adjustment is difficult to be completed for users who do not input, and the accuracy of the obtained offset and the offset direction can be influenced due to human errors, so that the stability and the reliability of the use of the cradle head are influenced, the accuracy and the reliability of the cradle head adjustment are ensured, and the stability and the reliability of the use of the cradle head are improved.

Description

Cloud platform
The invention relates to a pan-tilt adjusting method, a system and a device, and a divisional application of a pan-tilt, wherein the application number is 2016800031577, the application date is 2016, 05 and 31.
Technical Field
The invention relates to the technical field of tripod head adjustment, in particular to a tripod head.
Background
The cloud platform is the support equipment of installation, fixed camera, and when installing the cloud platform at unmanned vehicles's in-process, if the cloud platform is not working under the good condition of regulation, probably causes following problem: the unadjusted cradle head can generate unbalanced torque, and the motor arranged on the cradle head continuously outputs current to provide the unbalanced torque, so that heat is generated, energy loss is caused, and meanwhile, the motor generates heat, and if the gravity center is poorly adjusted and the service life is long, the motor can be damaged; the motor provides unbalanced torque, which may cause the performance of the pan-tilt system to be reduced and affect the performance of image stabilization.
In the prior art, when the cradle head is adjusted, most of adjusting methods judge the offset and the offset direction of the cradle head through human experience, however, the cradle head is adjusted through the obtained offset and the offset direction, so that the understanding of a user in the related art which is not input is difficult to complete, and the accuracy of the obtained offset and the offset direction is influenced due to human errors, and further the stability and the reliability of the use of the cradle head are influenced.
Disclosure of Invention
In view of the above-mentioned defects in the prior art, the present invention provides a method for solving the problems that, in the prior art, when the pan/tilt head is adjusted, understanding of a related art by a user who does not input data is difficult to accomplish, and due to human errors, accuracy of an obtained offset and an offset direction is affected, and further stability and reliability of the use of the pan/tilt head are affected.
The invention provides a holder adjusting method, wherein a camera device is arranged on a holder, and the holder comprises at least one driving motor; the method comprises the following steps:
acquiring torque information of at least one driving motor;
determining offset information of the gravity center of the camera device relative to a motor shaft of the at least one driving motor according to the torque information and the gravity information preset by the camera device;
and adjusting the gravity center of the holder according to the offset information.
The second aspect of the invention is to provide another method for adjusting a pan/tilt head, wherein the pan/tilt head is provided with a camera device, the pan/tilt head comprises at least one driving motor, and the pan/tilt head is in communication connection with a display device; the method comprises the following steps:
acquiring torque information of at least one driving motor;
determining offset information of the gravity center of the camera device relative to a motor shaft of the at least one driving motor according to the torque information and the gravity information preset by the camera device;
and displaying the offset information through the display device so that a user can adjust the gravity center of the holder according to the displayed offset information.
The third aspect of the present invention is to provide a pan/tilt head adjusting system, wherein a camera device is disposed on the pan/tilt head, and the pan/tilt head includes at least one driving motor; the holder adjustment system includes:
the first acquisition module is used for acquiring torque information of at least one driving motor;
the first processing module is used for determining offset information of the gravity center of the camera device relative to a motor shaft of the at least one driving motor according to the torque information and the gravity information preset by the camera device;
and the adjusting module is used for adjusting the gravity center of the holder according to the offset information.
The fourth aspect of the present invention is to provide another cradle head adjusting system, wherein a camera device is disposed on the cradle head, and the cradle head comprises at least one driving motor; the holder adjustment system includes:
the second acquisition module is used for acquiring the torque information of at least one driving motor;
the second processing module is used for determining offset information of the gravity center of the camera device relative to the motor shaft of the at least one driving motor according to the torque information and the gravity information preset by the camera device;
and the display module is in communication connection with the holder and is used for displaying the offset information so that a user can adjust the gravity center of the holder according to the displayed offset information.
A fifth aspect of the present invention is to provide a holder adjusting device, wherein a camera device is disposed on a holder, and the holder includes at least one driving motor; the holder adjusting device comprises: the system comprises a first data acquisition device and a first processor in communication connection with the first data acquisition device;
the first data acquisition device is used for acquiring torque information of at least one driving motor;
the first processor is used for determining offset information of the gravity center of the camera device relative to the motor shaft of the at least one driving motor according to the torque information and the gravity information preset by the camera device;
and the first processor is further used for adjusting the gravity center of the holder according to the offset information.
The sixth aspect of the present invention is to provide another adjusting device for a pan/tilt head, wherein the pan/tilt head is provided with a camera device, the pan/tilt head comprises at least one driving motor, and the pan/tilt head is in communication connection with a display device; the holder adjusting device comprises: the second data acquisition device and the second processor are in communication connection with the display device;
the second data acquisition device is used for acquiring torque information of at least one driving motor;
the second processor is used for determining the offset information of the gravity center of the camera device relative to the motor shaft of the at least one driving motor according to the torque information and the gravity information preset by the camera device,
and the display device is used for displaying the offset information so that a user can adjust the gravity center of the holder according to the displayed offset information.
A seventh aspect of the present invention is to provide a head, comprising: the holder body;
the camera shooting support is arranged on the holder body and used for arranging a camera shooting device;
the holder body comprises at least one driving motor and at least one telescopic shaft arm connected with the driving motor;
the detection device is used for detecting the gravity center of the camera device and the torque information of a motor shaft of at least one driving motor;
and the adjusting device is used for adjusting the gravity center of the holder according to the torque information.
In an alternative embodiment of the seventh aspect of the present invention, the at least one driving motor is connected to a telescopic motor shaft arm, and the camera support is connected to a motor shaft arm;
and the adjusting device is also used for automatically adjusting the length of the motor shaft arm according to the offset information.
In an alternative embodiment of the seventh aspect of the present invention, the detection device comprises: the gravity sensor, the torque measuring instrument and the data processor;
the gravity sensor is arranged on the camera shooting bracket and used for detecting the gravity information of the camera shooting device;
the torque measuring instrument is used for acquiring torque information of at least one driving motor;
and the data processor is electrically connected with the torque measuring instrument and the gravity sensor and used for determining the offset information of the gravity center of the camera device relative to the motor shaft of the at least one driving motor according to the torque information and the preset gravity information of the camera device.
In an alternative embodiment of the seventh aspect of the present invention, the torque meter comprises:
the current detection module is connected with at least one driving motor and used for detecting current information of the driving motor;
and the processing module is electrically connected with the current detection module and used for determining the torque information of the driving motor according to the current information.
In an alternative embodiment of the seventh aspect of the present invention, the at least one drive motor comprises: the X-axis driving motor is arranged on the holder body and is connected with a telescopic X-axis arm;
the adjusting device comprises: and the X-axis adjuster is used for adjusting the length of the X-axis arm and is connected with the X-axis arm.
In an alternative embodiment of the seventh aspect of the present invention, the at least one drive motor comprises: the X-axis driving motor and the Y-axis driving motor are arranged on the holder body, and motor shafts of the X-axis driving motor and the Y-axis driving motor are mutually vertical;
the adjusting device comprises: the X-axis adjusting device is used for adjusting the length of the X-axis arm, the Y-axis adjusting device is used for adjusting the length of the Y-axis arm, the X-axis adjusting device is connected with the X-axis arm, and the Y-axis adjusting device is connected with the Y-axis arm.
In an alternative embodiment of the seventh aspect of the present invention, the at least one drive motor comprises: the X-axis driving motor, the Y-axis driving motor and the Z-axis driving motor are arranged on the holder body, motor shafts of the X-axis driving motor, the Y-axis driving motor and the Z-axis driving motor are pairwise perpendicular, the X-axis driving motor is connected with a telescopic X-axis arm, the Y-axis driving motor is connected with a telescopic Y-axis arm, and the Z-axis driving motor is connected with a telescopic Z-axis arm;
the adjusting device comprises: the X-axis adjusting device is connected with the X-axis arm, the Y-axis adjusting device is connected with the Y-axis arm, and the Z-axis adjusting device is connected with the Z-axis arm.
In an alternative embodiment of the seventh aspect of the present invention, the adjustment device comprises at least one linear motor connected to a motor shaft arm, the motor shaft arm comprising at least one of an X-axis shaft arm, a Y-axis shaft arm and a Z-axis shaft arm.
In an alternative embodiment of the seventh aspect of the present invention, the adjustment device comprises: the driving motor is connected with a lead screw, a nut is arranged on the lead screw, the nut is fixedly connected with the motor shaft arm, and the motor shaft arm comprises at least one of an X-axis shaft arm, a Y-axis shaft arm and a Z-axis shaft arm.
In an alternative embodiment of the seventh aspect of the present invention, the X-axis arm and the Z-axis arm are in an L-shaped configuration, and the Y-axis arm is in an I-shaped configuration.
In an alternative embodiment of the seventh aspect of the present invention, the head body further includes a base, and the Z-axis drive motor is disposed on the base.
In an alternative embodiment of the seventh aspect of the invention, a telescopic shaft arm is connected to the drive motor, and the adjustment device is specifically configured to automatically adjust the length of the shaft arm according to the offset information.
An eighth aspect of the present invention is to provide another head, including a head body;
the camera shooting support is arranged on the holder body and used for arranging a camera shooting device;
the holder body comprises at least one driving motor and at least one telescopic shaft arm connected with the driving motor;
the detection device is used for detecting the gravity center of the camera device and the torque information of a motor shaft of at least one driving motor, and the detection device is electrically connected with the display device;
the display device is used for displaying the offset information so that a user can adjust the gravity center of the holder according to the gravity center of the camera device and the offset information through the adjusting device.
In an optional implementation manner of the eighth aspect of the present invention, each driving motor is connected to a telescopic motor shaft arm, the motor shaft arm is provided with scale information, and the camera support is connected to a motor shaft arm;
the display device is further used for displaying the offset information, so that a user can adjust the length of the motor shaft arm through the adjusting device according to the displayed offset information and the scale information.
In an alternative embodiment of the eighth aspect of the present invention, the detection device comprises: the gravity sensor, the torque measuring instrument and the data processor;
the gravity sensor is arranged on the camera shooting bracket and used for detecting the gravity information of the camera shooting device;
the torque measuring instrument is used for acquiring torque information of at least one driving motor;
and the data processor is electrically connected with the torque measuring instrument and the gravity sensor and used for determining the offset information of the gravity center of the camera device relative to the motor shaft of the at least one driving motor according to the torque information and the preset gravity information of the camera device.
In an alternative embodiment of the eighth aspect of the present invention, the torque meter comprises:
the current detection module is connected with at least one driving motor and used for detecting current information of the driving motor;
and the processing module is electrically connected with the current detection module and used for determining the torque information of the driving motor according to the current information.
In an alternative embodiment of the eighth aspect of the present invention, the at least one drive motor comprises: the X-axis driving motor is arranged on the holder body and connected with a telescopic X-axis arm, and X-axis scale information is arranged on the X-axis arm;
the adjusting device comprises: and the X-axis adjuster is used for adjusting the length of the X-axis arm and is connected with the X-axis arm.
In an alternative embodiment of the eighth aspect of the present invention, the at least one drive motor comprises: the X-axis driving motor and the Y-axis driving motor are arranged on the holder body, motor shafts of the X-axis driving motor and the Y-axis driving motor are perpendicular to each other, the X-axis driving motor is connected with a telescopic X-axis arm, X-axis scale information is arranged on the X-axis arm, the Y-axis driving motor is connected with a telescopic Y-axis arm, and Y-axis scale information is arranged on the Y-axis arm;
the adjusting device comprises: the X-axis adjusting device is used for adjusting the length of the X-axis arm, the Y-axis adjusting device is used for adjusting the length of the Y-axis arm, the X-axis adjusting device is connected with the X-axis arm, and the Y-axis adjusting device is connected with the Y-axis arm.
In an alternative embodiment of the eighth aspect of the present invention, the at least one drive motor comprises: the X-axis driving motor, the Y-axis driving motor and the Z-axis driving motor are arranged on the holder body and are pairwise perpendicular to each other, the X-axis driving motor is connected with a telescopic X-axis arm, X-axis scale information is arranged on the X-axis arm, the Y-axis driving motor is connected with a telescopic Y-axis arm, Y-axis scale information is arranged on the Y-axis arm, the Z-axis driving motor is connected with a telescopic Z-axis arm, and Z-axis scale information is arranged on the Z-axis arm;
the adjusting device comprises: the X-axis adjusting device is connected with the X-axis arm, the Y-axis adjusting device is connected with the Y-axis arm, and the Z-axis adjusting device is connected with the Z-axis arm.
In an alternative embodiment of the eighth aspect of the present invention, the X-axis arm and the Z-axis arm are in an L-shaped configuration, and the Y-axis arm is in an I-shaped configuration.
In an optional embodiment of the eighth aspect of the present invention, the holder body further comprises a base, and the Z-axis driving motor is disposed on the base.
In an alternative embodiment of the eighth aspect of the present invention, a telescopic shaft arm is connected to the driving motor, and the adjusting device is specifically configured to automatically adjust the length of the shaft arm according to the offset information.
According to the cloud platform provided by the invention, the torque information of at least one driving motor is obtained, the offset information of the gravity center of the camera device relative to the motor shaft of the at least one driving motor is determined according to the torque information and the preset gravity information of the camera device, the offset information is obtained after accurate calculation, and the gravity center of the cloud platform is adjusted according to the offset information, so that the problems that understanding of related technologies and accuracy of uninput users are difficult to finish when the cloud platform is adjusted in the prior art, and the stability and reliability of the cloud platform use are influenced due to artificial errors can be influenced are effectively solved, the accuracy and reliability of the cloud platform adjustment are ensured, the stability and reliability of the cloud platform use are improved, and the popularization and the application of the market are facilitated.
Drawings
Fig. 1 is a schematic flow chart of a pan-tilt adjusting method according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a pan-tilt adjusting method according to a second embodiment of the present invention;
fig. 3 is a schematic flow chart of a pan-tilt adjustment method according to a third embodiment of the present invention;
fig. 4 is a schematic flow chart of a pan-tilt adjustment method according to a fourth embodiment of the present invention;
fig. 5 is a schematic flow chart of a pan/tilt head adjustment method according to a fifth embodiment of the present invention;
fig. 6 is a schematic flow chart of a pan/tilt head adjustment method according to a sixth embodiment of the present invention;
fig. 7 is a schematic flow chart of a pan/tilt head adjustment method according to a seventh embodiment of the present invention;
fig. 8 is a schematic flow chart of a pan-tilt adjustment method according to an eighth embodiment of the present invention;
fig. 9 is a schematic flow chart of a pan/tilt head adjustment method according to a ninth embodiment of the present invention;
fig. 10 is a schematic flow chart of a pan/tilt head adjustment method according to a tenth embodiment of the present invention;
fig. 11 is a schematic flow chart of a pan/tilt head adjustment method according to an eleventh embodiment of the present invention;
fig. 12 is a schematic flow chart of a pan/tilt head adjustment method according to a twelfth embodiment of the present invention;
fig. 13 is a schematic flow chart of a pan/tilt head adjustment method according to a thirteenth embodiment of the present invention;
fig. 14 is a schematic flow chart of a pan/tilt head adjustment method according to a fourteenth embodiment of the present invention;
fig. 15 is a schematic flow chart of a pan/tilt adjustment method according to a fifteenth embodiment of the present invention;
fig. 16 is a schematic flow chart of a pan/tilt head adjustment method according to a sixteenth embodiment of the present invention;
fig. 17 is a schematic flow chart of a pan-tilt adjustment method according to a seventeenth embodiment of the present invention;
fig. 18 is a schematic flow chart of a pan/tilt head adjustment method according to an eighteenth embodiment of the present invention;
fig. 19 is a schematic structural diagram of a pan/tilt head adjusting device according to an embodiment of the present invention;
fig. 20 is a schematic structural diagram of a pan/tilt head adjusting device according to another embodiment of the present invention;
fig. 21 is a first schematic structural diagram of a pan/tilt head according to an embodiment of the present invention;
fig. 22 is a schematic structural diagram of a pan/tilt head provided in the embodiment of the present invention;
fig. 23 is a schematic structural diagram of a pan/tilt head adjustment system according to an embodiment of the present invention;
fig. 24 is a schematic structural diagram of a pan/tilt head adjustment system according to another embodiment of the present invention.
Detailed Description
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
Example one
Fig. 1 is a schematic flow chart of a pan/tilt adjustment method according to an embodiment of the present invention; referring to fig. 1, the adjusting method is used for adjusting the gravity center of the pan/tilt so as to keep the pan/tilt stable, thereby avoiding the occurrence of a plurality of motor motion compensation torques for keeping the pan/tilt stable, and further ensuring the stability and reliability of the use of the pan/tilt; specifically, the cloud deck is provided with a camera device, wherein the camera device can be a camera or a mobile phone or other shooting devices; the holder comprises at least one driving motor; the holder adjusting method comprises the following steps:
s101: acquiring torque information of at least one driving motor;
the specific number of the driving motors arranged on the holder is not limited, and for example, the number of the driving motors can be set to be 1, 2 or 3; in addition, the obtaining manner for obtaining the torque information of the at least one driving motor is not limited, for example, the obtaining manner may be set to be preset, obtained through measurement, calculation, or manually input, so long as the torque information of the at least one driving motor can be accurately and reliably obtained, and details are not repeated herein.
S102: determining offset information of the gravity center of the camera device relative to a motor shaft of at least one driving motor according to the torque information and the preset gravity information of the camera device;
the gravity information of the camera device is preset in the gravity information preset by the camera device, and the gravity information of the camera device is obtained in advance by adopting various means, but the specific manner for obtaining the gravity information is not limited, for example, the camera device can be arranged on a holder, a user can weigh the camera device in advance to obtain the gravity information of the camera device, and then the obtained gravity information is input into a computing system in advance for computing; or specific model information of the camera device can be acquired, standard weight information of the camera device pre-bound with the model information can be confirmed through the specific model information, if the model information of the smart phone is apple 5S, the standard weight information of the apple 5S can be acquired according to the specific model information, and the acquired weight information is sent to the holder in a wired or wireless (bluetooth, WIFI and the like) mode for calculation; or, a gravity information interval of a camera device may be preset, and the corresponding camera device is determined according to the preset gravity information interval, for example, the gravity information interval is set to be within the weight range from the iphone 5 to the iphone 6s, and then the corresponding camera device may be selected according to the gravity information interval; the number of the offset information corresponds to the number of the driving motors, and if the number of the driving motors is one, the offset information is the offset information of the center of gravity of the image pickup device relative to the motor shaft of one driving motor; if the number of the driving motors is two, namely a first driving motor and a second driving motor, the offset information comprises: the first offset information of the gravity center of the camera device relative to the motor shaft of the first driving motor and the second offset information of the gravity center of the camera device relative to the motor shaft of the second motor are analogized, and when the number of the driving motors is more, the number of the acquired offset information is more, correspondingly, the more the parameters of the cradle head adjustment are, and the more the cradle head adjustment is accurate and reliable.
S103: and adjusting the gravity center of the holder according to the offset information.
Wherein, after adjusting the focus of cloud platform through the aforesaid, because camera device sets up on the cloud platform, consequently the focus of cloud platform and camera device's focus are the one-to-one correspondence, and then in the in-process of adjusting the focus of cloud platform, can be so that camera device's focus is almost zero for the offset information of at least one driving motor's of drive motor's motor shaft, realized the steady state of cloud platform this moment promptly, guaranteed the reliable and stable nature that the cloud platform used.
According to the cloud deck adjusting method provided by the embodiment, the torque information of at least one driving motor is obtained, the offset information of the gravity center of the camera device relative to the motor shaft of at least one driving motor is determined according to the torque information and the preset gravity information of the camera device, the offset information is obtained after accurate calculation, and the gravity center of the cloud deck is adjusted according to the offset information, so that the problems that in the prior art, when the cloud deck is adjusted, users who understand related technologies and do not input the information are difficult to finish, and the stability and the reliability of the cloud deck are influenced due to human errors, the stability and the reliability of the cloud deck are further influenced are effectively solved, the accuracy and the reliability of the cloud deck adjustment are ensured, the stability and the reliability of the cloud deck use are also improved, and the popularization and the application of the market are facilitated.
Example two
Fig. 2 is a schematic flow chart of a pan-tilt adjusting method according to a second embodiment of the present invention; on the basis of the first embodiment, as can be seen by referring to fig. 1-2, in this embodiment, the obtaining manner of the torque information of the at least one driving motor is not limited, wherein, preferably, the obtaining of the torque information of the at least one driving motor specifically includes:
s1011: acquiring current information of at least one driving motor;
the current information of the at least one driving motor is actual current information of the driving motor in a normal working state, namely current information and rated current information of the driving motor in an abnormal working state (when the driving motor is started, closed or damaged) are not included; in addition, the specific implementation manner of obtaining the current information is not limited, for example: each driving motor can be electrically connected with a current detection device (such as an ammeter), and the current information of the driving motor can be acquired through the current detection device, or the current information of the driving motor is the rated current information when the working voltage of the driving motor is set at the rated voltage.
S1012: and determining torque information of the driving motor according to the current information.
The current information in this step is the obtained current information of at least one driving motor, the number of the current information is the same as the number of the driving motors, when the number of the driving motors is multiple, then the current information also exists in multiple, and correspondingly, the determined torque information of the driving motor also exists in multiple, specifically, the implementation manner of determining the torque information of the driving motor according to the current information is not limited, and a person skilled in the art can set the current information according to a specific design requirement, wherein, preferably, the determining the torque information of the driving motor according to the current information is specifically set to include:
s10121: and determining torque information of the driving motor according to M-K I, wherein M is the torque information of the driving motor, K is a torque constant of the driving motor, and I is current information of the driving motor.
The torque constant of the driving motor is a parameter related to the characteristics of the driving motor, and after the model of the driving motor is determined, the torque constant of the driving motor is also determined, so that the torque constant of the driving motor in the formula can be obtained according to the driving motor, namely the torque constant is a preset known parameter; when the current information of the driving motors is multiple, the torque information of the driving motors can be obtained according to the formula, the current information is obtained, and the torque information is obtained through calculation of the formula, so that the accuracy and reliability of the obtained torque information of at least one driving motor can be effectively ensured, and the stability and reliability of the cradle head adjusting method are improved.
EXAMPLE III
Fig. 3 is a schematic flow chart of a pan-tilt adjustment method according to a third embodiment of the present invention; on the basis of the first or second embodiment, with reference to fig. 3, it can be seen that in this embodiment, the implementation process of determining the offset information of the center of gravity of the image capturing apparatus relative to the motor shaft of the at least one driving motor is not limited, and preferably, the determining the offset information of the center of gravity of the image capturing apparatus relative to the motor shaft of the at least one driving motor according to the torque information and the gravity information preset by the image capturing apparatus is specifically configured to include:
s1021: and determining offset information of the center of gravity of the image pickup device relative to a motor shaft of at least one driving motor according to M-L-G, wherein M is torque information of the driving motor, L is offset information, and G is gravity information preset by the image pickup device.
The offset information of the gravity center of the camera device relative to the motor shaft of the at least one driving motor is obtained through the calculation formula, so that the accurate reliability of the acquisition of the offset information is effectively guaranteed, and the accurate reliability of the gravity center adjustment of the holder is directly influenced by the offset information, so that the accuracy of the gravity center adjustment of the holder is improved, and the practicability of the holder adjustment method is further guaranteed.
Example four
Fig. 4 is a schematic flow chart of a pan-tilt adjustment method according to a fourth embodiment of the present invention; on the basis of the foregoing embodiments, as can be seen with reference to fig. 4, in this embodiment, the number of the driving motors is specifically limited, specifically, at least one driving motor is set to include an X-axis driving motor, and further, the method further includes:
s201: acquiring X-axis torque information of an X-axis driving motor;
wherein, the X-axis driving motor in the above can be installed at any horizontal plane on the pan/tilt head, which does not only represent the horizontal length direction installed on the pan/tilt head, for example: the X-axis driving motor can be arranged on the holder, so that a motor shaft of the X-axis driving motor is parallel to the horizontal width direction of the holder, or the motor shaft of the X-axis driving motor is parallel to the height direction of the holder, and the like; in addition, the obtaining manner for obtaining the X-axis torque information of the X-axis driving motor is not limited, for example, the obtaining manner may be set to be preset, obtained through measurement, calculation, or manually input, so long as the X-axis torque information of the X-axis driving motor can be accurately and reliably obtained, and details are not repeated herein.
S202: determining offset information of the gravity center of the camera device relative to a motor shaft of the X-axis driving motor according to the X-axis torque information and the preset gravity information of the camera device;
the camera device is arranged on the holder, a user can weigh the camera device in advance to obtain gravity information of the camera device, and then the obtained gravity information is input into the computing system in advance for computing.
S203: and automatically adjusting the gravity center of the holder in the X-axis direction according to the offset information.
Wherein, after adjusting the focus of cloud platform through above-mentioned automation, because camera device sets up on the cloud platform, consequently the focus of cloud platform and camera device's focus are the one-to-one correspondence, and then in the in-process of adjusting the focus of cloud platform, can be so that camera device's focus offset information of the relative X axle driving motor's of focus motor is almost zero, has realized the steady state of cloud platform this moment promptly, has guaranteed the reliable and stable nature that the cloud platform used.
EXAMPLE five
Fig. 5 is a schematic flow chart of a pan/tilt head adjustment method according to a fifth embodiment of the present invention; on the basis of the fourth embodiment, as can be seen by referring to fig. 5 continuously, the specific implementation manner of automatically adjusting the center of gravity of the pan/tilt head in the X-axis direction according to the offset information is not limited in this embodiment, wherein preferably, the X-axis driving motor may be set to be connected with a telescopic X-axis arm, the X-axis arm is connected with the camera device, and the X-axis arm is provided with an adjusting device for adjusting the length of the X-axis arm;
according to offset information automatic to the focus of cloud platform at X axle direction adjust, specifically include:
s2031: the adjusting device automatically adjusts the length of the X-axis arm according to the offset information so that the center of gravity of the holder is adjusted in the X-axis direction.
The specific structure of the adjusting device is not limited, and preferably, the adjusting device may be configured to include: at least one linear motor connected to a motor shaft arm, the motor shaft arm including at least one of an X-axis shaft arm, a Y-axis shaft arm, and a Z-axis shaft arm, the method comprising: the linear motor performs telescopic motion according to the offset information to adjust the length of a motor shaft arm, so that the gravity center of the holder is adjusted in a corresponding direction; alternatively, the adjusting means may be further configured to include: at least one driving motor who is connected with motor shaft arm, driving motor are connected with the lead screw, are provided with the screw on the lead screw, screw and motor shaft arm fixed connection, wherein, motor shaft arm includes at least one in X axle shaft arm, Y axle shaft arm and the Z axle shaft arm, and implementation method includes: the driving motor drives the lead screw to rotate according to the offset information so as to realize that the motor shaft arm is driven by the screw nut to do telescopic motion, so that the gravity center of the holder is adjusted in the corresponding direction; the adjusting device comprises a linear motor connected with the X-axis arm, when the linear motor receives an adjusting instruction sent by the controller, the linear motor works to drive the X-axis arm to perform telescopic motion, and the gravity center of the holder is adjusted by adjusting the length of the X-axis arm; or, the adjusting device may also be configured to include a driving motor, the driving motor is connected with a lead screw, the lead screw is provided with a nut, the nut is connected with the X-axis arm, when the driving motor receives an adjustment instruction sent by the controller, the driving motor rotates, and the lead screw and the nut convert the circular motion of the driving motor into a linear motion, that is, the nut performs a linear motion on the lead screw, and the nut is connected with the X-axis arm, so that the process that the driving motor drives the X-axis arm to perform a telescopic motion is realized; in addition, the adjusting device can be arranged to comprise a hydraulic cylinder which is directly connected with the X-axis arm, and the telescopic motion of the X-axis arm is driven by the telescopic motion of the hydraulic cylinder, so that the length of the X-axis arm can be automatically adjusted by the adjusting device according to the offset information, and the gravity center of the holder can be adjusted in the X-axis direction; the degree of intellectualization and automation of the holder adjusting method is effectively improved, labor cost is saved, adjusting efficiency is guaranteed, and stability and reliability of the holder adjusting method are improved.
EXAMPLE six
Fig. 6 is a schematic flow chart of a pan/tilt head adjustment method according to a sixth embodiment of the present invention; on the basis of the foregoing embodiment, as can be seen by referring to fig. 6, in this embodiment, the number of the driving motors is again specifically limited, specifically, at least one driving motor includes an X-axis driving motor and a Y-axis driving motor, whose motor axes are perpendicular to each other, and the method further includes:
s301: acquiring X-axis torque information of an X-axis driving motor and Y-axis torque information of a Y-axis driving motor;
wherein, the X-axis driving motor and the Y-axis driving motor in the above description may be installed at any horizontal plane on the pan/tilt head, which does not only represent the horizontal length direction or the horizontal width direction of the pan/tilt head, for example: the X-axis driving motor can be arranged on the cloud platform, so that a motor shaft of the X-axis driving motor is parallel to the horizontal width direction of the cloud platform, or the motor shaft of the X-axis driving motor is parallel to the height direction of the cloud platform, and the like; as long as the motor shaft of the X-axis driving motor is ensured to be vertical to the motor shaft of the Y-axis driving motor, the holder can be effectively adjusted in a two-dimensional plane; in addition, the acquiring manner of the above-mentioned acquiring X-axis torque information and Y-axis torque information is not limited, for example, the acquiring manner may be set to be preset, acquired through measurement, calculation, or manually input, so long as the X-axis torque information and the Y-axis torque information can be accurately and reliably acquired, and details are not repeated herein.
S302: determining X-axis offset information of the center of gravity of the camera device relative to a motor shaft of an X-axis driving motor according to the X-axis torque information and the gravity information preset by the camera device;
the implementation process and implementation effect of this step are the same as the implementation process and implementation effect of step S202 in the foregoing embodiment, and the above statements may be specifically referred to, and are not repeated here.
S303: determining Y-axis offset information of the gravity center of the camera device relative to a motor shaft of a Y-axis driving motor according to the Y-axis torque information and the preset gravity information of the camera device;
the implementation process and implementation effect of this step are similar to those of step S202 in the above embodiment, where there is a difference between: the X-axis offset information is obtained in the step S202, and the Y-axis offset information is obtained in this step, which can be referred to the above statements specifically and will not be described again here.
S304: and automatically adjusting the gravity center of the holder in an XY plane according to the X-axis offset information and the Y-axis offset information.
The implementation of adjusting the center of gravity of the cradle head in the XY plane according to the X-axis offset information and the Y-axis offset information is specifically that the center of gravity of the cradle head is adjusted on the X axis through the X-axis offset information, the center of gravity of the cradle head is adjusted on the Y axis through the Y-axis offset information, and the adjustment of the center of gravity of the cradle head on the X axis and the adjustment of the center of gravity of the cradle head on the Y axis are realized independently, namely the center of gravity of the cradle head can be adjusted on the X axis first, and after the adjustment on the X axis is finished, the center of gravity of the cradle head is adjusted on the Y axis; or, the gravity center of the holder can be adjusted on the Y axis, and after the Y axis is adjusted, the X axis is adjusted; or the gravity center of the holder can be adjusted on the X axis and the Y axis at the same time.
After the gravity center of the cloud platform is automatically adjusted through the above, because the camera device is arranged on the cloud platform, the gravity center of the cloud platform and the gravity center of the camera device are in one-to-one correspondence, and then in the process of adjusting the gravity center of the cloud platform, the offset information of the gravity center of the camera device relative to the motor shaft of the X-axis driving motor and the motor shaft of the Y-axis driving motor is almost zero, at the moment, the stable state of the cloud platform is realized, and the stable reliability of the cloud platform in use is ensured.
EXAMPLE seven
Fig. 7 is a schematic flow chart of a pan/tilt head adjustment method according to a seventh embodiment of the present invention; on the basis of the sixth embodiment, as can be seen by continuing to refer to fig. 7, in this embodiment, a realization method for automatically adjusting the gravity center of the pan/tilt head in the XY plane according to the X-axis offset information and the Y-axis offset information is not limited, wherein preferably, the X-axis driving motor is set to be connected with a telescopic X-axis arm, the X-axis arm is connected with the Y-axis driving motor, the Y-axis driving motor is connected with a telescopic Y-axis arm, the Y-axis arm is connected with the camera device, the X-axis arm is provided with an X-axis adjusting device for adjusting the length of the X-axis arm, and the Y-axis arm is provided with a Y-axis adjusting device for adjusting the length of the Y-axis arm;
according to X axle offset information and Y axle offset information automatic adjust the focus of cloud platform in XY plane, specifically include:
s3041: the X-axis adjusting device automatically adjusts the length of the X-axis arm according to the X-axis offset information so that the center of gravity of the holder is adjusted in the X-axis direction;
the specific structure, operation process and implementation effect of the X-axis adjusting device in this step are the same as those of the adjusting device in step S2031 in the above embodiment, and the above statements may be specifically referred to, and are not repeated herein; in addition, the implementation process and the implementation effect of this step are the same as those of step S2031 in the foregoing embodiment, and the above statements may be specifically referred to, and are not repeated here.
S3042: and the Y-axis adjusting device automatically adjusts the length of the Y-axis arm according to the Y-axis offset information so that the gravity center of the holder is adjusted in the Y-axis direction.
The specific structure, operation process and implementation effect of the Y-axis adjusting device in this step are the same as those of the adjusting device in step S2031 in the above embodiment, and the above statements may be specifically referred to, and are not repeated herein; in addition, the implementation process and the implementation effect of this step are similar to those of step S2031 in the above embodiment, where there is a difference that, in step S2031, the center of gravity of the pan/tilt is adjusted in the X-axis direction, and in this step, the center of gravity of the pan/tilt is adjusted in the Y-axis direction.
Through the X-axis adjusting device and the Y-axis adjusting device, the cradle head can be automatically adjusted in two dimensions, the intelligent degree and the automatic degree of the cradle head adjusting method are effectively improved, the labor cost is saved, the adjusting speed and efficiency are guaranteed, and the use stability and reliability of the adjusting method are further improved.
Example eight
Fig. 8 is a schematic flow chart of a pan-tilt adjustment method according to an eighth embodiment of the present invention; on the basis of the foregoing embodiment, as can be seen with reference to fig. 8, in this embodiment, the number of the driving motors is further specifically limited, specifically, at least one driving motor is configured to include an X-axis driving motor, a Y-axis driving motor, and a Z-axis driving motor, where motor shafts of the X-axis driving motor, the Y-axis driving motor, and the Z-axis driving motor are perpendicular to each other, and the method further includes:
s401: acquiring X-axis torque information of an X-axis driving motor, Y-axis torque information of a Y-axis driving motor and Z-axis torque information of a Z-axis driving motor;
wherein, the X-axis driving motor, the Y-axis driving motor and the Z-axis driving motor in the above description may be installed at any horizontal plane on the pan/tilt head, which does not only represent the horizontal length direction, the horizontal width direction or the longitudinal height direction of the pan/tilt head, for example: the X-axis driving motor may be mounted on the pan/tilt head such that a motor shaft of the X-axis driving motor is parallel to a horizontal width direction of the pan/tilt head, or such that a motor shaft of the X-axis driving motor is parallel to a height direction of the pan/tilt head, and similarly, the Y-axis driving motor may be mounted on the pan/tilt head such that a motor shaft of the Y-axis driving motor is parallel to a horizontal length direction of the pan/tilt head, or such that a motor shaft of the Y-axis driving motor is parallel to a height direction of the pan/tilt head, and the Z-axis driving motor may be mounted on the pan/tilt head such that a motor shaft of the Z-axis driving motor is parallel to a horizontal length direction of the pan/tilt head; the two phases of the motor shaft of the X-axis driving motor, the motor shaft of the Y-axis driving motor and the motor shaft of the Z-axis driving motor can be ensured to be vertical, so that the holder can be effectively adjusted in a three-dimensional space; in addition, the acquiring manner for acquiring the X-axis torque information, the Y-axis torque information, and the Z-axis torque information is not limited, for example, the acquiring manner may be set to be preset, acquired through measurement and calculation, or manually input, so long as the X-axis torque information, the Y-axis torque information, and the Z-axis torque information can be accurately and reliably acquired, and details are not repeated herein.
S402: determining X-axis offset information of the center of gravity of the camera device relative to a motor shaft of an X-axis driving motor according to the X-axis torque information and the gravity information preset by the camera device;
the implementation process and implementation effect of this step are the same as the implementation process and implementation effect of step S302 in the foregoing embodiment, and the above statements may be specifically referred to, and are not repeated here.
S403: determining Y-axis offset information of the gravity center of the camera device relative to a motor shaft of a Y-axis driving motor according to the Y-axis torque information and the preset gravity information of the camera device;
the implementation process and implementation effect of this step are the same as those of step S303 in the above embodiment, and the above statements may be specifically referred to, and are not repeated here.
S404: determining Z-axis offset information of the gravity center of the camera device relative to a motor shaft of a Z-axis driving motor according to the Z-axis torque information and the preset gravity information of the camera device;
the implementation process and implementation effect of this step are similar to those of step S303 in the above embodiment, where there is a difference between: the Y-axis offset information is obtained in step S303, and the Z-axis offset information is obtained in this step, which may specifically refer to the above statements and is not described herein again.
S405: and automatically adjusting the gravity center of the holder in an XYZ space according to the X-axis offset information, the Y-axis offset information and the Z-axis offset information.
The implementation of the adjustment of the gravity center of the pan/tilt head in the XYZ space according to the X-axis offset information, the Y-axis offset information and the Z-axis offset information is specifically that the gravity center of the pan/tilt head is adjusted on the X axis through the X-axis offset information, the gravity center of the pan/tilt head is adjusted on the Y axis through the Y-axis offset information, the gravity center of the pan/tilt head is adjusted on the Z axis through the Z-axis offset information, and the adjustment of the gravity center of the pan/tilt head on the X axis, the Y axis and the Z axis is implemented independently, that is, the gravity center of the pan/tilt head can be adjusted on the X axis first, the gravity center of the pan/tilt head is adjusted on the Y axis after the adjustment on the X axis is completed, and the gravity center of the pan/tilt head is adjusted on the Z axis after the adjustment on the Y axis; or, the gravity center of the pan/tilt head can be adjusted on the Y axis, after the adjustment on the Y axis is finished, the adjustment on the X axis is carried out, and after the adjustment on the X axis is finished, the gravity center of the pan/tilt head is adjusted on the Z axis; or the center of gravity of the holder can be adjusted on the X axis, the Y axis and the Z axis at the same time, as long as the center of gravity of the holder can be automatically adjusted in the XYZ space.
After the focus of cloud platform is adjusted through above-mentioned automation, because camera device sets up on the cloud platform, consequently, the focus of cloud platform is the one-to-one relation with camera device's focus, and then in the in-process of adjusting the focus of cloud platform, can make camera device's focus motor shaft of X axle driving motor relatively, the offset information of Y axle driving motor's motor shaft and Z axle driving motor's motor shaft is all nearly zero, the adjustment process to the cloud platform has been realized from three dimension, make the cloud platform keep steady state, the reliable and stable nature that the cloud platform used has been guaranteed.
Example nine
Fig. 9 is a schematic flow chart of a pan/tilt head adjustment method according to a ninth embodiment of the present invention; on the basis of the eighth embodiment, as can be seen by referring to fig. 9, in this embodiment, the implementation manner of automatically adjusting the gravity center of the pan/tilt head in the XYZ space according to the X-axis offset information, the Y-axis offset information, and the Z-axis offset information is not limited, and preferably, the X-axis driving motor is configured to be connected to a telescopic X-axis arm, the X-axis arm is connected to the Y-axis driving motor, the Y-axis driving motor is connected to a telescopic Y-axis arm, the Y-axis arm is connected to the image capturing device, the Z-axis driving motor is connected to a telescopic Z-axis arm, the Z-axis arm is connected to the X-axis driving motor, an X-axis adjusting device used for adjusting the length of the X-axis arm is arranged on the X-axis arm, a Y-axis adjusting device used for adjusting the length of the Y-axis arm is arranged on the Y-axis arm, and a Z-axis adjusting device used for adjusting the length of the Z-axis arm is arranged on the Z-axis arm;
automatically adjusting the gravity center of the holder in an XYZ space according to the X-axis offset information, the Y-axis offset information and the Z-axis offset information, and specifically comprising the following steps:
s4051: the X-axis adjusting device automatically adjusts the length of the X-axis arm according to the X-axis offset information so that the center of gravity of the holder is adjusted in the X-axis direction;
the specific structure, operation process and implementation effect of the X-axis adjusting device in this step are the same as those of the X-axis adjusting device in step S3041 in the above embodiment, and the above statements may be specifically referred to, and are not repeated herein; in addition, the implementation process and the implementation effect of this step are the same as those of step S3041 in the foregoing embodiment, and the above statements may be specifically referred to, and are not repeated herein.
S4052: the Y-axis adjusting device automatically adjusts the length of the Y-axis arm according to the Y-axis offset information so as to adjust the gravity center of the holder in the Y-axis direction;
the specific structure, operation process and implementation effect of the Y-axis adjusting device in this step are the same as those of the Y-axis adjusting device in step S3042 in the above embodiment, and the above statements may be specifically referred to, and are not repeated herein; in addition, the implementation process and the implementation effect of this step are the same as the implementation process and the implementation effect of step S3042 in the foregoing embodiment, and the above statements may be specifically referred to, and are not repeated herein.
S4053: and the Z-axis adjusting device automatically adjusts the length of the Z-axis arm according to the Z-axis offset information so that the gravity center of the holder is adjusted in the Z-axis direction.
The specific structure, operation process and implementation effect of the Z-axis adjusting device in this step are the same as those of the Y-axis adjusting device in step S3042 in the above embodiment, and the above statements may be specifically referred to, and are not repeated herein; in addition, the implementation process and the implementation effect of this step are similar to those of step S3042 in the foregoing embodiment, where there is a difference that, in step S3042, the center of gravity of the pan/tilt is adjusted in the Y-axis direction, and in this step, the center of gravity of the pan/tilt is adjusted in the Z-axis direction.
The gravity center of the cradle head can be adjusted through the X-axis adjusting device, the Y-axis adjusting device and the Z-axis adjusting device, so that the cradle head can be automatically adjusted in three dimensions, the intelligent degree and the automatic degree of the cradle head adjusting method are effectively improved, the labor cost is saved, the adjusting speed and efficiency are simultaneously ensured, and the use stability and reliability of the adjusting method are further improved.
Example ten
Fig. 10 is a schematic flow chart of a pan/tilt head adjustment method according to a tenth embodiment of the present invention; referring to fig. 10, in this embodiment, another method for adjusting a pan/tilt head is provided, where the pan/tilt head is provided with a camera device, and the pan/tilt head includes at least one driving motor, where the number of the driving motors is not specifically limited, and may be set to include 1, 2, or 3 driving motors, for example; the cloud deck communication is in communication connection with a display device, wherein the display device comprises but is not limited to an intelligent terminal, a desktop computer, a tablet computer, a liquid crystal display or other display equipment and the like; specifically, the holder adjusting method comprises the following steps:
s501: acquiring torque information of at least one driving motor;
the implementation process and implementation effect of this step are the same as those of step S101 in the above embodiment, and the above statements may be specifically referred to, and are not repeated here.
S502: determining offset information of the gravity center of the camera device relative to a motor shaft of at least one driving motor according to the torque information and the preset gravity information of the camera device;
the implementation process and implementation effect of this step are the same as the implementation process and implementation effect of step S102 in the foregoing embodiment, and the above statements may be specifically referred to, and are not repeated here.
S503: and displaying the offset information through a display device so that the user can adjust the gravity center of the holder according to the displayed offset information.
Wherein, the offset information that shows through display device can include skew direction and skew distance to conveniently indicate the user to adjust the focus of cloud platform, for example, the offset information is: the camera device is shifted leftwards, the shifting distance is 1cm, and then a user can adjust the gravity center of the holder according to the shifting amount information, so that the gravity center of the camera device moves rightwards by 2cm relative to a motor shaft of at least one driving motor, the gravity center of the camera device is guaranteed to fall on the motor shaft of the driving motor as much as possible, and the gravity center of the camera device is in a stable state of the holder at the moment;
in addition, the implementation process of adjusting the gravity center of the holder by the user according to the offset information is not limited, if the user can adjust the installation position of the camera device according to the offset information, the camera device is installed on the holder, so that the gravity center position of the holder can change along with the change of the installation position of the camera device when the camera device is adjusted, and the adjustment process of the gravity center of the holder is realized; or, all be connected with telescopic motor shaft arm with every driving motor, the user can realize the regulation to the focus of cloud platform through the length of adjusting every driving motor's motor shaft arm.
The pan/tilt head adjusting method provided by this embodiment obtains the torque information of at least one driving motor, determining the offset information of the gravity center of the camera device relative to the motor shaft of at least one driving motor according to the torque information and the preset gravity information of the camera device, the offset information obtained after the accurate calculation is displayed by the display device, and the user adjusts the gravity center of the holder according to the displayed offset information, thereby effectively overcoming the defects that when the holder is adjusted in the prior art, this is difficult to accomplish for a user who does not input for the related art understanding, and since human error affects the accuracy of the acquired offset amount and offset direction, and then the problem of the reliable and stable nature that influences the cloud platform and use, and then guaranteed the accurate reliability of cloud platform adjustment, also improved the reliable and stable nature that the cloud platform used simultaneously, be favorable to the popularization and the application in market.
EXAMPLE eleven
Fig. 11 is a schematic flow chart of a pan/tilt head adjustment method according to an eleventh embodiment of the present invention; on the basis of the tenth embodiment, as can be seen by referring to fig. 10 to 11, in this embodiment, the obtaining manner of the torque information of the at least one driving motor is not limited, and preferably, the obtaining of the torque information of the at least one driving motor specifically includes:
s5011: acquiring current information of at least one driving motor;
the implementation process and implementation effect of this step are the same as the implementation process and implementation effect of step S1011 in the foregoing embodiment, and the above statements may be specifically referred to, and are not repeated here.
S5012: and determining torque information of the driving motor according to the current information.
The current information in this step is the obtained current information of at least one driving motor, the number of the current information is the same as the number of the driving motors, when the number of the driving motors is multiple, then the current information also exists in multiple, and correspondingly, the determined torque information of the driving motor also exists in multiple, specifically, the implementation manner of determining the torque information of the driving motor according to the current information is not limited, and a person skilled in the art can set the current information according to a specific design requirement, wherein, preferably, the determining the torque information of the driving motor according to the current information is specifically set to include:
s50121: and determining torque information of the driving motor according to M-K I, wherein M is the torque information of the driving motor, K is a torque constant of the driving motor, and I is current information of the driving motor.
The torque constant of the driving motor is a parameter related to the characteristics of the driving motor, and after the model of the driving motor is determined, the torque constant of the driving motor is also determined, so that the torque constant of the driving motor in the formula can be obtained according to the driving motor, namely the torque constant is a preset known parameter; when the current information of the driving motors is multiple, the torque information of the driving motors can be obtained according to the formula, the current information is obtained, and the torque information is obtained through calculation of the formula, so that the accuracy and reliability of the obtained torque information of at least one driving motor can be effectively ensured, and the stability and reliability of the cradle head adjusting method are improved.
Example twelve
Fig. 12 is a schematic flow chart of a pan/tilt head adjustment method according to a twelfth embodiment of the present invention; on the basis of the tenth or eleventh embodiment, as can be seen by referring to fig. 12, in this embodiment, the implementation process of determining the offset information of the center of gravity of the image capturing apparatus relative to the motor shaft of the at least one driving motor is not limited, and preferably, the determining the offset information of the center of gravity of the image capturing apparatus relative to the motor shaft of the at least one driving motor according to the torque information and the gravity information preset by the image capturing apparatus is specifically configured to include:
s5021: and determining offset information of the center of gravity of the image pickup device relative to a motor shaft of at least one driving motor according to M-L-G, wherein M is torque information of the driving motor, L is offset information, and G is gravity information preset by the image pickup device.
The offset information of the gravity center of the camera device relative to the motor shaft of the at least one driving motor is obtained through the calculation formula, so that the accurate reliability of the acquisition of the offset information is effectively guaranteed, and the accurate reliability of the gravity center adjustment of the holder is directly influenced by the offset information, so that the accuracy of the gravity center adjustment of the holder is improved, and the practicability of the holder adjustment method is further guaranteed.
EXAMPLE thirteen
Fig. 13 is a schematic flow chart of a pan/tilt head adjustment method according to a thirteenth embodiment of the present invention; on the basis of the foregoing embodiments, as can be seen with reference to fig. 13, in this embodiment, the number of the driving motors is specifically limited, specifically, at least one driving motor is configured to include an X-axis driving motor, a telescopic X-axis arm is connected to the X-axis driving motor, and an adjusting device for adjusting the length of the X-axis arm is disposed on the X-axis arm, and further, the method further includes:
s601: acquiring X-axis torque information of an X-axis driving motor;
the implementation process and implementation effect of this step are the same as those of step S201 in the above embodiment, and the above statements may be specifically referred to, and are not repeated here.
S602: determining offset information of the gravity center of the camera device relative to a motor shaft of the X-axis driving motor according to the X-axis torque information and the preset gravity information of the camera device;
the implementation process and implementation effect of this step are the same as the implementation process and implementation effect of step S202 in the foregoing embodiment, and the above statements may be specifically referred to, and are not repeated here.
S603: and displaying the X-axis offset information through the display device so that a user can pass through the adjusting device and adjust the length of the X-axis arm according to the X-axis offset information.
The connection mode and the specific structure of the adjusting device and the X-axis arm are not limited, for example: can set up adjusting device as swivelling joint on X axle armshaft, wherein, X axle armshaft includes first connecting portion and second connecting portion, and first connecting portion and second connecting portion are connected through adjusting device to first connecting portion and adjusting device are rack and pinion connection structure, and then, through rotatory adjusting device, make first connecting portion carry out concertina movement, have realized the effect of adjusting X axle armshaft length.
After the gravity center of the holder is adjusted by the user, the camera device is arranged on the holder, so that the gravity center of the holder and the gravity center of the camera device are in one-to-one correspondence, and then in the process of adjusting the gravity center of the holder, the offset information of the gravity center of the camera device relative to the motor shaft of the X-axis driving motor is almost zero, so that the stable state of the holder is realized, and the stable reliability of the holder is ensured.
Example fourteen
Fig. 14 is a schematic flow chart of a pan/tilt head adjustment method according to a fourteenth embodiment of the present invention; on the basis of the foregoing embodiment, as can be seen with reference to fig. 14, in this embodiment, the number of the driving motors is again specifically limited, specifically, at least one driving motor is configured to include an X-axis driving motor and a Y-axis driving motor with motor shafts perpendicular to each other, and the method further includes:
s701: acquiring X-axis torque information of an X-axis driving motor and Y-axis torque information of a Y-axis driving motor;
the implementation process and implementation effect of this step are the same as those of step S301 in the foregoing embodiment, and the above statements may be specifically referred to, and are not repeated here.
S702: determining X-axis offset information of the center of gravity of the camera device relative to a motor shaft of an X-axis driving motor according to the X-axis torque information and the gravity information preset by the camera device;
the implementation process and implementation effect of this step are the same as the implementation process and implementation effect of step S302 in the foregoing embodiment, and the above statements may be specifically referred to, and are not repeated here.
S703: determining Y-axis offset information of the gravity center of the camera device relative to a motor shaft of a Y-axis driving motor according to the Y-axis torque information and the preset gravity information of the camera device;
the implementation process and implementation effect of this step are the same as those of step S303 in the above embodiment, and the above statements may be specifically referred to, and are not repeated here.
S704: and displaying the X-axis offset information and the Y-axis offset information through a display device so that a user can adjust the gravity center of the holder in an XY plane according to the X-axis offset information and the Y-axis offset information.
The display strategy for the display device to display the X-axis offset information and the Y-axis offset information is not limited, and for example, the display strategy is as follows: the display device may be configured to display X-axis offset information first, so that a user adjusts the center of gravity of the pan/tilt head on the X axis according to the displayed X-axis offset information, where the X-axis offset information may include an X-axis offset direction and an offset distance; after the user finishes adjusting the gravity center of the tripod head according to the X-axis offset information, displaying Y-axis offset information on the display device so that the user can adjust the gravity center of the tripod head on the Y axis according to the displayed Y-axis offset information; or, the display device may also display the Y-axis offset information first, and then display the X-axis offset information after the user adjusts the center of gravity of the pan/tilt on the Y axis, so that the user adjusts the center of gravity of the pan/tilt on the X axis according to the displayed X-axis offset information; alternatively, the display device may be configured to display the X-axis offset information and the Y-axis offset information at the same time, and the user may select the adjustment sequence according to personal habits or design requirements; the display device can be divided into two different display areas for the convenience of users to watch the displayed X-axis offset information and Y-axis offset information, so that the X-axis offset information and the Y-axis offset information are respectively displayed in the different display areas for the convenience of users to watch.
In addition, the implementation process of the user for adjusting the gravity center of the cradle head according to the X-axis offset information and the Y-axis offset information is not limited, if the user can adjust the installation position of the camera device according to the offset information, the camera device is installed on the cradle head, so that the gravity center position of the cradle head can change along with the change of the installation position of the camera device when the camera device is adjusted, and the adjustment process of the gravity center of the cradle head is realized; or, all be connected with telescopic motor shaft arm with every driving motor, the user can realize the regulation to the focus of cloud platform through the length of adjusting every driving motor's motor shaft arm.
The driving motor is arranged to comprise the X-axis driving motor and the Y-axis driving motor, and the motor shafts of the X-axis driving motor and the Y-axis driving motor are vertical, so that a user can adjust the gravity center of the holder in two dimensions, and the accuracy of holder adjustment is improved; in addition, the X-axis offset information and the Y-axis offset information displayed by the display device can be visually displayed to adjust parameters for a user, so that the user can accurately adjust the cradle head without knowing the working principle of the cradle head, the learning cost of the user is reduced, the practicability of the cradle head adjusting method is improved, and the popularization and the application of the market are facilitated.
Example fifteen
Fig. 15 is a schematic flow chart of a pan/tilt adjustment method according to a fifteenth embodiment of the present invention; on the basis of the foregoing embodiment, as can be seen by continuing to refer to fig. 15, in this embodiment, the display device is used to display the X-axis offset information and the Y-axis offset information, so that the implementation process of adjusting the center of gravity of the pan/tilt head in the XY plane according to the X-axis offset information and the Y-axis offset information is not limited, and preferably, the X-axis driving motor is connected to a telescopic X-axis arm, the Y-axis driving motor is connected to a telescopic Y-axis arm, the X-axis arm is further provided with an X-axis adjusting device for adjusting the length of the X-axis arm, and the Y-axis arm is further provided with a Y-axis adjusting device for adjusting the length of the Y-axis arm;
the method comprises the following steps of displaying X-axis offset information and Y-axis offset information through a display device, so that a user can adjust the gravity center of the holder in an XY plane according to the X-axis offset information and the Y-axis offset information, and the method specifically comprises the following steps:
s7041: displaying, by a display device, the X-axis offset information and the Y-axis offset information to enable a user to: adjusting the length of the X-axis arm through an X-axis adjusting device according to the X-axis offset information; and adjusting the length of the Y-axis arm through a Y-axis adjusting device according to the Y-axis offset information.
The specific structure, implementation process and implementation effect of the X-axis adjusting device and the Y-axis adjusting device in this embodiment are the same as the specific structure, implementation process and implementation effect of the adjusting device in step S603 in the above embodiment, and the above statements may be specifically referred to, and are not repeated here.
After the gravity center of the holder is adjusted in the X-axis direction and the Y-axis direction by the user, the gravity center of the holder is adjusted in two-dimensional dimensions, and the accuracy of the holder adjustment is improved; specifically, because camera device sets up on the cloud platform, the focus of cloud platform is the one-to-one relation with camera device's focus, and then in the in-process of adjusting the focus of cloud platform, can be so that camera device's focus offset information of the relative X axle driving motor's of motor shaft and Y axle driving motor's of motor shaft all is almost zero, has realized the steady state of cloud platform this moment promptly, has guaranteed the reliable and stable nature that the cloud platform used.
Example sixteen
Fig. 16 is a schematic flow chart of a pan/tilt head adjustment method according to a sixteenth embodiment of the present invention; on the basis of the foregoing embodiment, as can be seen by referring to fig. 16, in this embodiment, the number of the driving motors is further specifically limited, specifically, at least one driving motor is configured to include an X-axis driving motor, a Y-axis driving motor, and a Z-axis driving motor, where motor shafts of the X-axis driving motor, the Y-axis driving motor, and the Z-axis driving motor are perpendicular to each other, and the method further includes:
s801: acquiring X-axis torque information of an X-axis driving motor, Y-axis torque information of a Y-axis driving motor and Z-axis torque information of a Z-axis driving motor;
the implementation process and implementation effect of this step are the same as those of step S401 in the above embodiment, and the above statements may be specifically referred to, and are not repeated here.
S802: determining X-axis offset information of the center of gravity of the camera device relative to a motor shaft of an X-axis driving motor according to the X-axis torque information and the gravity information preset by the camera device;
the implementation process and implementation effect of this step are the same as those of step S402 in the foregoing embodiment, and reference may be specifically made to the above statements, and details are not described here again.
S803: determining Y-axis offset information of the gravity center of the camera device relative to a motor shaft of a Y-axis driving motor according to the Y-axis torque information and the preset gravity information of the camera device;
the implementation process and implementation effect of this step are the same as those of step S403 in the foregoing embodiment, and the above statements may be specifically referred to, and are not repeated here.
S804: determining Z-axis offset information of the gravity center of the camera device relative to a motor shaft of a Z-axis driving motor according to the Z-axis torque information and the preset gravity information of the camera device;
the implementation process and implementation effect of this step are the same as the implementation process and implementation effect of step S404 in the foregoing embodiment, and the above statements may be specifically referred to, and are not repeated here.
S805: and displaying the X-axis offset information, the Y-axis offset information and the Z-axis offset information through a display device so that a user can adjust the gravity center of the holder in an XYZ space according to the X-axis offset information, the Y-axis offset information and the Z-axis offset information.
The display strategy for the display device to display the X-axis offset information, the Y-axis offset information, and the Z-axis offset information is not limited, and for example, the display strategy is as follows: the display device may be configured to display X-axis offset information first, so that a user adjusts the center of gravity of the pan/tilt head on the X axis according to the displayed X-axis offset information, where the X-axis offset information may include an X-axis offset direction and an offset distance; after the user finishes adjusting the gravity center of the tripod head according to the X-axis offset information, displaying Y-axis offset information on the display device so that the user adjusts the gravity center of the tripod head on the Y axis according to the displayed Y-axis offset information, and finally displaying Z-axis offset information on the display device so that the user adjusts the gravity center of the tripod head on the Z axis according to the displayed Z-axis offset information; or, the display device may also display the Y-axis offset information first, and after the user adjusts the center of gravity of the pan/tilt on the Y-axis, display the X-axis offset information again, so that the user adjusts the center of gravity of the pan/tilt on the X-axis according to the displayed X-axis offset information, and finally display the Z-axis offset information, so that the user adjusts the center of gravity of the pan/tilt on the Z-axis according to the displayed Z-axis offset information, wherein the display order in which the display device displays the X-axis offset information, the Y-axis offset information, and the Z-axis offset information may be arbitrarily set according to the user's needs; or, the display device may be configured to simultaneously display the X-axis offset information, the Y-axis offset information, and the Z-axis offset information, and the user may select an adjustment sequence according to personal habits or design requirements; the display device can be divided into three different display areas for the convenience of watching the displayed X-axis offset information, Y-axis offset information and Z-axis offset information by the user, so that the X-axis offset information, the Y-axis offset information and the Z-axis offset information are respectively displayed in the different display areas for the convenience of watching by the user.
In addition, the implementation process of the user for adjusting the gravity center of the cradle head according to the X-axis offset information, the Y-axis offset information and the Z-axis offset information is not limited, if the user can adjust the installation position of the camera device according to the offset information, the camera device is installed on the cradle head, and therefore when the camera device is adjusted, the gravity center position of the cradle head can change along with the change of the installation position of the camera device, and the adjustment process of the gravity center of the cradle head is achieved; or, all be connected with telescopic motor shaft arm with every driving motor, the user can realize the regulation to the focus of cloud platform through the length of adjusting every driving motor's motor shaft arm.
The driving motor is set to comprise the X-axis driving motor, the Y-axis driving motor and the Z-axis driving motor, and the motor shafts of the X-axis driving motor, the Y-axis driving motor and the Z-axis driving motor are perpendicular to each other in pairs, so that a user can adjust the gravity center of the holder in three dimensions, and the accuracy of holder adjustment is improved; in addition, the X-axis offset information, the Y-axis offset information and the Z-axis offset information displayed by the display device can be visually displayed to adjust parameters for a user, so that the user can accurately adjust the cradle head without knowing the working principle of the cradle head, the learning cost of the user is reduced, the practicability of the cradle head adjusting method is improved, and the popularization and the application of the market are facilitated.
Example seventeen
Fig. 17 is a schematic flow chart of a pan-tilt adjustment method according to a seventeenth embodiment of the present invention; on the basis of the above-described embodiment, as can be seen with continued reference to fig. 17, with respect to displaying X-axis offset information, Y-axis offset information, and Z-axis offset information by the display device, so that the specific implementation process of the user for adjusting the gravity center of the holder in the XYZ space according to the X-axis offset information, the Y-axis offset information and the Z-axis offset information is not limited, preferably, the X-axis driving motor is connected with a telescopic X-axis arm, the Y-axis driving motor is connected with a telescopic Y-axis arm, the Z-axis driving motor is connected with a telescopic Z-axis arm, the X-axis arm is further provided with an X-axis adjusting device for adjusting the length of the X-axis arm, the Y-axis arm is further provided with a Y-axis adjusting device for adjusting the length of the Y-axis arm, and the Z-axis arm is further provided with a Z-axis adjusting device for adjusting the length of the Z-axis arm;
the method includes the steps that X-axis offset information, Y-axis offset information and Z-axis offset information are displayed through a display device, so that a user can adjust the gravity center of a holder in an XYZ space according to the X-axis offset information, the Y-axis offset information and the Z-axis offset information, and the method specifically comprises the following steps:
s8051: displaying, by a display device, the X-axis offset information, the Y-axis offset information, and the Z-axis offset information to enable a user to:
adjusting the length of the X-axis arm through an X-axis adjusting device according to the X-axis offset information; adjusting the length of the Y-axis arm through a Y-axis adjusting device according to the Y-axis offset information; and adjusting the length of the Z-axis arm through the Z-axis adjusting device according to the Z-axis offset information.
The specific structures, implementation processes, and implementation effects of the X-axis adjusting device, the Y-axis adjusting device, and the Z-axis adjusting device in this embodiment are the same as those of the adjusting device in step S603 in the above embodiment, and the above statements may be specifically referred to, and are not repeated here.
After the gravity center of the holder is adjusted in the X-axis direction, the Y-axis direction and the Z-axis direction by the user, the gravity center of the holder is adjusted in a three-dimensional dimension, and the accuracy of the holder adjustment is improved; specifically, because camera device sets up on the cloud platform, the focus of cloud platform is the one-to-one relation with camera device's focus, and then in the in-process of adjusting the focus of cloud platform, can make camera device's focus offset information of the relative X axle driving motor's of motor shaft, Y axle driving motor's motor shaft and Z axle driving motor's of X axle driving motor all be almost zero, realized the steady state of cloud platform this moment promptly, guaranteed the reliable and stable nature that the cloud platform used.
EXAMPLE eighteen
Fig. 18 is a schematic flow chart of a pan/tilt head adjustment method according to an eighteenth embodiment of the present invention; on the basis of the foregoing embodiment, as can be seen with continued reference to fig. 18, in order to improve the practicability of the pan/tilt head adjustment method, further, the pan/tilt head is configured to be further communicatively connected with a processor, and after determining the offset information of the center of gravity of the image capturing apparatus with respect to the motor shaft of the at least one driving motor, the method further includes:
s901: the processor determines offset adjustment strategy information according to the offset information and sends the offset adjustment strategy information to the display device;
the offset adjustment policy information in this step may be set according to specific design requirements, for example, the offset adjustment policy information may be set to include specific operation adjustment steps, for example: if at least one driving motor comprises an X-axis driving motor, a Y-axis driving motor and a Z-axis driving motor, after obtaining X-axis offset information, Y-axis offset information and Z-axis offset information of the gravity center of the image pickup device relative to the driving motors, the processor determines X-axis offset adjustment strategy information according to the X-axis offset information, and similarly determines Y-axis offset adjustment strategy information and Z-axis offset adjustment strategy information according to the Y-axis offset information and the Z-axis offset information, wherein the offset information comprises offset direction and offset distance information, for example: to the left, the offset distance is 1cm, and at this time, the user needs to perform compensation calculation according to the displayed offset information, that is, the actual operation of the user is to move to the right by 2cm, and the offset adjustment policy information may directly display the adjustment step without performing compensation calculation again by the user, for example, the offset adjustment policy information is: please adjust 1cm to the left, 1.5cm to the right, etc., that is, the offset adjustment strategy information can intuitively guide the user to adjust, thereby effectively improving the adjustment speed and efficiency.
S902: and displaying the offset adjustment strategy information through a display device so that a user can adjust the gravity center of the holder according to the offset adjustment strategy information.
The specific implementation manner of the user adjusting the gravity center of the pan/tilt head according to the offset adjustment strategy information is not limited, and for example, the user may adjust the position of the camera device arranged on the pan/tilt head; or the driving motor on the holder is connected with a telescopic motor shaft arm, and a user can adjust the length of the motor shaft arm so as to adjust the gravity center of the holder; wherein, comparatively preferred, set up the implementation mode into the length that the user adjusted telescopic motor shaft arm, wherein, concrete regulation mode can adopt adjusting device among the above-mentioned to adjust the length of motor shaft arm, easy operation, convenience like this have improved the practicality of cloud platform adjustment.
The offset adjustment strategy information is visual information for guiding the user to operate, so that the user can directly adjust according to the offset adjustment strategy information displayed on the display device, the calculation time of the user is saved, the manual labor is reduced, the speed and the efficiency of the cradle head adjustment are improved, the accuracy of the cradle head adjustment is ensured, and the stability and the reliability of the cradle head in use are ensured.
Example nineteen
On the basis of the above embodiment, in order to further improve the accuracy of the user in adjusting the center of gravity of the pan/tilt head, each driving motor is provided with a retractable motor shaft arm, each motor shaft arm is provided with scale information, the processor determines offset adjustment strategy information according to the offset information, and sends the offset adjustment strategy information to the display device, wherein the offset adjustment strategy information includes: adjustment direction information corresponding to the motor shaft arm and adjustment size information corresponding to the motor shaft arm, the method further comprising:
s903: and displaying the adjusting direction information corresponding to the motor shaft arm and the adjusting size information corresponding to the motor shaft arm through a display device, so that a user adjusts the length of the corresponding motor shaft arm according to the displayed adjusting direction information and adjusting size information by contrasting the scale information.
The specific content of the offset adjustment strategy information is not limited, and preferably, the offset adjustment strategy information is set to include adjustment direction information corresponding to the motor shaft arm and adjustment size information corresponding to the motor shaft arm, for example: the motor shaft arms include an X-shaft arm, a Y-shaft arm and a Z-shaft arm, and after detection and calculation, it is determined that the three motor shaft arms need to be adjusted respectively, so that in order to more clearly display specific offset adjustment strategy information corresponding to each motor shaft arm to a user, the displayed adjustment direction information and adjustment size information may correspond to the corresponding motor shaft arms, for example: the adjusting direction of the X-axis arm is leftward adjustment, and the adjusting size information is 1cm or the specific size grid number is adjusted; the adjusting direction of the Y-axis arm is adjusted inwards, and the adjusting size information is 2cm or the number of the adjusted specific size grids; the adjusting direction of the Z-axis arm is adjusted upwards, the adjusting size information is 2cm or the specific size format of the adjustment, so that the offset adjusting strategy information can be clearly displayed to a user, thereby improving the practicability of the method, and the user can adjust the gravity center of the holder by adjusting the length of the telescopic motor shaft arm, the offset adjustment strategy information displayed on the display device can intuitively guide the user to carry out the adjustment operation steps, in order to further improve the accurate reliability of the user adjustment, the telescopic motor shaft arm is provided with scale information which can intuitively remind a user of the offset for adjustment, therefore, the accurate reliability of the cradle head adjustment can be effectively ensured, the stability and the reliability of the cradle head adjustment method are further improved, and the popularization and the application of the market are facilitated.
Example twenty
Fig. 19 is a schematic structural diagram of a pan/tilt head adjusting device according to an embodiment of the present invention; referring to fig. 19, another aspect of the present embodiment provides a pan/tilt adjustment apparatus, where the pan/tilt adjustment apparatus is configured to adjust a center of gravity of a pan/tilt so as to enable the center of gravity of a camera mounted on the pan/tilt to fall on a motor shaft of each driving motor mounted on the pan/tilt, so as to enable the pan/tilt to be in a stable working state, specifically, the pan/tilt is provided with the camera, and the pan/tilt includes at least one driving motor 1; cloud platform adjusting device includes: the system comprises a first data acquisition device 2 and a first processor 3, wherein the first data acquisition device 2 is in communication connection with the first processor 3;
the first data acquisition device 2 is used for acquiring torque information of at least one driving motor;
the first processor 3 is used for determining the offset information of the gravity center of the camera device relative to the motor shaft of at least one driving motor according to the torque information and the gravity information preset by the camera device;
the first processor 3 is further configured to adjust the center of gravity of the pan/tilt head according to the offset information.
The communication connection mode between the first data acquisition device 2 and the first processor 3 is not limited, and for example, the communication connection mode may be set to be a wired connection, a wireless connection, a bluetooth connection, or the like, as long as the first data acquisition device 2 and the first processor 3 can implement data interaction, which is not described herein again; in addition, the first data acquisition device 2 may be configured to include a torque meter for acquiring torque information of at least one driving motor; in addition, the specific implementation process and implementation effect of the functional effect achieved by the first data acquisition device 2 and the first processor 3 in this embodiment are the same as the implementation process and implementation effect in steps S101 to S103 in the first embodiment, and the above statements may be specifically referred to, and are not repeated herein.
The pan/tilt head adjusting device provided by this embodiment obtains the torque information of at least one driving motor through the first data collecting device 2, and determining the offset information of the gravity center of the camera device relative to the motor shaft of at least one driving motor through the first processor 3 according to the torque information and the preset gravity information of the camera device, the offset information is obtained after accurate calculation, and the gravity center of the holder is automatically adjusted according to the offset information, thereby effectively overcoming the defects that when the holder is adjusted in the prior art, this is difficult to accomplish for a user who does not input for the related art understanding, and since human error affects the accuracy of the acquired offset amount and offset direction, and then the problem of the reliable and stable nature that influences the cloud platform and use, and then guaranteed the accurate reliability of cloud platform adjustment, also improved the reliable and stable nature that cloud platform adjusting device used simultaneously.
Example twenty one
On the basis of the foregoing embodiment, with reference to fig. 19, it can be seen that, in this embodiment, a specific implementation process of the first data acquisition device 2 for acquiring the torque information of the at least one driving motor is not limited, wherein preferably, the first data acquisition device 2 is configured to specifically:
acquiring current information of at least one driving motor;
and determining torque information of the driving motor according to the current information.
The specific implementation method for determining the torque information of the driving motor by the first data acquisition device 2 according to the current information is as follows:
and determining torque information of the driving motor according to M-K I, wherein M is the torque information of the driving motor, K is a torque constant of the driving motor, and I is current information of the driving motor.
The specific implementation process and implementation effect of the above-mentioned operation steps of the first data collecting device 2 in this embodiment are the same as the implementation processes and implementation effects of steps S1011-S1012 and S10121 in the second embodiment, and the above statements may be specifically referred to, and are not repeated herein.
The current information is obtained through the operation steps, and the torque information is obtained through formula calculation, so that the accuracy and reliability of the obtained torque information of at least one driving motor can be effectively ensured, and the stability and reliability of the cradle head adjusting device are improved.
Example twenty two
On the basis of the foregoing embodiment, as can be seen with reference to fig. 19, in this embodiment, there is no limitation on the operation process of the first processor 3 determining the offset information of the center of gravity of the image capturing apparatus relative to the motor shaft of the at least one driving motor according to the torque information and the preset gravity information of the image capturing apparatus, wherein, preferably, the first processor 3 is configured to specifically:
and determining offset information of the center of gravity of the image pickup device relative to a motor shaft of at least one driving motor according to M-L-G, wherein M is torque information of the driving motor, L is offset information, and G is gravity information preset by the image pickup device.
The first processor 3 obtains the offset information of the gravity center of the camera device relative to the motor shaft of the at least one driving motor through the calculation formula, and effectively ensures the accurate reliability of the acquisition of the offset information.
Example twenty three
On the basis of the foregoing embodiments, as can be seen with reference to fig. 19, the present embodiment may specifically limit the number of the driving motors, for example, at least one driving motor is configured to include an X-axis driving motor; then, the corresponding,
the first data acquisition device 2 is also used for acquiring X-axis torque information of the X-axis driving motor;
the first processor 3 is further configured to determine offset information of the center of gravity of the camera device relative to a motor shaft of the X-axis drive motor according to the X-axis torque information and gravity information preset by the camera device; and automatically adjusting the gravity center of the holder in the X-axis direction according to the offset information.
The specific implementation process and implementation effect of the functional effect achieved by the first data acquisition device 2 and the first processor 3 in this embodiment are the same as the implementation process and implementation effect in steps S201 to S203 in the fourth embodiment, and the above statements may be specifically referred to, and are not repeated herein.
After the gravity center of the cradle head is automatically adjusted through the above, the camera device is arranged on the cradle head, so that the gravity center of the cradle head and the gravity center of the camera device are in one-to-one correspondence, and then in the process of adjusting the gravity center of the cradle head, the offset information of the motor shaft of the X-axis driving motor relative to the gravity center of the camera device is almost zero, so that the steady state of the cradle head is realized, and the stability and the reliability of the use of the cradle head are ensured.
Example twenty-four
On the basis of the foregoing embodiment, as can be seen by referring to fig. 19 continuously, in this embodiment, the implementation process of automatically adjusting the center of gravity of the pan/tilt head by the first processor 3 is not limited, wherein preferably, the X-axis driving motor may be set to be connected to a telescopic X-axis arm, the X-axis arm is connected to the image pickup device, and the X-axis arm is provided with an adjusting device for adjusting the length of the X-axis arm, and the adjusting device is electrically connected to the first processor 3;
the first processor 3 is specifically configured to control the adjusting device to automatically adjust the length of the X-axis arm according to the offset information, so that the center of gravity of the pan/tilt head is adjusted in the X-axis direction.
The process and the effect of the first processor 3 realized by controlling the adjusting device are the same as the process and the effect of step S2031 in the above embodiment, and the above statements may be specifically referred to.
Through the adjusting device who sets up, improved this cloud platform adjusting device's intellectuality and degree of automation effectively, saved the cost of labor, improved the speed and the efficiency of regulation, and then improved the reliable and stable nature that this adjusting device used.
Example twenty-five
On the basis of the above embodiment, as can be seen with reference to fig. 19, the present embodiment may further limit the number of the driving motors, for example, at least one driving motor is configured to include an X-axis driving motor and a Y-axis driving motor with motor shafts perpendicular to each other; in a corresponding manner, the first and second optical fibers are,
the first data acquisition device 2 is also used for acquiring X-axis torque information of the X-axis driving motor and Y-axis torque information of the Y-axis driving motor;
the first processor 3 is further configured to: determining X-axis offset information of the center of gravity of the camera device relative to a motor shaft of an X-axis driving motor according to the X-axis torque information and the gravity information preset by the camera device; determining Y-axis offset information of the gravity center of the camera device relative to a motor shaft of a Y-axis driving motor according to the Y-axis torque information and the preset gravity information of the camera device; and automatically adjusting the gravity center of the holder in an XY plane according to the X-axis offset information and the Y-axis offset information.
The specific implementation process and implementation effect of the functional effect achieved by the first data acquisition device 2 and the first processor 3 in this embodiment are the same as the implementation process and implementation effect in steps S301 to S304 in the sixth embodiment, and reference may be specifically made to the above statements, and details are not repeated here.
After adjusting the focus of cloud platform automatically according to X axle offset information and Y axle offset information through above-mentioned first treater 3, because camera device sets up on the cloud platform, consequently the focus of cloud platform is the one-to-one with camera device's focus, and then at the in-process of adjusting the focus of cloud platform, can be so that camera device's focus offset information of the relative X axle driving motor's of motor shaft and Y axle driving motor's of motor shaft is almost zero, realized the steady state of cloud platform this moment promptly, the reliable and stable nature that the cloud platform used has been guaranteed.
Example twenty-six
On the basis of the foregoing embodiment, as can be seen by continuing to refer to fig. 19, in this embodiment, the implementation process of automatically adjusting the center of gravity of the pan/tilt in the XY plane by the first processor 3 according to the X-axis offset information and the Y-axis offset information is not limited, wherein, preferably, the X-axis driving motor is set to be connected with a telescopic X-axis arm, the X-axis arm is connected with the Y-axis driving motor, the Y-axis driving motor is connected with a telescopic Y-axis arm, the Y-axis arm is connected with the imaging device, the X-axis arm is provided with an X-axis adjusting device for adjusting the length of the X-axis arm, the X-axis adjusting device is electrically connected with the first processor 3, the Y-axis arm is provided with a Y-axis adjusting device for adjusting the length of the Y-axis arm, and the Y-axis adjusting device is electrically connected with the first processor 3;
the first processor 3 is specifically configured to: controlling an X-axis adjusting device to automatically adjust the length of the X-axis arm according to the X-axis offset information so as to adjust the gravity center of the holder in the X-axis direction; and controlling the Y-axis adjusting device to automatically adjust the length of the Y-axis arm according to the Y-axis offset information so as to adjust the gravity center of the holder in the Y-axis direction.
The specific implementation process and implementation effect of the functional effect implemented by the first processor 3 in this embodiment are the same as the implementation processes and implementation effects in steps S3041-S3042 in the seventh embodiment, and reference may be made to the above statements specifically, and details are not described here.
Through first treater 3 control X axle adjusting device and Y axle adjusting device for the cloud platform can carry out automatic adjustment in two dimensions, has improved this cloud platform adjusting device's intelligent degree and degree of automation effectively, has saved the cost of labor, has guaranteed the speed and the efficiency of regulation simultaneously, and then has improved the reliable and stable nature that this adjusting device used.
Example twenty-seven
On the basis of the above embodiment, as can be seen by referring to fig. 19, the number of the driving motors in this embodiment may be further limited, for example, at least one driving motor is configured to include an X-axis driving motor, a Y-axis driving motor and a Z-axis driving motor, in which motor shafts are perpendicular to each other;
the first data acquisition device 2 is also used for acquiring X-axis torque information of the X-axis driving motor, Y-axis torque information of the Y-axis driving motor and Z-axis torque information of the Z-axis driving motor;
the first processor 3 is further configured to: determining X-axis offset information of the center of gravity of the camera device relative to a motor shaft of an X-axis driving motor according to the X-axis torque information and the gravity information preset by the camera device; determining Y-axis offset information of the gravity center of the camera device relative to a motor shaft of a Y-axis driving motor according to the Y-axis torque information and the preset gravity information of the camera device; determining Z-axis offset information of the gravity center of the camera device relative to a motor shaft of a Z-axis driving motor according to the Z-axis torque information and the preset gravity information of the camera device; and automatically adjusting the gravity center of the holder in an XYZ space according to the X-axis offset information, the Y-axis offset information and the Z-axis offset information.
The specific implementation process and implementation effect of the functional effect achieved by the first data acquisition device 2 and the first processor 3 in this embodiment are the same as the implementation process and implementation effect in steps S401 to S405 in the above-mentioned embodiment eight, and the above statements may be specifically referred to, and are not described herein again.
Through above-mentioned first processor 3 according to X axle offset information, after Y axle offset information and Z axle offset information are adjusted to the focus of cloud platform automatically, because camera device sets up on the cloud platform, consequently, the focus of cloud platform is the one-to-one with camera device's focus, and then at the in-process of adjusting the focus of cloud platform, can make camera device's focus relative X axle driving motor's motor shaft, the offset information of Y axle driving motor's motor shaft and Z axle driving motor's motor shaft all is almost zero, realized the adjustment process to the cloud platform from three dimension, make the cloud platform keep steady state, the stable and reliable nature that the cloud platform used has been guaranteed.
Example twenty-eight
On the basis of the above embodiments, as can be seen by referring to fig. 19 continuously, the implementation process of the present embodiment that the first processor 3 automatically adjusts the center of gravity of the pan/tilt in XYZ space according to the X-axis offset information, the Y-axis offset information, and the Z-axis offset information is not limited, wherein, preferably, the X-axis driving motor is configured to be connected with a telescopic X-axis arm, the X-axis arm is connected with the Y-axis driving motor, the Y-axis driving motor is connected with a telescopic Y-axis arm, the Y-axis arm is connected with the camera device, the Z-axis driving motor is connected with a telescopic Z-axis arm, the Z-axis arm is connected with the X-axis driving motor, the X-axis arm is provided with an X-axis adjusting device for adjusting the length of the X-axis arm, the X-axis adjusting device is electrically connected with the first processor 3, the Y-axis arm is provided with a Y-axis adjusting device for adjusting the length of, the Y-axis adjusting device is electrically connected with the first processor 3, the Z-axis arm is provided with a Z-axis adjusting device for adjusting the length of the Z-axis arm, and the Z-axis adjusting device is electrically connected with the first processor 3;
the first processor 3 is specifically configured to: controlling an X-axis adjusting device to automatically adjust the length of the X-axis arm according to the X-axis offset information so as to adjust the gravity center of the holder in the X-axis direction; controlling a Y-axis adjusting device to automatically adjust the length of the Y-axis arm according to the Y-axis offset information so as to adjust the gravity center of the holder in the Y-axis direction; and controlling the Z-axis adjusting device to automatically adjust the length of the Z-axis arm according to the Z-axis offset information so as to adjust the gravity center of the holder in the Z-axis direction.
The specific implementation process and implementation effect of the functional effect achieved by the first processor 3 in this embodiment are the same as the implementation processes and implementation effects in steps S4051-S4053 in the ninth embodiment, and reference may be made to the above statements specifically, and details are not described here again.
The first processor 3 controls the X-axis adjusting device, the Y-axis adjusting device and the Z-axis adjusting device to realize the adjustment of the gravity center of the cradle head, so that the cradle head can be automatically adjusted in three dimensions, the intelligent degree and the automatic degree of the cradle head adjusting device are effectively improved, the labor cost is saved, the adjusting speed and efficiency are simultaneously ensured, and the stability and the reliability of the adjusting device are improved.
Example twenty-nine
Fig. 20 is a schematic structural diagram of a pan/tilt head adjusting device according to another embodiment of the present invention; referring to fig. 20, in the present embodiment, another cradle head adjusting device is provided, which is also used for adjusting the gravity center of the cradle head to ensure the steady state of the cradle head, specifically, the cradle head is provided with a camera device, the cradle head includes at least one driving motor, and the cradle head is in communication connection with a display device 6; cloud platform adjusting device includes: the device comprises a second data acquisition device 4 and a second processor 5, wherein the second processor 4 is in communication connection with the second processor 5, and the second processor 5 is in communication connection with a display device 6;
the second data acquisition device 4 is used for acquiring the torque information of at least one driving motor;
a second processor 5 for determining the offset information of the gravity center of the camera device relative to the motor shaft of at least one driving motor according to the torque information and the gravity information preset by the camera device,
and the display device 6 is used for displaying the offset information so that the user can adjust the gravity center of the holder according to the displayed offset information.
The communication connection manner of the second data acquisition device 4, the second processor 5 and the display device 6 is not limited, for example, the communication connection manner may be set to be a wired connection, a wireless connection, a bluetooth connection, etc., as long as the second processor 5, the second data acquisition device 4 and the display device 6 can realize data interaction; in addition, the specific structure of the second data acquisition device 4, the second processor 5 and the display device 6 is not limited, for example, the second data acquisition device 4 may be configured to include a torque meter, which is used for acquiring torque information of at least one driving motor; in addition, the specific implementation process and implementation effect of the functional effect achieved by the second data acquisition device 4, the second processor 5 and the display device 6 in this embodiment are the same as those in steps S501-S503 in the above tenth embodiment, and specific reference may be made to the above statements.
The cradle head adjusting device provided by this embodiment obtains the torque information of at least one driving motor through the second data collecting device 4, determines the offset information of the center of gravity of the camera device relative to the motor shaft of at least one driving motor according to the torque information and the preset gravity information of the camera device through the second processor 5, obtains the offset information after displaying the accurate calculation through the display device 6, and adjusts the center of gravity of the cradle head according to the displayed offset information, thereby effectively overcoming the problems that in the prior art, when adjusting the cradle head, the user who understands the related art and does not input the information is difficult to accomplish, and the accuracy of the obtained offset and the offset direction is affected due to human errors, and further the stability and the reliability of the use of the cradle head are affected, further ensuring the accuracy and the reliability of the cradle head adjustment, and simultaneously improving the stability and the reliability of the use of the cradle head, is beneficial to the popularization and the application of the market.
Example thirty
On the basis of the above-mentioned embodiment, as can be seen by referring to fig. 20, the implementation process of the second data collecting device 4 for obtaining the torque information of the at least one driving motor is not limited in this embodiment, and those skilled in the art can set the implementation process according to specific design requirements, wherein, preferably,
the second data acquisition means 4 may be arranged in particular for: acquiring current information of at least one driving motor; and determining torque information of the driving motor according to the current information.
The second data acquisition device 4 determines the specific implementation process of the torque information of the driving motor according to the current information, and is not limited, wherein preferably, the second data acquisition device is configured to be specifically used for:
and determining torque information of the driving motor according to M-K I, wherein M is the torque information of the driving motor, K is a torque constant of the driving motor, and I is current information of the driving motor.
The specific implementation process and implementation effect of the functional effect achieved by the second data acquisition device 4 in this embodiment are the same as the implementation processes and implementation effects in steps S5011 to S5012 and S50121 in the eleventh embodiment, and specific reference may be made to the above statements, and details are not described here again.
When the current information of the driving motors is multiple, the torque information of the driving motors can be obtained according to the formula, the current information is obtained, and the torque information is obtained through calculation of the formula, so that the accuracy and reliability of the obtained torque information of at least one driving motor can be effectively ensured, and the stability and reliability of the use of the holder adjusting device are improved.
Example thirty one
On the basis of the foregoing embodiment, as can be seen by referring to fig. 20, in this embodiment, there is no limitation on the specific implementation process of the second processor 5 determining the offset information of the center of gravity of the image capturing apparatus relative to the motor shaft of the at least one driving motor according to the torque information and the gravity information preset by the image capturing apparatus, wherein, preferably, the second processor 5 is configured to specifically:
and determining offset information of the center of gravity of the image pickup device relative to a motor shaft of at least one driving motor according to M-L-G, wherein M is torque information of the driving motor, L is offset information, and G is gravity information preset by the image pickup device.
The second processor 5 obtains the offset information of the center of gravity of the camera device relative to the motor shaft of the at least one driving motor through the calculation formula, and effectively ensures the accurate reliability of the acquisition of the offset information.
Example thirty-two
On the basis of the foregoing embodiment, as can be seen by referring to fig. 20, in this embodiment, the number of the driving motors is specifically limited, specifically, at least one driving motor includes an X-axis driving motor, a telescopic X-axis arm is connected to the X-axis driving motor, and an adjusting device for adjusting the length of the X-axis arm is arranged on the X-axis arm; in a corresponding manner, the first and second optical fibers are,
the second data acquisition device 4 is also used for acquiring X-axis torque information of the X-axis driving motor;
the second processor 5 is further configured to determine X-axis offset information of the center of gravity of the camera device relative to a motor shaft of the X-axis drive motor according to the X-axis torque information and gravity information preset by the camera device;
and the display device 6 is used for displaying the X-axis offset information so that a user can pass through the adjusting device and adjust the length of the X-axis arm according to the X-axis offset information.
The display device 6 in this embodiment may include any one of the following: the mobile phone, the tablet personal computer, the LED display screen and the liquid crystal display screen; in addition, the specific implementation process and implementation effect of the functional effect achieved by the second data acquisition device 4, the second processor 5 and the display device 6 in this embodiment are the same as the implementation process and implementation effect in steps S601 to S603 in the thirteenth embodiment, and specific reference may be made to the above statements, and details are not repeated here.
After the gravity center of the holder is adjusted by the user, the camera device is arranged on the holder, so that the gravity center of the holder and the gravity center of the camera device are in one-to-one correspondence, and then in the process of adjusting the gravity center of the holder, the offset information of the gravity center of the camera device relative to the motor shaft of the X-axis driving motor is almost zero, so that the stable state of the holder is realized, and the stable reliability of the holder is ensured.
Example thirty-three
On the basis of the foregoing embodiment, as can be seen by referring to fig. 20, the present embodiment further specifically limits the number of the driving motors, specifically, at least one driving motor includes an X-axis driving motor and a Y-axis driving motor, whose motor axes are perpendicular to each other;
the second data acquisition device 4 is also used for acquiring X-axis torque information of the X-axis driving motor and Y-axis torque information of the Y-axis driving motor;
a second processor 5, further configured to: determining X-axis offset information of the center of gravity of the camera device relative to a motor shaft of an X-axis driving motor according to the X-axis torque information and the gravity information preset by the camera device; determining Y-axis offset information of the gravity center of the camera device relative to a motor shaft of a Y-axis driving motor according to the Y-axis torque information and the preset gravity information of the camera device;
and the display device 6 is further used for displaying the X-axis offset information and the Y-axis offset information so that the user can adjust the gravity center of the holder in the XY plane according to the X-axis offset information and the Y-axis offset information.
The specific implementation process and implementation effect of the functional effect achieved by the second data acquisition device 4, the second processor 5 and the display device 6 in this embodiment are the same as those in steps S701-S704 in the fourteenth embodiment, and specific reference may be made to the above statements.
The driving motor is arranged to comprise the X-axis driving motor and the Y-axis driving motor, and the motor shafts of the X-axis driving motor and the Y-axis driving motor are vertical, so that a user can adjust the gravity center of the holder in two dimensions, and the accuracy of holder adjustment is improved; in addition, the X-axis offset information and the Y-axis offset information displayed by the display device can be visually displayed to adjust parameters for a user, so that the user can accurately adjust the cradle head without knowing the working principle of the cradle head, the learning cost of the user is reduced, the practicability of the cradle head adjusting device is improved, and the popularization and the application of the market are facilitated.
Example thirty-four
On the basis of the foregoing embodiment, as can be seen by continuing to refer to fig. 20, in this embodiment, the display device 6 is configured to display X-axis offset information and Y-axis offset information, so that a specific implementation process of adjusting the center of gravity of the pan/tilt head in the XY plane by a user according to the X-axis offset information and the Y-axis offset information is not limited, where preferably, the X-axis driving motor is connected to a telescopic X-axis arm, the Y-axis driving motor is connected to a telescopic Y-axis arm, the X-axis arm is further provided with an X-axis adjusting device for adjusting the length of the X-axis arm, and the Y-axis arm is further provided with a Y-axis adjusting device for adjusting the length of the Y-axis arm;
the display device 6 is specifically configured to display the X-axis offset information and the Y-axis offset information so that the user can: adjusting the length of the X-axis arm through an X-axis adjusting device according to X-axis offset information and X-axis scale information; and adjusting the length of the Y-axis arm through a Y-axis adjusting device according to the Y-axis offset information and the Y-axis scale information.
The specific structure, implementation process and implementation effect of the X-axis adjusting device and the Y-axis adjusting device in this embodiment are the same as the specific structure, implementation process and implementation effect of the adjusting device in step S603 in the above embodiment, and the above statements may be specifically referred to, and are not repeated here.
Through the X-axis offset information and the Y-axis offset information displayed by the display device 6, a user can quickly and effectively adjust the gravity center of the holder in the X-axis direction and the Y-axis direction, so that the gravity center of the holder can be adjusted in two-dimensional dimensions, and the accuracy of the holder adjustment is improved; specifically, because camera device sets up on the cloud platform, the focus of cloud platform is the one-to-one relation with camera device's focus, and then in the in-process of adjusting the focus of cloud platform, can be so that camera device's focus offset information of the relative X axle driving motor's of motor shaft and Y axle driving motor's of motor shaft all is almost zero, has realized the steady state of cloud platform this moment promptly, has guaranteed the reliable and stable nature that the cloud platform used.
Example thirty-five
On the basis of the foregoing embodiment, as can be seen by referring to fig. 20, in this embodiment, the number of the driving motors is further specifically limited, specifically, at least one driving motor is set to include an X-axis driving motor, a Y-axis driving motor and a Z-axis driving motor, in which motor shafts are perpendicular to each other;
the second data acquisition device 4 is also used for acquiring X-axis torque information of the X-axis driving motor, Y-axis torque information of the Y-axis driving motor and Z-axis torque information of the Z-axis driving motor;
a second processor 5, further configured to: determining X-axis offset information of the center of gravity of the camera device relative to a motor shaft of an X-axis driving motor according to the X-axis torque information and the gravity information preset by the camera device; determining Y-axis offset information of the gravity center of the camera device relative to a motor shaft of a Y-axis driving motor according to the Y-axis torque information and the preset gravity information of the camera device; determining Z-axis offset information of the gravity center of the camera device relative to a motor shaft of a Z-axis driving motor according to the Z-axis torque information and the preset gravity information of the camera device;
and the display device 6 is also used for displaying the X-axis offset information, the Y-axis offset information and the Z-axis offset information so that the user can adjust the gravity center of the holder in an XYZ space according to the X-axis offset information, the Y-axis offset information and the Z-axis offset information.
The specific implementation process and implementation effect of the functional effect achieved by the second data acquisition device 4, the second processor 5 and the display device 6 in this embodiment are the same as those in steps S801-S805 in the sixteenth embodiment, and specific reference may be made to the above statements.
The driving motor is set to comprise the X-axis driving motor, the Y-axis driving motor and the Z-axis driving motor, and the motor shafts of the X-axis driving motor, the Y-axis driving motor and the Z-axis driving motor are perpendicular to each other in pairs, so that a user can adjust the gravity center of the holder in three dimensions, and the accuracy of holder adjustment is improved; in addition, X-axis offset information, Y-axis offset information and Z-axis offset information displayed by the display device can be visually displayed to adjust parameters for a user, so that the user can accurately adjust the cradle head without knowing the working principle of the cradle head, the learning cost of the user is reduced, the practicability of the cradle head adjusting device is improved, and the popularization and the application of the market are facilitated.
Example thirty-six
On the basis of the foregoing embodiment, as can be seen by referring to fig. 20, in this embodiment, the implementation process of the display device 6 for displaying the X-axis offset information, the Y-axis offset information and the Z-axis offset information so that the user can adjust the center of gravity of the pan/tilt head in the XYZ space according to the X-axis offset information, the Y-axis offset information and the Z-axis offset information is not limited, preferably, the X-axis driving motor is connected with a telescopic X-axis arm, the Y-axis driving motor is connected with a telescopic Y-axis arm, the Z-axis driving motor is connected with a telescopic Z-axis arm, the X-axis arm is further provided with an X-axis adjusting device for adjusting the length of the X-axis arm, the Y-axis arm is further provided with a Y-axis adjusting device for adjusting the length of the Y-axis arm, and the Z-axis arm is further provided with a Z-axis adjusting device for adjusting the length of the Z-axis arm;
the display device 6 is specifically configured to display the X-axis offset information, the Y-axis offset information, and the Z-axis offset information so that the user:
adjusting the length of the X-axis arm through an X-axis adjusting device according to the X-axis offset information; adjusting the length of the Y-axis arm through a Y-axis adjusting device according to the Y-axis offset information; and adjusting the length of the Z-axis arm through the Z-axis adjusting device according to the Z-axis offset information.
The specific structures, implementation processes, and implementation effects of the X-axis adjusting device, the Y-axis adjusting device, and the Z-axis adjusting device in this embodiment are the same as those of the adjusting device in step S603 in the above embodiment, and the above statements may be specifically referred to, and are not repeated here.
After the gravity center of the holder is adjusted in the X-axis direction, the Y-axis direction and the Z-axis direction by the user, the gravity center of the holder is adjusted in a three-dimensional dimension, and the accuracy of the holder adjustment is improved; specifically, because camera device sets up on the cloud platform, the focus of cloud platform is the one-to-one relation with camera device's focus, and then in the in-process of adjusting the focus of cloud platform, can make camera device's focus offset information of the relative X axle driving motor's of motor shaft, Y axle driving motor's motor shaft and Z axle driving motor's of X axle driving motor all be almost zero, realized the steady state of cloud platform this moment promptly, guaranteed the reliable and stable nature that the cloud platform used.
Example thirty-seven
On the basis of the above-mentioned embodiment, as can be seen by referring to fig. 20, in order to improve the practicability of the pan/tilt head adjusting device, the processing function of the second processor 5 is added, specifically,
the second processor 5 is further used for determining offset adjustment strategy information according to the offset information after determining the offset information of the center of gravity of the camera device relative to the motor shaft of the at least one driving motor, and sending the offset adjustment strategy information to the display device 6;
and the display device 6 is used for displaying the offset adjustment strategy information so that the user can adjust the gravity center of the holder according to the offset adjustment strategy information.
The specific implementation process and implementation effect of the functional effect achieved by the second processor 5 and the display device 6 in this embodiment are the same as the implementation process and implementation effect in steps S901 to S902 in the eighteenth embodiment, and specific reference may be made to the above statements, and details are not described here again.
Because the offset adjustment strategy information is intuitive information for guiding the user to operate, the user can directly adjust according to the offset adjustment strategy information displayed on the display device 6, so that the time for calculating by the user is saved, the manual labor is reduced, the speed and the efficiency of the cradle head adjustment are improved, the accuracy of the cradle head adjustment is ensured, and the stability and the reliability of the cradle head in use are ensured.
Example thirty-eight
On the basis of the above embodiment, as can be seen by continuing to refer to fig. 20, in order to further improve the accuracy of the user in adjusting the center of gravity of the pan/tilt head, each driving motor is provided with a telescopic motor shaft arm, and each motor shaft arm is provided with scale information;
the display device 6 is further configured to, after the processor determines offset adjustment policy information according to the offset information and sends the offset adjustment policy information to the display device, where the offset adjustment policy information includes: and displaying the adjusting direction information corresponding to the motor shaft arm and the adjusting size information corresponding to the motor shaft arm so that a user can adjust the length of the corresponding motor shaft arm according to the displayed adjusting direction information and adjusting size information by contrasting the scale information.
The implementation process and the implementation effect of the display device 6 in this embodiment are the same as the implementation process and the implementation effect of step S903 in the above embodiment, and the above statements may be specifically referred to, and are not repeated herein.
Through the display device 6, the offset adjustment strategy information can be clearly displayed to a user, the practicability of the method is improved, the user can adjust the gravity center of the cradle head by adjusting the length of the telescopic motor shaft arm, the offset adjustment strategy information displayed on the display device 6 can visually guide the user to perform adjustment operation steps, in order to further improve the accurate reliability of user adjustment, scale information is arranged on the telescopic motor shaft arm, the scale information can visually remind the user of the offset for adjustment, therefore, the accurate reliability of cradle head adjustment is effectively guaranteed, the stability and the reliability of the use of the cradle head adjustment device are further improved, and the popularization and the application of the market are facilitated.
Example thirty-nine
Fig. 21 is a schematic structural diagram of a first cradle head provided in an embodiment of the present invention, and fig. 22 is a schematic structural diagram of a second cradle head provided in an embodiment of the present invention, as can be seen with reference to fig. 21 to 22, in this embodiment, a cradle head is provided, which is used for a stabilizer of a camera device 12, and plays a role in balancing and stabilizing, specifically, the cradle head includes: the cradle head comprises a cradle head body, a camera bracket 11 arranged on the cradle head body, at least one driving motor, a detection device and an adjusting device 13, wherein the camera bracket 11 is provided with a camera device 12, and the detection device is electrically connected with the adjusting device 13;
detection means for detecting offset information of the center of gravity of the imaging means 12 and the motor shaft of the at least one drive motor;
and the adjusting device 13 is used for adjusting the gravity center of the holder according to the offset information.
The specific structure of the camera bracket 11 is not limited, and if the camera bracket 11 is arranged in a U-shaped structure, the camera bracket 11 with the U-shaped structure can stably clamp the upper side and the lower side of the camera device 12, so that the stable reliability of the camera device 12 mounted on the pan/tilt head is ensured; in addition, the implementation manner of electrically connecting the detection device and the adjustment device 13 is not limited, for example, the detection device may be set to be in wired connection, wireless connection, or bluetooth connection with the adjustment device 13, as long as the communication connection between the adjustment device 13 and the detection device can be achieved, and details are not repeated herein.
In addition, in this embodiment, the implementation process and implementation effect of the operation steps implemented by the detection device and the adjustment device 13 are the same as the implementation process and implementation effect of steps S102 to S103 in the first embodiment, which may specifically refer to the above statements and are not described herein again.
The cloud platform that this embodiment provided, detect the focus of camera device 12 and the offset information of at least one driving motor's motor shaft through detection device, through the offset information that detects, adjusting device 13 adjusts the focus of cloud platform according to the offset information, when adjusting the cloud platform among the prior art has effectively been overcome, it is difficult to accomplish to the user that the correlation technique understanding is not input, and because the human error can influence the offset that obtains and the accuracy nature of skew direction, and then influence the problem of the reliable and stable nature that the cloud platform used, and then guaranteed the accurate reliability of cloud platform adjustment, the reliable and stable nature that the cloud platform used has also been improved simultaneously, be favorable to the popularization and the application in market.
Example forty
On the basis of the foregoing embodiments, referring to fig. 21 to 22, it can be seen that, in this embodiment, a specific implementation process of the adjusting device 13 automatically adjusting the center of gravity of the pan/tilt head according to the offset information is not limited, for example: the adjusting device 13 may be configured to adjust the installation position of the camera device 12 installed on the camera bracket 11, and the center of gravity of the pan/tilt head is adjusted by adjusting the installation position of the camera device 12; preferably, each driving motor is provided with a telescopic motor shaft arm, the camera bracket 11 is connected with one motor shaft arm, and the connection between the camera bracket 11 and the motor shaft can be fixed connection or detachable connection;
and the adjusting device 13 is further used for automatically adjusting the length of the motor shaft arm according to the offset information.
The process and the implementation effect of the adjusting device 13 are the same as those of step S2031 in the above embodiment, and reference may be made to the above statements.
Through the adjusting device 13 who sets up, improved this cloud platform effectively and used intelligent and the degree of automation with the operation, saved the cost of labor, improved the speed and the efficiency that the cloud platform was adjusted, and then improved the reliable and stable nature that this cloud platform used.
Example forty one
On the basis of the above embodiments, as can be seen with reference to fig. 21 to 22, the specific structure of the detection device in this embodiment is not limited, wherein, preferably, the detection device is configured to include: the gravity sensor, the torque measuring instrument and the data processor;
the gravity sensor is arranged on the camera bracket 11 and used for detecting the gravity information of the camera device 12;
the torque measuring instrument is used for acquiring torque information of at least one driving motor;
and the data processor is electrically connected with the torque measuring instrument and the gravity sensor and is used for determining the offset information of the gravity center of the camera device 12 relative to the motor shaft of at least one driving motor according to the torque information and the preset gravity information of the camera device 12.
The implementation process and implementation effect of the operation steps implemented by the gravity sensor, the torque measuring instrument, and the data processor are the same as the implementation process and implementation effect of the operation steps of steps S101 to S102 in the first embodiment, and specific reference may be made to the above statements, which are not repeated herein.
Gravity information of the camera device 12 and torque information of the driving motor can be accurately and effectively acquired through the gravity sensor and the torque measuring instrument, the accurate reliability of the acquisition of the gravity information and the torque information is effectively guaranteed, further, the gravity information and the torque information are analyzed and processed through the data processor, offset information of the gravity center of the camera device 12 relative to a motor shaft of at least one driving motor can be effectively obtained, the accurate reliability of the acquisition of the offset information is further guaranteed, the accuracy of cradle head adjustment is further improved, the stable reliability of cradle head use is guaranteed, the using effect of the cradle head is improved, meanwhile, the service life of the cradle head is prolonged, and the popularization and the application of the market are facilitated.
Example forty two
On the basis of the above embodiments, referring to fig. 21 to 22, it can be seen that the present embodiment does not limit the specific structure of the torque measuring instrument, wherein, preferably, the torque measuring instrument is configured to include:
the current detection module is connected with at least one driving motor and used for detecting current information of the driving motor;
and the processing module is electrically connected with the current detection module and used for determining the torque information of the driving motor according to the current information.
The implementation process and the implementation effect of the operation steps implemented by the current detection module and the processing module are the same as the implementation process and the implementation effect of steps S1011 to S1012 in the second embodiment, and the above statements may be specifically referred to, and are not repeated herein.
The current information is acquired through the current detection module, the torque information is acquired through the processing module, the accurate reliability of the acquired torque information of at least one driving motor can be effectively guaranteed, the accuracy of the cradle head adjustment is further improved, the using effect of the cradle head is further guaranteed, and the market competitiveness of the cradle head is improved.
Example forty-three
On the basis of the above embodiments, as can be seen from fig. 21 to 22, in the present embodiment, the number of the driving motors arranged on the pan/tilt head can be arbitrarily set, for example, at least one driving motor is set to include: the X-axis driving motor 9 is arranged on the holder body, and the X-axis driving motor 9 is connected with a telescopic X-axis arm 91;
the adjusting device 13 includes: an X-axis adjuster for adjusting the length of the X-axis arm 91, the X-axis adjuster being connected to the X-axis arm 91, wherein the specific shape and structure of the X-axis arm 91 are not limited, for example, the X-axis arm 91 may be configured as an I-shaped structure or an L-shaped structure.
The specific structure of the X-axis adjuster is not limited, and preferably, the X-axis adjuster may be configured to include: at least one linear motor connected with the motor shaft arm, wherein the motor shaft arm comprises at least one of an X-axis shaft arm, a Y-axis shaft arm and a Z-axis shaft arm; alternatively, the X-axis adjuster may be further provided to include: the driving motor is connected with a lead screw, the lead screw is provided with a nut, and the nut is fixedly connected with the motor shaft arm, wherein the motor shaft arm comprises at least one of an X-axis shaft arm, a Y-axis shaft arm and a Z-axis shaft arm; the X-axis adjuster can be arranged to comprise a linear motor connected with the X-axis arm, when the linear motor receives an adjustment instruction, the linear motor works to drive the X-axis arm to perform telescopic motion, and the gravity center adjustment of the holder is realized by adjusting the length of the X-axis arm; or, the X-axis adjuster may also be configured to include a driving motor, the driving motor is connected to a lead screw, the lead screw is provided with a nut, the nut is connected to the X-axis arm, and when the driving motor receives an adjustment instruction, the driving motor rotates, and the lead screw and the nut convert the circular motion of the driving motor into a linear motion, that is, the nut performs a linear motion on the lead screw, and the nut is connected to the X-axis arm, thereby realizing a process in which the driving motor drives the X-axis arm to perform a telescopic motion; in addition, the X-axis adjuster can be arranged to comprise a hydraulic cylinder which is directly connected with the X-axis arm, and the telescopic motion of the X-axis arm is driven by the telescopic motion of the hydraulic cylinder, so that the X-axis adjuster can automatically adjust the length of the X-axis arm according to the offset information, and the gravity center of the holder can be adjusted in the X-axis direction; through the X-axis adjuster, the intelligent and automatic degree of the cradle head adjusting device is effectively improved, the labor cost is saved, and the adjusting efficiency is guaranteed.
Example forty-four
On the basis of the above embodiments, as can be seen from fig. 21 to 22, in the present embodiment, the number of the driving motors arranged on the pan/tilt head can be arbitrarily set, for example, at least one driving motor is set to include: the holder comprises an X-axis driving motor 9 and a Y-axis driving motor 10 which are arranged on a holder body and have mutually vertical motor shafts, wherein the X-axis driving motor 9 is connected with a telescopic X-axis arm 91, and the Y-axis driving motor 10 is connected with a telescopic Y-axis arm 101, wherein the specific shapes and structures of the X-axis arm 91 and the Y-axis arm 101 are not limited, for example, the X-axis arm 91 and the Y-axis arm 101 can be respectively set to be I-shaped structures, L-shaped structures and the like, or the X-axis arm 91 and the Y-axis arm 101 can be set to be I-shaped structures or L-shaped structures and the like;
the adjusting device 13 includes: an X-axis adjuster for adjusting the length of the X-axis arm 91 and a Y-axis adjuster for adjusting the length of the Y-axis arm 101, wherein the X-axis adjuster is connected with the X-axis arm 91, and the Y-axis adjuster is connected with the Y-axis arm 101.
The specific structures of the X-axis adjuster and the Y-axis adjuster are not limited, and the specific structures may be the same as those of the X-axis adjuster in the above embodiments, and the above statements may be specifically referred to, and are not repeated herein; in addition, for the operation processes and the implementation effects used by the X-axis adjuster and the Y-axis adjuster, which are the same as the operation processes and the implementation effects of steps S3041-S3042 in the seventh embodiment, the above statements may be specifically referred to, and no further description is given here.
Through the X-axis adjuster and the Y-axis adjuster which are arranged, the cradle head can be automatically adjusted in two dimensions, the intelligent degree and the automatic degree of the cradle head adjustment are effectively improved, the labor cost is saved, the speed and the efficiency of the cradle head adjustment are guaranteed, the stability and the reliability of the cradle head are improved, and the popularization and the application of the market are facilitated.
Example forty-five
On the basis of the above embodiments, as can be seen from fig. 21 to 22, in the present embodiment, the number of the driving motors arranged on the pan/tilt head can be arbitrarily set, for example, at least one driving motor is set to include: the cradle head comprises an X-axis driving motor 9, a Y-axis driving motor 10 and a Z-axis driving motor 8 which are arranged on a cradle head body and are pairwise perpendicular to a motor shaft, wherein the X-axis driving motor 9 is connected with a telescopic X-axis arm 91, the Y-axis driving motor 10 is connected with a telescopic Y-axis arm 101, and the Z-axis driving motor 8 is connected with a telescopic Z-axis arm 81;
the adjusting device 13 includes: an X-axis adjuster for adjusting the length of the X-axis arm 91, a Y-axis adjuster for adjusting the length of the Y-axis arm 101, and a Z-axis adjuster for adjusting the length of the Z-axis arm 81, the X-axis adjuster being connected to the X-axis arm 91, the Y-axis adjuster being connected to the Y-axis arm 101, the Z-axis adjuster being connected to the Z-axis arm 81.
The specific structures of the X-axis adjuster, the Y-axis adjuster, and the Z-axis adjuster are not limited, and the specific structures may be the same as those of the adjusting device 13 in the above embodiments, and the above statements may be specifically referred to, and are not repeated herein; in addition, for the operation process and the implementation effect of the X-axis adjuster, the Y-axis adjuster and the Z-axis adjuster are the same as those of the steps S4051-S4053 in the ninth embodiment, the above statements may be specifically referred to, and no further description is given here.
The gravity center of the cradle head can be adjusted through the X-axis adjuster, the Y-axis adjuster and the Z-axis adjuster which are arranged respectively, so that the cradle head can be automatically adjusted in three dimensions, the intelligent degree and the automatic degree of the cradle head adjustment are effectively improved, the labor cost is saved, the speed and the efficiency of the cradle head adjustment are guaranteed simultaneously, and the stability and the reliability of the cradle head are improved.
Example forty-six
On the basis of the above embodiments, as can be seen from fig. 21 to 22, in order to facilitate the placement and management of the pan/tilt head during the installation and the removal processes, the pan/tilt head body is further configured to include the base 7, and the Z-axis driving motor is disposed on the base 7.
The specific shape and structure of the base 7 are not limited, for example: the base 7 can be configured as a rectangular block, a square block or a cylindrical structure, and the like, wherein, because the base 7 is connected with the Z-axis driving motor, the base 7 is preferably configured as a cylindrical structure in order to improve the overall aesthetic degree of the holder; because base 7 is planar structure, consequently, can effectively support other devices of setting on the cloud platform body steadily to still conveniently place, consequently, through the base 7 that sets up, improved the convenient to use degree of cloud platform effectively, further improved the practicality of cloud platform.
Example forty-seven
With continued reference to fig. 21-22, the present embodiment provides another cradle head for a stabilizer of the camera device 12, for balancing and stabilizing, and specifically, the cradle head includes: the cradle head comprises a cradle head body, a camera bracket 11 arranged on the cradle head body, at least one driving motor, a detection device, a display device and an adjusting device 13, wherein the camera bracket 11 is provided with the camera device 12, and the detection device is used for being electrically connected with the display device;
and the detection device is used for detecting the offset information of the center of gravity of the camera device 12 and the motor shaft of the at least one driving motor so as to enable the display device to display the offset information, and enable a user to adjust the center of gravity of the holder through the adjusting device 13 according to the displayed offset information.
The specific structure and functional function of the camera bracket 11 in this embodiment are the same as those of the camera bracket 11 in thirty-nine embodiments, and reference may be made to the above statements specifically, which are not repeated herein; in addition, the implementation manner of electrically connecting the detection device and the adjustment device 13 is not limited, for example, the detection device may be set to be in wired connection, wireless connection, or bluetooth connection with the adjustment device 13, as long as the communication connection between the adjustment device 13 and the detection device can be achieved, and details are not repeated herein; further, a specific structure of the display device is not limited, and for example, the display device may be configured to include at least one of: a mobile phone, a tablet computer, an LED display screen or a liquid crystal display screen, etc., as long as the above functions and effects can be achieved, which are not described herein again.
In addition, in this embodiment, the implementation process and implementation effect of the operation steps implemented by the detection device and the display device are the same as the implementation process and implementation effect of steps S502 to S503 in the tenth embodiment, which may specifically refer to the above statements and are not described herein again.
The cloud platform that this embodiment provided, detect the offset information of the relative at least one driving motor's of focus of camera device 12 motor shaft through detection device, obtain the offset information after showing accurate calculation through display device, the user adjusts the focus of cloud platform according to the offset information that shows, when adjusting the cloud platform among the prior art, it is difficult to accomplish to the user that the correlation technique understanding is not input effectively to have overcome, and because the human error can influence the accuracy nature of the offset and the skew direction that obtain, and then influence the problem of the reliable and stable nature that the cloud platform used, and then guaranteed the accurate reliability of cloud platform adjustment, the reliable and stable nature that the cloud platform used has also been improved simultaneously, be favorable to the popularization and the application in market.
Example forty-eight
On the basis of the foregoing embodiment, as can be seen by referring to fig. 21 to 22, the specific implementation process of the adjusting device 13 automatically adjusting the center of gravity of the pan/tilt head according to the offset information is not limited in this embodiment, for example: the adjusting device 13 may be configured to adjust the installation position of the camera device 12 installed on the camera bracket 11, and the adjustment of the center of gravity of the pan/tilt head is realized by adjusting the installation position of the camera device 12; preferably, each driving motor is provided with a telescopic motor shaft arm, scale information for marking the size is arranged on the motor shaft arm, the camera support 11 is connected with one motor shaft arm, and the connection between the camera support 11 and the motor shaft can be fixed connection or detachable connection and the like;
and the display device is also used for displaying the offset information so that a user can adjust the length of the motor shaft arm through the adjusting device 13 according to the displayed offset information and the scale information.
The implementation process and the implementation effect of the operation steps implemented by the display device are similar to the implementation process and the implementation effect of step S603 in the thirteenth embodiment, and reference may be specifically made to the above statements, and details are not repeated here.
After the display device displays the information, the user adjusts the gravity center of the holder, and the camera device 12 is arranged on the holder, so that the gravity center of the holder and the gravity center of the camera device 12 are in one-to-one correspondence, and then in the process of adjusting the gravity center of the holder, the offset information of the gravity center of the camera device 12 relative to the motor shaft of the X-axis driving motor 9 is almost zero, so that the stable state of the holder is realized, and the stable reliability of the holder is ensured.
Example forty-nine
On the basis of the foregoing embodiments, as can be seen by referring to fig. 21 to 22, the specific structure of the detection device in this embodiment is not limited, wherein, preferably, the detection device is configured to include: the gravity sensor, the torque measuring instrument and the data processor;
the gravity sensor is arranged on the camera bracket 11 and used for detecting the gravity information of the camera device 12;
the torque measuring instrument is used for acquiring torque information of at least one driving motor;
and the data processor is electrically connected with the torque measuring instrument and the gravity sensor and is used for determining the offset information of the gravity center of the camera device 12 relative to the motor shaft of at least one driving motor according to the torque information and the preset gravity information of the camera device 12.
The specific structures, the implemented operation processes, and the implemented effects of the gravity sensor, the torque measuring instrument, and the data processor in this embodiment are the same as those of the gravity sensor, the torque measuring instrument, and the data processor in the foregoing forty-first embodiment, and specific references may be specifically made to the above statements, which are not repeated herein.
Gravity information of the camera device 12 and torque information of the driving motor can be accurately and effectively acquired through the gravity sensor and the torque measuring instrument, the accurate reliability of the acquisition of the gravity information and the torque information is effectively guaranteed, further, the gravity information and the torque information are analyzed and processed through the data processor, offset information of the gravity center of the camera device 12 relative to a motor shaft of at least one driving motor can be effectively obtained, the accurate reliability of the acquisition of the offset information is further guaranteed, the accuracy of cradle head adjustment is further improved, the stable reliability of cradle head use is guaranteed, the using effect of the cradle head is improved, meanwhile, the service life of the cradle head is prolonged, and the popularization and the application of the market are facilitated.
Example fifty
On the basis of the above embodiments, as can be seen by referring to fig. 21 to 22, the present embodiment does not limit the specific structure of the torque measuring instrument, wherein, preferably, the torque measuring instrument is configured to include:
the current detection module is connected with at least one driving motor and used for detecting current information of the driving motor;
and the processing module is electrically connected with the current detection module and used for determining the torque information of the driving motor according to the current information.
The specific structures, the implemented operation processes, and the implementation effects of the current detection module and the processing module in this embodiment are the same as those of the current detection module and the processing module in the forty-two embodiments, and the specific structures, the implemented operation processes, and the implementation effects of the current detection module and the processing module in the forty-two embodiments may be referred to specifically in the above statements, and are not described again here.
The current information is acquired through the current detection module, the torque information is acquired through the processing module, the accurate reliability of the acquired torque information of at least one driving motor can be effectively guaranteed, the accuracy of the cradle head adjustment is further improved, the using effect of the cradle head is further guaranteed, and the market competitiveness of the cradle head is improved.
Example fifty one
On the basis of the above embodiments, as can be seen with reference to fig. 21 to 22, in the present embodiment, the number of the driving motors disposed on the pan/tilt head can be arbitrarily set, for example, at least one driving motor is set to include: the X-axis driving motor 9 is arranged on the holder body, the X-axis driving motor 9 is connected with a telescopic X-axis arm 91, and X-axis scale information is arranged on the X-axis arm 91;
the adjusting device 13 includes: and an X-axis adjuster for adjusting the length of the X-axis arm 91, the X-axis adjuster being connected to the X-axis arm 91.
The specific structure, the implemented operation process, and the implementation effect of the X-axis adjuster in this embodiment are the same as those of the X-axis adjuster in forty-three embodiments, and specific reference may be specifically made to the above statements, and details are not described here.
Through the X-axis adjuster, the intelligent degree and the automatic degree of the adjustment of the cradle head are effectively improved, the labor cost is saved, the speed and the efficiency of the adjustment of the cradle head are improved, and the stability and the reliability of the use of the cradle head are further improved.
Example fifty two
On the basis of the above embodiments, as can be seen with reference to fig. 21 to 22, in the present embodiment, the number of the driving motors disposed on the pan/tilt head can be arbitrarily set, for example, at least one driving motor is set to include: the X-axis driving motor 9 and the Y-axis driving motor 10 are arranged on the holder body, motor shafts of the X-axis driving motor 9 and the Y-axis driving motor 10 are perpendicular to each other, the X-axis driving motor 9 is connected with a telescopic X-axis arm 91, X-axis scale information is arranged on the X-axis arm 91, the Y-axis driving motor 10 is connected with a telescopic Y-axis arm 101, and Y-axis scale information is arranged on the Y-axis arm 101;
the adjusting device 13 includes: an X-axis adjuster for adjusting the length of the X-axis arm 91 and a Y-axis adjuster for adjusting the length of the Y-axis arm 101, wherein the X-axis adjuster is connected with the X-axis arm 91, and the Y-axis adjuster is connected with the Y-axis arm 101.
The specific structures, the implemented operation processes, and the implementation effects of the X-axis adjuster and the Y-axis adjuster in this embodiment are the same as those of the X-axis adjuster and the Y-axis adjuster in forty-four embodiments described above, and specific reference may be made to the above statements, which are not repeated herein.
Through the X-axis adjuster and the Y-axis adjuster which are arranged, the cradle head can be automatically adjusted in two dimensions, the intelligent degree and the automatic degree of the cradle head adjustment are effectively improved, the labor cost is saved, the speed and the efficiency of the cradle head adjustment are guaranteed, the stability and the reliability of the cradle head are improved, and the popularization and the application of the market are facilitated.
Example fifty three
On the basis of the above embodiments, as can be seen with reference to fig. 21 to 22, in the present embodiment, the number of the driving motors disposed on the pan/tilt head can be arbitrarily set, for example, at least one driving motor is set to include: an X-axis driving motor 9, a Y-axis driving motor 10 and a Z-axis driving motor 8 which are arranged on the holder body and have motor shafts which are vertical in pairs, wherein the X-axis driving motor 9 is connected with a telescopic X-axis arm 91, the X-axis arm 91 is provided with X-axis scale information, the Y-axis driving motor 10 is connected with a telescopic Y-axis arm 101, the Y-axis arm 101 is provided with Y-axis scale information, the Z-axis driving motor 8 is connected with a telescopic Z-axis arm 81, the Z-axis arm 81 is provided with Z-axis scale information, the specific shapes and structures of the X-axis arm 91, the Y-axis arm 101, and the Z-axis arm 81 are not limited, but are preferably, the X-axis arm 91 and the Z-axis arm 81 may be arranged in an L-shaped configuration, the Y-axis arm 101 may be arranged in an I-shaped configuration, therefore, the cradle head can be conveniently adjusted in three-dimensional dimension, and the convenience degree of cradle head adjustment is improved;
the adjusting device 13 includes: an X-axis adjuster for adjusting the length of the X-axis arm 91, a Y-axis adjuster for adjusting the length of the Y-axis arm 101, and a Z-axis adjuster for adjusting the length of the Z-axis arm 81, the X-axis adjuster being connected to the X-axis arm 91, the Y-axis adjuster being connected to the Y-axis arm 101, the Z-axis adjuster being connected to the Z-axis arm 81.
The specific structures, the implemented operation processes, and the implemented effects of the X-axis adjuster, the Y-axis adjuster, and the Z-axis adjuster in this embodiment are the same as the specific structures, the implemented operation processes, and the implemented effects of the X-axis adjuster, the Y-axis adjuster, and the Z-axis adjuster in forty-five embodiments, and specific reference may be made to the above statements, and details are not repeated here.
The gravity center of the cradle head can be adjusted through the X-axis adjuster, the Y-axis adjuster and the Z-axis adjuster which are arranged respectively, so that the cradle head can be automatically adjusted in three dimensions, the intelligent degree and the automatic degree of the cradle head adjustment are effectively improved, the labor cost is saved, the speed and the efficiency of the cradle head adjustment are guaranteed simultaneously, and the stability and the reliability of the cradle head are improved.
Example fifty four
On the basis of the above-mentioned embodiments, as can be seen by referring to fig. 21 to 22, in order to facilitate the placement and management of the pan/tilt head during the installation and the removal processes, the pan/tilt head body is further configured to include the base 7, and the Z-axis driving motor is disposed on the base 7.
The specific shape and structure of the base 7 are not limited, for example: the base 7 can be configured as a rectangular block, a square block or a cylindrical structure, and the like, wherein, because the base 7 is connected with the Z-axis driving motor, the base 7 is preferably configured as a cylindrical structure in order to improve the overall aesthetic degree of the holder; because base 7 is planar structure, can effectively support other devices of setting on the cloud platform body steadily like this to still conveniently place, further improved the practicality of cloud platform.
Example fifty five
Fig. 23 is a schematic structural diagram of a pan/tilt head adjustment system according to an embodiment of the present invention; referring to fig. 23, the present embodiment provides a pan/tilt adjustment system, where the pan/tilt adjustment system is configured to adjust a center of gravity of a pan/tilt so as to enable the center of gravity of a camera mounted on the pan/tilt to fall on a motor shaft of each driving motor mounted on the pan/tilt, so as to enable the pan/tilt to be in a stable working state; cloud platform adjustment system includes:
a first obtaining module 14, configured to obtain torque information of at least one driving motor;
the first processing module 15 is used for determining offset information of the gravity center of the camera device relative to a motor shaft of at least one driving motor according to the torque information and the gravity information preset by the camera device;
and the adjusting module 16 is used for adjusting the gravity center of the holder according to the offset information.
The communication connection manner of the first obtaining module 14, the first processing module 15, and the adjusting module 16 is not limited, for example, the communication connection manner may be set as a wired connection, a wireless connection, a bluetooth connection, and the like, as long as data interaction among the first obtaining module 14, the first processing module 15, and the adjusting module 16 can be achieved, which is not described herein again; in addition, the specific structure of the first obtaining module 14, the first processing module 15 and the adjusting module 16 is not limited, for example, the first obtaining module 14 may be configured to include a torque measuring instrument, and the torque measuring instrument is configured to obtain torque information of at least one driving motor; in addition, the specific implementation process and implementation effect of the functional effect achieved by the first obtaining module 14, the first processing module 15, and the adjusting module 16 in this embodiment are the same as the implementation process and implementation effect in steps S101 to S103 in the first embodiment, and specific reference may be made to the above statements, and no further description is given here.
The pan/tilt head adjusting system provided by this embodiment acquires the torque information of at least one driving motor through the first acquiring module 14, and determines the offset information of the gravity center of the camera device relative to the motor shaft of at least one driving motor according to the torque information and the gravity information preset by the camera device through the first processing module 15, the offset information is obtained after accurate calculation, and the gravity center of the holder is automatically adjusted according to the offset information, thereby effectively overcoming the defects that when the holder is adjusted in the prior art, this is difficult to accomplish for a user who does not input for the related art understanding, and since human error affects the accuracy of the acquired offset amount and offset direction, and then the problem of the stable reliability that influences the cloud platform and use, and then guaranteed the accurate reliability of cloud platform adjustment, also improved the stable reliability that cloud platform adjustment system used simultaneously.
Example fifty six
On the basis of the foregoing embodiment, as can be seen by referring to fig. 23, in this embodiment, a specific implementation process of the first obtaining module 14 for obtaining the torque information of the at least one driving motor is not limited, wherein preferably, the first obtaining module 14 is configured to specifically:
acquiring current information of at least one driving motor;
and determining torque information of the driving motor according to the current information.
The specific implementation method for determining the torque information of the driving motor by the first obtaining module 14 according to the current information is as follows:
and determining torque information of the driving motor according to M-K I, wherein M is the torque information of the driving motor, K is a torque constant of the driving motor, and I is current information of the driving motor.
The specific implementation process and implementation effect of the operation steps implemented by the first obtaining module 14 in this embodiment are the same as the implementation processes and implementation effects in steps S1011 to S1012 and S10121 in the second embodiment, and the above statements may be specifically referred to, and are not repeated herein.
The current information is obtained through the operation steps, and the torque information is obtained through formula calculation, so that the accuracy and reliability of the obtained torque information of at least one driving motor can be effectively ensured, and the stability and reliability of the cradle head adjusting system are improved.
Example fifty seven
On the basis of the foregoing embodiment, as can be seen with reference to fig. 23, in this embodiment, there is no limitation on the operation process of the first processing module 15 for determining the offset information of the center of gravity of the image capturing apparatus relative to the motor shaft of the at least one driving motor according to the torque information and the preset gravity information of the image capturing apparatus, wherein preferably, the first processing module 15 is configured to specifically:
and determining offset information of the center of gravity of the image pickup device relative to a motor shaft of at least one driving motor according to M-L-G, wherein M is torque information of the driving motor, L is offset information, and G is gravity information preset by the image pickup device.
The first processing module 15 obtains the offset information of the center of gravity of the camera device relative to the motor shaft of the at least one driving motor through the above calculation formula, and effectively ensures the accurate reliability of the acquisition of the offset information.
Example fifty eight
On the basis of the foregoing embodiments, as can be seen with reference to fig. 23, the present embodiment may specifically limit the number of the driving motors, for example, at least one driving motor is configured to include an X-axis driving motor; then, the corresponding,
the first obtaining module 14 is further configured to obtain X-axis torque information of the X-axis driving motor;
the first processing module 15 is further configured to determine offset information of the center of gravity of the camera device relative to a motor shaft of the X-axis driving motor according to the X-axis torque information and gravity information preset by the camera device;
and the adjusting module 16 is further configured to automatically adjust the center of gravity of the pan/tilt head in the X-axis direction according to the offset information.
The specific implementation process and implementation effect of the functional effect achieved by the first obtaining module 14, the first processing module 15, and the adjusting module 16 in this embodiment are the same as the implementation process and implementation effect in steps S201 to S203 in the fourth embodiment, and specific reference may be made to the above statements, and details are not repeated here.
After the gravity center of the cradle head is automatically adjusted through the above, the camera device is arranged on the cradle head, so that the gravity center of the cradle head and the gravity center of the camera device are in one-to-one correspondence, and then in the process of adjusting the gravity center of the cradle head, the offset information of the motor shaft of the X-axis driving motor relative to the gravity center of the camera device is almost zero, so that the steady state of the cradle head is realized, and the stability and the reliability of the use of the cradle head are ensured.
Example fifty nine
On the basis of the foregoing embodiment, as can be seen by continuing to refer to fig. 23, in this embodiment, the implementation process of automatically adjusting the center of gravity of the pan/tilt head by the adjustment module 16 is not limited, wherein preferably, the X-axis driving motor may be set to be connected to a telescopic X-axis arm, the X-axis arm is connected to the image pickup device, and the X-axis arm is provided with an adjustment device for adjusting the length of the X-axis arm, and the adjustment device is electrically connected to the adjustment module 16;
the adjusting module 16 is specifically configured to control the adjusting device to automatically adjust the length of the X-axis arm according to the offset information, so that the center of gravity of the pan/tilt head is adjusted in the X-axis direction.
The process and the implementation effect of the adjusting module 16 are the same as those of step S2031 in the above embodiment, and reference may be made to the above statements.
Through the adjusting module 16, the intelligent and automatic degree of the holder adjusting system is effectively improved, the labor cost is saved, the adjusting speed and efficiency are improved, and the use stability and reliability of the adjusting system are further improved.
Example sixty
On the basis of the above embodiment, as can be seen with reference to fig. 23, the present embodiment may further limit the number of the driving motors, for example, at least one driving motor is configured to include an X-axis driving motor and a Y-axis driving motor with motor shafts perpendicular to each other; in a corresponding manner, the first and second optical fibers are,
the first obtaining module 14 is further configured to obtain X-axis torque information of the X-axis driving motor and Y-axis torque information of the Y-axis driving motor;
the first processing module 15 is further configured to determine X-axis offset information of a center of gravity of the camera device relative to a motor shaft of the X-axis drive motor according to the X-axis torque information and gravity information preset by the camera device; determining Y-axis offset information of the gravity center of the camera device relative to a motor shaft of a Y-axis driving motor according to the Y-axis torque information and the preset gravity information of the camera device;
and the adjusting module 16 is further configured to automatically adjust the center of gravity of the pan/tilt head in the XY plane according to the X-axis offset information and the Y-axis offset information.
The specific implementation process and implementation effect of the functional effect achieved by the first obtaining module 14, the first processing module 15, and the adjusting module 16 in this embodiment are the same as the implementation process and implementation effect in steps S301 to S304 in the sixth embodiment, and specific reference may be made to the above statements, and details are not repeated here.
After adjusting the focus of cloud platform automatically according to X axle offset information and Y axle offset information through above-mentioned first processing module 15, because camera device sets up on the cloud platform, consequently the focus of cloud platform is the one-to-one with camera device's focus, and then at the in-process of adjusting the focus of cloud platform, can be so that camera device's focus offset information of the relative X axle driving motor's of motor shaft and Y axle driving motor's motor shaft is almost zero, the steady state of cloud platform has been realized promptly this moment, the steady reliability that the cloud platform used has been guaranteed.
Example sixty one
On the basis of the foregoing embodiment, as can be seen by continuing to refer to fig. 23, in this embodiment, the implementation process of the adjustment module 16 automatically adjusting the center of gravity of the pan/tilt head in the XY plane according to the X-axis offset information and the Y-axis offset information is not limited, wherein preferably, the X-axis driving motor is set to be connected with a telescopic X-axis arm, the X-axis arm is connected with the Y-axis driving motor, the Y-axis driving motor is connected with a telescopic Y-axis arm, the Y-axis arm is connected with the camera device, the X-axis arm is provided with an X-axis adjusting device for adjusting the length of the X-axis arm, the X-axis adjusting device is electrically connected with the first processing module 15, the Y-axis arm is provided with a Y-axis adjusting device for adjusting the length of the Y-axis arm, and the Y-axis adjusting device is electrically connected with; the adjusting module 16 is specifically configured to: controlling an X-axis adjusting device to automatically adjust the length of the X-axis arm according to the X-axis offset information so as to adjust the gravity center of the holder in the X-axis direction; and controlling the Y-axis adjusting device to automatically adjust the length of the Y-axis arm according to the Y-axis offset information so as to adjust the gravity center of the holder in the Y-axis direction.
The specific implementation process and implementation effect of the functional effect achieved by the adjustment module 16 in this embodiment are the same as the implementation processes and implementation effects in steps S3041-S3042 in the seventh embodiment, and reference may be made to the above statements specifically, and details are not described here.
The X-axis adjusting device and the Y-axis adjusting device are controlled through the adjusting module 16, so that the cradle head can be automatically adjusted in two dimensions, the intelligent degree and the automatic degree of the cradle head adjusting system are effectively improved, the labor cost is saved, the adjusting speed and efficiency are guaranteed, and the use stability and reliability of the adjusting system are further improved.
Example sixty-two
On the basis of the foregoing embodiments, as can be seen by referring to fig. 23, the present embodiment may further limit the number of the driving motors, for example, at least one driving motor is configured to include an X-axis driving motor, a Y-axis driving motor, and a Z-axis driving motor, in which motor shafts are perpendicular to each other;
the first obtaining module 14 is further configured to obtain X-axis torque information of the X-axis driving motor, Y-axis torque information of the Y-axis driving motor, and Z-axis torque information of the Z-axis driving motor;
the first processing module 15 is further configured to determine X-axis offset information of a center of gravity of the camera device relative to a motor shaft of the X-axis drive motor according to the X-axis torque information and gravity information preset by the camera device; determining Y-axis offset information of the gravity center of the camera device relative to a motor shaft of a Y-axis driving motor according to the Y-axis torque information and the preset gravity information of the camera device; determining Z-axis offset information of the gravity center of the camera device relative to a motor shaft of a Z-axis driving motor according to the Z-axis torque information and the preset gravity information of the camera device;
the adjusting module 16 is further configured to: and automatically adjusting the gravity center of the holder in an XYZ space according to the X-axis offset information, the Y-axis offset information and the Z-axis offset information.
The specific implementation process and implementation effect of the functional effect achieved by the first obtaining module 14, the first processing module 15, and the adjusting module 16 in this embodiment are the same as the implementation process and implementation effect in steps S401 to S405 in the above-mentioned eighth embodiment, and specific reference may be made to the above statements, and details are not repeated here.
Through above-mentioned adjusting module 16 according to X axle offset information, after Y axle offset information and Z axle offset information are adjusted to the focus of cloud platform automatically, because camera device sets up on the cloud platform, consequently, the focus of cloud platform is the one-to-one with camera device's focus, and then at the in-process of adjusting the focus of cloud platform, can make camera device's focus motor shaft to X axle driving motor, Y axle driving motor's motor shaft and Z axle driving motor's motor shaft's offset information all is almost zero, realized the adjustment process to the cloud platform from three dimension, make the cloud platform keep steady state, the stable and reliable nature that the cloud platform used has been guaranteed.
Example sixty-three
On the basis of the above embodiment, as can be seen by referring to fig. 23 continuously, the implementation process of the adjusting module 16 automatically adjusting the gravity center of the pan/tilt head in XYZ space according to the X-axis offset information, the Y-axis offset information and the Z-axis offset information is not limited in this embodiment, wherein, preferably, the X-axis driving motor is configured to be connected with a telescopic X-axis arm, the X-axis arm is connected with the Y-axis driving motor, the Y-axis driving motor is connected with a telescopic Y-axis arm, the Y-axis arm is connected with the camera device, the Z-axis driving motor is connected with a telescopic Z-axis arm, the Z-axis arm is connected with the X-axis driving motor, the X-axis arm is provided with an X-axis adjusting device for adjusting the length of the X-axis arm, the X-axis adjusting device is electrically connected with the adjusting module 16, the Y-axis arm is provided with a Y-axis adjusting device for adjusting the, the Y-axis adjusting device is electrically connected with the first processor 3, the Z-axis arm is provided with a Z-axis adjusting device for adjusting the length of the Z-axis arm, and the Z-axis adjusting device is electrically connected with the adjusting module 16;
the adjusting module 16 is specifically configured to: controlling an X-axis adjusting device to automatically adjust the length of the X-axis arm according to the X-axis offset information so as to adjust the gravity center of the holder in the X-axis direction; controlling a Y-axis adjusting device to automatically adjust the length of the Y-axis arm according to the Y-axis offset information so as to adjust the gravity center of the holder in the Y-axis direction; and controlling the Z-axis adjusting device to automatically adjust the length of the Z-axis arm according to the Z-axis offset information so as to adjust the gravity center of the holder in the Z-axis direction.
The specific implementation process and implementation effect of the functional effect achieved by the adjustment module 16 in this embodiment are the same as the implementation process and implementation effect in steps S4051-S4053 in the ninth embodiment, and reference may be specifically made to the above statements, and details are not described here again.
The X-axis adjusting device, the Y-axis adjusting device and the Z-axis adjusting device are controlled by the adjusting module 16 respectively to realize the adjustment of the gravity center of the cradle head, so that the cradle head can be automatically adjusted in three dimensions, the intelligent degree and the automatic degree of the cradle head adjusting system are effectively improved, the labor cost is saved, the adjusting speed and efficiency are guaranteed simultaneously, and the stability and the reliability of the adjusting system are further improved.
Example sixty-four
Fig. 24 is a schematic structural diagram of a pan/tilt head adjustment system according to another embodiment of the present invention, and it can be seen from fig. 24 that this embodiment provides another pan/tilt head adjustment system, in which the pan/tilt head adjustment device is also used to adjust the center of gravity of the pan/tilt head to ensure the steady state of the pan/tilt head, specifically, the pan/tilt head is provided with a camera device, and the pan/tilt head includes at least one driving motor; cloud platform adjustment system includes:
a second obtaining module 17, configured to obtain torque information of at least one driving motor;
the second processing module 18 is used for determining offset information of the gravity center of the camera device relative to a motor shaft of at least one driving motor according to the torque information and the gravity information preset by the camera device;
and the display module 19 is in communication connection with the holder and is used for displaying the offset information so that the user can adjust the gravity center of the holder according to the displayed offset information.
The communication connection manner of the second obtaining module 17, the second processing module 18 and the display module 19 is not limited, for example, the communication connection manner may be set to be a wired connection, a wireless connection, a bluetooth connection, and the like, as long as the second obtaining module 17, the second processing module 18 and the display module 19 can implement data interaction, and details are not repeated herein; in addition, the specific structure of the second obtaining module 17, the second processing module 18 and the display module 19 is not limited, for example, the second obtaining module 17 may be configured to include a torque measuring instrument, and the torque measuring instrument is configured to obtain torque information of at least one driving motor; in addition, the specific implementation process and implementation effect of the functional effect achieved by the second obtaining module 17, the second processing module 18, and the display module 19 in this embodiment are the same as the implementation process and implementation effect in steps S501 to S503 in the above tenth embodiment, and specific reference may be made to the above statements, and details are not repeated here.
The system for adjusting a pan/tilt head provided in this embodiment obtains torque information of at least one driving motor through the second obtaining module 17, determines offset information of a center of gravity of the camera device relative to a motor shaft of the at least one driving motor according to the torque information and gravity information preset by the camera device through the second processing module 18, obtains the offset information after displaying accurate calculation through the display module 19, and adjusts the center of gravity of the pan/tilt head according to the displayed offset information, thereby effectively overcoming a problem that in the prior art, when adjusting the pan/tilt head, understanding of a user who is not input in the related art is difficult to complete, and accuracy of the obtained offset and an offset direction is affected due to human errors, and further affecting stability and reliability of the use of the pan/tilt head, thereby ensuring accuracy and reliability of the adjustment of the pan/tilt head, and simultaneously improving stability and reliability of the use of the pan/tilt head, is beneficial to the popularization and the application of the market.
Example sixty-five
On the basis of the foregoing embodiment, as can be seen by referring to fig. 24, in this embodiment, the implementation process of the second obtaining module 17 for obtaining the torque information of the at least one driving motor is not limited, wherein preferably, the second obtaining module 17 may be configured to specifically:
acquiring current information of at least one driving motor;
and determining torque information of the driving motor according to the current information.
The second obtaining module 17 determines, according to the current information, a specific implementation process of the torque information of the driving motor, which is not limited, and preferably, the second data acquiring device is configured to be specifically configured to:
and determining torque information of the driving motor according to M-K I, wherein M is the torque information of the driving motor, K is a torque constant of the driving motor, and I is current information of the driving motor.
The specific implementation process and implementation effect of the functional effect achieved by the second obtaining module 17 in this embodiment are the same as the implementation processes and implementation effects in steps S5011 to S5012 and S50121 in the eleventh embodiment, and specific reference may be made to the above statements, and details are not described here again.
When the current information of the driving motors is multiple, the torque information of the driving motors can be obtained according to the formula, the current information is obtained, and the torque information is obtained through calculation of the formula, so that the accuracy and reliability of the obtained torque information of at least one driving motor can be effectively ensured, and the stability and reliability of the use of the holder adjusting system are improved.
Example sixty-six
On the basis of the foregoing embodiment, as can be seen with reference to fig. 24, in this embodiment, there is no limitation on a specific implementation process of the second processing module 18 for determining the offset information of the center of gravity of the image capturing apparatus relative to the motor shaft of the at least one driving motor according to the torque information and the gravity information preset by the image capturing apparatus, where preferably, the second processing module 18 is configured to specifically:
and determining offset information of the center of gravity of the image pickup device relative to a motor shaft of at least one driving motor according to M-L-G, wherein M is torque information of the driving motor, L is offset information, and G is gravity information preset by the image pickup device.
The second processing module 18 obtains the offset information of the center of gravity of the camera device relative to the motor shaft of the at least one driving motor through the above calculation formula, so that the accuracy and reliability of obtaining the offset information are effectively ensured.
Example sixty-seven
On the basis of the foregoing embodiment, as can be seen by referring to fig. 24, in this embodiment, the number of the driving motors is specifically limited, specifically, at least one driving motor includes an X-axis driving motor, a telescopic X-axis arm is connected to the X-axis driving motor, and an adjusting device for adjusting the length of the X-axis arm is arranged on the X-axis arm; in a corresponding manner, the first and second optical fibers are,
the second obtaining module 17 is further configured to obtain X-axis torque information of the X-axis driving motor;
the second processing module 18 is further configured to determine X-axis offset information of the center of gravity of the camera device relative to a motor shaft of the X-axis drive motor according to the X-axis torque information and gravity information preset by the camera device;
and the display module 19 is further configured to display the X-axis offset information, so that the user can adjust the length of the X-axis arm through the adjusting device according to the X-axis offset information.
The specific implementation process and implementation effect of the functional effect achieved by the second obtaining module 17, the second processing module 18, and the display module 19 in this embodiment are the same as the implementation process and implementation effect in steps S601 to S603 in the thirteenth embodiment, and specific reference may be made to the above statements, which are not repeated herein.
After the gravity center of the holder is adjusted by the user, the camera device is arranged on the holder, so that the gravity center of the holder and the gravity center of the camera device are in one-to-one correspondence, and then in the process of adjusting the gravity center of the holder, the offset information of the gravity center of the camera device relative to the motor shaft of the X-axis driving motor is almost zero, so that the stable state of the holder is realized, and the stable reliability of the holder is ensured.
Example sixty-eight
On the basis of the foregoing embodiment, as can be seen by referring to fig. 24, the present embodiment further specifically limits the number of the driving motors, specifically, at least one driving motor includes an X-axis driving motor and a Y-axis driving motor, whose motor axes are perpendicular to each other; in a corresponding manner, the first and second optical fibers are,
the second obtaining module 17 is further configured to obtain X-axis torque information of the X-axis driving motor and Y-axis torque information of the Y-axis driving motor;
the second processing module 18 is further configured to determine X-axis offset information of the center of gravity of the camera device relative to a motor shaft of the X-axis drive motor according to the X-axis torque information and gravity information preset by the camera device; determining Y-axis offset information of the gravity center of the camera device relative to a motor shaft of a Y-axis driving motor according to the Y-axis torque information and the preset gravity information of the camera device;
the display module 19 is further configured to display the X-axis offset information and the Y-axis offset information, so that the user can adjust the center of gravity of the pan/tilt head in the XY plane according to the X-axis offset information and the Y-axis offset information.
The specific implementation process and implementation effect of the functional effect achieved by the second obtaining module 17, the second processing module 18, and the display module 19 in this embodiment are the same as the implementation process and implementation effect in steps S701 to S704 in the fourteenth embodiment, and specific reference may be made to the above statements, and details are not repeated here.
The driving motor is arranged to comprise the X-axis driving motor and the Y-axis driving motor, and the motor shafts of the X-axis driving motor and the Y-axis driving motor are vertical, so that a user can adjust the gravity center of the holder in two dimensions, and the accuracy of holder adjustment is improved; in addition, the X-axis offset information and the Y-axis offset information displayed by the display device can be visually displayed to adjust parameters for a user, so that the user can accurately adjust the cradle head without knowing the working principle of the cradle head, the learning cost of the user is reduced, the practicability of the cradle head adjusting system is improved, and the popularization and the application of the market are facilitated.
Example sixty-nine
On the basis of the foregoing embodiment, as can be seen by continuing to refer to fig. 24, in this embodiment, the display module 19 is configured to display X-axis offset information and Y-axis offset information, so that a specific implementation process of adjusting the center of gravity of the pan/tilt head in the XY plane by a user according to the X-axis offset information and the Y-axis offset information is not limited, where preferably, the X-axis driving motor is connected to a telescopic X-axis arm, the Y-axis driving motor is connected to a telescopic Y-axis arm, the X-axis arm is further provided with an X-axis adjusting device for adjusting the length of the X-axis arm, and the Y-axis arm is further provided with a Y-axis adjusting device for adjusting the length of the Y-axis arm;
the display module 19 is specifically configured to display the X-axis offset information and the Y-axis offset information, so that the user: adjusting the length of the X-axis arm through an X-axis adjusting device according to the X-axis offset information; and adjusting the length of the Y-axis arm through a Y-axis adjusting device according to the Y-axis offset information.
The specific structure, implementation process and implementation effect of the X-axis adjusting device and the Y-axis adjusting device in this embodiment are the same as the specific structure, implementation process and implementation effect of the adjusting device in step S603 in the above embodiment, and the above statements may be specifically referred to, and are not repeated here.
Through the X-axis offset information and the Y-axis offset information displayed by the display module 19, a user can quickly and effectively adjust the gravity center of the holder in the X-axis direction and the Y-axis direction, so that the gravity center of the holder can be adjusted in a two-dimensional dimension, and the accuracy of the holder adjustment is improved; specifically, because camera device sets up on the cloud platform, the focus of cloud platform is the one-to-one relation with camera device's focus, and then in the in-process of adjusting the focus of cloud platform, can be so that camera device's focus offset information of the relative X axle driving motor's of motor shaft and Y axle driving motor's of motor shaft all is almost zero, has realized the steady state of cloud platform this moment promptly, has guaranteed the reliable and stable nature that the cloud platform used.
Example seventy
On the basis of the foregoing embodiment, as can be seen by referring to fig. 24, in this embodiment, the number of the driving motors is further specifically limited, specifically, at least one driving motor is configured to include an X-axis driving motor, a Y-axis driving motor, and a Z-axis driving motor, in which motor shafts are perpendicular to each other; in a corresponding manner, the first and second optical fibers are,
the second obtaining module 17 is further configured to obtain X-axis torque information of the X-axis driving motor, Y-axis torque information of the Y-axis driving motor, and Z-axis torque information of the Z-axis driving motor;
the second processing module 18 is further configured to determine X-axis offset information of the center of gravity of the camera device relative to a motor shaft of the X-axis drive motor according to the X-axis torque information and gravity information preset by the camera device; determining Y-axis offset information of the gravity center of the camera device relative to a motor shaft of a Y-axis driving motor according to the Y-axis torque information and the preset gravity information of the camera device; determining Z-axis offset information of the gravity center of the camera device relative to a motor shaft of a Z-axis driving motor according to the Z-axis torque information and the preset gravity information of the camera device;
the display module 19 is further configured to display the X-axis offset information, the Y-axis offset information, and the Z-axis offset information, so that the user can adjust the center of gravity of the pan/tilt head in the XYZ space according to the X-axis offset information, the Y-axis offset information, and the Z-axis offset information.
The specific implementation process and implementation effect of the functional effect achieved by the second obtaining module 17, the second processing module 18, and the display module 19 in this embodiment are the same as the implementation process and implementation effect in steps S801 to S805 in the sixteenth embodiment, and specific reference may be made to the above statements, and details are not repeated here.
The driving motor is set to comprise the X-axis driving motor, the Y-axis driving motor and the Z-axis driving motor, and the motor shafts of the X-axis driving motor, the Y-axis driving motor and the Z-axis driving motor are perpendicular to each other in pairs, so that a user can adjust the gravity center of the holder in three dimensions, and the accuracy of holder adjustment is improved; in addition, X-axis offset information, Y-axis offset information and Z-axis offset information displayed by the display device can be visually displayed to adjust parameters for a user, so that the user can accurately adjust the cradle head without knowing the working principle of the cradle head, the learning cost of the user is reduced, the practicability of the cradle head adjusting system is improved, and the popularization and the application of the market are facilitated.
Example seventy one
Based on the foregoing embodiment, as can be seen by referring to fig. 24, in this embodiment, the implementation process of the display module 19 for displaying the X-axis offset information, the Y-axis offset information, and the Z-axis offset information so that the user can adjust the center of gravity of the pan/tilt head in the XYZ space according to the X-axis offset information, the Y-axis offset information, and the Z-axis offset information is not limited, preferably, the X-axis driving motor is connected with a telescopic X-axis arm, the Y-axis driving motor is connected with a telescopic Y-axis arm, the Z-axis driving motor is connected with a telescopic Z-axis arm, the X-axis arm is further provided with an X-axis adjusting device for adjusting the length of the X-axis arm, the Y-axis arm is further provided with a Y-axis adjusting device for adjusting the length of the Y-axis arm, and the Z-axis arm is further provided with a Z-axis adjusting device for adjusting the length of the Z-axis arm;
the display module 19 is specifically configured to display the X-axis offset information, the Y-axis offset information, and the Z-axis offset information, so that the user:
adjusting the length of the X-axis arm through an X-axis adjusting device according to the X-axis offset information; adjusting the length of the Y-axis arm through a Y-axis adjusting device according to the Y-axis offset information; and adjusting the length of the Z-axis arm through the Z-axis adjusting device according to the Z-axis offset information.
The specific structures, implementation processes, and implementation effects of the X-axis adjusting device, the Y-axis adjusting device, and the Z-axis adjusting device in this embodiment are the same as those of the adjusting device in step S603 in the above embodiment, and the above statements may be specifically referred to, and are not repeated here.
After the gravity center of the holder is adjusted in the X-axis direction, the Y-axis direction and the Z-axis direction by the user, the gravity center of the holder is adjusted in a three-dimensional dimension, and the accuracy of the holder adjustment is improved; specifically, because camera device sets up on the cloud platform, the focus of cloud platform is the one-to-one relation with camera device's focus, and then in the in-process of adjusting the focus of cloud platform, can make camera device's focus offset information of the relative X axle driving motor's of motor shaft, Y axle driving motor's motor shaft and Z axle driving motor's of X axle driving motor all be almost zero, realized the steady state of cloud platform this moment promptly, guaranteed the reliable and stable nature that the cloud platform used.
Example seventy-two
On the basis of the above-mentioned embodiment, as can be seen by referring to fig. 24, in order to improve the practicability of the pan/tilt head adjusting device, the processing function of the second processing module 18 is added, specifically,
the second processing module 18 is further configured to determine offset adjustment strategy information according to the offset information after determining offset information of the center of gravity of the image capturing apparatus with respect to the motor shaft of the at least one driving motor, and send the offset adjustment strategy information to the display module 19;
and the display module 19 is further configured to display the offset adjustment strategy information, so that the user adjusts the center of gravity of the pan/tilt head according to the offset adjustment strategy information.
The specific implementation process and implementation effect of the functional effect achieved by the second processing module 18 and the display module 19 in this embodiment are the same as the implementation process and implementation effect in steps S901 to S902 in the eighteenth embodiment, and specific reference may be made to the above statements, and details are not described here again.
Because the offset adjustment strategy information is intuitive information for guiding the user to operate, the user can directly adjust according to the offset adjustment strategy information displayed on the display module 19, so that the time for calculating by the user is saved, the manual labor is reduced, the speed and the efficiency of the cradle head adjustment are improved, the accuracy of the cradle head adjustment is ensured, and the stability and the reliability of the cradle head in use are ensured.
Example seventy-three
On the basis of the above embodiment, as can be seen by continuing to refer to fig. 24, in order to further improve the accuracy of the user in adjusting the center of gravity of the pan/tilt head, each driving motor is provided with a telescopic motor shaft arm, and each motor shaft arm is provided with scale information;
the display module 19 is further configured to, after the processor determines offset adjustment policy information according to the offset information and sends the offset adjustment policy information to the display device, where the offset adjustment policy information includes: and displaying the adjusting direction information corresponding to the motor shaft arm and the adjusting size information corresponding to the motor shaft arm so that a user can adjust the length of the corresponding motor shaft arm according to the displayed adjusting direction information and adjusting size information by contrasting the scale information.
The specific implementation process and implementation effect of the functional effect realized by the processor and the display module 19 in this embodiment are the same as the implementation process and implementation effect in steps S901 to S902 in the eighteenth embodiment, and reference may be specifically made to the above statements, and details are not described here again.
The operation steps can be intuitively guided to be adjusted by a user through the offset adjustment strategy information displayed on the display module 19, and in order to further improve the accurate reliability of user adjustment, scale information is arranged on the telescopic motor shaft arm and can intuitively remind the user of the offset to be adjusted, so that the accurate reliability of holder adjustment can be effectively ensured, the stable reliability of the holder adjustment system is further improved, and the popularization and the application of the market are facilitated.
In the embodiments provided in the present invention, it should be understood that the disclosed related devices and methods can be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a module or a unit may be divided into only one logical function, and may be implemented in other ways, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer processor (processor) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in 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, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (22)

1. A head, comprising:
the holder body;
the camera shooting support is arranged on the holder body and used for arranging a camera shooting device;
the holder body comprises at least one driving motor and at least one telescopic shaft arm connected with the driving motor;
detecting means for detecting torque information of a motor shaft of at least one driving motor; determining offset information of the gravity center of the camera device relative to a motor shaft of the at least one driving motor according to the torque information and gravity information preset by the camera device;
and the adjusting device is used for adjusting the gravity center of the cloud deck according to the offset information, wherein the adjusting device adjusts the length of the shaft arm according to the offset information so as to change the gravity center of the cloud deck.
2. A head according to claim 1, wherein said at least one drive motor is coupled to a telescopic motor shaft arm, said camera support being coupled to a motor shaft arm;
and the adjusting device is also used for automatically adjusting the length of the motor shaft arm according to the offset information.
3. A head according to claim 1, wherein said detection means comprise: the gravity sensor, the torque measuring instrument and the data processor;
the gravity sensor is arranged on the camera shooting bracket and used for detecting the gravity information of the camera shooting device;
the torque measuring instrument is used for acquiring torque information of at least one driving motor;
and the data processor is electrically connected with the torque measuring instrument and the gravity sensor and used for determining the offset information of the gravity center of the camera device relative to the motor shaft of the at least one driving motor according to the torque information and the preset gravity information of the camera device.
4. A head according to claim 3, wherein said torque measuring instrument comprises:
the current detection module is connected with at least one driving motor and used for detecting current information of the driving motor;
and the processing module is electrically connected with the current detection module and used for determining the torque information of the driving motor according to the current information.
5. A head according to claim 2, wherein at least one drive motor comprises: the X-axis driving motor is arranged on the holder body and is connected with a telescopic X-axis arm;
the adjusting device comprises: and the X-axis adjuster is used for adjusting the length of the X-axis arm and is connected with the X-axis arm.
6. A head according to claim 2, wherein at least one drive motor comprises: the X-axis driving motor and the Y-axis driving motor are arranged on the holder body, and motor shafts of the X-axis driving motor and the Y-axis driving motor are mutually vertical;
the adjusting device comprises: the X-axis adjusting device is used for adjusting the length of the X-axis arm, the Y-axis adjusting device is used for adjusting the length of the Y-axis arm, the X-axis adjusting device is connected with the X-axis arm, and the Y-axis adjusting device is connected with the Y-axis arm.
7. A head according to claim 2, wherein at least one drive motor comprises: the X-axis driving motor, the Y-axis driving motor and the Z-axis driving motor are arranged on the holder body, motor shafts of the X-axis driving motor, the Y-axis driving motor and the Z-axis driving motor are pairwise perpendicular, the X-axis driving motor is connected with a telescopic X-axis arm, the Y-axis driving motor is connected with a telescopic Y-axis arm, and the Z-axis driving motor is connected with a telescopic Z-axis arm;
the adjusting device comprises: the X-axis adjusting device is connected with the X-axis arm, the Y-axis adjusting device is connected with the Y-axis arm, and the Z-axis adjusting device is connected with the Z-axis arm.
8. A head according to any one of claims 5 to 7, wherein said adjustment means comprises at least one linear motor coupled to a motor shaft arm, said motor shaft arm comprising at least one of an X-axis shaft arm, a Y-axis shaft arm and a Z-axis shaft arm.
9. A head according to any one of claims 5 to 7, wherein said adjustment means comprise: at least one driving motor who is connected with motor shaft arm, driving motor is connected with the lead screw, be provided with the screw on the lead screw, screw and motor shaft arm fixed connection, wherein, motor shaft arm includes at least one in X axle shaft arm, Y axle shaft arm and the Z axle shaft arm.
10. A head according to claim 7, wherein said X-axis arm and said Z-axis arm are of L-shaped configuration and said Y-axis arm is of I-shaped configuration.
11. A head according to claim 7 or 10, wherein said head body further comprises a base, said Z-axis drive motor being provided on said base.
12. A head according to claim 1, wherein said driving motor is connected to a telescopic arm, said adjustment means being adapted to automatically adjust the length of said arm according to said offset information.
13. A head, comprising:
the holder body;
the camera shooting support is arranged on the holder body and used for arranging a camera shooting device;
the holder body comprises at least one driving motor and at least one telescopic shaft arm connected with the driving motor;
the detection device is used for detecting the torque information of the motor shaft of at least one driving motor and determining the offset information of the gravity center of the camera device relative to the motor shaft of at least one driving motor according to the torque information and the preset gravity information of the camera device; the detection device is electrically connected with the display device;
the adjusting device is used for adjusting the gravity center of the holder according to the offset information, wherein the adjusting device adjusts the length of the shaft arm according to the offset information so as to change the gravity center of the holder;
the display device is used for displaying the offset information so that a user can adjust the gravity center of the holder according to the gravity center of the camera device and the offset information through the adjusting device.
14. A head according to claim 13, wherein each drive motor is connected to a telescopic motor shaft arm, on which scale information is provided, said camera support being connected to a motor shaft arm;
the display device is further used for displaying the offset information, so that a user can adjust the length of the motor shaft arm through the adjusting device according to the displayed offset information and the scale information.
15. A head according to claim 13, wherein said detection means comprise: the gravity sensor, the torque measuring instrument and the data processor;
the gravity sensor is arranged on the camera shooting bracket and used for detecting the gravity information of the camera shooting device;
the torque measuring instrument is used for acquiring torque information of at least one driving motor;
and the data processor is electrically connected with the torque measuring instrument and the gravity sensor and used for determining the offset information of the gravity center of the camera device relative to the motor shaft of the at least one driving motor according to the torque information and the preset gravity information of the camera device.
16. A head according to claim 15, wherein said torque measuring instrument comprises:
the current detection module is connected with at least one driving motor and used for detecting current information of the driving motor;
and the processing module is electrically connected with the current detection module and used for determining the torque information of the driving motor according to the current information.
17. A head according to claim 14, wherein at least one drive motor comprises: the X-axis driving motor is arranged on the holder body and connected with a telescopic X-axis arm, and X-axis scale information is arranged on the X-axis arm;
the adjusting device comprises: and the X-axis adjuster is used for adjusting the length of the X-axis arm and is connected with the X-axis arm.
18. A head according to claim 14, wherein at least one drive motor comprises: the X-axis driving motor and the Y-axis driving motor are arranged on the holder body, motor shafts of the X-axis driving motor and the Y-axis driving motor are perpendicular to each other, the X-axis driving motor is connected with a telescopic X-axis arm, X-axis scale information is arranged on the X-axis arm, the Y-axis driving motor is connected with a telescopic Y-axis arm, and Y-axis scale information is arranged on the Y-axis arm;
the adjusting device comprises: the X-axis adjusting device is used for adjusting the length of the X-axis arm, the Y-axis adjusting device is used for adjusting the length of the Y-axis arm, the X-axis adjusting device is connected with the X-axis arm, and the Y-axis adjusting device is connected with the Y-axis arm.
19. A head according to claim 14, wherein at least one drive motor comprises: the X-axis driving motor, the Y-axis driving motor and the Z-axis driving motor are arranged on the holder body and are pairwise perpendicular to each other, the X-axis driving motor is connected with a telescopic X-axis arm, X-axis scale information is arranged on the X-axis arm, the Y-axis driving motor is connected with a telescopic Y-axis arm, Y-axis scale information is arranged on the Y-axis arm, the Z-axis driving motor is connected with a telescopic Z-axis arm, and Z-axis scale information is arranged on the Z-axis arm;
the adjusting device comprises: the X-axis adjusting device is connected with the X-axis arm, the Y-axis adjusting device is connected with the Y-axis arm, and the Z-axis adjusting device is connected with the Z-axis arm.
20. A head according to claim 19, wherein said X-axis arm and said Z-axis arm are of L-shaped configuration and said Y-axis arm is of I-shaped configuration.
21. A head according to claim 19 or 20, wherein said head body further comprises a base, said Z-axis drive motor being provided on said base.
22. A head according to claim 13, wherein said drive motor is connected to a telescopic arm, said adjustment means being adapted to automatically adjust the length of said arm according to said offset information.
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