CN111406401A - 云台的模式切换方法、装置、可移动平台及存储介质 - Google Patents

云台的模式切换方法、装置、可移动平台及存储介质 Download PDF

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CN111406401A
CN111406401A CN201880072715.4A CN201880072715A CN111406401A CN 111406401 A CN111406401 A CN 111406401A CN 201880072715 A CN201880072715 A CN 201880072715A CN 111406401 A CN111406401 A CN 111406401A
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CN111406401B (zh
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王映知
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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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
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • 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
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
    • F16M11/2014—Undercarriages with or without wheels comprising means allowing pivoting adjustment around a vertical axis
    • 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
    • F16M2200/00—Details of stands or supports
    • F16M2200/02—Locking means
    • F16M2200/021—Locking means for rotational movement
    • 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
    • G03B17/561—Support related camera accessories
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/667—Camera operation mode switching, e.g. between still and video, sport and normal or high- and low-resolution modes

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Studio Devices (AREA)
  • Accessories Of Cameras (AREA)

Abstract

一种云台的模式切换方法、装置、可移动平台及存储介质，该方法包括：获取用户模式切换指令，模式切换指令用于将云台由第一模式切换为第二模式，第一模式的固定关节角个数大于第二模式固定关节角个数；确定云台在第一模式下的第一姿态角，并根据第一姿态角确定云台在第二模式下的第二姿态角；根据第二姿态角，对第二模式下的云台初始姿态进行赋值，使云台由第一模式切换为第二模式。本发明不仅实现了由第一模式到第二模式的平稳切换，而且有效的防止了目标丢失。

Description

PCT国内申请，说明书已公开。

Claims (38)

  1. PCT国内申请，权利要求书已公开。
CN201880072715.4A 2018-11-28 2018-11-28 云台的模式切换方法、装置、可移动平台及存储介质 Expired - Fee Related CN111406401B (zh)

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PCT/CN2018/118005 WO2020107284A1 (zh) 2018-11-28 2018-11-28 云台的模式切换方法、装置、可移动平台及存储介质

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CN111406401A true CN111406401A (zh) 2020-07-10
CN111406401B CN111406401B (zh) 2021-07-09

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US (1) US20210018138A1 (zh)
EP (1) EP3840358A4 (zh)
CN (1) CN111406401B (zh)
WO (1) WO2020107284A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
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CN114503047A (zh) * 2020-12-25 2022-05-13 深圳市大疆创新科技有限公司 云台的控制方法和移动平台

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* Cited by examiner, † Cited by third party
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WO2020215215A1 (zh) * 2019-04-23 2020-10-29 深圳市大疆创新科技有限公司 一种云台控制方法、设备、云台、系统及存储介质
TWI795987B (zh) * 2021-11-08 2023-03-11 致伸科技股份有限公司 雲台裝置
CN114500835A (zh) * 2022-01-20 2022-05-13 深圳市源德盛数码科技有限公司 一种视频拍摄方法、系统、智能终端和存储介质

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CN105090695A (zh) * 2015-09-29 2015-11-25 深圳市大疆创新科技有限公司 手柄云台及其控制方法
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WO2017203933A1 (en) * 2016-05-25 2017-11-30 Sony Corporation Computational processing device and computational processing method
CN108184061A (zh) * 2017-12-31 2018-06-19 深圳市秦墨科技有限公司 手持云台的跟拍控制方法、装置及手持云台

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US20110007157A1 (en) * 2009-03-17 2011-01-13 Stephen Sekelsky Mechanical stabilization and automated positional corrections for stationary or mobile surveillance systems
EP3650932B1 (en) * 2015-05-27 2023-02-08 GoPro, Inc. Camera system using stabilizing gimbal
CN107466385B (zh) * 2016-08-03 2021-06-01 深圳市大疆灵眸科技有限公司 一种云台控制方法及系统
CN106200692A (zh) * 2016-08-11 2016-12-07 零度智控（北京）智能科技有限公司 地面云台控制方法、装置及地面云台
CN106598081B (zh) * 2016-10-27 2019-08-23 纳恩博（北京）科技有限公司 一种图像采集方法及电子设备

Patent Citations (5)

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US9489839B2 (en) * 2012-08-06 2016-11-08 Cloudparc, Inc. Tracking a vehicle using an unmanned aerial vehicle
CN105090695A (zh) * 2015-09-29 2015-11-25 深圳市大疆创新科技有限公司 手柄云台及其控制方法
WO2017203933A1 (en) * 2016-05-25 2017-11-30 Sony Corporation Computational processing device and computational processing method
CN107079103A (zh) * 2016-05-31 2017-08-18 深圳市大疆灵眸科技有限公司 云台控制方法、装置和云台
CN108184061A (zh) * 2017-12-31 2018-06-19 深圳市秦墨科技有限公司 手持云台的跟拍控制方法、装置及手持云台

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114503047A (zh) * 2020-12-25 2022-05-13 深圳市大疆创新科技有限公司 云台的控制方法和移动平台

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CN111406401B (zh) 2021-07-09
EP3840358A4 (en) 2021-08-04
WO2020107284A1 (zh) 2020-06-04
US20210018138A1 (en) 2021-01-21
EP3840358A1 (en) 2021-06-23

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