CN112684814A - Method and device for adjusting load gravity center of holder, holder and storage medium - Google Patents
Method and device for adjusting load gravity center of holder, holder and storage medium Download PDFInfo
- Publication number
- CN112684814A CN112684814A CN202011543707.9A CN202011543707A CN112684814A CN 112684814 A CN112684814 A CN 112684814A CN 202011543707 A CN202011543707 A CN 202011543707A CN 112684814 A CN112684814 A CN 112684814A
- Authority
- CN
- China
- Prior art keywords
- load
- rotating shaft
- gravity
- gravity center
- posture
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000005484 gravity Effects 0.000 title claims abstract description 168
- 238000000034 method Methods 0.000 title claims abstract description 59
- 230000036544 posture Effects 0.000 claims description 132
- 238000012795 verification Methods 0.000 claims description 50
- 230000007246 mechanism Effects 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 5
- 230000009467 reduction Effects 0.000 claims description 4
- 230000001276 controlling effect Effects 0.000 description 11
- 238000012544 monitoring process Methods 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 238000004891 communication Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Abstract
The application provides a method and a device for adjusting the load gravity center of a holder, the holder and a storage medium. A method of adjusting a center of gravity of a load of a pan/tilt head, comprising: detecting the output torque of a rotating shaft of the holder; determining whether the load is in a gravity center balance state relative to the rotating shaft according to the output torque of the rotating shaft; when the load is determined not to be in a gravity center balance state relative to the rotating shaft, determining the moment adjustment amount of the counterweight object according to the output moment, wherein the moment adjustment amount of the counterweight object is used for: so that the load is in a gravity center balance state relative to the rotating shaft; and outputting indication information for adjusting the gravity center of the load according to the moment adjustment amount of the counterweight object.
Description
Technical Field
The present application relates to the field of cloud deck technology, and in particular, to a method and an apparatus for adjusting a center of gravity of a load of a cloud deck, and a storage medium.
Background
In various application scenarios of image acquisition, a pan-tilt is generally used for controlling the attitude of a load such as a camera. The pan/tilt head may employ one or more spindles to control the attitude of the load. Here, after being mounted to the pan/tilt head, the amount of center of gravity offset of the load with respect to the rotational axis of the pan/tilt head affects the torque output of the rotational axis. Under the condition of a certain mass, the larger the gravity center offset of the load is, the larger the torque output of the rotating shaft is. The larger the torque output of the rotating shaft is, the larger the output power of the motor is.
In order to reduce the output power of the motor as much as possible, a counterweight object (e.g., one or more counterweights) may be added to the load to balance the offset of the center of gravity of the load. Thus, by adding the counterweight object, the output power of the motor can be reduced, the torque output of the rotating shaft is reduced, and the attitude stability of the load is improved.
Currently, the counterweight object placement process is typically performed through multiple attempts to select the appropriate counterweight mass and moment arm. The counterweight effect of the counterweight object (i.e., the stability of the load posture after counterweight) is to be improved.
Disclosure of Invention
The application provides a method and a device for adjusting the load gravity center of a holder, the holder and a storage medium, and the accuracy of adjusting the load gravity center of the holder can be improved.
According to an aspect of the present application, there is provided a method of adjusting a center of gravity of a load of a pan/tilt head, comprising:
detecting the output torque of a rotating shaft of the holder;
determining whether the load is in a gravity center balance state relative to the rotating shaft according to the output torque of the rotating shaft;
when the load is determined not to be in a gravity center balance state relative to the rotating shaft, determining the moment adjustment amount of the counterweight object according to the output moment, wherein the moment adjustment amount of the counterweight object is used for: so that the load is in a gravity center balance state relative to the rotating shaft;
and outputting indication information for adjusting the gravity center of the load according to the moment adjustment amount of the counterweight object.
In some embodiments, the detecting an output torque of a rotating shaft of a pan/tilt head includes:
and when the focal length of the load is adjusted to be the upper focal length limit, detecting the output torque of the rotating shaft.
In some embodiments, the determining whether the load is in a gravity center balanced state with respect to the rotating shaft according to the output torque of the rotating shaft includes:
judging whether the output torque of the rotating shaft is in a preset torque range or not, wherein the preset torque range represents an allowable range of the output torque when a load is in a gravity center balance state relative to the rotating shaft;
when the output torque is not in the preset torque range, determining that the load is not in a gravity center balance state relative to the rotating shaft;
and when the output torque is in a preset torque range, determining that the load is in a gravity center balance state relative to the rotating shaft.
In some embodiments, the outputting of the instruction information for adjusting the center of gravity of the load according to the moment adjustment amount of the counterweight object includes:
acquiring a moment arm of the counterweight object, determining the mass adjustment quantity of the counterweight object according to the moment arm and the moment adjustment quantity, and outputting indication information containing the mass adjustment quantity of the counterweight object; or
Acquiring the mass of the counterweight object, determining the moment arm adjusting quantity of the counterweight object according to the mass and the moment adjusting quantity, and outputting indicating information containing the moment arm adjusting quantity of the counterweight object; or
When the moment of the counterweight object and the moment adjustment amount are both positive values or negative values, outputting indication information containing the mass of the counterweight object or the moment arm of the counterweight object;
and when the moment of the counterweight object is different from the positive or negative of the moment adjusting quantity, outputting indication information containing the mass reduction or the moment arm reduction of the counterweight object.
In some embodiments, the above method further comprises:
for any one preset posture in a plurality of preset postures of the load, controlling the load to be in the preset posture, and checking whether the load is in a gravity center balance state relative to the rotating shaft under the preset posture;
when the load is determined to be in a gravity center balance state relative to the rotating shaft under the preset posture, determining that the preset posture passes verification, and obtaining a verification passing result of the preset posture;
after the verification passing result of the preset gesture is obtained, determining whether the verification passing result of each preset gesture is obtained or not, and determining that the verification of the load gravity center adjustment is completed when the verification passing result of each preset gesture is obtained; when the verification passing results of all the preset postures are not obtained, aiming at one preset posture which is not verified, continuously executing the operation that the control load is in the preset posture, and checking whether the load is in a gravity center balance state relative to the rotating shaft under the preset posture;
when the load is determined not to be in the gravity center balance state relative to the rotating shaft in the preset posture, the indication information for adjusting the gravity center of the load in the preset posture is output, the operation that the load is controlled to be in the preset posture and whether the load is in the gravity center balance state relative to the rotating shaft in the preset posture is checked continuously is carried out aiming at the preset posture.
In some embodiments, the determining a torque adjustment amount of the weighted object according to the output torque includes:
acquiring a torque constant, wherein the torque constant is used for representing a linear relation between the moment variation of the counterweight object and the moment variation of the rotating shaft;
and taking the ratio of the output torque to the torque constant as the torque adjustment amount of the counterweight object.
According to an aspect of the present application, there is provided an apparatus for adjusting a center of gravity of a load of a pan/tilt head, comprising:
the detection unit is used for detecting the output torque of the rotating shaft of the holder;
the judging unit is used for determining whether the load is in a gravity center balance state relative to the rotating shaft according to the output torque of the rotating shaft;
a determination unit that determines a torque adjustment amount of a counterweight object based on the output torque when it is determined that the load is not in a gravity center balanced state with respect to the rotating shaft, the torque adjustment amount of the counterweight object being used to: so that the load is in a gravity center balance state relative to the rotating shaft;
and the feedback unit outputs indication information for adjusting the gravity center of the load according to the moment adjustment amount of the counterweight object.
In some embodiments of the present invention, the,
for any one of a plurality of predetermined postures of the load, the determination unit is further configured to: controlling the load to be in the preset posture, and checking whether the load is in a gravity center balance state relative to the rotating shaft under the preset posture;
when the load is determined to be in a gravity center balance state relative to the rotating shaft under the preset posture, the judging unit determines that the preset posture passes the verification, and a verification passing result of the preset posture is obtained;
after the verification passing result of the preset posture is obtained, the judging unit determines whether the verification passing result of each preset posture is obtained or not, and determines that the verification of the load gravity center adjustment is completed when the verification passing result of each preset posture is obtained;
when it is determined that the verification results of all the predetermined postures are not obtained, the judging unit continues to execute the operation of controlling the load to be in the predetermined posture and checking whether the load is in a gravity center balance state relative to the rotating shaft in the predetermined posture for one predetermined posture which is not verified;
when it is determined that the load is not in a state of gravity center balance with respect to the rotating shaft in the predetermined posture, the feedback unit outputs instruction information for adjusting the gravity center of the load in the predetermined posture, and the operation of controlling the load to be in the predetermined posture, checking whether the load is in the state of gravity center balance with respect to the rotating shaft in the predetermined posture is continuously performed by the judgment unit for the predetermined posture. According to an aspect of the present application, there is provided a head comprising:
the posture adjusting mechanism comprises one or more rotating shafts;
a control device for controlling the attitude adjustment mechanism;
a program configured to be executed by the control device, the program comprising instructions for executing the method of adjusting the center of gravity of a load of a pan-tilt.
According to an aspect of the present application, there is provided a storage medium storing a program comprising instructions which, when executed by a head, cause the head to perform a method of adjusting a center of gravity of a load of the head.
To sum up, according to the scheme for detecting the load gravity center of the pan/tilt head of the embodiment of the application, the moment adjustment amount of the counterweight object can be accurately determined by detecting the output moment of the rotating shaft and according to the relation between the output moment and the moment adjustment amount of the counterweight object, so that the indication information for adjusting the load gravity center can be accurately fed back, the load balance of the pan/tilt head can be efficiently adjusted, the adjustment accuracy of the load gravity center can be improved, the power output of a motor of the pan/tilt head is reduced, and the attitude stability of the load on the pan/tilt head is improved.
Drawings
FIG. 1 illustrates a schematic diagram of an application scenario in accordance with some embodiments of the present application;
fig. 2 illustrates a flow chart of a method 200 of adjusting a center of gravity of a load of a pan and tilt head according to some embodiments of the present application;
fig. 3 shows a schematic view of a head according to some embodiments of the present application;
FIG. 4 illustrates a flow diagram of a method 400 of determining whether a load is in a center of gravity balanced state according to some embodiments of the present application;
FIG. 5 illustrates a flow chart of a method 500 of determining a torque adjustment in accordance with some embodiments of the present application;
fig. 6 shows a schematic view of a head according to some embodiments of the present application;
fig. 7 illustrates a flow chart of a method 700 of adjusting a center of gravity of a load of a pan/tilt head according to some embodiments of the present application;
fig. 8 shows a schematic view of a head according to some embodiments of the present application;
fig. 9 illustrates a flow chart of a method 900 of adjusting a center of gravity of a load of a pan and tilt head according to some embodiments of the present application;
fig. 10 shows a schematic view of an apparatus 1000 for adjusting the center of gravity of a load of a pan/tilt head according to some embodiments of the present application;
fig. 11 illustrates a schematic view of a pan and tilt head according to some embodiments of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is further described in detail below by referring to the accompanying drawings and examples.
FIG. 1 illustrates a schematic diagram of an application scenario in accordance with some embodiments of the present application. As shown in fig. 1, the application scenario includes a pan/tilt head 110 and a monitoring terminal 120. The pan/tilt head 110 can carry a load such as the camera 130 and control the posture of the load. Here, the pan/tilt head 110 may be disposed at a fixed position such as a wall surface or a support bar, or may be disposed on a moving target such as an airplane or a vehicle. The pan/tilt head 110 may detect a center of gravity of a load of the pan/tilt head and output information related to the counterweight object to the monitoring terminal. In this way, the monitoring terminal 120 may present information related to the weighted object (e.g., 140). Here, the information is, for example, a moment of the weight object, a mass of the weight object, a moment arm of the weight object, and the like. In this way, the information related to the counterweight object obtained by the monitoring terminal 120 can be used to quickly and accurately adjust the counterweight object on the load, thereby reducing the power output of the motor on the pan/tilt head and improving the stability of the shooting attitude of the load.
The monitoring terminal 120 is, for example, a notebook computer, a tablet computer, a mobile phone, and other various computing devices, which is not limited in this application. In addition, the monitoring terminal 120 can communicate with the cradle head 110 in a wired or wireless manner.
Fig. 2 illustrates a flow chart of a method 200 of adjusting a center of gravity of a load of a pan and tilt head according to some embodiments of the present application. Method 200 may be performed, for example, by pan/tilt head 110.
As shown in fig. 2, in step S201, the output torque of the rotating shaft of the pan/tilt head is detected. Step S201 may detect an output torque of one or more rotating shafts in the pan/tilt head. For example, fig. 3 shows a schematic view of a pan/tilt head 110 according to some embodiments of the present application. The rotating shaft of the pan/tilt head 110 includes: a pitch axis 111, a roll axis 112, and a yaw axis 113. Taking the pitch axis 111 as an example, step S201 may detect the output torque of the pitch axis 111. Here, the negative output torque may be set to, for example, an output torque for driving the lens of the load to be raised. The positive output torque is, for example, a lens-down output torque that drives a load.
In step S202, it is determined whether the load is in a gravity center balanced state with respect to the rotating shaft, based on the output torque of the rotating shaft.
When it is determined in step S202 that the load is not in a center of gravity balanced state with respect to the rotating shaft, the method 200 may perform step S203 to determine a torque adjustment amount of the weight object according to the output torque. Here, the torque adjustment amount of the weight object is used to: so that the load is in a state of gravity center balance with respect to the rotating shaft.
In step S204, instruction information for adjusting the center of gravity of the load is output in accordance with the amount of torque adjustment of the counterweight object.
To sum up, according to the method 200 of the embodiment of the present application, the moment adjustment amount of the counterweight object can be accurately determined by detecting the output moment of the rotating shaft and according to the relationship between the output moment and the moment adjustment amount of the counterweight object, so that the indication information for adjusting the center of gravity of the load can be accurately fed back, the load balance of the cradle head can be efficiently adjusted, the adjustment accuracy of the center of gravity of the load can be improved, the power output of the motor of the cradle head can be reduced, and the attitude stability of the load on the cradle head can be improved.
In some embodiments, step S201 may detect the output torque of the rotating shaft when the focal length of the load is adjusted to the upper focal length limit. Since the larger the focal length of the load is, the more sensitive the attitude stability is, the step S201 may be convenient to subsequently improve the attitude stability in the state of the larger focal length by detecting the output torque of the larger focal length (for example, the focal length reaches the upper limit of the focal length).
In some embodiments, step S202 may be implemented as method 400.
As shown in fig. 4, in step S401, it is determined whether the output torque of the rotating shaft is in a predetermined torque range. The predetermined torque range represents an allowable range of the output torque when the load is in a state of gravity balance with respect to the rotating shaft. Here, the predetermined torque range is, for example, -M to + M. M is a set positive number. If the output torque is within the predetermined torque range, the center of gravity of the load may be considered to be in equilibrium with respect to the axis of rotation. When the output torque exceeds the predetermined torque range, the center of gravity of the load is considered to be greatly offset from the center of gravity of the rotating shaft, and balancing by the counterweight object, that is, the offset amount of the center of gravity of the load from the rotating shaft is required to be reduced.
When it is determined in step S401 that the output torque is not within the predetermined torque range, the method 400 may perform step S402 of determining that the load is not in a state of center of gravity balance with respect to the rotating shaft.
When it is determined in step S401 that the output torque is in the predetermined torque range, the method 300 may perform step S403 to determine that the load is in a state of center of gravity balance with respect to the rotating shaft. In other words, when the load is in a gravity center balance state with respect to the rotating shaft, the power output by the rotating shaft is in a more ideal range, and the attitude stability of the load is higher. Thus, when the load is in a state of center of gravity balance with respect to one of the shafts, the center of gravity of the load with respect to the shaft does not need to be adjusted.
In summary, the method 400 can determine the magnitude of the output torque of the rotating shaft by determining whether the output torque of the rotating shaft is within the predetermined torque range, and thus accurately determine whether the center of gravity of the load needs to be adjusted.
In some embodiments, step S203 may be implemented as method 500. As shown in fig. 5, in step S501, a torque constant is acquired. The torque constant is used to represent a linear relationship between the amount of torque change of the counterweight object and the amount of torque change of the rotating shaft. In other words, the product of the torque constant and the moment of the weight object represents: the moment of the counterweight object can lead the rotating shaft to save output moment. The moment of the counterweight object is used for reducing the output power of the rotating shaft, namely, the absolute value of the moment output by the rotating shaft is reduced. Here, the moment of the counterweight object is assumed to be Iq. The torque of the counterweight object reduces the output torque value of the rotating shaft to be F. The torque constant is K. Then, F and Iq satisfy the following formula:
F＝K·Iq
wherein Iq is L · mg. L represents a moment arm of the counterweight object, m represents a mass of the counterweight object, and g represents a gravitational acceleration.
In step S502, the ratio of the output torque to the torque constant is used as the torque adjustment amount of the counterweight object.
In summary, according to the method 500 of the embodiment of the present application, based on the torque constant, the moment of the counterweight object required to balance the center of gravity of the load can be accurately determined.
In some embodiments, embodiments of the present application may determine the torque constant by detecting a change in output torque caused by an increment (decrement) in the moment arm or mass. For example, the embodiment of the present application may determine K according to the following formula:
ΔL＝ΔT*K/mg
wherein, Δ L represents the variation of the moment arm, and Δ T represents the variation of the output torque of the rotating shaft. And under the condition that the value of m is not changed, K is delta L mg/delta T.
In some embodiments, step S204 may obtain a moment arm of the counterweight object, determine a mass adjustment amount of the counterweight object according to the moment arm and the moment adjustment amount, and output indication information including the mass adjustment amount of the counterweight object. In this way, the indication information can efficiently and accurately indicate the required mass adjustment amount of the counterweight object so as to accurately balance the shift of the center of gravity of the load.
In some embodiments, step S204 may obtain the mass of the counterweight object, determine the moment arm adjustment amount of the counterweight object according to the mass and the moment arm adjustment amount, and output indication information including the moment arm adjustment amount of the counterweight object. Therefore, the indication information can clarify the moment arm adjustment amount of the counterweight object, so that the position of the counterweight object can be accurately adjusted according to the moment arm adjustment amount.
In some embodiments, when the moment of the weight object and the moment adjustment amount are both positive values or both negative values, step S204 may output indication information including increasing the mass of the weight object or increasing the moment arm of the weight object, so as to accurately adjust the moment of the weight object according to the indication information. For example, in fig. 3, the torque adjustment amount and the torque of the weight object are both positive values, and step S204 may output an indication of increasing the mass of the weight object or an indication of adjusting the moment arm in the positive x-axis direction.
In some embodiments, when the moment of the weight object is different from the positive or negative of the moment adjustment amount, the indication information containing the mass of the weight object is reduced or the moment arm of the weight object is reduced is output. For example, in fig. 3, the torque adjustment amount is a negative value, the weight object a is located in the positive x-axis direction region, the torque of the weight object a is a positive value, and step S204 outputs an instruction to decrease the mass of the weight object or an instruction to adjust the force arm in the negative x-axis direction. For another example, in fig. 6, the torque of the weight object a is a negative value, and the torque adjustment amount is a positive value, and step S204 may output an instruction to decrease the mass of the weight object or output an instruction to adjust the moment arm in the positive x-axis direction.
Fig. 7 illustrates a flow chart of a method 700 of adjusting a center of gravity of a load of a pan and tilt head according to some embodiments of the present application. Method 700 may be performed, for example, by pan/tilt head 110.
As shown in fig. 7, in step S701, the output torque of the rotating shaft of the pan/tilt head is detected. Step S701 may detect an output torque of one or more rotating shafts in the pan/tilt head.
In step S702, it is determined whether the load is in a gravity center balanced state with respect to the rotating shaft, based on the output torque of the rotating shaft.
When it is determined in step S702 that the load is in a gravity center balanced state with respect to the rotating shaft, the embodiment of the present application may end the execution flow of the method 700.
When it is determined in step S702 that the load is not in a center of gravity balanced state with respect to the rotating shaft, the method 700 may perform step S703 of determining a torque adjustment amount of the weight object according to the output torque. Here, the torque adjustment amount of the weight object is used to: so that the load is in a state of gravity center balance with respect to the rotating shaft.
In step S704, instruction information for adjusting the center of gravity of the load is output according to the amount of torque adjustment of the counterweight object.
In addition, after the load center of gravity is adjusted, the embodiment of the application can also verify the adjustment result of the load center of gravity.
After adjusting the center of gravity of the load according to the instruction information of step S704, the method 700 may perform step S705 for any one of a plurality of predetermined postures of the load, controlling the load to be in the predetermined posture, and checking whether the load is in a state of center of gravity balance with respect to the rotating shaft in the predetermined posture. For example, the predetermined postures include a posture when the load lens is in the horizontal direction and a posture when the load lens is in the depression angle 45 degree direction. For example, the loaded lens in FIG. 3 is in a horizontal orientation (i.e., the lens is at zero degrees to the X-axis). Fig. 8 shows the loaded lens in a depression angle of 45 degrees. Step S705 may acquire the output torque at the attitude in the horizontal direction and the output torque at the attitude at the depression angle of 45 degrees, so as to detect the center of gravity of the load at different attitudes, respectively.
When it is determined in step S705 that the load is in a gravity center balanced state with respect to the rotation axis in the predetermined posture, the method 700 may perform step S706, determine that the predetermined posture is verified, and obtain a verification result of the predetermined posture. That is, step S706 determines that the center of gravity adjustment result of the load at the predetermined posture is verified.
After performing step S706, the method 700 may perform step S707 to determine whether a verification pass result is obtained for each predetermined gesture.
It should be noted that the center of gravity of the load is adjusted so that the output torque of the rotating shaft is within a predetermined torque range. For each preset gesture, the adjustment amount (such as moment arm adjustment amount, mass adjustment amount or moment adjustment amount) when the center of gravity of the load is adjusted according to the indication information is in an adjustment amount range corresponding to the preset gesture. The predetermined torque range is [ -M, + M ]. At the predetermined angle of 45 degrees, the output torque of the rotating shaft is, for example, P1. P1 is greater than M or less than-M and is not in the predetermined moment range, i.e. the load is not in center of gravity equilibrium with respect to the axis of rotation at the predetermined angle of 45 degrees. The adjustment range of the torque adjustment amount is [ (P1-M)/K, (P1+ M)/K ]. As another example, the output torque at the predetermined angle of 0 degrees is P2, for example, and P2 is greater than M or less than-M. Under the preset angle of 0 degree, the corresponding regulating quantity range of the regulating quantity is [ (P2-M)/K, (P2+ M)/K ].
When the verification passing result of each preset angle is obtained, the adjustment quantity of the load is actually in the intersection of the adjustment quantity ranges of the preset postures. That is, when the verification pass result for each predetermined angle is obtained, the adjustment result of the center of gravity of the load may be such that each predetermined attitude satisfies the load balance requirement.
Thus, upon obtaining a verification pass result for each predetermined attitude at step S707, the method 700 may perform step S708 to determine that verification of the load center of gravity adjustment is complete. After step S708 is executed, the embodiment of the present application may end the execution flow of the method 700. When the verification pass results for all the predetermined gestures are not obtained in step S707, the method 700 may continue to execute step S705 for one predetermined gesture that fails the verification.
When it is determined in step S705 that the load is not in a center of gravity balanced state with respect to the rotating shaft in the predetermined posture, the method 700 may perform step S709 of outputting instruction information for adjusting the center of gravity of the load in the predetermined posture. Here, the manner of outputting the instruction information is similar to step S704. The embodiment of the present application may continue to execute step S705 for the predetermined posture after adjusting the center of gravity of the load according to the instruction information of step S709.
In summary, through steps S705 to S708, according to the method 700 of the embodiment of the present application, the center of gravity balance of the load at a plurality of predetermined postures can be ensured. Since the predetermined attitude is an attitude in which the load is frequently used, the method 700 can reduce the power output of the motor of the pan/tilt head and improve the attitude stability of the load on the pan/tilt head by ensuring the center of gravity balance of the load under the predetermined attitude.
Fig. 9 illustrates a flow chart of a method 900 of adjusting a center of gravity of a load of a pan and tilt head according to some embodiments of the present application. Method 900 may be performed, for example, by pan/tilt head 110.
As shown in fig. 9, in step S901, the output torque of the rotating shaft of the pan/tilt head is detected. Step S901 may detect an output torque of one or more rotating shafts in the pan/tilt head.
In step S902, it is determined whether the load is in a gravity center balanced state with respect to the rotating shaft, based on the output torque of the rotating shaft.
When it is determined in step S902 that the load is in a gravity center balanced state with respect to the rotating shaft, the embodiment of the present application may end the execution flow of the method 900.
When it is determined in step S902 that the load is not in a center of gravity balanced state with respect to the rotating shaft, the method 900 may perform step S903 of determining a torque adjustment amount of the weight object according to the output torque. Here, the torque adjustment amount of the weight object is used to: so that the load is in a state of gravity center balance with respect to the rotating shaft.
In step S904, instruction information for adjusting the center of gravity of the load is output in accordance with the amount of torque adjustment of the counterweight object.
In addition, after the load center of gravity is adjusted, the embodiment of the application can also verify the adjustment result of the load center of gravity.
After adjusting the center of gravity of the load according to the indication information of step S904, the method 900 may execute step S905, sequentially controlling the load to be in each predetermined posture, and checking whether the load is in a center of gravity balance state with respect to the rotating shaft in each predetermined posture. For example, the predetermined postures include a posture when the load lens is in the horizontal direction and a posture when the load lens is in the depression angle 45 degree direction. For example, the loaded lens in FIG. 3 is in a horizontal orientation (i.e., the lens is at zero degrees to the X-axis). Fig. 8 shows the loaded lens in a depression angle of 45 degrees. Step S905 may acquire an output torque at the attitude in the horizontal direction and an output torque at the attitude at a depression angle of 45 degrees, so as to respectively detect the centers of gravity of the loads at different attitudes.
Upon determining in step S905 that the load is in a center of gravity balanced state with respect to the axis of rotation in each of the predetermined attitudes, the method 900 may perform step S906, determining that each of the predetermined attitudes passes the verification. The embodiment of the present application may end the execution flow of the method 900 after step S906.
When it is determined in step S905 that the load is not in a center of gravity balanced state with respect to the rotating shaft in one or more predetermined postures, the method 900 may perform step S907 of determining an adjustment amount range corresponding to each of the one or more predetermined postures. For example, when the adjustment amount of a predetermined posture is a torque adjustment amount, the adjustment amount range is [ (P3-M)/K, (P3+ M)/K ], wherein P3 is the output torque of the rotating shaft in the predetermined posture. For another example, when the adjustment amount of one predetermined posture is the arm adjustment amount, the adjustment amount range is [ (P3-M)/Kmg, (P3+ M)/Kmg ].
In step S908, an intersection of adjustment amount ranges corresponding to the one or more predetermined postures is determined.
In step S909, the instruction information containing the target adjustment amount is output in turn in each of the one or more predetermined postures so that the load is in a gravity center balanced state with respect to the rotating shaft in each predetermined posture after the center of gravity of the load is adjusted in accordance with the instruction information. The target indication information belongs to the intersection of the adjustment quantity ranges corresponding to the one or more preset postures.
Fig. 10 shows a schematic view of an apparatus 1000 for adjusting the center of gravity of a load of a pan/tilt head according to some embodiments of the present application. The apparatus 1000 may be deployed in a pan-tilt 110, for example.
As shown in fig. 10, the apparatus 1000 may include: a detection unit 1001, a judgment unit 1002, a determination unit 1003, and a feedback unit 1004.
The detection unit 1001 detects an output torque of the rotational shaft of the pan/tilt head.
The determining unit 1002 determines whether the load is in a gravity center balanced state with respect to the rotating shaft according to the output torque of the rotating shaft.
When the determination unit 1002 determines that the load is not in the gravity center balanced state with respect to the rotating shaft, the determination unit 1003 determines the torque adjustment amount of the counterweight object from the output torque. The torque adjustment amount of the counterweight object is used for: so that the load is in a state of gravity center balance with respect to the rotating shaft.
And a feedback unit 1004 for outputting instruction information for adjusting the center of gravity of the load according to the amount of torque adjustment of the counterweight object.
To sum up, according to the device 1000 of the embodiment of the present application, by detecting the output torque of the rotating shaft and according to the relationship between the output torque and the torque adjustment amount of the counterweight object, the torque adjustment amount of the counterweight object can be accurately determined, so that the indication information for adjusting the center of gravity of the load can be accurately fed back, further the load balance of the cradle head can be efficiently adjusted, the adjustment accuracy of the center of gravity of the load can be improved, the power output of the motor of the cradle head can be reduced, and the attitude stability of the load on the cradle head can be improved.
In some embodiments, for any one of a plurality of predetermined postures of the load, the determining unit 1002 may control the load to be in the predetermined posture, and check whether the load is in a gravity center balanced state with respect to the rotating shaft in the predetermined posture.
Upon determining that the load is in a gravity center balanced state with respect to the rotation axis at the predetermined attitude, the determination unit 1002 determines that the predetermined attitude passes the verification.
After determining that the predetermined attitude passes the verification, the judging unit 1002 determines whether each predetermined attitude passes the verification, and determines that the verification of the load center of gravity adjustment is completed when determining that each predetermined attitude passes the verification. When it is determined that not every predetermined posture is verified, the determination unit 1002 continues to perform an operation of checking whether the control load is in a gravity center balanced state with respect to the rotation shaft in the predetermined posture with respect to one predetermined posture which is not verified.
When it is determined that the load is not in the center of gravity balanced state with respect to the rotation shaft in the predetermined posture, the feedback unit 1004 outputs the instruction information for adjusting the center of gravity of the load in the predetermined posture, and the operation of controlling the load to be in the predetermined posture, checking whether the load is in the center of gravity balanced state with respect to the rotation shaft in the predetermined posture is continuously performed for the predetermined posture by the determination unit 1002.
In some embodiments, the detection unit 1001 may detect the output torque of the rotating shaft when the focal length of the load is adjusted to the upper focal length limit.
In some embodiments, the determining unit 1002 may determine whether the output torque of the rotating shaft is in a predetermined torque range. The predetermined torque range represents an allowable range of the output torque when the load is in a state of gravity balance with respect to the rotating shaft. When the output torque is not in the predetermined torque range, the determination unit 1002 determines that the load is not in a barycentric equilibrium state with respect to the rotating shaft. When the output torque is in the predetermined torque range, the determination unit 1002 determines that the load is in a barycentric balance state with respect to the rotating shaft.
In some embodiments, the determination unit 1003 may obtain a torque constant. The torque constant is used to represent a linear relationship between the amount of torque change of the counterweight object and the amount of torque change of the rotating shaft. The determination unit 1003 may use a ratio of the output torque to the torque constant as a torque adjustment amount of the counterweight object.
In some embodiments, the feedback unit 1004 may obtain a moment arm of the counterweight object, determine a mass adjustment amount of the counterweight object according to the moment arm and the moment adjustment amount, and output indication information including the mass adjustment amount of the counterweight object.
In some embodiments, the feedback unit 1004 may obtain the mass of the counterweight object, determine the moment arm adjustment amount of the counterweight object according to the mass and the moment adjustment amount, and output indication information including the moment arm adjustment amount of the counterweight object.
In some embodiments, the feedback unit 1004 may output the indication information including increasing the mass of the counterweight object or increasing the moment arm of the counterweight object when the moment of the counterweight object and the moment adjustment amount are both positive values or both negative values.
In some embodiments, the feedback unit 1004 may output the indication information containing the mass of the weight object or the moment arm of the weight object to be reduced when the moment of the weight object is different from the positive or negative of the moment adjustment amount.
In some embodiments, for any one of a plurality of predetermined postures of the load, the determining unit 1002 is further configured to: controlling the load to be in the preset posture, and checking whether the load is in a gravity center balance state relative to the rotating shaft under the preset posture;
when it is determined that the load is in a gravity center balanced state with respect to the rotating shaft in the predetermined posture, the determining unit 1002 determines that the predetermined posture passes the verification, and obtains a verification passing result of the predetermined posture.
After the verification pass result of the predetermined posture is obtained, the determination unit 1002 determines whether the verification pass result of each predetermined posture is obtained, and determines that the verification of the load center of gravity adjustment is completed when it is determined that the verification pass result of each predetermined posture is obtained.
When it is determined that the verification pass results of all the predetermined postures are not obtained, the determination unit 1002 continues to perform an operation of checking whether the load is in a gravity center balanced state with respect to the rotation shaft in the predetermined posture with respect to one predetermined posture in which the verification is not passed.
When it is determined that the load is not in the center of gravity balanced state with respect to the rotation shaft in the predetermined posture, the feedback unit 1004 outputs the instruction information for adjusting the center of gravity of the load in the predetermined posture, and the operation of controlling the load to be in the predetermined posture, checking whether the load is in the center of gravity balanced state with respect to the rotation shaft in the predetermined posture is continuously performed for the predetermined posture by the determination unit 1002.
Fig. 11 illustrates a schematic view of a pan and tilt head according to some embodiments of the present application. As shown in fig. 11, the head includes: a posture adjustment mechanism 1110 and a control device 1120.
The attitude adjustment mechanism 1110 may include one or more spindles 1111. For example, the attitude adjustment mechanism 1110 may include at least one of a pitch axis, a roll axis, and a yaw axis. In addition, the attitude adjustment mechanism 1110 may further include a motor 1112 for outputting a torque to the rotation shaft. The posture adjustment mechanism 1110 is used to support a load and adjust the posture of the load.
The control device 1120 is used to control the posture adjustment mechanism 1110. For example, the control device 1120 can control the output power of the motor 1112 to adjust the output torque of the shaft, and thus the attitude of the load. Control device 1120 includes one or more processors (CPUs) 1121, a communication module 1122, a memory 1123, a user interface 1124, and a communication bus 1125 for interconnecting these components.
The processor 1121 can receive and transmit data through the communication module 1122 to enable network communications and/or local communications.
User interface 1124 includes one or more output devices 1126, including one or more speakers and/or one or more visual displays. The user interface 1124 also includes one or more input devices 1127. The user interface 1124 may receive, for example, an instruction of a remote controller, but is not limited thereto.
The memory 1123 may be a high-speed random access memory such as DRAM, SRAM, DDR RAM, or other random access solid state memory devices; or non-volatile memory, such as one or more magnetic disk storage devices, optical disk storage devices, flash memory devices, or other non-volatile solid-state storage devices.
The memory 1123 stores a set of instructions executable by the processor 1121 including:
an operating system 1128 including programs for handling various basic system services and for performing hardware related tasks;
application 1129, includes various programs for implementing the upward adjustment of the center of gravity of the load of the pan/tilt head. Such a program can implement the processing flow in the above examples, such as may include the method 200 of adjusting the center of gravity of the load of the pan/tilt head.
In addition, each of the embodiments of the present application can be realized by a data processing program executed by a data processing apparatus such as a computer. It is clear that the data processing program constitutes the invention. Further, the data processing program, which is generally stored in one storage medium, is executed by directly reading the program out of the storage medium or by installing or copying the program into a storage device (such as a hard disk and/or a memory) of the data processing device. Such a storage medium therefore also constitutes the present invention. The storage medium may use any type of recording means, such as a paper storage medium (e.g., paper tape, etc.), a magnetic storage medium (e.g., a flexible disk, a hard disk, a flash memory, etc.), an optical storage medium (e.g., a CD-ROM, etc.), a magneto-optical storage medium (e.g., an MO, etc.), and the like.
The present application thus also discloses a non-volatile storage medium in which a program is stored. The program comprises instructions which, when executed by a processor, cause the control device 1120 to carry out a method of adjusting the center of gravity of a load of a pan-tilt head according to the present application.
In addition, the method steps described in this application may be implemented by hardware, for example, logic gates, switches, Application Specific Integrated Circuits (ASICs), programmable logic controllers, embedded microcontrollers, and the like, in addition to data processing programs. Such hardware capable of implementing the methods described herein may also constitute the present application.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the scope of the present application.
Claims (10)
1. A method of adjusting a center of gravity of a load on a pan/tilt head, comprising:
detecting the output torque of a rotating shaft of the holder;
determining whether the load is in a gravity center balance state relative to the rotating shaft according to the output torque of the rotating shaft;
when the load is determined not to be in a gravity center balance state relative to the rotating shaft, determining the moment adjustment amount of the counterweight object according to the output moment, wherein the moment adjustment amount of the counterweight object is used for: so that the load is in a gravity center balance state relative to the rotating shaft;
and outputting indication information for adjusting the gravity center of the load according to the moment adjustment amount of the counterweight object.
2. The method of claim 1, wherein the detecting the output torque of the rotating shaft of the pan/tilt head comprises:
and when the focal length of the load is adjusted to be the upper focal length limit, detecting the output torque of the rotating shaft.
3. The method of claim 1, wherein determining whether a load is in a center of gravity balance with respect to the shaft based on the output torque of the shaft comprises:
judging whether the output torque of the rotating shaft is in a preset torque range or not, wherein the preset torque range represents an allowable range of the output torque when a load is in a gravity center balance state relative to the rotating shaft;
when the output torque is not in the preset torque range, determining that the load is not in a gravity center balance state relative to the rotating shaft;
and when the output torque is in a preset torque range, determining that the load is in a gravity center balance state relative to the rotating shaft.
4. The method according to claim 1, wherein outputting the indication information for adjusting the center of gravity of the load according to the amount of moment adjustment of the weight object comprises:
acquiring a moment arm of the counterweight object, determining the mass adjustment quantity of the counterweight object according to the moment arm and the moment adjustment quantity, and outputting indication information containing the mass adjustment quantity of the counterweight object; or
Acquiring the mass of the counterweight object, determining the moment arm adjusting quantity of the counterweight object according to the mass and the moment adjusting quantity, and outputting indicating information containing the moment arm adjusting quantity of the counterweight object; or
When the moment of the counterweight object and the moment adjustment amount are both positive values or negative values, outputting indication information containing the mass of the counterweight object or the moment arm of the counterweight object;
and when the moment of the counterweight object is different from the positive or negative of the moment adjusting quantity, outputting indication information containing the mass reduction or the moment arm reduction of the counterweight object.
5. The method of claim 1, further comprising:
for any one preset posture in a plurality of preset postures of the load, controlling the load to be in the preset posture, and checking whether the load is in a gravity center balance state relative to the rotating shaft under the preset posture;
when the load is determined to be in a gravity center balance state relative to the rotating shaft under the preset posture, determining that the preset posture passes verification, and obtaining a verification passing result of the preset posture;
after the verification passing result of the preset gesture is obtained, determining whether the verification passing result of each preset gesture is obtained or not, and determining that the verification of the load gravity center adjustment is completed when the verification passing result of each preset gesture is obtained; when the verification passing results of all the preset postures are not obtained, aiming at one preset posture which is not verified, continuously executing the operation that the control load is in the preset posture, and checking whether the load is in a gravity center balance state relative to the rotating shaft under the preset posture;
when the load is determined not to be in the gravity center balance state relative to the rotating shaft in the preset posture, the indication information for adjusting the gravity center of the load in the preset posture is output, the operation that the load is controlled to be in the preset posture and whether the load is in the gravity center balance state relative to the rotating shaft in the preset posture is checked continuously is carried out aiming at the preset posture.
6. The method of claim 1, wherein determining a torque adjustment amount for the weighted object based on the output torque comprises:
acquiring a torque constant, wherein the torque constant is used for representing a linear relation between the moment variation of the counterweight object and the moment variation of the rotating shaft;
and taking the ratio of the output torque to the torque constant as the torque adjustment amount of the counterweight object.
7. A device for adjusting the center of gravity of a load on a pan/tilt head, comprising:
the detection unit is used for detecting the output torque of the rotating shaft of the holder;
the judging unit is used for determining whether the load is in a gravity center balance state relative to the rotating shaft according to the output torque of the rotating shaft;
a determination unit that determines a torque adjustment amount of a counterweight object based on the output torque when it is determined that the load is not in a gravity center balanced state with respect to the rotating shaft, the torque adjustment amount of the counterweight object being used to: so that the load is in a gravity center balance state relative to the rotating shaft;
and the feedback unit outputs indication information for adjusting the gravity center of the load according to the moment adjustment amount of the counterweight object.
8. The apparatus of claim 7, wherein for any one of a plurality of predetermined poses of the load, the determining unit is further to: controlling the load to be in the preset posture, and checking whether the load is in a gravity center balance state relative to the rotating shaft under the preset posture;
when the load is determined to be in a gravity center balance state relative to the rotating shaft under the preset posture, the judging unit determines that the preset posture passes the verification, and a verification passing result of the preset posture is obtained;
after the verification passing result of the preset posture is obtained, the judging unit determines whether the verification passing result of each preset posture is obtained or not, and determines that the verification of the load gravity center adjustment is completed when the verification passing result of each preset posture is obtained;
when it is determined that the verification results of all the predetermined postures are not obtained, the judging unit continues to execute the operation of controlling the load to be in the predetermined posture and checking whether the load is in a gravity center balance state relative to the rotating shaft in the predetermined posture for one predetermined posture which is not verified;
when it is determined that the load is not in a state of gravity center balance with respect to the rotating shaft in the predetermined posture, the feedback unit outputs instruction information for adjusting the gravity center of the load in the predetermined posture, and the operation of controlling the load to be in the predetermined posture, checking whether the load is in the state of gravity center balance with respect to the rotating shaft in the predetermined posture is continuously performed by the judgment unit for the predetermined posture.
9. A head, comprising:
the posture adjusting mechanism comprises one or more rotating shafts;
a control device for controlling the attitude adjustment mechanism;
a program configured to be executed by the control device, the program comprising instructions for carrying out the method of adjusting the center of gravity of a load of a pan and tilt head according to any one of claims 1 to 6.
10. A storage medium storing a program comprising instructions which, when executed by a head, cause the head to perform a method of adjusting the center of gravity of a load of the head as claimed in any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011543707.9A CN112684814B (en) | 2020-12-24 | 2020-12-24 | Method and device for adjusting load center of cradle head, cradle head and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011543707.9A CN112684814B (en) | 2020-12-24 | 2020-12-24 | Method and device for adjusting load center of cradle head, cradle head and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112684814A true CN112684814A (en) | 2021-04-20 |
| CN112684814B CN112684814B (en) | 2024-04-12 |
Family
ID=75451367
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011543707.9A Active CN112684814B (en) | 2020-12-24 | 2020-12-24 | Method and device for adjusting load center of cradle head, cradle head and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112684814B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114776955A (en) * | 2022-03-25 | 2022-07-22 | 北京天必达科技有限公司 | Steering engine diaxon cloud platform of underwater robot |
| WO2022261959A1 (en) * | 2021-06-18 | 2022-12-22 | 深圳市大疆创新科技有限公司 | Leveling method and gimbal |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014006368A (en) * | 2012-06-25 | 2014-01-16 | Hitachi Ltd | Monitoring camera unit and monitoring camera device including the same |
| CN204004178U (en) * | 2014-07-04 | 2014-12-10 | 深圳市大疆创新科技有限公司 | Balance weight assembly, the balance weight mechanism that uses this balance weight assembly and The Cloud Terrace |
| CN104781581A (en) * | 2014-07-04 | 2015-07-15 | 深圳市大疆创新科技有限公司 | Counterweight assembly, and counterweight mechanism and holder employing same |
| CN106272335A (en) * | 2015-05-12 | 2017-01-04 | 青岛东旭机器人视觉系统科技有限公司 | Intelligence rocking arm cameras people |
| CN106454222A (en) * | 2016-08-31 | 2017-02-22 | 中林信达（北京）科技信息有限责任公司 | Mechanism for compensating gravitational torque generated by vertical rotary component |
| CN106594488A (en) * | 2016-02-23 | 2017-04-26 | 深圳曼塔智能科技有限公司 | Handheld cradle head with adjustable gravity center |
| CN107002941A (en) * | 2016-05-31 | 2017-08-01 | 深圳市大疆灵眸科技有限公司 | Head method of adjustment, system, device and head |
| CN108253271A (en) * | 2016-12-29 | 2018-07-06 | 昊翔电能运动科技(昆山)有限公司 | Hand-held holder method for adjusting gravity center |
| KR101887919B1 (en) * | 2017-05-16 | 2018-08-13 | 국방과학연구소 | Gravitational torque estimation and compensation in electrically driven rotating system |
| CN108459622A (en) * | 2017-02-21 | 2018-08-28 | 昊翔电能运动科技(昆山)有限公司 | From load centre of gravity adjustment system, the method for steady holder |
| CN111316029A (en) * | 2019-03-13 | 2020-06-19 | 深圳市大疆创新科技有限公司 | Cloud deck gravity center balancing method, cloud deck and client |
| CN211010566U (en) * | 2019-11-06 | 2020-07-14 | 广东世季科技有限公司 | Stable cloud platform of control |
-
2020
- 2020-12-24 CN CN202011543707.9A patent/CN112684814B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014006368A (en) * | 2012-06-25 | 2014-01-16 | Hitachi Ltd | Monitoring camera unit and monitoring camera device including the same |
| CN204004178U (en) * | 2014-07-04 | 2014-12-10 | 深圳市大疆创新科技有限公司 | Balance weight assembly, the balance weight mechanism that uses this balance weight assembly and The Cloud Terrace |
| CN104781581A (en) * | 2014-07-04 | 2015-07-15 | 深圳市大疆创新科技有限公司 | Counterweight assembly, and counterweight mechanism and holder employing same |
| CN106272335A (en) * | 2015-05-12 | 2017-01-04 | 青岛东旭机器人视觉系统科技有限公司 | Intelligence rocking arm cameras people |
| CN106594488A (en) * | 2016-02-23 | 2017-04-26 | 深圳曼塔智能科技有限公司 | Handheld cradle head with adjustable gravity center |
| CN107002941A (en) * | 2016-05-31 | 2017-08-01 | 深圳市大疆灵眸科技有限公司 | Head method of adjustment, system, device and head |
| CN106454222A (en) * | 2016-08-31 | 2017-02-22 | 中林信达（北京）科技信息有限责任公司 | Mechanism for compensating gravitational torque generated by vertical rotary component |
| CN108253271A (en) * | 2016-12-29 | 2018-07-06 | 昊翔电能运动科技(昆山)有限公司 | Hand-held holder method for adjusting gravity center |
| CN108459622A (en) * | 2017-02-21 | 2018-08-28 | 昊翔电能运动科技(昆山)有限公司 | From load centre of gravity adjustment system, the method for steady holder |
| KR101887919B1 (en) * | 2017-05-16 | 2018-08-13 | 국방과학연구소 | Gravitational torque estimation and compensation in electrically driven rotating system |
| CN111316029A (en) * | 2019-03-13 | 2020-06-19 | 深圳市大疆创新科技有限公司 | Cloud deck gravity center balancing method, cloud deck and client |
| CN211010566U (en) * | 2019-11-06 | 2020-07-14 | 广东世季科技有限公司 | Stable cloud platform of control |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022261959A1 (en) * | 2021-06-18 | 2022-12-22 | 深圳市大疆创新科技有限公司 | Leveling method and gimbal |
| CN114776955A (en) * | 2022-03-25 | 2022-07-22 | 北京天必达科技有限公司 | Steering engine diaxon cloud platform of underwater robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112684814B (en) | 2024-04-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112684814B (en) | Method and device for adjusting load center of cradle head, cradle head and storage medium | |
| EP3042275B1 (en) | Tilting to scroll | |
| EP3042276B1 (en) | Tilting to scroll | |
| GB2544865A (en) | Situationally suspending wakeup word to enable voice command input | |
| US20130141464A1 (en) | Orientation Control | |
| US20200326709A1 (en) | Method and device for controlling reset of gimbal, gimbal, and unmanned aerial vehicle | |
| JP2007040763A (en) | Correction device of acceleration sensor | |
| KR101772384B1 (en) | Orientation sensing computing devices | |
| US20200278700A1 (en) | Load control method and device based on unmanned aerial vehicle, and unmanned aerial vehicle | |
| CN112135124A (en) | Method, device and system for calibrating and detecting position of holder | |
| CN110337560A (en) | Control method, holder, capture apparatus and the readable storage medium storing program for executing of holder | |
| CN108696674A (en) | Gravity center adjusting mechanism and related photographing device | |
| KR20170053702A (en) | Automatic sensor selection based on requested sensor characteristics | |
| CN111142580B (en) | Holder, holder control method, control device and computer storage medium | |
| CN106445334B (en) | Display interface adjusting method and adjusting system | |
| JP6209581B2 (en) | Attitude calculation device, attitude calculation method, portable device, and program | |
| CN106325492B (en) | Orientation adjusting method and device and electronic equipment | |
| CN110313171A (en) | Cloud platform control method, holder and machine readable storage medium | |
| JP6143526B2 (en) | Information processing apparatus and control method thereof | |
| CN111272199B (en) | Method and device for calibrating installation error angle of IMU (inertial measurement Unit) | |
| CN108594875A (en) | Angular rate gyroscope control method and device | |
| US11620846B2 (en) | Data processing method for multi-sensor fusion, positioning apparatus and virtual reality device | |
| US20180034283A1 (en) | Systems and methods to increase rate of charge of battery based on impedance | |
| JP6154883B2 (en) | Stillness determination device, posture angle detection device, portable device, stillness determination method, and program | |
| KR101786281B1 (en) | Device and method for computing a magnetic heading |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 310051 room 304, B / F, building 2, 399 Danfeng Road, Binjiang District, Hangzhou City, Zhejiang Province Applicant after: Hangzhou Hikvision Robot Co.,Ltd. Address before: 310051 room 304, B / F, building 2, 399 Danfeng Road, Binjiang District, Hangzhou City, Zhejiang Province Applicant before: HANGZHOU HIKROBOT TECHNOLOGY Co.,Ltd. |
|
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20230630 Address after: No.555, Qianmo Road, Binjiang District, Hangzhou City, Zhejiang Province Applicant after: Hangzhou Hikvision Digital Technology Co.,Ltd. Address before: 310051 room 304, B / F, building 2, 399 Danfeng Road, Binjiang District, Hangzhou City, Zhejiang Province Applicant before: Hangzhou Hikvision Robot Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |