CN204650286U - Control device and the clouds terrace system of The Cloud Terrace - Google Patents
Control device and the clouds terrace system of The Cloud Terrace Download PDFInfo
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- CN204650286U CN204650286U CN201520207293.0U CN201520207293U CN204650286U CN 204650286 U CN204650286 U CN 204650286U CN 201520207293 U CN201520207293 U CN 201520207293U CN 204650286 U CN204650286 U CN 204650286U
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Abstract
The utility model provides a kind of device and the clouds terrace system that control The Cloud Terrace, comprise a controller, an IMU, at least one motor and at least one scrambler, The Cloud Terrace is installed with a picture pick-up device, IMU is for obtaining the attitude of The Cloud Terrace and sending an attitude signal to controller, motor moves for driving The Cloud Terrace, scrambler is for detecting the corner of motor and sending a feedback signal to controller, controller is for obtaining one for characterizing the targeted attitude signal of the targeted attitude of described The Cloud Terrace, and exporting a correction signal, motor adjusts the attitude of described The Cloud Terrace according to correction signal.Scrambler combines with IMU by the utility model, the attitude of The Cloud Terrace is made to trend towards targeted attitude, avoid The Cloud Terrace being subject to vibrations that external environment produces, to rock and the picture pick-up device that causes obtains not fogging clear, slack defect, improve the control accuracy to The Cloud Terrace, achieve well following The Cloud Terrace targeted attitude, there is better shooting effect.
Description
Technical field
The utility model relates to a kind of device and the clouds terrace system that control The Cloud Terrace.
Background technology
Along with the development of society and advancing by leaps and bounds of industry, unmanned plane is taken photo by plane and is applied in more and more wider field, also more and more professional to the requirement of taking photo by plane, and requires with the control of The Cloud Terrace three spindle motor also more and more accurate.
But, usually IMU (Inertial measurement unit is adopted in prior art, Inertial Measurement Unit, measure object three-axis attitude angle (or angular speed) and the device of acceleration) information feed back to obtain the angle information of video camera, such information feed back mode can be used for requiring it is not very high setting of taking photo by plane to specialty, but cannot meet professional other and to take photo by plane equipment.
Utility model content
The technical problems to be solved in the utility model is to overcome in prior art the not high defect of the equipment precision that controls camera angle, providing a kind of device and the clouds terrace system that control The Cloud Terrace.
The utility model solves above-mentioned technical matters by following technical proposals:
A kind of device controlling The Cloud Terrace, its feature is, comprise a controller, one IMU, at least one motor and at least one scrambler, described The Cloud Terrace is installed with a picture pick-up device, described IMU is for obtaining the attitude of described The Cloud Terrace and sending an attitude signal to described controller, described motor moves for driving described The Cloud Terrace, described scrambler is for detecting the corner of described motor and sending a feedback signal to described controller, described controller is for obtaining one for characterizing the targeted attitude signal of the targeted attitude of described The Cloud Terrace, and export a correction signal, described motor adjusts the attitude of described The Cloud Terrace according to described correction signal.
Wherein, picture pick-up device can be the equipment of the shooting such as video camera, camera imaging, the attitude of The Cloud Terrace comprise in the information such as the position of The Cloud Terrace, speed, angle one or more.The corner of motor is detected by scrambler, controller can the operating condition current according to motor be corrected motor, thus make the attitude of The Cloud Terrace trend towards targeted attitude, avoid The Cloud Terrace being subject to vibrations that external environment produces, to rock and the picture pick-up device that causes obtains not fogging clear, slack defect, improve the control accuracy to The Cloud Terrace, achieve well following The Cloud Terrace targeted attitude, there is better shooting effect.
Preferably, the quantity of described motor is 3, and the quantity of described scrambler is 3, and 3 motors are separately positioned on orthogonal three direction of principal axis of described The Cloud Terrace, to adjust the athletic posture of described The Cloud Terrace on three direction of principal axis.
Wherein, by controlling the attitude of The Cloud Terrace at three direction of principal axis, the attitude information amount of the The Cloud Terrace that controller is got is larger, thus also higher to the motion attitude control precision of The Cloud Terrace.
Preferably, be provided with a slip ring in the motor wherein on an axle, detecting the scrambler being provided with the corner of the motor of described slip ring is photoelectric encoder, and the scrambler detecting the corner of the motor on two other axle is magnetism encoder.
For the motor with slip ring, can coordinate with the structure of motor better when using photoelectric encoder to detect the corner of this motor.
Preferably, the device of described control The Cloud Terrace also comprises a temperature sensor and a heating resistor, described heating resistor keeps stationary temperature for making the gyroscope in described IMU, described temperature sensor is for detecting described gyrostatic temperature and sending a temperature signal to described controller, described controller sends an electric signal by the mode sharing a signal wire with described temperature sensor to described IMU, and described IMU makes described heating resistor be turned on or off according to described electric signal.
Particularly, when detecting that gyrostatic temperature is higher, then disconnect described heating resistor, when detecting that gyroscope temperature is lower, then conducting heating resistor is to raise gyrostatic temperature.For traditional connected mode, namely controller directly controls conducting and the disconnection of heating resistor by line, this Shen directly shares the mode of a signal wire with described temperature sensor, control being turned on or off of this heating resistor by IMU, while decreasing this line, temperature control effect same as the prior art can also be reached.
Preferably, the device of described control The Cloud Terrace also comprises a receiver, and described controller obtains the targeted attitude signal of outside transmitter transmitting by described receiver.
When using receiver, Long-distance Control can be realized.
Preferably, described targeted attitude signal is the signal preset in described controller.Use the control that can realize automatic The Cloud Terrace attitude during default signal.
Preferably, described controller is connected with an aircraft by an order wire.More high-precision taking photo by plane can be realized when being connected with aircraft.
Preferably, described controller is connected with a hand-held support by an order wire.Ground shooting operation can be realized when being connected with hand-held support.
The utility model also provides a kind of clouds terrace system, and its feature is, comprise as above control The Cloud Terrace device and The Cloud Terrace wherein.
Positive progressive effect of the present utility model is: combined with IMU by scrambler, the corner of motor is detected by scrambler, make controller can the rotary state of continuous correcting motor, thus make the attitude of The Cloud Terrace trend towards targeted attitude, avoid The Cloud Terrace being subject to vibrations that external environment produces, to rock and the picture pick-up device that causes obtains not fogging clear, slack defect, improve the control accuracy to The Cloud Terrace, achieve well following The Cloud Terrace targeted attitude, there is better shooting effect.
Accompanying drawing explanation
Fig. 1 is the structural representation of the device of the control The Cloud Terrace of the utility model embodiment 1.
Fig. 2 is the structural representation of the device of the control The Cloud Terrace of the utility model embodiment 2.
Embodiment
Lift preferred embodiment below, and come by reference to the accompanying drawings clearlyer intactly the utility model to be described.
Embodiment 1
The present embodiment provides a kind of device controlling The Cloud Terrace, as shown in Figure 1, comprise a controller 100, controller 100 is a single-chip microcomputer, one IMU101, one motor 102 and a scrambler 103, described The Cloud Terrace is installed with a video camera, described IMU101 is for obtaining the attitude of described The Cloud Terrace and sending an attitude signal to described controller 100, described motor 102 moves for driving described The Cloud Terrace, described motor 102 is driven to operate by motor driver 1021 in the present embodiment, controller 100 and motor driver 1021 are all arranged on same circuit board 200, described scrambler 103 is for detecting the corner of described motor 102 and sending a feedback signal to described controller, described controller 100 is for obtaining one for characterizing the targeted attitude signal of the targeted attitude of described The Cloud Terrace, then a correction signal is exported according to described attitude signal and described feedback signal, described motor adjusts the attitude of described The Cloud Terrace according to described correction signal.
In FIG, fancy arrow represents to only have power supply transmission, and single lined arrows represents to only have signal transmission, and thick-line arrow represents existing power supply transmission, has signal transmission again.Wherein, controller obtains targeted attitude signal by receiver, and the mode also by internal preset obtains.
In the present embodiment, scrambler can detect the corner of motor in real time, also can the corner of periodic detection motor, by the feedback of scrambler to motor corner, make controller can the rotary state of correcting motor in time, thus realize the model-following control to the targeted attitude of The Cloud Terrace.
The present embodiment uses a motor and the gesture stability of a scrambler realization to The Cloud Terrace, in fact, also multiple motor and multiple scrambler can be used to realize the gesture stability of The Cloud Terrace on multiple direction of principal axis, the quantity of the axle needing controlled motion attitude can be set as required.
Embodiment 2
The present embodiment provides a kind of device controlling The Cloud Terrace, as shown in Figure 2, the difference of the present embodiment and embodiment is: the present embodiment comprises 3 motors and 3 scramblers, 3 motors are separately positioned on orthogonal three direction of principal axis of described The Cloud Terrace, to adjust the athletic posture of described The Cloud Terrace on three direction of principal axis.
Wherein, each scrambler detects the corner of a motor, be provided with a slip ring in motor wherein on an axle, detecting the scrambler being provided with the corner of the motor of described slip ring is photoelectric encoder, and the scrambler detecting the corner of the motor on two other axle is magnetism encoder.Specifically he, the present embodiment scrambler is on a vertical axis photoelectric encoder 1031, and scrambler is on the horizontal axis magnetism encoder 1032, in actual use, also the image of picture pick-up device can be realized remote transmission.
The present embodiment is while the effect obtaining embodiment 1, the attitude information amount of the The Cloud Terrace that controller gets is larger, also higher to the motion attitude control precision of The Cloud Terrace, and for having the motor of slip ring, can coordinate with the structure of motor better when using photoelectric encoder to detect the corner of this motor.
Embodiment 3
The present embodiment provides a kind of device controlling The Cloud Terrace, and the difference of the present embodiment and embodiment 2 is: the device controlling The Cloud Terrace in the present embodiment also comprises a receiver, and described controller obtains the targeted attitude signal of outside transmitter transmitting by described receiver.The device of described control The Cloud Terrace also comprises a temperature sensor and a heating resistor, described heating resistor keeps stationary temperature for making the gyroscope in described IMU, described temperature sensor is for detecting described gyrostatic temperature and sending a temperature signal to described controller, described controller sends an electric signal by the mode sharing a signal wire with described temperature sensor to described IMU, and described IMU makes described heating resistor be turned on or off according to described electric signal.
When detecting that gyrostatic temperature is higher, then disconnect described heating resistor, when detecting that gyroscope temperature is lower, then conducting heating resistor is to raise gyrostatic temperature.For traditional connected mode, namely controller directly controls conducting and the disconnection of heating resistor by line, this Shen directly shares the mode of a signal wire with described temperature sensor, control being turned on or off of this heating resistor by IMU, while decreasing this line, temperature control effect same as the prior art can also be reached.
In addition, described controller is connected with an aircraft by an order wire, and when using receiver, can realize Long-distance Control, this aircraft can realize more high-precision taking photo by plane.
Scrambler combines with IMU by the utility model, the corner of motor is detected by scrambler, make controller can the rotary state of continuous correcting motor, thus make the attitude of The Cloud Terrace trend towards targeted attitude, avoid The Cloud Terrace being subject to vibrations that external environment produces, to rock and the picture pick-up device that causes obtains not fogging clear, slack defect, improve the control accuracy to The Cloud Terrace, achieve well following The Cloud Terrace targeted attitude, there is better shooting effect.
Although the foregoing describe embodiment of the present utility model, it will be understood by those of skill in the art that these only illustrate, protection domain of the present utility model is defined by the appended claims.Those skilled in the art, under the prerequisite not deviating from principle of the present utility model and essence, can make various changes or modifications to these embodiments, but these change and amendment all falls into protection domain of the present utility model.
Claims (9)
1. one kind controls the device of The Cloud Terrace, it is characterized in that, comprise a controller, one IMU, at least one motor and at least one scrambler, described The Cloud Terrace is installed with a picture pick-up device, described IMU is for obtaining the attitude of described The Cloud Terrace and sending an attitude signal to described controller, described motor moves for driving described The Cloud Terrace, described scrambler is for detecting the corner of described motor and sending a feedback signal to described controller, described controller is for obtaining one for characterizing the targeted attitude signal of the targeted attitude of described The Cloud Terrace, and export a correction signal, described motor adjusts the attitude of described The Cloud Terrace according to described correction signal.
2. the device controlling The Cloud Terrace as claimed in claim 1, it is characterized in that, the quantity of described motor is 3, and the quantity of described scrambler is 3,3 motors are separately positioned on orthogonal three direction of principal axis of described The Cloud Terrace, to adjust the athletic posture of described The Cloud Terrace on three direction of principal axis.
3. the device controlling The Cloud Terrace as claimed in claim 2, it is characterized in that, be provided with a slip ring in motor wherein on an axle, detecting the scrambler being provided with the corner of the motor of described slip ring is photoelectric encoder, and the scrambler detecting the corner of the motor on two other axle is magnetism encoder.
4. the device controlling The Cloud Terrace as claimed in claim 1, it is characterized in that, the device of described control The Cloud Terrace also comprises a temperature sensor and a heating resistor, described heating resistor keeps stationary temperature for making the gyroscope in described IMU, described temperature sensor is for detecting described gyrostatic temperature and sending a temperature signal to described controller, described controller sends an electric signal by the mode sharing a signal wire with described temperature sensor to described IMU, and described IMU makes described heating resistor be turned on or off according to described electric signal.
5. as the device of the control The Cloud Terrace in claim 1-4 as described in any one, it is characterized in that, the device of described control The Cloud Terrace also comprises a receiver, and described controller obtains the targeted attitude signal of outside transmitter transmitting by described receiver.
6. as the device of the control The Cloud Terrace in claim 1-4 as described in any one, it is characterized in that, described targeted attitude signal is the signal preset in described controller.
7. the device controlling The Cloud Terrace as claimed in claim 5, is characterized in that, described controller is connected with an aircraft by an order wire.
8. as the device of the control The Cloud Terrace in claim 1-4 as described in any one, it is characterized in that, described controller is connected with a hand-held support by an order wire.
9. a clouds terrace system, is characterized in that, comprises the device as the control The Cloud Terrace in claim 1-8 as described in any one and The Cloud Terrace wherein.
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| CN201520207293.0U CN204650286U (en) | 2015-04-08 | 2015-04-08 | Control device and the clouds terrace system of The Cloud Terrace |
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| CN201520207293.0U CN204650286U (en) | 2015-04-08 | 2015-04-08 | Control device and the clouds terrace system of The Cloud Terrace |
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| CN105443956A (en) * | 2015-12-26 | 2016-03-30 | 武汉智能鸟无人机有限公司 | Handheld pan-tilt with tracking function |
| CN105472257A (en) * | 2016-01-05 | 2016-04-06 | 零度智控（北京）智能科技有限公司 | Cradle head control system and cradle head |
| CN105676880A (en) * | 2016-01-13 | 2016-06-15 | 零度智控（北京）智能科技有限公司 | Control method and system of holder camera device |
| CN105867436A (en) * | 2015-11-27 | 2016-08-17 | 深圳市星图智控科技有限公司 | Unmanned aerial vehicle and holder system thereof |
| CN105892498A (en) * | 2016-04-01 | 2016-08-24 | 南京工程学院 | Target staring and scanning control system based on triaxial holder |
| CN106020240A (en) * | 2016-05-25 | 2016-10-12 | 南京安透可智能系统有限公司 | Holder control system of autonomous homing calibration |
| CN106292739A (en) * | 2016-09-13 | 2017-01-04 | 哈尔滨工程大学 | Follow body-sensing photographic head The Cloud Terrace and the control method of human body head action |
| CN106873641A (en) * | 2017-03-20 | 2017-06-20 | 普宙飞行器科技（深圳）有限公司 | The miniature head of three axles and its control method |
| CN107438807A (en) * | 2016-06-17 | 2017-12-05 | 深圳市大疆灵眸科技有限公司 | Holding unit control method, holding unit, hand-held head and unmanned plane |
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| CN108268056A (en) * | 2016-12-30 | 2018-07-10 | 昊翔电能运动科技(昆山)有限公司 | Hand-held holder calibration method, device and system |
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| CN113515974A (en) * | 2020-04-10 | 2021-10-19 | 初速度（苏州）科技有限公司 | Gesture label calibration system, method and device |
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| CN105867436A (en) * | 2015-11-27 | 2016-08-17 | 深圳市星图智控科技有限公司 | Unmanned aerial vehicle and holder system thereof |
| CN105443956A (en) * | 2015-12-26 | 2016-03-30 | 武汉智能鸟无人机有限公司 | Handheld pan-tilt with tracking function |
| CN105472257A (en) * | 2016-01-05 | 2016-04-06 | 零度智控（北京）智能科技有限公司 | Cradle head control system and cradle head |
| CN105676880A (en) * | 2016-01-13 | 2016-06-15 | 零度智控（北京）智能科技有限公司 | Control method and system of holder camera device |
| CN105892498A (en) * | 2016-04-01 | 2016-08-24 | 南京工程学院 | Target staring and scanning control system based on triaxial holder |
| CN106020240A (en) * | 2016-05-25 | 2016-10-12 | 南京安透可智能系统有限公司 | Holder control system of autonomous homing calibration |
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| CN107438807A (en) * | 2016-06-17 | 2017-12-05 | 深圳市大疆灵眸科技有限公司 | Holding unit control method, holding unit, hand-held head and unmanned plane |
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| CN106292739B (en) * | 2016-09-13 | 2018-12-25 | 哈尔滨工程大学 | The body-sensing camera holder and control method for following human body head to act |
| CN106292739A (en) * | 2016-09-13 | 2017-01-04 | 哈尔滨工程大学 | Follow body-sensing photographic head The Cloud Terrace and the control method of human body head action |
| CN108268056A (en) * | 2016-12-30 | 2018-07-10 | 昊翔电能运动科技(昆山)有限公司 | Hand-held holder calibration method, device and system |
| CN108268056B (en) * | 2016-12-30 | 2020-12-15 | 昊翔电能运动科技(昆山)有限公司 | Handheld holder calibration method, device and system |
| CN106873641A (en) * | 2017-03-20 | 2017-06-20 | 普宙飞行器科技（深圳）有限公司 | The miniature head of three axles and its control method |
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| CN107977026B (en) * | 2017-11-24 | 2021-04-06 | 深圳市科比特航空科技有限公司 | Temperature control device based on gyroscope sensor and unmanned aerial vehicle |
| CN108491001A (en) * | 2018-03-21 | 2018-09-04 | 深圳臻迪信息技术有限公司 | Increase steady holder, increase steady holder implementation method and UAV system |
| CN110337619A (en) * | 2018-04-28 | 2019-10-15 | 深圳市大疆创新科技有限公司 | The guard method of holder, the protective device of holder, holder and unmanned plane |
| CN110337619B (en) * | 2018-04-28 | 2022-05-03 | 深圳市大疆创新科技有限公司 | Cloud deck protection method, cloud deck protection device, cloud deck and unmanned aerial vehicle |
| CN108549417A (en) * | 2018-05-22 | 2018-09-18 | 深圳市施罗德工业测控设备有限公司 | A kind of control method, device and the storage medium of the holder carrying camera |
| CN112399041A (en) * | 2019-08-19 | 2021-02-23 | 杭州海康威视数字技术股份有限公司 | Video camera |
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