CN205176664U - Handheld cloud platform - Google Patents
Handheld cloud platform Download PDFInfo
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- CN205176664U CN205176664U CN201520644931.5U CN201520644931U CN205176664U CN 205176664 U CN205176664 U CN 205176664U CN 201520644931 U CN201520644931 U CN 201520644931U CN 205176664 U CN205176664 U CN 205176664U
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Abstract
The utility model relates to a handheld cloud platform, it includes holding device and sets up the last cloud platform device of holding device. Handheld cloud platform still include the controller and with controller electric connection's gesture detects the sensor, the controller can be based on the gesture detects the sensor and acquires handheld cloud platform's current attitude information control handheld cloud platform's current mode, the controller can current attitude information satisfies when predetermineeing the condition, control handheld cloud platform changes current mode, and can current attitude information is unsatisfied with when predetermineeing the condition, control handheld cloud platform keeps current mode. Work that foretell handheld cloud platform can avoid leading to because of improper switching mode is unusual or damage.
Description
Technical field
The utility model relates to a kind of hand-held The Cloud Terrace.
Background technology
Hand-held The Cloud Terrace compact, easy to carry, small-sized filming apparatus can be installed, such as video camera, camera, smart mobile phone etc., and control while immediate stability can be reached when taking in movement filming apparatus and remain on effect in the attitude determined.But hand-held The Cloud Terrace in the market requires that user is when gripping described hand-held The Cloud Terrace with specific correct body position, successfully could open, and guarantee that described hand-held The Cloud Terrace can normally use.If user does not open The Cloud Terrace under described specific correct body position, likely can cause opening unsuccessfully, or cause described hand-held The Cloud Terrace can not normally use after unlatching, even can damage described hand-held The Cloud Terrace.Meanwhile, if when described hand-held The Cloud Terrace is opened in addition because of vibrations or collision in transportation, described hand-held The Cloud Terrace is more easily made to occur abnormal or damage.
Utility model content
In view of above content, be necessary to provide a kind of hand-held The Cloud Terrace with power-on protection.
A kind of hand-held The Cloud Terrace, it comprises grip device and is arranged on the cradle head device on described grip device.The attitude detecting sensor that described hand-held The Cloud Terrace also comprises controller and is electrically connected with described controller, the present mode of hand-held The Cloud Terrace described in the current pose information controller of the described hand-held The Cloud Terrace that described controller can obtain according to described attitude detecting sensor, described controller can when described current pose information meets pre-conditioned, control described hand-held The Cloud Terrace and change present mode, and when described current pose information does not meet pre-conditioned, described hand-held The Cloud Terrace can be controlled and keep present mode.
Further, the following at least one of current pose packets of information of described hand-held The Cloud Terrace: the current pose information of described grip device, the current pose information of described cradle head device.
Further, the current pose information of described hand-held The Cloud Terrace is the current pose information of described grip device.
Further, the current pose information of described grip device comprises following at least one: described grip device is relative to the angle of inclination of gravity direction, and described grip device is relative to the angle of inclination of horizontal direction.
Further, described controller, according to the current pose information of described cradle head device, calculates the current pose information of described grip device.
Further, described cradle head device comprises multiple connected rotating shaft mechanism, each described rotating shaft mechanism has a motor, and the angular velocity of described controller according to multiple described rotating shaft mechanism and the rotational angle of acceleration and described motor, calculate the current pose information of described cradle head device.
Further, described hand-held The Cloud Terrace also comprises inertia measurement sensor, and the angular velocity of each described rotating shaft mechanism and acceleration are obtained by described inertia measurement sensor.
Further, described hand-held The Cloud Terrace also comprises angular transducer, and the rotational angle of each described motor is obtained by described angular transducer.
Further, described cradle head device is diaxon The Cloud Terrace or three axle The Cloud Terraces.
Further, described grip device is provided with power knob, inputs the operational order of described unlatching to allow user by described power knob.
Further, described grip device is provided with the mode control button of the operational order for receiving user, the operational order of user of described controller also for receiving according to described mode control button, controls the mode of operation that described hand-held The Cloud Terrace is set as needed for user.
Further, described grip device is provided with indicator, described indicator, when described controller judges that the current pose of described hand-held The Cloud Terrace is not suitable for opening use, sends indicator signal.
Further, described indicator is pilot lamp, hummer, voice announcer or display screen.
Hand-held The Cloud Terrace of the present utility model, have employed the attitude that described attitude detecting sensor obtains described hand-held The Cloud Terrace, and judge the whether suitable unlatching of described hand-held The Cloud Terrace by described controller, if so, user is then allowed to start described hand-held The Cloud Terrace, if not, then can hand-held The Cloud Terrace described in No starting, make user adjust the posture of the described hand-held The Cloud Terrace of its gripping, until described hand-held The Cloud Terrace is in the state that can normally open, described controller side controls described hand-held The Cloud Terrace and switches on power and open.Therefore, hand-held The Cloud Terrace of the present utility model has above-mentioned power-on protection, can avoid opening under unfavorable attitude running, thus avoids the operation irregularity or damage that described hand-held The Cloud Terrace causes because of unnormal unlocking.
Accompanying drawing explanation
Fig. 1 is the schematic perspective view of hand-held The Cloud Terrace in the utility model embodiment.
Fig. 2 is the component module schematic diagram of the hand-held The Cloud Terrace in the utility model embodiment.
Fig. 3 is the high-level schematic functional block diagram of the schema control system in the utility model embodiment.
Fig. 4 is the schematic flow sheet that the utility model real first executes the mode control method in mode.
Fig. 5 is the schematic flow sheet that the utility model real second executes the mode control method in mode.
Main element symbol description
Following embodiment will further illustrate the utility model in conjunction with above-mentioned accompanying drawing.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, be clearly and completely described the technical scheme in the utility model embodiment, obviously, described embodiment is only the utility model part embodiment, instead of whole embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all belong to the scope of the utility model protection.
It should be noted that, when assembly is called as " being fixed on " another assembly, directly can there is assembly placed in the middle in it on another assembly or also.When an assembly is considered to " connection " another assembly, it can be directly connected to another assembly or may there is assembly placed in the middle simultaneously.When an assembly is considered to " being arranged at " another assembly, it can be set directly on another assembly or may there is assembly placed in the middle simultaneously.Term as used herein " vertical ", " level ", "left", "right" and similar statement are just for illustrative purposes.
Unless otherwise defined, all technology used herein and scientific terminology are identical with belonging to the implication that those skilled in the art of the present utility model understand usually.The object of the term used in instructions of the present utility model herein just in order to describe specific embodiment, is not intended to be restriction the utility model.Term as used herein " and/or " comprise arbitrary and all combinations of one or more relevant Listed Items.
Below in conjunction with accompanying drawing, embodiments more of the present utility model are elaborated.When not conflicting, the feature in following embodiment and embodiment can combine mutually.
Refer to Fig. 1 and Fig. 2, the utility model embodiment provides a kind of hand-held The Cloud Terrace 100.Described hand-held The Cloud Terrace 100 for installing a filming apparatus 200, and increases steady function for described filming apparatus 200 provides.In the present embodiment, described hand-held The Cloud Terrace 100 comprises grip device 20 and cradle head device 30.Specifically in graphic embodiment, described cradle head device 30 is installed in one end of described grip device 20.Described grip device 20 is for providing the position of gripping for The Cloud Terrace 100 hand-held described in user operation, described cradle head device 30 is for installing described filming apparatus 200 and realizing the direction controlling of described filming apparatus 200 and increase steady.
In the present embodiment, described grip device 20 roughly in handle arrangement, is provided with control panel 22.Described control panel 22 is for receiving the operational order of user.Controller 24 (referring to Fig. 2) can also be provided with in described grip device 20, described controller 24 is electrically connected with described cradle head device 30, the described operational order that described controller 24 can receive according to described control panel 22 generates corresponding steering order, and sends described steering order to described cradle head device 30.
Particularly, described control panel 22 is provided with power knob 221, mode control button 223 and indicator 225.Described power knob 221 is for controlling the break-make of the overall power supply of described grip device 20, and user by the described power knob 221 of pressing, can control unlatching and the closedown of described hand-held The Cloud Terrace 100.
Described mode control button 223 for receiving the operational order of user, and controls the mode of operation of described hand-held The Cloud Terrace 100 according to described operational order.Particularly, user can pass through described mode control button 223, according to the operating attitude needs of need of work and described grip device 20, described cradle head device 30 is set as the mode of operation needed for user.The operating attitude of described grip device 20 includes but not limited to: upright attitude, horizontally hold attitude, handstand attitude etc.Correspondingly, the mode of operation of described cradle head device 30 can include but not limited to: upright pattern, horizontally hold pattern, handstand pattern etc.
The concrete structure of mode control button 223 can design according to different demand, such as, and toggle switch, rotating switch, slide switch, entity touch key-press or virtual touch button etc. on touch-screen, in the present embodiment, mode control button 223 is for controlling rocking bar.
Described indicator 225 is for sending indicator signal to user, and to point out, whether the state of described hand-held The Cloud Terrace 100 is suitable opens.Specifically, when user presses described power knob 221 to expect to open described hand-held The Cloud Terrace 100, described controller 24 calculates the current pose of described hand-held The Cloud Terrace 100, and judge the whether suitable unlatching of described hand-held The Cloud Terrace 100 by this attitude, if be not suitable for, described controller 24 controls described indicator 225 and sends indicator signal, should not open to point out the state of described hand-held The Cloud Terrace 100, to avoid user to open described hand-held The Cloud Terrace 100 in unsuitable situation, damage is caused to described hand-held The Cloud Terrace 100, and be conducive to energy-conservation.After user learns this indicator signal, can from the attitude of The Cloud Terrace 100 hand-held described in Row sum-equal matrix, until described hand-held The Cloud Terrace 100 is in suitable state of opening, described controller 24 controls described hand-held The Cloud Terrace 100 and automatically opens.
Be understandable that, in other some embodiments, user in the process of the attitude of The Cloud Terrace 100 hand-held described in Row sum-equal matrix, described controller 24 can calculate the attitude of described hand-held The Cloud Terrace 100 in real time, and judge whether described hand-held The Cloud Terrace 100 has been adjusted to suitable attitude of opening, if so, described controller 24 can control described indicator 225 and send indicator signal, has been in suitable state of opening to point out described hand-held The Cloud Terrace 100.After user learns this indicator signal, again press described power knob 221 and open described hand-held The Cloud Terrace 100.
Or, in other some embodiments, user after the attitude of The Cloud Terrace 100 hand-held described in Row sum-equal matrix, user is needed again to press described power knob 221, to allow to state the current pose that controller 24 calculates described hand-held The Cloud Terrace 100 again, and judge that whether described hand-held The Cloud Terrace 100 suitable and open, produces in transportation to avoid described hand-held The Cloud Terrace 100 and collide opening by mistake of causing and open.
In the present embodiment, described indicator 225 is pilot lamp, and described controller 24 can control described pilot lamp and lights or glimmer, to send described indicator signal to user.Be appreciated that in other examples, described indicator 225 can be hummer or voice announcer, and described controller 24 can control described hummer or described voice announcer sounding, to send described indicator signal to user.Be appreciated that in other examples, described indicator 225 can also be display screen, and described controller 24 can control described display screen and lights and/or show described indicator signal.
Described cradle head device 30 is arranged at one end of described grip device 20.In the present embodiment, described cradle head device 30 is three axle The Cloud Terraces, and it comprises three rotating shaft mechanisms.Each described rotating shaft mechanism includes a motor, and three described motors are respectively Y-axis (yaw axle) motor 32 controlling course motion, R axle (roll axle) motor 34 controlling roll motion and control P axle (pitch axle) motor 36 of luffing.
The rotor that each described motor includes stator and is arranged on rotationally on described stator.The stator of described y-axis motor 32 is fixed on one end of described grip device 20, and the rotor of described y-axis motor 32 freely can rotate around a Y-axis (course axle) relative to its stator and described grip device 20.The stator of described R spindle motor 34 is connected on the rotor of described y-axis motor by one first sway brace 341, and the rotor of described R spindle motor 34 freely can rotate around a R axle (roll axle) relative to the rotor of its stator and described y-axis motor.The stator of described P spindle motor 36 is connected to by one second sway brace 361 on the rotor of described R spindle motor 34, and the rotor of described P spindle motor freely can rotate around a P axle (pitch axis) relative to the rotor of its stator and described R spindle motor 34.Wherein, described Y-axis, described R axle and described P axle are respectively the course axle of described cradle head device 30, roll axle and pitch axis; Particularly, described Y-axis is orthogonal with described R axle, and described R axle is orthogonal with described P axle, and described P axle can overlap with described Y-axis, oblique, orthogonal.Described filming apparatus 200 is installed on the rotor of described P spindle motor 36, and can with the rotor turns of described P spindle motor 36.
Further, described hand-held The Cloud Terrace 100 also comprises multiple angular transducer, and in the present embodiment, the quantity of described angular transducer is three, the rotor of each described motor is provided with a described angular transducer.Three described angular transducers correspond to described y-axis motor 32, described R spindle motor 34 and described P spindle motor 36 and are respectively: Y-axis sensor 323, R axle sensor 343 and P axle sensor 363 (referring to Fig. 2).Three described angular transducers are respectively used to the rotational angle of rotor relative to the stator of this motor of the detection described motor corresponding with it.Described controller 24 can obtain the rotor relative position each other of three described motors according to described rotational angle, thus calculates the current attitude of described cradle head device 30.Described controller 24 can ground according to the rotor relative position each other of three described motors, calculate the overall current operation attitude of described hand-held The Cloud Terrace 100, and judge the whether suitable unlatching of described hand-held The Cloud Terrace 100 according to this operation attitude.
Wherein, the overall current operation attitude of described hand-held The Cloud Terrace 100 includes but not limited to: stationary posture (as described in grip device 20 and as described in the upright state of cradle head device 30, handstand state, horizontally hold state, heeling condition and angle of inclination etc.), and athletic posture (as described in grip device 20 and as described in the angular velocity of cradle head device 30 and acceleration etc.).
Such as, described hand-held The Cloud Terrace 100 is under static state, if described Y-axis is roughly in vertically arranging, and described cradle head device 30 is positioned at the top of described grip device 20, then think that the stationary posture of described hand-held The Cloud Terrace 100 is upright state.On the contrary, if the Y-axis of described hand-held The Cloud Terrace 100 is roughly in vertically arranging, and described cradle head device 30 is positioned at the below of described grip device 20, then think that the stationary posture of described hand-held The Cloud Terrace 100 is handstand state.If the Y-axis of described hand-held The Cloud Terrace 100 deviates from vertical axes, and described cradle head device 30 is positioned at the top of described grip device 20, then think that the stationary posture of described hand-held The Cloud Terrace 100 is upright heeling condition.If the Y-axis of described hand-held The Cloud Terrace 100 deviates from vertical axes, and described cradle head device 30 is positioned at the below of described grip device 20, then think that the stationary posture of described hand-held The Cloud Terrace 100 is the heeling condition of standing upside down.If the Y-axis of described hand-held The Cloud Terrace 100 is roughly in being horizontally disposed with, then think that the stationary posture of described hand-held The Cloud Terrace 100 is horizontally hold state.
Further, described cradle head device 30 is also provided with attitude detecting sensor 38 (referring to Fig. 2), described attitude detecting sensor 38 can detect the current motion state of described cradle head device 30, with the motion state allowing described controller 24 current according to described cradle head device 30, and in conjunction with the rotor relative position each other of above-mentioned three described motors, calculate the attitude that described hand-held The Cloud Terrace 100 is current, thus judge the whether suitable unlatching of the state of described hand-held The Cloud Terrace 100.In the present embodiment, described attitude detecting sensor 38 comprises inertia measurement sensor.Specifically, described inertia measurement sensor comprises three axis angular rate sensors and 3-axis acceleration sensor.Described attitude detecting sensor 38 can detect the acceleration of the angular velocity of three axles of the current operation of described cradle head device 30 and three axles of the current operation of described cradle head device 30, and described angular velocity and described acceleration is sent in described controller 24.The angular velocity that described attitude detecting sensor 38 detects by described controller 24 and acceleration convert and become the current attitude of described hand-held The Cloud Terrace, and judge the whether suitable unlatching of described hand-held The Cloud Terrace 100 according to this attitude.Be understandable that, described inertia measurement sensor can also be used for the angular velocity and the acceleration that detect described rotating shaft mechanism.
In a specific embodiment, described controller 24 is according to the rotor of three described motors relative position each other, and the angular velocity that detects of above-mentioned attitude detecting sensor 38 and acceleration, when calculating the overall current operation attitude of described hand-held The Cloud Terrace 100, if calculate described hand-held The Cloud Terrace 100 when being in aforesaid upright state, or under aforementioned upright heeling condition, when the angle that its Y-axis deviates from vertical axes (i.e. gravity direction) is less than or equal to 45 °, or, when the angle that the Y-axis of described The Cloud Terrace deviates from transverse axis (i.e. horizontal direction) is greater than 135 °, then judge that described hand-held The Cloud Terrace 100 is in the state that can normally open, the state that described hand-held The Cloud Terrace 100 is in other if calculate, as handstand state or horizontal hold state etc. time, all judge described hand-held The Cloud Terrace 100 be in be not suitable for open state.
In another specific embodiment, described controller 24 is according to the rotor of three described motors relative position each other, and the angular velocity that detects of above-mentioned attitude detecting sensor 38 and acceleration, when calculating the overall current operation attitude of described hand-held The Cloud Terrace 100, if calculate described hand-held The Cloud Terrace 100 to move with higher speed and/or angular velocity relative at least one axle in Y-axis, R axle and P axle, then judge that described hand-held The Cloud Terrace 100 is in the state being not suitable for opening.Particularly, can also preset in described controller 24 and store the pre-set velocity scope and preset angle velocity range that described hand-held The Cloud Terrace 100 moves relative to Y-axis, R axle and P axle, the speed that described hand-held The Cloud Terrace 100 moves relative to Y-axis, R axle and P axle by described controller 24 and angular velocity compare with described pre-set velocity scope and described preset angle velocity range, if at least one in described speed and angular velocity does not fall into the preset range of its correspondence described, then judge that described hand-held The Cloud Terrace 100 moves just at a relatively high speed, be not suitable for opening.
Please refer to Fig. 3, the utility model also provides a kind of schema control system S1, Fig. 3 to show the functional block diagram of schema control system S1 in the utility model one embodiment.Described schema control system S1 runs in above-mentioned hand-held The Cloud Terrace 100, and described schema control system S1 is used for the unlatching controlling described hand-held The Cloud Terrace 100 according to the current pose of described hand-held The Cloud Terrace 100.Specifically, described schema control system S1 comprises control module 101, detection module 103, computing module 105, indicating module 107 and execution module 109.Further, described hand-held The Cloud Terrace 100 also comprises storer 28 (referring to Fig. 2), and described storer 28 can be arranged in described grip device 20, and is electrically connected with described controller 24.The modules of described schema control system S1 is be stored in described storer 28 and the module of the programmable that can be performed by described controller 24.
Specific as follows:
Described central control module 101 for detecting and receiving the operational order of user, and after described operational order is converted to steering order, sends described steering order to all the other modules, to make modules work compound.Particularly, described central control module 101 can detect the state of described power knob 221, if described power knob 221 is subject to the pressing of external force, then described central control module 101 judges.
Described detection module 103 detects the described angular velocity of described hand-held The Cloud Terrace 100 and/or described rotating shaft mechanism and described acceleration for controlling described attitude detecting sensor 38, and controls the rotational angle that three described angular transducers detect the described motor corresponding with it respectively.
Described computing module 105 for calculating the attitude of described hand-held The Cloud Terrace 100, and judges whether described hand-held The Cloud Terrace 100 is in suitable state of opening.Particularly, described computing module 105 is according to the rotor of three described motors relative position each other, and the angular velocity that detects of above-mentioned attitude detecting sensor 38 and acceleration, calculate the overall current operation attitude of described hand-held The Cloud Terrace 100, and judge the whether suitable unlatching of described hand-held The Cloud Terrace 100 according to this operation attitude.
Further, if described computing module 105 calculates described hand-held The Cloud Terrace 100 when being in aforesaid upright state, or under aforementioned upright heeling condition, when the angle that the Y-axis of described hand-held The Cloud Terrace 100 deviates from vertical axes is less than or equal to 45 °, then judge that described hand-held The Cloud Terrace 100 is in the state that can normally open; The state that described hand-held The Cloud Terrace 100 is in other if calculate, as handstand state or horizontal hold state etc. time, all judge described hand-held The Cloud Terrace 100 be in be not suitable for open state.
Described indicating module 107 sends indicator signal for controlling described indicator 225 to user, and to point out, whether the state of described hand-held The Cloud Terrace 100 is suitable opens.Particularly, when described computing module 105 judges that described hand-held The Cloud Terrace 100 is in the state being not suitable for opening, described indicating module 107 controls described indicator 225 and sends indicator signal.When described computing module 105 judges that described hand-held The Cloud Terrace 100 is in the state that can normally open, described indicating module 107 does not control the action of described indicator 225.
Be appreciated that in other some embodiments, when described computing module 105 judges that described hand-held The Cloud Terrace 100 is in the state being not suitable for opening, described indicating module 107 controls described indicator 225 and sends the indicator signal that should not open; When described computing module 105 judges that described hand-held The Cloud Terrace 100 is in suitable state of opening, described indicating module 107 controls described indicator 225 and sends the indicator signal that can open.
Described execution module 109 is opened for controlling described hand-held The Cloud Terrace 100, or forbids that described hand-held The Cloud Terrace 100 is opened.Particularly, when described computing module 105 judges that described hand-held The Cloud Terrace 100 is in the state being not suitable for opening, described execution module 109 limits described hand-held The Cloud Terrace 100 and opens, that is, described hand-held The Cloud Terrace 100 is still in closed condition.When described computing module 105 judges that described hand-held The Cloud Terrace 100 is in the state that can normally open, described execution module 109 controls described hand-held The Cloud Terrace 100 and switches on power and open.The operational order of user of described execution module 109 also for receiving according to described mode control button 223, controls the mode of operation that described grip device 20 and described cradle head device 30 are set as needed for user.
Please refer to Fig. 4, the utility model also provides a kind of mode control method, and described mode control method is applied in above-mentioned schema control system and hand-held The Cloud Terrace 100.Fig. 4 shows the schematic flow sheet of mode control method in the utility model first embodiment.Described mode control method comprises:
Step S101: receive the operational order opened.Particularly, when described hand-held The Cloud Terrace 100 is in closed condition, described control module 101 can detect the state of described power knob 221, if when described control module 101 detects that user presses described power knob 221, it controls described controller 24 and receives the operational order opened, and described controller 24 generates the steering order of opening according to the operational order of this unlatching.
Step S103: the angular velocity and the acceleration that obtain described hand-held The Cloud Terrace 100 and/or described rotating shaft mechanism.Particularly, the steering order of described unlatching is sent to described detection module 103 by described controller 24, described detection module 103 controls angular velocity and the acceleration that described attitude detecting sensor 38 detects described hand-held The Cloud Terrace 100 and/or described rotating shaft mechanism, and described angular velocity and acceleration is sent in described computing module 105.
Step S105: the rotational angle obtaining the described motor of described hand-held The Cloud Terrace 100.Particularly, described detection module 103 control three described angular transducers detect the rotational angle of the described motor corresponding with it respectively, and are sent in described computing module 105 by described rotational angle.
Step S107: the attitude calculating described hand-held The Cloud Terrace 100.Particularly, described computing module 105, according to the rotational angle of described angular velocity, described acceleration and three described motors, calculates the attitude of described hand-held The Cloud Terrace 100.
Step S109: judge the whether suitable unlatching of attitude that described hand-held The Cloud Terrace 100 is current if not, then to perform step S113; If so, then step S111 is performed.
Step S111: control described hand-held The Cloud Terrace 100 and open.Particularly, execution module 109 controls described hand-held The Cloud Terrace 100 and switches on power and open, EOP (end of program).Be appreciated that described indicating module 107 can control described indicator 225 and send indicator signal to user, is in point out described hand-held The Cloud Terrace 100 state that can normally open before the described hand-held The Cloud Terrace 100 of control is opened.
Step S113: send indicator signal, should not open to point out the state of described hand-held The Cloud Terrace 100.Particularly, described indicating module 107 controls described indicator 225 and sends described indicator signal to user, performs step S103.User can adjust according to described indicator signal the posture that it grips described hand-held The Cloud Terrace 100, until described hand-held The Cloud Terrace 100 is in the state that can normally open, described execution module 109 controls described hand-held The Cloud Terrace 100 and switches on power and open, EOP (end of program).
The schematic flow sheet of mode control method in the utility model second embodiment is shown please refer to Fig. 5, Fig. 5.Described mode control method comprises:
Step S201: receive the operational order opened.
Such as, when described hand-held The Cloud Terrace 100 is in closed condition, described control module 101 can detect the state of described power knob 221, if when described control module 101 detects that user presses described power knob 221, it controls described controller 24 and receives the operational order opened, and described controller 24 generates the steering order of opening according to the operational order of this unlatching.
Step S203: the angular velocity and the acceleration that obtain described hand-held The Cloud Terrace 100 and/or described rotating shaft mechanism.
Such as, the steering order of described unlatching is sent to described detection module 103 by described controller 24, described detection module 103 controls angular velocity and the acceleration that described attitude detecting sensor 38 detects described hand-held The Cloud Terrace and/or described rotating shaft mechanism 100, and described angular velocity and acceleration is sent in described computing module 105.
Step S205: the rotational angle obtaining the described motor of described hand-held The Cloud Terrace 100.
Such as, described detection module 103 control three described angular transducers detect the rotational angle of the described motor corresponding with it respectively, and are sent in described computing module 105 by described rotational angle.
Step S207: the attitude calculating described hand-held The Cloud Terrace 100.Particularly, described computing module 105, according to the rotational angle of described angular velocity, described acceleration and three described motors, calculates the attitude of described hand-held The Cloud Terrace 100.
Step S209: judge the whether suitable unlatching of attitude that described hand-held The Cloud Terrace 100 is current if not, then to perform step S213; If so, then step S211 is performed.
Step S211: control described hand-held The Cloud Terrace 100 and open.Particularly, execution module 109 controls described hand-held The Cloud Terrace 100 and switches on power and open, EOP (end of program).Be appreciated that described indicating module 107 can control described indicator 225 and send indicator signal to user, is in point out described hand-held The Cloud Terrace 100 state that can normally open before the described hand-held The Cloud Terrace 100 of control is opened.
Step S213: send indicator signal, should not open to point out the state of described hand-held The Cloud Terrace 100.
Such as, described indicating module 107 controls described indicator 225 and sends described indicator signal to user.User can adjust according to described indicator signal the posture that it grips described hand-held The Cloud Terrace 100, and again presses described power knob 221, to input the operational order of unlatching in described controller 24, and performs step S103.
Hand-held The Cloud Terrace 100 of the present utility model and schema control system thereof and mode control method, have employed the motion state that described detection module 103 detects described hand-held The Cloud Terrace 100, and to be calculated according to described motion state by described computing module 105 and judge that whether the attitude of described hand-held The Cloud Terrace 100 suitable and open, if, user is then allowed to start described hand-held The Cloud Terrace 100, if not, then can limit described hand-held The Cloud Terrace 100 to start, user is made to adjust the posture of the described hand-held The Cloud Terrace 100 of its gripping, until described hand-held The Cloud Terrace 100 is in the state that can normally open, described execution module 109 side controls described hand-held The Cloud Terrace 100 and switches on power and open.Therefore, hand-held The Cloud Terrace 100 of the present utility model has above-mentioned power-on protection, can avoid opening under unfavorable attitude running, thus avoids the operation irregularity or damage that described hand-held The Cloud Terrace 100 causes because of unnormal unlocking.
Be appreciated that described cradle head device 30 can be the The Cloud Terrace of the other types except three axle The Cloud Terraces, such as, described cradle head device 30 can be diaxon The Cloud Terrace or multiaxis The Cloud Terrace etc.
Be appreciated that described schema control system and described mode control method, be not limited to and be applied in above-mentioned hand-held The Cloud Terrace, it can also be applied in other equipment.Such as, described schema control system and control method can be applied in described electric dynamic triaxial The Cloud Terrace, by calculating the attitude of described electric dynamic triaxial The Cloud Terrace, judge that whether the current pose of described electric dynamic triaxial The Cloud Terrace meets one pre-conditioned, namely, judge that whether the residing attitude of described electric dynamic triaxial The Cloud Terrace is suitable to open, if judge, described electric dynamic triaxial The Cloud Terrace is in the state being not suitable for opening, then limit the unlatching of described electric dynamic triaxial The Cloud Terrace.
Or, described schema control system and control method can be applied in other moveable platform, when the current pose judging described moveable platform does not meet one pre-conditioned, namely, when judging that described moveable platform is in the state being not suitable for opening, then limit the unlatching of described moveable platform.Wherein, described moveable platform can be unmanned vehicle, Remote Control Vehicle, telepilot, automatic driving vehicle etc.
Be appreciated that described schema control system and described mode control method, be not limited to the unlatching controlling described hand-held The Cloud Terrace, it can also be used for controlling in the work such as closedown, switching working mode of described hand-held The Cloud Terrace.
Such as, when described hand-held The Cloud Terrace to be used in the workplace (as photography) that needs often open by user, if when described power knob is subject to pressed by external force, described schema control system can by obtaining the attitude of described hand-held The Cloud Terrace, judge that whether the current pose of described hand-held The Cloud Terrace meets one pre-conditioned, that is, judge that whether described hand-held The Cloud Terrace is suitable and close, if not, then the closedown of described hand-held The Cloud Terrace is limited.
For another example, when described hand-held The Cloud Terrace is in work, user by the described mode control button of pressing to switching described hand-held The Cloud Terrace current duty time, described schema control system can by obtaining the attitude of described hand-held The Cloud Terrace, judge that whether the current pose of described hand-held The Cloud Terrace meets one pre-conditioned, that is, judge the whether suitable switching state of described hand-held The Cloud Terrace, if not, then described hand-held The Cloud Terrace switch operating state is limited.
Even, when user use described hand-held The Cloud Terrace carry described filming apparatus carry out shooting operation time, if user expects by filming apparatus switching working mode described in described hand-held cradle head control, as switched screening-mode, zoom or conversion shooting direction etc., described schema control system can by obtaining the attitude of described hand-held The Cloud Terrace, judge that whether the current pose of described hand-held The Cloud Terrace meets one pre-conditioned, namely, judge the whether suitable described filming apparatus switching working mode of the attitude of described hand-held The Cloud Terrace, if not, then described filming apparatus switching working mode is limited.
Wherein, when described schema control system and control method are applied in the mode of operation switching control operation of above-mentioned moveable platform, the steering order of the change current operation mode that described schema control system receives can include but not limited to following instruction: the power supply opening described moveable platform, close the power supply of described moveable platform, open the load of described moveable platform, close the load of described moveable platform, change the current operation mode of described moveable platform, change the current operation mode of the load of described moveable platform.
Such as, described moveable platform can comprise bogey, is mounted in the cradle head device on described bogey and is carried on the BB ball emitter on described cradle head device.Wherein, described bogey can be remote control chassis vehicle.When detecting that described BB ball emitter launches the control signal of BB bullet, described controller is by obtaining the current pose information of cradle head device, judge whether the state of now described moveable platform is applicable to launching, such as, when described controller judges the power valve of BB ball emitter down according to the current pose information of described cradle head device, then can know that the state of now described moveable platform should not be launched.Now, described controller does not perform firing order, that is, keep the current operation mode of described BB ball emitter.
For another example, described moveable platform can comprise bogey, be mounted in cradle head device on described bogey and the camera of carry on described cradle head device.Wherein, described bogey can be unmanned vehicle, and described cradle head device is arranged at below described unmanned vehicle.When the control signal of " a key landing " being detected, described controller is by obtaining the current pose information of described cradle head device, judge whether the current state of described moveable platform is applicable to landing, such as, according to the current pose information of described cradle head device, described controller judges that the undercarriage of described unmanned plane does not also have enough time to put down, then can know that the state of now described moveable platform should not be landed.Now described controller does not perform the order of landing immediately, that is, do not change the current operation mode of described unmanned plane.Now, the current pose information of described moveable platform can also comprise elevation information residing for it (such as, flying height residing for described unmanned plane), described controller according to the current pose information of described cradle head device judge the flying height of described unmanned plane be greater than one preset time, then can know that the state of now described moveable platform should not be landed.
Above embodiment is only in order to illustrate the technical solution of the utility model and unrestricted, although be described in detail the utility model with reference to above embodiment, those of ordinary skill in the art should be appreciated that and can modify to the technical solution of the utility model or be equal to the spirit and scope of replacing and should not depart from technical solutions of the utility model.
Claims (13)
1. a hand-held The Cloud Terrace, it comprises grip device and is arranged on the cradle head device on described grip device, it is characterized in that: the attitude detecting sensor that described hand-held The Cloud Terrace also comprises controller and is electrically connected with described controller, the current pose information of the described hand-held The Cloud Terrace that described controller can obtain according to described attitude detecting sensor controls the present mode of described hand-held The Cloud Terrace, described controller can when described current pose information meets pre-conditioned, control described hand-held The Cloud Terrace and change present mode, and can when described current pose information does not meet pre-conditioned, control described hand-held The Cloud Terrace and keep present mode.
2. hand-held The Cloud Terrace as claimed in claim 1, is characterized in that: the following at least one of current pose packets of information of described hand-held The Cloud Terrace: the current pose information of described grip device, the current pose information of described cradle head device.
3. hand-held The Cloud Terrace as claimed in claim 2, is characterized in that: the current pose information of described hand-held The Cloud Terrace is the current pose information of described grip device.
4. hand-held The Cloud Terrace as claimed in claim 3, is characterized in that: the current pose information of described grip device comprises following at least one: described grip device is relative to the angle of inclination of gravity direction, and described grip device is relative to the angle of inclination of horizontal direction.
5. hand-held The Cloud Terrace as claimed in claim 3, is characterized in that: described controller, according to the current pose information of described cradle head device, calculates the current pose information of described grip device.
6. hand-held The Cloud Terrace as claimed in claim 5, it is characterized in that: described cradle head device comprises multiple connected rotating shaft mechanism, each described rotating shaft mechanism has a motor, the angular velocity of described controller according to multiple described rotating shaft mechanism and the rotational angle of acceleration and described motor, calculate the current pose information of described cradle head device.
7. hand-held The Cloud Terrace as claimed in claim 6, is characterized in that: described hand-held The Cloud Terrace also comprises inertia measurement sensor, and the angular velocity of each described rotating shaft mechanism and acceleration are obtained by described inertia measurement sensor.
8. hand-held The Cloud Terrace as claimed in claim 6, is characterized in that: described hand-held The Cloud Terrace also comprises angular transducer, and the rotational angle of each described motor is obtained by described angular transducer.
9. hand-held The Cloud Terrace as claimed in claim 1, is characterized in that: described cradle head device is diaxon The Cloud Terrace or three axle The Cloud Terraces.
10. hand-held The Cloud Terrace as claimed in claim 1, is characterized in that: described grip device is provided with power knob, with the operational order allowing user to pass through described power knob input unlatching.
11. hand-held The Cloud Terraces as claimed in claim 1, it is characterized in that: the mode control button described grip device being provided with the operational order for receiving user, the operational order of user of described controller also for receiving according to described mode control button, controls the mode of operation that described hand-held The Cloud Terrace is set as needed for user.
12. hand-held The Cloud Terraces as claimed in claim 1, is characterized in that: described grip device is provided with indicator, and described indicator, when described controller judges that the current pose of described hand-held The Cloud Terrace is not suitable for opening use, sends indicator signal.
13. hand-held The Cloud Terraces as claimed in claim 12, is characterized in that: described indicator is pilot lamp, hummer, voice announcer or display screen.
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Effective date of registration: 20170706 Address after: 518057 Guangdong city of Shenzhen province Nanshan District Guangdong streets south four Road No. 18 building in the West SKYWORTH semiconductor design 12 Patentee after: Shenzhen City, Jiang Mou Ling Technology Co. Ltd. Address before: 518057 Guangdong province Shenzhen city Nanshan District high tech Zone South Hing a No. 9 Hongkong, Shenzhen building 6 floor Patentee before: Shenzhen Dji Technology Co., Ltd. |