WO2015135206A1 - 云台的控制方法及云台的控制系统 - Google Patents

云台的控制方法及云台的控制系统 Download PDF

Info

Publication number
WO2015135206A1
WO2015135206A1 PCT/CN2014/073458 CN2014073458W WO2015135206A1 WO 2015135206 A1 WO2015135206 A1 WO 2015135206A1 CN 2014073458 W CN2014073458 W CN 2014073458W WO 2015135206 A1 WO2015135206 A1 WO 2015135206A1
Authority
WO
WIPO (PCT)
Prior art keywords
motion
user
pan
tilt
load
Prior art date
Application number
PCT/CN2014/073458
Other languages
English (en)
French (fr)
Inventor
王铭钰
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to EP14885572.9A priority Critical patent/EP3118508B1/en
Priority to PCT/CN2014/073458 priority patent/WO2015135206A1/zh
Priority to EP20155409.4A priority patent/EP3683488B1/en
Priority to US15/125,929 priority patent/US10054258B2/en
Publication of WO2015135206A1 publication Critical patent/WO2015135206A1/zh
Priority to US16/105,071 priority patent/US10781969B2/en
Priority to US17/015,814 priority patent/US11041588B2/en
Priority to US17/352,243 priority patent/US11629815B2/en

Links

Images

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
    • F16M13/022—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle repositionable
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/126—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction for tilting and panning
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera accessories
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
    • H04N23/681—Motion detection
    • H04N23/6812—Motion detection based on additional sensors, e.g. acceleration sensors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports

Definitions

  • the invention relates to the technical field of cloud platform control, in particular to a control method of a cloud platform and a control system of the cloud platform.
  • the jitter When the camera is shooting a picture, the jitter has a great influence on the picture quality of the picture.
  • This type of jitter includes the slight translation of the x, y, and z axes and the rotation around x, y, and z. Sensitive, and rotating will cause the problem of “missing a thousand miles, thousands of miles away”, that is, a slight rotation will cause dramatic changes in the content of the picture, seriously affecting the quality of the picture.
  • the invention provides a control method of a pan/tilt head and a control system of the pan/tilt head, which can solve the problem in the prior art that it is impossible to determine whether the camera is expected by the user or not expected by the user, and the expected motion error of the user is eliminated, resulting in the camera failing to meet expectations.
  • the angle of shooting is a control method of a pan/tilt head and a control system of the pan/tilt head, which can solve the problem in the prior art that it is impossible to determine whether the camera is expected by the user or not expected by the user, and the expected motion error of the user is eliminated, resulting in the camera failing to meet expectations.
  • the angle of shooting is a control method of a pan/tilt head and a control system of the pan/tilt head
  • a technical solution adopted by the present invention is to provide a control method for a pan/tilt, wherein the pan/tilt is used to carry a load, and the control method includes: detecting a motion state of the pan/tilt or the load; determining according to the motion state Whether the motion of the gimbal or the load is the expected motion of the user or the motion expected by the user; if the motion is not expected by the user, the motion of the load is controlled by the pan/tilt relative to the motion direction of the non-user expected motion, so that the load maintains the original orientation. If the motion is expected by the user, the load is controlled by the pan/tilt to move together according to the moving direction of the user's expected motion.
  • the step of detecting the motion state of the pan/tilt or the load is specifically: detecting the rotation angle of the pan/tilt; determining whether the motion of the pan/tilt or the load is the expected motion of the user or the expected motion of the user according to the motion state is specifically: determining whether the rotation angle is Exceeding the preset angle threshold, if yes, the movement of the gimbal is the user's expected movement, and if not, the movement of the gimbal is the non-user expected movement.
  • the angle threshold is smaller than the maximum rotation angle of the pan/tilt.
  • the step of detecting the motion state of the pan/tilt or the load is specifically: detecting the angular velocity of the load.
  • the step of determining whether the motion of the pan/tilt or the load is the expected motion of the user or the motion expected by the user according to the motion state is specifically: determining whether the angular velocity exceeds a preset angular velocity threshold, and if so, the motion of the load is the expected motion of the user, and if not, the load The movement is non-user expected movement.
  • the step of installing the pan/tilt on a moving body and detecting the motion state of the pan/tilt or the load is specifically: detecting a control signal received by the moving body.
  • the step of determining whether the motion of the pan/tilt or the load is the expected motion of the user or the motion expected by the user according to the motion state is specifically: determining whether there is a control signal corresponding to the motion of the moving body, and if so, the motion of the pan/tilt is the expected motion of the user. If not, the movement of the gimbal is not the expected movement of the user.
  • another technical solution adopted by the present invention is to provide a control system for a pan/tilt head for carrying a load, the control system comprising: a sensor and a controller, and the sensor is used for detecting the pan/tilt or The state of motion of the load.
  • the controller is configured to judge whether the motion of the pan/tilt or the load is a user expected motion or a non-user expected motion according to the motion state, and if the motion is not expected by the user, the motion direction of the pan/tilt control load is reversed with respect to the motion direction of the non-user expected motion.
  • the movement causes the load to maintain the original orientation. If the motion is expected by the user, the load is controlled by the pan/tilt to move together according to the moving direction of the user's expected motion.
  • the sensor is used for detecting the rotation angle of the pan/tilt, and the controller is configured to determine whether the rotation angle exceeds a preset angle threshold. If yes, the movement of the gimbal is the user's expected motion, and if not, the movement of the gimbal is the non-user expected motion. .
  • the angle threshold is smaller than the maximum rotation angle of the pan/tilt.
  • the sensor is used to detect the angular velocity of the load, and the controller is configured to determine whether the angular velocity exceeds a preset angular velocity threshold. If yes, the motion of the load is the expected motion of the user, and if not, the motion of the load is the motion expected by the user.
  • the pan/tilt is mounted on a moving body, and the controller is configured to detect a control signal received by the moving body and is used to determine whether there is a control signal corresponding to the motion of the moving body, and if so, the motion of the pan/tilt is the expected motion of the user. If not, the movement of the gimbal is not the expected movement of the user.
  • the invention has the beneficial effects that the invention can accurately eliminate the motion state of the pan/tilt or the load and determine whether the motion of the pan/tilt is expected by the user or not by the user according to the state of motion. Non-user anticipation of motion, avoiding the elimination of user expected motion.
  • FIG. 1 is a flow chart showing a first embodiment of a method for controlling a pan/tilt head according to the present invention
  • FIG. 2 is a flow chart of a second embodiment of a method for controlling a pan/tilt according to the present invention
  • FIG. 3 is a flow chart of a third embodiment of a method for controlling a pan/tilt according to the present invention.
  • FIG. 4 is a flow chart showing a fourth embodiment of a method for controlling a pan/tilt according to the present invention.
  • FIG. 5 is a block diagram showing the control system of the pan/tilt head of the present invention.
  • FIG. 1 is a flow chart of a first embodiment of a method for controlling a pan/tilt according to the present invention.
  • the pan/tilt is used to carry a load.
  • the load is a camera
  • the control method of the pan/tilt includes the following steps:
  • Step S11 detecting the motion state of the pan/tilt or the load.
  • Step S12 judging whether the motion of the pan/tilt or the load is a user expected motion or a non-user expected motion according to the motion state.
  • step S12 if the motion is not expected by the user, step S13 is performed: the pan/tilt is controlled to perform reverse motion with respect to the motion direction of the non-user expected motion, thereby maintaining the original orientation of the load; If the motion is performed, step S14 is performed: the load is controlled by the pan/tilt to move together according to the moving direction of the user's expected motion.
  • the user expects the motion to refer to the motion of the load or the pan/tilt desired by the user
  • the non-user expected motion refers to the motion of the load or the pan/tilt that the user does not expect.
  • FIG. 2 is a flow chart of a second embodiment of a method for controlling a pan/tilt according to the present invention.
  • the pan/tilt is used to carry a load.
  • the load is a camera
  • the control method of the pan/tilt includes the following steps:
  • Step S21 detecting the rotation angle of the pan/tilt.
  • step S21 in the embodiment, the camera rotates by holding the pan-tilt rotation by a human hand. In other embodiments, the rotation of the camera can also be effected by other devices rotating.
  • Step S22 determining whether the rotation angle exceeds a preset angle threshold.
  • the preset angle threshold is smaller than the maximum rotation angle of the pan/tilt.
  • the preset angle threshold is 15 degrees, and the maximum rotation angle of the pan/tilt is 30 degrees.
  • the preset angle is The threshold can also be other values, and the maximum rotation angle of the gimbal can also be other values.
  • step S22 if yes, the motion of the pan/tilt is the user's expected motion, and step S23 is performed: controlling the camera to move along with the expected motion of the user through the pan/tilt; if not, the motion of the pan/tilt is non-user expected motion, and executing Step S24: Control the camera to perform reverse motion with respect to the non-user expected rotation direction through the pan/tilt, thereby allowing the camera to maintain the original orientation.
  • step S23 the motion of the pan/tilt is the expected motion of the user, and the purpose is to change the shooting angle of the camera, and the pan/tilt control camera moves with the pan/tilt, thereby enabling the camera to change the rotation shooting angle at a constant speed, so that The picture taken during the rotation is more stable.
  • step S24 the motion of the pan/tilt is non-user expected motion, and the pan/tilt control camera rotates in the opposite direction with respect to the rotation direction of the pan/tilt head, thereby maintaining the original orientation of the camera.
  • FIG. 3 is a flowchart of a third embodiment of a method for controlling a pan/tilt according to the present invention.
  • the pan/tilt head is used to carry a load.
  • the pan/tilt head is mounted on an aircraft, and the load is a camera.
  • the pan/tilt head can also be mounted on a vehicle or other moving body.
  • the pan/tilt control method includes the following steps:
  • Step S31 detecting the angular velocity of the load.
  • step S31 the angular velocity of the load is detected.
  • the load generally includes three kinds of rotations.
  • the first type is the heading rotation of the heading axis (the load is in accordance with the rotation of the aircraft in the horizontal plane when the aircraft is flying horizontally)
  • the second type is The roll of the roll (the load is with the aircraft and the direction is the rotation of the wing around the fuselage in the vertical plane)
  • the third is the pitch rotation of the pitch axis (the load is with the aircraft and the direction is the fuselage around the wing)
  • the heading rotation is used to detect the heading rotational angular velocity of the heading axis.
  • Step S32 Determine whether the angular velocity exceeds a preset angular velocity threshold.
  • step S32 if yes, the motion of the load is the user's expected motion, and step S33 is performed: the load is controlled by the pan/tilt to move together according to the moving direction of the user's expected motion; if not, the motion of the load is non-user expected motion, and the execution is performed.
  • Step S34 The pan/tilt control load is reversely moved with respect to the moving direction of the non-user expected motion, so that the load maintains the original orientation.
  • the camera When the detected angular velocity is less than the preset angular velocity threshold, it is considered that the camera is unstable at the time of flight (touching clouds or airflow), and the camera rotates at a small angular velocity (non-user expected motion), then the camera is controlled by the gimbal relative to The direction of rotation of the gimbal is reversed, thereby allowing the camera to maintain its original orientation.
  • the angular velocity is greater than the preset angular velocity threshold, it is considered that the aircraft needs to change the heading (user expected motion), and the camera is controlled to rotate with the pan/tilt through the pan/tilt.
  • FIG. 4 is a flowchart of a fourth embodiment of a method for controlling a pan/tilt according to the present invention.
  • the pan/tilt is used to carry a load.
  • the pan/tilt is mounted on a moving body.
  • the moving body is an aircraft.
  • the moving body can also be a vehicle or other moving body.
  • the pan/tilt control method includes the following steps:
  • Step S41 detecting a control signal received by the moving body.
  • Step S42 It is judged whether there is a control signal corresponding to the motion of the moving body.
  • step S42 if yes, the motion of the pan/tilt is the user's expected motion, and step S43 is performed: the load is controlled by the pan/tilt to move together according to the moving direction of the user's expected motion; if not, the motion of the pan/tilt is non-user expected Moving, step S44 is performed: the pan/tilt control load is reversely moved with respect to the moving direction of the non-user expected motion, so that the load maintains the original orientation.
  • the control signal corresponding to the motion of the aircraft may be controlled by the aircraft or the remote controller of the aircraft for controlling the turning direction of the aircraft.
  • Signal, this signal is the control signal expected by the user. If it exists, it can be judged that the motion of the gimbal is the user's expected motion. Then the camera is controlled by the gimbal to move with the gimbal. If it does not exist, the motion of the gimbal can be judged. When the user anticipates the movement, the camera controls the camera to rotate in the opposite direction relative to the direction of rotation of the gimbal, thereby maintaining the original orientation of the camera.
  • FIG. 5 is a block diagram of a control system of the pan/tilt of the present invention.
  • the pan/tilt is used to carry a load, and the load is a camera.
  • the control system includes a sensor 10 and a controller 20.
  • the sensor 10 is used to detect the motion state of the pan/tilt or load.
  • the controller 20 is configured to determine, according to the motion state, whether the motion of the pan/tilt or the load is a user expected motion or a non-user expected motion, and if the motion is not expected by the user, the motion direction of the load relative to the non-user expected motion is controlled by the pan/tilt. The reverse motion is performed, so that the load maintains the original orientation. If the motion is expected by the user, the load is controlled by the pan/tilt to move together according to the moving direction of the user's expected motion.
  • the sensor 10 is configured to detect a rotation angle of the pan/tilt
  • the controller 20 is configured to determine whether the rotation angle exceeds a preset angle threshold. If yes, the motion of the pan/tilt is a motion expected by the user, and if not, the pan/tilt The movement is non-user expected movement.
  • the angle threshold is smaller than the maximum rotation angle of the pan/tilt, and the angle threshold is preferably 15 degrees, and the maximum rotation angle of the pan/tilt is 30 degrees.
  • the sensor 10 is further configured to detect an angular velocity of the load, and the controller 20 is further configured to determine whether there is a control signal corresponding to the motion of the moving body, and if so, the motion of the moving body is the expected motion of the user, and if not, the moving body Exercise is the expected movement of the user.
  • the pan/tilt head is mounted on a moving body, and the controller 20 is configured to detect a control signal received by the moving body and determine whether there is a control signal corresponding to the motion of the moving body, and if so, the motion of the pan/tilt is the expected motion of the user. If not, the movement of the gimbal is not the expected movement of the user.
  • the present invention can detect the motion state of the pan/tilt or the load and determine whether the motion of the pan/tilt or the load is the expected motion of the user or the motion expected by the user according to the motion state, thereby accurately eliminating the non-user expected motion and avoiding The user expects the motion to be eliminated.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Studio Devices (AREA)
  • User Interface Of Digital Computer (AREA)
  • Accessories Of Cameras (AREA)

Abstract

一种用于搭载负载的云台的控制方法，该控制方法包括：检测云台或负载的运动状态；根据运动状态判断云台或负载的运动是用户预期运动还是非用户预期运动；若为非用户预期运动，则通过云台控制负载相对于该非用户预期运动的运动方向进行反向运动，进而使得负载保持原有方位；若为用户预期运动，则通过云台控制负载按该用户预期运动的运动方向一同运动。还提供一种与上述云台的控制方法相对应的云台的控制系统。

Description

云台的控制方法及云台的控制系统
【技术领域】
本发明涉及云台控制技术领域，特别是涉及一种云台的控制方法及云台的控制系统。
【背景技术】
相机在拍摄画面时，抖动对其拍摄的画面质量有很大的影响，这种抖动包括x，y，z轴的微小平动和绕着x，y，z的转动，通常人们对平动不敏感，而转动会造成“失之毫厘，谬以千里”的问题，即微小的转动会造成画面内容的剧烈变化，严重影响拍摄画面的质量。
因此，人们正在探求一种有效的方式消除相机的抖动，现有技术的相机在转动时，无法判断用户是有意识的改变拍摄角度（用户预期运动）还是无意识的抖动（非用户预期运动），因此，常常误将用户预期运动消除，不能准确的消除相机的抖动。
因此，需要提供一种云台的控制方法及云台的控制系统，以解决上述问题。
【发明内容】
本发明提供一种云台的控制方法及云台的控制系统，能够解决现有技术中，无法判断相机是用户预期运动还是非用户预期运动导致对用户预期运动错误消除，导致相机达不到预期的拍摄角度。
为解决上述技术问题，本发明采用的一个技术方案是：提供一种云台的控制方法，云台用于搭载一负载，该控制方法包括：检测云台或负载的运动状态；根据运动状态判断云台或负载的运动是用户预期运动还是非用户预期运动；若为非用户预期运动，则通过云台控制负载相对于非用户预期运动的运动方向进行反向运动，进而使得负载保持原有方位；若为用户预期运动，则通过云台控制负载按所述用户预期运动的运动方向一同运动。
其中，检测云台或负载的运动状态的步骤具体为：检测云台的转动角度；根据运动状态判断云台或负载的运动是用户预期运动还是非用户预期运动的步骤具体为：判断转动角度是否超过预设的角度阈值，若是，则云台的运动是用户预期运动，若否，则云台的运动是非用户预期运动。
其中，角度阈值小于云台的最大转动角度。
其中，检测云台或负载的运动状态的步骤具体为：检测负载的角速度。根据运动状态判断云台或负载的运动是用户预期运动还是非用户预期运动的步骤具体为：判断角速度是否超过预设的角速度阈值，若是，则负载的运动是用户预期运动，若否，则负载的运动是非用户预期运动。
其中，云台安装于一运动体上，检测云台或负载的运动状态的步骤具体为：检测运动体所接收的控制信号。根据运动状态判断云台或负载的运动是用户预期运动还是非用户预期运动的步骤具体为：判断是否存在与运动体的运动相对应的控制信号，若是，则云台的运动是用户预期运动，若否，则云台的运动是非用户预期运动。
为解决上述技术问题，本发明采用的另一个技术方案是：提供一种云台的控制系统，云台用于搭载一负载，该控制系统包括：传感器和控制器，传感器用于检测云台或负载的运动状态。控制器用于根据运动状态判断云台或负载的运动是用户预期运动还是非用户预期运动，并且若为非用户预期运动，则通过云台控制负载相对于非用户预期运动的的运动方向进行反向运动，进而使得负载保持原有方位，若为用户预期运动，则通过云台控制负载按所述用户预期运动的运动方向一同运动。
其中，传感器用于检测云台的转动角度，控制器用于判断转动角度是否超过预设的角度阈值，若是，则云台的运动是用户预期运动，若否，则云台的运动是非用户预期运动。
其中，角度阈值小于云台的最大转动角度。
其中，传感器用于检测负载的角速度，控制器用于判断角速度是否超过预设的角速度阈值，若是，则负载的运动是用户预期运动，若否，则负载的运动是非用户预期运动。
其中，云台安装于一运动体上，控制器用于检测运动体所接收的控制信号且用于判断是否存在与运动体的运动相对应的控制信号，若是，则云台的运动是用户预期运动，若否，则云台的运动是非用户预期运动。
本发明的有益效果是：区别于现有技术的情况，本发明通过检测云台或负载的运动状态并根据运动状态判断云台的运动是用户预期运动还是非用户预期运动，从而能够准确的消除非用户预期运动，避免将用户预期运动消除。
【附图说明】
图1是本发明云台的控制方法第一实施例的流程图；
图2是本发明云台的控制方法第二实施例的流程图;
图3是本发明云台的控制方法第三实施例的流程图;
图4是本发明云台的控制方法第四实施例的流程图;
图5是本发明云台的控制系统的模块示意图。
【具体实施方式】
下面结合附图和实施例对本发明进行详细的说明。
请参阅图1，图1是本发明云台的控制方法第一实施例的流程图。该云台用于搭载一负载，本实施例中，该负载为一相机，该云台的控制方法包括以下步骤：
步骤S11：检测该云台或该负载的运动状态。
步骤S12：根据运动状态判断该云台或该负载的运动是用户预期运动还是非用户预期运动。
在步骤S12中，若为非用户预期运动，则执行步骤S13：通过云台控制该负载相对于该非用户预期运动的运动方向进行反向运动，进而使得负载保持原有方位；若为用户预期运动，则执行步骤S14：通过该云台控制负载按该用户预期运动的运动方向一同运动。
值得注意的是，本实施例中该用户预期运动是指用户所期望的负载或云台的运动，而该非用户预期运动是指用户不期望的负载或云台的运动。
请参阅图2，图2是本发明云台的控制方法第二实施例的流程图。该云台用于搭载一负载，本实施例中，该负载为一相机，该云台的控制方法包括以下步骤：
步骤S21：检测该云台的转动角度。
在步骤S21：在本实施例中，通过人手握住云台转动带动相机转动。在其他实施例中，也可通过其他装置转动来带动相机转动。
步骤S22：判断转动角度是否超过预设的角度阈值。
在步骤S22中，预设的角度阈值小于云台的最大转动角度，本实施例中，预设角度阈值为15度，云台的最大转动角度为30度，在其他实施例中，预设角度阈值也可以是其他值，云台的最大转动角度也可以为其他值。
在步骤S22中，若是，则云台的运动是用户预期运动，执行步骤S23：通过该云台控制该相机按该用户预期运动一同运动；若否，则云台的运动是非用户预期运动，执行步骤S24：通过云台控制该相机相对于该非用户预期转动方向进行反向运动，进而使得相机保持原有方位。
在步骤S23中，该云台的运动为用户预期运动，其目的是为了改变相机的拍摄角度，则该云台控制相机随云台一同运动，从而能够帮助该相机能够匀速改变转动拍摄角度，使得转动过程中拍摄的画面更为稳定。
在步骤S24中，该云台的运动是非用户预期运动，则该云台控制相机相对于该云台的转动方向进行反方向的转动，进而使得相机的保持原有的方位。
请参阅图3，图3是本发明云台的控制方法第三实施例的流程图。该云台用于搭载一负载，在本实施例中，该云台安装于一飞行器上，该负载为一相机，在其他实施例中，该云台也可安装于车辆或者其他运动体。在本实施例中，该云台控制方法包括以下步骤：
步骤S31：检测该负载的角速度。
在步骤S31中，检测负载的角速度，负载一般包括三种转动，第一种是航向轴的航向转动（以飞行器水平飞行时为基准即为负载随飞行器在水平面内的转动），第二种是横滚轴的横滚转动（负载随飞行器且方向为机翼绕机身在竖直平面内的转动），第三种是俯仰轴的俯仰转动（负载随飞行器且方向为机身绕机翼在竖直平面内的转动），以其中航向转动为例，则为检测航向轴航向转动角速度。
步骤S32：判断角速度是否超过预设的角速度阈值。
在步骤S32中，若是，则负载的运动是用户预期运动，执行步骤S33：通过云台控制负载按该用户预期运动的运动方向一同运动；若否，则该负载的运动是非用户预期运动，执行步骤S34：通过云台控制负载相对于该非用户预期运动的运动方向进行反向运动，进而使得负载保持原有方位。
当检测的角速度小于预设的角速度阈值时认为是飞行器在飞行过程中不稳定（碰到云层或者气流）导致的相机以小角速度的转动（非用户预期运动），则通过云台控制相机相对于该云台的转动方向进行反向运动，进而使得相机保持原有方位。当检测到角速度大于预设的角速度阈值时认为是飞行器需要改变航向（用户预期运动），则通过该云台控制相机随该云台一同转动。
请参阅图4，图4是本发明云台的控制方法第四实施例的流程图。在本实施例中，该云台用于搭载一负载。该云台安装于一运动体上，本实施例中，该运动体为一飞行器。在其他实施例中，该运动体也可为车辆或者其他运动体。在本实施例中，该云台控制方法包括以下步骤：
步骤S41：检测该运动体所接收的控制信号。
步骤S42：判断是否存在与该运动体的运动相对应的控制信号。
在步骤S42中，若是，则该云台的运动是用户预期运动，执行步骤S43：通过云台控制负载按该用户预期运动的运动方向一同运动；若否，则该云台的运动是非用户预期运动，执行步骤S44：通过该云台控制负载相对于该非用户预期运动的运动方向进行反向运动，进而使得负载保持原有方位。
检测飞行器所接收到的控制信号，判断是否存在与飞行器的运动相对应的控制信号，例如与飞行器的运动相对应的控制信号可以是飞行器或者飞行器的遥控器发射的用于控制飞行器转动航向的控制信号，这种信号是用户所预期的控制信号，若存在即可判断云台的运动是用户预期运动，则通过云台控制相机随云台一同运动，若不存在即可判断云台的运动是非用户预期运动，则通过云台控制相机相对于云台的转动方向进行反向转动，进而使得相机保持原有方位。
请参阅图5，图5是本发明云台的控制系统的模块示意图。在本实施例中，云台用于搭载一负载，负载为一相机。
控制系统包括：传感器10和控制器20。
传感器10用于检测该云台或负载的运动状态。
控制器20用于根据运动状态判断该云台或负载的运动是用户预期运动还是非用户预期运动，并且若为非用户预期运动，则通过云台控制负载相对于该非用户预期运动的运动方向进行反向运动，进而使得负载保持原有方位，若为用户预期运动，则通过云台控制负载按该用户预期运动的运动方向一同运动。
具体地，传感器10用于检测云台的转动角度，控制器20用于判断转动角度是否超过预设的角度阈值，若是，则该云台的运动是用户预期运动，若否，则该云台的运动是非用户预期运动。优选地，角度阈值小于云台的最大转动角度，且角度阈值优选为15度，云台的最大转动角度为30度。
该传感器10还用于检测负载的角速度，控制器20还用于判断是否存在与运动体的运动相对应的控制信号，若是，则运动体的运动是用户预期运动，若否，则运动体的运动是非用户预期运动。
云台安装于一运动体上，控制器20用于检测运动体所接收的控制信号且用于判断是否存在与运动体的运动相对应的控制信号，若是，则云台的运动是用户预期运动，若否，则云台的运动是非用户预期运动。
区别于现有技术，本发明通过检测云台或负载的运动状态并根据运动状态判断云台或负载的运动是用户预期运动还是非用户预期运动，从而能够准确的消除非用户预期运动，避免将用户预期运动消除。
以上所述仅为本发明的实施方式，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。

Claims (10)

  1. 一种云台的控制方法，其特征在于，所述云台用于搭载一负载，所述控制方法包括：
    检测所述云台或所述负载的运动状态；
    根据所述运动状态判断所述云台或所述负载的运动是用户预期运动还是非用户预期运动；
    若为非用户预期运动，则通过所述云台控制所述负载相对于所述非用户预期运动的运动方向进行反向运动，进而使得所述负载保持原有方位；
    若为用户预期运动，则通过所述云台控制所述负载按所述用户预期运动的运动方向一同运动。
  2. 根据权利要求1所述的控制方法，其特征在于，所述检测所述云台或所述负载的运动状态的步骤具体为：
    检测所述云台的转动角度；
    所述根据所述运动状态判断所述云台的运动是用户预期运动还是非用户预期运动的步骤具体为：
    判断所述转动角度是否超过预设的角度阈值，若是，则所述云台的运动是用户预期运动，若否，则所述云台的运动是非用户预期运动。
  3. 根据权利要求2所述的控制方法，其特征在于，所述角度阈值小于所述云台的最大转动角度。
  4. 根据权利要求1所述的控制方法，其特征在于，所述检测所述云台或所述负载的运动状态的步骤具体为：
    检测所述负载的角速度；
    所述根据所述运动状态判断所述负载的运动是用户预期运动还是非用户预期运动的步骤具体为：
    判断所述角速度是否超过预设的角速度阈值，若是，则所述负载的运动是用户预期运动，若否，则所述负载的运动是非用户预期运动。
  5. 根据权利要求1所述的控制方法，其特征在于，所述云台安装于一运动体上，所述检测所述云台或所述负载的运动状态的步骤具体为：
    检测所述运动体所接收的控制信号；
    所述根据所述运动状态判断所述云台或所述负载的运动是用户预期运动还是非用户预期运动的步骤具体为：
    判断是否存在与所述运动体的运动相对应的控制信号，若是，则所述云台的运动是用户预期运动，若否，则所述云台的运动是非用户预期运动。
  6. 一种云台的控制系统，其特征在于，所述云台用于搭载一负载，所述控制系统包括：
    传感器，用于检测所述云台或所述负载的运动状态；
    控制器，用于根据所述运动状态判断所述云台或所述负载的运动是用户预期运动还是非用户预期运动，并且若为非用户预期运动，则通过所述云台控制所述负载相对于所述非用户预期运动的运动方向进行反向运动，进而使得所述负载保持原有方位，若为用户预期运动，则通过所述云台控制所述负载按所述用户预期运动的运动方向一同运动。
  7. 根据权利要求6所述的控制系统，其特征在于，所述传感器用于检测所述云台的转动角度，所述控制器用于判断所述转动角度是否超过预设的角度阈值，若是，则所述云台的运动是用户预期运动，若否，则所述云台的运动是非用户预期运动。
  8. 根据权利要求7所述的控制系统，其特征在于，所述角度阈值小于所述云台的最大转动角度。
  9. 根据权利要求6所述的控制系统，其特征在于，所述传感器用于检测所述负载的角速度，所述控制器用于判断所述角速度是否超过预设的角速度阈值，若是，则所述负载的运动是用户预期运动，若否，则所述负载的运动是非用户预期运动。
  10. 根据权利要求6所述的控制系统，其特征在于，所述云台安装于一运动体上，所述控制器用于检测所述运动体所接收的控制信号且用于判断是否存在与所述运动体的运动相对应的控制信号，若是，则所述云台的运动是用户预期运动，若否，则所述云台的运动是非用户预期运动。
PCT/CN2014/073458 2014-03-14 2014-03-14 云台的控制方法及云台的控制系统 WO2015135206A1 (zh)

Priority Applications (7)

Application Number Priority Date Filing Date Title
EP14885572.9A EP3118508B1 (en) 2014-03-14 2014-03-14 Control method for pan tilt and control system of pan tilt
PCT/CN2014/073458 WO2015135206A1 (zh) 2014-03-14 2014-03-14 云台的控制方法及云台的控制系统
EP20155409.4A EP3683488B1 (en) 2014-03-14 2014-03-14 Control method for pan tilt and control system of pan tilt
US15/125,929 US10054258B2 (en) 2014-03-14 2014-03-14 Method and system for controlling a gimbal
US16/105,071 US10781969B2 (en) 2014-03-14 2018-08-20 Method and system for controlling a gimbal
US17/015,814 US11041588B2 (en) 2014-03-14 2020-09-09 Method and system for controlling a gimbal
US17/352,243 US11629815B2 (en) 2014-03-14 2021-06-18 Method and system for controlling a gimbal

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2014/073458 WO2015135206A1 (zh) 2014-03-14 2014-03-14 云台的控制方法及云台的控制系统

Related Child Applications (2)

Application Number Title Priority Date Filing Date
US15/125,929 A-371-Of-International US10054258B2 (en) 2014-03-14 2014-03-14 Method and system for controlling a gimbal
US16/105,071 Continuation US10781969B2 (en) 2014-03-14 2018-08-20 Method and system for controlling a gimbal

Publications (1)

Publication Number Publication Date
WO2015135206A1 true WO2015135206A1 (zh) 2015-09-17

Family

ID=54070833

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2014/073458 WO2015135206A1 (zh) 2014-03-14 2014-03-14 云台的控制方法及云台的控制系统

Country Status (3)

Country Link
US (4) US10054258B2 (zh)
EP (2) EP3118508B1 (zh)
WO (1) WO2015135206A1 (zh)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105282521A (zh) * 2015-11-21 2016-01-27 浙江宇视科技有限公司 一种网络摄像机巡航中的运动检测方法及装置
CN108061218A (zh) * 2015-09-29 2018-05-22 深圳市大疆灵眸科技有限公司 手柄云台及其控制方法

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3118508B1 (en) * 2014-03-14 2020-04-08 SZ DJI Osmo Technology Co., Ltd. Control method for pan tilt and control system of pan tilt
US10214355B2 (en) 2015-01-16 2019-02-26 Symbotic, LLC Storage and retrieval system
CN110254734A (zh) * 2015-05-27 2019-09-20 高途乐公司 使用稳定用常平架的常平架系统
CN108184061B (zh) * 2017-12-31 2020-06-02 深圳市越疆科技有限公司 手持云台的跟拍控制方法、装置、手持云台及存储介质
US10827123B1 (en) 2018-01-05 2020-11-03 Gopro, Inc. Modular image capture systems
EP3567366A1 (en) 2018-05-08 2019-11-13 Koninklijke Philips N.V. A nutrition analysis module for a food processing device or food storage device
CN110603504A (zh) * 2018-07-26 2019-12-20 深圳市大疆创新科技有限公司 多云台的控制方法、装置、无人机、介质及电子设备

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201750495U (zh) * 2010-07-05 2011-02-16 杭州晨安机电技术有限公司 一种姿态自校正车载摄像机
US8310551B2 (en) * 2008-07-07 2012-11-13 Samsung Electronics Co., Ltd. Digital photographing apparatuses for controlling hand shake correction and methods of controlling the digital photographing apparatus
CN103246290A (zh) * 2012-02-01 2013-08-14 深圳中兴力维技术有限公司 一种云台控制方法及其系统
CN103268124A (zh) * 2013-04-22 2013-08-28 天津市亚安科技股份有限公司 一种云台运动的控制方法及其云台
CN103458184A (zh) * 2013-08-25 2013-12-18 浙江大学 一种应用手机进行云台远程控制的方法
CN103901897A (zh) * 2014-03-14 2014-07-02 深圳市大疆创新科技有限公司 云台的控制方法及云台的控制系统

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05173639A (ja) 1991-12-20 1993-07-13 Fujitsu Ltd 位置制御装置及びその制御方法
US5959666A (en) * 1995-05-30 1999-09-28 Sony Corporation Hand deviation correction apparatus and video camera
US5963749A (en) * 1998-02-09 1999-10-05 Nicholson; Lynn Self-leveling invertible camera stabilizer
US7642741B2 (en) * 2005-04-27 2010-01-05 Sidman Adam D Handheld platform stabilization system employing distributed rotation sensors
US7675208B2 (en) * 2006-09-26 2010-03-09 Honeywell International Inc. Global pointing actuator
DE102008039468A1 (de) 2008-08-25 2010-03-04 Stefan Reich Vorrichtung und Verfahren zur Lagestabilisierung von Kameras
JP5513029B2 (ja) * 2009-07-15 2014-06-04 キヤノン株式会社 撮像装置およびその制御方法
US8100591B2 (en) 2010-05-14 2012-01-24 Chapman/Leonard Studio Equipment, Inc. Dual loop camera stabilization systems and methods
CN101917599B (zh) 2010-07-23 2012-09-19 深圳中兴力维技术有限公司 一种云台故障检测方法及装置
JP6151263B2 (ja) * 2011-11-02 2017-06-21 ワーグナー, スティーヴン ディー.Wagner, Steven D. 能動的に安定化させたペイロード支持装置及び方法
CN102707734A (zh) 2012-06-19 2012-10-03 上海大学 基于惯性姿态传感器的自稳定云台
CN202758245U (zh) 2012-06-29 2013-02-27 深圳一电科技有限公司 云台摄像机控制装置及云台摄像系统
CN202768245U (zh) 2012-08-12 2013-03-06 徐夏秋 风能动力装置
US9435520B2 (en) * 2012-08-16 2016-09-06 Ascendant Engineering Solutions Gimbal systems providing high-precision imaging capabilities in a compact form-factor
EP3118508B1 (en) * 2014-03-14 2020-04-08 SZ DJI Osmo Technology Co., Ltd. Control method for pan tilt and control system of pan tilt
US20160139584A1 (en) * 2014-11-17 2016-05-19 Bae Systems Information And Electronic Systems Integration Inc. Optimization of gimbal control loops using dynamically measured friction

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8310551B2 (en) * 2008-07-07 2012-11-13 Samsung Electronics Co., Ltd. Digital photographing apparatuses for controlling hand shake correction and methods of controlling the digital photographing apparatus
CN201750495U (zh) * 2010-07-05 2011-02-16 杭州晨安机电技术有限公司 一种姿态自校正车载摄像机
CN103246290A (zh) * 2012-02-01 2013-08-14 深圳中兴力维技术有限公司 一种云台控制方法及其系统
CN103268124A (zh) * 2013-04-22 2013-08-28 天津市亚安科技股份有限公司 一种云台运动的控制方法及其云台
CN103458184A (zh) * 2013-08-25 2013-12-18 浙江大学 一种应用手机进行云台远程控制的方法
CN103901897A (zh) * 2014-03-14 2014-07-02 深圳市大疆创新科技有限公司 云台的控制方法及云台的控制系统

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP3118508A4 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108061218A (zh) * 2015-09-29 2018-05-22 深圳市大疆灵眸科技有限公司 手柄云台及其控制方法
CN105282521A (zh) * 2015-11-21 2016-01-27 浙江宇视科技有限公司 一种网络摄像机巡航中的运动检测方法及装置

Also Published As

Publication number Publication date
EP3118508B1 (en) 2020-04-08
US10781969B2 (en) 2020-09-22
US11629815B2 (en) 2023-04-18
US20200408358A1 (en) 2020-12-31
US20210310611A1 (en) 2021-10-07
US20190003639A1 (en) 2019-01-03
EP3683488A1 (en) 2020-07-22
US20170002976A1 (en) 2017-01-05
EP3118508A4 (en) 2017-05-03
EP3118508A1 (en) 2017-01-18
EP3683488B1 (en) 2022-04-13
US11041588B2 (en) 2021-06-22
US10054258B2 (en) 2018-08-21

Similar Documents

Publication Publication Date Title
WO2015135206A1 (zh) 云台的控制方法及云台的控制系统
US10602068B2 (en) Flying camera and a system
JP6310569B2 (ja) 支持機構
US9648240B2 (en) Stabilizing platform
CN107352038B (zh) 云台的控制方法及云台的控制系统
US10659695B2 (en) Gimbal control method, gimbal control system and gimbal device
WO2019242584A1 (zh) 设备的角度估算方法、装置、摄像组件及飞行器
CN107450579B (zh) 一种搭载机械臂的四旋翼飞行器平衡作业控制方法
US10836508B2 (en) Camera drone
WO2017024759A1 (zh) 一种手持放飞无人机的方法及装置
WO2010056023A2 (en) Method and device for inputting a user's instructions based on movement sensing
WO2016154996A1 (zh) 稳定平台及其跟随控制系统及方法
WO2015176248A1 (zh) 一种遥控装置、控制系统以及控制方法
WO2019127344A1 (zh) 控制云台复位的方法和装置、云台、无人飞行器
CN110493458A (zh) 移动终端及其控制方法
WO2018000696A1 (zh) 无人机
JP2018043601A (ja) 飛行装置、飛行装置制御プログラム及び飛行装置制御方法
WO2019210467A1 (zh) 云台控制方法与装置、云台系统、无人机和计算机可读存储介质
WO2019095210A1 (zh) 智能眼镜及其控制云台的方法、云台、控制方法和无人机
WO2018214031A1 (zh) 一种控制方法、装置、设备及飞行器
CN112135124A (zh) 云台位置校准检测方法、装置以及系统
CN114035598A (zh) 一种多旋翼吊挂系统的视觉摆角检测与减摆方法
CN203567947U (zh) 无人机自稳定云台
EP3822732B1 (en) Control method and apparatus for unmanned aerial vehicle and unmanned aerial vehicle
WO2020087354A1 (zh) 竖向增稳机构及其控制方法以及可移动设备

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 14885572

Country of ref document: EP

Kind code of ref document: A1

REEP Request for entry into the european phase

Ref document number: 2014885572

Country of ref document: EP

WWE Wipo information: entry into national phase

Ref document number: 2014885572

Country of ref document: EP

WWE Wipo information: entry into national phase

Ref document number: 15125929

Country of ref document: US

NENP Non-entry into the national phase

Ref country code: DE