WO2017214985A1 - 固持装置控制方法、固持装置、手持云台及无人机 - Google Patents

固持装置控制方法、固持装置、手持云台及无人机 Download PDF

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Publication number
WO2017214985A1
WO2017214985A1 PCT/CN2016/086266 CN2016086266W WO2017214985A1 WO 2017214985 A1 WO2017214985 A1 WO 2017214985A1 CN 2016086266 W CN2016086266 W CN 2016086266W WO 2017214985 A1 WO2017214985 A1 WO 2017214985A1
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WO
WIPO (PCT)
Prior art keywords
holding device
electronic device
detecting
holding
support base
Prior art date
Application number
PCT/CN2016/086266
Other languages
English (en)
French (fr)
Inventor
严欣
赵喜峰
李国庆
Original Assignee
深圳市大疆灵眸科技有限公司
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 深圳市大疆灵眸科技有限公司 filed Critical 深圳市大疆灵眸科技有限公司
Priority to CN201680013435.7A priority Critical patent/CN107438807B/zh
Priority to PCT/CN2016/086266 priority patent/WO2017214985A1/zh
Publication of WO2017214985A1 publication Critical patent/WO2017214985A1/zh
Priority to US16/221,401 priority patent/US10766636B2/en
Priority to US17/002,397 priority patent/US11365015B2/en

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • 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
    • F16M11/041—Allowing quick release of the apparatus
    • 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
    • F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • 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
    • 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
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F16M11/123—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints the axis of rotation intersecting in a single point, e.g. by using gimbals
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
    • F16M11/2035—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction
    • F16M11/2071—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction for panning and rolling
    • 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
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F16M2200/041—Balancing means for balancing rotational movement of the head
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F16M2200/044—Balancing means for balancing rotational movement of the undercarriage
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/06—Arms
    • F16M2200/065—Arms with a special structure, e.g. reinforced or adapted for space reduction

Definitions

  • the invention relates to a support structure, in particular to a holding device control method, a holding device, a handheld cloud platform and a drone.
  • a driving member is usually disposed on the holding device to drive the electronic device to rotate through the driving member, so as to conveniently adjust the shooting angle of the electronic device.
  • the electronic device needs to be removed from the holding device.
  • the driving member of the holding device may still be in an operating state, and the action of removing the electronic device may easily cause the driving member to block and cause an overload. damage.
  • a holding device control method comprising a support base and a driving member for driving the support base, the support base is for holding an electronic device, and the holding device further comprises a detecting component and the detecting a control circuit for connecting components, the holding device control method comprising: detecting an installation condition of the electronic device by the detecting component, and feeding back the detection result to a control circuit; the control circuit according to the received detection As a result, the power output of the drive member is controlled and adjusted.
  • a holding device includes a support base and a driving member for driving the support base, the support base is for holding an electronic device, and the holding device further comprises a detecting component and a control circuit connected to the detecting component
  • the detecting component is configured to detect an installation condition of the electronic device, and the control circuit receives a detection result of the detecting component and controls a power output of the driving component according to the detection result.
  • a handheld cloud platform includes a holding device and a handle connected to the holding device, the holding device is for mounting an electronic device, and the holding device comprises a support base and a driving member for driving the support seat.
  • the support base is configured to hold an electronic device
  • the holding device further includes a detecting component and a control circuit connected to the detecting component, the detecting component is configured to detect a mounting condition of the electronic device, and the control circuit receives the The detection result of the detecting part is described and the power output of the driving member is controlled according to the detection result.
  • a drone comprising a body and a holding device mounted on the body, the holding device for mounting an electronic device, the holding device comprising a support base and a driving member for driving the support seat
  • the support base is configured to hold an electronic device
  • the holding device further includes a detecting component and a control circuit connected to the detecting component, the detecting component is configured to detect an installation condition of the electronic device, and the control circuit receives The detection result of the detecting part controls the power output of the driving member according to the detection result.
  • a holding device control method comprising a support base and a driving member for driving the support base, the support base is for holding an electronic device, and the holding device further comprises a control circuit, the holding device There are at least two stable states after the electronic device is installed, and the holding device control method includes:
  • the control circuit controls the drive member to stop or reduce the power output if the currently holding device is in the process of transitioning from the stable state to another stable state and the length of time used exceeds the preset transition state.
  • a holding device includes a support base and a driving member for driving the support base, the support base is for holding an electronic device, and the holding device further includes a control circuit, and the holding device is mounted on the electronic device
  • the device has at least two stable states, and the holding device stores a preset transition state duration for transitioning from a stable state to another stable state, when the holding device transitions from a stable state to another stable state
  • the control circuit controls the drive member to stop or reduce the power output when the usage time exceeds the preset transition state duration.
  • a handheld cloud platform includes a holding device and a handle connected to the holding device, the holding device is for mounting an electronic device, and the holding device comprises a support base and a driving member for driving the support seat.
  • the holding device is configured to hold an electronic device, and the holding device further includes a control circuit, the holding device has at least two stable states after the electronic device is installed, and the holding device stores a preset slave steady state The transition state duration for transitioning to another steady state, the control circuit controlling the drive member to stop or decrease when the holding device transitions from a steady state to another stable state and the usage time exceeds a preset transition state duration Small power output.
  • a drone comprising a body and a holding device mounted on the body, the holding device for mounting an electronic device, the holding device comprising a support base and a driving member for driving the support seat
  • the holding device is configured to hold an electronic device, and the holding device further includes a control circuit, the holding device has at least two stable states after the electronic device is installed, and the holding device stores a preset from a stable state.
  • the holding device provided by the present invention has an overload protection component capable of automatically detecting whether the user has the intention of removing the electronic device.
  • the control circuit controls The driving member stops running, and the driving member is prevented from being overloaded during the process of removing the electronic device, thereby prolonging the service life of the holding device.
  • FIG. 1 is a perspective view of a drone of a preferred embodiment of the present invention.
  • FIG. 2 is a perspective view showing the holding device of the present invention in a locked state.
  • Figure 3 is a perspective view showing the holding device of the present invention in a released state.
  • FIG. 4 is a schematic diagram of a functional module of a holding device.
  • Fig. 5 is a perspective view showing the holding device of the present invention as a three-axis pan/tilt.
  • Fig. 6 is a perspective view showing the state in which the cloud platform is a handheld cloud platform.
  • FIG. 7 is a schematic flow chart of a method for controlling a holding device provided by the present invention.
  • FIG. 8 is a schematic flow chart of another holding device control method provided by the present invention.
  • a drone 500 includes a body 400 and a holding device 300 mounted on the body 400 .
  • the drone 500 may include some necessary or auxiliary structures, such as a power source, a sensor, etc., in order to save space, no further description is made here.
  • the drone 500 is an unmanned aerial vehicle.
  • the drone 500 can be an unmanned vehicle such as an unmanned ship or an unmanned vehicle.
  • the holding device 300 is used to mount the electronic device 200 .
  • the holding device 300 is disposed below the body 400.
  • the electronic device 200 is an electronic device capable of capturing, such as a mobile phone or a camera. It can be understood that the electronic device 200 can also be an e-book, a navigator or the like.
  • the holding device 300 includes a support arm 10, a support base 30 connected to the support arm 10, a driving member 50 for driving the support base 30, a detecting component 81 and a control circuit 83 for holding the electronic device 200, and detecting components
  • the control unit 83 is connected to the control circuit 83 for detecting the mounting condition of the electronic device 200, and the control circuit 83 receives the detection result of the detecting unit 81 and controls the power output of the driving member 50 based on the detection result.
  • the support arm 10 is a hollow body so as to be able to accommodate a cable (not shown), an electronic component, or the like.
  • the support base 30 is rotatably coupled to one end of the support arm 10.
  • the support base 30 includes a seat body 31, two holding members 35, and a locking member 37.
  • the seat body 31 is substantially in the form of a plate that is in contact with one end of the support arm 10.
  • a plurality of ribs 311 are formed on the side of the seat body 31 adjacent to the support arm 10 for reinforcing the strength of the seat body 31 and avoiding deformation of the seat body 31.
  • the seat body 31 is recessed to form a receiving groove 315 (shown in FIG. 3) adjacent to the side of the support arm 10.
  • the receiving groove 315 includes a bottom wall 317 and a side wall 319 that is in contact with the bottom wall 317.
  • the two holding members 35 are formed by bending both ends of the seat body 31 toward the same side for clamping the electronic device 200.
  • the two holding members 35 include a first holding portion 351 and a second holding portion 353.
  • the support base 30 forms a receiving portion 109 which is composed of a seat body 31 and two holding members 35.
  • the locking member 37 is rotatably connected to the side wall 319 of the receiving groove 315.
  • the locking member 37 is substantially in the shape of a bent piece, and includes a connecting portion 371 and a locking portion 373.
  • the connecting portion 371 is in rotational contact with the side wall of the receiving groove 315.
  • the locking portion 373 is formed by bending and extending from the side of the connecting portion 371.
  • the locking portion 373 When the locking portion 373 is received in the receiving groove 315, the locking portion 373 is engaged with the bottom wall 317, and the locking member 37 cooperates with the first holding portion 351 to lock the electronic device 200 to the base 31, and the holding device 300 is locked. Status (as shown in Figure 2). When the locking portion 373 is separated from the bottom wall 317 and the holding device 300 is in the released state (as shown in FIG. 3 ), the user can take out the electronic device 200 from the first holding portion 351 and the second holding portion 353 .
  • the support base 30 further includes a connecting member 39 protruding from the base 31 and fixedly connecting the base 31 to one end of the support arm 10.
  • the driving member 50 is disposed at an end of the support arm 10 away from the base 31 for driving the support arm 10 and the support base 30 to drive the electronic device 200 to rotate.
  • the illustrated embodiment shows only one of the drive member 50 and one support arm 10.
  • the driving member 50 is a motor. It can be understood that in other embodiments, the driving member 50 can also be other structures capable of driving the movement of the electronic device 200.
  • the holding device 300 is a three-axis pan/tilt, and the holding device 300 further includes a first rotating bracket 101 , a second rotating bracket 103 and a third rotating bracket that are rotatably connected in sequence. 105.
  • the first rotating bracket 101 is rotatably coupled to the second rotating bracket 103, and the second rotating bracket 103 is rotatably coupled to the third rotating bracket 105.
  • the first rotating bracket 101 is the supporting arm 10 described above, and is connected to the supporting base 30.
  • the third rotating bracket 105 can connect the holding device 300 to other devices.
  • the driving member 50 can drive the support arm 10 and the support base 30 to drive the electronic device 200 to rotate about a pitch (PITCH) axis.
  • PITCH pitch
  • the holding device 300 can also include drive members that are rotatable about other axes, such as a ROLL axis and a yaw axis (YAW) axis, each of which can drive a rotating carriage to rotate. It can be understood that the holding device 300 can also include only one or two rotating brackets, and correspondingly only one or two driving members are included.
  • drive members that are rotatable about other axes, such as a ROLL axis and a yaw axis (YAW) axis, each of which can drive a rotating carriage to rotate.
  • YAW yaw axis
  • the detecting member 81 is disposed on the support base 30 and close to a mounting portion of the electronic device 200 that can be held.
  • the detecting component 81 is disposed on the side of the latching portion 373 adjacent to the receiving slot 315 for detecting the mounting condition of the electronic device 200.
  • the control circuit 83 is electrically connected to the driving member 50 for controlling the power output of the driving member 50 in accordance with the detection result of the receiving detecting portion 81 and based on the detection result.
  • the control circuit 83 is provided in the support arm 10.
  • the connection mode of the detecting unit 81 and the control circuit 83 is an electrical connection, a wired connection, or a wireless connection.
  • the control circuit 83 controls the driving member 50 not to be activated.
  • control circuit 83 receives the detection result of the detecting unit 81, and activates the driving member 50.
  • the control circuit 83 controls the driving member 50 to stop the power output. Specifically, the installation status of the electronic device 200 is changed, specifically, the electronic device 200 is removed, the position of the electronic device 200 is adjusted, and the like.
  • the control circuit 83 can preset a delay. After the electronic device 200 is mounted on the support base 30, the control circuit 83 receives the detection result and activates the driving member 50 after a preset delay.
  • the detecting component 81 is a magnetic sensor or an electromagnetic sensor. When the detecting component 81 senses that the magnetic field strength is maintained at a certain value and has not changed, it is determined that the electronic device 200 is not mounted; when the detecting component 81 senses the When the magnetic field strength changes, it is determined that the installation state of the electronic device changes.
  • the detecting component 81 includes a sensing portion 813 and a detecting portion 815.
  • the sensing portion 813 is disposed on the latching portion 373.
  • the detecting portion 815 is disposed on the support arm 10 for detecting the position thereof.
  • the magnetic induction intensity is changed when the locking member 37 moves relative to the base 31, the position of the sensing portion 813 is changed with respect to the detecting portion 815, the magnetic induction intensity detected by the detecting portion 815 is changed, and the use is thereby judged.
  • the control circuit 83 controls the drive member 50 to stop the power output.
  • the detecting portion 815 can be disposed in the driving member 50, the accommodating portion 109, or the structure of the body 400, and the detecting portion 815 can detect the magnetic induction.
  • the sensing portion 813 is a position sensor for detecting position information of the locking portion 373 with respect to the base 31 and transmitting the detection information to the detecting portion 815, the detecting The reference information is pre-stored in the portion 815.
  • the reference information is the position information when the locking portion 373 is locked to the base 31. In the embodiment, the reference information is when the locking portion 373 is attached to the bottom wall 317.
  • the control circuit 83 controls the driver 50 to stop the power output force output.
  • the detecting component 81 can be configured as other non-contact sensors.
  • the detecting component 81 is a photoelectric sensor, and the detecting component 81 includes a light emitting portion, a light receiving portion and a detecting portion, and the light emitting portion is disposed.
  • the light receiving portion is disposed on the bottom wall 317, the light receiving portion is configured to receive light emitted by the light emitting portion, and the detecting portion is disposed on the support arm 10 or the support base 30 is connected to the light receiving portion to detect whether the light receiving portion receives light.
  • the detecting portion may be disposed on the driving member 50 or other structure of the drone 500, and only needs to satisfy the function of detecting whether the light receiving portion receives light.
  • the locking portion 373 When the holding device 300 is in the locked state, the locking portion 373 is in contact with the bottom wall 317, the light emitting portion is disposed opposite to the light receiving portion, and the light receiving portion receives the light emitted by the light emitting portion
  • the user pulls the locking portion 373, and the locking portion 373 is separated from the bottom wall 317, and the light receiving portion fails to receive the light emitted by the light emitting portion.
  • the detecting unit detects that the light receiving unit does not receive the light emitted by the light emitting unit, it determines that the user intends to remove the electronic device 200, and the control circuit 83 controls the driving member 50 to stop the power output.
  • the detecting component 81 is a distance sensor, and when the detecting component 81 does not sense an obstacle within a preset distance, it is determined that the electronic device is not installed; when the detecting component When the obstacle is sensed within the preset distance and the distance from the obstacle is sensed, it is determined that the installation condition of the electronic device 200 changes.
  • the detecting component 81 can be disposed on the support base 30, and the obstacle is the electronic device 200.
  • the detecting member 81 can be disposed on the side wall 319 of the receiving groove 315, and the obstacle is the locking portion 373.
  • the detecting component 81 is a light sensor, and when the detecting component 81 can sense the external ambient light, it is determined that the electronic device 200 is not installed; when the detecting component 81 senses When the external ambient light is from no time to time, it is determined that the installation state of the electronic device 200 has changed.
  • the detecting member 81 is disposed on the locking portion 373. When the holding device 300 is in the locked state, the locking portion 373 is in contact with the bottom wall 317, and the detecting member 81 does not detect the light in the environment in which the holding device 300 is located.
  • the detecting component 81 detects the light in the environment in which the holding device 300 is located and determines that the user has the intention to remove the electronic device 200, that is, It is determined that the mounting condition of the electronic device 200 changes, and the control circuit 83 controls the driving member 50 to stop the power output.
  • the light sensor can be disposed on the side of the base 31 away from the support arm 10. When the electronic device 200 is clamped on the holding device 300, the light sensor cannot detect the light in the environment where the holding device 300 is located.
  • the light sensor detects the light in the environment in which the holding device 300 is located and feeds the detection information back to the control circuit 83.
  • the control circuit 83 determines the use according to the detection information. There is an intention to remove the electronic device 200, and the control driver 50 stops the power output.
  • the detecting component 81 is configured as a touch sensor.
  • the detecting component 81 can be configured as a resistive sensor, and the detecting component 81 can determine the mounting of the electronic device 200 according to the detection information of the sensing pressure.
  • the control circuit 83 controls the power output of the driving member 50 in accordance with the mounting state of the electronic device 200.
  • the control circuit 83 controls the driving member 50 to stop the power output.
  • the detecting member 81 is disposed such that when the electronic device 200 is mounted on the holding device 300, the detecting member 81 is in contact with the electronic device 200.
  • the resistive sensor may be disposed on the bottom surface of the housing portion 109 of the support base 30.
  • the detecting component 81 can be an infrared sensor and disposed on the holding device 300 near the installed position of the electronic device 200. At this time, the lock member 37 can be omitted.
  • the detecting part 81 includes a transmitting portion for emitting infrared rays and a receiving portion for receiving returned infrared rays.
  • the detecting component 81 can be disposed in the receiving portion 109 of the support base 30.
  • infrared rays emitted by the detecting component 81 can be used by the electronic device.
  • Device 200 reflects.
  • the detecting component 81 is disposed on the support arm 10, and when the electronic device 200 is mounted on the holding device 300, infrared rays emitted by the detecting component 81 can be reflected by the electronic device 200.
  • the detecting unit 81 determines whether or not the mounting state of the electronic device 200 or the electronic device 200 is changed based on the intensity of the reflected infrared rays. Specifically, when the infrared intensity of the feedback sensed by the detecting component 81 is zero or less than a preset value, the electronic device 200 is considered not installed; when the infrared intensity of the feedback sensed by the detecting component 81 is When the change occurs, it is determined that the installation state of the electronic device 200 has changed.
  • the detecting component 81 may further include an infrared camera to perform sensing by image recognition. Or sensing by infrared ranging, specifically, calculating the distance of the obstacle by calculating the time difference between infrared transmission and reception, thereby judging whether something is loaded within a certain distance.
  • the detecting component 81 can be composed of one or more of a capacitive sensor, a light sensor, a magnetic sensor, an electromagnetic sensor, an infrared sensor, an ultrasonic sensor, and a distance sensor.
  • the holding device 300 further includes a driving member control switch 87 connected to the driving member 50.
  • the driving member control switch 87 is used to manually activate the driving member 50 after the electronic device 200 is mounted on the supporting base 30, thereby avoiding the control circuit 83 and
  • the detecting member 81 is abnormal, that is, after the electronic device 200 is mounted on the support base 30, the detecting member 81 fails to detect that the electronic device 200 has been mounted on the support base 30.
  • the holding device 300 has at least two stable states after the electronic device 200 is installed, and the holding device 300 stores a preset time period for transitioning from a stable state to another stable state, when the holding device 300 is from one
  • the control circuit 83 controls the driving member 50 to stop or reduce the power output for preventing the driving member from being accidentally caused by the rotating process. 50 blocked.
  • the transition from the steady state to the other stable state and the use time is the transition state duration
  • the holding device 300 stores the preset duration for transitioning from a stable state to another stable state to a preset transition state duration.
  • the control circuit 83 controls the driving member 50 to stop or reduce the power output.
  • the driving member 50 drives the electronic device 200 to transition from a stable state to another stable state
  • the transition action is blocked due to external blocking or obstacles, resulting in failure to complete from a preset transition time.
  • the control circuit 83 controls the driving member 50 to stop or reduce the power output to prevent the stalling.
  • the holding device 300 includes at least one mode, and the preset transition state duration is a duration used for transitioning from a stable state to another stable state in the current mode, and the preset transition state durations in different modes may be different. After the problem of the transition state timeout is resolved, a restart command is sent to the control circuit to restore the power output of the driver.
  • the electronic device 200 is an imaging device.
  • the holding device 300 is in a stable state after the electronic device 200 is installed, the screen of the electronic device 200 and the direction of the imaging screen are aligned.
  • the holding device 300, the handheld head 100 and the drone 500 provided by the present invention are provided with a detecting unit 81 and a control circuit 83 connected to the detecting unit 81.
  • the detecting unit 81 is for detecting the mounting condition of the electronic device 200, and the control circuit 83
  • the detection result of the detecting unit 81 is received and the power output of the driving member 50 is controlled according to the detection result, so that the driving member 50 is prevented from being overloaded during the process of removing the electronic device 200, thereby prolonging the service life of the holding device 300.
  • the holding device 300 stores a preset preset transition state duration for transitioning from a stable state to another stable state, and when the holding device 300 transitions from a stable state to another stable state and the usage time exceeds the pre- When the transition state is long, the control circuit 83 controls the driving member 50 to automatically stop or reduce the power output, so as to prevent the driving member 50 from being blocked due to an unexpected situation during the rotation, and prolonging the service life of the driving member 50.
  • the reliability and convenience of use of the holding device 300 are improved.
  • the holding device 300 can also be applied to the handheld head 100.
  • the handheld head 100 includes a holding device 300 as described above and a handle 106 coupled to the holding device 300.
  • the handle 106 is connected to the third rotating bracket 105 of the holding device 300, and the handle 106 is provided with a control button 107.
  • the control circuit 83 can be disposed at any position of the holding device 300.
  • the support base 30 forms a housing portion 109.
  • the detecting member 81 can be disposed in the housing portion 109. It can be understood that the control button 107 can be omitted, and a touch control unit or the like can be disposed on the handle 106.
  • the locking member 37 can be omitted and installed at an appropriate position of the support base 30 according to the type of the detecting member 81, such as in the receiving portion 109 formed by the seat body 31 and the two holding members 35 or At the edge of the holder 35 or the seat body 31.
  • control button 107 can also be disposed at any part of the holding device 300, such as the first rotating bracket 101, the second rotating bracket 103 or the third rotating bracket 105.
  • the holding device 300 can also include only one or two rotating brackets.
  • the receiving groove 315 on the seat body 31 can be omitted, and the locking member 37 is rotatably connected to the side surface of the seat body 31.
  • the number of the holding members 35 can be one, three or four, and only the clamping electronic device 200 is required.
  • the support arm 10 can be omitted, and the driving member 50 is directly connected to the support base 30, thereby directly driving the support base 30 to drive the electronic device 200 to move.
  • the detecting component 81 and the control circuit 83 can be disposed on the support base 30 or on the driving component 50. .
  • the holding device 300 can be mounted on a hand-held support device, a drone (eg, an unmanned aerial vehicle, an unmanned vehicle, or an unmanned boat, etc.).
  • a drone eg, an unmanned aerial vehicle, an unmanned vehicle, or an unmanned boat, etc.
  • the present invention further provides a holding device control method, the holding device comprising a support base, a driving member for driving the support base, a detecting component and a control circuit connected to the detecting component,
  • the support base is configured to hold an electronic device
  • the support base includes a base body and a holding member
  • the holding member is disposed on the base body and is used for clamping an electronic device
  • the holding device control method comprises:
  • S701 detecting, by the detecting component, an installation condition of the electronic device, and feeding back the detection result to a control circuit;
  • the control circuit controls and adjusts the power output of the driving component according to the received detection result. Specifically, if the detecting component detects that the electronic device is not mounted on the support base, the control circuit controls the driving component not to be activated; when the electronic device is installed on the support base, the After the control circuit receives the detection result of the detecting component, the driving component is activated.
  • control circuit can preset a delay, and after receiving the detection result, the control circuit starts the driving component after a preset delay.
  • control circuit receives an instruction to activate the driving component, the driving component is controlled to be activated.
  • the control circuit controls the driving component to stop the power output, such as a user.
  • the control circuit controls the driving member to stop the power Output.
  • the detecting component is a distance sensor that determines that the electronic device is not installed when the detecting component does not sense an obstacle within a preset distance; when the detecting component senses an obstacle within a preset distance, When it is sensed that the distance from the obstacle changes, it is determined that the installation condition of the electronic device changes.
  • the detecting component is a magnetic sensor or an electromagnetic sensor, and when the detecting component senses that the magnetic field strength is maintained at a certain value and does not change, it is determined that the electronic device is not installed; when the detecting component senses When it is detected that the magnetic field strength changes, it is determined that the installation state of the electronic device changes.
  • the detecting component is a light sensor, and when the detecting component can sense external ambient light, it is determined that the electronic device is not installed; when the external ambient light sensed by the detecting component is from nothing to time, Then, it is determined that the installation status of the electronic device changes.
  • the detecting component may be an infrared sensor, and the detecting component is an infrared sensor.
  • the infrared intensity of the feedback sensed by the detecting component is zero or less than a preset value, the device is considered to be The electronic device is not installed; when the infrared intensity of the feedback sensed by the detecting component changes, it is determined that the installation state of the electronic device changes.
  • the present invention further provides a holding device control method
  • the holding device includes a support base, a driving component for driving the support base, and a control circuit, wherein the support base is used for holding an electronic device, and the holding device
  • the device has at least two stable states after the electronic device is installed, and the holding device control method includes:
  • Step S801 Obtain a preset duration for transitioning from a stable state to another stable state, and set a duration for transitioning from a stable state to another stable state to be a transition state duration;
  • Step S802 The control circuit controls the driving component to stop or decrease if the current holding device is in the process of transitioning from the stable state to another stable state, and the used duration exceeds a preset transition state duration. Small power output.
  • Step S803 After the problem of the transition state timeout is resolved, the control circuit receives the restart command to restore the power output of the driving component.
  • the holding device includes at least one mode, and the acquiring the preset duration for transitioning from a stable state to another stable state comprises: acquiring a preset current mode to transition from a stable state to another stable state. The length of time.
  • the electronic device is a photographing device, and the holding device is in a stable state after the electronic device is installed, and the screen of the electronic device and the photographing screen are in the same direction.
  • step S803 can be omitted.

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Abstract

公开了一种固持装置（300），其包括支撑座（30）及用于驱动支撑座（30）活动的驱动件（50），该支撑座（30）用于固持电子设备（200），该固持装置（300）还包括检测部件（81）及与该检测部件（81）连接的控制电路（83），该检测部件（81）用以检测该电子设备（200）的安装状况，该控制电路（83）接收该检测部件（81）的检测结果并根据该检测结果控制该驱动件（50）的动力输出。还公开了一种固持装置控制方法、手持云台（100）及无人机（500）。采用该固持装置能够避免驱动件在拆取电子设备的过程中发生过载，进而延长固持装置的使用寿命。

Description

固持装置控制方法、固持装置、手持云台及无人机 技术领域
本发明涉及支撑结构，尤其涉及一种固持装置控制方法、固持装置、手持云台及无人机。
背景技术
手机、照相机等电子设备，为方便在某些环境使用，需借助固持装置进行支撑。固持装置上通常设置驱动件，以通过驱动件驱动电子设备进行转动，方便调整所述电子设备的拍摄角度。在使用过程中，出于某些目的，需要将电子设备从固持装置取下，然而，固持装置的驱动件可能仍处于运转状态，拆取电子设备的动作，容易造成驱动件堵转，造成过载损坏。
发明内容
有鉴于此，有必要提供一种避免上述问题的固持装置控制方法、固持装置、云台及无人机。
一种固持装置控制方法，所述固持装置包括支撑座及用于驱动所述支撑座活动的驱动件，所述支撑座用于固持电子设备，所述固持装置还包括检测部件和与所述检测部件连接的控制电路，所述固持装置控制方法包括：通过所述检测部件检测所述电子设备的安装状况，并将所述检测结果反馈至控制电路；所述控制电路根据接收到的所述检测结果控制并调节所述驱动件的动力输出。
一种固持装置，其包括支撑座及用于驱动所述支撑座活动的驱动件，所述支撑座用于固持电子设备，所述固持装置还包括检测部件及与所述检测部件连接的控制电路，所述检测部件用以检测所述电子设备的安装状况，所述控制电路接收所述检测部件的检测结果并根据所述检测结果控制所述驱动件的动力输出。
一种手持云台，其包括固持装置及与所述固持装置连接的手柄，所述固持装置用于搭载电子设备，所述固持装置包括支撑座及用于驱动所述支撑座活动的驱动件，所述支撑座用于固持电子设备，所述固持装置还包括检测部件及与所述检测部件连接的控制电路，所述检测部件用以检测所述电子设备的安装状况，所述控制电路接收所述检测部件的检测结果并根据所述检测结果控制所述驱动件的动力输出。
一种无人机，其包括机体及装设于所述机体上的固持装置，所述固持装置用于搭载电子设备，所述固持装置包括支撑座及用于驱动所述支撑座活动的驱动件，所述支撑座用于固持电子设备，所述固持装置还包括检测部件及与所述检测部件连接的控制电路，所述检测部件用以检测所述电子设备的安装状况，所述控制电路接收所述检测部件的检测结果并根据所述检测结果控制所述驱动件的动力输出。
一种固持装置控制方法，所述固持装置包括支撑座及用于驱动所述支撑座活动的驱动件，所述支撑座用于固持电子设备，所述固持装置还包括控制电路，所述固持装置在装设上电子设备后具有至少两个稳定状态，所述固持装置控制方法包括：
获取预设的从一稳定状态过渡到另一稳定状态所用的过渡状态时长；
若当前所述固持装置处于从所述一稳定状态向另一稳定状态过渡的过程中，且所用时长超过预设过渡状态时长时，所述控制电路控制所述驱动件停止或减小动力输出。
一种固持装置，其包括支撑座及用于驱动所述支撑座活动的驱动件，所述支撑座用于固持电子设备，所述固持装置还包括控制电路，所述固持装置在装设上电子设备后具有至少两个稳定状态，所述固持装置存储有预设的从一稳定状态过渡到另一稳定状态所用的过渡状态时长，当所述固持装置从一稳定状态向另一稳定状态过渡且使用时间超过预设过渡状态时长时，所述控制电路控制所述驱动件停止或减小动力输出。
一种手持云台，其包括固持装置及与所述固持装置连接的手柄，所述固持装置用于搭载电子设备，所述固持装置包括支撑座及用于驱动所述支撑座活动的驱动件，所述支撑座用于固持电子设备，所述固持装置还包括控制电路，所述固持装置在装设上电子设备后具有至少两个稳定状态，所述固持装置存储有预设的从一稳定状态过渡到另一稳定状态所用的过渡状态时长，当所述固持装置从一稳定状态向另一稳定状态过渡且使用时间超过预设过渡状态时长时，所述控制电路控制所述驱动件停止或减小动力输出。
一种无人机，其包括机体及装设于所述机体上的固持装置，所述固持装置用于搭载电子设备，所述固持装置包括支撑座及用于驱动所述支撑座活动的驱动件，所述支撑座用于固持电子设备，所述固持装置还包括控制电路，所述固持装置在装设上电子设备后具有至少两个稳定状态，所述固持装置存储有预设的从一稳定状态过渡到另一稳定状态所用的过渡状态时长，当所述固持装置从一稳定状态向另一稳定状态过渡且使用时间超过预设过渡状态时长时，所述控制电路控制所述驱动件停止或减小动力输出。
相对于现有技术，本发明提供的固持装置，其过载保护组件能够自动检测使用者是否有拆取电子设备的意图，当检测部件判断使用者具拆取电子设备的意图时，控制电路即控制驱动件停止运行，避免驱动件在拆取电子设备的过程中发生过载，进而延长固持装置的使用寿命。
 附图说明
图1是本发明提供的较佳实施例的无人机的立体示意图。
图2是本发明的固持装置处于锁定状态的立体示意图。
图3是本发明的固持装置处于松开状态的立体示意图。
图4是固持装置的功能模组示意图。
图5是本发明的固持装置为三轴云台时的立体示意图。
图6是云台为手持云台时的立体示意图。
图7是本发明提供的一固持装置控制方法的流程示意图。
图8是本发明提供的另一固持装置控制方法的流程示意图。
主要元件符号说明
无人机 500
机体 400
固持装置 300
电子设备 200
手持云台 100
支撑臂 10
支撑座 30
座体 31
肋条 311
收容槽 315
底壁 317
侧壁 319
固持件 35
第一固持部 351
第二固持部 353
锁合件 37
连接部 371
锁合部 373
驱动件 50
检测部件 81
传感部 813
检测部 815
控制电路 83
第一旋转支架 101
第二旋转支架 103
第三旋转支架 105
手柄 106
控制按钮 107
收容部 109
如下具体实施方式将结合上述附图进一步说明本发明。
具体实施方式
请参阅图1所示，本发明一实施方式的无人机500包括机体400及装设于机体400上的固持装置300。当然，无人机500可以包括一些必要或者附属的结构，如电源、传感器等，为节省篇幅，在此不做赘述。本实施例中，无人机500为无人飞行器，于其他实施例中，无人机500可以为无人船、无人车等无人设备。请参阅图2至图4所示，所述固持装置300用于搭载电子设备200。所述固持装置300设置于所述机体400的下方。本实施例中，电子设备200为可进行拍摄的电子设备，如手机或照相机。可以理解，电子设备200还可以为电子书、导航仪等。
固持装置300包括支撑臂10、与支撑臂10连接的支撑座30、用于驱动支撑座30活动的驱动件50、检测部件81及控制电路83，支撑座30用于固持电子设备200，检测部件81与控制电路83连接，检测部件81用以检测电子设备200的安装状况，控制电路83接收检测部件81的检测结果并根据所述检测结果控制驱动件50的动力输出。
本实施例中，支撑臂10为中空体，以能够收容线缆（图未示）、电子元件等结构。支撑座30与支撑臂10的一端转动相接。
支撑座30包括座体31、两个固持件35及锁合件37。座体31大致呈板块状，其与支撑臂10的一端相接。座体31邻近支撑臂10的侧面上凸设形成若干肋条311，用以加强座体31的强度，避免座体31变形。座体31邻近支撑臂10的侧面上凹设形成收容槽315（如图3所示）。收容槽315包括底壁317及与底壁317相接的侧壁319。两个固持件35由座体31的两端向同一侧弯折延伸形成，用以夹持电子设备200。两个固持件35包括第一固持部351及第二固持部353。支撑座30形成收容部109，所述收容部由座体31及两个固持件35共同组成。锁合件37与收容槽315的侧壁319转动相接。锁合件37大致呈弯折片体状，其包括连接部371及锁合部373。连接部371与收容槽315的侧壁转动相接。锁合部373由连接部371一侧弯折延伸形成。锁合部373收容于收容槽315内时，锁合部373与底壁317相贴合，锁合件37配合第一固持部351将电子设备200锁持于座体31，固持装置300为锁定状态（如图2所示）。当锁合部373与底壁317分离，固持装置300为松开状态（如图3所示），使用者能够从第一固持部351及第二固持部353取出电子设备200。
进一步地，支撑座30还包括连接件39，所述连接件39凸设于座体31上，并将所述座体31与支撑臂10的一端固定连接。
驱动件50装设于支撑臂10远离座体31的一端，用以驱动支撑臂10及支撑座30带动电子设备200转动。图示的实施方式仅显示一个所述驱动件50以及一个支撑臂10。本实施方式中，驱动件50为电机，可以理解，在其它实施例中，驱动件50也可以为其它能够驱动电子设备200运动的结构。
请参阅图5所示，本实施例中，所述固持装置300为三轴云台，固持装置300还包括依次可转动地连接的第一旋转支架101、第二旋转支架103及第三旋转支架105，第一旋转支架101与所述第二旋转支架103能够转动地连接，第二旋转支架103与所述第三旋转支架105能够转动地连接。其中所述第一旋转支架101即为上述的支撑臂10，与所述支撑座30连接，所述第三旋转支架105可将所述固持装置300连接至其他设备。所述驱动件50可以驱动支撑臂10及支撑座30带动电子设备200绕俯仰（PITCH）轴转动。可以理解，固持装置300还可以包括能够绕其他轴（例如横滚（ROLL）轴及偏航（YAW）轴）转动的驱动件，每一个所述驱动件可以驱动一个旋转支架转动。可以理解，所述固持装置300也可以只包括一个或者两个旋转支架，相应地，只包括一个或两个驱动件。
检测部件81设置在支撑座30上并靠近能够被固持的电子设备200的安装部位。本实施方式中，检测部件81设置于锁合部373邻近收容槽315的侧面上，用以检测电子设备200的安装状况。控制电路83与驱动件50电连接，用以依据接收检测部件81的检测结果并根据所述检测结果控制驱动件50的动力输出。本实施方式中，控制电路83设置于支撑臂10内。检测部件81和控制电路83的连接方式为电连接、有线连接或无线连接。
当检测部件81检测到支撑座30上未安装电子设备200，控制电路83控制驱动件50不启动。
当支撑座30上安装好电子设备200后，控制电路83接收到检测部件81的检测结果，启动驱动件50。
当检测部件81检测到支撑座30上安装有电子设备200，但电子设备200的安装状况发生改变，如需从支撑座30取出电子设备200，则控制电路83控制驱动件50停止动力输出。具体地，所述电子设备200的安装状况发生改变，具体可为移除电子设备200、调整电子设备200的位置等。
控制电路83能够预设延时，当支撑座30上安装好电子设备200后，控制电路83在接收到所述检测结果，在预设延时之后启动所述驱动件50。
当锁合件37松开时，检测部件81的感测信息发生变化，控制电路83控制驱动件50停止动力输出。
检测部件81为磁力传感器或电磁传感器，当检测部件81感测到磁场强度维持于某特定值且未发生变化时，则认定所述电子设备200未安装；当所述检测部件81感测到所述磁场强度发生变化时，则认定所述电子设备的安装状况发生变化。本实施例中，检测部件81包括传感部813及检测部815，所述传感部813设置于锁合部373上，检测部815设置于所述支撑臂10上用于检测其所处位置的磁感应强度，当锁合件37相对所述座体31运动时，所述传感部813位置相对所述检测部815改变，检测部815检测到的磁感应强度发生变化并由此判断所述使用者具拆取或调整电子设备200的意图，即所述安装状况发生变化，所述控制电路83控制所述驱动件50停止动力输出。可以理解，检测部815可以设置于驱动件50、收容部109内或机体400等结构上，检测部815能够检测到磁感应强度即可。
可以理解，在一实施例中，传感部813为位置传感器，所述位置传感器用于检测锁合部373相对座体31的位置信息并将所述检测信息传送至检测部815，所述检测部815中预存储参考信息，所述参考信息为锁合部373锁合于座体31时的位置信息，本实施例中，所述参考信息为锁合部373与底壁317相贴合时锁合部373相对座体31的位置信息；所述检测部815将所述检测信息与所述参考信息进行比对，当所述检测信息与所述参考位置一致，则驱动件50继续运行；若所述检测位置信息与所述参考位置信息不一致时，则控制电路83控制驱动件50停止动力输出力输出。具体地，当使用者意图从固持装置300拆取电子设备200时，使用者扳动锁合部373，锁合部373与底壁317分离，所述锁合部373相对所述座体31的位置改变，所述检测部815接收到的传感部813传送过来的检测信息与所述参考位置信息不一致，控制电路83控制驱动件50停止动力输出。
可以理解，检测部件81可以设置为其他非接触式传感器，在一实施例中，检测部件81为一光电传感器，检测部件81包括光发射部、光接收部及检测部，所述光发射部设置于锁合部373上，所述光接收部设置于所述底壁317上，所述光接收部用以接收光发射部发射的光线，所述检测部设于所述支撑臂10或支撑座30上并与所述光接收部相接用以检测所述光接收部是否接收到光线。可以理解，所述检测部还可设于驱动件50上或者无人机500的其他结构上，其只需满足能够检测所述光接收部是否接收到光线的功能即可。当固持装置300处于锁合状态时，锁合部373与底壁317相贴合，所述光发射部与所述光接收部相对设置，所述光接收部接收所述光发射部发射的光线；当使用者意图拆取电子设备200时，使用者扳动锁合部373，锁合部373与底壁317分离，所述光接收部未能接收到所述光发射部发射的光线，所述检测部检测到所述光接收部未接收到所述光发射部发射的光线时则判断使用者意图拆取所述电子设备200，控制电路83控制驱动件50停止动力输出。
可以理解，在一实施例中，所述检测部件81为距离传感器，当所述检测部件81在预设距离内未感测到障碍物时则认定所述电子设备未安装；当所述检测部件81在预设距离内感测到障碍物，且感测到与所述障碍物的距离变化时，则认定所述电子设备200的安装状况发生变化。所述检测部件81能够设置于所述支撑座30上，所述障碍物为所述电子设备200。当然，所述检测部件81能够设置于所述收容槽315的侧壁319上，所述障碍物为所述锁合部373。
可以理解，在一实施例中，检测部件81为光传感器，当所述检测部件81能够感测到外部环境光线，则认定所述电子设备200未安装；当所述检测部件81所感测到的外部环境光从无到有时，则认定所述电子设备200的安装状况发生变化。检测部件81设置于锁合部373上。当固持装置300处于锁合状态时，锁合部373与底壁317相贴合，检测部件81未检测到固持装置300所处的环境中的光线，当使用者意图拆取电子设备200时，使用者扳动锁合部373，即锁合件37松开座体31时，检测部件81检测到固持装置300所处的环境中的光线并判断使用者有拆取电子设备200的意图，即认定所述电子设备200的安装状况发生变化，控制电路83控制驱动件50停止动力输出。可以理解，所述光传感器可以设置于座体31远离支撑臂10的侧面上，电子设备200夹设于固持装置300上时，所述光传感器无法检测到固持装置300所处环境中的光线，当使用者拆取电子设备200时，所述光传感器检测到固持装置300所处的环境中的光线并将所述检测信息反馈至控制电路83，控制电路83中依据所述检测信息，判断使用者有拆取电子设备200的意图，控制驱动件50停止动力输出。
可以理解，在一实施例中，检测部件81设置为接触式传感器，例如，可以将检测部件81设置为电阻式传感器，检测部件81能够依据其感测压力的检测信息进而判断电子设备200的安装状况是否发生变化，控制电路83根据电子设备200的安装状况控制驱动件50的动力输出。当使用者意图拆取电子设备200时，使用者扳动锁合部373同时向检测部件81施于压力，检测部件81检测到压力并依据其感测压力的检测信息判断所述使用者具拆取电子设备的意图；控制电路83控制驱动件50停止动力输出。检测部件81设置的位置使得当固持装置300上安装有电子设备200时，检测部件81与电子设备200相接触，例如，所述电阻式传感器可以设置为支撑座30的收容部109的底面上。
可以理解，在一实施例中，检测部件81可以为红外传感器，并设置于所述固持装置300上靠近所述电子设备200的安装的位置。此时锁合件37可省略。
具体地，所述检测部件81包括发射部和接收部，发射部用于发射红外线，接收部用于接收返回的红外线。
例如，所述检测部件81可设置于所述支撑座30的收容部109内，当所述电子设备200收容于所述收容部109时，所述检测部件81所发射的红外线可被所述电子设备200反射。或者，所述检测部件81设置于所述支撑臂10上，当所述电子设备200安装于所述固持装置300时，所述检测部件81所发射的红外线可被所述电子设备200反射。
所述检测部件81根据反射的红外线的强度，判断是否安装了电子设备200或所述电子设备200的安装状况是否发生变化。具体地，当所述检测部件81感测到的反馈的红外强度为零或小于预设值时，则认为所述电子设备200未安装；当所述检测部件81所感测到的反馈的红外强度发生变化时，则认定所述电子设备200的安装状况发生变化。
此外，所述检测部件81还可以包括红外摄像头，通过图像识别来完成感测。或通过红外测距的方式进行感测，具体地，通过计算红外发射和接收的时间差来计算障碍物的距离，从而判断一定距离内是否装了东西。
可以理解，所述检测部件81可以由电容式传感器、光传感器、磁力传感器、电磁传感器、红外传感器、超声波传感器、距离传感器中的一种或多种组成。
进一步地，固持装置300还包括与驱动件50连接的驱动件控制开关87，驱动件控制开关87用于当支撑座30上安装好电子设备200后，手动启动驱动件50，避免控制电路83与检测部件81异常，即，在支撑座30上安装好电子设备200后，检测部件81未能检测到已在支撑座30上安装好电子设备200的情况。
固持装置300在装设上电子设备200后具有至少两个稳定状态，所述固持装置300存储有预设的从一稳定状态过渡到另一稳定状态所用的时长，当所述固持装置300从一稳定状态向另一稳定状态过渡且使用时间超过预设过渡状态时长时，所述控制电路83控制所述驱动件50停止或减小动力输出，用于防止因转动过程中的意外状况造成驱动件50堵转。设所述一稳定状态向另一稳定状态过渡且使用时间为过渡状态时长，所述固持装置300存储有预设的从一稳定状态过渡到另一稳定状态所用的时长为预设过渡状态时长。例如，使用者欲从固持装置300上拆取电子设备200时，使用者忘记将运转中的驱动件50关闭，进而使驱动件50依然处于运转状态，由于使用者从固持装置300拆取所述电子设备200时需扳开锁合件37，致使支撑座30位于同一位置较长时间，固持装置300能够检测出从上一位置（上一稳定状态）至拆取时所处位置（拆取时所处稳定状态）超过所述预设过渡状态时长，所述控制电路83控制所述驱动件50停止或减小动力输出。或者，当驱动件50驱动所述电子设备200从一稳定状态向另一稳定状态过渡的过程中，因为受到外部阻挡或障碍物的影响，过渡动作受阻，导致无法在预设过渡时间完成从一稳定状态向另一稳定状态的过渡。此时控制电路83则控制所述驱动件50停止或减小动力输出，防止堵转。
固持装置300包括至少一种模式，所述预设过渡状态时长为当前模式下从一稳定状态过渡到另一稳定状态所用的时长，不同模式下的预设过渡状态时长可能不同。所述过渡状态时长超时的问题解决后，向所述控制电路发送重新启动的指令，以恢复所述驱动件的动力输出。
电子设备200为拍摄装置，固持装置300在装设上电子设备200后处于稳定状态时，电子设备200的屏幕和拍摄画面方向一致。
本发明提供的固持装置300、手持云台100及无人机500，设有检测部件81及与检测部件81连接的控制电路83，检测部件81用以检测电子设备200的安装状况，控制电路83接收检测部件81的检测结果并根据检测结果控制驱动件50的动力输出，避免驱动件50在拆取电子设备200的过程中发生过载，进而延长固持装置300的使用寿命。另外，固持装置300通过存储有预设的从一稳定状态过渡到另一稳定状态所用的预设过渡状态时长，当所述固持装置300从一稳定状态向另一稳定状态过渡且使用时间超过预设过渡状态时长时，所述控制电路83控制所述驱动件50自动停止或减小动力输出，用于防止因转动过程中的意外状况造成驱动件50堵转，延长驱动件50的使用寿命，提高固持装置300的使用可靠性及便利性。
请参阅图6，固持装置300还可应用于手持云台100中，手持云台100包括如上所述的固持装置300和与所述固持装置300连接的手柄106。本实施方式中，手柄106与固持装置300的第三旋转支架105连接，手柄106上设有控制按钮107。所述控制电路83能够设置于固持装置300的任意位置。支撑座30形成收容部109。
检测部件81能够设置于所述收容部109内。可以理解，控制按钮107可以省略，可以在手柄106上设置触控式的控制部等。
可以理解，所述锁合件37可省略，而根据检测部件81的类型安装于所述支撑座30的适当位置处，如设置在座体31和两个固持件35形成的收容部109内或者设置于固持件35或座体31的边缘。
可以理解，所述控制按钮107也可设置于所述固持装置300的任意部位，如第一旋转支架101、第二旋转支架103或第三旋转支架105上。
可以理解，所述固持装置300也可仅包括一个或两个旋转支架。
可以理解，座体31上的收容槽315可以省略，锁合件37与座体31的侧面转动相接。
可以理解，固持件35的数目可以为一个、三个或四个，只需满足夹持电子设备200即可。
可以理解，支撑臂10可以省略，驱动件50与支撑座30直接连接，进而直接驱动支撑座30带动电子设备200运动，检测部件81、控制电路83可以设置于支撑座30上或驱动件50上。
可以理解，固持装置300可以搭载于手持式支撑设备上、无人机（例如，无人飞行器、无人车或者无人船等）上。
请参阅图7，本发明还提供一种固持装置控制方法，所述固持装置包括支撑座、用于驱动所述支撑座活动的驱动件、检测部件和与所述检测部件连接的控制电路，所述支撑座用于固持电子设备，所述支撑座包括座体及固持件，所述固持件设定于所述座体上并用于夹持电子设备，所述固持装置控制方法包括：
S701：通过所述检测部件检测所述电子设备的安装状况，并将所述检测结果反馈至控制电路；
S702：控制电路根据接收到的所述检测结果控制并调节所述驱动件的动力输出。具体地，若所述检测部件检测到所述支撑座上未安装所述电子设备，则所述控制电路控制所述驱动件不启动；当所述支撑座上安装好所述电子设备后，所述控制电路接收到所述检测部件的检测结果后，启动所述驱动件。
进一步地，所述控制电路能够预设延时，所述控制电路接收到所述检测结果后，在预设延时之后启动所述驱动件。
进一步地，当所述支撑座上安装好所述电子设备后，若所述控制电路接收到启动驱动件的指令，则控制所述驱动件启动。
进一步地，若所述检测部件检测到所述支撑座上安装有所述电子设备，但所述电子设备的安装状况发生改变，则所述控制电路控制所述驱动件停止动力输出，如使用者需从所述支撑座上拆取所述电子设备时，所述固持件被松开，当所述检测部件检测到所述固持件被松开时，所述控制电路控制所述驱动件停止动力输出。
所述检测部件为距离传感器，当所述检测部件在预设距离内未感测到障碍物时则认定所述电子设备未安装；当所述检测部件在预设距离内感测到障碍物，且感测到与所述障碍物的距离变化时，则认定所述电子设备的安装状况发生变化。
可以理解，所述检测部件为磁力传感器或电磁传感器，当所述检测部件感测到磁场强度维持于某特定值且未发生变化时，则认定所述电子设备未安装；当所述检测部件感测到所述磁场强度发生变化时，则认定所述电子设备的安装状况发生变化。
可以理解，所述检测部件为光传感器，当所述检测部件可感测到外部环境光线，则认定所述电子设备未安装；当所述检测部件所感测到的外部环境光从无到有时，则认定所述电子设备的安装状况发生变化。
可以理解，在一实施例中，所述检测部件可以为红外传感器所述检测部件为红外传感器，当所述检测部件感测到的反馈的红外强度为零或小于预设值时，则认为所述电子设备未安装；当所述检测部件所感测到的反馈的红外强度发生变化时，则认定所述电子设备的安装状况发生变化。
请参阅图8，本发明另提供一种固持装置控制方法，所述固持装置包括支撑座、驱动所述支撑座活动的驱动件及控制电路，所述支撑座用于固持电子设备，所述固持装置在装设上所述电子设备后具有至少两个稳定状态，所述固持装置控制方法包括：
步骤S801：获取预设的从一稳定状态过渡到另一稳定状态所用的时长，设所述从一稳定状态过渡到另一稳定状态所用的时长为过渡状态时长；
步骤S802：若当前所述固持装置处于从所述一稳定状态向另一稳定状态过渡的过程中，且所用时长超过预设的过渡状态时长时，所述控制电路控制所述驱动件停止或减小动力输出。
步骤S803：在所述过渡状态时长超时的问题解决后，所述控制电路接收重新启动的指令，恢复所述驱动件的动力输出。
所述固持装置包括至少一种模式，所述获取预设的从一稳定状态过渡到另一稳定状态所用的时长具体包括：获取预设的当前模式下从一稳定状态过渡到另一稳定状态所用的时长。
所述电子设备为拍摄装置，所述固持装置在装设上电子设备后处于稳定状态时，所述电子设备的屏幕和拍摄画面方向一致。
可以理解，所述步骤S803可以省略。
可以理解的是，本领域技术人员还可在本发明精神内做其它变化等用在本发明的设计，只要其不偏离本发明的技术效果均可。这些依据本发明精神所做的变化，都应包含在本发明所要求保护的范围之内。

Claims (70)

  1. 一种固持装置控制方法，所述固持装置包括支撑座及用于驱动所述支撑座活动的驱动件，所述支撑座用于固持电子设备，其特征在于：所述固持装置还包括检测部件和与所述检测部件连接的控制电路，所述固持装置控制方法包括：
    通过所述检测部件检测所述电子设备的安装状况，并将所述检测结果反馈至控制电路；
    所述控制电路根据接收到的所述检测结果控制并调节所述驱动件的动力输出。
  2. 如权利要求1所述的固持装置控制方法，其特征在于：所述固持装置控制方法包括：
    若所述检测部件检测到所述支撑座上未安装所述电子设备，则所述控制电路控制所述驱动件不启动。
  3. 如权利要求2所述的固持装置控制方法，其特征在于：当所述支撑座上安装好所述电子设备后，所述控制电路在接收到所述检测部件的检测结果后，启动所述驱动件。
  4. 如权利要求3所述的固持装置控制方法，其特征在于：所述控制电路接收到所述检测结果后，在预设延时之后启动所述驱动件。
  5. 如权利要求2所述的固持装置控制方法，其特征在于：当所述支撑座上安装好所述电子设备后，若所述控制电路接收到启动驱动件的指令，则控制所述驱动件启动。
  6. 如权利要求1所述的固持装置控制方法，其特征在于：所述固持装置控制方法包括：
    若所述检测部件检测到所述支撑座上安装有所述电子设备，但所述电子设备的安装状况发生改变，则所述控制电路控制所述驱动件停止动力输出。
  7. 如权利要求1或6所述的固持装置控制方法，其特征在于：所述固持装置的支撑座包括座体及固持件，所述固持件设定于所述座体上并用于夹持所述电子设备，当所述检测部件检测到所述固持件被松开时，所述控制电路控制所述驱动件停止动力输出。
  8. 如权利要求1所述的固持装置控制方法，其特征在于：所述检测部件为距离传感器，当所述检测部件在预设距离内未感测到障碍物时则认定所述电子设备未安装；当所述检测部件在预设距离内感测到障碍物，且感测到与所述障碍物的距离变化时，则认定所述电子设备的安装状况发生变化。
  9. 如权利要求1所述的固持装置控制方法，其特征在于：所述检测部件为磁力传感器或电磁传感器，当所述检测部件感测到磁场强度维持于某特定值且未发生变化时，则认定所述电子设备未安装；当所述检测部件感测到所述磁场强度发生变化时，则认定所述电子设备的安装状况发生变化。
  10. 如权利要求1所述的固持装置控制方法，其特征在于：所述检测部件为光传感器，当所述检测部件能够感测到外部环境光线，则认定所述电子设备未安装；当所述检测部件所感测到的外部环境光从无到有时，则认定所述电子设备的安装状况发生变化。
  11. 如权利要求1所述的固持装置控制方法，其特征在于：所述检测部件为红外传感器，当所述检测部件感测到的反馈的红外强度为零或小于预设值时，则认为所述电子设备未安装；当所述检测部件所感测到的反馈的红外强度发生变化时，则认定所述电子设备的安装状况发生变化。
  12. 一种固持装置，其包括支撑座及用于驱动所述支撑座活动的驱动件，所述支撑座用于固持电子设备，其特征在于：所述固持装置还包括检测部件及与所述检测部件连接的控制电路，所述检测部件用以检测所述电子设备的安装状况，所述控制电路接收所述检测部件的检测结果并根据所述检测结果控制所述驱动件的动力输出。
  13. 如权利要求12所述的固持装置，其特征在于：当所述检测部件检测到所述支撑座上未安装所述电子设备，所述控制电路控制所述驱动件不启动。
  14. 如权利要求13所述的固持装置，其特征在于：所述固持装置还包括驱动件控制开关，所述驱动件控制开关用于当所述支撑座上安装好所述电子设备后，启动所述驱动件。
  15. 如权利要求12所述的固持装置，其特征在于：当所述支撑座上安装好所述电子设备后，所述控制电路在接收到所述检测部件的检测结果后，启动所述驱动件。
  16. 如权利要求15所述的固持装置，其特征在于：所述控制电路接收到所述检测结果，在预设延时之后启动所述驱动件。
  17. 如权利要求12所述的固持装置，其特征在于：当所述检测部件检测到所述支撑座上安装有所述电子设备，但所述电子设备的安装状况发生改变，则所述控制电路控制所述驱动件停止动力输出。
  18. 如权利要求12、13或17所述的固持装置，其特征在于：所述支撑座包括座体及固持件，所述固持件设于所述座体上并用于固持所述电子设备。
  19. 如权利要求18所述的固持装置，其特征在于：所述支撑座还包括锁合件，所述锁合件与所述座体活动相接，所述锁合件锁合于所述座体上并能够配合所述固持件夹紧所述电子设备，所述检测部件设于所述锁合件上，当所述锁合件松开时，所述检测部件的感测信息发生变化，所述控制电路控制所述驱动件停止动力输出。
  20. 如权利要求19所述的固持装置，其特征在于：所述座体的侧面上凹设形成收容槽，所述收容槽包括底壁及与所述底壁相接的侧壁，所述锁合件与所述侧壁活动相接，当所述锁合件贴合于所述底壁时，所述锁合件配合所述固持件夹紧所述电子设备。
  21. 如权利要求20所述的固持装置，其特征在于：所述锁合件包括连接部及锁合部，所述连接部与所述收容槽的侧壁能够转动地相接，所述锁合部由所述连接部一侧弯折延伸形成，所述锁合部收容于所述收容槽内时，所述锁合部与所述底壁相贴合。
  22. 如权利要求12所述的固持装置，其特征在于：所述检测部件设置在所述支撑座上并靠近能够被固持的电子设备的安装部位。
  23. 如权利要求22所述的固持装置，其特征在于：所述检测部件设置的位置使得当所述固持装置上安装有电子设备时，所述检测部件与所述电子设备相接触。
  24. 如权利要求12所述的固持装置，其特征在于：所述支撑座形成收容部，所述检测部件设置于所述收容部内。
  25. 如权利要求12所述的固持装置，其特征在于：所述固持装置还包括支撑臂，所述支撑臂与所述驱动件连接并由所述驱动件驱动。
  26. 如权利要求25所述的固持装置，其特征在于：所述驱动件设置于所述支撑臂远离所述支撑座的一端，所述支撑臂与所述支撑座固定连接。
  27. 如权利要求25所述的固持装置，其特征在于：所述控制电路设置于所述支撑臂内。
  28. 如权利要求12所述的固持装置，其特征在于：所述检测部件为红外传感器，并设置于所述固持装置上靠近所述电子设备安装的位置。
  29. 如权利要求28所述的固持装置，其特征在于：所述支撑座形成用于收容电子设备的收容部，所述检测部件设置于所述收容部内，当所述电子设备收容于所述收容部时，所述检测部件所发射的红外线能够被所述电子设备反射。
  30. 如权利要求28所述的固持装置，其特征在于：所述固持装置还包括连接于所述座体的支撑臂，所述检测部件设置于所述支撑臂上，当所述电子设备安装于所述固持装置时，所述检测部件所发射的红外线能够被所述电子设备反射。
  31. 如权利要求28-30中任一项所述的固持装置，其特征在于：所述检测部件包括发射部和接收部，所述发射部用于发射红外线，所述接收部用于接收返回的红外线。
  32. 如权利要求19所述的固持装置，其特征在于：所述检测部件包括位置检测器及检测部，所述位置检测器设于所述锁合件上用于检测所述锁合件相对所述座体的位置并将所述检测信息传送至所述检测部，所述检测部预存储参考信息，所述参考信息为所述锁合件锁合于所述座体时相对所述座体的位置信息，所述检测部将所述检测信息与所述参考信息进行比对，当所述检测信息与所述参考信息不一致时，所述控制电路控制所述驱动件停止动力输出。
  33. 如权利要求19所述的固持装置，其特征在于：所述检测部件包括光发射部、光接收部及检测部，所述光发射部设置于所述锁合件上，所述光接收部设置于所述座体上，所述光接收部用以接收所述光发射部发射的光线，所述检测部与所述光接收部相接用以检测所述光接收部是否接收到光线，当所述检测部检测到所述光接收部未接收到所述光发射部发射的光线，所述检测部判断使用者意图拆取所述电子设备，所述控制电路控制所述驱动件停止运行。
  34. 如权利要求19所述的固持装置，其特征在于：所述检测部件为光感式检测器，当所述锁合件锁合于所述座体时，所述锁合件与所述座体相贴合，所述检测部件不能检测到所述固持装置所处的环境中的光线，当锁合件松开所述座体时，所述检测部件检测到所述固持装置所处的环境中的光线，所述控制电路控制所述驱动件停止动力输出。
  35. 如权利要求19所述的固持装置，其特征在于：所述检测部件包括电阻式传感器，所述检测部件设于所述锁合件上，当所述检测部件检测到压力时，所述检测部件能够依据其感测压力的检测信息进而判断所述电子设备的安装状况是否发生变化，所述控制电路根据所述电子设备的安装状况控制所述驱动件的动力输出。
  36. 如权利要求19所述的固持装置，其特征在于：所述检测部件包括传感部及检测部，所述传感部为电磁式非接触传感器，所述非接触传感器设置于所述锁合件上，当所述锁合件相对所述座体运动时，所述电磁式非接触传感器位置改变，所述检测部检测到的磁感应强度发生变化，则所述控制电路控制所述驱动件停止运行。
  37. 如权利要求18所述的固持装置，其特征在于：所述座体的侧面上凸设形成若干肋条，以加强所述座体的强度。
  38. 如权利要求12所述的固持装置，其特征在于：所述检测部件为接触式传感器或非接触式传感器中的一种或多种。
  39. 如权利要求38所述的固持装置，其特征在于：所述检测部件为光传感器、磁力传感器、电磁传感器、红外传感器、超声波传感器、距离传感器中的一种或多种。
  40. 如权利要求12所述的固持装置，其特征在于：所述检测部件和控制电路的连接方式为电连接、有线连接或无线连接。
  41. 如权利要求12所述的固持装置，其特征在于：所述固持装置还包括依次能够转动地连接的第一旋转支架、第二旋转支架及第三旋转支架，所述支撑座设置于所述第一旋转支架的末端。
  42. 如权利要求41所述的固持装置，其特征在于：所述固持装置为三轴云台。
  43. 如权利要求41所述的固持装置，其特征在于：所述控制电路设置于所述固持装置上的任意位置。
  44. 一种手持云台，其包括如权利要求12-40任一项所述的固持装置及与所述固持装置连接的手柄。
  45. 如权利要求44所述的手持云台，其特征在于：所述固持装置还包括依次能够转动地连接的第一旋转支架、第二旋转支架及第三旋转支架，所述手柄与所述第三旋转支架能够转动地连接。
  46. 如权利要求45所述的手持云台，其特征在于：所述手柄上设有控制按钮。
  47. 一种无人机，其包括机体及如权利要求12-43任一项所述的固持装置，所述固持装置装设于所述机体上，所述固持装置用于搭载电子设备。
  48. 如权利要求47所述的无人机，其特征在于：所述固持装置设置于所述机体下方。
  49. 一种固持装置控制方法，所述固持装置包括支撑座及用于驱动所述支撑座活动的驱动件，所述支撑座用于固持电子设备，其特征在于：所述固持装置还包括控制电路，所述固持装置在装设上电子设备后具有至少两个稳定状态，所述固持装置控制方法包括：
    获取预设的从一稳定状态过渡到另一稳定状态所用的过渡状态时长；
    若当前所述固持装置处于从所述一稳定状态向另一稳定状态过渡的过程中，且所用时长超过预设过渡状态时长时，所述控制电路控制所述驱动件停止或减小动力输出。
  50. 如权利要求49所述的固持装置控制方法，其特征在于：所述固持装置包括至少一种模式，所述获取预设的从一稳定状态过渡到另一稳定状态所用的过渡状态时长具体包括：
    获取预设的当前模式下从一稳定状态过渡到另一稳定状态所用的过渡状态时长。
  51. 如权利要求49所述的固持装置控制方法，其特征在于：所述固持装置控制方法还包括：在所述过渡状态时长超时的问题解决后，所述控制电路接收重新启动的指令，恢复所述驱动件的动力输出。
  52. 如权利要求50所述的固持装置控制方法，其特征在于：所述电子设备为拍摄装置，所述固持装置在装设上电子设备后处于稳定状态时，所述电子设备的屏幕和拍摄画面方向一致。
  53. 一种固持装置，其包括支撑座及用于驱动所述支撑座活动的驱动件，所述支撑座用于固持电子设备，其特征在于：所述固持装置还包括控制电路，所述固持装置在装设上所述电子设备后具有至少两个稳定状态，所述固持装置存储有预设的从一稳定状态过渡到另一稳定状态所用的时长，当所述固持装置从一稳定状态向另一稳定状态过渡且使用时间超过预设时长时，所述控制电路控制所述驱动件停止或减小动力输出。
  54. 如权利要求53所述的固持装置，其特征在于：所述固持装置包括至少一种模式，所述预设时长为当前模式下从一稳定状态过渡到另一稳定状态所用的过渡状态时长。
  55. 如权利要求53所述的固持装置，其特征在于：所述固持装置还包括驱动件控制开关，所述驱动件控制开关用于在所述过渡状态时长超时的问题解决后，向所述控制电路发送重新启动的指令，以恢复所述驱动件的动力输出。
  56. 如权利要求53所述的固持装置，其特征在于：所述电子设备为拍摄装置，所述固持装置在装设上电子设备后处于稳定状态时，所述电子设备的屏幕和拍摄画面方向一致。
  57. 如权利要求53所述的固持装置，其特征在于：所述支撑座包括座体及固持件，所述固持件设于所述座体上用于固持所述电子设备。
  58. 如权利要求57所述的固持装置，其特征在于：所述支撑座还包括锁合件，所述锁合件与所述座体活动相接，所述锁合件锁合于所述座体上并能够配合所述固持件夹紧所述电子设备。
  59. 如权利要求58所述的固持装置，其特征在于：所述锁合件包括连接部及锁合部，所述连接部与所述收容槽的侧壁能够转动地相接，所述锁合部由所述连接部一侧弯折延伸形成，所述锁合部收容于所述收容槽内时，所述锁合部与所述底壁相贴合。
  60. 如权利要求53所述的固持装置，其特征在于：所述支撑座形成收容部，所述电子设备至少部分地收容于所述收容部。
  61. 如权利要求53所述的固持装置，其特征在于：所述固持装置还包括支撑臂，所述支撑臂与所述驱动件连接并由所述驱动件驱动。
  62. 如权利要求61所述的固持装置，其特征在于：所述驱动件设置于所述支撑臂远离所述支撑座的一端，所述支撑臂与所述支撑座固定连接。
  63. 如权利要求56所述的固持装置，其特征在于：所述控制电路设置于所述支撑臂内。
  64. 如权利要求53所述的固持装置，其特征在于：所述固持装置还包括依次能够转动地连接的第一旋转支架、第二旋转支架及第三旋转支架，所述驱动件设置于所述第三旋转支架的末端。
  65. 如权利要求64所述的固持装置，其特征在于：所述固持装置为三轴云台。
  66. 一种手持云台，其包括如权利要求53-63、64-65任一项所述的固持装置及与所述固持装置连接的手柄。
  67. 如权利要求66所述的手持云台，其特征在于：所述固持装置还包括依次能够转动地连接的第一旋转支架、第二旋转支架及第三旋转支架，所述手柄与所述第一旋转支架能够转动地连接。
  68. 如权利要求67所述的手持云台，其特征在于：所述手柄上设控制按钮。
  69. 一种无人机，其包括机体及如权利要求53-65任一项所述的固持装置，所述固持装置装设于所述机体上，所述固持装置用于搭载电子设备。
  70. 如权利要求69所述的无人机，其特征在于：所述固持装置设置于所述机体下方。
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