WO2019134147A1 - 手持云台的控制方法和手持云台 - Google Patents

手持云台的控制方法和手持云台 Download PDF

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Publication number
WO2019134147A1
WO2019134147A1 PCT/CN2018/071675 CN2018071675W WO2019134147A1 WO 2019134147 A1 WO2019134147 A1 WO 2019134147A1 CN 2018071675 W CN2018071675 W CN 2018071675W WO 2019134147 A1 WO2019134147 A1 WO 2019134147A1
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WO
WIPO (PCT)
Prior art keywords
following
speed
tilt
handheld
input
Prior art date
Application number
PCT/CN2018/071675
Other languages
English (en)
French (fr)
Inventor
苏铁
潘立忠
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 PCT/CN2018/071675 priority Critical patent/WO2019134147A1/zh
Priority to JP2020536989A priority patent/JP7033661B2/ja
Priority to CN201880000231.9A priority patent/CN108323192B/zh
Priority to CN202111335907.XA priority patent/CN114089792B/zh
Priority to EP18897914.0A priority patent/EP3736653B1/en
Publication of WO2019134147A1 publication Critical patent/WO2019134147A1/zh
Priority to US16/569,084 priority patent/US11028967B2/en
Priority to US17/341,333 priority patent/US20210293378A1/en

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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
    • 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
    • F16M11/043—Allowing translations
    • F16M11/048—Allowing translations adapted to forward-backward translation movement
    • 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
    • F16M11/18—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
    • F16M11/2042—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction constituted of several dependent joints
    • F16M11/205—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction constituted of several dependent joints the axis of rotation intersecting in a single point, e.g. 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
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2085—Undercarriages with or without wheels comprising means allowing sideward adjustment, i.e. left-right translation of the head relatively to 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
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/04—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or holding steady relative to, a person, e.g. by chains, e.g. rifle butt or pistol grip supports, supports attached to the chest or head
    • 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
    • G03B17/563—Camera grips, handles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • G05D3/20—Control of position or direction using feedback using a digital comparing device
    • 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
    • F16M2200/041—Balancing means for balancing rotational movement of the head
    • F16M2200/042—Balancing means for balancing rotational movement of the head for panning movement
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
    • G02B7/003—Alignment of optical elements
    • G02B7/005—Motorised alignment
    • 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

Definitions

  • the present application relates to the field of control and, more particularly, to a control method of a handheld pan/tilt and a handheld pan/tilt.
  • the handheld pan/tilt can carry loads for fixed loads, freely adjust the attitude of the load (for example, changing the height, inclination and/or direction of the load), or for the load to remain stable in a determined attitude.
  • the load when it is a shooting device, it can be mounted on a handheld pan/tilt for stable, smooth, multi-angle shooting.
  • the movements taken by the shooting equipment on the handheld gimbal are usually diverse. Therefore, in some scenarios, the user may quickly turn the handheld pan/tilt.
  • the embodiment of the present application provides a control method and device for a handheld cloud platform, and a handheld cloud platform, which can implement following for diverse sports.
  • a method of controlling a handheld pan/tilt comprising: acquiring a first input command; and following a plurality of follow modes for following motion of an input portion or a handheld member of the handheld pan/tilt according to the first input command And selecting a following mode, the following speeds are different between the plurality of following modes; and using the selected following mode, controlling the movement of the handheld head to follow the movement of the input or the hand-held member.
  • a control device including an acquisition unit, a selection unit, and a control unit; wherein the acquisition unit is configured to: acquire a first input instruction; the selection unit is configured to: use the first input instruction according to the first input instruction In a plurality of following modes following the movement of the input portion or the hand-held member of the handheld pan/tilt, a follow-up mode is selected, the following speeds are different between the plurality of follow-up modes; the control unit is configured to: utilize the selected follow-up mode Controlling the movement of the handheld head to follow the movement of the input or hand held member.
  • a handheld pan/tilt head comprising: a stand device, an input portion, a hand-held member, and a processor; the stand device is coupled to the input portion; the hand-held member is coupled to the input portion; the stand device includes: a serial connection At least one rotating shaft assembly, one end of the at least one rotating shaft assembly is connected to the input portion, and the other end is connected to the photographing device, the rotating shaft assembly includes a rotating shaft arm and a motor for driving the rotating shaft arm; and the input portion is configured to: acquire the first An input command; the processor is configured to select a follow mode from the plurality of follow modes for following the movement of the input portion or the handheld member of the handheld pan/tilt according to the first input command acquired by the input portion, the plurality of The following speeds are different between the following modes; with the selected following mode, the motion of the at least one spindle assembly is controlled for following the movement of the input or hand held member.
  • a computer storage medium for storing code for: acquiring a first input instruction; according to the first input instruction, from an input portion or a handheld for following the handheld pan/tilt In a plurality of following modes of movement of the member, selecting a following mode, the following speeds are different between the plurality of following modes; using the selected following mode, controlling the movement of the handheld head to follow the input Or the movement of the hand-held component.
  • a computer program product comprising code for: acquiring a first input instruction; and, according to the first input instruction, from an input portion or a handheld member for following the handheld pan/tilt In the multiple following modes of the motion, selecting a following mode, the following speeds are different between the multiple following modes; using the selected following mode, controlling the motion of the handheld pan/tilt for following the input or The movement of the hand-held component.
  • the following mode is selected from a plurality of following modes for following the movement of the input portion or the handheld member of the handheld pan/tilt, between the multiple following modes
  • the following speed is different; by using the selected following mode, the motion of the handheld pan/tilt is controlled for following the movement of the input portion or the hand-held member, so that a corresponding follow-up mode can be selected for different motions, and thus, follow up with diverse sports.
  • FIG. 1 is a schematic diagram of a handheld pan/tilt in accordance with an embodiment of the present application.
  • FIG. 2 is a schematic diagram of a control method of a handheld pan/tilt according to an embodiment of the present application.
  • FIG. 3 is a schematic diagram of a control method of a handheld pan/tilt according to an embodiment of the present application.
  • FIG. 4 is a schematic block diagram of a control device of a handheld pan/tilt according to an embodiment of the present application.
  • a component when a component is “fixedly connected” or “connected” to another component in the embodiment of the present application, or when one component is “fixed” to another component, it may be directly on another component, or There can be a centered component.
  • the handheld gimbal can carry a load (eg, a photographing device) for fixing the load, changing the height, tilt and/or direction of the load, or for maintaining the load in a stable posture.
  • a load eg, a photographing device
  • the handheld pan/tilt in this embodiment of the present application can also be used to carry other devices that are not camera devices.
  • the handheld cloud platform of the embodiment of the present application may also have other names, such as a load support frame, etc., which is not specifically limited in this embodiment of the present application.
  • the handheld pan/tilt head 100 in the embodiment of the present application will be described below with reference to FIG.
  • FIG. 1 is a schematic flow chart of a handheld cloud platform 100 in accordance with an embodiment of the present application.
  • the handheld head 100 includes a bracket device 110, an input portion 120 coupled to the bracket device 110, and a hand-held member 130 detachably mounted to the input portion 120.
  • the bracket device 110 is coupled to the hand held member 130 through the input portion 120.
  • the rack apparatus 110 includes a pitch axis assembly having a pitch axis motor 113-1 and a pitch axis arm 113-2, having a roll axis motor 112-1 and a roll axis arm 112-2. a roller assembly, a yaw axis assembly having a yaw axis motor 111-1 and a yaw axis arm 111-2, and a fixing assembly 115 directly connected to one side of the pitch axis arm 113-2, A slide assembly including a slider 116 and a support plate 117 on the fixing assembly 115, a lens holder 118 disposed on the support plate 117, and a positioning assembly 114 disposed on the other side of the pitch shaft arm 113-2.
  • the sliding assembly is slidable relative to the fixing assembly 115, and the photographing device is disposed on the sliding assembly.
  • the slider 116 can slide relative to the support plate 117, and the support plate 117 can also slide relative to the fixing assembly 115.
  • the support plate 117 can be locked to the fixing assembly 115.
  • the slide assembly may also include only a support plate 117 slidable relative to the fixed assembly 115, the support plate 117 directly supporting the photographing device.
  • the pitch axis motor 113-1 can drive the movement of the pitch axis arm 113-2
  • the roll axis motor 112-1 can drive the movement of the roll axis arm 112-2
  • the yaw axis motor 111-1 can drive the yaw axis Movement of the arm 112-2.
  • the positioning assembly 114 is rotatable relative to the pitch arm 113-1, and the positioning assembly 114 includes a pivot arm 114a rotatable relative to the pitch arm 113-2 and a rotatable arm 114a slidable and attachable to the photographing device The mating portion 114b is fitted.
  • the photographing device is first fixed on the slider 116, and the position of the sliding assembly and the engaging portion 114b is adjusted, so that the engaging portion 114b can be matched with the positioning portion of the photographing device.
  • the position of the slide assembly on the fixed assembly 150 is locked such that the photographing device is disposed between the positioning assembly 114 and the fixed assembly 115.
  • the lens holder 118 can support the lens of the photographing device, and the sliding of the slider 116 or the support plate 117 in the sliding assembly can be matched with different types of long and short lenses, or can be matched with the elongation and shortening of the lens.
  • the fixed component 115 may be provided with an inertial measurement unit (IMU), for example, at least one of an accelerometer or a gyroscope, which may be used to measure the attitude and acceleration of the photographing device, or the IMU may also be set in the Positioning component 114.
  • IMU inertial measurement unit
  • the stent device 110 may also include only one or two spindle assemblies.
  • the yaw axis assembly is coupled to one end of the roll axis assembly, and the other end of the roll axis assembly is coupled to the pitch axis assembly, the embodiment of the present application is not limited thereto, and the yaw axis assembly, The roll axis assembly and pitch axis assembly can also be connected in other orders.
  • the input unit 120 can be used to input an operation instruction of the user to the handheld platform 100, and the input unit 120 can include a following mode input unit 121 and a control rocker 122.
  • control rocker 122 can control the movement of the rotating shaft assembly, for example, by shifting the control rocker 122 to realize the rotation of the rotating shaft assembly of the handheld head 100 in the corresponding direction.
  • the follow mode input section 121 can select the follow mode mentioned in the embodiment of the present application.
  • the following mode input component 121 may include three indicator lights on the left side and one control button on the right side, wherein the control button is used to select the following mode, and one indicator light may correspond to a following mode, correspondingly following The indicator lights up when the mode is selected.
  • the user can short press the control button on the right to select the normal follow mode. For example, after the handheld pan/tilt 100 is turned on, the user presses the control button on the right side shortly, and the rightmost light is on, indicating that the rightmost key is selected.
  • the corresponding follow mode of the side press the control button once again, the rightmost indicator light is off, the middle indicator light is on, if it is operated again, the middle indicator light is off, and the leftmost indicator light is on.
  • the user can press and hold the rightmost control button.
  • the handheld pan/tilt head 100 can be in the rapid follow mode, the indicator lights are not illuminated, and the handheld pan/tilt head 100 follows when the user no longer presses the button control button. The mode returns to before pressing.
  • the indicator lights up from left to right.
  • the number of the above-mentioned indicator lights is not limited to three, and may be more than three or less than three.
  • buttons there may be no indicator light, and the same number of buttons as the following mode may be set, one button corresponding to one following mode.
  • the same number of keys as the following mode may be set, one button corresponding to one following mode, and an indicator light may be disposed around each button for indicating that the following following mode is selected.
  • follow mode input component 121 may also be located elsewhere in the input portion 120, such as under the control rocker 122, and the like.
  • the input portion 120 may have other components or portions in addition to the follow mode input member 121 and the control rocker 122, for example, a switch or the like that may have the handheld pan/tilt head 100.
  • the input unit 120 is connected to the cradle device 110, wherein an IMU can be provided in the input unit 120, and the IMU can be used to measure the attitude, acceleration, and the like of the input unit.
  • the input unit 120 may be provided with a processor for processing the input control command, or transmitting and receiving signals and the like. Of course, it can also be disposed in the hand-held member 130.
  • the processor may be a central processing unit (CPU), and the processor may also be another general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (application specific integrated Circuit, ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, etc.
  • the general purpose processor may be a microprocessor or the processor or any conventional processor or the like.
  • the processor can communicate with the terminal device, and the user can set the parameters for controlling the handheld cloud platform 100 through an application (APP) on the terminal device.
  • APP application
  • the speed parameter corresponding to the following mode mentioned in the embodiment of the present application can be set.
  • input unit 120 on the input unit 120, other input interfaces such as a display screen may be provided for the user to set the speed parameters corresponding to the respective following modes.
  • other input interfaces such as a display screen may be provided for the user to set the speed parameters corresponding to the respective following modes.
  • the hand-held member 130 is detachably coupled to the input portion 120, and the hand-held member 130 can be a wristband or a handle, etc., and a switch or the like of the handheld head 100 can be disposed on the hand-held member 130. It is also possible to add an IMU to the hand-held member 130, which can be used to measure the posture and acceleration of the hand-held member. A battery for powering the handheld head 100 is disposed in the hand-held member 130. When the hand-held member 130 is mechanically coupled to the input portion 120, it is also electrically connected at the same time.
  • the handheld pan/tilt head 100 has been described above. The following describes how to control the movement of the handheld pan/tilt head 100.
  • the method 200 includes at least some of the following.
  • the processor obtains a first input instruction.
  • the first input command is used to select a follow mode from a plurality of follow modes following the movement of the input portion 120 or the hand-held member 130 of the handheld head 100, and the following speeds are different between the plurality of follow modes .
  • the user can send an instruction to the processor through the input unit 120 (for example, by pressing a button) to notify the handheld cloud platform 100 of the following follow-up mode.
  • the input unit 120 includes at least one control button; the processor may acquire the first input command triggered by at least a portion of the at least one control button.
  • the user can press the rightmost control button in the follow mode input section 121, and the first input command is input by the control button.
  • the input unit 120 includes a number of control buttons equal to the number of the following modes, and the first input command triggered by a control button is used to select a follow mode.
  • a plurality of control buttons may be disposed in the following mode input unit 121 of the handheld pan/tilt head 100 shown in FIG. 1, and each control button corresponds to one following mode.
  • the at least one control button comprises a first control button; the processor selects a second follow mode during the first control button being continuously triggered by the first control button.
  • the second following mode mentioned here may be a fast following mode.
  • the user can continuously press the rightmost control button in the following mode input component 121 in the handheld pan-tilt 100, and during continuous pressing, the control button outputs a first input command to the processor, and the processor controls the handheld pan/tilt 100 enters the rapid follow mode.
  • the handheld pan-tilt head 100 is controlled to return to a state before the first control button continuously triggers the first input instruction.
  • the user can continuously press the rightmost control button in the following mode input component 121 in the handheld pan-tilt 100, and during continuous pressing, the control button outputs a first input command to the processor, and the processor controls the handheld pan/tilt 100 enters the rapid follow mode.
  • the normal follow mode can be entered to follow the movement of the input portion 120 or the hand held member 130 using the normal follow mode.
  • the multiple following modes include a plurality of first following modes; when the first input instruction is an instantaneous instruction triggered by the first control button, selecting from the plurality of first following modes A first follow mode.
  • the first follow mode mentioned here may be a normal follow mode.
  • the one first first mode is selected from the plurality of first following modes in sequence.
  • the input unit 120 includes a plurality of indicator lights, and the plurality of indicator lights are in one-to-one correspondence with the plurality of first following modes.
  • the processor triggers a corresponding The indicator light is on.
  • the follow mode input section 121 in the input section 120 may include three indicator lights corresponding to three normal follow patterns.
  • the user can short press the control button on the right to select the normal follow mode. For example, after the handheld pan/tilt 100 is turned on, the user short presses the control button on the right side, and the rightmost light is on, indicating that the rightmost key is selected.
  • the corresponding follow mode of the side press the control button once again, the rightmost indicator light is off, the middle indicator light is on, if it is operated again, the middle indicator light is off, and the leftmost indicator light is on.
  • different following speeds between the multiple following modes may be understood as: the maximum following speed is different, the average following speed is different, or the minimum following speed is different.
  • the processor selects a follow mode from the plurality of follow modes.
  • the processor controls the motion of the handheld pan-tilt 100 for following the movement of the input portion 120 or the hand-held member 130 using the selected follow-up mode.
  • the processor acquires a second input instruction, and according to the second input instruction, determining, in the selected follow mode, determining a rotating shaft component that the handheld cloud platform 100 needs to move; controlling the need by using the selected following mode Movement of the moving shaft assembly.
  • the user can select whether each of the hinge assemblies are followed by the input unit 120 (assuming that the corresponding control unit is provided in the input unit 120) or the application (APP), including the roll axis component following or not following, the pitch axis component following or Does not follow, the yaw axis component follows or does not follow.
  • the processor can determine the shaft assembly that needs to move and control the motion of the shaft assembly that needs to move.
  • the second input instruction may be for a specific following mode, that is, based on the second input instruction, the rotating shaft component that needs to be followed in a specific following mode may be determined without determining other based on the second input instruction.
  • the shaft assembly that needs to be followed in the following mode may be for a specific following mode, that is, based on the second input instruction, the rotating shaft component that needs to be followed in a specific following mode may be determined without determining other based on the second input instruction.
  • the second input command can be applied to all of the following modes for all of the multiple following modes, that is, based on the second input command, the determined axis component to be followed.
  • the roll axis arm included in the handheld head 100 includes a following mode in which the following speed (which may be the maximum following speed, the average following speed or the minimum following speed, etc.) is maximum or exceeds a certain value in the plurality of following modes. Stay level or not follow.
  • the following speed which may be the maximum following speed, the average following speed or the minimum following speed, etc.
  • the handheld pan/tilt head 100 includes a yaw axis arm that remains Level or not follow.
  • the handheld tilt platform 100 includes the pitch axis arm to maintain the level Or don't follow.
  • the plurality of follow modes includes a first follow mode and a second follow mode.
  • first following mode the motion of the handheld pan-tilt 100 is controlled using the calculated first speed.
  • second following mode the motion of the handheld pan-tilt 100 is controlled using the sum of the calculated first speed and the calculated second speed.
  • control speed of the second following mode may be added to a second speed to achieve a control speed higher than the control speed of the first following mode.
  • the first following mode may be referred to as a normal following mode
  • the second following mode may be referred to as a fast following mode
  • the following describes how to calculate the first speed and the second speed separately.
  • the first speed is determined according to a difference between an actual posture of the photographing device on the handheld head 100 and an actual posture of the input portion 120 or the hand-held member 130.
  • the actual posture of the input unit 120 or the hand-held member 130 is subtracted from the actual posture of the photographing device, and the dead zone is subtracted to obtain an attitude amount that the photographing device needs to adjust; according to the input portion 120 or the handheld
  • the acceleration of the member 130 determines the following dynamic change degree; the amount of the posture that the photographing device needs to adjust, multiplied by the following dynamic change degree, and multiplied by the preset speed coefficient to obtain the first speed.
  • an actual posture of the photographing device may be determined by using an inertial measurement unit (IMU), wherein there is no relative motion between the IMU and the photographing device, and optionally, the IMU may be a positioning component.
  • the IMU set on 114 may also be the IMU set on the fixed component 115.
  • the photographing device posture may be obtained by integrating the gyro and the accelerometer on the IMU provided on the positioning component 114 or the fixing component 115 to obtain the posture of the IMU, since the photographing device is fixed on the fixing component 115 or the positioning component 114. Therefore, the posture of the IMU is equal to the attitude of the shooting device.
  • the actual posture of the input portion 120 or the hand-held member 130 is determined using the IMU of the stationary assembly 115 or the positioning assembly 114 and the motion data of the motor of the handheld platform 100.
  • the processor After the processor obtains the posture through the IMU on the fixed component 115 or the positioning component 114, the processor performs calculation according to the encoder data on the three motor shafts (pitch axis, roll axis, yaw axis) of the handheld pan/tilt head 100, The attitude of the input portion 120 or the hand-held member 130 can be obtained.
  • the processor calculates a difference atti_err between the actual posture of the photographing device and the actual posture of the input portion 120 or the hand-held member 130; and subtracts the dead zone dead_band by the posture difference atti_err to obtain a following error (or called an attitude error) follow_err;
  • the following speed coefficient speed_coef can be obtained by multiplying the acceleration coefficient follow_acc_coef by the following error follow_err; wherein the IMU in the input portion 120 or the hand-held member 130 can output the angular velocity omega_base of the input portion 120 or the hand-held member 130, on the fixed component 115 or the positioning component 114
  • the IMU can output the angular velocity omega_camera of the shooting device.
  • the handheld pan/tilt 100 can follow the speed coefficient speed_coef and can also multiply by the dynamic change speed_dynamic_coef if the angular velocity omega_base of the input unit 120 or the hand-held member 130 suddenly decreases, but the angular velocity omega_camera of the imaging device does not change, and the following dynamic change speed_dynamic_coef of the handheld pan-tilt 100 also does not change, preventing the following speed of the handheld pan-tilt 100 from abruptly changing.
  • the following error follow_err can be multiplied by the following speed coefficient speed_coef, and multiplied by the following dynamic speed degree_dynamic_coef to obtain the following speed follow_speed; the following speed follow_speed is integrated and superimposed on the target pose of the handheld head 100.
  • the dead zone used to calculate the first speed in the second follow mode is less than the dead zone used to calculate the first speed in the first follow mode.
  • the first speed of the second following mode can be realized to be large.
  • the following dynamic change degree used in calculating the first speed in the second following mode is greater than the following dynamic change degree used in calculating the first speed in the first follow mode.
  • the first speed of the second following mode can be realized to be large.
  • the speed coefficient used to calculate the first speed in the second following mode is greater than the speed coefficient used to calculate the first speed in the first following mode.
  • the first speed of the second following mode can be made larger.
  • the second speed is determined according to a difference between a current target posture and a previous target posture in the control process of the handheld platform 100.
  • the attitude difference between the current target pose of the photographing device and the previous target pose during the control process dividing the pose difference by the length of the control time slice to obtain the second speed.
  • the rotational speed is determined by the difference between the target attitude and the actual posture, since the above dead zone is set larger in the following mode, and/or If the dynamic change degree and/or the speed coefficient are set to be large, the attitude error of the handheld pan-tilt head 100 may be small, and a large follow-up speed may not be obtained, so that the difference between the target pose and the actual pose may be derived before the difference between the target pose and the actual pose may be derived.
  • the target rotational speed of the handheld pan-tilt 100 is calculated and then superimposed on the target speed of the feedback control of the handheld pan-tilt 100.
  • the second speed of the handheld pan/tilt head 100 can be obtained.
  • the second speed generated by the attitude control closed loop plus the first speed can be brought into the speed loop feedback control speed.
  • control of the motion of the handheld pan-tilt 100 by the processor may be controlled in units of time slices. Calculating the amount of motion of each time slice handheld pan/tilt head 100 may be equivalent to determining the speed of movement of the handheld pan/tilt head 100.
  • the ⁇ state quantity that the shooting device needs to adjust may be calculated in real time (where the real attitude of the input part 120 or the hand-held component 130 and the real-time posture of the photographing device can be obtained in real time), and / The angular velocity of the input portion 120 or the hand-held member 130 and the angular velocity of the photographing device are calculated in real time, wherein the real-time is that the pointer is calculated once for each time slice, and the different time slices may not be the same.
  • the first following mode and the second following mode may all be obtained by calculating the first speed without adding the second speed, the difference being different follow mode, corresponding dead zone, following The dynamic degree of change and / or speed coefficient are different.
  • the processor acquires a third input instruction, and preset, on the handheld pan/tilt head 100, a follow-up speed for determining the multiple following modes based on the third input instruction. parameter.
  • the user can set the following speed through the APP, and specifically set parameters for determining the following speed of the multiple following modes, for example, at least one of the aforementioned dead zone, following dynamic change degree, and speed coefficient can be set.
  • at least one of a dead zone, a following dynamic change degree, and a speed coefficient may be separately set for each following mode.
  • the user can separately set parameters for each following mode.
  • the processor can identify the length of time the user presses the control button, whether to continue pressing, and the previous following mode to determine the current following mode. And the parameter of the following mode is called to calculate the following speed in the following mode.
  • the plurality of following modes may respectively correspond to different users, or may be set by the same user.
  • the handheld cloud platform 100 is pre-set with a plurality of sets of parameters, each set of parameters can be used to determine a following speed of the multiple following modes; the processor acquires a fourth input instruction; based on the fourth input An instruction to select a set of parameters from the plurality of sets of parameters for calculating a follow speed of the plurality of follow modes.
  • the user can set multiple sets of parameters through the APP, each set of parameters can be used to determine the following speed of the multiple follow modes, the user can select a set of parameters for a specific scenario, or different users can respectively pass the APP.
  • a set of parameters is set, and the user can select a set of parameters set by himself when operating the handheld pan/tilt head 100.
  • the target posture of the photographing device can be obtained based on the posture of the input portion 120 or the hand-held member 130 and/or the control data input by the user through the input portion 120; the integrator can perform the angular velocity of the gyroscope output in the IMU.
  • the main control board gives a target posture of the photographing device
  • the processor performs feedback control according to the target posture of the photographing device and the actual posture of the photographing device, thereby reducing the deviation between the actual posture and the target posture, so that the actual posture of the photographing device is equal to the target posture.
  • the smooth movement of the handheld pan/tilt head 100 can be controlled, and the smoothing of the handheld pan-tilt head 100 is a mode in which the target posture of the photographing device follows the input unit 120 or the hand-held member 130 to smoothly rotate.
  • the rapid motion following mode of the embodiment of the present application can adapt to the shooting of the rapid motion lens scene, and can enable the shooting device to completely follow the movement on the input portion 120 or the hand-held member 130 while maintaining the stabilization effect, and has the stability.
  • the function makes the picture taken very sporty.
  • the shooting device can maintain the stability effect while maintaining the Roll axis level function, so that the captured picture is positive.
  • the captured picture can isolate high-frequency jitter and has a stabilizing effect.
  • FIG. 4 is a schematic block diagram of a control device 300 in accordance with an embodiment of the present application.
  • the control device 300 includes an acquisition unit 310, a selection unit 320, and a control unit 330.
  • the obtaining unit 310 is configured to: acquire a first input instruction; the selecting unit 320 is configured to: according to the first input instruction, multiple following modes from a motion for following an input portion or a handheld member of the handheld pan/tilt Selecting a follow mode, the following speeds are different between the plurality of follow modes; the control unit 330 is configured to: control the motion of the handheld pan/tilt by using the selected follow mode, for following The movement of the input or hand held member.
  • the obtaining unit 310 is further configured to: acquire a second input instruction; the control unit 330 is further configured to: determine, according to the second input instruction, that the handheld pan/tilt is determined in the selected follow mode A rotating shaft assembly requiring movement; controlling the movement of the rotating shaft assembly requiring movement using the selected following pattern.
  • the roll axis arm included in the handheld pan/tilt remains horizontal.
  • the plurality of following modes include a first following mode and a second following mode; in the first following mode, controlling the motion of the handheld pan/tilt using the calculated first speed; In the second following mode, the motion of the handheld pan/tilt is controlled by using the sum of the calculated first speed and the calculated second speed; wherein the first speed is according to a photographing device on the handheld pan/tilt The difference between the actual posture and the actual posture of the input portion or the hand-held member is determined; the second speed is determined according to the difference between the current target posture and the previous target posture in the control process of the handheld pan-tilt .
  • control unit 330 is specifically configured to: subtract an actual posture of the input unit or the handheld component from an actual posture of the photographing device, and subtract a dead zone to obtain an adjustment required by the photographing device.
  • An attitude amount determining a following dynamic degree of change according to an acceleration of the input portion or the hand-held member; multiplying the amount of the posture that the photographing device needs to adjust by the following dynamic change degree, and multiplying by the preset speed coefficient to obtain The first speed.
  • calculating the dead zone used in the first speed in the second following mode is smaller than the dead zone used in calculating the first speed in the first following mode; and /or,
  • the following dynamic change degree used to calculate the first speed in the second following mode is greater than the following dynamic change degree used in calculating the first speed in the first follow mode; and /or,
  • the speed coefficient used to calculate the first speed in the second following mode is greater than the speed coefficient used to calculate the first speed in the first following mode.
  • control unit 330 is specifically configured to: determine, by using an inertial measurement unit IMU, an actual posture of the photographing device, wherein there is no relative motion between the IMU and the photographing device; using the IMU and The motion data of the motor of the handheld pan/tilt determines the actual posture of the input portion or the hand-held member.
  • IMU inertial measurement unit
  • control unit 330 is specifically configured to: according to the posture difference between the current target posture of the photographing device and the previous target posture in the control process; dividing the posture difference by the control time The length of the slice to obtain the second velocity.
  • control device 300 can implement various operations implemented by the processor in the method 200, and details are not described herein for brevity.
  • Embodiments of the present application provide a handheld pan/tilt head, a bracket device, an input portion, a hand-held member, and a processor; the bracket device is coupled to the input portion; the hand-held member is coupled to the input portion; the bracket device
  • the method includes: at least one rotating shaft assembly connected in series, one end of the at least one rotating shaft assembly is connected to the input portion, and the other end is connected to a photographing device, and the rotating shaft assembly includes a rotating shaft arm and a motor for driving the rotating arm
  • the input unit is configured to: acquire a first input instruction; the processor is configured to: according to the first input instruction acquired by the input unit, from a plurality of movements for following an input portion or a hand-held member of the handheld pan/tilt In the following mode, the following mode is selected, the following speeds are different between the plurality of following modes; the selected following mode is used to control the movement of the at least one rotating shaft assembly for following the input or handheld member exercise.
  • the input part is further configured to: acquire a second input instruction; the processor is further configured to: determine, according to the second input instruction acquired by the input part, that the handheld pan/tilt is needed in the selected follow mode A moving hinge assembly that controls the movement of the shaft assembly requiring motion using the selected follow mode.
  • the roll axis arm included in the handheld pan/tilt remains horizontal.
  • the multiple following modes include a first following mode and a second following mode; in the first following mode, the motion of the handheld pan/tilt is controlled by using the calculated first speed; in the second following mode And controlling the motion of the handheld pan/tilt by using the sum of the calculated first speed and the calculated second speed; wherein the first speed is according to an actual posture of the photographing device on the handheld pan/tilt and the input portion Or the difference between the actual postures of the hand-held members is determined; the second speed is determined according to the difference between the current target posture and the previous target posture in the control process of the handheld pan-tilt.
  • the processor is further configured to: subtract the actual posture of the input device or the hand-held member from the actual posture of the photographing device, and subtract the dead zone to obtain an attitude amount that the photographing device needs to adjust;
  • the acceleration of the input portion or the hand-held member determines the following dynamic change degree; the amount of the posture that the photographing device needs to adjust, multiplied by the following dynamic change degree, and multiplied by the preset speed coefficient to obtain the first speed.
  • calculating the dead zone used in the second speed in the second following mode is smaller than the dead zone used in calculating the first speed in the first following mode;
  • the following dynamic change degree used to calculate the first speed in the second following mode is greater than the following dynamic change degree used in calculating the first speed in the first follow mode;
  • the speed coefficient used to calculate the first speed in the second following mode is greater than the speed coefficient used to calculate the first speed in the first following mode.
  • the handheld cloud platform is further provided with an inertial measurement unit IMU; the processor is further configured to: determine, by using the IMU, an actual posture of the photographing device, wherein there is no relative between the first IMU and the photographing device Movement; determining the actual posture of the input portion or the hand-held member using the IMU and the motion data of the motor of the handheld pan/tilt.
  • IMU inertial measurement unit
  • the processor is further configured to: according to the posture difference between the current target posture of the photographing device and the previous target posture during the control process;
  • the posture difference is divided by the length of the control time slice to obtain the second speed.
  • the processor is further configured to:
  • a parameter for calculating a following speed of the plurality of following modes is preset based on the third input instruction.
  • the preset parameter includes at least one of the following parameters for calculating the following speed: dead zone, following dynamic degree of change, and speed coefficient.
  • the handheld pan/tilt is pre-set with a plurality of sets of parameters, each set of parameters can be used to calculate a following speed of the multiple following modes; the processor is further configured to:
  • a set of parameters is selected from the plurality of sets of parameters for calculating a follow speed of the plurality of follow modes.
  • the input portion includes at least one control button
  • the processor is specifically used to:
  • the input unit includes a number of control buttons equal to the number of the following modes, and the first input command triggered by a control button is used to select a follow mode.
  • the at least one control button comprises a first control button
  • the processor is specifically used to:
  • the handheld pan/tilt is controlled to return to a state before the first control button continues to trigger the first input command.
  • the multiple following modes include multiple first following modes
  • the processor is further used to:
  • a first follow mode is selected from the plurality of first follow modes.
  • the processor is further configured to:
  • the one first first mode is selected from the plurality of first following modes in sequence.
  • the input unit includes a plurality of indicator lights, and the plurality of indicator lights are in one-to-one correspondence with the plurality of first following modes; the processor is further configured to:
  • the corresponding indicator light is illuminated.
  • the bracket device comprises a positioning component, a fixing component and a sliding component
  • the positioning component is disposed on one side of a rotating shaft arm
  • the fixing component is disposed on the other side of the one rotating shaft arm;
  • the sliding assembly is disposed on the fixing assembly and slidable relative to the fixing assembly;
  • the slide assembly and the positioning assembly are used to fix a photographing device.
  • the positioning assembly includes a rotating arm rotatable relative to the one pivot arm, and a mating portion slidable relative to the rotating arm and engageable with the photographing device.
  • the sliding assembly comprises a support plate
  • the support plate is disposed on the fixing assembly, and the support plate is slidable relative to the fixing assembly.
  • the sliding assembly further includes a slider, the slider is slidable relative to the support plate, and the photographing device is disposed on the slider.
  • one end of the support plate is provided with a lens holder for supporting the lens of the photographing device.
  • the one pivot arm for connecting the fixing component and the positioning component is a pitch axis arm.
  • FIG. 1 the structure of the handheld cloud platform can be specifically referred to FIG. 1 , and details are not described herein for brevity.
  • processor in the handheld cloud platform can implement corresponding operations in the method 200, and for brevity, no further details are provided herein.

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Abstract

一种手持云台的控制方法和设备及手持云台，能够实现多样化运动的跟随。该方法包括：获取第一输入指令；根据所述第一输入指令，从用于跟随所述手持云台的输入部或手持构件的运动的多种跟随模式中，选择一种跟随模式，所述多种跟随模式之间的跟随速度不同；利用选择的所述跟随模式，控制所述手持云台的运动，以用于跟随所述输入部或手持构件的运动。

Description

手持云台的控制方法和手持云台
版权申明
本专利文件披露的内容包含受版权保护的材料。该版权为版权所有人所有。版权所有人不反对任何人复制专利与商标局的官方记录和档案中所存在的该专利文件或者该专利披露。
技术领域
本申请涉及控制领域，并且更具体地，涉及一种手持云台的控制方法和手持云台。
背景技术
手持云台上可以搭载负载，用于负载的固定，随意调节负载的姿态(例如，改变负载的高度、倾角和/或方向)，或者用于负载稳定保持在确定的姿态上。例如，在负载为拍摄设备时，其搭载在手持云台上可以实现稳定、流畅且多角度拍摄。
手持云台上的拍摄设备拍摄的运动通常是多样化的。因此，在一些场景下，用户可能会急速转动手持云台。
如何控制手持云台的运动，可以实现对多样化运动的跟踪是一项亟待解决的问题。
发明内容
本申请实施例提供一种手持云台的控制方法和设备，以及手持云台，能够实现对多样化运动的跟随。
一方面，提供了一种手持云台的控制方法，包括：获取第一输入指令；根据该第一输入指令，从用于跟随该手持云台的输入部或手持构件的运动的多种跟随模式中，选择一种跟随模式，该多种跟随模式之间的跟随速度不同；利用选择的该跟随模式，控制该手持云台的运动，以用于跟随该输入部或手持构件的运动。
另一方面，提供了一种控制设备，包括获取单元、选择单元和控制单元；其中，该获取单元用于：获取第一输入指令；该选择单元用于：根据该第一输入指令，从用于跟随手持云台的输入部或手持构件的运动的多种跟随模 式中，选择一种跟随模式，该多种跟随模式之间的跟随速度不同；该控制单元用于：利用选择的该跟随模式，控制该手持云台的运动，以用于跟随该输入部或手持构件的运动。
另一方面，提供了一种手持云台，包括：支架设备、输入部、手持构件以及处理器；该支架设备与该输入部连接；该手持构件与输入部连接；该支架设备包括：串联连接的至少一个转轴组件，该至少一个转轴组件的一端连接与该输入部，另一端连接于拍摄设备，该转轴组件包括转轴臂和用于带动该转轴臂运动的电机；输入部用于：获取第一输入指令；处理器用于：根据该输入部获取的该第一输入指令，从用于跟随该手持云台的输入部或手持构件的运动的多种跟随模式中，选择跟随模式，该多种跟随模式之间的跟随速度不同；利用选择的该跟随模式，控制该至少一个转轴组件的运动，以用于跟随该输入部或手持构件的运动。
另一方面，提供了一种计算机存储介质，该介质用于存储代码，该代码用于：获取第一输入指令；根据该第一输入指令，从用于跟随该手持云台的输入部或手持构件的运动的多种跟随模式中，选择一种跟随模式，该多种跟随模式之间的跟随速度不同；利用选择的该跟随模式，控制该手持云台的运动，以用于跟随该输入部或手持构件的运动。
另一方面，提供了一种计算机程序产品，该程序产品包括代码，该代码用于：获取第一输入指令；根据该第一输入指令，从用于跟随该手持云台的输入部或手持构件的运动的多种跟随模式中，选择一种跟随模式，该多种跟随模式之间的跟随速度不同；利用选择的该跟随模式，控制该手持云台的运动，以用于跟随该输入部或手持构件的运动。
因此，在本申请实施例中，根据该第一输入指令，从用于跟随手持云台的输入部或手持构件的运动的多种跟随模式中，选择跟随模式，该多种跟随模式之间的跟随速度不同；利用选择的该跟随模式，控制该手持云台的运动，以用于跟随该输入部或手持构件的运动，可以实现针对不同的运动，选择相应的跟随模式，因此，可以实现对多样化运动的跟随。
附图说明
为了更清楚地说明本申请实施例的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图 仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是根据本申请实施例的手持云台的示意性图。
图2是根据本申请实施例的手持云台的控制方法的示意性图。
图3是根据本申请实施例的手持云台的控制方法的示意性图。
图4是根据本申请实施例的手持云台的控制设备的示意性框图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
需要说明的是，本申请实施例中当一组件与另一组件“固定连接”或“连接”，或者，一组件“固定于”另一组件时，它可以直接在另一组件上，或者也可以存在居中的组件。
除非另有说明，本申请实施例所使用的所有技术和科学术语与本申请的技术领域的技术人员通常理解的含义相同。本申请中所使用的术语只是为了描述具体的实施例的目的，不是旨在限制本申请的范围。本申请所使用的术语“和/或”包括一个或多个相关的所列项的任意的和所有的组合。
手持云台上可以承载负载(例如，拍摄设备)，用于负载的固定，改变负载的高度、倾角和/或方向，或者用于负载稳定保持在确定的姿态上。
本申请实施例的手持云台也可以用于承载非拍摄设备的其它设备。本申请实施例的手持云台也可以是具有其它的名字，例如，负载支持架等，本申请实施例对此不作具体限定。
以下将结合图1，对本申请实施例中的手持云台100进行说明。
图1是根据本申请实施例的手持云台100的示意性流程图。如图1所示，该手持云台100包括支架设备110、与所述支架设备110连接的输入部120、可拆卸地安装于所述输入部120的手持构件130。所述支架设备110通过所述输入部120连接于手持构件130。
所述支架设备110包括：具有俯仰(pitch)轴电机113-1和俯仰轴臂113-2的俯仰轴组件，具有横滚(roll)轴电机112-1和横滚轴臂112-2的横滚轴组 件，具有偏航(yaw)轴电机111-1和偏航轴臂111-2的偏航轴组件、以及直接连接在了俯仰轴臂113-2的一侧的固定组件115、设置于固定组件115上的包括滑块116和支撑板117的滑动组件，设置于支撑板117上的镜头支架118，以及设置在俯仰轴臂113-2的另一侧的定位组件114。其中，所述滑动组件可相对固定组件115滑动，所述拍摄设备设置于所述滑动组件上。具体地，本实施例中，所述滑块116可相对支撑板117滑动，所述支撑板117也可相对所述固定组件115滑动。所述支撑板117可锁定于所述固定组件115。在其它实施例中，所述滑动组件也可只包括可相对所述固定组件115滑动的支撑板117，所述支撑板117直接支撑所述拍摄设备。
其中，俯仰轴电机113-1可以带动俯仰轴臂113-2的运动，横滚轴电机112-1可以带动横滚轴臂112-2的运动，偏航轴电机111-1可以带动偏航轴臂112-2的运动。
所述定位组件114可相对俯仰轴臂113-2转动，所述定位组件114包括一可相对俯仰轴臂113-2转动的转动臂114a以及一可相对转动臂114a滑动且可与所述拍摄设备配合的配合部114b。
使用时，先将拍摄设备固定在所述滑块116上，调节所述滑动组件和所述配合部114b的位置，以使所述配合部114b能与所述拍摄设备的定位部相配合后，锁定滑动组件在所述固定组件150上的位置，以使所述拍摄设备设置于定位组件114和固定组件115之间。镜头支架118可以支撑拍摄设备的镜头，滑动组件中的滑块116或支撑板117的滑动可以配合不同类型的长短镜头，或者配合镜头的拉长与缩短。
固定组件115内可以设置有惯性测量单元(Inertial measurement unit，IMU)，例如，加速度计或陀螺仪中的至少一种，可以用于测量拍摄设备的姿态和加速度等，或者，IMU也可以设置在定位组件114中。
应理解，支架设备110也可以只包括一个或两个转轴组件。另外，虽然图1中所示，偏航轴组件连接于横滚轴组件的一端，横滚轴组件的另一端连接于俯仰轴组件，但是本申请实施例并不限于此，偏航轴组件、横滚轴组件和俯仰轴组件也可以以其它顺序进行连接。
所述输入部120可以用于输入用户对手持云台100的操作指令，该输入部120可以包括跟随模式输入部件121和控制摇杆122。
其中，控制摇杆122可以控制转轴组件的运动，例如，通过拨动控制摇 杆122，实现手持云台100的转轴组件在对应方向的转动。
跟随模式输入部件121可以选择本申请实施例提到的跟随模式。
具体地，该跟随模式输入部件121可以包括左侧的三个指示灯，以及右侧的一个控制按键，其中，控制按键用于选择跟随模式，一个指示灯可以对应一个跟随模式，在对应的跟随模式被选择时，指示灯亮起。
其中，用户可以短按右侧的控制按键来选择普通跟随模式，例如，在手持云台100开启之后，用户短按一次右侧的控制按键，则最右侧的灯亮起，表明选择了最右侧对应的跟随模式，再次短按一次控制按键，最右侧的指示灯灭，中间的指示灯亮起，如果再次操作，则中间的指示灯灭掉，最左侧的指示灯亮起。
用户可以长按最右侧的控制按键，在用户的持续按压期间，手持云台100可以处于急速跟随模式，指示灯均不亮，并在用户不再按键控制按键时，手持云台100的跟随模式回到持续按压之前。
应理解，本申请实施例的跟随模式的选择方式并不限于上述方式。
例如，用户依次短按控制按键时，指示灯从左到右亮起。
以及，上述的指示灯的数量也不限于三个，可以多于三个，也可以少于三个。
或者，在跟随模式输入部件121处，可以没有指示灯，可以设置与跟随模式的数量相同的按键，一个按键对应一个跟随模式。
或者，在跟随模式输入部件121处，可以设置与跟随模式的数量相同的按键，一个按键对应一个跟随模式，每个按键周围可以设置一个指示灯，用于指示该按键对应的跟随模式被选择。
应理解，跟随模式输入部件121也可以位于输入部120的其他部分，例如，控制摇杆122的下方等。
还应理解，输入部120除了可以包括跟随模式输入部件121以及控制摇杆122之外，还可以具有其他部件或者部分，例如，可以具有手持云台100的开关等。
输入部120连接于支架设备110，其中，可以在该输入部120中设置IMU，该IMU可以用于测量输入部的姿态，加速度等。
输入部120可以设置处理器，用于对输入的控制指令进行处理，或者收发信号等。当然，也可以设置于手持构件130中。
可选地，该处理器可以是中央处理单元(Central Processing Unit，CPU)，该处理器还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(application specific integrated circuit，ASIC)、现成可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
处理器可以与终端设备进行通信，用户可以通过终端设备上的应用(APP)设置对手持云台100进行控制的参数，例如，可以设置本申请实施例提到的跟随模式对应的速度参数。
或者，在输入部120上，也可以设置显示屏等其他输入接口，用于用户设置各个跟随模式对应的速度参数。
手持构件130可拆卸地连接于输入部120，手持构件130可以是手环或者手柄等，手持构件130上可以设置手持云台100的开关等。也可以在手持构件130加装IMU，可以用于测量手持构件的姿态和加速等。所述手持构件130内设置有为所述手持云台100供电的电池。当所述手持构件130与所述输入部120相机械连接时也同时电性连接。
以上已对手持云台100进行了介绍，以下将介绍如何对手持云台100的运动进行控制。
图2是根据本申请实施例的手持云台100的控制方法200的示意性流程图。该方法200包括以下内容中的至少部分内容。
在210中，处理器获取第一输入指令。
其中，该第一输入指令用于从跟随该手持云台100的输入部120或手持构件130的运动的多种跟随模式中，选择一种跟随模式，该多种跟随模式之间的跟随速度不同。
具体地，用户可以通过输入部120(例如，通过按键按压的方式)，发送指令给处理器，通知手持云台100需要进入的跟随模式。
可选地，所述输入部120包括至少一个控制按键；处理器可以获取由所述至少一个控制按键中的至少部分按键触发的所述第一输入指令。
例如，对于如图1所示的手持云台100，用户可以按压跟随模式输入部件121中最右侧的控制按键，由该控制按键输入第一输入指令。
可选地，所述输入部120包括的控制按键的数量等于所述跟随模式的数 量，一个控制按键触发的所述第一输入指令用于选择一个跟随模式。
具体地，可以在图1所示的手持云台100的跟随模式输入部件121中设置多个控制按键(代替图1所示的一个控制按键和多个指示灯)，每个控制按键对应一个跟随模式。
可选地，所述至少一个控制按键包括第一控制按键；所述处理器在所述第一控制按键持续触发所述第一输入指令期间，选择第二跟随模式。此处提到的第二跟随模式可以是急速跟随模式。
具体地，用户可以持续按压手持云台100中的跟随模式输入部件121中的最右侧的控制按键，并在持续按压期间，控制按键向处理器输出第一输入指令，处理器控制手持云台100进入急速跟随模式。
可选地，在所述第一控制按键持续触发所述第一输入指令结束时，控制所述手持云台100回到所述第一控制按键持续触发所述第一输入指令之前的状态。
具体地，用户可以持续按压手持云台100中的跟随模式输入部件121中的最右侧的控制按键，并在持续按压期间，控制按键向处理器输出第一输入指令，处理器控制手持云台100进入急速跟随模式。在用户松开该控制按键时，可以进入普通跟随模式，利用普通跟随模式，跟随输入部120或手持构件130的运动。
当然，如果在急速跟随模式之前，是不跟随的状态，也可以回到不跟随的状态，或者，可以选择一个普通跟随模式进行跟随。
可选地，所述多个跟随模式包括多个第一跟随模式；在所述第一输入指令是所述第一控制按键触发的瞬时指令时，从所述多个第一跟随模式中，选择一个第一跟随模式。此处提到的第一跟随模式可以是普通跟随模式。
可选地，按序从所述多个第一跟随模式中，选择所述一个第一跟随模式。
可选地，所述输入部120包括多个指示灯，所述多个指示灯与所述多个第一跟随模式一一对应；处理器在一个所述第一跟随模式被选择时，触发对应的指示灯亮起。
具体地，如图1所示，输入部120中的跟随模式输入部件121可以包括三个指示灯，对应三个普通跟随模式。
其中，用户可以短按右侧的控制按键来选择普通跟随模式，例如，在手持云台100开启之后，用户短按一次右侧的控制按键，则最右侧的灯亮起， 表明选择了最右侧对应的跟随模式，再次短按一次控制按键，最右侧的指示灯灭，中间的指示灯亮起，如果再次操作，则中间的指示灯灭掉，最左侧的指示灯亮起。
应理解，本申请实施例中，通过控制按键输入用于手持云台100选择跟随模式的方式还可以有其他实现方式，本申请实施例对此不作具体限定。
可选地，在本申请实施例中，多种跟随模式之间的跟随速度不同可以理解为：最大的跟随速度不同，平均跟随速度不同或者最小跟随速度不同等。
可选地，在本申请实施例中，不进行跟随可以不认为是一种跟随模式。
在220中，根据该第一输入指令，处理器从该多种跟随模式中，选择一种跟随模式。
在230中，处理器利用选择的该跟随模式，控制该手持云台100的运动，以用于跟随该输入部120或手持构件130的运动。
可选地，处理器获取第二输入指令；根据该第二输入指令，确定在选择的该跟随模式下，确定该手持云台100需要运动的转轴组件；利用选择的该跟随模式，控制该需要运动的转轴组件的运动。
具体地，用户可以通过输入部120(假设输入部120中设置有相应的控制部件)或者应用(APP)选择各个转轴组件是否跟随，其中包括横滚轴组件跟随或不跟随、俯仰轴组件跟随或不跟随、偏航轴轴组件跟随或不跟随。由此，处理器在获取到用户输入的指令之后，可以确定需要运动的转轴组件，并控制需要运动的转轴组件的运动。
其中，第二输入指令可以是针对特定的跟随模式的，也就是说，基于该第二输入指令，可以确定特定的跟随模式下需要跟随的转轴组件，而无需基于该第二输入指令，确定其他的跟随模式下需要跟随的转轴组件。
或者，第二输入指令可以针对所有的多个跟随模式，也就是说，基于第二输入指令，确定的需要跟随的转轴组件适用于所有的跟随模式。
可选地，在该多种跟随模式中跟随速度(可以是最大跟随速度，平均跟随速度或最小跟随速度等)最大或超过特定值的跟随模式下，该手持云台100包括的横滚轴臂保持水平或不跟随。
可选地，在该多种跟随模式中跟随速度(可以是最大跟随速度，平均跟随速度或最小跟随速度)最大或超过特定值的跟随模式下，该手持云台100包括的偏航轴臂保持水平或不跟随。
可选地，在该多种跟随模式中跟随速度(可以是最大跟随速度，平均跟随速度或最小跟随速度)最大或超过特定值的跟随模式下，该手持云台100包括的俯仰轴臂保持水平或不跟随。
可选地，该多种跟随模式包括第一跟随模式和第二跟随模式。其中，在该第一跟随模式下，利用计算的第一速度对该手持云台100的运动进行控制。在该第二跟随模式下，利用计算的第一速度和计算的第二速度之和，对该手持云台100的运动进行控制。
也就是，相比于第一跟随模式，第二跟随模式的控制速度可以加上一个第二速度，来实现控制速度高于第一跟随模式的控制速度。
其中，可以将第一跟随模式称之为普通跟随模式，将第二跟随模式称之为急速跟随模式。
以下将分别介绍如何进行第一速度和第二速度的计算。
可选地，该第一速度是根据该手持云台100上的拍摄设备的实际姿态与该输入部120或手持构件130的实际姿态之差确定的。
可选地，将该输入部120或手持构件130的实际姿态，减去该拍摄设备的实际姿态，以及减去死区，以得到该拍摄设备需要调整的姿态量；根据该输入部120或手持构件130的加速度，确定跟随动态变化度；将该拍摄设备需要调整的姿态量，乘以该跟随动态变化度，以及乘以预设的速度系数，得到该第一速度。
可选地，可以利用惯性测量单元(Inertial measurement unit，IMU)，确定该拍摄设备的实际姿态，其中，该IMU与该拍摄设备之间不存在相对运动，可选地，该IMU可以是定位组件114上设置的IMU，也可以是固定组件115上设置的IMU。
具体地，拍摄设备姿态可以是根据定位组件114或固定组件115上设置的IMU上的陀螺仪和加速度计进行积分修正获得IMU的姿态，由于拍摄设备是固定在固定组件115或定位组件114上的，因此该IMU的姿态就等于拍摄设备的姿态。
可选地，利用固定组件115或定位组件114上的IMU以及该手持云台100的电机的运动数据，确定该输入部120或手持构件130的实际姿态。
具体地，处理器在通过固定组件115或定位组件114上的IMU获得姿态后，再根据手持云台100的三个电机轴(pitch轴、roll轴、yaw轴)上的 编码器数据进行计算，便可以获得输入部120或手持构件130姿态。
具体地，处理器计算拍摄设备实际姿态与输入部120或手持构件130的实际姿态之间的差atti_err；用姿态差atti_err减去死区dead_band后获得跟随误差(或称为姿态误差)follow_err；处理器使用加速度系数follow_acc_coef乘以跟随误差follow_err可以获得跟随速度系数speed_coef；其中，输入部120或手持构件130中的IMU可以输出输入部120或手持构件130的角速度omega_base，固定组件115或定位组件114上的IMU可以输出拍摄设备角速度omega_camera，如果输入部120或手持构件130角速度omega_base突然变大，远远大于拍摄设备omega_camera，那么手持云台100跟随速度系数speed_coef还可以乘以跟随动态变化度speed_dynamic_coef，如果输入部120或手持构件130角速度omega_base突然减小，但是拍摄设备角速度omega_camera不变，那么手持云台100的跟随动态变化度speed_dynamic_coef也不变，防止手持云台100的跟随速度突变。可以将跟随误差follow_err乘以跟随速度系数speed_coef，再乘以跟随动态变化度speed_dynamic_coef，就可以得到跟随速度follow_speed；将跟随速度follow_speed进行积分并叠加到手持云台100的目标姿态上去。
可选地，在该第二跟随模式下计算该第一速度所采用的该死区，小于在该第一跟随模式下计算该第一速度所采用的该死区。
其中，相比于第一跟随模式，在第二跟随模式下，由于死区较小，根据以上的计算方式，可以实现第二跟随模式的第一速度较大。
可选地，在该第二跟随模式下计算该第一速度所采用的该跟随动态变化度，大于在该第一跟随模式下计算该第一速度所采用的该跟随动态变化度。
其中，相比于第一跟随模式，在第二跟随模式下，由于跟随动态变化度较大，根据以上的计算方式，可以实现第二跟随模式的第一速度较大。
可选地，在该第二跟随模式下计算该第一速度所采用的该速度系数，大于在该第一跟随模式下计算该第一速度所采用的该速度系数。
其中，相比于第一跟随模式，在第二跟随模式下，由于速度系数较大，根据以上的计算方式，可以实现第二跟随模式的第一速度较大。
可选地，该第二速度是根据该手持云台100的控制过程中当前次的目标姿态与前一次的目标姿态之差确定的。
可选地，根据在控制过程中，该拍摄设备的当前次的目标姿态与前次的 目标姿态之间的姿态差；将该姿态差除以控制时间片的长度，以获取该第二速度。
具体地，由于手持云台100的控制是有差控制，转动速度是由目标姿态与实际姿态之间的差决定的，由于在跟随模式下，将以上的死区设置的较大，和/或将跟随动态变化度和/或速度系数设置的较大，会导致手持云台100的姿态误差较小，可能会不能获得较大的跟随速度，因此可以在推算出目标姿态和实际姿态的差之前将手持云台100的目标转动速度计算出来，然后叠加到手持云台100反馈控制的目标速度上去。
具体地，可以计算本次目标姿态与上一次目标姿态之间的差；计算本次目标姿态与上一次目标姿态之间更新的时间；根据速度＝位置/时间的原理，使用目标姿态差除以姿态更新时间，便可以获得手持云台100的第二速度。可以将由姿态控制闭环产生的第二速度加上第一速度带入速度环反馈控制速度里面去。
应理解，在本申请实施例中，处理器对手持云台100的运动的控制，可以是以时间片为单位进行控制的。计算每个时间片手持云台100的运动量可以相当于确定手持云台100的运动速度。
可选地，在每个时间片中，可以实时计算拍摄设备需要调整的姿态量(其中，可以通过实时得到输入部120或手持构件130的实际姿态以及拍摄设备的实时姿态来实现)，和/或实时计算输入部120或手持构件130的角速度和拍摄设备的角速度，其中，实时是指针对每个时间片均计算一次，不同的时间片，这些数值可能是不相同的。
应理解，在本申请实施例中，第一跟随模式和第二跟随模式可以均是通过计算第一速度得到，而无需加上第二速度，区别在于不同的跟随模式，对应的死区、跟随动态变化度和/或速度系数不同。
可选地，在本申请实施例中，处理器获取第三输入指令；基于所述第三输入指令，在所述手持云台100上预设用于确定所述多种跟随模式的跟随速度的参数。
具体地，用户可以通过APP设置跟随速度，具体地设置用于确定所述多种跟随模式的跟随速度的参数，例如，可以设置上述提到的死区、跟随动态变化度和速度系数中的至少一种。其中，可以对每个跟随模式分别设置死区、跟随动态变化度和速度系数中的至少一种。
其中，用户可以分别为每个跟随模式设置参数，在用户按压控制按键时，处理器可以辨别用户按压控制按键的时间长短，是否在持续按压，以及之前的跟随模式，来确定当前的跟随模式，并调用该跟随模式的参数，用于计算该跟随模式下的跟随速度。
其中，上述多个跟随模式可以分别对应到不同的用户，也可以由同一用户设置。
可选地，所述手持云台100上预设有多组参数，每组参数均能够用于确定所述多种跟随模式的跟随速度；处理器获取第四输入指令；基于所述第四输入指令，从所述多组参数中选择一组参数，用于计算所述多种跟随模式的跟随速度。
具体地，用户可以通过APP设置多组参数，每组参数均能够用于确定所述多种跟随模式的跟随速度，用户可以针对特定的场景选择一组参数，或者，不同的用户可以分别通过APP设置一组参数，用户在操作该手持云台100时，可以选择自己设置的一组参数。
为了更加清楚地理解本申请，以下将结合图3所示的手持云台100的控制方法对本申请实施例进行描述。
如图3所示，可以基于输入部120或手持构件130的姿态和/或用户通过输入部120输入的控制数据，得到拍摄设备的目标姿态；积分器可以对IMU中的陀螺仪输出的角速度进行积分，以得到手持云台100的测量姿态；结合拍摄设备的目标姿态以及手持云台100的测量姿态，以及输入部120或手持构件130的加速度等，得到手持云台100的第一速度，以及结合相邻两次的目标资源和时间片长度，得到第二速度；在考虑到控制偏差的基础上，基于第一速度和第二速度，向三轴电机输出控制电流；此时，三轴电机可以基于该控制电流，产生力矩，从而使得手持云台100进行运动。
其中，主控板给出拍摄设备的目标姿态，处理器根据拍摄设备目标姿态和拍摄设备实际姿态进行反馈控制，减少实际姿态和目标姿态的偏差，使拍摄设备实际姿态等于目标姿态。其中，可以控制手持云台100平滑运动，手持云台100的平滑就是让拍摄设备的目标姿态跟随输入部120或手持构件130姿态平滑转动的一个模式。
因此，本申请实施例的急速运动跟随模式，能够适应急速运动镜头场景的拍摄，能让拍摄设备在保持增稳效果的同时，完全跟随输入部120或手持 构件130上的运动，而且具有增稳功能，让拍摄出来的画面极具运动感。另外，能让拍摄设备在保持增稳效果的同时，保持Roll轴水平功能，让拍摄出来的画面是正的。并且，拍摄出来的画面能够隔离高频抖动，具有增稳效果。
图4是根据本申请实施例的控制设备300的示意性框图。如图3所示，该控制设备300包括：获取单元310、选择单元320和控制单元330。
该获取单元310用于：获取第一输入指令；该选择单元320用于：根据所述第一输入指令，从用于跟随所述手持云台的输入部或手持构件的运动的多种跟随模式中，选择一种跟随模式，所述多种跟随模式之间的跟随速度不同；该控制单元330用于：利用选择的所述跟随模式，控制所述手持云台的运动，以用于跟随所述输入部或手持构件的运动。
可选地，该获取单元310还用于：获取第二输入指令；该控制单元330还用于：根据所述第二输入指令，确定在选择的所述跟随模式下，确定所述手持云台需要运动的转轴组件；利用选择的所述跟随模式，控制所述需要运动的转轴组件的运动。
可选地，在所述多种跟随模式中跟随速度最大的跟随模式下，所述手持云台包括的横滚轴臂保持水平。
可选地，所述多种跟随模式包括第一跟随模式和第二跟随模式；在所述第一跟随模式下，利用计算的第一速度对所述手持云台的运动进行控制；在所述第二跟随模式下，利用计算的第一速度和计算的第二速度之和，对所述手持云台的运动进行控制；其中，所述第一速度是根据所述手持云台上的拍摄设备的实际姿态与所述输入部或手持构件的实际姿态之差确定的；所述第二速度是根据所述手持云台的控制过程中当前次的目标姿态与前一次的目标姿态之差确定的。
可选地，所述控制单元330具体用于：将所述输入部或手持构件的实际姿态，减去所述拍摄设备的实际姿态，以及减去死区，以得到所述拍摄设备需要调整的姿态量；根据所述输入部或手持构件的加速度，确定跟随动态变化度；将所述拍摄设备需要调整的姿态量，乘以所述跟随动态变化度，以及乘以预设的速度系数，得到所述第一速度。
可选地，在所述第二跟随模式下计算所述第一速度所采用的所述死区，小于在所述第一跟随模式下计算所述第一速度所采用的所述死区；和/或，
在所述第二跟随模式下计算所述第一速度所采用的所述跟随动态变化 度，大于在所述第一跟随模式下计算所述第一速度所采用的所述跟随动态变化度；和/或，
在所述第二跟随模式下计算所述第一速度所采用的所述速度系数，大于在所述第一跟随模式下计算所述第一速度所采用的所述速度系数。
可选地，所述控制单元330具体用于：利用惯性测量单元IMU，确定所述拍摄设备的实际姿态，其中，所述IMU与所述拍摄设备之间不存在相对运动；利用所述IMU以及所述手持云台的电机的运动数据，确定所述输入部或手持构件的实际姿态。
可选地，所述控制单元330具体用于：根据在控制过程中，所述拍摄设备的当前次的目标姿态与前次的目标姿态之间的姿态差；将所述姿态差除以控制时间片的长度，以获取所述第二速度。
应理解，该控制设备300可以实现方法200中由处理器实现的各个操作，为了简洁，在此不再赘述。
本申请实施例提供了一种手持云台，支架设备、输入部、手持构件以及处理器；所述支架设备与所述输入部连接；所述手持构件与所述输入部连接；所述支架设备包括：串联连接的至少一个转轴组件，所述至少一个转轴组件的一端连接与所述输入部，另一端连接于拍摄设备，所述转轴组件包括转轴臂和用于带动所述转轴臂运动的电机；输入部用于：获取第一输入指令；处理器用于：根据所述输入部获取的所述第一输入指令，从用于跟随所述手持云台的输入部或手持构件的运动的多种跟随模式中，选择跟随模式，所述多种跟随模式之间的跟随速度不同；利用选择的所述跟随模式，控制所述至少一个转轴组件的运动，以用于跟随所述输入部或手持构件的运动。
可选地，该输入部还用于：获取第二输入指令；该处理器还用于：根据该输入部获取的第二输入指令，确定在选择的该跟随模式下，确定该手持云台需要运动的转轴组件；利用选择的该跟随模式，控制该需要运动的转轴组件的运动。
可选地，在该多种跟随模式中跟随速度最大的跟随模式下，该手持云台包括的横滚轴臂保持水平。
可选地，该多种跟随模式包括第一跟随模式和第二跟随模式；在该第一跟随模式下，利用计算的第一速度对该手持云台的运动进行控制；在该第二跟随模式下，利用计算的第一速度和计算的第二速度之和，对该手持云台的 运动进行控制；其中，该第一速度是根据该手持云台上的拍摄设备的实际姿态与该输入部或手持构件的实际姿态之差确定的；该第二速度是根据该手持云台的控制过程中当前次的目标姿态与前一次的目标姿态之差确定的。
可选地，该处理器进一步用于：将该输入部或手持构件的实际姿态，减去该拍摄设备的实际姿态，以及减去死区，以得到该拍摄设备需要调整的姿态量；根据该输入部或手持构件的加速度，确定跟随动态变化度；将该拍摄设备需要调整的姿态量，乘以该跟随动态变化度，以及乘以预设的速度系数，得到该第一速度。
可选地，在该第二跟随模式下计算该第一速度所采用的该死区，小于在该第一跟随模式下计算该第一速度所采用的该死区；和/或，
在该第二跟随模式下计算该第一速度所采用的该跟随动态变化度，大于在该第一跟随模式下计算该第一速度所采用的该跟随动态变化度；和/或，
在该第二跟随模式下计算该第一速度所采用的该速度系数，大于在该第一跟随模式下计算该第一速度所采用的该速度系数。
可选地，该手持云台还设置有惯性测量单元IMU；该处理器进一步用于：利用该IMU，确定该拍摄设备的实际姿态，其中，该第一IMU与该拍摄设备之间不存在相对运动；利用该IMU以及该手持云台的电机的运动数据，确定该输入部或手持构件的实际姿态。
可选地，该处理器进一步用于：根据在控制过程中，该拍摄设备的当前次的目标姿态与前次的目标姿态之间的姿态差；
将该姿态差除以控制时间片的长度，以获取该第二速度。
可选地，所述处理器进一步用于：
获取第三输入指令；
基于所述第三输入指令，预设用于计算所述多种跟随模式的跟随速度的参数。
可选地，预设的所述参数包括用于计算所述跟随速度的以下参数中的至少一种：死区、跟随动态变化度和速度系数。
可选地，所述手持云台上预设有多组参数，每组参数均能够用于计算所述多种跟随模式的跟随速度；所述处理器进一步用于：
获取第四输入指令；
基于所述第四输入指令，从所述多组参数中选择一组参数，用于计算所 述多种跟随模式的跟随速度。
可选地，该输入部包括至少一个控制按键；
该处理器具体用于：
获取由该至少一个控制按键中的至少部分按键触发的该第一输入指令。
可选地，该输入部包括的控制按键的数量等于该跟随模式的数量，一个控制按键触发的该第一输入指令用于选择一个跟随模式。
可选地，该至少一个控制按键包括第一控制按键；
该处理器具体用于：
在该第一控制按键持续触发该第一输入指令期间，选择第二跟随模式；
在该第一控制按键持续触发该第一输入指令结束时，控制该手持云台回到该第一控制按键持续触发该第一输入指令之前的状态。
可选地，该多个跟随模式包括多个第一跟随模式；
该处理器进一步用于：
在该第一输入指令是该第一控制按键触发的瞬时指令时，从该多个第一跟随模式中，选择一个第一跟随模式。
可选地，该处理器进一步用于：
按序从该多个第一跟随模式中，选择该一个第一跟随模式。
可选地，该输入部包括多个指示灯，该多个指示灯与该多个第一跟随模式一一对应；该处理器进一步用于：
在一个该第一跟随模式被选择时，触发对应的指示灯亮起。
可选地，所述支架设备包括定位组件、固定组件以及滑动组件；
所述定位组件设置于一个转轴臂的一侧；
所述固定组件设置于所述一个转轴臂的另一侧；
所述滑动组件设置于所述固定组件上，且可相对于所述固定组件滑动；
所述滑动组件和所述定位组件用于固定拍摄设备。
可选地，所述定位组件包括可相对所述一个转轴臂转动的转动臂，以及可相对所述转动臂滑动且可与所述拍摄设备配合的配合部。
可选地，所述滑动组件包括支撑板；
所述支撑板设置在所述固定组件上，所述支撑板可相对所述固定组件滑动。
可选地，所述滑动组件还包括滑块，所述滑块可相对所述支撑板滑动， 所述拍摄设备设置在所述滑块上。
可选地，所述支撑板的一端设置有镜头支架，用于支撑所述拍摄设备的镜头。
可选地，用于连接所述固定组件和所述定位组件的所述一个转轴臂为俯仰轴臂。
应理解，该手持云台的结构具体可以参照图1，为了简洁，在此不再赘述。
应理解，该手持云台中的处理器可以实现方法200中的相应操作，为了简洁，在此不再赘述。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应所述以权利要求的保护范围为准。

Claims (38)

  1. 一种手持云台的控制方法，其特征在于，包括：
    获取第一输入指令；
    根据所述第一输入指令，从用于跟随所述手持云台的输入部或手持构件的运动的多种跟随模式中，选择一种跟随模式，所述多种跟随模式之间的跟随速度不同；
    利用选择的所述跟随模式，控制所述手持云台的运动，以用于跟随所述输入部或手持构件的运动。
  2. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    获取第二输入指令；
    根据所述第二输入指令，确定在选择的所述跟随模式下，确定所述手持云台需要运动的转轴组件；
    所述利用选择的所述跟随模式，控制所述手持云台的运动，包括：
    利用选择的所述跟随模式，控制所述需要运动的转轴组件的运动。
  3. 根据权利要求2所述的方法，其特征在于，在所述多种跟随模式中跟随速度最大的跟随模式下，所述手持云台包括的横滚轴臂保持水平。
  4. 根据权利要求1至3中任一项所述的方法，其特征在于，所述多种跟随模式包括第一跟随模式和第二跟随模式；
    在所述第一跟随模式下，利用计算的第一速度对所述手持云台的运动进行控制；
    在所述第二跟随模式下，利用计算的第一速度和计算的第二速度之和，对所述手持云台的运动进行控制；其中，
    所述第一速度是根据所述手持云台上的拍摄设备的实际姿态与所述输入部或手持构件的实际姿态之差确定的；
    所述第二速度是根据所述手持云台的控制过程中当前次的目标姿态与前一次的目标姿态之差确定的。
  5. 根据权利要求4所述的方法，其特征在于，计算所述第一速度，包括：
    将所述输入部或手持构件的实际姿态，减去所述拍摄设备的实际姿态，以及减去死区，以得到所述拍摄设备需要调整的姿态量；
    根据所述输入部或手持构件的加速度，确定跟随动态变化度；
    将所述拍摄设备需要调整的姿态量，乘以所述跟随动态变化度，以及乘以预设的速度系数，得到所述第一速度。
  6. 根据权利要求5所述的方法，其特征在于，在所述第二跟随模式下计算所述第一速度所采用的所述死区，小于在所述第一跟随模式下计算所述第一速度所采用的所述死区；和/或，
    在所述第二跟随模式下计算所述第一速度所采用的所述跟随动态变化度，大于在所述第一跟随模式下计算所述第一速度所采用的所述跟随动态变化度；和/或，
    在所述第二跟随模式下计算所述第一速度所采用的所述速度系数，大于在所述第一跟随模式下计算所述第一速度所采用的所述速度系数。
  7. 根据权利要求5或6所述的方法，其特征在于，所述方法还包括：
    利用惯性测量单元IMU，确定所述拍摄设备的实际姿态，其中，所述IMU与所述拍摄设备之间不存在相对运动；
    利用所述IMU以及所述手持云台的电机的运动数据，确定所述输入部或手持构件的实际姿态。
  8. 根据权利要求4至7中任一项所述的方法，其特征在于，计算所述第二速度包括：
    根据在控制过程中，所述拍摄设备的当前次的目标姿态与前次的目标姿态之间的姿态差；
    将所述姿态差除以控制时间片的长度，以获取所述第二速度。
  9. 根据权利要求1至8中任一项所述的方法，其特征在于，所述方法还包括；
    获取第三输入指令；
    基于所述第三输入指令，在所述手持云台上预设用于确定所述多种跟随模式的跟随速度的参数。
  10. 根据权利要求9所述的方法，其特征在于，预设的所述参数包括用于计算所述跟随速度的以下参数中的至少一种：死区、跟随动态变化度和速度系数。
  11. 根据权利要求1至10中任一项所述的方法，其特征在于，所述手持云台包括至少一个控制按键；
    所述获取第一输入指令，包括：
    获取由所述至少一个控制按键中的至少部分按键触发的所述第一输入指令。
  12. 根据权利要求11所述的方法，所述手持云台包括的控制按键的数量等于所述跟随模式的数量，一个控制按键触发的所述第一输入指令用于选择一个跟随模式。
  13. 根据权利要求11所述的方法，其特征在于，所述至少一个控制按键包括第一控制按键；
    所述根据所述第一输入指令，从用于跟随所述手持云台的输入部或手持构件的运动的多种跟随模式中，选择一种跟随模式，包括：
    在所述第一控制按键持续触发所述第一输入指令期间，选择第二跟随模式；
    在所述第一控制按键持续触发所述第一输入指令结束时，控制所述手持云台回到所述第一控制按键持续触发所述第一输入指令之前的状态。
  14. 根据权利要求13所述的方法，其特征在于，所述多个跟随模式包括多个第一跟随模式；
    所述根据所述第一输入指令，从用于跟随所述手持云台的输入部或手持构件的运动的多种跟随模式中，选择一种跟随模式，包括：
    在所述第一输入指令是所述第一控制按键触发的瞬时指令时，从所述多个第一跟随模式中，选择一个第一跟随模式。
  15. 根据权利要求14所述的方法，其特征在于，从所述多个第一跟随模式中，选择一个第一跟随模式，包括：
    按序从所述多个第一跟随模式中，选择所述一个第一跟随模式。
  16. 根据权利要求14或15所述的方法，其特征在于，所述手持云台包括多个指示灯，所述多个指示灯与所述多个第一跟随模式一一对应；所述方法还包括：
    在一个所述第一跟随模式被选择时，触发对应的指示灯亮起。
  17. 一种手持云台，其特征在于，包括：
    支架设备、输入部、手持构件以及处理器；
    所述支架设备与所述输入部连接；
    所述手持构件与所述输入部连接；
    所述支架设备包括：至少一个转轴组件，所述至少一个转轴组件的一端 连接与所述输入部，另一端连接于拍摄设备，所述转轴组件包括转轴臂和用于带动所述转轴臂运动的电机；
    输入部用于：获取第一输入指令；
    处理器用于：根据所述输入部获取的所述第一输入指令，从用于跟随所述手持云台的输入部或手持构件的运动的多种跟随模式中，选择一种跟随模式，所述多种跟随模式之间的跟随速度不同；利用选择的所述跟随模式，控制所述至少一个转轴组件的运动，以用于跟随所述输入部或手持构件的运动。
  18. 根据权利要求17所述的手持云台，其特征在于，所述输入部还用于：获取第二输入指令；
    所述处理器还用于：根据所述输入部获取的第二输入指令，确定在选择的所述跟随模式下，确定所述手持云台需要运动的转轴组件；利用选择的所述跟随模式，控制所述需要运动的转轴组件的运动。
  19. 根据权利要求18所述的手持云台，其特征在于，在所述多种跟随模式中跟随速度最大的跟随模式下，所述手持云台包括的横滚轴臂保持水平。
  20. 根据权利要求17至19中任一项所述的手持云台，其特征在于，所述多种跟随模式包括第一跟随模式和第二跟随模式；
    在所述第一跟随模式下，利用计算的第一速度对所述手持云台的运动进行控制；
    在所述第二跟随模式下，利用计算的第一速度和计算的第二速度之和，对所述手持云台的运动进行控制；其中，
    所述第一速度是根据所述手持云台上的拍摄设备的实际姿态与所述输入部或手持构件的实际姿态之差确定的；
    所述第二速度是根据所述手持云台的控制过程中当前次的目标姿态与前一次的目标姿态之差确定的。
  21. 根据权利要求20所述的手持云台，其特征在于，所述处理器进一步用于：
    将所述输入部或手持构件的实际姿态，减去所述拍摄设备的实际姿态，以及减去死区，以得到所述拍摄设备需要调整的姿态量；
    根据所述输入部或手持构件的加速度，确定跟随动态变化度；
    将所述拍摄设备需要调整的姿态量，乘以所述跟随动态变化度，以及乘以预设的速度系数，得到所述第一速度。
  22. 根据权利要求21所述的手持云台，其特征在于，在所述第二跟随模式下计算所述第一速度所采用的所述死区，小于在所述第一跟随模式下计算所述第一速度所采用的所述死区；和/或，
    在所述第二跟随模式下计算所述第一速度所采用的所述跟随动态变化度，大于在所述第一跟随模式下计算所述第一速度所采用的所述跟随动态变化度；和/或，
    在所述第二跟随模式下计算所述第一速度所采用的所述速度系数，大于在所述第一跟随模式下计算所述第一速度所采用的所述速度系数。
  23. 根据权利要求21或22所述的手持云台，其特征在于，所述手持云台还设置有惯性测量单元IMU；
    所述处理器进一步用于：利用所述IMU，确定所述拍摄设备的实际姿态，其中，所述IMU与所述拍摄设备之间不存在相对运动；利用所述IMU以及所述手持云台的电机的运动数据，确定所述输入部或手持构件的实际姿态。
  24. 根据权利要求20至23中任一项所述的手持云台，其特征在于，所述处理器进一步用于：
    根据在控制过程中，所述拍摄设备的当前次的目标姿态与前次的目标姿态之间的姿态差；
    将所述姿态差除以控制时间片的长度，以获取所述第二速度。
  25. 根据权利要求17至24中任一项所述的手持云台，其特征在于，所述处理器进一步用于：
    获取第三输入指令；
    基于所述第三输入指令，预设用于计算所述多种跟随模式的跟随速度的参数。
  26. 根据权利要求25所述的手持云台，其特征在于，预设的所述参数包括用于计算所述跟随速度的以下参数中的至少一种：死区、跟随动态变化度和速度系数。
  27. 根据权利要求17至26中任一项所述的手持云台，其特征在于，所述输入部包括至少一个控制按键；
    所述处理器用于：
    获取由所述至少一个控制按键中的至少部分按键触发的所述第一输入指令。
  28. 根据权利要求27所述的手持云台，所述输入部包括的控制按键的数量等于所述跟随模式的数量，一个控制按键触发的所述第一输入指令用于选择一个跟随模式。
  29. 根据权利要求27所述的手持云台，其特征在于，所述至少一个控制按键包括第一控制按键；
    所述处理器用于：
    在所述第一控制按键持续触发所述第一输入指令期间，选择第二跟随模式；
    在所述第一控制按键持续触发所述第一输入指令结束时，控制所述手持云台回到所述第一控制按键持续触发所述第一输入指令之前的状态。
  30. 根据权利要求29所述的手持云台，其特征在于，所述多个跟随模式包括多个第一跟随模式；
    所述处理器进一步用于：
    在所述第一输入指令是所述第一控制按键触发的瞬时指令时，从所述多个第一跟随模式中，选择一个第一跟随模式。
  31. 根据权利要求30所述的手持云台，其特征在于，所述处理器进一步用于：
    按序从所述多个第一跟随模式中，选择所述一个第一跟随模式。
  32. 根据权利要求30或31所述的手持云台，其特征在于，所述输入部包括多个指示灯，所述多个指示灯与所述多个第一跟随模式一一对应；所述处理器进一步用于：
    在一个所述第一跟随模式被选择时，触发对应的指示灯亮起。
  33. 根据权利要求17至32中任一项所述的手持云台，其特征在于，所述支架设备包括定位组件、固定组件以及滑动组件；
    所述定位组件设置于一个转轴臂的一侧；
    所述固定组件设置于所述一个转轴臂的另一侧；
    所述滑动组件设置于所述固定组件上，且可相对于所述固定组件滑动；
    所述滑动组件和所述定位组件用于固定拍摄设备。
  34. 根据权利要求33所述的手持云台，其特征在于，所述定位组件包 括可相对所述一个转轴臂转动的转动臂，以及可相对所述转动臂滑动且可与所述拍摄设备配合的配合部。
  35. 根据权利要求33所述的手持云台，其特征在于，所述滑动组件包括支撑板；
    所述支撑板设置在所述固定组件上，所述支撑板可相对所述固定组件滑动。
  36. 根据权利要求35所述的手持云台，其特征在于，所述滑动组件还包括滑块，所述滑块可相对所述支撑板滑动，所述拍摄设备设置在所述滑块上。
  37. 根据权利要求35或36所述的手持云台，其特征在于，所述支撑板的一端设置有镜头支架，用于支撑所述拍摄设备的镜头。
  38. 根据权利要求33至37中任一项所述的手持云台，用于连接所述固定组件和所述定位组件的所述一个转轴臂为俯仰轴臂。
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