WO2020014906A1 - Stability augmentation system and control method therefor - Google Patents

Stability augmentation system and control method therefor Download PDF

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Publication number
WO2020014906A1
WO2020014906A1 PCT/CN2018/096176 CN2018096176W WO2020014906A1 WO 2020014906 A1 WO2020014906 A1 WO 2020014906A1 CN 2018096176 W CN2018096176 W CN 2018096176W WO 2020014906 A1 WO2020014906 A1 WO 2020014906A1
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load
sensor
stabilization
relative
control
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PCT/CN2018/096176
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French (fr)
Chinese (zh)
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许文
陈子寒
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深圳市大疆创新科技有限公司
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Priority to PCT/CN2018/096176 priority Critical patent/WO2020014906A1/en
Publication of WO2020014906A1 publication Critical patent/WO2020014906A1/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64DEQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLYING SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00Equipment not otherwise provided for
    • B64D47/08Arrangements of cameras

Abstract

Disclosed are a stability augmentation system (100) and a control method therefor. The stability augmentation system (100) comprises a movement mechanism (10) and an electric motor (20) connected to the movement mechanism (10), wherein the movement mechanism (10) is used for installing a load (200) and driving the load (200) to move. The control method comprises: (S10) detecting the current position of the load (200) in a specific direction with respect to a reference object; (S20) determining whether the current position is a pre-set position; (S30) when the load (200) is not in the pre-set position, controlling the electric motor (20) so that same drives the movement mechanism (10) to move so as to drive the load (200) to move to the pre-set position.

Description

增稳系统及其控制方法Stability enhancing system and control method thereof 技术领域Technical field
本发明涉及成像设备技术领域,尤其涉及一种增稳系统及其控制方法。The invention relates to the technical field of imaging equipment, in particular to a stabilization system and a control method thereof.
背景技术Background technique
在现在的影像拍摄中,云台已经成为一种拍摄者常用的设备。云台可以对影像拍摄装置提供良好的增稳效果,从而保证画面的稳定不抖动。常见的云台为三轴云台,以提供影像拍摄装置在俯仰、横滚、偏航三个方向上的稳定。同时,在现在的影像拍摄过程中,经常需要架设一段滑轨,将影像拍摄装置放置于滑轨上进行拍摄,从而获得一段达到预想效果的画面,如电影中一段保证镜头离地高度不变,并跟随地形起伏的画面。然而,拍摄这种画面不仅需要花费大量物力,例如因拍摄需要架设多段的电动滑轨,还需要花费大量人力,例如需要同时分别有人操作滑轨和摄像装置。In the current video shooting, the PTZ has become a common device for photographers. The gimbal can provide a good stabilization effect for the image capturing device, thereby ensuring the stability of the picture without shaking. A common pan / tilt head is a three-axis pan / tilt head to provide stability of the image capturing device in three directions of pitch, roll and yaw. At the same time, in the current image shooting process, it is often necessary to set up a slide rail, and place the image capture device on the slide rail to shoot, so as to obtain a picture that achieves the desired effect, such as in a movie to ensure that the height of the lens from the ground remains unchanged And follow the undulating picture of the terrain. However, not only does it take a lot of material to shoot such a picture, for example, because of the need to set up multiple sections of electric slide rails, but also requires a lot of manpower, for example, someone needs to operate the slide rail and the camera device separately at the same time.
发明内容Summary of the invention
有鉴于此,本发明提供一种増稳系统及其控制方法,能够通过增稳系统的控制,使其搭载的拍摄设备实现滑轨拍摄的效果。In view of this, the present invention provides a stabilization system and a control method thereof, which can realize the effect of slide-rail shooting by using the shooting equipment equipped with the stabilization system control.
本发明实施方式的増稳系统的控制方法中,所述增稳系统包括运动机构和与所述运动机构连接的电机,所述运动机构用于安装负载并带动所述负载运动;In the method for controlling a stabilizing system according to an embodiment of the present invention, the stabilization system includes a moving mechanism and a motor connected to the moving mechanism, and the moving mechanism is used to install a load and drive the load to move;
所述控制方法包括:The control method includes:
检测所述负载相对于参考物在特定方向上的当前位置;Detecting the current position of the load in a specific direction relative to the reference object;
判断所述当前位置是否为预定位置;Determining whether the current position is a predetermined position;
在所述负载未处于所述预定位置时控制所述电机驱动所述运动机构运动以带动所述负载运动至所述预定位置。And when the load is not in the predetermined position, controlling the motor to drive the movement mechanism to move the load to the predetermined position.
本发明实施方式的増稳系统包括:The stabilization system according to the embodiment of the present invention includes:
运动机构,所述运动机构用于安装负载并带动所述负载运动;A movement mechanism for mounting a load and driving the load to move;
与所述运动机构连接的电机;和A motor connected to the motion mechanism; and
处理器,所述处理器用于检测所述负载相对于参考物在特定方向上的当前位置,及用于判断所述当前位置是否为预定位置并在所述负载未处于所述预定位置时控制所述电机驱动所述运动机构运动以带动所述负载运动至所述预定位置。A processor for detecting a current position of the load in a specific direction relative to a reference object, and for determining whether the current position is a predetermined position and controlling a position when the load is not in the predetermined position The motor drives the movement mechanism to move the load to the predetermined position.
本发明实施方式的増稳系统的控制方法及増稳系统中,通过控制电机驱动运动机构以带动所述负载运动至所述预定位置,使负载相对于参考物的距离保持为设定值,从而使得负载上的拍摄装置能够拍摄出滑轨模式的效果。In the control method of the stabilizing system and the stabilizing system according to the embodiments of the present invention, the motor drives the motion mechanism to drive the load to move to the predetermined position, so that the distance of the load relative to the reference object is maintained at a set value, so that The shooting device on the load can capture the effect of the slide mode.
本发明的附加方面和优点将在下面的描述中部分给出,部分将从下面的描述中变得明显,或通过本发明的实践了解到。Additional aspects and advantages of the present invention will be given in part in the following description, and part of them will become apparent from the following description, or be learned through the practice of the present invention.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
本发明的上述和/或附加的方面和优点从结合下面附图对实施方式的描述中将变得明显和容易理解,其中:The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, wherein:
图1是本发明实施方式的増稳系统的平面示意图;1 is a schematic plan view of a stabilizing system according to an embodiment of the present invention;
图2是本发明实施方式的増稳系统的另一个视角的平面示意图;2 is a schematic plan view of another aspect of the stabilization system according to the embodiment of the present invention;
图3是本发明实施方式的増稳系统的又一个视角的平面示意图;3 is a schematic plan view of another aspect of the stabilization system according to the embodiment of the present invention;
图4是本发明实施方式的増稳系统的一个状态示意图;4 is a schematic diagram of a state of a stabilization system according to an embodiment of the present invention;
图5是本发明实施方式的増稳系统的另一个状态示意图;5 is a schematic diagram of another state of the stabilization system according to the embodiment of the present invention;
图6是本发明实施方式的増稳系统的分解示意图;6 is an exploded schematic view of a stabilizing system according to an embodiment of the present invention;
图7是本发明实施方式的控制方法的流程示意图;7 is a schematic flowchart of a control method according to an embodiment of the present invention;
图8是本发明实施方式的増稳系统的模块示意图;8 is a schematic block diagram of a stabilization system according to an embodiment of the present invention;
图9是本发明实施方式的増稳系统的运动过程示意图;9 is a schematic diagram of a motion process of a stabilizing system according to an embodiment of the present invention;
图10是本发明实施方式的控制方法的另一个流程示意图;10 is another schematic flowchart of a control method according to an embodiment of the present invention;
图11是本发明实施方式的増稳系统的场景示意图。FIG. 11 is a schematic scenario diagram of a stabilization system according to an embodiment of the present invention.
主要元件符号说明:Explanation of main component symbols:
増稳系统100、运动机构10、四连杆机构11、第一杆件12、第二杆件13、第三杆件14、第四杆件15、电机20、基座30、处理器40、第一传感器50、第二传感器60、基座位姿传感器70、第三传感器80;Stability system 100, motion mechanism 10, four-link mechanism 11, first lever 12, second lever 13, third lever 14, fourth lever 15, motor 20, base 30, processor 40, A first sensor 50, a second sensor 60, a base posture sensor 70, and a third sensor 80;
负载200、拍摄装置210、支撑装置102、参考物300。The load 200, the photographing device 210, the supporting device 102, and the reference object 300.
具体实施方式detailed description
下面详细描述本发明的实施方式,所述实施方式的示例在附图中示出,其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施方式是示例性的,仅用于解释本发明,而不能理解为对本发明的限制。Hereinafter, embodiments of the present invention will be described in detail. Examples of the embodiments are shown in the drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present invention, but should not be construed as limiting the present invention.
在本发明的描述中,需要理解的是,术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”等指示的方位或位置关系为基于附图所示的方位或位置关系,仅是为了便于描述本发明和简化描述,而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作,因此不能理解为对本发明的限制。此外,术语“第一”、“第二”仅用于描述目的,而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此,限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个所述特征。在本发明的描述中,“多个”的含义是两个或两个以上,除非另有明确具体的限定。In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Rear "," left "," right "," vertical "," horizontal "," top "," bottom "," inside "," outside "," clockwise "," counterclockwise ", etc. or The positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, structure and operation in a specific orientation, Therefore, it cannot be understood as a limitation to the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as “first” and “second” may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless specifically defined otherwise.
在本发明的描述中,需要说明的是,除非另有明确的规定和限定,术语“安装”、“相连”、“连接”应做广义理解,例如,可以是固定连接,也可以是可拆卸连接,或一体地连接;可以是机械连接,也可以是电连接或可以相互通讯;可以是直接相连,也可以通过中间媒介间接相连,可以是两个元件内部的连通或 两个元件的相互作用关系。对于本领域的普通技术人员而言,可以根据具体情况理解上述术语在本发明中的具体含义。In the description of the present invention, it should be noted that the terms "installation", "connected", and "connected" should be understood in a broad sense unless otherwise specified and limited. For example, they may be fixed connections or removable. Connected or integrated; it can be mechanical, electrical, or can communicate with each other; it can be directly connected, or it can be indirectly connected through an intermediate medium, it can be the internal communication of two elements or the interaction of two elements relationship. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.
在本发明中,除非另有明确的规定和限定,第一特征在第二特征之“上”或之“下”可以包括第一和第二特征直接接触,也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且,第一特征在第二特征“之上”、“上方”和“上面”包括第一特征在第二特征正上方和斜上方,或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”包括第一特征在第二特征正下方和斜下方,或仅仅表示第一特征水平高度小于第二特征。In the present invention, unless specifically stated and defined otherwise, the "first" or "down" of the second feature may include the first and second features in direct contact, and may also include the first and second features. Not directly, but through another characteristic contact between them. Moreover, the first feature is "above", "above", and "above" the second feature, including that the first feature is directly above and obliquely above the second feature, or merely indicates that the first feature is higher in level than the second feature. The first feature is “below”, “below”, and “below” of the second feature, including the fact that the first feature is directly below and obliquely below the second feature, or merely indicates that the first feature is less horizontal than the second feature.
下文的公开提供了许多不同的实施方式或例子用来实现本发明的不同结构。为了简化本发明的公开,下文中对特定例子的部件和设置进行描述。当然,它们仅仅为示例,并且目的不在于限制本发明。此外,本发明可以在不同例子中重复参考数字和/或参考字母,这种重复是为了简化和清楚的目的,其本身不指示所讨论各种实施方式和/或设置之间的关系。此外,本发明提供了的各种特定的工艺和材料的例子,但是本领域普通技术人员可以意识到其他工艺的应用和/或其他材料的使用。The following disclosure provides many different implementations or examples for implementing different structures of the present invention. To simplify the disclosure of the present invention, the components and settings of specific examples are described below. Of course, they are merely examples and are not intended to limit the invention. Furthermore, the present invention may repeat reference numerals and / or reference letters in different examples, and such repetition is for the purpose of simplicity and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides examples of various specific processes and materials, but those of ordinary skill in the art may be aware of the application of other processes and / or the use of other materials.
请参阅图1-图3,本发明实施方式的増稳系统100包括运动机构10、电机20和基座30。运动机构10设置在基座30上,电机20与所述运动机构10连接。Please refer to FIGS. 1-3. The stabilization system 100 according to the embodiment of the present invention includes a movement mechanism 10, a motor 20, and a base 30. The movement mechanism 10 is disposed on the base 30, and the motor 20 is connected to the movement mechanism 10.
具体地,运动机构10用于安装负载200并带动负载200运动。例如,电机20驱动运动机构10时,运动机构10可以带动负载200由图4所示的位置运动至图5所示的位置。由此,电机20驱动运动机构10带动负载200运动,从而可以实现负载200増稳。Specifically, the movement mechanism 10 is used for mounting the load 200 and driving the load 200 to move. For example, when the motor 20 drives the motion mechanism 10, the motion mechanism 10 can drive the load 200 to move from the position shown in FIG. 4 to the position shown in FIG. 5. Therefore, the motor 20 drives the movement mechanism 10 to drive the load 200 to move, so that the load 200 can be stabilized.
请再次参阅图1,在一个例子中,负载200为云台,云台例如为三轴云台。云台上可以搭载相机等拍摄装置210。当运动机构10运动时,拍摄装置210可以随着运动机构10一并运动,从而实现不同角度的拍摄效果。云台可以通过卡扣结构固定在运动机构10上,当云台为三轴云台时,可以理解,三轴云台可 以带动拍摄装置210分别绕pitch(俯仰)轴线211、yaw(偏航)轴线212和roll(翻滚)轴线213转动。当然,云台可以为二轴云台或单轴云台等云台。此时,增稳系统用于实现对云台和拍摄装置整体在特定方向上的增稳与控制,例如使得云台和拍摄装置整体实现滑轨拍摄的效果,而在“滑轨”上的云台对拍摄装置实现单轴或多轴增稳的效果。Please refer to FIG. 1 again. In one example, the load 200 is a gimbal, and the gimbal is, for example, a three-axis gimbal. An imaging device 210 such as a camera can be mounted on the gimbal. When the moving mechanism 10 moves, the shooting device 210 can move along with the moving mechanism 10, thereby achieving shooting effects at different angles. The gimbal can be fixed on the movement mechanism 10 by a snap structure. When the gimbal is a three-axis gimbal, it can be understood that the three-axis gimbal can drive the shooting device 210 around the pitch (pitch) axis 211 and yaw (yaw). The axis 212 and the roll axis 213 rotate. Of course, the head can be a two-axis head or a single-axis head. At this time, the stabilization system is used to realize the stabilization and control of the entire PTZ and the shooting device in a specific direction, for example, to make the PTZ and the shooting device as a whole achieve the effect of sliding track shooting, and the cloud on the "sliding track" The stage achieves the effect of single-axis or multi-axis stabilization of the shooting device.
当然,在其他实施方式中,负载200可以为拍摄装置,拍摄装置直接地连接在运动机构10上。Of course, in other embodiments, the load 200 may be a photographing device, and the photographing device is directly connected to the movement mechanism 10.
本发明的实施方式中将主要以负载200为云台为例进行说明。In the embodiment of the present invention, the load 200 is mainly used as an example for description.
在图1的示例中,増稳系统100可以设置在三脚架等固定支撑装置102上,以防止用户自身对拍摄装置210造成抖动。当然,増稳系统100也可以设置手持装置上,増稳系统100可以在手持装置运动过程对负载200及搭载在负载上的拍摄装置210増稳。In the example of FIG. 1, the stabilization system 100 may be disposed on a fixed support device 102 such as a tripod to prevent the user from causing a shake to the photographing device 210. Of course, the stabilization system 100 can also be provided on a handheld device, and the stabilization system 100 can stabilize the load 200 and the photographing device 210 mounted on the load during the movement of the handheld device.
请参阅图1及图6,在某些实施方式中,运动机构10为四连杆机构11。如此,运动机构10的结构简单,容易实现。电机20可以与四连杆机构11中的其中一个杆件连接,而负载200连接在四连杆机构11中的另一个杆件。在电机20驱动对应的杆件时,对应的杆件可以带动与负载200连接的杆件,从而带动负载200一并运动,实现电机20通过运动机构10驱动负载200运动的目的。Please refer to FIGS. 1 and 6. In some embodiments, the moving mechanism 10 is a four-link mechanism 11. As such, the structure of the motion mechanism 10 is simple and easy to implement. The motor 20 may be connected to one of the rods in the four-link mechanism 11, and the load 200 is connected to the other rod in the four-link mechanism 11. When the motor 20 drives the corresponding rod, the corresponding rod can drive the rod connected to the load 200, thereby driving the load 200 to move together, and the purpose of the motor 20 driving the load 200 through the movement mechanism 10 is achieved.
具体地,四连杆机构11包括依次首尾连接的第一杆件12、第二杆件13、第三杆件14和第四杆件15。可以理解,第一杆件12、第二杆件13、第三杆件14和第四杆件15中,相连接的杆件铰接以使四连杆机构11可以运动。Specifically, the four-link mechanism 11 includes a first lever member 12, a second lever member 13, a third lever member 14, and a fourth lever member 15 which are sequentially connected end to end. It can be understood that, among the first rod member 12, the second rod member 13, the third rod member 14, and the fourth rod member 15, the connected rod members are hinged so that the four-link mechanism 11 can move.
本实施方式中,第一杆件12与第三杆件14相对设置,第二杆件13与第四杆件15相对设置。第一杆件12相对于其他杆件固定设置,第二杆件13与电机20连接,第三杆件14用于安装负载200。因此,电机20驱动第二杆件13运动时,第二杆件13可以带动第三杆件14运动,从而带动负载200一并运动。In this embodiment, the first rod member 12 is disposed opposite to the third rod member 14, and the second rod member 13 is disposed opposite to the fourth rod member 15. The first rod member 12 is fixedly disposed relative to other rod members, the second rod member 13 is connected to the motor 20, and the third rod member 14 is used to install the load 200. Therefore, when the motor 20 drives the second lever member 13 to move, the second lever member 13 can drive the third lever member 14 to move, thereby driving the load 200 to move together.
当然,在其他实施方式中,电机20可以与第四杆件15连接,以驱动第四杆件15运动,从而带动负载200运动。Of course, in other embodiments, the motor 20 may be connected to the fourth lever member 15 to drive the fourth lever member 15 to move, thereby driving the load 200 to move.
可以理解,第一杆件12、第二杆件13、第三杆件14和第四杆件15的具体结构可以具体设定,只要第一杆件12、第二杆件13、第三杆件14和第四杆件15连接形成四连杆机构11即可。It can be understood that the specific structures of the first lever member 12, the second lever member 13, the third lever member 14, and the fourth lever member 15 can be specifically set, as long as the first lever member 12, the second lever member 13, and the third lever member The member 14 and the fourth lever member 15 may be connected to form a four-link mechanism 11.
在一个例子中,四连杆机构11可以为平行四边形机构。此时,第一杆件12与第三杆件14平行设置,第二杆件13与第四杆件15平行设置。当使用增稳系统100时,基座30大致处于水平状态,而平行四边形机构处于竖直方向。此时,电机20驱动四连杆机构11运动时,四连杆机构11可以带动负载200在竖直方向上做平移运动,实现负载200在竖直方向上的增稳。In one example, the four-link mechanism 11 may be a parallelogram mechanism. At this time, the first rod member 12 is disposed in parallel with the third rod member 14, and the second rod member 13 is disposed in parallel with the fourth rod member 15. When the stabilization system 100 is used, the base 30 is substantially horizontal, and the parallelogram mechanism is vertical. At this time, when the motor 20 drives the four-link mechanism 11 to move, the four-link mechanism 11 can drive the load 200 to make a translational movement in the vertical direction, so as to increase the stability of the load 200 in the vertical direction.
例如,在图4和图5的示例中,电机20可以驱动四连杆机构11运动,从而带动负载200在上下方向上平移运动。因此,在平行四边形机构对负载200实现竖直方向上增稳功能时,可以保证负载200及搭载负载上的拍摄装置210如相机实现在高度上的控制,即保证负载200及拍摄装置210处于预设的高度,可以为一段不变的高度也可以为一段预设有变化的高度,从而实现如同将负载200和/或拍摄装置210设置在滑轨上一样的拍摄效果。For example, in the examples of FIGS. 4 and 5, the motor 20 can drive the four-link mechanism 11 to move, thereby driving the load 200 to move in a vertical direction. Therefore, when the parallelogram mechanism realizes the stabilizing function of the load 200 in the vertical direction, it can be ensured that the load 200 and the shooting device 210 mounted on the load, such as a camera, can achieve height control, that is, the load 200 and the shooting device 210 are in the The set height may be a constant height or a preset height that is changed, so as to achieve the same shooting effect as if the load 200 and / or the shooting device 210 are set on the slide rail.
具体地,增稳系统100对负载200及拍摄装置210的控制方法将在下文中阐述。可以理解的是,当基座30不处于水平状态时,例如设置在横向的手持装置上或增稳系统100悬挂倒置放置时,四连杆机构11可以实现对负载200及拍摄装置210在其他方向上而非竖直方向上的增稳,从而也可以实现对负载200及拍摄装置210在非高度方向上的控制,具体的控制方法将在下文中一并阐述。Specifically, the method for controlling the load 200 and the photographing device 210 by the stabilization system 100 will be described below. It can be understood that when the base 30 is not in a horizontal state, for example, when it is set on a horizontal handheld device or the stabilization system 100 is suspended upside down, the four-link mechanism 11 can realize the load 200 and the shooting device 210 in other directions. The stabilization in the vertical direction is not vertical, so that the load 200 and the photographing device 210 can also be controlled in a non-height direction. The specific control method will be described in the following.
在某些实施方式中,运动机构10也可以为曲柄滑块机构或丝杆导轨等机构。In some embodiments, the movement mechanism 10 may also be a mechanism such as a crank slider mechanism or a screw guide.
电机20可以为伺服电机或步进电机,从而使得电机20响应迅速并且转动更加精确,这样有利于提高运动机构10带动负载200运动的精度。The motor 20 may be a servo motor or a stepping motor, so that the motor 20 responds quickly and rotates more accurately, which is beneficial to improving the accuracy of the movement mechanism 10 driving the load 200.
基座30为増稳系统100的承载部件,其用于承载増稳系统100的其他元件。运动机构10可以通过螺纹连接等连接方式固定在基座30上。基座30采用金属等强度较高的材料制成,以提高基座30的承载能力。基座30的具体形状和结 构可以根据实际需求具体设置。The base 30 is a load-bearing component of the stabilization system 100 and is used to support other elements of the stabilization system 100. The movement mechanism 10 can be fixed on the base 30 by a connection method such as a screw connection. The base 30 is made of a high-strength material such as metal to improve the bearing capacity of the base 30. The specific shape and structure of the base 30 can be set according to actual needs.
本发明还提供了一种増稳系统的控制方法,増稳系统可以为以上所述的増稳系统100,下文将以上所述的増稳系统100作为示例做详细描述。The present invention also provides a control method for a stabilization system. The stabilization system may be the stabilization system 100 described above, and the above-mentioned stabilization system 100 is described in detail as an example.
请参阅图7,本发明实施方式的控制方法包括:Referring to FIG. 7, a control method according to an embodiment of the present invention includes:
S10,检测所述负载200相对于参考物300在特定方向上的当前位置;S10. Detect the current position of the load 200 relative to the reference object 300 in a specific direction;
S20,判断负载200的当前位置是否为预定位置;S20. Determine whether the current position of the load 200 is a predetermined position;
S30,在所述负载200未处于所述预定位置时控制所述电机20驱动所述运动机构10运动以带动所述负载200运动至所述预定位置。S30. When the load 200 is not in the predetermined position, control the motor 20 to drive the movement mechanism 10 to move the load 200 to the predetermined position.
请参阅图8,本发明实施方式的増稳系统100还包括处理器40,以上控制方法可以由处理器40实现。或者说,处理器40用于检测所述负载200相对于参考物300在特定方向上的当前位置,及用于判断所述当前位置是否为预定位置并在所述负载200未处于所述预定位置时控制所述电机20驱动所述运动机构10运动以带动所述负载200运动至所述预定位置。Referring to FIG. 8, the stabilization system 100 according to the embodiment of the present invention further includes a processor 40. The above control method may be implemented by the processor 40. In other words, the processor 40 is configured to detect a current position of the load 200 in a specific direction relative to the reference object 300, and is used to determine whether the current position is a predetermined position and the load 200 is not in the predetermined position. The motor 20 is controlled to drive the movement mechanism 10 to move the load 200 to the predetermined position.
本发明实施方式的控制方法及増稳系统100中,通过控制电机20驱动运动机构10以带动所述负载200运动至所述预定位置,使得负载200相对于参考物300的距离保持为设定值,从而使得负载上的拍摄装置210能够拍摄出滑轨模式的效果。In the control method and the stabilization system 100 according to the embodiment of the present invention, the movement mechanism 10 is driven by the control motor 20 to move the load 200 to the predetermined position, so that the distance of the load 200 relative to the reference object 300 is maintained at a set value. Therefore, the shooting device 210 on the load can shoot the effect of the slide rail mode.
增稳系统100可以选择性地执行本发明实施方式的控制方法,例如在一些实施例中,用户可以选择开启增稳系统100的“滑轨功能”,当增稳系统100开启了这一功能时,开始执行本发明实施方式的控制方法;而当增稳系统100未开启这一功能时,将不执行本发明实施方法的控制方法,而作为增稳装置使用。The stabilization system 100 may selectively execute the control method of the embodiment of the present invention. For example, in some embodiments, the user may choose to enable the “slide rail function” of the stabilization system 100. When the stabilization system 100 enables this function, , The control method according to the embodiment of the present invention is started; and when the stabilization system 100 does not enable this function, the control method of the implementation method of the present invention will not be executed and used as a stabilization device.
具体地,在步骤S10中,参考物300可为地面、墙体等具有参考作用的物体。特定方向可为水平方向、竖直方向或者倾斜方向等方向。Specifically, in step S10, the reference object 300 may be an object having a reference function, such as a ground or a wall. The specific direction may be a direction such as a horizontal direction, a vertical direction, or an oblique direction.
在一个例子中,参考物300为地面时,特定方向为竖直方向。此时,在步骤S10包括:检测负载200相对于地面在竖直方向上的当前位置。负载200的当前位置为高度位置。In one example, when the reference object 300 is the ground, the specific direction is the vertical direction. At this time, step S10 includes: detecting a current position of the load 200 in the vertical direction with respect to the ground. The current position of the load 200 is the height position.
在另一个例子中,参考物300为竖直墙体时,特定方向为水平方向,驱动机构10可以带动负载200横向运动。此时,在步骤S10包括:检测负载200相对于竖直墙体在水平方向上的当前位置。负载200的当前位置为距竖直墙体的水平距离。In another example, when the reference object 300 is a vertical wall, the specific direction is a horizontal direction, and the driving mechanism 10 can drive the load 200 to move laterally. At this time, step S10 includes: detecting a current position of the load 200 in the horizontal direction relative to the vertical wall. The current position of the load 200 is a horizontal distance from the vertical wall.
需要指出的是,负载200的当前位置可以为负载200在运动状态中某一时刻所处的位置,也可以为负载200处于静止状态时所处的位置。It should be noted that the current position of the load 200 may be the position where the load 200 is at a certain moment in the motion state, or the position where the load 200 is in the stationary state.
在步骤S20中,预定位置可以在増稳系统100的出厂前预先设定在増稳系统100中,例如增稳系统100自带不同的拍摄场景模式,每个场景模式下会预设有不同的预定位置,以方便用户使用,如可以为室内拍摄模式,模拟室内架设滑轨拍摄,预定位置可以为等身高度,或者为仰拍拍摄模式,模拟地面滑轨怕死和,预定位置可以为半身高度。In step S20, the predetermined position can be set in the stabilization system 100 before the stabilization system 100 leaves the factory. For example, the stabilization system 100 comes with different shooting scene modes, and different scene modes are preset in each scene mode. Predetermined position for the convenience of users. For example, it can be used for indoor shooting mode and simulate indoor shooting with slide rails. The predetermined position can be equal body height or upside down shooting mode. .
当然,也可以为根据用户输入得到或者负载200工作时自定义获得,此时,用户可以输入一个预定位置以使得增稳系统100在整个拍摄过程中都保持这个预定位置,也可以输入多个不同的预定位置并设定其之间的顺序以使得增稳系统100在整个拍摄过程中保持不同的预定位置,或者输入一段自定义的可变化的预定位置以使得增稳系统100在整个拍摄过程中处于不同的预定位置,而模拟一段预定位置存在连续变化的滑轨拍摄。Of course, it can also be obtained according to user input or obtained when the load 200 is working. At this time, the user can enter a predetermined position so that the stabilization system 100 maintains this predetermined position during the entire shooting process. You can also enter multiple different positions. And set the order between them so that the stabilization system 100 maintains different predetermined positions throughout the shooting process, or enter a customizable variable predetermined position to make the stabilization system 100 throughout the shooting process It is in different predetermined positions, and it is simulated that there is a continuously changing slide rail shooting in a predetermined position.
在一个例子中,増稳系统100还可以包括一输入装置,输入装置例如为触摸显示器或按键,用户可以在输入装置上输入负载200的预定位置,以便于増稳系统100在工作过程中判断负载200的当前位置是否与预定的位置一致,或者用户可以通过输入装置选取不同的拍摄场景模式,从而为负载200设定默认的预定位置。In one example, the stabilization system 100 may further include an input device. The input device is, for example, a touch display or a button. The user may input a predetermined position of the load 200 on the input device, so that the stabilization system 100 can determine the load during the work. Whether the current position of 200 is consistent with the predetermined position, or the user may select a different shooting scene mode through the input device, thereby setting a default predetermined position for the load 200.
在另一个例子中,负载200刚开始工作时,增稳系统100将负载200开始工作时所处的位置设定为预定位置,此时负载200的位置信息可存储在増稳系统100中,并且增稳系统100将按负载200刚开始的工作所处的位置为预定位置来对负载200进行保持位置控制。In another example, when the load 200 starts to work, the stabilization system 100 sets the position where the load 200 starts to be a predetermined position. At this time, the position information of the load 200 may be stored in the stabilization system 100, and The stabilization system 100 will perform a holding position control on the load 200 according to the position where the load 200 has just started working as a predetermined position.
在本实施例中,用户可以在开启了增稳系统100的“滑轨功能”后,通过手动操作运动机构10以获取理想的预定位置,并且使负载200开始工作,从而使得增稳系统100能保持负载200在一个理想的预定位置。此时用户能够通过手动操作运动机构10来实时地观测拍摄装置210所成的像,从而更好地选取一个理想的预定位置。In this embodiment, after the “slide rail function” of the stabilization system 100 is turned on, the user can manually operate the movement mechanism 10 to obtain an ideal predetermined position, and make the load 200 start to work, so that the stabilization system 100 can Keep the load 200 in an ideal predetermined position. At this time, the user can observe the image formed by the photographing device 210 in real time by manually operating the movement mechanism 10, so as to better select an ideal predetermined position.
在步骤S30中,在负载200与所述预定位置偏离时,驱动负载200运动至所述预定位置,使得负载200保持在预定位置,从而可以保持负载200在预定位置以实现类似于滑轨拍摄效果的目的。另外,通过控制电机20的工作状态,从而带动负载200运动,使得控制负载200运动的方式更加简单,容易实现。In step S30, when the load 200 deviates from the predetermined position, the load 200 is driven to move to the predetermined position, so that the load 200 is maintained at the predetermined position, so that the load 200 can be maintained at the predetermined position to achieve a shooting effect similar to a slide rail. the goal of. In addition, by controlling the working state of the motor 20 to drive the load 200 to move, the way to control the movement of the load 200 is simpler and easier to implement.
如图9所示,图9中的实线可代表运动机构10和负载200的当前位置,虚线代表运动机构10和负载200的预定位置。由图9中可以看出,负载200的当前位置未处于预定位置,此时,可以控制电机20驱动运动机构10,从而带动负载200向下运动以到达预定位置。As shown in FIG. 9, the solid line in FIG. 9 may represent the current positions of the movement mechanism 10 and the load 200, and the dashed lines represent the predetermined positions of the movement mechanism 10 and the load 200. It can be seen from FIG. 9 that the current position of the load 200 is not at a predetermined position. At this time, the motor 20 can be controlled to drive the movement mechanism 10 to drive the load 200 to move downward to reach the predetermined position.
在一个例子中,电机20驱动运动机构10的转速可以根据实际需求而定。例如,当需要控制负载200从当前位置匀速运动至预定位置,可以控制电机20匀速转动,从而带动负载200匀速转动。又如,电机20可以先加速转动,后减速转动,从而控制负载200先加速运动,后减速运动而从当前位置运动至预定位置。In one example, the rotation speed of the motor 20 driving the movement mechanism 10 can be determined according to actual needs. For example, when the load 200 needs to be controlled to move from the current position to a predetermined position at a constant speed, the motor 20 can be controlled to rotate at a constant speed, thereby driving the load 200 to rotate at a constant speed. For another example, the motor 20 may rotate at an accelerated speed and then rotate at a reduced speed, so as to control the load 200 to accelerate at first and then decelerate to move from the current position to a predetermined position.
处理器40可以为微控制器(Microcontroller Unit,MCU),其可以安装在基座30内。The processor 40 may be a microcontroller (MCU), which may be installed in the base 30.
请参阅图8及图10,在某些实施方式中,所述增稳系统100包括第一传感器50,所述第一传感器50用于获取所述第一传感器50相对于所述参考物300的位置,步骤S10包括:Please refer to FIG. 8 and FIG. 10. In some embodiments, the stabilization system 100 includes a first sensor 50, and the first sensor 50 is configured to obtain a first sensor 50 relative to the reference 300. Location, step S10 includes:
S12,获取所述第一传感器50相对于所述参考物300的第一位置;S12. Obtain a first position of the first sensor 50 relative to the reference object 300.
S14,根据所述第一位置计算得到所述当前位置。S14. Calculate the current position according to the first position.
在某些实施方式中,步骤S12和步骤S14由处理器40实现。或者说,处 理器40用于获取所述第一传感器50相对于所述参考物300的第一位置及根据所述第一位置计算得到所述当前位置。In some embodiments, steps S12 and S14 are implemented by the processor 40. In other words, the processor 40 is configured to obtain a first position of the first sensor 50 relative to the reference object 300 and calculate the current position according to the first position.
如此,根据第一传感器50获取的数据而计算得到负载200的当前位置,使得获取负载200的当前位置容易实现。In this way, the current position of the load 200 is calculated according to the data obtained by the first sensor 50, so that the current position of the load 200 can be obtained easily.
在某些实施方式中,所述第一传感器50设置于所述基座30上,所述第一传感器50相对于所述参考物300的位置为所述基座30相对于所述参考物300的位置。In some embodiments, the first sensor 50 is disposed on the base 30, and the position of the first sensor 50 relative to the reference object 300 is the position of the base 30 relative to the reference object 300. s position.
根据以上所述,基座30一般作为増稳系统100的载体部件,基座30的位置相对固定,第一传感器50设置于基座30上,这样有利于第一传感器50获取第一传感器50相对于参考物300的第一位置,从而容易计算得到负载200的当前位置。According to the above, the base 30 is generally used as a carrier component of the stabilization system 100. The position of the base 30 is relatively fixed, and the first sensor 50 is disposed on the base 30. This facilitates the first sensor 50 to obtain the relative position of the first sensor 50. The first position of the reference object 300, so that the current position of the load 200 can be easily calculated.
第一传感器50设置在基座30上的位置可以根据需求具体设置,只要使得第一传感器50可以获取自身相对于参考物300的位置即可。The position of the first sensor 50 on the base 30 may be specifically set according to requirements, as long as the first sensor 50 can obtain the position of the first sensor 50 relative to the reference object 300.
请参阅图11,在一个例子中,第一传感器50可以为视觉里程计,并安装于基座30上,视觉里程计可以获取自身相对于参考物300的距离。假如第一传感器50获取得到基座30与地面的距离为H1,而基座30与负载200的距离为H2,那么负载200相对于地面的距离H3可为H3=H1-H2,其中,H1>H2,由此可以获得负载200相对于地面的当前位置。Please refer to FIG. 11. In one example, the first sensor 50 may be a visual odometer and is mounted on the base 30. The visual odometer may obtain a distance of the visual odometer relative to the reference object 300. If the first sensor 50 obtains that the distance between the base 30 and the ground is H1, and the distance between the base 30 and the load 200 is H2, then the distance H3 of the load 200 from the ground may be H3 = H1-H2, where H1> H2, from which the current position of the load 200 relative to the ground can be obtained.
当増稳系统100整体发生抖动时,H1改变,H3随着H1的改变而改变,并且改变的差异可以根据H1和H2计算得到。When the stabilization system 100 shakes as a whole, H1 changes, H3 changes with H1, and the difference can be calculated based on H1 and H2.
当然,第一传感器50也可以为其他可以检测相对位置的传感器,如激光测距器等。Of course, the first sensor 50 may also be another sensor that can detect the relative position, such as a laser rangefinder.
请再次参阅图8,在某些实施方式中,所述增稳系统100还包括第二传感器60,所述第二传感器60用于获取所述运动机构10或所述负载200中的至少一者相对于所述第一传感器50的相对位置;步骤S14还包括:Please refer to FIG. 8 again. In some embodiments, the stabilization system 100 further includes a second sensor 60 for acquiring at least one of the motion mechanism 10 or the load 200. Relative position with respect to the first sensor 50; step S14 further includes:
根据所述第一传感器50相对于所述参考物300的第一位置和所述相对位置 计算得到所述当前位置。The current position is calculated according to the first position of the first sensor 50 relative to the reference object 300 and the relative position.
在某些实施方式中,处理器40用于根据所述第一传感器50相对于所述参考物300的第一位置和所述相对位置计算得到所述当前位置。In some embodiments, the processor 40 is configured to calculate the current position according to a first position of the first sensor 50 relative to the reference object 300 and the relative position.
如此,运动机构10或负载200相对于第一传感器50的相对位置通过第二传感器60获取,使得负载200的当前位置更加容易获取。In this way, the relative position of the movement mechanism 10 or the load 200 with respect to the first sensor 50 is obtained by the second sensor 60, so that the current position of the load 200 is more easily obtained.
第二传感器60可以安装在运动机构10或负载200,以便于获得运动机构10或负载200相对于第一传感器50的相对位置。The second sensor 60 may be installed on the movement mechanism 10 or the load 200 so as to obtain the relative position of the movement mechanism 10 or the load 200 with respect to the first sensor 50.
在一个例子中,第二传感器60可以为磁编码器,安装在运动机构10上,运动机构10包括电机20,磁编码器用于获取电机20的转动角度,从而计算得到运动机构10或负载200相对于基座30的转动角度以获取相对位置。在另一些例子中,第二传感器60可以为距离传感器如视觉里程计或激光测距器等,安装在负载200上,从而直接获取负载200相对于基座30的相对位置。In one example, the second sensor 60 may be a magnetic encoder, which is mounted on the moving mechanism 10, and the moving mechanism 10 includes a motor 20. The magnetic encoder is used to obtain the rotation angle of the motor 20, so as to calculate the relative motion of the motion mechanism 10 or the load 200. Based on the rotation angle of the base 30 to obtain the relative position. In other examples, the second sensor 60 may be a distance sensor such as a visual odometer or a laser rangefinder, etc., and is mounted on the load 200 to directly obtain the relative position of the load 200 relative to the base 30.
在一个例子中,第二传感器60安装在负载200上时,如以上所述,由于基座30相对于参考物300的位置H1可以通过第一传感器50获取,而负载200相对于基座30的位置H2可以通过第二传感器60获取,那么负载200相对于参考物300的位置可以通过H1和H2的差值公式计算得到。In one example, when the second sensor 60 is mounted on the load 200, as described above, since the position H1 of the base 30 relative to the reference 300 can be obtained by the first sensor 50, the load 200 is relative to the base 30. The position H2 can be obtained by the second sensor 60, and then the position of the load 200 relative to the reference object 300 can be calculated by a difference formula of H1 and H2.
需要指出的是,第一传感器50和第二传感器60可以实时地获取相应的位置,从而纠正负载200运动至预定位置的偏差,使得负载200运动更加精确。It should be noted that the first sensor 50 and the second sensor 60 can acquire the corresponding positions in real time, thereby correcting the deviation of the movement of the load 200 to a predetermined position, so that the movement of the load 200 is more accurate.
请参阅图8,在某些实施方式中,所述增稳系统100还包括基座位姿传感器70,所述基座位姿传感器70用于获取所述基座30的位姿,步骤S14还包括:Please refer to FIG. 8. In some embodiments, the stabilization system 100 further includes a base posture sensor 70. The base posture sensor 70 is configured to acquire the posture of the base 30. Step S14 further includes:
根据所述第一位置、所述相对位置和所述基座30的位姿,计算得到所述当前位置。The current position is calculated and obtained according to the first position, the relative position, and the posture of the base 30.
在某些实施方式中,处理器40用于根据所述第一传感器50相对于所述参考物300的第一位置、所述相对位置和所述基座30的位姿计算得到所述当前位置。In some embodiments, the processor 40 is configured to calculate the current position according to the first position of the first sensor 50 relative to the reference object 300, the relative position, and the posture of the base 30. .
请结合图11,在一个例子中,参考物300为地面时,负载200相对于地面 在竖直方向的当前位置为高度位置H3,然而,当基座30发生倾斜时,例如在俯仰方向或横滚方向上发生偏转时,第一传感器50获取基座30相对于地面的位置同样为倾斜的位置,此时第一传感器50获取的位置为H4。因此,通过基座位姿传感器70获取基座30的位姿,根据基座30的位姿和第一传感器50获取的位置H4可以计算得到基座30相对于地面的位置H1,再根据H1、H2和H3的关系式可以计算得到负载200的当前位置H3。Please refer to FIG. 11. In an example, when the reference object 300 is the ground, the current position of the load 200 relative to the ground in the vertical direction is the height position H3. However, when the base 30 is tilted, for example, in the pitch direction or horizontal direction When deflection occurs in the rolling direction, the position of the base 30 relative to the ground obtained by the first sensor 50 is also an inclined position, and at this time, the position obtained by the first sensor 50 is H4. Therefore, the posture of the pedestal 30 is obtained through the pedestal posture sensor 70. Based on the posture of the pedestal 30 and the position H4 obtained by the first sensor 50, the position H1 of the pedestal 30 relative to the ground can be calculated, and then based on H1 and H2 The relational expression with H3 can calculate the current position H3 of the load 200.
请参阅图8,在某些实施方式中,所述增稳系统100还包括第三传感器80,所述第三传感器80用于获取所述负载200相对于所述参考物300的初始位置,所述预定位置包括所述初始位置,所述控制方法包括:Referring to FIG. 8, in some embodiments, the stabilization system 100 further includes a third sensor 80, which is used to obtain an initial position of the load 200 relative to the reference object 300. The predetermined position includes the initial position, and the control method includes:
控制所述电机20驱动所述运动机构10运动以带动所述负载200运动至所述初始位置。The motor 20 is controlled to drive the movement mechanism 10 to move the load 200 to the initial position.
在某些实施方式中,处理器40用于控制所述电机20驱动所述运动机构10运动以带动所述负载200运动至所述初始位置。In some embodiments, the processor 40 is configured to control the motor 20 to drive the movement mechanism 10 to move the load 200 to the initial position.
具体地,第三传感器80例如为惯性传感器,第三传感器80可以安装在负载200上或者负载200与运动机构10的连接处。负载200的初始位置例如为负载200抖动前的位置。负载200的工作过程中发生抖动时,负载200由于抖动而产生位置偏差时,负载200产生的位置偏差可以被第三传感器80获取,根据负载200的位置偏差可以获得负载200在抖动前的位置,进而可以控制负载200运动至抖动前的位置。Specifically, the third sensor 80 is, for example, an inertial sensor, and the third sensor 80 may be installed on the load 200 or a connection between the load 200 and the movement mechanism 10. The initial position of the load 200 is, for example, the position before the load 200 shakes. When a jitter occurs during the work of the load 200 and a position deviation of the load 200 is caused by the jitter, the position deviation generated by the load 200 can be obtained by the third sensor 80. The position of the load 200 before the jitter can be obtained based on the position deviation of the load 200 Furthermore, the load 200 can be controlled to move to the position before shaking.
在一个例子中,负载200发生抖动后,负载200的当前位置相对于初始位置向下移动了5mm,第三传感器80可以获取负载200向下移动5mm的过程,因此,负载200的当前位置向上移动5mm的位置即为负载200的初始位置,从而可以控制负载200向上移动5mm以使负载200到达初始位置。In an example, after the load 200 is shaken, the current position of the load 200 is moved down 5mm relative to the initial position, and the third sensor 80 can obtain the process of the load 200 moving 5mm down. Therefore, the current position of the load 200 is moved upward The position of 5mm is the initial position of the load 200, so that the load 200 can be controlled to move upward 5mm to make the load 200 reach the initial position.
可以理解的是,第三传感器80可以单独使用来控制使得负载200保持在预定位置,也可以与前述的第一传感器50、第二传感器60结合使用来控制使得负载200保持在预定位置。当增稳系统100存在着多个传感控制途径时,处理 器40可以选择使用其中一个途径来进行控制并使得负载200实现滑轨拍摄的效果,也可以选择使用多个途径,并通过多传感器融合的方法来使得控制更为精确。It may be understood that the third sensor 80 may be used alone to control the load 200 to be maintained at a predetermined position, or may be used in combination with the aforementioned first sensor 50 and second sensor 60 to control the load 200 to be maintained at a predetermined position. When there are multiple sensing control paths in the stabilization system 100, the processor 40 may choose to use one of the paths to control and make the load 200 achieve the effect of slide-rail shooting, or may use multiple paths and use multiple sensors. A fused approach to make control more precise.
综上,本发明实施方式的増稳系统100的控制方法中,増稳系统100包括运动机构10和电机20,电机20与所述运动机构10连接,运动机构10用于安装负载200并带动负载200运动,控制方法包括:In summary, in the control method of the stabilizing system 100 according to the embodiment of the present invention, the stabilizing system 100 includes a moving mechanism 10 and a motor 20, and the motor 20 is connected to the moving mechanism 10. The moving mechanism 10 is used to install the load 200 and drive the load 200 movements, control methods include:
S10,检测所述负载200相对于参考物300在特定方向上的当前位置;S10. Detect the current position of the load 200 relative to the reference object 300 in a specific direction;
S20,判断负载200的当前位置是否为预定位置;S20. Determine whether the current position of the load 200 is a predetermined position;
S30,在所述负载200未处于所述预定位置时控制所述电机20驱动所述运动机构10运动以带动所述负载200运动至所述预定位置。S30. When the load 200 is not in the predetermined position, control the motor 20 to drive the movement mechanism 10 to move the load 200 to the predetermined position.
本发明实施方式的控制方法中,通过控制电机20驱动运动机构10以带动所述负载200运动至所述预定位置,使得负载200相对于参考物300的距离保持为设定值,从而使得负载上的拍摄装置210能够拍摄出滑轨模式的效果。In the control method according to the embodiment of the present invention, the movement mechanism 10 is driven by controlling the motor 20 to move the load 200 to the predetermined position, so that the distance of the load 200 from the reference object 300 is maintained at a set value, so that the load is increased. The capturing device 210 can capture the effect of the slide mode.
在本说明书的描述中,参考术语“一个实施方式”、“某些实施方式”、“示意性实施方式”、“示例”、“具体示例”、或“一些示例”等的描述意指结合所述实施方式或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施方式或示例中。在本说明书中,对上述术语的示意性表述不一定指的是相同的实施方式或示例。而且,描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施方式或示例中以合适的方式结合。In the description of the present specification, descriptions with reference to the terms “one embodiment”, “some embodiments”, “exemplary embodiments”, “examples”, “specific examples”, or “some examples” and the like mean that in combination with Specific features, structures, materials, or characteristics described in the embodiments or examples are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same implementation or example. Moreover, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more implementations or examples.
尽管已经示出和描述了本发明的实施方式,本领域的普通技术人员可以理解:在不脱离本发明的原理和宗旨的情况下可以对这些实施方式进行多种变化、修改、替换和变型,本发明的范围由权利要求及其等同物限定。Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and spirit of the present invention, The scope of the invention is defined by the claims and their equivalents.

Claims (22)

  1. 一种增稳系统的控制方法,其特征在于,所述增稳系统包括运动机构和与所述运动机构连接的电机,所述运动机构用于安装负载并带动所述负载运动;A control method for a stabilization system, characterized in that the stabilization system includes a motion mechanism and a motor connected to the motion mechanism, and the motion mechanism is used to install a load and drive the load to move;
    所述控制方法包括:The control method includes:
    检测所述负载相对于参考物在特定方向上的当前位置;Detecting the current position of the load in a specific direction relative to the reference object;
    判断所述当前位置是否为预定位置;Determining whether the current position is a predetermined position;
    在所述负载未处于所述预定位置时控制所述电机驱动所述运动机构运动以带动所述负载运动至所述预定位置。And when the load is not in the predetermined position, controlling the motor to drive the movement mechanism to move the load to the predetermined position.
  2. 如权利要求1所述的控制方法,其特征在于,所述增稳系统包括第一传感器,所述第一传感器用于获取所述第一传感器相对于所述参考物的位置,所述检测所述负载相对于参考物在特定方向上的当前位置的步骤包括:The control method according to claim 1, wherein the stabilization system includes a first sensor, and the first sensor is configured to obtain a position of the first sensor relative to the reference object, and the detection unit The steps of describing the current position of the load relative to the reference in a particular direction include:
    获取所述第一传感器相对于所述参考物的第一位置;Acquiring a first position of the first sensor relative to the reference object;
    根据所述第一位置计算得到所述当前位置。The current position is calculated according to the first position.
  3. 如权利要求2所述的控制方法,其特征在于,所述增稳系统还包括基座,所述第一传感器设置于所述基座上,所述第一传感器相对于所述参考物的位置为所述基座相对于所述参考物的位置。The control method according to claim 2, wherein the stabilization system further comprises a base, the first sensor is disposed on the base, and a position of the first sensor relative to the reference object Is the position of the base relative to the reference.
  4. 如权利要求2或3所述的控制方法,其特征在于,所述增稳系统还包括第二传感器,所述第二传感器用于获取所述运动机构或所述负载中的至少一者相对于所述第一传感器的相对位置;所述根据所述第一位置计算得到所述当前位置还包括:The control method according to claim 2 or 3, wherein the stabilization system further comprises a second sensor for acquiring at least one of the motion mechanism or the load with respect to The relative position of the first sensor; the calculating the current position based on the first position further includes:
    根据所述第一位置和所述相对位置计算得到所述当前位置。The current position is calculated and obtained according to the first position and the relative position.
  5. 如权利要求4所述的控制方法,其特征在于,所述增稳系统还包括基座位姿传感器,所述基座位姿传感器用于获取所述基座的位姿,所述根据第一位置计算得到所述当前位置还包括:The control method according to claim 4, wherein the stabilization system further comprises a base posture sensor, the base posture sensor is configured to obtain the posture of the base, and the calculation is based on the first position. Obtaining the current position further includes:
    根据所述第一位置、所述相对位置和所述基座的位姿,计算得到所述当前位置。The current position is calculated and obtained according to the first position, the relative position, and the posture of the base.
  6. 如权利要求1-5任一项所述的控制方法,其特征在于,所述增稳系统还包括第三传感器,所述第三传感器用于获取所述负载相对于所述参考物的初始位置,所述预定位置包括所述初始位置,所述控制方法包括:The control method according to any one of claims 1 to 5, wherein the stabilization system further comprises a third sensor, and the third sensor is configured to obtain an initial position of the load relative to the reference object. The predetermined position includes the initial position, and the control method includes:
    控制所述电机驱动所述运动机构运动以带动所述负载运动至所述初始位置。Controlling the motor to drive the movement mechanism to move the load to the initial position.
  7. 如权利要求1所述的控制方法,其特征在于,所述运动机构带动所述负载运动的方向与所述特定方向相同,且所述运动机构用于在所述特定方向上增稳所述负载。The control method according to claim 1, wherein the direction in which the movement mechanism drives the load is the same as the specific direction, and the movement mechanism is used to stabilize the load in the specific direction .
  8. 如权利要求1或7所述的控制方法,其特征在于,所述参考物为地面,所述特定方向为竖直方向。The control method according to claim 1 or 7, wherein the reference object is a ground surface, and the specific direction is a vertical direction.
  9. 如权利要求1所述的控制方法,其特征在于,所述运动机构为四连杆机构。The control method according to claim 1, wherein the movement mechanism is a four-link mechanism.
  10. 如权利要求9所述的控制方法,其特征在于,所述四连杆机构为平行四边形机构。The control method according to claim 9, wherein the four-link mechanism is a parallelogram mechanism.
  11. 如权利要求1所述的控制方法,其特征在于,所述负载为三轴云台。The control method according to claim 1, wherein the load is a three-axis head.
  12. 一种增稳系统,其特征在于,包括:A stability augmentation system, comprising:
    运动机构,所述运动机构用于安装负载并带动所述负载运动;A movement mechanism for mounting a load and driving the load to move;
    与所述运动机构连接的电机;和A motor connected to the motion mechanism; and
    处理器,所述处理器用于检测所述负载相对于参考物在特定方向上的当前位置,及用于判断所述当前位置是否为预定位置并在所述负载未处于所述预定位置时控制所述电机驱动所述运动机构运动以带动所述负载运动至所述预定位置。A processor for detecting a current position of the load in a specific direction relative to a reference object, and for determining whether the current position is a predetermined position and controlling a position when the load is not in the predetermined position The motor drives the movement mechanism to move the load to the predetermined position.
  13. 如权利要求12所述的增稳系统,其特征在于,所述增稳系统包括第一传感器,所述第一传感器用于获取所述第一传感器相对于所述参考物的位置,所述处理器用于获取所述第一传感器相对于所述参考物的第一位置及根据所述第一位置计算得到所述当前位置。The stabilization system according to claim 12, wherein the stabilization system includes a first sensor, the first sensor is configured to obtain a position of the first sensor relative to the reference object, and the processing The device is configured to obtain a first position of the first sensor relative to the reference object and calculate the current position according to the first position.
  14. 如权利要求13所述的增稳系统,其特征在于,所述增稳系统还包括基座,所述第一传感器设置于所述基座上,所述第一传感器相对于所述参考物的位置为所述基座相对于所述参考物的位置。The stabilization system according to claim 13, wherein the stabilization system further comprises a base, the first sensor is disposed on the base, and the first sensor is relative to the reference object. The position is the position of the base relative to the reference.
  15. 如权利要求13或14所述的增稳系统,其特征在于,所述增稳系统还包括第二传感器,所述第二传感器用于获取所述运动机构或所述负载中的至少一者相对于所述第一传感器的相对位置;所述处理器用于根据所述第一位置和所述相对位置计算得到所述当前位置。The stabilization system according to claim 13 or 14, wherein the stabilization system further comprises a second sensor, and the second sensor is configured to acquire at least one of the motion mechanism or the load relative to Based on the relative position of the first sensor; the processor is configured to calculate the current position according to the first position and the relative position.
  16. 如权利要求15所述的增稳系统,其特征在于,所述增稳系统还包括基座位姿传感器,所述基座位姿传感器用于获取所述基座的位姿,所述处理器用于根据所述第一位置、所述相对位置和所述基座的位姿计算得到所述当前位置。The stabilization system according to claim 15, wherein the stabilization system further comprises a base posture sensor, the base posture sensor is configured to obtain the posture of the base, and the processor is configured to The first position, the relative position, and the pose of the base are calculated to obtain the current position.
  17. 如权利要求12-16任一项所述的增稳系统,其特征在于,所述增稳系 统还包括第三传感器,所述第三传感器用于获取所述负载相对于所述参考物的初始位置,所述预定位置包括所述初始位置,所述处理器用于控制所述电机驱动所述运动机构运动以带动所述负载运动至所述初始位置。The stabilization system according to any one of claims 12 to 16, wherein the stabilization system further includes a third sensor, and the third sensor is configured to obtain an initial value of the load relative to the reference object. Position, the predetermined position includes the initial position, and the processor is configured to control the motor to drive the motion mechanism to move the load to the initial position.
  18. 如权利要求12所述的增稳系统,其特征在于,所述运动机构带动所述负载运动的方向与所述特定方向相同,且所述运动机构用于在所述特定方向上增稳所述负载。The stabilization system according to claim 12, wherein a direction in which the movement mechanism drives the load movement is the same as the specific direction, and the movement mechanism is used to stabilize the load in the specific direction. load.
  19. 如权利要求12或18所述的增稳系统,其特征在于,所述参考物为地面,所述特定方向为竖直方向。The stabilization system according to claim 12 or 18, wherein the reference object is ground and the specific direction is a vertical direction.
  20. 如权利要求12所述的增稳系统,其特征在于,所述运动机构为四连杆机构。The stabilization system according to claim 12, wherein the moving mechanism is a four-link mechanism.
  21. 如权利要求20所述的增稳系统,其特征在于,所述四连杆机构为平行四边形机构。The stabilization system according to claim 20, wherein the four-link mechanism is a parallelogram mechanism.
  22. 如权利要求12所述的增稳系统,其特征在于,所述负载为三轴云台。The stabilization system according to claim 12, wherein the load is a three-axis head.
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