WO2020014906A1

WO2020014906A1 - Stability augmentation system and control method therefor

Info

Publication number: WO2020014906A1
Application number: PCT/CN2018/096176
Authority: WO
Inventors: 许文; 陈子寒
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2018-07-18
Filing date: 2018-07-18
Publication date: 2020-01-23
Also published as: CN110337407A

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

Stability enhancing system and control method thereof

Technical field

The invention relates to the technical field of imaging equipment, in particular to a stabilization system and a control method thereof.

Background technique

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.

Summary of the invention

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.

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;

The control method includes:

Detecting the current position of the load in a specific direction relative to the reference object;

Determining whether the current position is a predetermined position;

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.

The stabilization system according to the embodiment of the present invention includes:

A movement mechanism for mounting a load and driving the load to move;

A motor connected to the motion mechanism; and

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.

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.

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.

BRIEF DESCRIPTION OF THE DRAWINGS

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:

1 is a schematic plan view of a stabilizing system according to an embodiment of the present invention;

2 is a schematic plan view of another aspect of the stabilization system according to the embodiment of the present invention;

3 is a schematic plan view of another aspect of the stabilization system according to the embodiment of the present invention;

4 is a schematic diagram of a state of a stabilization system according to an embodiment of the present invention;

5 is a schematic diagram of another state of the stabilization system according to the embodiment of the present invention;

6 is an exploded schematic view of a stabilizing system according to an embodiment of the present invention;

7 is a schematic flowchart of a control method according to an embodiment of the present invention;

8 is a schematic block diagram of a stabilization system according to an embodiment of the present invention;

9 is a schematic diagram of a motion process of a stabilizing system according to an embodiment of the present invention;

10 is another schematic flowchart of a control method according to an embodiment of the present invention;

FIG. 11 is a schematic scenario diagram of a stabilization system according to an embodiment of the present invention.

Explanation of main component symbols:

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;

The load 200, the photographing device 210, the supporting device 102, and the reference object 300.

detailed description

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.

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.

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.

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.

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.

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.

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.

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.

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.

In the embodiment of the present invention, the load 200 is mainly used as an example for description.

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.

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.

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.

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.

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.

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.

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.

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.

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.

In some embodiments, the movement mechanism 10 may also be a mechanism such as a crank slider mechanism or a screw guide.

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.

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.

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.

Referring to FIG. 7, a control method according to an embodiment of the present invention includes:

S10. Detect the current position of the load 200 relative to the reference object 300 in a specific direction;

S20. Determine whether the current position of the load 200 is a predetermined position;

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.

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.

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.

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.

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.

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.

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.

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.

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. .

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.

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.

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.

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.

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.

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.

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.

The processor 40 may be a microcontroller (MCU), which may be installed in the base 30.

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. Obtain a first position of the first sensor 50 relative to the reference object 300.

S14. Calculate the current position according to the first position.

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.

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.

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.

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.

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.

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.

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.

Of course, the first sensor 50 may also be another sensor that can detect the relative position, such as a laser rangefinder.

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:

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.

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.

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.

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.

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.

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.

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.

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:

The current position is calculated and obtained according to the first position, the relative position, and the posture of the base 30.

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. .

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.

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:

The motor 20 is controlled to drive the movement mechanism 10 to move the load 200 to the initial position.

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.

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.

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.

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.

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:

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.

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.

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

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;

The control method includes:

Detecting the current position of the load in a specific direction relative to the reference object;

Determining whether the current position is a predetermined position;

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.
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:

Acquiring a first position of the first sensor relative to the reference object;

The current position is calculated according to the first position.
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.
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:

The current position is calculated and obtained according to the first position and the relative position.
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:

The current position is calculated and obtained according to the first position, the relative position, and the posture of the base.
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:

Controlling the motor to drive the movement mechanism to move the load to the initial position.
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 .
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.
The control method according to claim 1, wherein the movement mechanism is a four-link mechanism.
The control method according to claim 9, wherein the four-link mechanism is a parallelogram mechanism.
The control method according to claim 1, wherein the load is a three-axis head.
A stability augmentation system, comprising:

A movement mechanism for mounting a load and driving the load to move;

A motor connected to the motion mechanism; and

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.
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.
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.
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.
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.
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.
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.
The stabilization system according to claim 12 or 18, wherein the reference object is ground and the specific direction is a vertical direction.
The stabilization system according to claim 12, wherein the moving mechanism is a four-link mechanism.
The stabilization system according to claim 20, wherein the four-link mechanism is a parallelogram mechanism.
The stabilization system according to claim 12, wherein the load is a three-axis head.