WO2021016855A1 - Procédé et dispositif de commande de stabilisateur de cardan portatif, stabilisateur de cardan portatif, et support de stockage - Google Patents

Procédé et dispositif de commande de stabilisateur de cardan portatif, stabilisateur de cardan portatif, et support de stockage Download PDF

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Publication number
WO2021016855A1
WO2021016855A1 PCT/CN2019/098356 CN2019098356W WO2021016855A1 WO 2021016855 A1 WO2021016855 A1 WO 2021016855A1 CN 2019098356 W CN2019098356 W CN 2019098356W WO 2021016855 A1 WO2021016855 A1 WO 2021016855A1
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WIPO (PCT)
Prior art keywords
torque
jumps
specified time
time range
tilt
Prior art date
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PCT/CN2019/098356
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English (en)
Chinese (zh)
Inventor
王文杰
卢国政
谢文麟
许文
Original Assignee
深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201980030596.0A priority Critical patent/CN112119254A/zh
Priority to PCT/CN2019/098356 priority patent/WO2021016855A1/fr
Publication of WO2021016855A1 publication Critical patent/WO2021016855A1/fr

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/04—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or holding steady relative to, a person, e.g. by chains, e.g. rifle butt or pistol grip supports, supports attached to the chest or head
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera accessories

Definitions

  • This application relates to the field of control technology, and in particular to a control method and device of a handheld pan/tilt, a handheld pan/tilt, and a storage medium.
  • the application of PTZ is more and more extensive, among which, it is widely used in the field of shooting.
  • the user can use the handheld PTZ and camera equipment to shoot in various forms and scenes.
  • the handheld gimbal is not equipped with camera equipment, if the handheld gimbal is turned on, the motor output will be abnormal, which will cause the handheld gimbal to shake continuously, affecting the reliability and service life of the handheld gimbal. Therefore, how to better improve the reliability of the handheld PTZ and extend the life of the handheld PTZ is of great significance.
  • the embodiments of the present invention provide a control method, equipment, hand-held pan-tilt and storage medium for a handheld pan-tilt, which can avoid the phenomenon of continuous shaking when the handheld pan-tilt is in an idling state, improve the reliability of the handheld pan-tilt, and extend The service life of the handheld PTZ is improved and the user experience is improved.
  • an embodiment of the present invention provides a method for controlling a handheld PTZ, including:
  • the first motor is controlled to stop rotating.
  • an embodiment of the present invention provides a control device, including one or more processors, which work individually or together, and are used to perform the following operations:
  • the first motor is controlled to stop rotating.
  • an embodiment of the present invention provides a handheld PTZ, including:
  • At least one motor At least one motor
  • the processor is used to perform the following steps:
  • the first motor is controlled to stop rotating.
  • an embodiment of the present invention provides a computer-readable storage medium that stores a computer program that, when executed by a processor, implements the method described in the first aspect.
  • the control device obtains the first torque output by the first motor, and the first motor is connected to the camera fixing mechanism of the hand-held pan/tilt; at least partly based on the first torque in a specified time range Determine whether the handheld pan/tilt is in an idling state, and control the first motor to stop rotating when the handheld pan/tilt is in an idling state.
  • Figure 1 is a schematic diagram of a handheld pan/tilt provided by an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a handheld camera holding and shooting device provided by an embodiment of the present invention
  • Figure 3 is a schematic diagram of the working principle of a handheld pan/tilt provided by an embodiment of the present invention.
  • FIG. 4 is a schematic flowchart of a method for controlling a handheld PTZ according to an embodiment of the present invention
  • FIG. 5 is a schematic flowchart of another method for controlling a handheld PTZ according to an embodiment of the present invention.
  • FIG. 6 is a schematic flowchart of another method for controlling a handheld PTZ according to an embodiment of the present invention.
  • FIG. 7 is a schematic flowchart of yet another method for controlling a handheld PTZ according to an embodiment of the present invention.
  • Fig. 8 is a schematic structural diagram of a control device provided by an embodiment of the present invention.
  • the method for controlling the handheld PTZ provided in the embodiment of the present invention may be executed by a control system, wherein the control system includes a control device and a handheld PTZ.
  • the control device may be installed on a handheld pan/tilt; in some embodiments, the control device may be spatially independent of the handheld pan/tilt; in some embodiments, the control The device may be a component of a handheld PTZ, that is, the handheld PTZ includes a control device.
  • the handheld pan/tilt includes at least one motor, and the motor is used to make the handheld pan/tilt face in a certain direction.
  • the handheld pan/tilt may carry a camera.
  • the control method of the handheld PTZ can also be applied to other mobile devices.
  • the hand-held pan/tilt may be introduced as an example in FIG. 1, which is a schematic diagram of a handheld pan/tilt provided by an embodiment of the present invention.
  • the hand-held pan/tilt includes a first motor 1, a second motor 2, and a third motor 3.
  • the first motor 1 is connected to the second motor 2 through a shaft arm 6, and the second motor 2 is connected to Connected with the third motor 3, the shaft arm 5 and the shaft arm 6 are in an oblique state, and the third motor 3 is connected with the handle 4.
  • the handheld pan/tilt also includes a camera fixing mechanism 7 which is connected to the first motor 1 and can be used to clamp photographing equipment such as mobile phones and cameras.
  • the first motor 1 can be used to control the roll (Roll) attitude of the camera
  • the second motor 2 can be used to control the pitch (Pitch) attitude of the camera
  • the third motor 3 can be used to control the yaw (Yaw) of the camera. attitude.
  • FIG. 1 merely provides a hand-held pan/tilt head.
  • the three-axis connection mode of the embodiment of the present invention is not limited to the form of Roll-Pitch-Yaw, and other connection sequences may also be used.
  • the rotating shafts of the three-axis motors in the embodiments of the present invention may also be perpendicular to each other in space; of course, the embodiments of the present invention are not limited to a three-axis handheld pan/tilt, and may also be a handheld pan/tilt containing other numbers of rotating shafts.
  • the handheld PTZ has a camera fixing mechanism 7.
  • the camera (not shown in FIG. 1) may be installed in the camera fixing mechanism 7.
  • Figure 2 is a schematic diagram of a handheld pan/tilt holding camera provided by an embodiment of the present invention.
  • the camera 8 is mounted on the camera fixing mechanism 7, and the camera is fixed.
  • the mechanism 7 is connected to the first motor 1.
  • the camera fixing mechanism 7 is not necessary.
  • the handheld pan/tilt When used to carry external photographing devices such as mobile phones and cameras, it may include the camera fixing mechanism; when the handheld pan/tilt itself is integrated with the camera When the device is integrated with a camera, for example, it may not include the camera fixing mechanism.
  • FIG. 3 is a schematic diagram of the working principle of a handheld PTZ provided by an embodiment of the present invention.
  • the current posture 34 of the handheld gimbal 32 equipped with the camera is acquired through the inertial measurement element 33, and the deviation between the current posture 34 and the target posture 35 is determined according to the current posture 34 and the target posture 35 of the handheld gimbal.
  • the control system 31 controls the handheld pan/tilt 32 equipped with the camera to reduce the deviation, thereby improving the stability and reliability of the handheld pan/tilt 32 equipped with the camera.
  • the inertial measurement element 33 can be installed in the camera fixing mechanism 7 as shown in FIG. 1.
  • the method for controlling the handheld pan/tilt head can determine the first torque output by the first motor 1 and at least partly based on the number of jumps of the first torque within a specified time range.
  • FIG. 4 is a schematic flowchart of a method for controlling a handheld pan/tilt head according to an embodiment of the present invention.
  • the method may be executed by a control device.
  • the specific explanation of the control device is as described above.
  • the method of the embodiment of the present invention includes the following steps.
  • S401 Obtain a first torque output by a first motor of the handheld pan/tilt, where the first motor is connected to the camera fixing mechanism of the handheld pan/tilt.
  • control device can obtain the first torque output by the first motor, which is connected to the camera fixing mechanism of the handheld pan/tilt; in some embodiments, in one embodiment, The first motor is used to control the roll posture of the photographing device.
  • the first motor 1 is connected to the camera fixing mechanism 7 of the handheld pan/tilt, and the control device can obtain the first torque output by the first motor 1.
  • the handheld camera By acquiring the first torque output by the first motor connected to the holding mechanism of the handheld camera, it is helpful to determine whether the handheld camera is in an idling state. If the handheld camera is in an idling state, the The first torque output by the first motor will show a jump phenomenon.
  • S402 Determine whether the handheld pan/tilt is in an idling state based at least in part on the number of jumps of the first torque within a specified time range.
  • control device may determine whether the handheld pan/tilt is in an idling state based at least in part on the number of jumps of the first torque within a specified time range.
  • the handheld pan/tilt is in an idling state.
  • the following formula (1) can be used to determine whether the handheld PTZ is at No-load state:
  • the number of times that the first torque jumps within a specified time range is the number of times the first torque meets a first preset jump condition within the specified time range. In some embodiments, the number of jumps of the first torque within a specified time range can be accumulated and recorded by a jump counter.
  • the first preset jump condition includes that the first torque changes from a first positive torque threshold to a first negative torque threshold; or, the first torque changes from a first negative torque threshold. Is the first positive torque threshold.
  • the first preset jump condition includes: the first torque torq changes from the first A positive torque threshold torq threshold becomes a first negative torque threshold -torq threshold ; or, the first torque torq changes from a first negative torque threshold -torq threshold to a first positive torque threshold torq threshold .
  • control device may obtain the number of times the first torque changes from the first positive torque threshold to the first negative torque threshold within the specified time range, and according to the first torque in the specified time The number of times from the first positive torque threshold to the first negative torque threshold within the time range determines the number of jumps of the first torque within the specified time range.
  • control device acquires that the number of times the first torque has changed from the first positive torque threshold to the first negative torque threshold within the specified time range is 4 times, it can be determined that the first torque is within the specified time range The number of internal jumps is 4 times.
  • control device may acquire the number of times the first torque changes from the first negative torque threshold to the first positive torque threshold within the specified time range, and according to the first torque in the specified time The number of times from the first negative torque threshold to the first positive torque threshold within the time range determines the number of jumps of the first torque within a specified time range.
  • control device acquires that the number of times that the first torque changes from the first negative torque threshold to the first positive torque threshold within the specified time range is 8 times, it can be determined that the first torque is within the specified time range The number of internal jumps is 8 times.
  • control device may obtain the number of times the first torque changes from a negative torque threshold to a positive torque threshold and the number of times the first torque changes from a positive torque threshold to a negative torque threshold within the specified time range, and based on the The number of times the first torque changes from a negative torque threshold to a positive torque threshold within the specified time range, and the number of times the first torque changes from a positive torque threshold to a negative torque threshold determine the number of jumps of the first torque within the specified time range .
  • the control device acquires that the number of times that the first torque changes from a negative torque threshold to a positive torque threshold within the specified time range is 8 times, and the number of times that the first torque changes from a positive torque threshold to a negative torque threshold is 8 times, then It can be determined that the number of jumps of the first torque within the specified time range is 16 times.
  • FIG. 5 is a schematic flowchart of another method for controlling a handheld pan/tilt head according to an embodiment of the present invention.
  • the method can be executed by a control device, wherein the specific explanation of the control device is as described above.
  • the control device may also obtain the rotational angular acceleration of the first motor (S501); determine the rotational inertia of the first motor according to the first moment and the rotational angular acceleration of the first motor ( S502); and based at least in part on the number of jumps of the first torque within a specified time range and the moment of inertia of the first motor, it is determined whether the handheld pan/tilt is in an idling state (S503).
  • the moment of inertia of the first motor is determined by dividing the first moment of the first motor by the rotational angular acceleration of the first motor. In some embodiments, the rotational angular acceleration of the first motor is obtained by the difference of the rotational angular velocity of the first motor.
  • the rotation angular velocity of the first motor is determined according to the difference between the rotation angles of the first motor at two test time points.
  • the two test time points may be two adjacent time points.
  • the rotation angle is obtained according to an angle sensor, and the angle sensor is connected to the camera fixing mechanism and the first motor.
  • the rotation angle of the first motor at two test time points is the rotation angle angle pre at the first test time point and the second test time adjacent to the first test time point before the first test time point.
  • the rotation angle angle of the point can be calculated by the method of difference to obtain the rotation angular velocity velocity of the first motor as shown in the following formula (2):
  • control device may obtain the rotation angle at the first test time point through the angle sensor, and the second test time point adjacent to the first test time point before the first test time point And calculate the difference between the rotation angle at the first test time point and the rotation angle at the second test time point before the first test time point, and determine that the difference is that of the first motor Angular velocity of rotation.
  • the control device obtains through the angle sensor that the rotation angle at the first s is 30 degrees, and the obtained at the second s If the rotation angle is 90 degrees, the difference between the rotation angle of 30 degrees in the first s and the rotation angle of 90 degrees obtained in the second s can be calculated as 60 degrees, so as to determine that the rotation angular velocity of the first motor is 60 degrees/sec.
  • obtaining the rotational angular velocity of the first motor helps determine the rotational angular acceleration of the first motor, so that the moment of inertia of the first motor is determined according to the first torque and the rotational angular acceleration of the first motor, In order to determine whether the handheld pan/tilt is in an idling state.
  • the handheld pan/tilt is in an idling state.
  • control device may control the first motor to stop rotating.
  • controlling the first motor to stop rotating can be understood as: controlling the motor to stop output; or controlling the output of the motor to gradually decrease until there is no output (for example, by adjusting the control parameters in the control system 31 shown in FIG. 3); Or control the motor output to be reduced to a certain range.
  • Those skilled in the art can set the time and degree required for the motor to stop rotating according to the disclosure of the embodiments of the present invention, so as to reduce damage to the handheld pan/tilt and improve user experience.
  • the handheld PTZ is electrically connected to the control terminal.
  • the control device may send prompt information to the control terminal, and the prompt information includes the Information indicating that the handheld pan/tilt is in no-load state.
  • the prompt information is used to prompt the user to turn off the first motor; in some embodiments, the prompt information is used to prompt the user to install the camera on the camera fixing mechanism of the handheld platform in.
  • the control device obtains the first torque output by the first motor, and the first motor is connected to the camera fixing mechanism of the hand-held pan/tilt; at least partly based on the first torque in a specified time range Determine whether the handheld pan/tilt is in an idling state, and control the first motor to stop rotating when the handheld pan/tilt is in an idling state.
  • Fig. 6 is a schematic flowchart of another method for controlling a handheld pan/tilt head according to an embodiment of the present invention.
  • the method may be executed by a control device, wherein the specific explanation of the control device is as described above.
  • the method of the embodiment of the present invention includes the following steps.
  • S601 Obtain a second torque output by a second motor of the handheld pan/tilt, where the second motor is connected to the first motor through the first bracket.
  • control device can obtain the second torque output by the second motor, and the second motor is connected to the first motor through the first bracket.
  • the first bracket includes the shaft arm 6 described in FIG. 1.
  • the second motor is used to control the pitch attitude of the photographing device.
  • the second motor 2 is connected to the first motor 1 through the shaft arm 6, and the control device can obtain the second torque output by the second motor 2.
  • the second motor will also shake. Therefore, by obtaining the second torque output by the second motor connected to the first motor, it is helpful to more accurately determine whether the handheld gimbal is in the idling state. If the handheld gimbal is in the idling state, the The second torque output by the second motor will show a jump phenomenon.
  • S602 Determine whether the handheld pan/tilt is in an idling state based at least in part on the number of jumps of the first torque within a specified time range and the number of jumps of the second torque within a specified time range.
  • the threshold of the number of jumps is preset, it is determined that the handheld pan/tilt is in an idling state.
  • the number of times the second torque jumps within a specified time range is the number of times the second torque meets a second preset jump condition within the specified time range. In some embodiments, the number of times that the second torque jumps within a specified time range can be accumulated and recorded by a jump counter.
  • the second preset jump condition includes that the second torque changes from a second positive torque threshold to a second negative torque threshold; or, the second torque changes from a second negative torque threshold. Is the second positive torque threshold.
  • the second preset hopping condition is similar to the aforementioned first preset hopping condition, and will not be repeated here.
  • control device may acquire the number of times the second torque changes from the second positive torque threshold to the second negative torque threshold within the specified time range, and according to the second torque in the specified time The number of times from the second positive torque threshold to the second negative torque threshold within the time range determines the number of jumps of the second torque within the specified time range.
  • control device acquires that the number of times that the second torque changes from the second positive torque threshold to the second negative torque threshold within the specified time range 2s is 3 times, it can be determined that the second torque is within the specified time The number of jumps within the range is 3 times.
  • control device may obtain the number of times the second torque changes from the second negative torque threshold to the second positive torque threshold within the specified time range, and according to the second torque in the specified time range. The number of times from the second negative torque threshold to the second positive torque threshold within the time range determines the number of jumps of the second torque within the specified time range.
  • control device acquires that the number of times that the second torque has changed from the second negative torque threshold to the second positive torque threshold within the specified time range 2s is 4 times, it can be determined that the second torque is at the specified time The number of jumps within the range is 4 times.
  • control device may acquire the number of times the second torque changes from a negative torque threshold to a positive torque threshold and the number of times the second torque changes from a positive torque threshold to a negative torque threshold within the specified time range, and according to the The number of times the second torque changes from the negative torque threshold to the positive torque threshold within the specified time range, and the number of times the positive torque threshold changes to the negative torque threshold determine the number of jumps of the torque within the specified time range.
  • the control device acquires that the number of times that the second torque changes from a negative torque threshold to a positive torque threshold within the specified time range is 8 times, and the number of times that the second torque changes from a positive torque threshold to a negative torque threshold is 8 times, then It can be determined that the number of jumps of the second torque within the specified time range is 16 times.
  • control device may also control the second motor to stop rotating.
  • controlling the first motor to stop rotating and controlling the second motor to stop rotating can be understood as: controlling the motor to stop output; or controlling the motor output to gradually decrease until there is no output (for example, by adjusting the control system shown in Figure 3 31); or control the motor output to be reduced to a certain range.
  • Those skilled in the art can set the time and degree required for the motor to stop rotating according to the disclosure of the embodiments of the present invention, so as to reduce damage to the handheld pan/tilt and improve user experience.
  • the control device obtains the second torque output by the second motor, based at least in part on the number of jumps of the first torque within a specified time range and the occurrence of the second torque within the specified time range.
  • the number of jumps determines whether the handheld gimbal is in an idling state, which can further improve the accuracy of the handheld gimbal no-load detection, thereby avoiding the handheld gimbal being in an idling state and causing continuous jitter, and improving the handheld gimbal’s performance Reliability extends the service life of the handheld PTZ and improves the user experience.
  • Fig. 7 is a schematic flow chart of another method for controlling a handheld pan/tilt head provided by an embodiment of the present invention.
  • the method can be executed by a control device, wherein the specific explanation of the control device is as described above.
  • the method of the embodiment of the present invention includes the following steps.
  • S701 Obtain a third torque output by a third motor of the handheld pan/tilt, where the third motor is connected to the second motor through the second bracket.
  • control device may obtain the third torque output by the third motor, and the third motor is connected to the second motor through the second bracket.
  • the second bracket is the shaft arm 5 described in FIG. 1.
  • the third motor is used to control the yaw attitude of the camera.
  • the third motor 3 is connected to the second motor 2 through the shaft arm 5, and the control device can obtain the third torque output by the third motor 3.
  • the third motor will shake. Therefore, the third torque output by the third motor connected to the second motor can be obtained to help determine whether the handheld pan/tilt is in the idling state. If the handheld pan/tilt is in the idling state, the third motor outputs The third torque will show a jump phenomenon.
  • S702 Based at least in part on the number of jumps of the first torque within a specified time range, the number of jumps of the second torque within a specified time range, and the number of jumps of the third torque within a specified time range. Change the number of times to determine whether the handheld PTZ is in an idling state.
  • the handheld pan/tilt when the number of jumps of the first torque within a specified time range is greater than the first preset threshold of jumps; the number of jumps of the second torque within the specified time range is greater than that of the second A preset threshold for the number of jumps; and when the number of jumps of the third torque within a specified time range is greater than the third threshold for the number of jumps, it is determined that the handheld pan/tilt is in an idling state.
  • the number of times that the third motor jumps within a specified time range is the number of times the third torque meets a third preset jump condition within the specified time range.
  • the third preset jump condition includes that the third torque changes from a third positive torque threshold to a third negative torque threshold; or, the third torque changes from a third negative torque threshold. Is the third positive torque threshold.
  • control device may obtain the number of times the third torque changes from a third positive torque threshold to a third negative torque threshold within the specified time range, and according to the third torque when the specified The number of times from the third positive torque threshold to the third negative torque threshold within the time range determines the number of jumps of the third torque within the specified time range.
  • control device acquires that the number of times the third torque has changed from the third positive torque threshold to the third negative torque threshold within the specified time range 2s is 2 times, it can be determined that the third torque is within the specified time The number of jumps within the range is 2 times.
  • control device may obtain the number of times the third torque changes from the third negative torque threshold to the third positive torque threshold within the specified time range, and according to the third torque in the specified time The number of times from the third negative torque threshold to the third positive torque threshold within the time range determines the number of jumps of the third torque within the specified time range.
  • control device acquires that the number of times the third torque has changed from the third negative torque threshold to the third positive torque threshold within the specified time range is 2 times, it can be determined that the third torque is within the specified time range The number of internal jumps is 2 times.
  • control device may obtain the number of times the third torque changes from a negative torque threshold to a positive torque threshold and the number of times the third torque changes from a positive torque threshold to a negative torque threshold within the specified time range, and according to the The number of times the third torque changes from a negative torque threshold to a positive torque threshold within the specified time range, and the number of times the third torque changes from a positive torque threshold to a negative torque threshold determine the number of jumps of the third torque within the specified time range .
  • control device acquires that the number of times the third torque changes from the negative torque threshold to the positive torque threshold within the specified time range is 8 times, and the number of times the third torque changes from the positive torque threshold to the negative torque threshold is 8 times, then It can be determined that the number of jumps of the third torque within the specified time range is 16 times.
  • control device may also control the second motor and the third motor to stop rotating.
  • controlling the first motor to stop rotating and controlling the second motor and the third motor to stop rotating can be understood as: controlling the motor to stop output; or controlling the output of the motor to gradually decrease until there is no output (for example, by adjusting as shown in Figure 3 The control parameters in the control system 31 shown); or the control motor output is reduced to a certain range.
  • Those skilled in the art can set the time and degree required for the motor to stop rotating according to the disclosure of the embodiments of the present invention, so as to reduce damage to the handheld pan/tilt and improve user experience.
  • the control device obtains the third torque output by the third motor, at least partly based on the number of jumps of the first torque within a specified time range, and the second torque occurs within the specified time range.
  • the number of jumps and the number of jumps of the third moment within a specified time range determine whether the handheld gimbal is in an idling state, which can further improve the accuracy of the handheld gimbal's no-load detection, thereby avoiding handheld cloud
  • the idling state of the platform leads to continuous jitter, which improves the reliability of the handheld gimbal, prolongs the service life of the handheld gimbal, and improves the user experience.
  • control device can also determine the hand-held device based on the torque of the first motor, the torque of the second motor, the number of times the torque of the third motor jumps within a specified time range, and the moment of inertia of the first motor. Whether the gimbal is suspended
  • control device may also determine whether the handheld pan/tilt is in a suspended state through other motion parameters of the motor, and the motion parameters may include the angular velocity and angular acceleration of the motor. For example, the control device may determine whether the handheld pan/tilt head is in an idling state based at least in part on the angular velocity or angular acceleration of the first motor. Specifically, the control device may determine whether the handheld pan/tilt head is in an idling state based at least in part on the number of jumps in the angular velocity or angular acceleration of the first motor within a specified time range.
  • FIG. 8 is a schematic structural diagram of a control device according to an embodiment of the present invention.
  • the control device includes: a memory 801 and a processor 802.
  • control device further includes a data interface 803, and the data interface 803 is used to transfer data information between the control device and other devices.
  • the memory 801 may include a volatile memory (volatile memory); the memory 801 may also include a non-volatile memory (non-volatile memory); the memory 801 may also include a combination of the foregoing types of memories.
  • the processor 802 may be a central processing unit (CPU).
  • the processor 802 may further include a hardware chip.
  • the aforementioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof.
  • the foregoing PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.
  • the memory 801 is used to store programs, and the processor 802 can call the programs stored in the memory 801 to execute the following steps:
  • the first motor is controlled to stop rotating.
  • processor 802 is further configured to:
  • the number of times that the first torque jumps within a specified time range is the number of times the first torque meets a first preset jump condition within the specified time range.
  • the first preset jump condition includes:
  • the first torque changes from the first positive torque threshold to the first negative torque threshold; or,
  • the first torque changes from a first negative torque threshold to a first positive torque threshold.
  • processor 802 is further configured to:
  • processor 802 is further configured to:
  • processor 802 is further configured to:
  • processor 802 is further configured to:
  • the number of times that the second torque jumps within a specified time range is the number of times the second torque meets a second preset jump condition within the specified time range.
  • the second preset jump condition includes:
  • the second torque changes from a second positive torque threshold to a second negative torque threshold
  • the second torque changes from a second negative torque threshold to a second positive torque threshold.
  • processor 802 is further configured to:
  • processor 802 is further configured to:
  • the number of times that the third motor jumps within a specified time range is the number of times the third torque meets a third preset jump condition within the specified time range.
  • the third preset jump condition includes:
  • the third torque changes from a third positive torque threshold to a third negative torque threshold
  • the third torque changes from a third negative torque threshold to a third positive torque threshold.
  • the handheld PTZ is electrically connected with the control terminal, and the processor 802 is further configured to:
  • a prompt message is sent to the control terminal, and the prompt information includes information indicating that the handheld pan/tilt is in an idling state.
  • the control device obtains the first torque output by the first motor, and the first motor is connected to the camera fixing mechanism of the hand-held pan/tilt; at least partly based on the first torque in a specified time range Determine whether the handheld pan/tilt is in an idling state, and control the first motor to stop rotating when the handheld pan/tilt is in an idling state.
  • the embodiment of the present invention also provides a handheld pan/tilt.
  • the handheld pan/tilt in the embodiment of the present invention may include: one or more processors and one or more angle sensors.
  • the above-mentioned processor and angle sensor are connected through a bus.
  • the processor is used to perform the following steps:
  • the control device obtains the first torque output by the first motor, and the first motor is connected to the camera fixing mechanism of the hand-held pan/tilt; at least partly based on the first torque in a specified time range Determine whether the handheld PTZ is in the no-load state, and control the first motor to stop rotating when the handheld PTZ is in the no-load state.
  • the embodiment of the present invention also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the implementation of the present invention corresponding to FIG. 4, FIG. 6 or FIG. 7 is realized.
  • the method described in the example can also implement the device corresponding to the embodiment of the present invention described in FIG. 8, and will not be repeated here.
  • the computer-readable storage medium may be an internal storage unit of the device described in any of the foregoing embodiments, such as a hard disk or memory of the device.
  • the computer-readable storage medium may also be an external storage device of the device, such as a plug-in hard disk equipped on the device, a Smart Media Card (SMC), or a Secure Digital (SD) card , Flash Card, etc.
  • the computer-readable storage medium may also include both an internal storage unit of the device and an external storage device.
  • the computer-readable storage medium is used to store the computer program and other programs and data required by the terminal.
  • the computer-readable storage medium can also be used to temporarily store data that has been output or will be output.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Accessories Of Cameras (AREA)
  • Studio Devices (AREA)

Abstract

L'invention concerne un procédé et un dispositif de commande de stabilisateur de cardan portatif, un stabilisateur de cardan portatif et un support de stockage. Le procédé comprend les étapes suivantes: l'obtention d'un premier couple délivré par un premier moteur électrique (1) d'un stabilisateur de cardan portatif, le premier moteur électrique (1) étant relié à un mécanisme de fixation de dispositif de photographie (7) du stabilisateur de cardan portatif (S401); sur la base, au moins en partie, du nombre de fois du saut du premier couple dans un intervalle de temps spécifié, la détermination pour savoir si le stabilisateur de cardan portatif est dans un état non chargé (S402); et lorsque le stabilisateur de cardan portatif est dans l'état non chargé, la commande du premier moteur électrique (1) pour arrêter la rotation (S403). Grâce à cette technique, la présente invention permet d'éviter le phénomène de scintillement continu provoqué par le fait que le stabilisateur de cardan portatif est à l'état non chargé, permettant d'améliorer la fiabilité du stabilisateur de cardan portatif, de prolonger la durée de vie du stabilisateur de cardan portatif, et d'améliorer l'expérience de l'utilisateur.
PCT/CN2019/098356 2019-07-30 2019-07-30 Procédé et dispositif de commande de stabilisateur de cardan portatif, stabilisateur de cardan portatif, et support de stockage WO2021016855A1 (fr)

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CN201980030596.0A CN112119254A (zh) 2019-07-30 2019-07-30 一种手持云台的控制方法、设备、手持云台及存储介质
PCT/CN2019/098356 WO2021016855A1 (fr) 2019-07-30 2019-07-30 Procédé et dispositif de commande de stabilisateur de cardan portatif, stabilisateur de cardan portatif, et support de stockage

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PCT/CN2019/098356 WO2021016855A1 (fr) 2019-07-30 2019-07-30 Procédé et dispositif de commande de stabilisateur de cardan portatif, stabilisateur de cardan portatif, et support de stockage

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WO2024060105A1 (fr) * 2022-09-21 2024-03-28 深圳市大疆创新科技有限公司 Procédé de commande, cardan et système de cardan

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CN105607653A (zh) * 2016-01-05 2016-05-25 深圳一电航空技术有限公司 云台控制方法和系统
CN106161971A (zh) * 2016-09-30 2016-11-23 北京小米移动软件有限公司 摄像机控制方法及装置
CN205896622U (zh) * 2016-06-17 2017-01-18 深圳市大疆创新科技有限公司 固持装置、手持云台及无人机
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CN108268065B (zh) * 2017-12-31 2021-09-21 深圳市越疆科技有限公司 一种转速控制方法及其装置、手持云台
CN108055466A (zh) * 2017-12-31 2018-05-18 深圳市秦墨科技有限公司 一种手持云台增稳方法及其装置、手持云台
CN108184061B (zh) * 2017-12-31 2020-06-02 深圳市越疆科技有限公司 手持云台的跟拍控制方法、装置、手持云台及存储介质

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US20130050487A1 (en) * 2011-08-29 2013-02-28 Aerovironment, Inc. Camera Ball Turret Having High Bandwidth Data Transmission to External Image Processor
CN105607653A (zh) * 2016-01-05 2016-05-25 深圳一电航空技术有限公司 云台控制方法和系统
CN109073140A (zh) * 2016-05-31 2018-12-21 深圳市大疆灵眸科技有限公司 用于自适应云台的方法和系统
CN205896622U (zh) * 2016-06-17 2017-01-18 深圳市大疆创新科技有限公司 固持装置、手持云台及无人机
CN106161971A (zh) * 2016-09-30 2016-11-23 北京小米移动软件有限公司 摄像机控制方法及装置

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