WO2021051302A1 - Cardan portatif et procédé de commande associé - Google Patents

Cardan portatif et procédé de commande associé Download PDF

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Publication number
WO2021051302A1
WO2021051302A1 PCT/CN2019/106403 CN2019106403W WO2021051302A1 WO 2021051302 A1 WO2021051302 A1 WO 2021051302A1 CN 2019106403 W CN2019106403 W CN 2019106403W WO 2021051302 A1 WO2021051302 A1 WO 2021051302A1
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WO
WIPO (PCT)
Prior art keywords
shooting mode
tilt
mode
pan
vertical
Prior art date
Application number
PCT/CN2019/106403
Other languages
English (en)
Chinese (zh)
Inventor
刘帅
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201980032880.1A priority Critical patent/CN112166280B/zh
Priority to PCT/CN2019/106403 priority patent/WO2021051302A1/fr
Publication of WO2021051302A1 publication Critical patent/WO2021051302A1/fr

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—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
    • F16M11/18—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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21L—LIGHTING DEVICES OR SYSTEMS THEREOF, BEING PORTABLE OR SPECIALLY ADAPTED FOR TRANSPORTATION
    • F21L4/00—Electric lighting devices with self-contained electric batteries or cells
    • F21L4/02—Electric lighting devices with self-contained electric batteries or cells characterised by the provision of two or more light sources
    • F21L4/022—Pocket lamps
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
    • F21V33/00—Structural combinations of lighting devices with other articles, not otherwise provided for
    • F21V33/0004—Personal or domestic articles
    • F21V33/0052—Audio or video equipment, e.g. televisions, telephones, cameras or computers; Remote control devices therefor
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera accessories

Definitions

  • the invention relates to the field of pan-tilt, in particular to a handheld pan-tilt and a control method thereof.
  • each axis of the handheld gimbal When the multi-axis handheld gimbal is in follow mode, you can set each axis of the handheld gimbal to free mode or follow mode. Among them, in the free mode, the handle of the handheld gimbal moves, and the corresponding axis does not rotate, and the corresponding axis can be used for stabilization; in the follow mode, the corresponding axis moves with the movement of the handheld gimbal. For example, for a three-axis gimbal, the normal mode is set to follow mode for pitch axis and yaw axis, and free mode for roll axis.
  • the flashlight mode and the vertical shooting mode of the handheld pan/tilt cannot be switched between, which cannot meet the user's needs for horizontal and vertical shooting.
  • the handheld gimbal includes an outer frame, a middle frame, and an inner frame.
  • the outer frame rotates around the roll axis
  • the middle frame rotates around the yaw axis
  • the inner frame rotates around the pitch axis
  • the outer frame is used to increase stability.
  • the handheld gimbal When the position relationship between the handle and the pan/tilt is switched from the position relationship corresponding to the flashlight mode to the position relationship corresponding to the vertical mode, the handheld gimbal still defaults to the outer frame for stabilization, which causes the handheld gimbal to fail to switch directly from the flashlight mode to the vertical mode. Shooting mode.
  • the outer frame rotates around the pitch axis
  • the middle frame rotates around the roll axis
  • the inner frame rotates around the yaw axis
  • the outer frame is used to follow.
  • the invention provides a handheld pan/tilt and a control method thereof.
  • the present invention is implemented through the following technical solutions:
  • a method for controlling a handheld pan/tilt head including a handle and a pan/tilt mounted on the handle, and the method includes:
  • the first shooting mode includes one of a flashlight mode and a vertical shooting mode
  • the second shooting mode includes the other of the flashlight mode and the vertical shooting mode
  • a handheld PTZ includes:
  • the first shooting mode includes one of a flashlight mode and a vertical shooting mode
  • the second shooting mode includes the other of the flashlight mode and the vertical shooting mode
  • the present invention controls the direct switching of the hand-held pan/tilt between the flashlight mode and the vertical shooting mode through the user's trigger, which meets the user's needs for flashlight shooting and vertical shooting.
  • Figure 1A is a perspective view of a handheld pan/tilt in an embodiment of the present invention.
  • Figure 1B is a perspective view of the handheld PTZ shown in Figure 1A when it is placed upright;
  • FIG. 2 is a method flowchart of a method for controlling a handheld PTZ in an embodiment of the present invention
  • Figure 3A is a perspective view of the handheld pan/tilt shown in Figure 1A in flashlight mode;
  • Fig. 3B is a perspective view of the handheld pan/tilt shown in Fig. 1A in the flashlight mode;
  • Fig. 3C is a perspective view of the hand-held pan/tilt shown in Fig. 1A in a left vertical shooting mode;
  • Fig. 3D is a perspective view of the handheld PTZ shown in Fig. 1A in a right vertical shooting mode
  • FIG. 4 is a method flowchart of a method for controlling a handheld PTZ in another embodiment of the present invention.
  • FIG. 5 is a method flowchart of a method for controlling a handheld PTZ in another embodiment of the present invention.
  • 6A is a positional relationship between the vertical direction and the coordinate system of the outer frame in an embodiment of the present invention.
  • 6B is the position relationship between the vertical direction and the coordinate system of the outer frame when the position relationship shown in 6A is switched to the second shooting mode as the left vertical shooting mode;
  • 6C is the position relationship between the vertical direction and the coordinate system of the outer frame when the position relationship shown in 6A is switched to the second shooting mode being the right vertical shooting mode;
  • 6D is the position relationship between the vertical direction and the coordinate system of the outer frame when the position relationship shown in 6A is switched to the second shooting mode as the flashlight mode;
  • 6E is the position relationship between the vertical direction and the coordinate system of the outer frame when the position relationship shown in 6A is switched to the second shooting mode as the flashlight mode;
  • Fig. 7 is a structural block diagram of a handheld pan/tilt in an embodiment of the present invention.
  • the default outer frame of the handheld PTZ is used for stabilization, but the actual vertical The outer frame in the shooting mode is used to follow, causing the handheld gimbal to fail to switch from the flashlight mode to the vertical mode; and the position relationship between the handle of the handheld gimbal and the gimbal is switched from the position relationship corresponding to the vertical mode to the flashlight mode
  • the handheld gimbal cannot be switched from the vertical mode to the flashlight mode.
  • the flashlight mode and the vertical shooting mode of the existing handheld gimbal cannot be switched between, and cannot meet the needs of users for flashlight shooting and vertical shooting.
  • the present invention controls the direct switching of the hand-held pan/tilt between the flashlight mode and the vertical shooting mode through the user's trigger, which meets the user's needs for flashlight shooting and vertical shooting.
  • the handheld pan/tilt head of the embodiment of the present invention may include a handle 1 and a pan/tilt 2 provided on the handle 1.
  • the pan/tilt 2 is used to mount the camera 3 to stabilize the camera 3.
  • the pan/tilt 2 in this embodiment may be a two-axis pan/tilt or a three-axis pan/tilt.
  • the pan/tilt 2 is a three-axis pan/tilt.
  • the pan/tilt 2 may include an outer frame 21, a middle frame 22, and an inner frame.
  • the outer frame 21 is configured to rotate around a first preset direction
  • the middle frame 22 is configured to rotate around a second preset direction
  • the inner frame is configured to rotate around a third preset direction
  • the inner frame is used for carrying shooting Device 3.
  • the outer frame 21 rotates around the first preset direction
  • the middle frame 22 and the inner frame are driven to rotate around the first preset direction, thereby driving the photographing device 3 to rotate around the first preset direction.
  • the inner frame When the middle frame 22 rotates around the second preset direction, the inner frame is driven to rotate in the second preset direction, thereby driving the camera 3 to rotate around the second preset direction.
  • the inner frame rotates around the third preset direction, which drives the camera 3 to rotate around the third preset direction.
  • the pan/tilt 2 is a two-axis pan/tilt, and the pan/tilt 2 may include an outer frame 21 and an inner frame.
  • the outer frame 21 is configured to rotate around a first preset direction
  • the inner frame is configured to rotate around a second preset direction or a third preset direction.
  • the outer frame 21 rotates around the first preset direction
  • the inner frame is driven to rotate around the first preset direction, thereby driving the photographing device 3 to rotate around the first preset direction.
  • the inner frame rotates around the second preset direction or the third preset direction, and accordingly drives the camera 3 to rotate around the second preset direction or the third preset direction.
  • the first preset direction, the second preset direction, and the third preset direction are determined according to the configuration of the pan/tilt 2.
  • the pan/tilt head 2 is a three-axis pan/tilt head
  • the outer frame 21 is configured to rotate around the yaw axis
  • the middle frame 22 is configured to rotate around the roll axis
  • the inner frame is configured to rotate around the roll axis. It is configured to rotate around the pitch axis.
  • the outer frame 21 includes a yaw axis arm and is driven by a yaw axis motor
  • the middle frame 22 includes a roll axis arm and is driven by a roll axis motor
  • the inner frame includes a pitch axis arm and is driven by a pitch axis. motor driven.
  • the handheld pan/tilt also includes a screen 4 and buttons (not shown) provided on the front of the handle 1.
  • the screen 4 faces the user, and the lens of the shooting device 3 faces away from the user, as shown in FIG. 1B, which is a state diagram of the handheld PTZ placed upright.
  • X, Y, and Z respectively correspond to the X-axis, Y-axis, and Z-axis directions in the world coordinate system.
  • the body coordinate system of the handheld gimbal is x1y1z1, where the x1 axis direction points to the front of the handle 1, the y1 axis direction points to the left side of the handle 1, and the z1 axis direction points to the handle 1 above.
  • Fig. 2 is a method flowchart of a method for controlling a handheld PTZ in an embodiment of the present invention.
  • the method for controlling a handheld PTZ in this embodiment may include the following steps:
  • the handheld pan/tilt includes a control part provided on the handle 1, and the switching instruction is generated by the user triggering the control part.
  • the control part may include keys, buttons, knobs or a combination of the above.
  • the control unit may include one or more.
  • the switching instruction is generated by the user operating an external device and sent by the external device.
  • the external device can communicate with the handheld pan/tilt.
  • the external device may include mobile terminals such as mobile phones and tablet computers, or a fixed terminal, and may also be a remote control or other devices capable of communicating with the handheld pan/tilt.
  • the flashlight mode may include an upper flashlight mode (as shown in FIG. 3A, exemplarily, which may be formed by tilting backward 90 degrees from FIG. 1B) and/or a lower flashlight mode (as shown in FIG. 3B, exemplarily, which may be formed by 1B is formed by tilting forward 90 degrees), the vertical shooting mode may include a left vertical shooting mode (as shown in FIG. 3C, for example, it may be formed by tilting 90 degrees to the left in FIG. 1B) and/or a right vertical shooting mode ( As shown in Fig. 3D, for example, it can be formed by tilting 90 degrees to the right from Fig. 1B).
  • an upper flashlight mode as shown in FIG. 3A, exemplarily, which may be formed by tilting backward 90 degrees from FIG. 1B
  • a lower flashlight mode as shown in FIG. 3B, exemplarily, which may be formed by 1B is formed by tilting forward 90 degrees
  • the vertical shooting mode may include a left vertical shooting mode (as shown in FIG. 3C,
  • the photographing device when the handheld pan/tilt is in the flashlight mode, the photographing device may adopt the first orientation to capture images, and when the handheld pan/tilt is in the vertical shooting mode, the photographing device may adopt the second orientation to capture images.
  • the first orientation is substantially perpendicular to the second orientation.
  • the first orientation may be a horizontal orientation
  • the second orientation may be a vertical orientation.
  • the switching instruction is used to instruct the handheld pan/tilt to switch from the flashlight mode to multiple vertical shooting modes
  • the vertical shooting mode includes left vertical shooting mode and right vertical shooting mode.
  • the switching instruction is used to instruct the handheld gimbal to switch from flashlight mode to left vertical shooting mode, or to instruct the handheld gimbal to switch to flashlight mode Switch to the right vertical shooting mode.
  • the switching instruction indicates that the switching instruction includes a first switching instruction for instructing the handheld pan/tilt to switch from flashlight mode to left vertical mode; or a first switching instruction for instructing the handheld pan/tilt to switch from flashlight mode to right vertical mode. 2. Switching instructions.
  • the first switching instruction and the second switching instruction may be preset or input by the user.
  • the control unit includes a first button and a second button.
  • the first button When the user triggers the first button, the first button generates the first switching instruction; when the user triggers the second button When, the second button generates a second switching instruction.
  • the control part includes a knob. When the knob is returned to the center, the knob is in a non-triggered state. The user can move the knob upwards to the first trigger position or downwards to the second trigger position (relative to the center position of the knob). ).
  • the knob When the user pushes the knob to move up to the first trigger position, the knob generates a first switching instruction; when the user pushes the knob to move down to the second trigger position, the knob generates a second switch instruction. Understandably, the control unit may also be of other types.
  • the switching instruction only instructs the handheld pan/tilt to switch from the flashlight mode to the vertical shooting mode, but does not indicate which vertical shooting mode to switch to.
  • the handheld pan/tilt acquires the switching instruction, it needs to further determine which vertical shooting mode to switch to. For example, in the process of controlling the handheld pan/tilt to switch from the flashlight mode to the vertical shooting mode (that is, the process of executing step S202), it is possible to further decide which vertical shooting mode to switch to according to the size of the motion path.
  • the motion path can be determined according to the joint angle and/or the attitude angle of the pan/tilt rotation.
  • the realization process of controlling the switching of the handheld PTZ from the flashlight mode to the vertical mode may include: determining the first movement path of the handheld PTZ from the flashlight mode to the left vertical mode and the handheld PTZ from the flashlight mode to the right vertical mode.
  • the second motion path of the shooting mode controlling the handheld pan/tilt to switch from the flashlight mode to the shooting mode corresponding to the smaller of the first motion path and the second motion path.
  • the first motion path is determined by the joint angle and/or attitude angle of the pan/tilt 2 corresponding to the hand-held pan/tilt being switched from flashlight mode to the left vertical mode
  • the second motion path is determined by the hand-held pan/tilt being switched from flashlight mode to The joint angle and/or attitude angle of the pan/tilt 2 corresponding to the right vertical shooting mode is determined.
  • the switching instruction is used to instruct the handheld pan/tilt to switch from the vertical shooting mode to multiple flashlight modes
  • the flashlight mode includes the upper flashlight mode and the lower flashlight mode.
  • the switching instruction is used to instruct the handheld gimbal to switch from the vertical mode to the upper flashlight mode, or to instruct the handheld gimbal to switch from the vertical mode to the lower flashlight mode.
  • the switching instruction includes a third switching instruction for instructing the handheld pan/tilt to switch from the vertical mode to the upper flashlight mode; or a fourth switching instruction for instructing the handheld pan/tilt to switch from the vertical mode to the lower flashlight mode.
  • the third switching instruction and the fourth switching instruction may be preset or input by the user.
  • the control section includes a third button and a fourth button.
  • the third button When the user triggers the third button, the third button generates a third switching instruction; when the user triggers the fourth button When, the fourth button generates a fourth switching instruction.
  • the control part includes a knob. When the knob is returned to the center, the knob is in a non-triggered state. The user can move the knob to the left to the third trigger position or to the right to the fourth trigger position (relative to the center of the knob). position).
  • the knob When the user pushes the knob to move up to the third trigger position, the knob generates a third switching instruction; when the user pushes the knob to move down to the fourth trigger position, the knob generates a fourth switch instruction. Understandably, the control unit may also be of other types.
  • the switching instruction only instructs the handheld pan/tilt to switch from the vertical shooting mode to the flashlight mode, but does not indicate which flashlight mode to switch to.
  • the handheld pan/tilt acquires the switching instruction, it needs to further determine which flashlight mode to switch to. For example, in the process of controlling the handheld pan/tilt to switch from the vertical mode to the flashlight mode (that is, the process of executing step S202), it is possible to further decide which flashlight mode to switch to according to the size of the motion path.
  • the realization process of controlling the switching of the handheld gimbal from the vertical mode to the flashlight mode may include: determining the third movement path of the handheld gimbal from the vertical mode to the upper flashlight mode and the handheld gimbal from the vertical mode to the lower flashlight.
  • the fourth motion path of the mode control the handheld pan/tilt to switch from the vertical shooting mode to the shooting mode corresponding to the smaller of the third motion path and the fourth motion path.
  • the third motion path is determined by the joint angle and/or attitude angle of the pan/tilt 2 corresponding to the hand-held gimbal switch from vertical mode to flashlight mode
  • the fourth motion path is determined by the hand-held gimbal switch from vertical mode to The joint angle and/or posture angle of the pan/tilt 2 corresponding to the flashlight mode is determined.
  • S202 Control the handheld pan/tilt to switch from the first shooting mode to the second shooting mode.
  • the implementation process of controlling the hand-held pan/tilt head to switch from the first shooting mode to the second shooting mode may include the following steps:
  • S401 According to the second shooting mode, determine the first positional relationship between the vertical direction and the first specific plane in the coordinate system of the camera 3 mounted on the pan/tilt 2; where the first specific plane is based on the coordinate system of the camera 3
  • the first axis direction and the second axis direction in are formed, and when the camera 3 is placed upright, the first axis direction and the second axis direction are orthogonal to the vertical direction;
  • the vertical direction can be defined according to requirements.
  • the vertical direction when the handheld pan/tilt head is placed upright, the vertical direction is the Z-axis direction in the world coordinate system, that is, the vertical direction is the gravity direction.
  • the vertical direction when the handheld pan/tilt is placed upright, the vertical direction is the opposite direction of the Z-axis direction in the world coordinate system. In this embodiment, when the handheld pan/tilt is placed upright, the vertical direction is the Z-axis direction in the world coordinate system.
  • the first axis direction and the second axis direction can also be defined according to requirements.
  • the first axis direction points to the front of the camera 3 (that is, the orientation of the lens)
  • the second axis direction points to the left side of the camera 3.
  • the first axis direction and the second axis direction can also be other directions, for example, the first axis direction points to the rear of the camera 3, the second axis direction points to the left side of the camera 3, or the first axis direction points to the camera device At the back of 3, the second axis direction points to the right side of the camera 3, etc., which can be specifically set as required.
  • the first positional relationship is: the first specific plane is substantially parallel to the vertical direction. It should be noted that, in the embodiment of the present invention, substantially parallel means that the difference between the angle between the first specific plane and the vertical direction and 0 degrees is within the allowable angular error range.
  • the first positional relationship is: the first specific plane is approximately parallel to the vertical direction; when the handheld pan/tilt is switched to vertical After shooting mode, that is, when the handheld PTZ is in vertical shooting mode, the first positional relationship includes: the first specific plane is approximately parallel to the vertical direction, or the first specific plane and the vertical direction are at a certain angle, which can be set according to actual needs.
  • the first positional relationship when the handheld PTZ is in the vertical mode that is, when the handheld PTZ is in the vertical mode, the user can customize the first positional relationship.
  • the first positional relationship is: the first specific plane is substantially perpendicular to the vertical direction. It should be noted that, in the embodiment of the present invention, substantially vertical means that the difference between the angle between the first specific plane and the vertical direction and 90 degrees is within the allowable angular error range.
  • the first positional relationship is: the first specific plane is substantially perpendicular to the vertical direction; when the handheld pan/tilt is switched to the flashlight After the mode, that is, when the handheld pan/tilt is in the flashlight mode, the first positional relationship includes: the first specific plane is substantially perpendicular to the vertical direction, or the first specific plane and the vertical direction are at other angles, or the first specific plane and the vertical The straight direction is roughly parallel, and the first position relationship when the handheld pan/tilt is in the flashlight mode is specifically set as needed, that is, when the handheld pan/tilt is in the flashlight mode, the user can customize the first position relationship.
  • the satisfaction of the first positional relationship may be achieved during the mode switching, and after the mode switching is completed, the user can adjust the first positional relationship by controlling the rotation of the pan-tilt 2.
  • S402 Control the rotation of the pan-tilt 2 so that the handheld pan-tilt is switched to the second shooting mode, and the photographing device 3 meets the first positional relationship;
  • the rotation of the pan/tilt 2 can be controlled in different ways, so that the handheld pan/tilt is switched to the second shooting mode, and the shooting device 3 satisfies the first positional relationship. As shown in FIG. 5, it is a kind of control the rotation of the pan/tilt 2 to The handheld pan/tilt is switched to the second shooting mode, and the shooting device 3 satisfies the realization of the first position relationship.
  • the pan/tilt 2 includes an outer frame 21 connected with the handle 1, and the outer frame 21 is configured to rotate around a first preset direction.
  • the specific steps include:
  • S501 Determine the target joint angle of the outer frame 21 according to the second shooting mode
  • the process of determining the target joint angle of the outer frame 21 may include the following steps:
  • the second shooting mode determine the second positional relationship between the vertical direction and the second specific plane in the coordinate system of the outer frame 21; wherein, the second specific plane is the second specific plane based on the coordinate system of the outer frame 21
  • the three-axis direction and the fourth-axis direction are formed, and when the handheld pan/tilt is placed upright, the third-axis direction and the fourth-axis direction are orthogonal to the vertical direction.
  • the third axis direction and the fourth axis direction can be defined according to requirements.
  • the third axis direction points to the front of the outer frame 21, and the fourth axis direction points to the outside The left side of the frame 21.
  • the third axis direction and the fourth axis direction can also be other directions, for example, the third axis direction points to the rear of the outer frame 21, the second axis direction points to the left side of the outer frame 21, or the first axis direction points to the outer frame At the rear of 21, the second axis direction points to the right side of the outer frame 21, etc., which can be specifically set as required.
  • the coordinate system of the outer frame 21 of the handheld gimbal is x2y2, where the third axis direction is the x2 axis direction, the fourth axis direction is the y2 axis direction, and the x2 axis direction It points to the front of the outer frame 21, and the y2 axis direction points to the left side of the outer frame 21; it can be understood that the arrangement of the coordinate system of the outer frame 21 is not limited to this.
  • the second positional relationship may include: the projection of the vertical direction on the second specific plane is located on the axis corresponding to the third axis direction, or the projection of the vertical direction on the second specific plane is located on the axis corresponding to the fourth axis direction. It is worth mentioning that whether the projection of the vertical direction on the second specific plane is on the axis corresponding to the third axis direction or the axis corresponding to the fourth axis direction depends on how to define the first coordinate system of the outer frame 21 Three-axis direction and fourth-axis direction.
  • the second positional relationship when the second shooting mode is the vertical shooting mode, the second positional relationship includes: the projection of the vertical direction on the second specific plane is located on the axis corresponding to the fourth axis direction; when the second shooting mode is the flashlight In the mode, the second position relationship includes: the projection of the vertical direction on the second specific plane is located on the axis corresponding to the third axis direction.
  • the direction relationship between the projection of the vertical direction on the second specific plane and the direction of the fourth axis needs to be further determined according to the definition of the vertical direction and the fourth axis direction. .
  • the vertical shooting mode includes a left vertical shooting mode.
  • the second shooting mode is the left vertical shooting mode
  • the second positional relationship corresponding to the left vertical shooting mode is: the vertical direction is in the second specific
  • the projection on the plane is the same as the direction of the fourth axis.
  • the vertical direction is defined as the Z-axis direction in the world coordinate system
  • the fourth axis direction is defined as the y2-axis direction as shown in FIG. 1B.
  • the vertical direction is defined as the opposite direction of the Z-axis direction in the world coordinate system
  • the fourth axis direction is defined as the y2-axis direction
  • the vertical direction is defined as the Z-axis direction in the world coordinate system.
  • the second positional relationship corresponding to the left vertical shooting mode is: the projection of the vertical direction on the second specific plane is opposite to the direction of the fourth axis direction.
  • the second positional relationship corresponding to the right vertical shooting mode is: the projection of the vertical direction on the second specific plane is opposite to the direction of the fourth axis.
  • the vertical direction is defined as the Z-axis direction in the world coordinate system
  • the fourth axis direction is defined as the y2-axis direction as shown in FIG. 1B. It can be understood that when the vertical direction is defined as the opposite direction of the Z-axis direction in the world coordinate system, the fourth axis direction is defined as the y2-axis direction, or the vertical direction is defined as the Z-axis direction in the world coordinate system.
  • the second positional relationship corresponding to the right vertical shooting mode is: the projection of the vertical direction on the second specific plane is the same as the direction of the fourth axis direction.
  • the direction relationship between the projection of the vertical direction on the second specific plane and the third axis direction needs to be further determined according to the definition of the vertical direction and the third axis direction.
  • the flashlight mode includes a flashlight mode.
  • the second shooting mode is the flashlight mode
  • the projection of the vertical direction on the second specific plane is opposite to the direction of the third axis.
  • the vertical direction is defined as the Z-axis direction in the world coordinate system
  • the third axis direction is defined as the x2-axis direction as shown in FIG. 1B. It is understandable that when the vertical direction is defined as the opposite direction of the Z-axis direction in the world coordinate system, the third axis direction is defined as the x2-axis direction, or the vertical direction is defined as the Z-axis direction in the world coordinate system.
  • the axis direction is defined as the opposite direction of the x2 axis direction
  • the second positional relationship corresponding to the upper flashlight mode is: the projection of the vertical direction on the second specific plane is the same as the direction of the third axis direction.
  • the flashlight mode includes the down flashlight mode.
  • the second shooting mode is the down flashlight mode
  • the projection of the vertical direction on the second specific plane is the same as the direction of the third axis.
  • the vertical direction is defined as the Z-axis direction in the world coordinate system
  • the third axis direction is defined as the x2-axis direction as shown in FIG. 1B. It is understandable that when the vertical direction is defined as the opposite direction of the Z-axis direction in the world coordinate system, the third axis direction is defined as the x2-axis direction, or the vertical direction is defined as the Z-axis direction in the world coordinate system.
  • the axis direction is defined as the opposite direction of the x2 axis direction
  • the second positional relationship corresponding to the flashlight mode is: the projection of the vertical direction on the second specific plane is opposite to the direction of the third axis direction.
  • the target joint angle is determined according to the first angle between the projection of the vertical direction on the second specific plane and the third axis direction, or the second angle between the projection of the vertical direction on the second specific plane and the fourth axis direction.
  • the included angle is determined. As shown in FIG. 6A, the projection of the vertical direction on the second specific plane is: Z1, the first included angle is: ⁇ 1, and the second included angle is: ⁇ 2.
  • the rotation direction from the third axis direction to the fourth axis direction is defined as the positive direction
  • the rotation direction from the fourth axis direction to the third axis direction is defined as In the negative direction
  • the joint angle of the outer frame of the gimbal 2 shown in Fig. 1B is defined as 0 degrees
  • the third axis x2 of the coordinate system of the outer frame 21 points to the outer frame 21
  • the front of, which points to the user, the fourth axis y2 points to the left side of the outer frame 21, and the second specific plane is the plane formed by x2 and y2.
  • the vertical direction is the direction of gravity, that is, the same direction as the Z-axis direction of the world coordinate system.
  • the rotation area of the outer frame 21 can be divided into a forward rotation area (i.e., a counterclockwise rotation based on x2) and a reversal area (i.e., a clockwise rotation based on x2).
  • x2 can be used as the dividing line of the joint angle of the outer frame 21 at 0 degrees, rotating counterclockwise, ⁇ is greater than 0, otherwise, it is less than 0.
  • the vertical shooting mode includes a right vertical shooting mode.
  • the target joint angle is: the sum of 90 degrees and the first angle, or 180 degrees minus The difference obtained by going to the second included angle.
  • the second positional relationship is: the projection Z1 of the gravity direction on the plane formed by x2 and y2 is opposite to the direction of the fourth axis direction y2. Referring to FIG. 6B, assuming that the second shooting mode is the right vertical shooting mode, the positional relationship between Z1 and x2 and y2 is as shown in the figure.
  • the vertical shooting mode includes a left vertical shooting mode
  • the target joint angle is: the inverse of the difference obtained by subtracting the first angle from 90 degrees, or , The opposite of the second angle.
  • the second positional relationship is: the projection Z1 of the gravity direction on the plane formed by x2 and y2 is the same as the direction of the fourth axis direction y2. Referring to FIG. 6C, assuming that the second shooting mode is the left vertical shooting mode, the positional relationship between Z1 and x2 and y2 is as shown in the figure.
  • the flashlight mode includes the flashlight mode.
  • the target joint angle is: 180 degrees minus the opposite of the difference obtained by subtracting the first angle, or 90 degrees The opposite of the sum of the second included angle.
  • the second positional relationship is: the projection Z1 of the direction of gravity on the plane formed by x2 and y2 is opposite to the direction of the third axis direction x2. Referring to FIG. 6D, assuming that the second shooting mode is the flashlight mode, the positional relationship between Z1 and x2 and y2 is as shown in the figure.
  • the flashlight mode includes a flashlight mode.
  • the target joint angle is: the first angle, or the difference obtained by subtracting the second angle from 90 degrees.
  • the second positional relationship is: the projection Z1 of the direction of gravity on the plane formed by x2 and y2 is opposite to the direction of the third axis direction x2.
  • the positional relationship between Z1, x2, and y2 is as shown in the figure.
  • controlling the outer frame 21 to rotate to the target joint angle is to control the corresponding motor to rotate to the target joint angle.
  • controlling the outer frame 21 to rotate to the target joint angle may specifically include: acquiring the real-time joint angle of the outer frame 21; when the difference between the real-time joint angle and the target joint angle is less than the preset difference, determining that the outer frame 21 rotates to the target Joint angle.
  • the preset difference value can be set as required, for example, it can be 0.1 degree, 0.2 degree, 0.3 degree, 0.4 degree, 0.5 degree or others. In this embodiment, the preset difference is less than 1 degree.
  • the pan/tilt head 2 further includes a middle frame 22 connected to the outer frame 21 and an inner frame connected to the middle frame 22.
  • the inner frame is used to carry the camera 3, and the middle frame 22 is configured to surround the second preset Direction rotation, the inner frame is configured to rotate around the third preset direction; while controlling the outer frame 21 to rotate to the target joint angle, the joint angle of the middle frame 22 is also controlled to the first preset angle, and the joint angle of the inner frame is controlled Is the second preset angle.
  • the first preset angle is the joint angle of the middle frame 22 when the hand-held pan-tilt obtains the switching instruction.
  • the second preset angle is the joint angle of the inner frame when the hand-held pan/tilt obtains the switching instruction.
  • the joint angles of the middle frame 22 and the inner frame are always locked at the joint angles of the middle frame 22 and the inner frame when the handheld pan/tilt obtains the switching instruction.
  • the first preset angle and the second preset angle are set as required.
  • the first preset angle is 0 degrees
  • the second preset angle is 0 degrees.
  • the joint angle of the middle frame 22 and the inner frame is locked at 0 degrees.
  • the pan/tilt head 2 further includes an inner frame connected to the outer frame 21, the inner frame is used to carry the camera 3, and the inner frame is configured to rotate around the second preset direction or the third preset direction; While the outer frame 21 is rotated to the target joint angle, the joint angle of the inner frame is also controlled to be the third preset angle.
  • the third preset angle is the joint angle of the inner frame when the hand-held pan/tilt obtains the switching instruction.
  • the joint angle of the inner frame is always locked at the joint angle of the inner frame when the hand-held pan/tilt head obtains the switching instruction.
  • the third preset angle is set as required. For example, the third preset angle is 0 degrees, and the joint angle of the inner frame is locked at 0 degrees during the process of rotating the outer frame 21 to the target joint angle.
  • the outer frame 21 is controlled to rotate to the target joint angle, the joint angle of the middle frame 22 and the inner frame is locked, or the outer frame 21 is controlled to rotate to the target joint angle, locking the joint angle of the inner frame can be called joint angle closed-loop control .
  • S503 Instruct the handheld pan/tilt to switch to the second photographing mode, and control the pan/tilt 2 to rotate to the target posture corresponding to the second photographing mode, so that the photographing device 3 satisfies the first positional relationship.
  • the handheld pan/tilt head generates an instruction for instructing the handheld pan/tilt head to switch to the second shooting mode, so that the handheld pan/tilt head enters the second shooting mode.
  • the two steps of instructing the handheld pan/tilt to switch to the second shooting mode and controlling the pan/tilt to rotate to the target posture corresponding to the second shooting mode can be performed simultaneously or in a sequence.
  • the description of the first positional relationship can refer to the relevant part of the above-mentioned embodiment, which will not be repeated here.
  • the target posture corresponding to the second shooting mode and the pan-tilt posture when the camera 3 satisfies the first positional relationship.
  • the current posture of the pan/tilt head 2 may not meet the first positional relationship of the second shooting mode. Taking a three-axis pan/tilt head as an example, it may be necessary to further correct another one.
  • the posture of the frame is controlled so that the posture of the pan-tilt 2 can satisfy the first positional relationship.
  • the configuration of the pan/tilt 2 will change. Take the pan/tilt 2 as a three-axis pan/tilt as an example. As shown in FIG. 1B, when the handheld gimbal is placed upright, the outer frame 21 is configured to rotate around the yaw axis, the middle frame 22 is configured to rotate around the roll axis, and the inner frame is configured to rotate around the pitch axis.
  • the outer frame 21 when the second shooting mode is the flashlight mode (upper flashlight mode or lower flashlight mode), the outer frame 21 is configured to rotate around the roll axis, and the middle frame 22 is configured to rotate around the yaw direction , The inner frame is configured to rotate around the pitch axis.
  • the second shooting mode when the second shooting mode is the vertical shooting mode (left vertical shooting mode or right vertical shooting mode), the outer frame 21 is configured to rotate around the pitch axis, and the middle frame 22 is configured to rotate around the horizontal The roller rotates, and the inner frame is configured to rotate about the yaw axis.
  • the pan/tilt 2 when the second shooting mode is the vertical shooting mode or the flashlight mode, the pan/tilt 2 is configured to be able to rotate around the roll axis and the pitch axis.
  • the pan/tilt head 2 when the second shooting mode is the vertical shooting mode, the pan/tilt head 2 is configured to be able to rotate around the roll axis and the pitch axis.
  • the frame 22 is configured to rotate around the roll axis; when the second shooting mode is the flashlight mode, the inner frame is configured to rotate around the pitch axis.
  • controlling the pan/tilt 2 to rotate to the target posture corresponding to the second shooting mode specifically includes: determining the pose component of the pan/tilt 2 corresponding to the target axis according to the second shooting mode; and according to the pose component of the target axis
  • the pan/tilt 2 is controlled so that the pan/tilt 2 rotates to the target posture corresponding to the second shooting mode.
  • the target axis is the tilt axis
  • the target axis is the roll axis
  • the outer frame 21 is configured to rotate around the yaw axis
  • the middle frame 22 is configured to rotate around the roll axis
  • the inner frame is configured to rotate around the pitch axis.
  • controlling the posture component of the roll axis is to control the Euler angle corresponding to the roll axis in the posture of the PTZ 2 to be 90 degrees or -90 degrees, that is, control Rotation of the middle frame 22.
  • the attitude closed-loop control is carried out, that is, the pan/tilt 2 is controlled according to the attitude component of the vertical mode corresponding to the roll axis, that is, only the attitude of the middle frame 22 is controlled, and the outer frame
  • the postures of the outer frame 21 and the inner frame remain unchanged at the end of the joint angle closed loop, so that the pan-tilt 2 can satisfy the first positional relationship corresponding to the vertical shooting mode.
  • the posture changes of the outer frame 21 and the inner frame caused by the posture closed loop are compensated in the posture closed loop. Specifically, after the posture adjustment of the center frame 22 is completed, the postures of the outer frame 21 and the inner frame are fine-tuned, so that the pan/tilt 2 Satisfy the first positional relationship corresponding to the vertical shooting mode.
  • the camera 3 is configured to be placed horizontally, for example, to capture images in a horizontal orientation.
  • the Euler angle range for example, when the desired shooting mode is the vertical shooting mode, the Euler angle corresponding to the roll axis in the posture of the pan/tilt 2 can be controlled to be -90 degrees or 90 degrees.
  • controlling the attitude component of the pitch axis is to control the Euler angle corresponding to the pitch axis in the attitude of the pan-tilt 2 to be 0 degrees, 180 degrees or -180 degrees, that is, to control the rotation of the inner frame.
  • the closed-loop attitude control is performed, that is, the PTZ 2 is controlled according to the attitude component of the flashlight mode corresponding to the pitch axis, that is, only the attitude of the inner frame is controlled, and the middle frame 22 and The posture of the outer frame 21 is maintained as the postures of the middle frame 22 and the inner frame at the end of the joint angle closed loop, so that the pan/tilt head 2 can satisfy the first positional relationship corresponding to the flashlight mode.
  • the posture changes of the middle frame 22 and the outer frame 21 caused by the posture closed loop are compensated in the posture closed loop. Specifically, after the posture adjustment of the inner frame is finished, the postures of the middle frame 22 and the outer frame 21 are fine-tuned, thereby So that the PTZ 2 meets the first position relationship corresponding to the flashlight mode.
  • the camera 3 when the Euler angle corresponding to the pitch axis in the attitude of the pan-tilt 2 is 0 degrees, the camera 3 is configured to be placed horizontally, for example, to capture images in a horizontal orientation.
  • the Euler angle range for example, when the desired shooting mode is the flashlight mode, the Euler angle corresponding to the roll axis in the posture of the pan/tilt 2 can be controlled to be 0 degrees, 180 degrees or -180 degrees.
  • the movement path is: the target joint angle of the outer frame 21 determined according to the second shooting mode and the posture component (Euler angle) of the target axis of the pan/tilt 2 determined according to the second shooting mode. ) It is determined that in this embodiment, the motion path is the path rotated according to the target joint angle of the outer frame 21 determined in the second shooting mode and the posture component of the pan/tilt 2 corresponding to the target axis determined in the second shooting mode. The sum of the paths.
  • step S402 that is, controlling the rotation of the pan/tilt head 2 so that the handheld pan/tilt head is switched to the second shooting mode and the shooting device 3 satisfies the first positional relationship may be implemented based on the attitude closed-loop control.
  • the pan/tilt 2 is controlled to rotate, so that the handheld pan/tilt is switched to the second shooting mode, and the camera 3 meets the specific requirements of the first positional relationship. It includes: controlling the posture component of the pan/tilt 2 corresponding to the roll axis to be 90 degrees or -90 degrees, so that the handheld pan/tilt is switched to the second shooting mode, and the shooting device 3 meets the first positional relationship.
  • the attitude of the outer frame 21 is controlled first, that is, the attitude component of the pan-tilt 2 corresponding to the roll axis is controlled to be 90 degrees or -90 degrees, and then the handheld pan-tilt is instructed to enter the second photography mode , And then control the posture of the middle frame 22, that is, control the posture component of the pan/tilt 2 corresponding to the roll axis to be 90 degrees or -90 degrees.
  • the posture component of the control PTZ 2 corresponding to the roll axis is 90 degrees
  • the control PTZ 2 corresponds to the roll
  • the posture component of the axis is -90 degrees.
  • controlling the pan/tilt 2 to rotate so that the handheld pan/tilt is switched to the second shooting mode, and the shooting device 3 satisfies the first positional relationship specifically includes : Control the attitude component of the PTZ 2 corresponding to the pitch axis to 0 degree, 180 degrees or -180 degrees, so that the handheld PTZ is switched to the second shooting mode, and the shooting device 3 satisfies the first positional relationship.
  • the attitude of the outer frame 21 is controlled first, that is, the attitude component corresponding to the pitch axis of the PTZ 2 is controlled to be 0 degrees, 180 degrees or -180 degrees, and then the handheld PTZ is instructed to enter the second
  • the attitude of the inner frame is controlled, that is, the attitude component of the tilt axis corresponding to the PTZ 2 is controlled to be 0 degrees, 180 degrees or -180 degrees.
  • the attitude component of the tilt axis corresponding to the control gimbal 2 is 0 degrees; when the second shooting mode is the flashlight down mode, the attitude of the gimbal 2 corresponding to the tilt axis is controlled
  • the component is 180 degrees or -180 degrees.
  • the motion path is determined according to the attitude component (Euler angle) of the pan-tilt 2 corresponding to the pitch axis.
  • the motion path is a path rotated according to the attitude component of the pan-tilt 2 corresponding to the pitch axis.
  • the gimbal 2 adopts a rotating structure with a mechanical limit for the rotation of the outer frame 21 in a range greater than 360 degrees.
  • the rotation area of the outer frame 21 of the gimbal 2 includes forward rotation.
  • the gimbal yaw joint angle in the forward rotation area and the gimbal yaw joint angle in the reverse area can both be greater than 180 degrees and less than 360 degrees, and the maximum yaw joint angle in the forward rotation area and the reverse area Mechanical limits are set at the maximum yaw joint angle of the rotation area, so that the yaw joint angle of the gimbal in the rotation area of the outer frame 21 of the gimbal 2 is greater than 360 degrees.
  • the pan-tilt 2 may not be able to rotate to the target Euler angle.
  • the pan/tilt 2 includes an outer frame 21 connected to the handle 1, and the outer frame 21 is configured to rotate around a first preset direction;
  • the control method of the handheld pan/tilt also includes: controlling the pan/tilt 2 During the rotation, obtain the real-time joint angle of the outer frame 21; if the real-time joint angle is the limit angle of the PTZ 2, control the PTZ 2 to rotate in the direction opposite to the current rotation direction of the PTZ 2, so that The handheld pan/tilt is switched to the second shooting mode, and the shooting device 3 satisfies the first positional relationship.
  • an embodiment of the present invention also provides a handheld pan/tilt.
  • the handheld pan/tilt may include a handle 1, a pan/tilt 2 and a controller 5.
  • the pan/tilt 2 is used to mount the camera 3, and the pan/tilt 2 is arranged on the handle 1.
  • the controller 5 is arranged in the handle 1.
  • the controller 5 is arranged in the handle 1.
  • the controller 5 is configured to: when the pan/tilt 2 is in the follow mode, obtain a switching instruction input by the user for instructing the handheld pan/tilt to switch from the first shooting mode to the second photography mode; The shooting mode is switched to the second shooting mode; wherein, the first shooting mode includes one of the flashlight mode and the vertical shooting mode, and the second shooting mode includes the other of the flashlight mode and the vertical shooting mode.
  • the controller 5 in this embodiment may be a central processing unit (CPU).
  • the controller 5 may further include a hardware chip.
  • the above-mentioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof.
  • the above-mentioned PLD may be a complex programmable logic device (complex programmable logic device, CPLD), a field-programmable gate array (FPGA), a general array logic (generic array logic, GAL) or any combination thereof.
  • the embodiment of the present invention also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of the method for controlling the handheld pan/tilt head of the foregoing embodiment are realized.
  • the computer-readable storage medium may be the internal storage unit of the handheld pan/tilt head described in any of the foregoing embodiments, such as a hard disk or a memory.
  • the computer-readable storage medium may also be an external storage device of a handheld PTZ, such as a plug-in hard disk, a smart media card (SMC), an SD card, and a flash card (Flash Card) equipped on the device. Wait.
  • the computer-readable storage medium may also include both an internal storage unit of the handheld pan-tilt 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 handheld pan/tilt head, and can also be used to temporarily store data that has been output or will be output.
  • the program can be stored in a computer readable storage medium, and the program can be stored in a computer readable storage medium. During execution, it may include the procedures of the above-mentioned method embodiments.
  • the storage medium may be a magnetic disk, an optical disc, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM), etc.

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

Abstract

La présente invention concerne un cardan portatif et un procédé de commande associé. Le cardan portatif comprend une poignée (1) et un cardan (2) disposé sur la poignée (1). Le procédé de commande comprend les étapes consistant à : dans la mesure où le cardan (2) est dans un mode de suivi, acquérir une instruction de commutation entrée par un utilisateur et utilisée pour ordonner au cardan portatif de passer d'un premier mode de photographie à un second mode de photographie ; et commander le cardan portatif pour qu'il passe du premier mode de photographie au second mode de photographie, le premier mode de photographie comprenant un mode parmi un mode de lampe éclair et un mode de photographie de vue en portrait, et le second mode de photographie comprenant l'autre mode parmi le mode de lampe éclair et le mode de photographie de vue en portrait. Le procédé de commande commande le cardan portatif pour qu'il commute directement entre le mode de lampe éclair et le mode de photographie de vue en portrait au moyen d'un déclenchement par l'utilisateur, ce qui permet de satisfaire les exigences de l'utilisateur pour une photographie avec flash et une photographie de vue en portrait.
PCT/CN2019/106403 2019-09-18 2019-09-18 Cardan portatif et procédé de commande associé WO2021051302A1 (fr)

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PCT/CN2019/106403 WO2021051302A1 (fr) 2019-09-18 2019-09-18 Cardan portatif et procédé de commande associé

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