WO2022011605A1 - 云台设备、可移动平台、光源组件及控制方法 - Google Patents

云台设备、可移动平台、光源组件及控制方法 Download PDF

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Publication number
WO2022011605A1
WO2022011605A1 PCT/CN2020/102160 CN2020102160W WO2022011605A1 WO 2022011605 A1 WO2022011605 A1 WO 2022011605A1 CN 2020102160 W CN2020102160 W CN 2020102160W WO 2022011605 A1 WO2022011605 A1 WO 2022011605A1
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WO
WIPO (PCT)
Prior art keywords
light source
source assembly
pan
tilt
motor
Prior art date
Application number
PCT/CN2020/102160
Other languages
English (en)
French (fr)
Inventor
翁松伟
付洁
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 CN202080005953.0A priority Critical patent/CN112969882A/zh
Priority to PCT/CN2020/102160 priority patent/WO2022011605A1/zh
Publication of WO2022011605A1 publication Critical patent/WO2022011605A1/zh

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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
    • 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
    • F16M11/08—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a vertical axis, e.g. panoramic heads
    • 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
    • F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
    • 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
    • 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
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G03B15/02—Illuminating scene
    • G03B15/03—Combinations of cameras with lighting apparatus; Flash units
    • G03B15/05—Combinations of cameras with electronic flash apparatus; Electronic flash units

Definitions

  • the present application relates to the field of pan-tilt technology, and in particular, to a pan-tilt device, a movable platform, a light source assembly and a control method.
  • the existing handheld stabilization gimbal does not have a fill light function.
  • the light-filling operation is generally performed through the flashlight that comes with the mobile phone, the flashlight that comes with the mobile phone, or a light source that can be clamped on the mobile phone.
  • the supplementary light effect and convenience of this supplementary light method are both poor.
  • Embodiments of the present application provide a pan/tilt device, a movable platform, a light source assembly, and a control method.
  • the pan-tilt apparatus of the embodiment of the present application includes a pan-tilt and a light source assembly combined with the pan-tilt.
  • the pan/tilt includes a shaft arm, a motor for driving the shaft arm to rotate, and a clamping member, the clamping member is directly or indirectly mounted on the motor for clamping the photographing device.
  • the light source assembly can cooperate with the rotation of the shaft arm and emit light according to a predetermined lighting pattern, so as to assist the photographing device to photograph images.
  • the light source assembly is detachably mounted on the motor or shaft arm.
  • the motor includes at least one motor among a roll axis motor, a pitch axis motor, and a yaw axis motor, and the light source assembly is detachably mounted on at least one of the motors; or the
  • the pivot arm includes at least one pivot arm of a roll pivot arm, a pitch pivot arm, and a yaw pivot arm, and the light source assembly is detachably mounted on at least one of the pivot arms.
  • the pivot arm includes a pitch pivot arm
  • the motor includes a roll pivot motor
  • the clamping member is connected to the pitch pivot arm through the roll pivot motor
  • the light source The assembly is fixedly mounted on the holder.
  • the clamping member includes a first clamping edge and a second clamping edge opposite to the first clamping edge, and the light source assembly is fixedly mounted on the first clamping edge and the second clamping edge. /or on the second clamping edge.
  • the pan/tilt head is electrically connected to the light source assembly to supply power to the light source assembly and perform data interaction with the light source assembly.
  • the pan/tilt head is electrically connected to the light source assembly to perform data interaction with the light source assembly
  • the light source assembly includes a light source and a power supply module
  • the power supply module is used to supply power to the light source.
  • the pan/tilt further includes a first communication module.
  • the light source assembly includes a light source, a power supply module and a second communication module.
  • the power supply module is used to supply power to the light source, and the first communication module can perform wireless communication with the second communication module to realize data interaction between the pan-tilt head and the light source assembly.
  • the motor acquires first center of gravity information when the pan/tilt is not combined with the light source assembly and second center of gravity information when the pan/tilt is combined with the light source component.
  • the pan/tilt also includes a control circuit, the control circuit calculates the center of gravity offset of the pan/tilt according to the first center of gravity information and the second center of gravity information, and controls the motor according to the center of gravity offset Turn to adjust the center of gravity of the head.
  • the pan/tilt further includes a control circuit, the control circuit acquires parameters of the light source assembly, and controls the motor to rotate according to the parameters to adjust the center of gravity of the pan/tilt.
  • the parameters include at least one of a model of the light source assembly, a weight of the light source assembly, and a pose of the light source assembly.
  • the pan/tilt head further includes a control circuit, after receiving the control instruction, the control circuit controls the rotation of the shaft arm according to the control instruction, and sends the control instruction to the light source assembly
  • the light source assembly emits light according to the predetermined lighting pattern indicated by the control instruction.
  • the control instruction is generated by the pan/tilt receiving the user's operation; or the control instruction is sent to the pan/tilt by the photographing device.
  • the pan/tilt head further includes a control circuit, the control circuit and the light source assembly both receive a control instruction sent by the photographing device, and the control circuit controls the shaft arm according to the control instruction Rotating, the light source assembly emits light according to the predetermined lighting pattern indicated by the control instruction.
  • the predetermined lighting mode includes at least one of the following: the light source in the light source assembly is turned on, the light source is turned off, the light source emits light according to a predetermined light emitting power, and the light source emits light according to a predetermined color Lighting, the light source flashes according to a predetermined frequency, and the light source rotates by a predetermined angle.
  • the movable platform of the embodiments of the present application includes the movable platform body and the pan-tilt device described in any one of the above embodiments.
  • the pan-tilt device is installed on the movable platform body.
  • the light source assembly of the embodiment of the present application includes a body and a light source.
  • the light source is arranged on the main body, the main body can be detachably connected to the head, and the light source can cooperate with the rotation of the shaft arm of the head and emit light according to a predetermined lighting pattern, so as to assist the photographing device to capture images.
  • the pan/tilt head includes a shaft arm and a motor for driving the shaft arm to rotate, and the light source assembly is detachably mounted on the motor or the shaft arm.
  • the motor includes at least one motor among a roll axis motor, a pitch axis motor, and a yaw axis motor, and the light source assembly is detachably mounted on at least one of the motors; or the
  • the pivot arm includes at least one pivot arm of a roll pivot arm, a pitch pivot arm, and a yaw pivot arm, and the light source assembly is detachably mounted on at least one of the pivot arms.
  • the pivot arm includes a pitch pivot arm
  • the motor includes a roll axis motor
  • the pan/tilt head further includes a clamping member
  • the clamping member communicates with all the roll axis motors through the roll axis motor.
  • the pitch axis is connected with the shaft arm, and the light source assembly is fixedly mounted on the clamping member.
  • the clamping member includes a first clamping edge and a second clamping edge opposite to the first clamping edge, and the light source assembly is fixedly mounted on the first clamping edge and the second clamping edge. /or on the second clamping edge.
  • the pan/tilt head is electrically connected to the light source assembly to supply power to the light source assembly and perform data interaction with the light source assembly.
  • the pan/tilt head is electrically connected to the light source assembly to perform data interaction with the light source assembly
  • the light source assembly includes a light source and a power supply module
  • the power supply module is used to supply power to the light source.
  • the pan/tilt further includes a first communication module
  • the light source assembly further includes a power supply module and a second communication module
  • the power supply module is used to supply power to the light source
  • the first communication module Wireless communication can be performed with the second communication module to realize data interaction between the pan-tilt head and the light source assembly.
  • the pan/tilt head further includes a control circuit, after receiving the control instruction, the control circuit controls the rotation of the shaft arm according to the control instruction, and sends the control instruction to the light source assembly
  • the light source assembly emits light according to the predetermined lighting pattern indicated by the control instruction.
  • the control instruction is generated by the pan/tilt receiving the user's operation; or the control instruction is sent to the pan/tilt by the photographing device.
  • the pan/tilt head further includes a control circuit, the control circuit and the light source assembly both receive a control instruction sent by the photographing device, and the control circuit controls the shaft arm according to the control instruction Rotating, the light source assembly emits light according to the predetermined lighting pattern indicated by the control instruction.
  • the predetermined lighting mode includes at least one of the following: the light source in the light source assembly is turned on, the light source is turned off, the light source emits light according to a predetermined light emitting power, and the light source emits light according to a predetermined color Lighting, the light source flashes according to a predetermined frequency, and the light source rotates by a predetermined angle.
  • the control method of the pan-tilt device is used for the pan-tilt device.
  • the pan-tilt device includes a pan-tilt and a light source assembly combined with the pan-tilt.
  • the pan/tilt includes a shaft arm, a motor for driving the shaft arm to rotate, and a clamping member, the clamping member is directly or indirectly mounted on the motor for clamping the photographing device.
  • the control method includes: receiving a control command; and controlling the rotation of the shaft arm according to the control command, and the light source assembly cooperates with the rotation of the shaft arm and emits light according to a predetermined lighting pattern.
  • control method further includes: acquiring first center of gravity information when the pan/tilt is not combined with the light source assembly and second center of gravity information when the pan/tilt is combined with the light source assembly; and calculating the center of gravity offset of the gimbal according to the first center of gravity information and the second center of gravity information, and controlling the rotation of the motor according to the offset of the center of gravity to adjust the center of gravity of the gimbal.
  • control method further includes: acquiring parameters of the light source assembly; and controlling the rotation of the motor according to the parameters to adjust the center of gravity of the pan/tilt head.
  • the control instruction is generated by the pan/tilt receiving a user's operation or sent to the pan/tilt by the photographing device.
  • the receiving the control instruction includes: the PTZ receiving the control instruction.
  • the controlling the rotation of the shaft arm according to the control command, and the light source assembly cooperating with the rotation of the shaft arm to emit light according to a predetermined light-emitting pattern includes: after receiving the control command, the pan/tilt head controls the control command according to the control command.
  • the shaft arm rotates, and sends the control instruction to the light source assembly, so that the light source assembly emits light according to the predetermined lighting pattern indicated by the control instruction.
  • the receiving a control instruction includes: both the pan-tilt head and the light source assembly receive a control instruction sent by the photographing device.
  • the controlling the rotation of the shaft arm according to the control instruction, and the light source assembly cooperating with the rotation of the shaft arm to emit light according to a predetermined light-emitting pattern includes: after the gimbal receives the control instruction, according to the control The instruction controls the rotation of the shaft arm; after receiving the control instruction, the light source assembly emits light according to the predetermined lighting pattern indicated by the control instruction.
  • the gimbal is combined with the light source assembly, and the light source assembly can cooperate with the rotation of the shaft arm of the gimbal and emit light according to a predetermined lighting pattern, so that the gimbal is realized.
  • the coordinated control and linkage with the light source component improves the lighting effect of the shooting device during the shooting process, and improves the convenience and shooting experience of the user when using the gimbal device.
  • FIG. 1 is a schematic diagram of a pan-tilt device according to some embodiments of the present application.
  • FIG. 2 is a schematic diagram of a PTZ device according to some embodiments of the present application.
  • FIG. 3 is a schematic diagram of a PTZ device according to some embodiments of the present application.
  • FIG. 4 is a schematic diagram of a pan/tilt according to some embodiments of the present application.
  • FIG. 5 is a schematic diagram of a light source assembly according to some embodiments of the present application.
  • FIG. 6 is a schematic diagram of the connection between a motor and a corresponding shaft arm according to some embodiments of the present application.
  • FIG. 7 is a schematic diagram of a movable platform according to an embodiment of the present application.
  • FIG. 8 is a schematic flowchart of a control method according to some embodiments of the present application.
  • FIG. 9 is a schematic flowchart of a control method according to some embodiments of the present application.
  • FIG. 10 is a schematic flowchart of a control method according to some embodiments of the present application.
  • FIG. 11 is a schematic flowchart of a control method according to some embodiments of the present application.
  • FIG. 12 is a schematic flowchart of a control method according to some embodiments of the present application.
  • a first feature "on” or “under” a second feature may be in direct contact with the first and second features, or the first and second features indirectly through an intermediary get in touch with.
  • the first feature being “above”, “over” and “above” the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is level higher than the second feature.
  • the first feature being “below”, “below” and “below” the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature has a lower level than the second feature.
  • an embodiment of the present application provides a pan-tilt device 100 .
  • the pan-tilt apparatus 100 includes a pan-tilt 10 and a light source assembly 20 combined with the pan-tilt 10 .
  • the pan/tilt 10 includes a shaft arm 11 , a motor 13 for driving the shaft arm 11 to rotate, and a clamping member 15 , and the clamping member 15 is directly or indirectly mounted on the motor 13 for clamping the photographing device 2000 .
  • the light source assembly 20 can cooperate with the rotation of the shaft arm 11 and emit light according to a predetermined lighting pattern, so as to assist the photographing device 2000 to photograph images.
  • the gimbal 10 may be a handheld gimbal, a gimbal installed on a movable platform such as an unmanned aerial vehicle, a tripod gimbal, etc., which is not limited herein.
  • the embodiment of the present application will be described by taking the pan/tilt 10 as a handheld pan/tilt.
  • the photographing device 2000 may be a mobile phone, a tablet computer, a camera (such as a single-lens reflex camera, a mirrorless camera, a miniature interchangeable-lens single-lens digital camera, a point-and-shoot camera), etc., which is not limited herein.
  • the embodiments of the present application are described by taking the photographing device 2000 as a mobile phone.
  • the gimbal 10 may provide anti-shake support and/or shooting angle adjustment support during use of the shooting device 2000 to improve shooting effects.
  • the shaft arm 11 of the pan/tilt head 10 is used to support the photographing device 2000 .
  • the motor 13 is connected to the shaft arm 11 , and the motor 13 is used to drive the shaft arm 11 to rotate to adjust the shooting angle of the shooting device 2000 , so as to match different shooting scenes to shoot at different angles and improve the shooting effect.
  • the clamp 15 is directly or indirectly mounted on the motor 13 .
  • the clamping member 15 can be used to clamp the photographing device 2000 to achieve relative fixation between the photographing device 2000 and the pan/tilt head 10 .
  • the clamping member 15 when the clamping member 15 is directly installed on the motor 13 , it can be understood that the clamping member 15 is fixedly connected to the motor 13 ;
  • the manner in which the clamping member 15 is directly mounted on the motor 13 makes it unnecessary for the user to perform the operation of assembling the clamping member 15 on the motor 13 when using the pan/tilt head 10 , which is convenient for the user to use.
  • the manner in which the clamping member 15 is indirectly mounted on the motor 13 can reduce the volume of the head 10 and is convenient for the user to carry.
  • the light source assembly 20 is combined with the pan/tilt head 10 .
  • the light source assembly 20 can cooperate with the rotation of the shaft arm 11 and emit light according to a predetermined lighting pattern, so as to assist the photographing device 2000 to photograph images.
  • the light source assembly 20 includes a main body 22 and a light source 21 .
  • the light source 21 is mounted on the body 22 .
  • the number of light sources 21 may be one or more, which is not limited herein.
  • the multiple light sources 21 can emit light of the same color or different colors, which is not limited here.
  • the predetermined lighting mode of the light source assembly 20 includes at least one of the following: the light source 21 in the light source assembly 20 is turned on, the light source 21 is turned off, the light source 21 emits light according to a predetermined lighting power, the light source 21 emits light according to a predetermined lighting color, and the light source 21 flashes according to a predetermined frequency , the light source 21 is rotated by a predetermined angle.
  • the predetermined lighting mode may include any one of turning on the light source 21, turning off the light source 21, lighting the light source 21 according to a predetermined lighting power, lighting the light source 21 according to a predetermined lighting color, flashing the light source 21 at a predetermined frequency, and rotating the light source 21 by a predetermined angle.
  • the predetermined light-emitting mode may include two types of light source 21 being turned on and light source 21 being lighted according to a predetermined light-emitting color.
  • the predetermined lighting mode may include three types of light source 21 being turned on, light source 21 lighting according to a predetermined lighting color, and light source 21 flashing according to a predetermined frequency.
  • the predetermined lighting modes may include four types, such as turning on the light source 21, lighting the light source 21 according to a predetermined lighting color, flashing the light source 21 according to a predetermined frequency, and rotating the light source 21 by a predetermined angle, etc., which are not limited herein.
  • the rotation of the light source 21 may be that the body 22 does not move and the light source 21 rotates, or the body 22 drives the light source 21 to rotate, which is not limited here.
  • the rotation of the light source 21 can make the light source 21 emit light in different directions.
  • the light source 21 can be rotated to realize the supplementary light in the Selfie mode.
  • the lighting direction of the light source 21 is toward the user holding the gimbal device 100 .
  • the light-emitting direction of the light source 21 is the same as the display direction of the photographing device 2000 .
  • the light source 21 is oriented in the same direction as the main control panel on the handle 12 of the pan/tilt head 10 .
  • the light source 21 may be fixedly disposed and the light source 21 may be directed toward the user holding the PTZ device 100 .
  • the light source 21 can realize the fill light in the selfie mode, it solves the problem that when the shooting device 2000 is fixed on the gimbal 10, the flash is always facing the side away from the user, and it is impossible to fill the light for the user himself when taking a selfie, and the selfie is optimized. experience.
  • the light source 21 can be rotated to realize supplementary light in a non-selfie mode.
  • the lighting direction of the light source is away from the user holding the gimbal device 100 .
  • the light-emitting direction of the light source 21 is opposite to the display direction of the photographing device 2000 .
  • the light source 21 emits light in the opposite direction to the main control panel on the handle 12 .
  • the light source assembly 20 cooperates with the rotation of the shaft arm 11 and emits light according to a predetermined lighting mode.
  • a predetermined rotation pattern for example, the rotation of the roll axis arm 111 (shown in FIG. 6 ) is divided into three stages, the first stage is clockwise rotation, the second stage is counterclockwise rotation, and the third stage is In order to rotate clockwise, correspondingly, after receiving the control instruction, the light source assembly 20 emits light in a predetermined lighting pattern.
  • the light source 21 flashes at a predetermined frequency in the second stage, and emits light according to a predetermined emission color in the third stage.
  • the rotation mode of the shaft arm 11 and the light emission mode of the light source assembly 20 can cooperate autonomously, realizing the coordinated control and linkage of the pan/tilt head 10 and the light source assembly 20 , and improving the photographing effect of the photographing device 2000 .
  • the pan-tilt 10 is combined with the light source assembly 20 , and the light source assembly 20 can cooperate with the rotation of the shaft arm 11 and emit light according to a predetermined lighting pattern, thereby realizing the coordinated control of the pan-tilt 10 and the light source assembly 20 and linkage, improve the lighting effect of the shooting device 2000 during the shooting process, and improve the convenience and shooting experience of the user when using the PTZ device 100 .
  • the light source assembly 20 is detachably mounted on the motor 13 or the shaft arm 11 .
  • the motor 13 may include at least one motor 13 among a roll axis motor 131 , a pitch axis motor 133 , and a yaw axis motor 135 , and the light source assembly 20 is detachably mounted on the at least one motor 13 .
  • the motor 13 may only include the roll axis motor 131, the number of light source assemblies 20 is one, and the one light source assembly 20 is detachably mounted on the roll axis motor 131 (not shown).
  • the motor 13 may only include the pitch axis motor 133, the number of light source assemblies 20 is one, and the one light source assembly 20 is detachably mounted on the pitch axis motor 133 (not shown).
  • the motor 13 may include both a roll axis motor 131 and a yaw axis motor 135, the number of light source assemblies 20 is one, and the one light source assembly 20 is detachably mounted on one of the motors 13 (not shown in the figure). ).
  • the motor 13 may include a roll axis motor 131 and a yaw axis motor 135 at the same time, the number of light source assemblies 20 is two, and the two light source assemblies 20 are respectively detachably installed on the roll axis motor 131 and the yaw axis motor 135 . On the yaw axis motor 135 (not shown).
  • the motor 13 may include a roll axis motor 131, a pitch axis motor 133, and a yaw axis motor 135 at the same time, the number of light source assemblies 20 is one, and the one light source assembly 20 is detachably mounted on the pitch axis motor 133 (shown in Figure 1).
  • the motor 13 may include a roll axis motor 131, a pitch axis motor 133, and a yaw axis motor 135 at the same time, and the number of light source assemblies 20 is three, and the three light source assemblies 20 are respectively detachably installed on the The roll axis motor 131, the pitch axis motor 133, and the yaw axis motor 135 (not shown in the figure).
  • the light source assembly 20 is only installed on any one of the plurality of motors 13 , and the number of the light source assemblies 20 is small, which is beneficial to reduce the weight of the pan-tilt apparatus 100 .
  • the light source assemblies 20 are installed on multiple motors 13, the number of the light source assemblies 20 is large, and the light source assemblies 20 with a large number can provide more abundant and diverse lighting modes, and can achieve better lighting effects.
  • the pivot arm 11 may include at least one pivot arm 11 among the roll pivot arm 111 , the pitch pivot arm 113 , and the yaw pivot arm 115 , and the light source assembly 20 is detachably mounted on the at least one pivot arm 11 .
  • the roll axis motor 131 is used to drive the roll axis arm 111 to rotate in the roll direction
  • the pitch axis motor 133 is used to drive the pitch axis arm 113 to rotate in the pitch direction
  • the yaw axis motor 135 is used to The yaw shaft arm 115 is driven to rotate in the yaw direction.
  • the motor 13 may only include the roll shaft arm 111, the number of light source assemblies 20 is one, and the one light source assembly 20 is detachably mounted on the roll shaft arm 111 (not shown).
  • the motor 13 may only include the pitch axis arm 113, the number of light source assemblies 20 is one, and the one light source assembly 20 is detachably mounted on the pitch axis arm 113 (not shown).
  • the motor 13 may include a roll axis arm 111 and a yaw axis arm 115 at the same time, the number of light source assemblies 20 is one, and the one light source assembly 20 is detachably mounted on one of the axis arms 11 (Fig. not shown).
  • the motor 13 may include a roll axis arm 111 and a yaw axis arm 115 at the same time, the number of light source assemblies 20 is two, and the two light source assemblies 20 are respectively detachably mounted on the roll axis axis on the arm 111 and the yaw axis arm 115 (not shown).
  • the motor 13 may simultaneously include a roll axis arm 111, a pitch axis arm 113, and a yaw axis arm 115, the number of light source assemblies 20 is one, and the one light source assembly 20 is detachably installed on the On the roll axis arm 111 (as shown in FIG.
  • the clamping member 15 is the roll axis arm 111 at this time).
  • the motor 13 may simultaneously include a roll axis arm 111 , a pitch axis arm 113 , and a yaw axis arm 115 , the number of light source assemblies 20 is three, and the three light source assemblies 20 are respectively detachable It is mounted on the roll axis arm 111, the pitch axis arm 113, and the yaw axis arm 115 (not shown).
  • the light source assembly 20 is only mounted on any one of the plurality of shaft arms 11 , and the number of the light source assemblies 20 is small, which is beneficial to reduce the weight of the pan-tilt apparatus 100 .
  • the number of the light source assemblies 20 is large, and the light source assemblies 20 with a larger number can provide more abundant and diverse lighting modes, and can achieve a better lighting effect.
  • the motor 13 may include at least one motor 13 among a roll axis motor 131 , a pitch axis motor 133 , and a yaw axis motor 135
  • the axis arm 11 may include a roll axis motor 13
  • At least one shaft arm 11 among the shaft shaft arm 111 , the pitch shaft shaft arm 113 , and the yaw shaft shaft arm 115 , and the light source assembly 20 are detachably mounted on at least one motor 13 and at least one shaft arm 11 .
  • the motor 13 includes a pitch axis motor 133 and a pitch axis arm 113 , the number of light source assemblies 20 is two, and the two light source assemblies 20 are respectively detachably mounted on the pitch axis motor 133 and the pitch axis arm 113 (not shown).
  • the motor 13 includes a roll axis motor 131, a pitch axis motor 133, and a yaw axis motor 135, and the axis arm 11 includes a roll axis axis arm 111, a pitch axis axis arm 113, and a yaw axis axis arm 115, the number of light source assemblies 20 is two, and the two light source assemblies 20 are respectively detachably mounted on the roll axis arm 111 and the pitch axis motor 133 (shown in FIG. 3 ).
  • the motor 13 includes a roll axis motor 131, a pitch axis motor 133, and a yaw axis motor 135, and the axis arm 11 includes a roll axis axis arm 111, a pitch axis axis arm 113, and a yaw axis axis arm 115.
  • the number of light source assemblies 20 is six, and the six light source assemblies 20 are respectively detachably installed on the roll axis motor 131, the pitch axis motor 133, the yaw axis motor 135, the roll axis arm 111, and the pitch axis arm. 113, and on the yaw axis arm 115 (not shown).
  • the shaft arm 11 includes a pitch shaft arm 113
  • the motor 13 includes a roll shaft motor 131
  • the clamping member 15 communicates with the pitch shaft arm 113 through the roll shaft motor 131 and the pitch shaft arm 113 .
  • the light source assembly 20 is fixedly mounted on the holder 15 .
  • the clamping member 15 is mounted on the roll axis motor 131 and is connected to the pitch axis arm 113 through the roll axis motor 131.
  • the clamping member 15 can be regarded as the roll axis arm 111 and the roll axis motor 131
  • the clamping member 15 can be driven to rotate, so that the clamping member 15 drives the light source assembly 20 fixedly mounted thereon to rotate together to realize the rotation of the light source assembly 20 .
  • the clamping member 15 may include a first clamping edge 151 and a second clamping edge 153 opposite to the first clamping edge 151 .
  • 2000 is fixed on the holder 15 .
  • the light source assembly 20 can be fixedly mounted on the first clamping edge 151 and/or the second clamping edge 153 . That is to say, the light source assembly 20 can be fixedly installed on the first clamping edge 151, can also be fixedly installed on the second clamping edge 153, or can be fixedly installed on the first clamping edge 151 and the second clamping edge at the same time.
  • On the side 153 there is no limitation here.
  • the light source assembly 20 when the light source assembly 20 is installed on the first clamping edge 151 and/or the second clamping edge 153, the light source assembly 20 may include the light source 21 and the body 22, the light source 21 is installed on the body 22, and the body 22 Mounted on the first clamping edge 151 and/or the second clamping edge 153 .
  • the light source assembly 20 when the light source assembly 20 is mounted on the first clamping edge 151 and/or the second clamping edge 153, the light source assembly 20 may only include the light source 21, and the light source 21 may be directly mounted on the first clamping edge 151 and/or On the second clamping edge 153 , that is, at this time, the first clamping edge 151 and/or the second clamping edge 153 can be regarded as the body 22 of the light source assembly 20 .
  • the pan/tilt head 10 is electrically connected with the light source assembly 20 to supply power to the light source assembly 20 and perform data interaction with the light source assembly 20 .
  • the light source assembly 20 when the light source assembly 20 is combined with the gimbal 10, the light source assembly 20 and the gimbal 10 can be electrically connected.
  • the power supply module 23 shown in FIG. 5 may not be provided in the light source assembly 20, but the The gimbal 10 supplies power to the light source assembly 20 so that the light source assembly 20 can emit light.
  • the light source assembly 20 can also perform data interaction (ie wired communication) through the electrical connection line with the pan/tilt head 10, so that the pan/tilt head 10 can transmit control instructions through the electrical connection line, and the light source assembly 20 receives the After the control instruction, it can work according to the predetermined lighting mode indicated by the control instruction.
  • the pan/tilt head 10 is used to supply power to the light source assembly 20 , and the power supply module 23 does not need to be provided in the light source assembly 20 , which can reduce the complexity of the circuit inside the light source assembly 20 .
  • the gimbal 10 when the gimbal 10 is electrically connected to the light source assembly 20 , the gimbal 10 does not supply power to the light source assembly 20 , but only exchanges data with the light source assembly 20 .
  • the light source assembly 20 may include a power supply module 23 for supplying power to the light source 21 .
  • the light source assembly 20 has its own power supply module 23 , the light source assembly 20 does not need to be powered by the gimbal 10 , which is beneficial to improve the battery life of the gimbal 10 .
  • the gimbal 10 can both supply power to the light source assembly 20 and conduct data with the light source assembly 20 . interact. Specifically, the gimbal 10 can supply power to the light source assembly 20 after the power of the power supply module 23 is exhausted. In this way, the working time of the light source assembly 20 can be prolonged.
  • the pan/tilt 10 may further include a first communication module 17 .
  • the light source assembly 20 includes a light source 21 , a power supply module 23 and a second communication module 25 .
  • the power supply module 23 is used to supply power to the light source 21
  • the first communication module 17 can perform wireless communication with the second communication module 25 to realize data interaction between the pan-tilt 10 and the light source assembly 20 .
  • the first communication module 17 and the second communication module 25 may be both Bluetooth modules, WiFi modules, and Zigbee modules, etc., which are not limited herein. It can be understood that the existing communication mechanism includes not only wired communication but also wireless communication. Therefore, the pan/tilt head 10 and the light source assembly 20 may also use wireless communication for data interaction. Specifically, during the use of the pan-tilt device 100 , the power supply module 23 supplies power to the light source 21 of the light source assembly 20 . The first communication module 17 establishes a communication connection with the second communication module 25. The first communication module 17 can send a control command to the second communication module 25. After receiving the control command, the light source assembly 20 can work according to the predetermined lighting mode indicated by the control command.
  • the motor 13 can obtain the first center of gravity information when the gimbal 10 is not combined with the light source assembly 20 and the second center of gravity information when the gimbal 10 is combined with the light source assembly 20 .
  • the gimbal 10 further includes a control circuit 19, the control circuit 19 can calculate the center of gravity offset of the gimbal 10 according to the first center of gravity information and the second center of gravity information, and control the rotation of the motor 13 according to the offset of the center of gravity to adjust the center of gravity of the gimbal 10 .
  • the center of gravity of the gimbal 10 will shift, and the offset of the center of gravity of the gimbal 10 may cause the gimbal device 100 as a whole to need to use Large torque to balance, at this time, the motor 13 needs a large output power, the heat of the motor 13 is serious, and the service life will be shortened; in addition, the shooting effect of the shooting device 2000 will also be reduced. Therefore, after the light source assembly 20 is installed on the gimbal 10, the center of gravity of the gimbal 10 needs to be adjusted.
  • the motor 13 may acquire the center of gravity information when the pan/tilt head 10 is not combined with the light source assembly 20 as the first center of gravity information.
  • the motor 13 can sense the light source assembly 20 and obtain the center of gravity information combined with the light source assembly 20 as the second center of gravity information.
  • the motor 13 transmits the first center of gravity information and the second information about the center of gravity to the control circuit 19 .
  • the control circuit 19 calculates the center of gravity offset of the gimbal 10 according to the first center of gravity information and the second center of gravity information, and controls the rotation of the motor 13 according to the offset of the center of gravity to adjust the center of gravity of the gimbal 10 .
  • the control circuit 19 may not use the first and second center of gravity information obtained by the motor 13 to calculate the center of gravity offset, and the control circuit 19 may directly obtain the offset parameters of the light source assembly 20, and control the rotation of the motor 13 according to the parameters to adjust the center of gravity of the gimbal 10.
  • the parameters include at least one of the model of the light source assembly 20 , the weight of the light source assembly 20 , and the pose of the light source assembly 20 .
  • the parameter may be any one of the model of the light source assembly 20 , the weight of the light source assembly 20 , and the pose of the light source assembly 20 .
  • the parameters may include the model of the light source assembly 20 and the weight of the light source assembly 20 .
  • the parameters may include the model of the light source assembly 20, the weight of the light source assembly 20, the pose of the light source assembly 20, etc., which are not limited here.
  • the light source assembly 20 can send parameters to the control circuit 19 of the PTZ 10 through wired communication;
  • the communication module 25 communicates with the first communication module 17 of the PTZ 10, the light source assembly 20 can send the parameters to the first communication module 17 of the PTZ 10 through the second communication module 25, and the first communication module 17 transmits the parameters. to the control circuit 19.
  • the control circuit 19 can first calculate the second center of gravity information when the pan/tilt head 10 is combined with the light source assembly 20 according to the parameters. Then, the control circuit 19 calculates the center of gravity offset of the gimbal 10 according to the second center of gravity information and the first center of gravity information when the gimbal 10 is not combined with the light source assembly 20, and controls the rotation of the motor 13 according to the offset of the center of gravity to adjust the cloud The center of gravity of the table 10.
  • control circuit 19 can control the rotation of the motor 13 to adjust the center of gravity of the gimbal 10, so that the center of gravity of the gimbal 10 is in a better position, thereby prolonging the service life of the motor 13 and improving the photographing equipment 2000. shooting effect.
  • the pan/tilt head 10 further includes a control circuit 19 .
  • the control circuit 19 controls the rotation of the shaft arm 11 according to the control command, and sends control
  • the light source assembly 20 is instructed to make the light source assembly 20 emit light according to the predetermined lighting pattern instructed by the control instruction.
  • the control instruction is generated by the pan/tilt 10 receiving the user's operation; or the control instruction is sent to the pan/tilt 10 by the photographing device 2000 .
  • the control instruction is generated after the user's operation.
  • the control instruction may be generated by the control circuit 19 in the pan/tilt head 10 .
  • the control circuit 19 will control the axis arm 11 to rotate according to the control command, and the control circuit 19 will also control the first communication module 17 to send the control command to the light source assembly 20 .
  • the light source assembly 20 emits light according to the predetermined lighting pattern indicated by the control instruction.
  • the gimbal 10 when the user needs to perform fill light shooting in the non-selfie mode, the user can perform corresponding operations on the mechanical buttons on the operating handle.
  • the gimbal 10 generates a control command after receiving the user's operation, and the control circuit 19 controls the The command controls the shaft arm 11 to perform a predetermined rotation, and sends the control command to the light source assembly 20, so that the light source assembly 20 controls the light source 21 of the light source assembly 20 to turn on and the light source assembly 20 to rotate according to the control command, so that the light source 21 can be directed toward Lights in the direction of the subject.
  • the user may operate a custom button (which may be a mechanical button, a virtual button, etc.) on the photographing device 2000, and the photographing device 2000 generates a control instruction corresponding to the operation after receiving the user's operation. Then the photographing device 2000 sends the control instruction to the pan/tilt 10 through wired communication or wireless communication, and the control circuit 19 in the pan/tilt 10 controls the shaft arm 11 to perform a predetermined rotation according to the control instruction, and the pan/tilt 10 will also The control instruction is sent to the light source assembly 20, so that the light source assembly 20 can emit light according to the predetermined lighting pattern indicated by the control instruction.
  • a custom button which may be a mechanical button, a virtual button, etc.
  • the gimbal 10 and the light source assembly 20 can pass through the Communication by wired communication or wireless communication is not limited here.
  • the pan/tilt head 10 further includes a control circuit 19 , the control circuit 19 and the light source assembly 20 both receive the control instructions sent by the photographing device 2000 , and the control circuit 19 controls the The command controls the axis arm 11 to rotate, and the light source assembly 20 emits light according to the predetermined lighting pattern indicated by the control command.
  • the control instructions for controlling the light source assembly 20 are not only transmitted to the light source assembly 20 through the pan-tilt 10 .
  • the light source assembly 20 can also directly receive the control instruction sent by the photographing device 2000 through the second communication module 25, and emit light according to the predetermined lighting pattern indicated by the control instruction.
  • the user performs an operation of instructing the light source 21 to flash at a predetermined frequency and an operation of instructing the roll axis arm 111 to rotate in the roll direction on the photographing apparatus 2000, and the photographing apparatus 2000 generates a control instruction corresponding to the operation.
  • the photographing device 2000 sends the control instruction to the first communication module 17 of the pan/tilt head 10 through wireless communication, and the first communication module 17 transmits the control instruction to the control circuit 19, and the control circuit 19 controls the roll axis according to the control instruction
  • the shaft arm 111 rotates in the roll direction.
  • the photographing device 2000 also sends a control instruction to the light source assembly 20 through wireless communication, and the light source assembly 20 controls the light source 21 to flash at a predetermined frequency according to the control instruction after receiving the control instruction.
  • the pan/tilt 10 is combined with the light source assembly 20 , and the light source assembly 20 can cooperate with the rotation of the shaft arm 11 and emit light according to a predetermined lighting pattern, thereby realizing the pan/tilt 10 and the light source assembly 20 .
  • the coordinated control and linkage of the camera improves the lighting effect of the shooting device 2000 during the shooting process, and improves the convenience and shooting experience of the user when using the PTZ device 100 .
  • an embodiment of the present application further provides a movable platform 1000 .
  • the movable platform 100 includes the movable platform body 200 and the PTZ device 100 described in any one of the foregoing embodiments.
  • the pan-tilt apparatus 100 is installed on the movable platform body 200 .
  • the movable platform 1000 may be an unmanned aerial vehicle, an unmanned vehicle, an unmanned boat, etc., which is not limited herein.
  • an embodiment of the present application further provides a light source assembly 20 .
  • the light source assembly 20 includes a body 22 and a light source 21 .
  • the light source 21 is disposed on the main body 22, and the main body 22 can be detachably connected to the gimbal 10.
  • the light source 21 can cooperate with the rotation of the shaft arm 11 of the gimbal 10 and emit light according to a predetermined lighting pattern to assist the photographing device 2000 to capture images.
  • the pan/tilt head 10 includes a shaft arm 11 and a motor 13 for driving the shaft arm 11 to rotate.
  • the light source assembly 20 is detachably mounted on the motor 13 or the shaft arm 11 .
  • the motor 13 includes at least one motor 13 among a roll axis motor 131 , a roll axis motor 133 , and a roll axis motor 135 , and the light source assembly 20 is detachably installed On at least one motor 13; or the shaft arm 11 includes at least one shaft arm 11 among the roll shaft arm 111, the pitch shaft arm 113, and the yaw shaft arm 115, and the light source assembly 20 is detachably mounted on the at least one shaft arm 11. on the axle arm 11.
  • the shaft arm 11 includes a pitch shaft arm 113
  • the motor 13 includes a roll shaft motor 131
  • the pan/tilt head 10 further includes a clamping member 15 , and the clamping member 15 is connected to the pitch axis arm 113 through the roll axis motor 131 .
  • the light source assembly 20 is fixedly mounted on the holder 15 .
  • the clamping member 15 includes a first clamping edge 151 and a second clamping edge 153 opposite to the first clamping edge 151 , and the light source assembly 20 is fixedly mounted on the first clamping edge 153 . edge 151 and/or the second clamping edge 153 .
  • the pan/tilt head 10 is electrically connected with the light source assembly 20 to supply power to the light source assembly 20 and perform data interaction with the light source assembly 20 .
  • the pan/tilt head 10 is electrically connected to the light source assembly 20 for data interaction with the light source assembly 20 .
  • the light source assembly 20 includes a light source 21 and a power supply module 23 , and the power supply module 23 is used for The light source 21 is powered.
  • the pan/tilt 10 further includes a first communication module 17 .
  • the light source assembly 20 further includes a power supply module 23 and a second communication module 25.
  • the power supply module 23 is used to supply power to the light source 21, and the first communication module 17 can wirelessly communicate with the second communication module 25 to realize the connection between the pan/tilt 10 and the light source assembly 20. Data interaction.
  • the pan/tilt head 10 further includes a control circuit 19. After receiving the control command, the control circuit 19 controls the rotation of the shaft arm 11 according to the control command, and sends the control command to the light source assembly. 20 to make the light source assembly 20 emit light according to a predetermined light emitting pattern instructed by the control instruction.
  • the control instruction is generated by the pan/tilt 10 receiving the user's operation, or the control instruction is sent to the pan/tilt 10 by the photographing device 2000 .
  • the pan/tilt head 10 further includes a control circuit 19. Both the control circuit 19 and the light source assembly 20 receive control instructions sent by the photographing device 2000, and the control circuit 19 controls the axis according to the control instructions. When the arm 11 is rotated, the light source assembly 20 emits light according to the predetermined lighting pattern indicated by the control instruction.
  • an embodiment of the present application further provides a control method of the PTZ device 100 .
  • the pan-tilt apparatus 100 includes a pan-tilt 10 and a light source assembly 20 combined with the pan-tilt 10 .
  • the pan/tilt 10 includes a shaft arm 11 , a motor 13 for driving the shaft arm 11 to rotate, and a clamping member 15 , and the clamping member 15 is directly or indirectly mounted on the motor 13 for clamping the photographing device 2000 .
  • Control methods include:
  • control method further includes:
  • control method further includes:
  • the control command is generated by the pan/tilt 10 receiving the user's operation or sent to the pan/tilt 10 by the photographing device 2000 .
  • Step 01 to receive the control instruction includes:
  • the PTZ 10 receives the control command
  • Step 02 controls the rotation of the shaft arm 11 according to the control command, and the light source assembly 20 cooperates with the rotation of the shaft arm 11 to emit light according to a predetermined lighting pattern, including:
  • the pan/tilt 10 controls the shaft arm 11 to rotate according to the control instruction, and sends the control instruction to the light source assembly 20 to make the light source assembly 20 emit light according to the predetermined lighting pattern indicated by the control instruction.
  • step 01 receiving a control command includes:
  • Both the gimbal 10 and the light source assembly 20 receive the control instruction sent by the photographing device 2000.
  • Step 02 controls the rotation of the shaft arm 11 according to the control instruction, and the light source assembly 20 cooperates with the rotation of the shaft arm 11 to emit light according to a predetermined luminous pattern including:
  • the pan/tilt 10 controls the shaft arm 11 to rotate according to the control instruction.
  • the light source assembly 20 emits light according to the predetermined lighting pattern indicated by the control instruction.
  • first and second are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, features delimited with “first”, “second” may expressly or implicitly include at least one of said features. In the description of the present application, “plurality” means at least two, such as two, three, unless expressly and specifically defined otherwise.
  • any description of a process or method in the flowcharts or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing a specified logical function or step of the process , and the scope of the preferred embodiments of the present application includes alternative implementations in which the functions may be performed out of the order shown or discussed, including performing the functions substantially concurrently or in the reverse order depending upon the functions involved, which should It is understood by those skilled in the art to which the embodiments of the present application belong.

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Abstract

一种云台设备（100）、可移动平台（1000）、光源组件（20）及控制方法。云台设备（100）包括云台（10）及与云台（10）结合的光源组件（20）。云台（10）包括轴臂（11）、用于驱动轴臂（11）转动的电机（13）及夹持件（15），夹持件（15）直接或间接安装在电机（13）上以用于夹持拍摄设备（2000）。光源组件（20）能够配合轴臂（11）的转动并按照预定发光模式发光，以辅助拍摄设备（2000）拍摄图像。

Description

云台设备、可移动平台、光源组件及控制方法 技术领域
本申请涉及云台技术领域，特别涉及一种云台设备、可移动平台、光源组件及控制方法。
背景技术
现有的手持增稳云台不具有补光功能。手持增稳云台使用时，一般是通过手机自带的闪光灯、手机自带的手电筒、或者可以夹持在手机上的光源等补光设备进行补光操作的。然而，这种补光方式的补光效果和便利性均较差。
发明内容
本申请实施方式提供了一种云台设备、可移动平台、光源组件及控制方法。
本申请实施方式的云台设备包括云台及与所述云台结合的光源组件。所述云台包括轴臂、用于驱动所述轴臂转动的电机及夹持件，所述夹持件直接或间接安装在所述电机上以用于夹持拍摄设备。所述光源组件能够配合所述轴臂的转动并按照预定发光模式发光，以辅助所述拍摄设备拍摄图像。
在某些实施方式中，所述光源组件可拆卸地安装在所述电机或轴臂上。
在某些实施方式中，所述电机包括横滚轴电机、俯仰轴电机、及偏航轴电机中的至少一个电机，所述光源组件可拆卸地安装在至少一个所述电机上；或所述轴臂包括横滚轴轴臂、俯仰轴轴臂、及偏航轴轴臂中的至少一个轴臂，所述光源组件可拆卸地安装在至少一个所述轴臂上。
在某些实施方式中，所述轴臂包括俯仰轴轴臂，所述电机包括横滚轴电机，所述夹持件通过所述横滚轴电机与所述俯仰轴轴臂连接，所述光源组件固定安装在所述夹持件上。
在某些实施方式中，所述夹持件包括第一夹持边及与所述第一夹持边相对的第二夹持边，所述光源组件固定安装在所述第一夹持边和/或所述第二夹持边上。
在某些实施方式中，所述云台与所述光源组件电连接，以为所述光源组件供电且与所述光源组件进行数据交互。
在某些实施方式中，所述云台与所述光源组件电连接以与所述光源组件进行数据交互，所述光源组件包括光源及供电模块，所述供电模块用于为所述光源供电。
在某些实施方式中，所述云台还包括第一通信模块。所述光源组件包括光源、供电模块及第二通信模块。所述供电模块用于为所述光源供电，所述第一通信模块能够与所述第 二通信模块进行无线通信以实现所述云台与所述光源组件的数据交互。
在某些实施方式中，所述电机获取所述云台未与所述光源组件结合时的第一重心信息以及所述云台与所述光源组件结合时的第二重心信息。所述云台还包括控制电路，所述控制电路根据所述第一重心信息及所述第二重心信息计算所述云台的重心偏移量，并根据所述重心偏移量控制所述电机转动以调节所述云台的重心。
在某些实施方式中，所述云台还包括控制电路，所述控制电路获取所述光源组件的参数，并根据所述参数控制所述电机转动以调节所述云台的重心。
在某些实施方式中，所述参数包括所述光源组件的型号、所述光源组件的重量、所述光源组件的位姿中的至少一种。
在某些实施方式中，所述云台还包括控制电路，所述控制电路在接收到控制指令后，根据所述控制指令控制所述轴臂转动，并发送所述控制指令至所述光源组件以使所述光源组件按照所述控制指令指示的预定发光模式发光。其中，所述控制指令由所述云台接收用户的操作生成；或所述控制指令由所述拍摄设备发送至所述云台。
在某些实施方式中，所述云台还包括控制电路，所述控制电路和所述光源组件均接收所述拍摄设备发送的控制指令，所述控制电路根据所述控制指令控制所述轴臂转动，所述光源组件按照所述控制指令指示的预定发光模式发光。
在某些实施方式中，所述预定发光模式包括以下中的至少一种：所述光源组件中的光源开启、所述光源关闭、所述光源按照预定发光功率发光、所述光源按照预定发光颜色发光、所述光源按照预定频率闪烁、所述光源旋转预定角度。
本申请实施方式的可移动平台包括可移动平台本体及上述任意一个实施方式所述的云台设备。所述云台设备安装在所述可移动平台本体上。
本申请实施方式的光源组件包括本体及光源。所述光源设置在所述本体上，所述本体能够与云台可拆卸地连接，所述光源能够配合所述云台的轴臂的转动并按照预定发光模式发光，以辅助拍摄设备拍摄图像。
在某些实施方式中，所述云台包括轴臂及用于驱动所述轴臂转动的电机，所述光源组件可拆卸地安装在所述电机或轴臂上。
在某些实施方式中，所述电机包括横滚轴电机、俯仰轴电机、及偏航轴电机中的至少一个电机，所述光源组件可拆卸地安装在至少一个所述电机上；或所述轴臂包括横滚轴轴臂、俯仰轴轴臂、及偏航轴轴臂中的至少一个轴臂，所述光源组件可拆卸地安装在至少一个所述轴臂上。
在某些实施方式中，所述轴臂包括俯仰轴轴臂，所述电机包括横滚轴电机，所述云台还包括夹持件，所述夹持件通过所述横滚轴电机与所述俯仰轴轴臂连接，所述光源组件固 定安装在所述夹持件上。
在某些实施方式中，所述夹持件包括第一夹持边及与所述第一夹持边相对的第二夹持边，所述光源组件固定安装在所述第一夹持边和/或所述第二夹持边上。
在某些实施方式中，所述云台与所述光源组件电连接，以为所述光源组件供电且与所述光源组件进行数据交互。
在某些实施方式中，所述云台与所述光源组件电连接以与所述光源组件进行数据交互，所述光源组件包括光源及供电模块，所述供电模块用于为所述光源供电。
在某些实施方式中，所述云台还包括第一通信模块，所述光源组件还包括供电模块及第二通信模块，所述供电模块用于为所述光源供电，所述第一通信模块能够与所述第二通信模块进行无线通信以实现所述云台与所述光源组件的数据交互。
在某些实施方式中，所述云台还包括控制电路，所述控制电路在接收到控制指令后，根据所述控制指令控制所述轴臂转动，并发送所述控制指令至所述光源组件以使所述光源组件按照所述控制指令指示的预定发光模式发光。其中，所述控制指令由所述云台接收用户的操作生成；或所述控制指令由所述拍摄设备发送至所述云台。
在某些实施方式中，所述云台还包括控制电路，所述控制电路和所述光源组件均接收所述拍摄设备发送的控制指令，所述控制电路根据所述控制指令控制所述轴臂转动，所述光源组件按照所述控制指令指示的预定发光模式发光。
在某些实施方式中，所述预定发光模式包括以下中的至少一种：所述光源组件中的光源开启、所述光源关闭、所述光源按照预定发光功率发光、所述光源按照预定发光颜色发光、所述光源按照预定频率闪烁、所述光源旋转预定角度。
本申请实施方式的云台设备的控制方法用于云台设备。所述云台设备包括云台及与所述云台结合的光源组件。所述云台包括轴臂、用于驱动所述轴臂转动的电机及夹持件，所述夹持件直接或间接安装在所述电机上以用于夹持拍摄设备。所述控制方法包括：接收控制指令；及根据所述控制指令控制所述轴臂转动，所述光源组件配合所述轴臂的转动并按照预定发光模式发光。
在某些实施方式中，所述控制方法还包括：获取所述云台未与所述光源组件结合时的第一重心信息以及所述云台与所述光源组件结合时的第二重心信息；及根据所述第一重心信息及所述第二重心信息计算所述云台的重心偏移量，并根据所述重心偏移量控制所述电机转动以调节所述云台的重心。
在某些实施方式中，所述控制方法还包括：获取所述光源组件的参数；及根据所述参数控制所述电机转动以调节所述云台的重心。
在某些实施方式中，所述控制指令由所述云台接收用户的操作生成或由所述拍摄设备 发送至所述云台。所述接收控制指令包括：所述云台接收所述控制指令。所述根据所述控制指令控制所述轴臂转动，所述光源组件配合所述轴臂的转动而按照预定发光模式发光包括：所述云台在接收到控制指令后，根据所述控制指令控制所述轴臂转动，并发送所述控制指令至所述光源组件以使所述光源组件按照所述控制指令指示的预定发光模式发光。
在某些实施方式中，所述接收控制指令包括：所述云台和所述光源组件均接收所述拍摄设备发送的控制指令。所述根据所述控制指令控制所述轴臂转动，所述光源组件配合所述轴臂的转动而按照预定发光模式发光包括：所述云台在接收到所述控制指令后，根据所述控制指令控制所述轴臂转动；所述光源组件在接收到所述控制指令后，按照所述控制指令指示的预定发光模式发光。
本申请实施方式的云台设备、可移动平台、光源组件及控制方法中，云台与光源组件相结合，光源组件能够配合云台的轴臂的转动并按照预定发光模式发光，实现了云台与光源组件的协同控制和联动，改善了拍摄设备在拍摄过程中的补光效果，且提升了用户使用云台设备时的便利性和拍摄体验。
本申请实施方式的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本申请的实践了解到。
附图说明
本申请的上述和/或附加的方面和优点可以从结合下面附图对实施方式的描述中将变得明显和容易理解，其中：
图1是本申请某些实施方式的云台设备的示意图；
图2是本申请某些实施方式的云台设备的示意图；
图3是本申请某些实施方式的云台设备的示意图；
图4是本申请某些实施方式的云台的示意图；
图5是本申请某些实施方式的光源组件的示意图；
图6是本申请某些实施方式的电机与对应的轴臂的连接示意图；
图7是本申请实施方式的可移动平台的示意图；
图8是本申请某些实施方式的控制方法的流程示意图；
图9是本申请某些实施方式的控制方法的流程示意图；
图10是本申请某些实施方式的控制方法的流程示意图；
图11是本申请某些实施方式的控制方法的流程示意图；
图12是本申请实某些实施方式的控制方法的流程示意图。
具体实施方式
以下结合附图对本申请的实施方式作进一步说明。附图中相同或类似的标号自始至终表示相同或类似的元件或具有相同或类似功能的元件。
另外，下面结合附图描述的本申请的实施方式是示例性的，仅用于解释本申请的实施方式，而不能理解为对本申请的限制。
在本申请中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。
请参阅图1，本申请实施方式提供一种云台设备100。云台设备100包括云台10及与云台10结合的光源组件20。云台10包括轴臂11、用于驱动轴臂11转动的电机13及夹持件15，夹持件15直接或间接安装在电机13上以用于夹持拍摄设备2000。光源组件20能够配合轴臂11的转动并按照预定发光模式发光，以辅助拍摄设备2000拍摄图像。
其中，云台10可以是手持云台、安装在无人机等可移动平台上的云台、脚架云台等，在此不作限制。本申请实施方式以云台10为手持云台进行说明。拍摄设备2000可以是手机、平板电脑、相机(如单反相机、无反相机、微型可换镜头式单镜头数码相机、傻瓜相机)等，在此也不做限制。本申请实施方式以拍摄设备2000为手机进行说明。
云台10可以在拍摄设备2000使用期间提供防抖支持和/或拍摄角度调整支持以改善拍摄效果。其中，云台10的轴臂11用于支撑拍摄设备2000。电机13与轴臂11连接，电机13用于驱动轴臂11转动以调整拍摄设备2000的拍摄角度，从而可以配合不同的拍摄场景进行不同角度的拍摄，改善拍摄效果。夹持件15直接或间接安装在电机13上。夹持件15可以用于夹持拍摄设备2000，以实现拍摄设备2000与云台10之间的相对固定。其中，夹持件15直接安装在电机13上可以理解为夹持件15与电机13固定连接；夹持件15间接安装在电机13上可以理解为夹持件15与电机13可拆卸地连接。夹持件15直接安装在电机13上的方式使得用户使用云台10时无需执行将夹持件15组装在电机13上的操作，方便了用户的使用。夹持件15间接安装在电机13上的方式可以减小云台10的体积，便于用户携带。
光源组件20与云台10相结合。光源组件20能够配合轴臂11的转动并按照预定发光模式发光，以辅助拍摄设备2000拍摄图像。其中，光源组件20包括本体22及光源21。光源21安装在本体22上。光源21的数量可以为一个或多个，在此不作限制。多个光源21可以发出相同颜色或不同颜色的光线，在此也不作限制。光源组件20的预定发光模式 包括以下中的至少一种：光源组件20中的光源21开启、光源21关闭、光源21按照预定发光功率发光、光源21按照预定发光颜色发光、光源21按照预定频率闪烁、光源21旋转预定角度。例如，预定发光模式可以包括光源21开启、光源21关闭、光源21按照预定发光功率发光、光源21按照预定发光颜色发光、光源21按照预定频率闪烁、光源21旋转预定角度中的任意一种。再例如，预定发光模式可以包括光源21开启及光源21按照预定发光颜色发光两种。再例如，预定发光模式可以包括光源21开启、光源21按照预定发光颜色发光及光源21按照预定频率闪烁三种。再例如，预定发光模式可以包括光源21开启、光源21按照预定发光颜色发光、光源21按照预定频率闪烁及光源21旋转预定角度四种等，在此不作限制。需要说明的是，光源21旋转可以是本体22不动，光源21旋转，也可以是本体22带动光源21旋转，在此不作限制。
光源21的旋转可以使得光源21朝向不同的方向发光，例如，光源21可以通过旋转以实现自拍模式下的补光。在一个例子中，光源21的发光方向朝向手持云台设备100的用户。在一个例子中，光源21的发光方向与拍摄设备2000的显示方向相同。在一个例子中，光源21同云台10的手柄12上的主控制面板的朝向相同。在一个例子中，光源21可以固定设置且发光方向朝向手持云台设备100的用户。由于光源21能够实现自拍模式下的补光，解决了通常拍摄设备2000固定在云台10上时闪光灯都是面向远离用户的一侧，无法实现自拍时为用户自己补光的问题，优化了自拍体验。再例如，光源21可以通过旋转实现非自拍模式下的补光。在一个例子中，光源的发光方向背向手持云台设备100的用户。在一个例子中，光源21的发光方向与拍摄设备2000的显示方向相反。在一个例子中，光源21的发光方向与手柄12上主控制面板的朝向相反。
光源组件20配合轴臂11的转动并按照预定发光模式发光例如可以为：在拍摄设备2000处于预设拍摄模式下，例如故事模式(Story Mode)时，云台10接收到控制指令后，轴臂11即按预定的旋转模式旋转，例如，横滚轴轴臂111(图6所示)的旋转分为三个阶段，第一阶段为顺时针旋转，第二阶段为逆时针旋转，第三阶段为顺时针旋转，对应地，光源组件20接收到控制指令后，即以预定的发光模式发光，例如，光源组件20首先旋转到朝向被摄对象的方向，并在第一阶段开启光源21以进行补光，在第二阶段光源21以预定频率进行闪烁，在第三阶段按照预定发光颜色发光。如此，轴臂11的旋转模式与光源组件20的发光模式可以进行自主的配合，实现了云台10与光源组件20的协同控制和联动，改善了拍摄设备2000的拍摄效果。
本申请实施方式的云台设备100中，云台10与光源组件20相结合，光源组件20能够配合轴臂11的转动并按照预定发光模式发光，实现了云台10与光源组件20的协同控制和联动，改善了拍摄设备2000在拍摄过程中的补光效果，且提升了用户使用云台设备100时 的便利性和拍摄体验。
请参阅图1、图2及图6，在某些实施方式中，光源组件20可拆卸地安装在电机13或轴臂11上。
其中，电机13可以包括横滚轴电机131、俯仰轴电机133、及偏航轴电机135中的至少一个电机13，光源组件20可拆卸地安装在至少一个电机13上。在一个例子中，电机13可以仅包括横滚轴电机131，光源组件20的数量为一个，该一个光源组件20可拆卸地安装在横滚轴电机131上(图未示)。在另一个例子中，电机13可以仅包括俯仰轴电机133，光源组件20的数量为一个，该一个光源组件20可拆卸地安装在俯仰轴电机133上(图未示)。在又一个例子中，电机13可以同时包括横滚轴电机131和偏航轴电机135，光源组件20的数量为一个，该一个光源组件20可拆卸地安装在其中一个电机13上(图未示)。在又一个例子中，电机13可以同时包括横滚轴电机131和偏航轴电机135，光源组件20的数量为两个，该两个光源组件20分别可拆卸地安装在横滚轴电机131和偏航轴电机135上(图未示)。在又一个例子中，电机13可以同时包括横滚轴电机131、俯仰轴电机133、及偏航轴电机135，光源组件20的数量为一个，该一个光源组件20可拆卸地安装在俯仰轴电机133上(图1所示)。在又一个例子中，电机13可以同时包括横滚轴电机131、俯仰轴电机133、及偏航轴电机135，光源组件20的数量为三个，该三个光源组件20分别可拆卸地安装在横滚轴电机131、俯仰轴电机133、及偏航轴电机135上(图未示)。仅在多个电机13中的任意一个电机13上安装光源组件20，光源组件20的数量较少，有利于减小云台设备100的重量。而在多个电机13上安装光源组件20，光源组件20的数量较多，数量较多的光源组件20可以提供更丰富多样的发光模式，可以实现更好的补光效果。
轴臂11可以包括横滚轴轴臂111、俯仰轴轴臂113、及偏航轴轴臂115中的至少一个轴臂11，光源组件20可拆卸地安装在至少一个轴臂11上。其中，横滚轴电机131用于驱动横滚轴轴臂111进行横滚方向上的转动，俯仰轴电机133用于驱动俯仰轴轴臂113进行俯仰方向上的转动，偏航轴电机135用于驱动偏航轴轴臂115进行偏航方向上的转动。在一个例子中，电机13可以仅包括横滚轴轴臂111，光源组件20的数量为一个，该一个光源组件20可拆卸地安装在横滚轴轴臂111上(图未示)。在另一个例子中，电机13可以仅包括俯仰轴轴臂113，光源组件20的数量为一个，该一个光源组件20可拆卸地安装在俯仰轴轴臂113上(图未示)。在又一个例子中，电机13可以同时包括横滚轴臂111和偏航轴轴臂115，光源组件20的数量为一个，该一个光源组件20可拆卸地安装在其中一个轴臂11上(图未示)。在又一个例子中，电机13可以同时包括横滚轴轴臂111和偏航轴轴臂115，光源组件20的数量为两个，该两个光源组件20分别可拆卸地安装在横滚轴轴臂111和偏航轴轴臂115上(图未示)。在又一个例子中，电机13可以同时包括横滚轴轴臂111、俯仰 轴轴臂113、及偏航轴轴臂115，光源组件20的数量为一个，该一个光源组件20可拆卸地安装在横滚轴轴臂111上(图2所示，此时夹持件15即为横滚轴轴臂111)。在又一个例子中，电机13可以同时包括横滚轴轴臂111、俯仰轴轴臂113、及偏航轴轴臂115，光源组件20的数量为三个，该三个光源组件20分别可拆卸地安装在横滚轴轴臂111、俯仰轴轴臂113、及偏航轴轴臂115上(图未示)。仅在多个轴臂11中的任意一个轴臂11上安装光源组件20，光源组件20的数量较少，有利于减小云台设备100的重量。而在多个轴臂11上安装光源组件20，光源组件20的数量较多，数量较多的光源组件20可以提供更丰富多样的发光模式，可以实现更好的补光效果。
请参阅图3和图6，在某些实施方式中，电机13可以包括横滚轴电机131、俯仰轴电机133、及偏航轴电机135中的至少一个电机13，轴臂11可以包括横滚轴轴臂111、俯仰轴轴臂113、及偏航轴轴臂115中的至少一个轴臂11，光源组件20可拆卸地安装在至少一个电机13及至少一个轴臂11上。在一个例子中，电机13包括俯仰轴电机133和俯仰轴轴臂113，光源组件20的数量为两个，两个光源组件20分别可拆卸地安装在俯仰轴电机133和俯仰轴轴臂113上(图未示)。在另一个例子中，电机13包括横滚轴电机131、俯仰轴电机133、及偏航轴电机135，轴臂11包括横滚轴轴臂111、俯仰轴轴臂113、及偏航轴轴臂115，光源组件20的数量为两个，两个光源组件20分别可拆卸地安装在横滚轴轴臂111和俯仰轴电机133上(图3所示)。在又一个例子中，电机13包括横滚轴电机131、俯仰轴电机133、及偏航轴电机135，轴臂11包括横滚轴轴臂111、俯仰轴轴臂113、及偏航轴轴臂115，光源组件20的数量为六个，六个光源组件20分别可拆卸地安装在横滚轴电机131、俯仰轴电机133、偏航轴电机135、横滚轴轴臂111、俯仰轴轴臂113、及偏航轴轴臂115上(图未示)。
请参阅图2及图6，在某些实施方式中，轴臂11包括俯仰轴轴臂113，电机13包括横滚轴电机131，夹持件15通过横滚轴电机131与俯仰轴轴臂113连接，光源组件20固定安装在夹持件15上。夹持件15安装在横滚轴电机131上，并通过横滚轴电机131与俯仰轴轴臂113连接，此时，夹持件15可以看作横滚轴轴臂111，横滚轴电机131可以驱动夹持件15进行转动，以使夹持件15带动固定安装在其上的光源组件20一起转动，实现光源组件20的旋转。
夹持件15可以包括第一夹持边151及与第一夹持边151相对的第二夹持边153，通过第一夹持边151及第二夹持边153的夹合可以将拍摄设备2000固定于夹持件15上。光源组件20可以固定安装在第一夹持边151和/或第二夹持边153上。也即是说，光源组件20可以固定安装在第一夹持边151上，也可以固定安装在第二夹持边153上，还可以同时固定安装在第一夹持边151及第二夹持边153上，在此不作限制。需要说明的是，当光源组 件20安装在第一夹持边151和/或第二夹持边153上时，光源组件20可以包括光源21及本体22，光源21安装在本体22上，本体22安装在第一夹持边151和/或第二夹持边153上。或者，当光源组件20安装在第一夹持边151和/或第二夹持边153上时，光源组件20也可以仅包括光源21，光源21可以直接安装第一夹持边151和/或第二夹持边153上，也即，此时第一夹持边151和/或第二夹持边153可以看作光源组件20的本体22。
请参阅图1，在某些实施方式中，云台10与光源组件20电连接，以为光源组件20供电且与光源组件20进行数据交互。具体地，光源组件20与云台10结合时，光源组件20与云台10之间可以进行电连接，此时，光源组件20内可以不设置供电模块23(图5所示)，而是由云台10为光源组件20进行供电，以使得光源组件20能够发光。并且，光源组件20还可以通过与云台10之间的电连接线路进行数据交互(即有线通信方式)，如此，云台10可以通过该电连接线路进行控制指令的传送，光源组件20接收到控制指令后可以根据控制指令指示的预定发光模式工作。利用云台10对光源组件20进行供电，光源组件20内无需设置供电模块23，可以降低光源组件20内部的电路的复杂度。
请参阅图1和图5，在某些实施方式中，云台10与光源组件20电连接时，云台10不为光源组件20供电，仅与光源组件20进行数据交互。此时，光源组件20可以包括供电模块23，供电模块23用于为光源21供电。光源组件20自备供电模块23时，光源组件20无需由云台10进行供电，有利于提升云台10的续航能力。
当然，在其他实施方式中，即使光源组件20内设置了供电模块23，云台10与光源组件20电连接时，云台10也可以既为光源组件20的供电，又与光源组件20进行数据交互。具体地，云台10可以在供电模块23的电量耗尽之后再为光源组件20进行供电。如此，可以延长光源组件20的工作时间。
请参阅图1、图4及图5，在某些实施方式中，云台10与光源组件20结合时，云台10与光源组件20之间可以不存在电连接线路。此时，云台10还可以包括第一通信模块17。光源组件20包括光源21、供电模块23及第二通信模块25。供电模块23用于为光源21供电，第一通信模块17能够与第二通信模块25进行无线通信以实现云台10与光源组件20的数据交互。其中，第一通信模块17和第二通信模块25可以均为蓝牙模块，也可以均为WiFi模块，还可以均为Zigbee模块等，在此不作限制。可以理解，现有通信机制不仅包括有线通信，还包括无线通信。因此，云台10与光源组件20还可以采用无线通信方式进行数据交互。具体地，在云台设备100使用过程中，由供电模块23为光源组件20的光源21进行供电。第一通信模块17与第二通信模块25建立通信连接，第一通信模块17可以向第二通信模块25发送控制指令，光源组件20接收到控制指令后可以根据控制指令指示的预定发光模式工作。
请参阅图1及图4，在某些实施方式中，电机13可以获取云台10未与光源组件20结合时的第一重心信息以及云台10与光源组件20结合时的第二重心信息。云台10还包括控制电路19，控制电路19可以根据第一重心信息及第二重心信息计算云台10的重心偏移量，并根据重心偏移量控制电机13转动以调节云台10的重心。
由于光源组件20自身具有一定重量，当光源组件20安装在云台10上之后，云台10的重心会发生偏移，云台10的重心偏移可能会导致云台设备100这一整体需要用较大力矩去平衡，此时，电机13需要较大的输出功率，电机13的发热严重，使用寿命会缩短；另外，拍摄设备2000的拍摄效果也会降低。因此，在光源组件20安装在云台10上后，需要对云台10的重心进行调整。具体地，电机13可以获取云台10未与光源组件20结合时的重心信息作为第一重心信息。在光源组件20安装在云台10(例如云台10的电机13)上后，电机13可以感应到光源组件20并获取与光源组件20结合后重心信息作为第二重心信息。电机13将第一重心信息及第二重心信息传至控制电路19。控制电路19会根据第一重心信息及第二重心信息计算云台10的重心偏移量，并根据重心偏移量控制电机13转动以调节云台10的重心。
请参阅图1、图4及图5，在其他实施方式中，控制电路19也可以不通过电机13获取的第一重心信息及第二重心信息来计算重心偏移量，控制电路19可以直接获取光源组件20的参数，并根据参数控制电机13转动以调节云台10的重心。其中，参数包括光源组件20的型号、光源组件20的重量、光源组件20的位姿中的至少一种。例如，参数可以为光源组件20的型号、光源组件20的重量、光源组件20的位姿中的任意一种。再例如，参数可以包括光源组件20的型号和光源组件20的重量两种。再例如，参数可以包括光源组件20的型号、光源组件20的重量、光源组件20的位姿三种等，在此不作限制。具体地，云台设备100使用时，若光源组件20与云台10电连接，则光源组件20可以通过有线通信方式将参数发送给云台10的控制电路19；若光源组件20是通过第二通信模块25与云台10的第一通信模块17进行通信，则光源组件20可以通过第二通信模块25将参数发送给云台10的第一通信模块17，第一通信模块17再将参数传送给控制电路19。控制电路19接收到光源组件20的参数后，控制电路19可以先根据该参数计算出云台10与光源组件20结合时的第二重心信息。随后，控制电路19再根据第二重心信息以及云台10未与光源组件20结合时的第一重心信息计算云台10的重心偏移量，并根据重心偏移量控制电机13转动以调节云台10的重心。
本申请实施方式中，控制电路19可以控制电机13转动来调节云台10的重心，以使得云台10的重心处在较佳位置，从而可以延长电机13的使用寿命，还可以改善拍摄设备2000的拍摄效果。
请继续参阅图1、图4及图5，在某些实施方式中，云台10还包括控制电路19，控制电路19在接收到控制指令后，根据控制指令控制轴臂11转动，并发送控制指令至光源组件20以使光源组件20按照控制指令指示的预定发光模式发光。其中，控制指令由云台10接收用户的操作生成；或控制指令由拍摄设备2000发送至云台10。
具体地，在一个例子中，用户在使用云台设备100拍摄的过程中，用户可以直接操作云台10的手柄12上的自定义按键(可以是机械按键、虚拟按键等)，云台10接收到用户的操作后生成控制指令，作为一个示例，该控制指令可以由云台10内的控制电路19生成。在控制指令生成后，控制电路19会根据该控制指令控制轴臂11转动，控制电路19还会控制第一通信模块17发送该控制指令至光源组件20。光源组件20接收到控制指令后按照控制指令指示的预定发光模式发光。例如，当用户需要在非自拍模式下进行补光拍摄时，用户可以对操作手柄上的机械按键进行相应操作，此时，云台10接收到用户操作后生成控制指令，控制电路19根据该控制指令控制轴臂11进行预定的转动，并将该控制指令发送至光源组件20，以使光源组件20根据该控制指令控制光源组件20的光源21开启及光源组件20旋转，以使得光源21可以朝被摄对象所在方向发光。
在另一个例子中，用户可以操作拍摄设备2000上的自定义按键(可以是机械按键、虚拟按键等)，拍摄设备2000接收到的用户的操作后生成对应于该操作的控制指令。随后拍摄设备2000通过有线通信方式或无线通信方式将该控制指令发送至云台10，云台10内的控制电路19根据该控制指令控制轴臂11进行预定的转动，云台10还会将该控制指令发送至光源组件20，以使光源组件20能够根据该控制指令指示的预定发光模式发光。
需要说明的是，无论控制指令是由云台10生成并发送给光源组件20，还是由拍摄设备2000生成并由云台10转发给光源组件20，云台10与光源组件20之间均可以通过有线通信方式或无线通信方式通信，在此不作限制。
请继续参阅图1、图4及图5，在某些实施方式中，云台10还包括控制电路19，控制电路19和光源组件20均接收拍摄设备2000发送的控制指令，控制电路19根据控制指令控制轴臂11转动，光源组件20按照控制指令指示的预定发光模式发光。
具体地，用户在使用云台设备100拍摄的过程中，控制光源组件20的控制指令并非只能通过云台10向光源组件20传输。当光源组件20具有无线通信能力时，光源组件20也可以通过第二通信模块25直接接收拍摄设备2000发送的控制指令，并按照控制指令指示的预定发光模式发光。例如，用户在拍摄设备2000上进行指示光源21按照预定频率闪烁的操作以及指示横滚轴轴臂111在横滚方向上转动的操作，拍摄设备2000生成对应于该操作控制指令。随后，拍摄设备2000通过无线通信方式将控制指令发送至云台10的第一通信模块17，第一通信模块17将该控制指令传送给控制电路19，控制电路19根据该控制指 令控制横滚轴轴臂111在横滚方向上转动。拍摄设备2000还通过无线通信方式将控制指令发送至光源组件20，光源组件20接收到控制指令后根据控制指令控制光源21以预定频率闪烁。
综上，本申请实施方式的云台设备100中，云台10与光源组件20相结合，光源组件20能够配合轴臂11的转动并按照预定发光模式发光，实现了云台10与光源组件20的协同控制和联动，改善了拍摄设备2000在拍摄过程中的补光效果，且提升了用户使用云台设备100时的便利性和拍摄体验。
请参阅图7，本申请实施方式还提供一种可移动平台1000。可移动平台100包括可移动平台本体200及前述任意一个实施方式所述的云台设备100。云台设备100安装在可移动平台本体200上。可移动平台1000可以是无人机、无人车、无人船等，在此不作限制。
请参阅图1，本申请实施方式还提供一种光源组件20。光源组件20包括本体22及光源21。光源21设置在本体22上，本体22能够与云台10可拆卸地连接，光源21能够配合云台10的轴臂11的转动并按照预定发光模式发光，以辅助拍摄设备2000拍摄图像。
请参阅图1及图4，在某些实施方式中，云台10包括轴臂11及用于驱动轴臂11转动的电机13。光源组件20可拆卸地安装在电机13或轴臂11上。
请参阅图1及图6，在某些实施方式中，电机13包括横滚轴电机131、横滚轴电机133、及横滚轴电机135中的至少一个电机13，光源组件20可拆卸地安装在至少一个电机13上；或轴臂11包括横滚轴轴臂111、俯仰轴轴臂113、及偏航轴轴臂115中的至少一个轴臂11，光源组件20可拆卸地安装在至少一个轴臂11上。
请参阅图2及图6，在某些实施方式中，轴臂11包括俯仰轴轴臂113，电机13包括横滚轴电机131。云台10还包括夹持件15，夹持件15通过横滚轴电机131与俯仰轴轴臂113连接。光源组件20固定安装在夹持件15上。
请参阅图2，在某些实施方式中，夹持件15包括第一夹持边151及与第一夹持边151相对的第二夹持边153，光源组件20固定安装在第一夹持边151和/或第二夹持边153上。
请参阅图1，在某些实施方式中，云台10与光源组件20电连接，以为光源组件20供电且与光源组件20进行数据交互。
请参阅图1及图5，在某些实施方式中，云台10与光源组件20电连接以与光源组件20进行数据交互，光源组件20包括光源21及供电模块23，供电模块23用于为光源21供电。
请参阅图1、图4及图5，在某些实施方式中，云台10还包括第一通信模块17。光源组件20还包括供电模块23及第二通信模块25，供电模块23用于为光源21供电，第一通信模块17能够与第二通信模块25进行无线通信以实现云台10与光源组件20的数据交互。
请参阅图1及图4，在某些实施方式中，云台10还包括控制电路19，控制电路19在接收到控制指令后，根据控制指令控制轴臂11转动，并发送控制指令至光源组件20以使光源组件20按照控制指令指示的预定发光模式发光。其中，控制指令由云台10接收用户的操作生成，或控制指令由拍摄设备2000发送至云台10。
请继续参阅图1及图4，在某些实施方式中，云台10还包括控制电路19，控制电路19和光源组件20均接收拍摄设备2000发送的控制指令，控制电路19根据控制指令控制轴臂11转动，光源组件20按照控制指令指示的预定发光模式发光。
请参阅图1及图8，本申请实施方式还提供一种云台设备100的控制方法。云台设备100包括云台10及与云台10结合的光源组件20。云台10包括轴臂11、用于驱动轴臂11转动的电机13及夹持件15，夹持件15直接或间接安装在电机13上以用于夹持拍摄设备2000。控制方法包括：
01：接收控制指令；及
02：根据控制指令控制轴臂11转动，光源组件20配合轴臂11的转动并按照预定发光模式发光。
请参阅图1及图9，在某些实施方式中，控制方法还包括：
03：获取云台10未与光源组件20结合时的第一重心信息以及云台10与光源组件20结合时的第二重心信息；及
04：根据第一重心信息及第二重心信息计算云台10的重心偏移量，并根据重心偏移量控制电机13转动以调节云台10的重心。
请参阅图1及图10，在某些实施方式中，控制方法还包括：
05：获取光源组件20的参数；及
06：根据参数控制电机13转动以调节云台10的重心。
请参阅图1及图11，在某些实施方式中，控制指令由云台10接收用户的操作生成或由拍摄设备2000发送至云台10。步骤01接收控制指令包括：
011：云台10接收控制指令；
步骤02根据控制指令控制轴臂11转动，光源组件20配合轴臂11的转动而按照预定发光模式发光包括：
021：云台10在接收到控制指令后，根据控制指令控制轴臂11转动，并发送控制指令至光源组件20以使光源组件20按照控制指令指示的预定发光模式发光。
请参阅图1及图12，在某些实施方式中，步骤01接收控制指令包括：
012：云台10和光源组件20均接收拍摄设备2000发送的控制指令。
步骤02根据控制指令控制轴臂11转动，光源组件20配合轴臂11的转动而按照预定 发光模式发光包括：
022：云台10在接收到控制指令后，根据控制指令控制轴臂11转动，光源组件20在接收到控制指令后，按照控制指令指示的预定发光模式发光。
在本说明书的描述中，参考术语“一个实施方式”、“一些实施方式”、“示意性实施方式”、“示例”、“具体示例”或“一些示例”等的描述意指结合所述实施方式或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施方式或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施方式或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施方式或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个所述特征。在本申请的描述中，“多个”的含义是至少两个，例如两个，三个，除非另有明确具体的限定。
流程图中或在此以其他方式描述的任何过程或方法描述可以被理解为，表示包括一个或更多个用于实现特定逻辑功能或过程的步骤的可执行指令的代码的模块、片段或部分，并且本申请的优选实施方式的范围包括另外的实现，其中可以不按所示出或讨论的顺序，包括根据所涉及的功能按基本同时的方式或按相反的顺序，来执行功能，这应被本申请的实施例所属技术领域的技术人员所理解。
尽管上面已经示出和描述了本申请的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本申请的限制，本领域的普通技术人员在本申请的范围内可以对上述实施例进行变化、修改、替换和变型，本申请的范围由权利要求及其等同物限定。

Claims (31)

  1. 一种云台设备，其特征在于，包括：
    云台，所述云台包括轴臂、用于驱动所述轴臂转动的电机及夹持件，所述夹持件直接或间接安装在所述电机上以用于夹持拍摄设备；及
    与所述云台结合的光源组件，所述光源组件能够配合所述轴臂的转动并按照预定发光模式发光，以辅助所述拍摄设备拍摄图像。
  2. 根据权利要求1所述的云台设备，其特征在于，所述光源组件可拆卸地安装在所述电机或轴臂上。
  3. 根据权利要求2所述的云台设备，其特征在于，所述电机包括横滚轴电机、俯仰轴电机、及偏航轴电机中的至少一个电机，所述光源组件可拆卸地安装在至少一个所述电机上；或
    所述轴臂包括横滚轴轴臂、俯仰轴轴臂、及偏航轴轴臂中的至少一个轴臂，所述光源组件可拆卸地安装在至少一个所述轴臂上。
  4. 根据权利要求1所述的云台设备，其特征在于，所述轴臂包括俯仰轴轴臂，所述电机包括横滚轴电机，所述夹持件通过所述横滚轴电机与所述俯仰轴轴臂连接，所述光源组件固定安装在所述夹持件上。
  5. 根据权利要求4所述的云台设备，其特征在于，所述夹持件包括第一夹持边及与所述第一夹持边相对的第二夹持边，所述光源组件固定安装在所述第一夹持边和/或所述第二夹持边上。
  6. 根据权利要求1-5任意一项所述的云台设备，其特征在于，所述云台与所述光源组件电连接，以为所述光源组件供电且与所述光源组件进行数据交互。
  7. 根据权利要求1-5任意一项所述的云台设备，其特征在于，所述云台与所述光源组件电连接以与所述光源组件进行数据交互，所述光源组件包括光源及供电模块，所述供电模块用于为所述光源供电。
  8. 根据权利要求1-5任意一项所述的云台设备，其特征在于，所述云台还包括第一通 信模块，所述光源组件包括光源、供电模块及第二通信模块，所述供电模块用于为所述光源供电，所述第一通信模块能够与所述第二通信模块进行无线通信以实现所述云台与所述光源组件的数据交互。
  9. 根据权利要求1-5任意一项所述的云台设备，其特征在于，所述电机获取所述云台未与所述光源组件结合时的第一重心信息以及所述云台与所述光源组件结合时的第二重心信息；
    所述云台还包括控制电路，所述控制电路根据所述第一重心信息及所述第二重心信息计算所述云台的重心偏移量，并根据所述重心偏移量控制所述电机转动以调节所述云台的重心。
  10. 根据权利要求6-8任意一项所述的云台设备，其特征在于，所述云台还包括控制电路，所述控制电路获取所述光源组件的参数，并根据所述参数控制所述电机转动以调节所述云台的重心。
  11. 根据权利要求10所述的云台设备，其特征在于，所述参数包括所述光源组件的型号、所述光源组件的重量、所述光源组件的位姿中的至少一种。
  12. 根据权利要求6-8任意一项所述的云台设备，其特征在于，所述云台还包括控制电路，所述控制电路在接收到控制指令后，根据所述控制指令控制所述轴臂转动，并发送所述控制指令至所述光源组件以使所述光源组件按照所述控制指令指示的预定发光模式发光；
    其中，所述控制指令由所述云台接收用户的操作生成；或
    所述控制指令由所述拍摄设备发送至所述云台。
  13. 根据权利要求8所述的云台设备，其特征在于，所述云台还包括控制电路，所述控制电路和所述光源组件均接收所述拍摄设备发送的控制指令，所述控制电路根据所述控制指令控制所述轴臂转动，所述光源组件按照所述控制指令指示的预定发光模式发光。
  14. 根据权利要求12或13所述的云台设备，其特征在于，所述预定发光模式包括以下中的至少一种：
    所述光源组件中的光源开启；
    所述光源关闭；
    所述光源按照预定发光功率发光；
    所述光源按照预定发光颜色发光；
    所述光源按照预定频率闪烁；
    所述光源旋转预定角度。
  15. 一种可移动平台，其特征在于，所述可移动平台包括：
    可移动平台本体；及
    权利要求1-14任意一项所述的云台设备，所述云台设备安装在所述可移动平台本体上。
  16. 一种光源组件，其特征在于，包括：
    本体；及
    光源，所述光源设置在所述本体上，所述本体能够与云台可拆卸地连接，所述光源能够配合所述云台的轴臂的转动并按照预定发光模式发光，以辅助拍摄设备拍摄图像。
  17. 根据权利要求16所述的光源组件，其特征在于，所述云台包括轴臂及用于驱动所述轴臂转动的电机，所述光源组件可拆卸地安装在所述电机或轴臂上。
  18. 根据权利要求17所述的光源组件，其特征在于，所述电机包括横滚轴电机、俯仰轴电机、及偏航轴电机中的至少一个电机，所述光源组件可拆卸地安装在至少一个所述电机上；或
    所述轴臂包括横滚轴轴臂、俯仰轴轴臂、及偏航轴轴臂中的至少一个轴臂，所述光源组件可拆卸地安装在至少一个所述轴臂上。
  19. 根据权利要求16所述的光源组件，其特征在于，所述轴臂包括俯仰轴轴臂，所述电机包括横滚轴电机，所述云台还包括夹持件，所述夹持件通过所述横滚轴电机与所述俯仰轴轴臂连接，所述光源组件固定安装在所述夹持件上。
  20. 根据权利要求19所述的光源组件，其特征在于，所述夹持件包括第一夹持边及与所述第一夹持边相对的第二夹持边，所述光源组件固定安装在所述第一夹持边和/或所述第二夹持边上。
  21. 根据权利要求16-20任意一项所述的光源组件，其特征在于，所述云台与所述光源 组件电连接，以为所述光源组件供电且与所述光源组件进行数据交互。
  22. 根据权利要求16-20任意一项所述的光源组件，其特征在于，所述云台与所述光源组件电连接以与所述光源组件进行数据交互，所述光源组件包括光源及供电模块，所述供电模块用于为所述光源供电。
  23. 根据权利要求16-20任意一项所述的光源组件，其特征在于，所述云台还包括第一通信模块，所述光源组件还包括供电模块及第二通信模块，所述供电模块用于为所述光源供电，所述第一通信模块能够与所述第二通信模块进行无线通信以实现所述云台与所述光源组件的数据交互。
  24. 根据权利要求21-23任意一项所述的光源组件，其特征在于，所述云台还包括控制电路，所述控制电路在接收到控制指令后，根据所述控制指令控制所述轴臂转动，并发送所述控制指令至所述光源组件以使所述光源组件按照所述控制指令指示的预定发光模式发光；
    其中，所述控制指令由所述云台接收用户的操作生成；或
    所述控制指令由所述拍摄设备发送至所述云台。
  25. 根据权利要求23所述的光源组件，其特征在于，所述云台还包括控制电路，所述控制电路和所述光源组件均接收所述拍摄设备发送的控制指令，所述控制电路根据所述控制指令控制所述轴臂转动，所述光源组件按照所述控制指令指示的预定发光模式发光。
  26. 根据权利要求24或25所述的光源组件，其特征在于，所述预定发光模式包括以下中的至少一种：
    所述光源组件中的光源开启；
    所述光源关闭；
    所述光源按照预定发光功率发光；
    所述光源按照预定发光颜色发光；
    所述光源按照预定频率闪烁；
    所述光源旋转预定角度。
  27. 一种云台设备的控制方法，其特征在于，所述云台设备包括云台及与所述云台结 合的光源组件，所述云台包括轴臂、用于驱动所述轴臂转动的电机及夹持件，所述夹持件直接或间接安装在所述电机上以用于夹持拍摄设备；所述控制方法包括：
    接收控制指令；及
    根据所述控制指令控制所述轴臂转动，所述光源组件配合所述轴臂的转动并按照预定发光模式发光。
  28. 根据权利要求27所述的控制方法，其特征在于，所述控制方法还包括：
    获取所述云台未与所述光源组件结合时的第一重心信息以及所述云台与所述光源组件结合时的第二重心信息；及
    根据所述第一重心信息及所述第二重心信息计算所述云台的重心偏移量，并根据所述重心偏移量控制所述电机转动以调节所述云台的重心。
  29. 根据权利要求27所述的控制方法，其特征在于，所述控制方法还包括：
    获取所述光源组件的参数；及
    根据所述参数控制所述电机转动以调节所述云台的重心。
  30. 根据权利要求27所述的控制方法，其特征在于，所述控制指令由所述云台接收用户的操作生成或由所述拍摄设备发送至所述云台；
    所述接收控制指令，包括：
    所述云台接收所述控制指令；
    所述根据所述控制指令控制所述轴臂转动，所述光源组件配合所述轴臂的转动而按照预定发光模式发光。包括：
    所述云台在接收到控制指令后，根据所述控制指令控制所述轴臂转动，并发送所述控制指令至所述光源组件以使所述光源组件按照所述控制指令指示的预定发光模式发光。
  31. 根据权利要求27所述的控制方法，其特征在于，所述接收控制指令，包括：
    所述云台和所述光源组件均接收所述拍摄设备发送的控制指令。
    所述根据所述控制指令控制所述轴臂转动，所述光源组件配合所述轴臂的转动而按照预定发光模式发光。包括：
    所述云台在接收到所述控制指令后，根据所述控制指令控制所述轴臂转动，所述光源组件在接收到所述控制指令后，按照所述控制指令指示的预定发光模式发光。
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