WO2023065164A1 - 增稳装置的控制方法和增稳装置 - Google Patents
增稳装置的控制方法和增稳装置 Download PDFInfo
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- WO2023065164A1 WO2023065164A1 PCT/CN2021/125057 CN2021125057W WO2023065164A1 WO 2023065164 A1 WO2023065164 A1 WO 2023065164A1 CN 2021125057 W CN2021125057 W CN 2021125057W WO 2023065164 A1 WO2023065164 A1 WO 2023065164A1
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- load
- stabilization
- motor
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- installation part
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- 238000000034 method Methods 0.000 title claims abstract description 53
- 230000003416 augmentation Effects 0.000 title abstract description 13
- 230000006641 stabilisation Effects 0.000 claims description 224
- 238000011105 stabilization Methods 0.000 claims description 224
- 238000009434 installation Methods 0.000 claims description 89
- 230000000087 stabilizing effect Effects 0.000 claims description 69
- 230000005540 biological transmission Effects 0.000 claims description 56
- 239000003381 stabilizer Substances 0.000 claims description 26
- 230000033001 locomotion Effects 0.000 claims description 15
- 238000001514 detection method Methods 0.000 claims description 13
- 235000014676 Phragmites communis Nutrition 0.000 claims description 11
- 230000004044 response Effects 0.000 claims description 10
- 230000008859 change Effects 0.000 claims description 8
- 230000003993 interaction Effects 0.000 claims description 8
- 230000004913 activation Effects 0.000 claims description 7
- 230000007423 decrease Effects 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 3
- 230000002708 enhancing effect Effects 0.000 claims 3
- 230000005484 gravity Effects 0.000 abstract description 12
- 230000007246 mechanism Effects 0.000 description 32
- 230000008569 process Effects 0.000 description 9
- 230000001953 sensory effect Effects 0.000 description 4
- 230000001960 triggered effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000019771 cognition Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
Definitions
- the invention relates to the field of automation technology, in particular to a control method of a stability increasing device and a stability increasing device.
- the stabilization device includes a load installation part, and the load can be carried on the stabilization device through the load installation part.
- the stabilizing device can vertically stabilize the load (such as the camera) carried on the stabilizing device through the configured stabilizing motor.
- the stabilizing device is configured with elastic members to support the load and provide a balance force to balance the weight of the load.
- the user wants to replace the load.
- the user will disassemble the load from the load installation part of the stabilization device.
- the gravity of the load is canceled, and then under the tension of the elastic member, the load installation part will be pulled up quickly, which may injure the user.
- Embodiments of the present invention provide a method for controlling a stabilization device and the stabilization device, so as to ensure the safety of a user when replacing a load carried by the stabilization device.
- an embodiment of the present invention provides a method for controlling a stabilization device
- the stabilization device includes a load mounting part for detachably connecting a load, a connection assembly, a support member, an elastic member, and a stabilization motor, wherein, One end of the connecting assembly is rotatably connected to the support member, and one end is connected to the load installation part, and the load installation part includes a first mechanical interface for detachably installing the load;
- the elastic member is used for To provide support for the connection assembly and a balance force to balance the weight of the load;
- the stabilization motor drives the connection assembly to rotate relative to the support to counteract or compensate for the vertical vibration of the load;
- the methods include:
- the stabilization motor is controlled to maintain the connection assembly at a current position.
- an embodiment of the present invention provides a stabilization device, which includes a load mounting part for detachably connecting a load, a connection assembly, a support member, an elastic member, a stabilization motor, and a processor;
- One end of the connecting component is rotatably connected to the support member, and the other end is connected to the load mounting part;
- the load mounting part includes a first mechanical interface for detachably mounting the load
- the elastic member is used to provide a balance force for the connection assembly to support and balance the weight of the load;
- the stabilizer motor drives the connecting assembly to rotate relative to the support to counteract or compensate for the vertical vibration of the load
- the processor is configured to determine whether the load mounted on the load mounting part is removed from the load mounting part; when it is determined that the load is removed from the load mounting part, control the stabilization motor so that The connection assembly remains in its current position.
- the stabilizing motor is controlled to output driving force to the connection assembly, so that the connection assembly remains at the current position and does not move. In this way, the connecting component and the load installation part will not be pulled up, and the user will not be injured, thereby ensuring the safety of the user.
- Fig. 1 and Fig. 2 are structural schematic diagrams of a stability augmentation system shown in an embodiment of the present invention, wherein Fig. 1 is a side view of the stability augmentation system, and Fig. 2 is a top view of the stability augmentation system;
- Figures 3 to 5 are structural schematic diagrams of the vertical stabilization mechanism in the stabilization system of Figures 1 and 2, wherein Figure 3 is a side view of the vertical stabilization mechanism, and Figure 4 is a cross-sectional view of the vertical stabilization mechanism , Fig. 5 is a three-dimensional exploded view of the vertical stabilization mechanism;
- Fig. 6 is a flow chart of a control method of a stabilization device shown in an embodiment of the present invention.
- Stabilization system 100 Stabilization device 20;
- the words “if”, “if” as used herein may be interpreted as “at” or “when” or “in response to determining” or “in response to detecting”.
- the phrases “if determined” or “if detected (the stated condition or event)” could be interpreted as “when determined” or “in response to the determination” or “when detected (the stated condition or event) )” or “in response to detection of (a stated condition or event)”.
- the stability augmentation system 100 of the embodiment of the present invention may include a stabilization device 20 and a load C.
- the stabilizing device 20 is used for carrying the load C and stabilizing the load C.
- the load C can be any type of device that requires stabilization.
- the load C may include a sensing device for sensing the environment, for example, the sensing device may include a photographing device.
- the sensing device is taken as an example for description, and it can be understood that the photographing device hereinafter may be equivalently replaced with a sensing device.
- the shooting device can be used to take images/videos, and can be a camera, a video camera, or a mobile phone or a tablet computer with a camera function.
- the stabilizing device 20 may include a vertical stabilizing mechanism 22 , the vertical stabilizing mechanism 22 can counteract or compensate the vibration of the load C in the vertical direction, so that the load C can be stabilized vertically.
- the vertical stabilization mechanism 22 includes a load mounting portion 80 for detachably connecting a load C, and the load C may be directly or indirectly detachably connected to the load mounting portion 80 .
- the load installation part 80 includes a first mechanical interface 87 for detachably installing the load C, and the load C is directly or indirectly (for example, through an intermediate component through the first mechanical interface 87, which may include Axial platform) is detachably installed on the load mounting part 80.
- the load mounting part 80 includes an electrical interface 88 for transmitting control instructions and/or electric power and/or sensor data collected by the load to the load, and the load C directly or indirectly (for example, through the electrical interface 88) Through the intermediate component, the intermediate component may include an axial platform) to obtain control instructions and/or electric power and/or sensory data collected by the transmission load.
- the first mechanical interface 87 can be used to directly and detachably connect the load C, for example, the camera is directly and detachably mounted to the load mounting part 80 through the first mechanical interface 87
- the electrical interface 88 directly transmits control commands and/or power and/or sensory data collected by the load to the load.
- the stabilization device 20 may include an axial platform 24, the load C may be detachably connected to the load mounting part 80 through the axial platform 24, and the load C may be mounted on the axial On the cloud platform 24, the axial platform 24 is detachably installed on the first mechanical interface 87, and the electrical interface 88 is electrically connected to the axial platform 24, and transmits control instructions and/or to the load C through the axial platform 24 Or power and/or load sensory data collected.
- the axial pan/tilt 24 can be used to change the attitude of the shooting device and counteract or eliminate the axial shaking of the shooting device.
- axial head 24 may be a three-axis head.
- the three-axis gimbal can adjust the attitude of the shooting device around the yaw axis, roll axis and pitch axis.
- the axial gimbal 24 can also be a two-axis gimbal.
- the vertical stabilization mechanism 22 includes a support 60 .
- the support 60 may be used to support the vertical stabilization mechanism 22 .
- the support member 60 can be a hand-held support device that can be held by the user, or a non-hand-held support device, such as an unmanned aerial vehicle, an unmanned vehicle, an unmanned ship, etc. Components of mechanism 22 and axial pan/tilt 24.
- the support 60 can be regarded as a part of the vertical stability increasing mechanism 22 , that is, the vertical stability increasing mechanism 22 includes the support 60 , or the support 60 can be regarded as a component independent of the vertical stability increasing mechanism 22 .
- the stabilizing device 20 may include a processor for controlling the vertical stabilizing mechanism 22 and/or the axial platform 24, and the stabilizing device 20 may also include a processor for measuring the working state of the vertical stabilizing mechanism 22 and/or A sensor of the working state of the axial platform 24.
- the processor may be disposed on the support member 60 , or may be disposed on the vertical stabilization mechanism 22 , the axial platform 24 or other parts of the stabilization system 100 . There are no restrictions here.
- the vertical stabilization mechanism 22 can include a stabilization motor 62, and the number of the stabilization motors 62 can be two.
- the vertical stabilization mechanism 22 can use the stabilization motor 62 to drive the load C to move vertically in the opposite direction (compensation movement) , which is mainly used to counteract (at least partly counteract) or compensate the vibration of the load C in the vertical direction.
- the working stability of the load C can be improved. For example, when the load C is a photographing device, the image shaking phenomenon caused by the shaking of the photographing device during shooting can be improved.
- the movement in the opposite direction here is relative to the vibration of the load C in the vertical direction.
- the sensor of the stabilization device 20 obtains the magnitude of movement or the magnitude of position change of the load C in the vertical direction.
- the sensor may include a motion sensor for sensing a state of vibration of the load in a vertical direction.
- the processor can calculate parameters such as the rotation direction and amplitude of the stabilization motor 62 according to the value, and generate a control instruction according to the parameters to control the rotation of the stabilization motor 62 .
- the rotation of the stabilizing motor 62 can make the photographing device move a corresponding distance in the opposite direction, thereby compensating or counteracting (at least partially counteracting) the vertical shaking of the photographing device in time.
- the stabilization motor 62 can be any type of motor. It is called the stabilizer motor here only to better distinguish it from other motors.
- the response time of the above-mentioned active vertical stabilization by motor is shorter.
- the passive vertical stabilization mainly relies on sudden changes in speed to increase stability, which requires high speed changes, making it difficult to achieve ideal correction effects on small up and down fluctuations.
- the above-mentioned use of the motor to actively increase the vertical stability is also very effective in improving the small up and down fluctuations.
- the passive vertical stabilization usually utilizes an elastic member (for example, the elastic member 50 presented later) to constrain the vertical position of the pan/tilt or the shooting device. When vertical shaking occurs and the load C is displaced vertically, The elastic member 50 resets the load C vertically by using its own restoring force.
- the installation position of the stabilizing motor 62 is not limited here, as long as it can provide the power for the load C to move.
- the stabilization motor 62 can be installed on the support member 60 , and when there are two stabilization motors 62 , the two stabilization motors 62 can be symmetrically installed on the support member 60 .
- the vertical stabilization mechanism 22 includes a connection assembly 223 , and the connection assembly 223 connects the stabilization motor 62 and the load installation part 80 .
- One end of the connection assembly 223 is connected to the load mounting part 80 , and the other end is rotatably connected to the support member 60 .
- the connection assembly 223 can rotate around the support member 60 .
- the load mounting part 80 and the load C on it can move vertically.
- the vertical movement of the load C driven by the stabilization motor 62 can offset or partially offset the vertical vibration of the load C.
- the two stabilization motors 62 may be symmetrically installed on both sides of the connection assembly 223 .
- connection assembly 223 includes a four-bar linkage mechanism, which may include a first cross-bar portion 222, a second cross-bar portion 224 opposite to the first cross-bar portion 222, and a second cross-bar portion 224 connected to the The vertical bar portion 226 between the first horizontal bar portion 222 and the second horizontal bar portion 224 .
- One ends of the first cross bar part 222 and the second cross bar part 224 are respectively rotatably connected to the vertical bar part 226
- the other ends of the first cross bar part 222 and the second cross bar part 224 are respectively rotatably connected to the fixed part 228 superior.
- the fixed portion 228 is opposite to the vertical portion 226 .
- the first crossbar part 222 and the second crossbar part 224 can be arranged in parallel, and the fixed part 228 can be regarded as a relatively immovable part. Both the portion 224 and the vertical rod portion 226 move around the fixed portion 228 .
- the first horizontal bar portion 222 , the second horizontal bar portion 224 and the vertical bar portion 226 can be regarded as the respective bars of the four-bar linkage mechanism.
- the two stabilization motors 62 may be symmetrically installed on both sides of the first crossbar part 222 and the second crossbar part 224 .
- the vertical bar portion 226 can be integrally formed with the load mounting portion 80 and together constitute a relatively independent component.
- the vertical bar portion 226 can also be fixedly connected to the load mounting portion 80 in a detachable or non-detachable manner.
- the fixed portion 228 can be regarded as an independent component from the support member 60, and the fixed portion 228 can be fixedly installed on the support member 60 in a detachable or non-detachable manner, or the fixed portion 228 can be integrated with the support member 60 form.
- the fixed part 228 can be used as a part of the support 60, that is, the support 60 can include the fixed part 228, and the other ends of the first cross bar part 222 and the second cross bar part 224 are respectively rotatably connected to the support. Specifically, the other ends of the first cross bar part 222 and the second cross bar part 224 are respectively rotatably connected to the fixed part 228 of the support part 60 .
- Two ends of the first horizontal bar part 222 are respectively rotatably connected to the vertical bar part 226 and the fixed part 228 , and the connection points of the rotatably connected are respectively S1 and S3 .
- Two ends of the second horizontal bar part 224 are hinged to the vertical bar part 226 and the fixed part 228 respectively, and the connection points are S2 and S4 respectively.
- the line connecting the points S1 and S3 is S1S3
- the line connecting the points S2 and S4 is S2S4
- S1S3 and S2S4 are parallel and equal. That is, the four-bar linkage constitutes a parallelogram frame mechanism.
- the above setting enables the included angle of adjacent bars (for example, the included angle between the first horizontal bar portion 222 and the vertical bar portion 226 , or the included angle between the second horizontal bar portion 224 and the vertical bar portion 226 ) to be changed.
- Opposite sides always remain parallel no matter how the included angle changes.
- the upright portion 226 may remain vertical.
- the first horizontal bar portion 222 , the second horizontal bar portion 224 , the vertical bar portion 226 and the fixed portion 228 can be regarded as four sides of the four-bar linkage mechanism. More precisely, the lines S1S3, S2S4, S1S2, and S3S4 connecting adjacent connection points are regarded as the four sides of the four-bar linkage mechanism.
- the stabilizing motor 62 can act on the first cross bar part 222 or the second cross bar part 224, so that the first cross bar part 222 and the second cross bar part 224 rotate clockwise or counterclockwise relative to the fixed part 228, and then drive the vertical The rod portion 226 is raised or lowered.
- the stabilizing motor 62 is fixedly installed on the support member 60, and provides rotation for the second crossbar part 224 (or the first crossbar part 222) through a crank rocker mechanism or rocker 66. motivation.
- the first cross bar portion 222 may include a vertically extending portion 2223 .
- the second bar portion 224 may include a vertically extending portion 2243 .
- the vertical extension part 2223 and the vertical extension part 2243 can form a vertical housing to prevent foreign objects from entering the cavity surrounded by the four-bar linkage mechanism.
- the vertical stabilizing mechanism 22 may further include an elastic member 50, which may act on the connection assembly 223 to provide a balance force for the connection assembly 223 to support and balance the weight of the load.
- the elastic member 50 can be connected to the connection assembly 223 .
- the vertical component of the elastic force (balance force) generated by the elastic member 50 can be used to balance the gravity of the load, that is, to provide the load C with a component force opposite to the gravity.
- the vertical stabilization mechanism 22 can balance the gravity of the load C by relying on the elastic force of the elastic member 50 . If the elastic member 50 is not provided, the stabilizing motor 62 or other components need to provide force to the connection assembly 223 to balance the gravity of the load C.
- the elastic member 50 can be a spring, such as a coil spring. There are many ways to install the elastic member 50. For example, one end of the elastic member 50 can be installed on the fixed part 228 or the support member 60, and the other end can be installed on the vertical bar part 226, the first horizontal bar part 222 or the second horizontal bar. Section 224 on.
- the installed elastic member 50 can provide the four-bar linkage mechanism with a force that prevents the first cross bar portion 222 and the second cross bar portion 224 from turning downward, so as to balance or partially balance the gravity of the load C.
- the elastic member 50 can passively respond to the vertical vibration of the load C and drive the load C to perform corresponding compensating movements.
- the above-mentioned vertical stabilization mechanism 22 with the stabilization motor 62 and the elastic member 50 can balance the gravity of the load C, and can actively eliminate the influence of the vertical vibration of the load C on the load C.
- the vertical jitter generally refers to jitter with a vertical component, that is, as long as the jitter of the load C has a vertical component, it can be called a vertical jitter.
- the vertical stabilization mechanism 22 may also include a transmission member.
- the transmission member drives the connection assembly 223 to rotate relative to the support member 60.
- the connection between the stabilization motor 62 and the connection assembly 223 The transmission part drives the connecting assembly 223 to rotate relative to the support part 60 through the transmission part when the stabilization motor 62 rotates.
- the transmission member can be connected to the connection assembly 223 and the stabilization motor 62 respectively. Further, the transmission member can be respectively rotatably connected to the connection assembly 223 and the stabilization motor 62, for example, the first end of the transmission member is rotatably connected to the stabilization motor 62, and the second end of the transmission member is rotatable Connect connection assembly 223 .
- the stabilizing motor 62 is an outer rotor motor
- the transmission member can be eccentrically connected to the outer rotor of the stabilization motor 62
- the first end of the transmission member is eccentrically connected to the The outer rotor of the motor 62 is stabilized.
- the number of the stabilizing motors 62 is two, and the number of the transmission members is two, wherein the two stabilization motors 62 are arranged on both sides of the connection assembly 223, and the two transmission members are arranged on the connection On both sides of the assembly 223, the first end of the first transmission member in the two transmission members is rotationally connected with the first stabilization motor in the two stabilization motors 62, and the second transmission member in the two transmission members The first end is connected to the second stabilizing motor in the two stabilizing motors 62, and the second ends of the first transmission member and the second transmission member are symmetrically connected to the first cross bar part 222 or the second cross bar part 224.
- the rotation axes of the two stabilizing motors 62 are substantially coincident and perpendicular to the extending direction of the length of the first cross bar part 222 or the second cross bar part 224 .
- the transmission member includes a rocker 66, the first end of the rocker 66 is eccentrically connected to the outer rotor of the stabilization motor 62, and the second end of the rocker 66 is rotatably connected to the first The crossbar part 222 or the second crossbar part 224 .
- the quantity of the stabilization motor 62 is two
- the quantity of the transmission member is two
- the first end of the first rocker in the two rockers 66 is connected with the first end of the two stabilization motors 62 .
- the stabilizer motor is rotationally connected, the first end of the second rocker in the two rockers 66 is connected with the second stabilizer motor in the two stabilizer motors 62, the second ends of the first rocker and the second rocker Symmetrically hinged to the first cross bar part 222 or the second cross bar part 224 .
- the stability-increasing device 20 may include a load mounting part 80 for detachably connecting a load, a connection assembly 223, a support 60, an elastic Part 50 and stabilizing motor 62.
- a load mounting part 80 for detachably connecting a load
- connection assembly 223, a support 60 for detachably connecting a load
- connection assembly 223, a support 60 for detachably connecting a load
- connection assembly 223, a support 60 a support 60
- an elastic Part 50 and stabilizing motor 62 e.g., one end of the connection assembly 223 is rotatably connected to the support member 60 , and the other end is connected to the load installation part 80 .
- the load mounting part 80 includes a first mechanical interface 87 for detachably mounting the load C.
- the elastic member 50 is used to provide a balance force for the connection assembly 223 to support and balance the weight of the load.
- the stabilizer motor 62 drives the connection assembly 223 to rotate relative to the support member 60 to counteract or compensate
- connection assembly 223 When the load C is mounted on the load installation part 80 , the weight of the load C itself will act on the connection assembly 223 . Assuming that the center of mass of the load C is on the connection assembly 223, with the center of mass of the load C as the reference, the connection assembly 223 is subjected to the downward weight of the load C, the upward pulling force output by the stabilizing motor 62, and the axial force of the connection assembly 223 itself. And the tension of the elastic member 50.
- the stabilizing motor 62 needs to output a greater force to balance the gravity of the load C, so that the energy consumption is high and the motor is prone to heat. Therefore, after the elastic member 50 is installed, the vertical pulling force provided by the elastic member 50 can offset the gravity of a part of the load C, thereby reducing the output of the stabilizing motor 62 and improving the response capability of the stabilizing device 20 .
- connection assembly 223 Based on this, when the load C is detached from the load mounting part 80 , the gravity of the load applied to the connection assembly 223 decreases instantly, and the force received by the connection assembly 223 is unbalanced. When the force on the connection component 223 is unbalanced, if no control and intervention is performed, the tension of the elastic member 50 will cause the connection component 223 to spring up instantly, which may easily injure people. In order to solve this problem, it is necessary to detect whether the load C is detached, and control the connection assembly 223 not to spring up when the load C is detached.
- an embodiment of the present invention provides a control method of the stabilization device 20, as shown in FIG. 6, the method includes the following steps:
- the joint angle control mode is used to control the stabilization motor 62 so that the connection assembly 223 remains at the current position.
- the stabilization motor 62 can be controlled to output a certain force to the connection assembly 223 so that the connection assembly 223 remains at the current position.
- the current position may be the position of the connection assembly 223 when the load C is detached.
- a proportional integral differential (Proportion Integral Differential, PID) control method may be used to control the stabilizing motor 62 so that the connecting component 223 maintains the current position.
- the target joint angle corresponding to the connection component 223 may be determined, and the stabilization motor 62 is controlled to output force to the connection component 223 so that the target joint angle corresponding to the connection component 223 remains unchanged.
- the target joint angle may be the included angle between the connecting component 223 and the horizontal direction.
- the following embodiments of the present invention provide two implementations for determining whether the load C installed on the load mounting part 80 is removed from the load mounting part 80.
- other implementations can also be designed according to requirements
- the embodiment of the present invention does not limit the specific implementation manner.
- the load installation part 80 is provided with an electrical interface 88 , and the load C and the load installation part 80 can be electrically connected through the electrical interface 88 .
- the process of determining whether the load C installed on the load installation part 80 is removed from the load installation part 80 can be implemented as: detecting whether the load C is disconnected from the electrical interface 88; When the electrical connection with the electrical interface 88 is disconnected, it is determined that the load C installed on the load installation part 80 is removed from the load installation part 80.
- the user only disconnects the electrical connection between the load C and the load installation part 80, but the load C is still installed on the load installation part 80 and has not been removed, and the force on the connection assembly 223 Still in balance, no further control or intervention is needed.
- the situation of stabilizing the driving force output by the motor 62 may be further detected. If the load C is removed from the load mounting part 80, the force received by the connecting assembly 223 will be unbalanced. Based on the principle of automatic control, the stabilizing motor 62 will output a corresponding driving force in the vertical downward direction to counteract the elasticity. The pulling force of member 50 in the vertical upward direction.
- the driving force of the stabilizing motor 62 to the connecting assembly 223 is greater than the first driving force threshold, if the driving force of the stabilizing motor 62 to the connecting assembly 223 is greater than the first driving force threshold, it means that it is installed on the load installation part
- the load C on 80 is indeed detached from the load mount 80 .
- the first driving force threshold may be expressed as Torque_MAX, and the actual size of Torque_MAX may be adjusted according to the debugging result.
- the load mounting part 80 may include a detection sensor for detecting whether the first mechanical interface 87 is unlocked from the second mechanical interface of the load C. Based on this, the process of determining whether the load C installed on the load installation part 80 is removed from the load installation part 80 can be implemented as follows: the processor of the stabilization device can determine whether the load C installed on the load installation part 80 can be determined according to the sensing data detected by the detection sensor. Whether the load C on the part 80 is removed from the load mounting part 80 or not.
- the above detection sensor may be a Hall sensor or a dry reed switch.
- a hall sensor or a reed switch may be arranged on the load installation part 80 , and a magnet may be arranged on the load C at the same time.
- the hall sensor or reed switch will not be triggered.
- the Hall sensor or the reed switch is triggered.
- the control device can determine whether the load C installed on the load installation part 80 is removed from the load installation part 80 by detecting the state of the Hall sensor or the reed switch.
- the stabilizing motor 62 may be controlled to maintain the connection assembly 223 at the current position.
- the process of controlling the stabilization motor 62 to keep the connection assembly 223 at the current position may be implemented as: controlling the stabilization motor 62 to keep the connection assembly 223 at the current position for a first preset time period.
- the stabilization motor 62 can be controlled to output driving force to the connection assembly 223, so that the connection assembly 223 remains at the current position for a first preset time period, which can leave time for the user to react and operate.
- the stabilizing motor 62 can be controlled to gradually reduce the driving force on the connection assembly 223 to 0, so that the connection assembly 223 is on the elastic member 50 Move to the limit position under the action of elastic force.
- the stabilization motor 62 can be controlled to gradually unload force, that is, the driving force on the connecting assembly 223 is gradually reduced to zero.
- the process of gradually unloading force can be realized by reducing the PID parameters. After the stabilizing motor 62 unloads, because the force applied to the connecting assembly 223 is unbalanced, the connecting assembly 223 will gradually lift up under the pulling force of the elastic member 50 until it reaches the upper limit of the joint angle.
- control stabilization motor 62 will gradually reduce the driving force on the connection assembly 223 to 0 , so that the connecting assembly 223 moves to the limit position under the elastic force of the elastic member 50 .
- the process of detecting whether the load C is installed on the load installation part 80 can be realized as follows: if the load C is electrically connected to the electrical interface 88 of the load installation part 80 and/or the driving force of the motor 62 to the connection assembly 223 is stabilized When it is less than or equal to the second driving force threshold, it is determined that the load C is mounted on the load mounting portion 80 .
- the second driving force threshold may be expressed as Torque_MIN, and the actual size of Torque_MIN may be adjusted according to the debugging result.
- load mounting part 80 In order to ensure that the load C is indeed installed on the load installation part 80, optionally, when it is detected that the electrical interface 88 of the load C and the load installation part 80 remains electrically connected for more than a preset period of time, it is determined that the load C is installed on the load installation part 80. load mounting part 80 .
- the control increases The stabilizing motor 62 gradually reduces the driving force on the connecting assembly 223 to 0, so that the connecting assembly 223 moves to the limit position under the elastic force of the elastic member 50 .
- the third duration may be expressed as T_MAX, for example, and the third duration may be set to 30s, for example, and of course, the third duration may be adjusted according to actual needs.
- the replacement time can be a third duration.
- the stabilizing motor 62 can be controlled to gradually unload the force.
- the stabilizer motor 62 is controlled to drive the connecting assembly 223 to rotate relative to the support member 60 to counteract or compensate for the load in the vertical position. Upward jitter.
- the stabilizer motor 62 is controlled to drive the connecting assembly 223 to rotate relative to the support member 60 to counteract or compensate for the vertical vibration of the load.
- the stabilization motor 62 is controlled to perform a normal stabilization operation. That is, the stabilizer motor 62 is controlled to drive the connection assembly 223 to rotate relative to the support member 60 to counteract or compensate the vibration of the load in the vertical direction.
- control the stabilization motor 62 to drive the connection assembly 223 to rotate from the limit position relative to the support member 60 to a preset position, and control the stabilization The motor 62 drives the connection assembly 223 to rotate relative to the support member 60 to counteract or compensate the vibration of the load C in the vertical direction.
- the stabilization device 20 when the stabilization device 20 detects that the load C is mounted on the load installation part 80 and obtains the starting stabilization information, it can control the stabilization motor 62 to drive the connection assembly 223 from the limit position relative to The support member 60 is rotated to a preset position, and the stabilizer motor 62 is controlled to drive the connection assembly 223 to rotate relative to the support member 60 to counteract or compensate the vibration of the load C in the vertical direction.
- the aforementioned preset position may be a position designated by the user, and the user may input the designated position to the stabilization device 20 according to personal usage habits of the stabilization device 20 . In this way, when the stabilization device 20 is woken up, the connection assembly 223 can be preferentially controlled to rotate to the designated position.
- the stabilizing device 20 may be controlled to enter the sleep mode.
- the stabilization motor 62 is controlled to drive the connection assembly 223 to rotate relative to the support member 60 from the limit position to a preset position, And control the stabilizer motor 62 to drive the connecting assembly 223 to rotate relative to the support member 60 to counteract or compensate the vibration of the load C in the vertical direction.
- the stabilizing device 20 can be controlled to enter a sleep mode, so as to reduce power consumption.
- the user wants to use the stabilization device 20 again, he can install the load C and wake up the stabilization device 20 .
- the stabilization device 20 can acquire the start-up stabilization information, and then the stabilization device 20 can operate the stabilization motor 62 according to the start-up stabilization information.
- the stabilization device 20 may also include an interaction device for detecting user operations.
- the above-mentioned process of obtaining the activation stabilization information may be realized as follows: if a user's activation stabilization operation on the interactive device is detected, the activation stabilization information is generated.
- a wake-up button can be set in the stabilization device, and the wake-up button can be the above-mentioned interaction device, and the above-mentioned startup stabilization operation can be correspondingly a click operation on the wake-up button.
- the user clicks the wake-up button it can switch from the sleep mode to the stabilization mode.
- the stabilizing motor is controlled to output driving force to the connection assembly, so that the connection assembly remains at the current position and does not move. In this way, the connecting component and the load installation part will not be pulled up, and the user will not be injured, thereby ensuring the safety of the user.
- FIG. 1-5 Another exemplary embodiment of the present invention provides a stabilization device 20, as shown in Figures 1-5, the device includes: a load mounting part 80 for detachably connecting a load C, a connection assembly 223, and a support 60 , elastic member 50, stabilizing motor 62 and processor (not shown in the figure);
- connection assembly 223 is rotatably connected to the support member 60 at one end and connected to the load installation part 80 at one end;
- the load installation part 80 includes a first mechanical interface 87 for detachably installing the load C;
- the elastic member 50 is used to provide a balance force for the connection assembly 223 to support and balance the weight of the load;
- the stabilization motor 62 drives the connecting assembly 223 to rotate relative to the support member 60 to counteract or compensate the vibration of the load C;
- the processor is configured to determine whether the load C mounted on the load mounting part 80 is removed from the load mounting part 80; when it is determined that the load C is removed from the load mounting part 80, control the The motor 62 is stabilized to maintain the connection assembly 223 in its current position.
- the load installation part 80 includes an electrical interface 88 for transmitting control instructions and/or power and/or sensor data collected by the load for the load;
- the processor is configured to detect whether the load C is disconnected from the electrical interface 88; if it is determined that the load C is disconnected from the electrical interface 88 And when the driving force of the stabilizing motor 62 on the connecting assembly 223 is greater than the first driving force threshold, it is determined that the load C mounted on the load mounting part 80 is removed from the load mounting part 80 .
- the load installation part 80 includes a detection sensor for detecting whether the first mechanical interface 87 is unlocked from the second mechanical interface of the load C;
- the processor is configured to determine whether the load C mounted on the load installation part 80 is removed from the load installation part 80 according to the sensing data detected by the detection sensor.
- the detection sensor is a Hall sensor or a reed switch.
- the processor is configured to:
- the stabilization motor 62 is controlled to keep the connection assembly 223 at the current position for a first preset time period.
- the processor is also used for:
- connection assembly 223 After the connection assembly 223 remains at the current position for the first preset time period, control the stabilizing motor 62 to gradually reduce the driving force on the connection assembly 223 to 0, so that the connection assembly 223 is in the Under the elastic force of the elastic member 50, it moves to the limit position.
- the processor is also used for:
- control stabilization motor 62 will gradually reduce the driving force of the connecting assembly 223 to 0 , so that the connecting assembly 223 moves to a limit position under the elastic force of the elastic member 50 .
- the processor is also used for:
- the stabilizer motor 62 is controlled to drive the connecting assembly 223 to rotate relative to the support member 60 to offset Or compensate the vibration of the load C in the vertical direction.
- the processor is also used for:
- the control increases The motor 62 gradually reduces the driving force of the connecting assembly 223 to 0, so that the connecting assembly 223 moves to the limit position under the elastic force of the elastic member 50; and/or,
- the stabilizer motor 62 is controlled to drive the connecting assembly 223 to rotate relative to the support member 60 to offset or compensate the load C in the vertical direction jitter.
- the processor is also used for:
- the stabilization motor 62 is controlled to drive the connecting assembly 223 to rotate relative to the support member 60 from the extreme position to a preset position, And the stabilizer motor 62 is controlled to drive the connecting assembly 223 to rotate relative to the support member 60 to counteract or compensate the vibration of the load C in the vertical direction.
- the processor is also used for:
- the stabilization motor 62 is controlled to drive the connection assembly 223 to rotate relative to the support member 60 from the limit position to a preset position. position, and control the stabilizing motor 62 to drive the connection assembly 223 to rotate relative to the support member 60 to counteract or compensate the vibration of the load C in the vertical direction, including:
- the stabilization motor 62 is controlled to drive the connecting assembly 223 to rotate relative to the support member 60 from the limit position. to the preset position, and control the stabilizer motor 62 to drive the connecting assembly 223 to rotate relative to the support member 60 to counteract or compensate the vibration of the load C in the vertical direction.
- the stabilization device 20 also includes an interaction device for detecting user operations
- the processor is further configured to generate the activation stabilization information if a user's activation stabilization operation on the interaction device is detected.
- the processor is also used for:
- the load C is electrically connected to the electrical interface 88 of the load installation part 80 and/or the driving force of the stabilizing motor 62 to the connecting assembly 223 is less than or equal to the second driving force threshold, determine the load C is mounted to the load mounting portion 80;
- the electrical interface 88 is an electrical interface for transmitting control instructions and/or power and/or sensory data collected by the load C for the load C.
- connection assembly 223 includes a first cross bar part 222 , a second cross bar part 224 opposite to the first cross bar part 222 , and a connection between the first cross bar part 222 and the second cross bar part 224
- the vertical rod portion 226 between, the vertical rod portion 226 is connected with the load installation portion 80;
- the load installation part 80 is used for carrying the load C. As shown in FIG. 1
- the two stabilization motors 62 are used to drive the connecting assembly 223 to rotate around the support member 60;
- the two stabilization motors 62 are located on two sides of the connection assembly 223 .
- the stabilization device further includes a transmission member
- the transmission member drives the connecting assembly 223 to rotate relative to the support member 60 .
- one end of the transmission member is eccentrically connected to the outer rotor of the stabilization motor 62 .
- the number of the transmission elements is two;
- the number of the stabilizing motor 62 is two;
- the two transmission parts located on both sides of the connection assembly 223, wherein the first end of the first transmission part in the two transmission parts is connected with the first stabilization motor in the two stabilization motors 62, so The first end of the second transmission member in the two transmission members is connected with the second stabilization motor in the two stabilization motors 62; the second end of the first transmission member and the second transmission member Symmetrically hinged to the connecting component 223 .
- the stabilizing device 20 further includes a sensor, the sensor is used to obtain the magnitude of movement or the magnitude of position change of the load C in the vertical direction;
- the processor is also used to calculate the rotation direction and amplitude of the stabilization motor 62 according to the motion value or the position change value, and generate a control instruction according to the rotation direction and range of the stabilization motor 62 , to control the rotation of the stabilization motor 62 .
- the aforementioned stabilization device can execute the method of the embodiment shown in FIG. 6 .
- the parts not described in detail in this embodiment please refer to the relevant descriptions of the embodiments shown in FIGS. 1-6 .
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Abstract
本发明实施例提供一种增稳装置的控制方法和增稳装置，该增稳装置包括用于可拆卸连接负载的负载安装部、连接组件、支撑件、弹性件和增稳电机，其中，弹性件，用于为连接组件提供支撑和平衡负载重力的平衡力；增稳电机带动连接组件相对于支撑件转动以抵消或补偿负载的抖动；该方法包括：确定安装在负载安装部上的负载是否从负载安装部拆下；当确定负载从负载安装部拆下，控制增稳电机以使连接组件保持在当前位置。采用本发明，当用户从负载安装部拆下负载时，能够及时检测到负载从负载安装部拆下，进而控制增稳电机向连接组件输出驱动力，以使得连接组件保持在当前位置不动。
Description
本发明涉及自动化技术领域，尤其涉及一种增稳装置的控制方法和增稳装置。
目前，增稳装置包括负载安装部，负载可以通过负载安装部承载在增稳装置上。增稳装置可以通过配置的增稳电机在竖向上对承载在增稳装置上的负载(例如拍摄装置)进行增稳。为了较少在对负载进行竖向增稳时增稳电机的电力消耗，增稳装置会配置弹性件来支撑负载并提供平衡所述负载的重力的平衡力。
在增稳装置对负载进行增稳的过程中，某些情况中，用户想要更换负载，此时用户会将负载从增稳装置的负载安装部上拆卸下来，由于施加给负载安装部上的负载的重力撤销，进而在弹性件的拉力作用下，负载安装部会被迅速拉起，可能会打伤用户。
发明内容
本发明实施例提供一种增稳装置的控制方法和增稳装置，用以保证用户在更换承载在增稳装置的负载时的安全。
第一方面，本发明实施例提供一种增稳装置的控制方法，所述增稳装置包括用于可拆卸连接负载的负载安装部、连接组件、支撑件、弹性件和增稳电机，其中，所述连接组件，一端与所述支撑件转动连接，一端与所述负载安装部相连，所述负载安装部包括用于可拆卸式安装所述负载的第一机械接口；所述弹性件，用于为所述连接组件提供支撑和平衡所述负载重力的平衡力；所述增稳电机带动所述连接组件相对于所述支撑件转动以抵消或补偿所述负载在竖向上的抖动；
所述方法包括：
确定安装在所述负载安装部上的负载是否从所述负载安装部拆下；
当确定所述负载从所述负载安装部拆下，控制所述增稳电机以使所述连接组件保持在当前位置。
第二方面，本发明实施例提供一种增稳装置，所述增稳装置包括用于可拆卸连接负载的负载安装部、连接组件、支撑件、弹性件、增稳电机和处理器；
所述连接组件，一端与所述支撑件转动连接，一端与所述负载安装部相连；
所述负载安装部包括用于可拆卸式安装所述负载的第一机械接口；
所述弹性件，用于为所述连接组件提供支撑和平衡所述负载重力的平衡力；
所述增稳电机带动所述连接组件相对于所述支撑件转动以抵消或补偿所述负载在竖向上的抖动；
所述处理器，用于确定安装在所述负载安装部上的负载是否从所述负载安装部拆下；当确定所述负载从所述负载安装部拆下，控制所述增稳电机以使所述连接组件保持在当前位置。
采用本发明，当用户从负载安装部拆下负载时，能够及时检测到负载从负载安装部拆下，进而控制增稳电机向连接组件输出驱动力，以使得连接组件保持在当前位置不动，这样连接组件和负载安装部不会被拉起，用户不会被打伤，保证了用户的安全。
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1与图2是本发明实施例示出的一种增稳系统的结构示意图，其中，图1是增稳系统的侧视图，图2是增稳系统的俯视图；
图3至图5是图1与图2增稳系统中的竖向增稳机构的结构示意图，其中，图3是竖向增稳机构的侧视图，图4是竖向增稳机构的一个剖视图，图5是竖向增稳机构的一个立体分解图；
图6是本发明实施例示出的一种增稳装置的控制方法的流程图。
增稳系统100； 增稳装置20；
负载C； 竖向增稳机构22；
负载安装部80； 第一机械接口87；
电性接口88； 轴向云台24；
支撑件60； 增稳电机62；
弹性件50； 连接组件223；
第一横杆部222； 第二横杆部224；
竖杆部226； 定部228；
竖向延伸部2223； 竖向延伸部2243；
摇杆66
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
在本发明实施例中使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本发明。在本发明实施例和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义，“多种”一般包含至少两种。
取决于语境，如在此所使用的词语“如果”、“若”可以被解释成为“在……时”或“当……时”或“响应于确定”或“响应于检测”。类似地，取决于语境，短语“如果确定”或“如果检测(陈述的条件或事件)”可以被解释成为“当确定时”或“响应于确定”或“当检测(陈述的条件或事件)时”或“响应于检测(陈述的条件或事件)”。
另外，下述各方法实施例中的步骤时序仅为一种举例，而非严格限定。
如图1至图5，本发明实施例的增稳系统100可包括增稳装置20和负载C。增稳装置20用于承载负载C并对负载C进行增稳。负载C可以为任何类型的对增稳有需求的装置。其中，所述负载C可以包括对环境进行感测的传感装置，例如，所述传感装置可以包括拍摄装置。这里以传感装置为拍摄装置为例来进行说明，可以理解的是，下文中的拍摄装置可以被同等替换为传感装置。拍摄装置可用于拍摄图像/视频，可以是相机、摄像机，也可以是具有摄像功能的手机或平板电脑等。
增稳装置20可包括竖向增稳机构22，所述竖向增稳机构22可以抵消或补偿所述负载C在竖向上的抖动，这样可以对负载C在竖向上增稳。竖向增稳机构22包括负载安装部80，所述负载安装部80用于可拆卸连接负载C，所述负载C可以直接地或者间接地可拆卸连接到所述负载安装部80上。所述负载安装部80包括用于可拆卸安装所述负载C的第一机械接口87，所述负载C通过所述第一机械接口87直接地或者间接地(例如通过中间部件，中间部件可以包括轴向云台)可拆卸式地安装在所述负载安装部80上。所述负载安装部80包括用 于为负载传输控制指令和/或电力和/或负载采集到的传感数据的电性接口88，所述负载C通过电性接口88直接地或者间接地(例如通过中间部件，中间部件可以包括轴向云台)获取控制指令和/或电力和/或传输负载采集到的传感数据。
在某些实施例中，第一机械接口87可以用于直接地可拆卸式地连接所述负载C，例如，拍摄装置通过第一机械接口87直接地可拆卸式安装至所述负载安装部80上，电性接口88直接地为负载传输控制指令和/或电力和/或负载采集到的传感数据。
在某些实施例中，所述增稳装置20可以包括轴向云台24，负载C可以通过轴向云台24可拆卸式连接在负载安装部80上，所述负载C可以安装到轴向云台24上，轴向云台24可拆卸地安装到第一机械接口87，电性接口88与轴向云台24电性连接，并通过轴向云台24向负载C传输控制指令和/或电力和/或负载采集到的传感数据。所述轴向云台24可用于改变拍摄装置的姿态以及抵消或消除所述拍摄装置的轴向抖动。在某些情况中，轴向云台24可以是三轴云台。三轴云台可以绕航向(yaw)轴、横滚(roll)轴以及俯仰(pitch)轴调整拍摄装置的姿态。在某些情况中，所述轴向云台24也可以是二轴云台。
竖向增稳机构22包括支撑件60。支撑件60可用于支撑竖向增稳机构22。支撑件60可以是可供用户手持的手持式支撑装置，也可以是非手持的支撑装置，比如，可以是无人飞行器、无人车、无人船等上设置的、用于支撑竖向增稳机构22和轴向云台24的部件。可将支撑件60看作是竖向增稳机构22的一部分，即竖向增稳机构22包括支撑件60，也可将支撑件60看作是独立于竖向增稳机构22的部件。
增稳装置20可以包括用于控制竖向增稳机构22和/或轴向云台24的处理器，增稳装置20可以还可以包括用于测量竖向增稳机构22的工作状态和/或轴向云台24的工作状态的传感器。处理器可设置在支撑件60上，也可以设置在竖向增稳机构22、轴向云台24或增稳系统100的其它部位处。此处不做限制。
竖向增稳机构22可以包括增稳电机62，增稳电机62的数量可以为两个，竖向增稳机构22可利用增稳电机62带动负载C在竖向上作反方向运动(补偿运动)，主要用来抵消(至少部分抵消)或补偿负载C在竖向上的抖动。进而，可以改善负载C工作的稳定性，例如所述负载C为拍摄装置时，可改善拍摄时因拍摄装置抖动而引起的画面抖动现象。这里的反方向运动是相对负载C在竖向上的抖动而言的。
比如，增稳装置20的传感器获得负载C在竖向上的运动量值或位置改变量值。所述传感器可包括运动传感器，用于感测负载在竖直方向上的振动状态。 处理器可根据该量值计算出增稳电机62的转动方向及幅度等参数，并根据该参数生成控制指令，控制增稳电机62转动。增稳电机62的转动可使拍摄装置反方向运动相应的距离，从而及时补偿或抵消(至少部分抵消)拍摄装置在竖向上的抖动。
说明一点，增稳电机62可以是任一类型的电机。这里将其称之为增稳电机只为更好地区别于其它的电机。
与被动竖向增稳相比，上述利用电机主动竖向增稳响应时间更短。另外，被动竖向增稳主要依赖速度突变来增稳，对速度变化要求高，导致其对微小的上下起伏难以取得理想的修正效果。上述利用电机主动竖向增稳对于微小的上下起伏改善效果也很明显。其中，被动竖向增稳通常利用弹性件(比如，在后文中出现的弹性件50)约束云台或拍摄装置在竖向上的位置，当竖向抖动发生、负载C在竖向上移位时，弹性件50利用自身的回复力将负载C在竖向上复位。
增稳电机62的安装位置在此不做限制，只要能提供负载C运动的动力即可。比如，增稳电机62可安装在支撑件60上，当增稳电机62的数量为两个时，两个增稳电机62可以对称地式安装在所述支撑件60上。
除增稳电机62、负载安装部80外，竖向增稳机构22包括连接组件223，所述连接组件223连接增稳电机62和负载安装部80。连接组件223的一端与负载安装部80相连，另一端可转动地连接支撑件60。在增稳电机62的驱动下，连接组件223可绕支撑件60转动。在转动的连接组件223的带动下，负载安装部80及其上的负载C可在竖向上运动。通过控制增稳电机62的运动方向及运动幅度等，可实现负载C在增稳电机62驱动下的竖向运动量可抵消或部分抵消负载C在竖向上的抖动量。当增稳电机62的数量为两个时，两个增稳电机62可以对称地式安装在所述连接组件223的两侧。
在图中所示实施例中，连接组件223包括四连杆机构，该四连杆机构可以包括第一横杆部222、与第一横杆部222相对的第二横杆部224以及连接在第一横杆部222、第二横杆部224之间的竖杆部226。第一横杆部222和第二横杆部224的一端分别转动连接到所述竖杆部226上，第一横杆部222和第二横杆部224的另一端分别转动连接在一定部228上。定部228与竖杆部226相对设置。第一横杆部222和第二横杆部224可以平行设置，定部228可看作是相对不动的部件，在增稳电机62的驱动下，第一横杆部222、第二横杆部224和竖杆部226均围绕定部228运动。第一横杆部222、第二横杆部224和竖杆部226可看作是四连杆机构的各杆。当增稳电机62的数量为两个时，两个增稳电机62可以对称地式安装在所述第一横杆部222和第二横杆部224的两侧。
竖杆部226可与负载安装部80一体形成，并共同构成一个相对独立的构件。竖杆部226也可以可拆卸方式或不可拆卸方式固定连接在负载安装部80上。在某些情况中，定部228可以看作是与支撑件60独立的部件，定部228可以以可拆卸方式或不可拆卸方式固定安装于支撑件60，或者定部228可与支撑件60一体形成。在某些情况中，定部228可以作为支撑件60的一部分，即支撑件60可以包括所述定部228，第一横杆部222和第二横杆部224的另一端分别转动连接到支撑件60上，具体地，第一横杆部222和第二横杆部224的另一端分别转动连接到支撑件60的定部228上。
第一横杆部222的两端分别与竖杆部226、定部228转动连接，转动连接的连接点分别为S1、S3。第二横杆部224的两端分别与竖杆部226、定部228铰接，连接点分别为S2、S4。连接点S1与S3的连线为S1S3，连接点S2与S4的连线为S2S4，S1S3与S2S4平行且相等。即，四连杆机构构成平行四边形框架机构。上述设置使得邻杆的夹角(比如，第一横杆部222与竖杆部226之间的夹角、或者第二横杆部224与竖杆部226之间的夹角)能够变化。不论夹角如何变化，对边总是保持平行。在各边的相对运动过程中，竖杆部226可保持竖直。可将第一横杆部222、第二横杆部224、竖杆部226与定部228看作是四连杆机构的四边。更准确地讲，将相邻连接点的连线S1S3、S2S4、S1S2和S3S4看作是四连杆机构的四边。
增稳电机62可作用在第一横杆部222或第二横杆部224上，使第一横杆部222、第二横杆部224相对定部228顺时针或逆时针转动，进而带动竖杆部226上升或降低。在图中所示实施例中，增稳电机62固定安装在支撑件60上，并通过一曲柄摇杆机构或摇杆66为第二横杆部224(或第一横杆部222)提供转动的动力。
第一横杆部222可包括竖向延伸部2223。第二横杆部224可包括竖向延伸部2243。竖向延伸部2223与竖向延伸部2243可组成竖向的壳体，以防止异物进入四连杆机构所围成的腔体内。
竖向增稳机构22还可包括弹性件50，弹性件50可以作用在所述连接组件223上，用来为所述连接组件223提供支撑和平衡所述负载重力的平衡力。例如，弹性件50可以连接到连接组件223上。弹性件50所产生的弹力(平衡力)在竖向上的分量可用于平衡负载的重力，即向负载C提供与重力相反的分力。换言之，竖向增稳机构22依靠弹性件50的弹力能够平衡负载C的重力。在不设置弹性件50的情况下，则需要增稳电机62或其他元器件向连接组件223提供作用力来平衡负载C的重力。
弹性件50可以为弹簧，比如，螺旋弹簧。弹性件50的安装方式有多种，比如，弹性件50的一端可安装于定部228或支撑件60上，另一端可安装于竖杆部226、第一横杆部222或第二横杆部224上。安装后的弹性件50能向四连杆机构提供阻碍第一横杆部222、第二横杆部224向下转动的力，从而能起到平衡或部分平衡负载C的重力的作用即可。
在不设置增稳电机62的情况下，弹性件50可被动地对负载C在竖向上的抖动进行自然应对并带动负载C作相应的补偿运动。
上述具有增稳电机62与弹性件50的竖向增稳机构22能够平衡负载C的重力，并可主动消除负载C的竖向抖动对负载C的影响。应该注意，所述竖向抖动泛指具有竖向分量的抖动，即只要负载C的抖动在竖向具有分量，即可称作竖向抖动。
在某些实施例中，竖向增稳机构22还可包括传动件，增稳电机转动时通过传动件带动连接组件223相对支撑件60转动，连接在增稳电机62和连接组件223之间的传动件，增稳电机62转动时通过传动件带动连接组件223相对支撑件60转动。所述传动件可以分别连接所述连接组件223和增稳电机62。进一步地，所述传动件可以分别转动连接所述连接组件223和增稳电机62，例如，所述传动件的第一端转动连接所述增稳电机62，所述传动件的第二端转动连接连接组件223。在某些情况中，所述增稳电机62为外转子电机，所述传动件可以偏心式地转动连接于增稳电机62的外转子，所述传动件的第一端偏心式地转动连接于增稳电机62的外转子。
所述增稳电机62的数量为两个，所述传动件的数量为两个，其中，所述两个增稳电机62设置在连接组件223的两侧，所述两个传动件设置在连接组件223的两侧，所述两个传动件中的第一传动件的第一端与两个增稳电机62中的第一增稳电机转动连接，两个传动件中的第二传动件的第一端与两个增稳电机62中的第二增稳电机连接，第一传动件和第二传动件的第二端对称地转动连接所述第一横杆部222或第二横杆部224。两个增稳电机62的转动轴基本重合，并与第一横杆部222或第二横杆部224的长度延伸方向垂直。
在某些实施例中，所述传动件包括摇杆66，所述摇杆66的第一端偏心地转动连接于增稳电机62的外转子，摇杆66的第二端转动连接于第一横杆部222或第二横杆部224。所述增稳电机62的数量为两个，所述传动件的数量为两个，所述两个摇杆66中的第一摇杆的第一端与两个增稳电机62中的第一增稳电机转动连接，两个摇杆66中的第二摇杆的第一端与两个增稳电机62中的第二增稳电机连接，第一摇杆和第二摇杆的第二端对称铰接于所述第一横杆部222或 第二横杆部224。
本发明实施例提供一种增稳装置20的控制方法，如上个实施例所述，该增稳装置20可以包括用于可拆卸连接负载的负载安装部80、连接组件223、支撑件60、弹性件50和增稳电机62。其中，连接组件223的一端与支撑件60转动连接，另一端与负载安装部80相连。负载安装部80包括用于可拆卸式安装负载C的第一机械接口87。弹性件50用于为连接组件223提供支撑和平衡负载重力的平衡力。增稳电机62带动连接组件223相对于支撑件60转动以抵消或补偿负载C的抖动。
当负载安装部80安装有负载C时，负载C自身的重力会作用到连接组件223上。假设负载C的质心在连接组件223上，以负载C的质心为基准，连接组件223受到负载C向下压的重力、增稳电机62输出的向上拉的拉力、连接组件223自身的轴向力以及弹性件50的拉力。
可以理解的是，如果不安装弹性件50，增稳电机62就需要输出更大的力，以平衡负载C的重力，这样能耗较高、电机容易发热。因此，在安装弹性件50后，弹性件50提供的竖直方向上的拉力可以抵消一部分负载C的重力，进而增稳电机62就可以减少出力，还可以提高增稳装置20的响应能力。
值得注意的是，弹性件50提供的竖直方向上的拉力、增稳电机62输出的拉力和负载C的重力相互抵消，弹性件50提供的水平方向上的拉力和连接组件223的轴向力相互抵消。故而，连接组件223受到的多方面的力相互平衡，连接组件223可以达到一个平衡的状态。
基于此，当负载C从负载安装部80拆卸下来时，加在连接组件223上的负载的重力瞬间变小，连接组件223受到的力不平衡。在连接组件223受力不平衡的情况下，如果不加以控制和干涉，则弹性件50的拉力会使得连接组件223瞬间弹起，容易伤人。为了解决该问题，需要检测负载C是否被拆卸，以及当负载C被拆卸时控制连接组件223不向上弹起。
基于上述增稳装置20的结构，本发明实施例提供一种增稳装置20的控制方法，如图6所示，该方法包括如下步骤：
401、确定安装在负载安装部80上的负载C是否从负载安装部80拆下。
402、当确定负载C从负载安装部80拆下，控制增稳电机62以使连接组件223保持在当前位置。
如果确定出安装在负载安装部80上的负载C从负载安装部80拆下，则可以控制从增稳模式转换为进入关节角控制模式。其中，关节角控制模式用于控 制增稳电机62以使连接组件223保持在当前位置。
实际应用中，可以控制增稳电机62向连接组件223输出一定的力，以使得连接组件223保持在当前位置。其中，当前位置可以是负载C被拆卸下来时连接组件223所处的位置。具体来说，可以采用比例积分微分(Proportion Integral Differential，PID)控制方法，控制增稳电机62以使连接组件223保持在当前位置。
具体来说，可以确定连接组件223对应的目标关节角，控制增稳电机62向连接组件223输出力，以使得连接组件223对应的目标关节角不变。其中，目标关节角可以是连接组件223和水平方向的夹角。
下面本发明实施例提供两种确定安装在负载安装部80上的负载C是否从负载安装部80拆下的实现方式，除了本发明实施例提供的两种方式，还可以根据需求设计其他的实现方式，本发明实施例不对具体的实现方式进行限定。
可选地，负载安装部80设置有电性接口88，负载C和负载安装部80可以通过电性接口88进行电性连接。基于此，确定安装在负载安装部80上的负载C是否从负载安装部80拆下的过程可以实现为：检测负载C是否断开与电性接口88之间的电性连接；若确定负载C断开与电性接口88之间的电性连接时，确定安装在负载安装部80上的负载C从负载安装部80拆下，进一步地，若确定负载C断开与电性接口88之间的电性连接且增稳电机62对连接组件223的驱动力大于第一驱动力阈值时，确定安装在负载安装部80上的负载C从负载安装部80拆下。
需要说明的是，在某些情况中，用户仅仅是断开负载C和负载安装部80的电性连接，但负载C还安装在负载安装部80上并未取下，连接组件223受的力依然是平衡的，不需要进一步的控制和干涉。
为了确保负载C从负载安装部80上卸下，可以进一步检测增稳电机62输出的驱动力的情况。如果负载C从负载安装部80上卸下，则连接组件223受的力不平衡，出于自动控制原理，增稳电机62会相应在竖直向下的方向上输出的驱动力，以抵消弹性件50在竖直向上方向上的拉力。基于此，可以判断增稳电机62对连接组件223的驱动力是否大于第一驱动力阈值，如果增稳电机62对连接组件223的驱动力大于第一驱动力阈值，则表示安装在负载安装部80上的负载C确实从负载安装部80拆下。
在一种可能的实现方式中，第一驱动力阈值可以表示为Torque_MAX，可以根据调试结果调整Torque_MAX的实际大小。
可选地，负载安装部80可以包括用于检测第一机械接口87是否与负载C 的第二机械接口解除锁定的检测传感器。基于此，确定安装在负载安装部80上的负载C是否从负载安装部80拆下的过程可以实现为：增稳装置的处理器可以根据检测传感器检测到的传感数据，确定安装在负载安装部80上的负载C是否从负载安装部80拆下。
可选地，上述检测传感器可以是霍尔传感器或者干簧管。
实际应用中，可以在负载安装部80上设置霍尔传感器或者干簧管，同时在负载C上设置磁铁。当磁铁远离霍尔传感器或者干簧管时，霍尔传感器或者干簧管不会被触发。当磁铁靠近霍尔传感器或者干簧管时，霍尔传感器或者干簧管被触发。当霍尔传感器或者干簧管被触发时，控制装置可以通过检测霍尔传感器或者干簧管的状态，来确定安装在负载安装部80上的负载C是否从负载安装部80上卸下。
在确定安装在负载安装部80上的负载C从负载安装部80上卸下之后，可以控制增稳电机62以使连接组件223保持在当前位置。可选地，控制增稳电机62以使连接组件223保持在当前位置的过程可以实现为：控制增稳电机62以使连接组件223保持在当前位置第一预设时长。
实际应用中，可以控制增稳电机62向连接组件223输出驱动力，使得连接组件223保持在当前位置达到第一预设时长，这样可以留给用户反应和操作的时间。
可以理解的是，如果增稳电机62持续向连接组件223输出驱动力，会消耗较高的电能，且增稳电机62在高强度连续运转的情况下，会出现发热的情况。因此，可选地，在连接组件223保持在当前位置第一预设时长后，可以控制增稳电机62将对连接组件223的驱动力逐渐减小为0，以使连接组件223在弹性件50的弹力作用下移动至极限位置。
实际应用中，可以控制增稳电机62逐渐卸力，也就是将对连接组件223的驱动力逐渐减小为0。可选地，可以通过减小PID参数的方式实现逐渐卸力的过程。在增稳电机62卸力之后，由于加在连接组件223的力不平衡，因此连接组件223会在弹性件50的拉力的作用下逐渐向上抬起，直到抬起到关节角的上限位置处。
可选地，若在第一预设时长结束后的第二时长内，检测到负载C未安装到负载安装部80，则控制增稳电机62将对连接组件223的驱动力逐渐减小为0，以使连接组件223在弹性件50的弹力作用下移动至极限位置。
可选地，检测负载C是否安装到负载安装部80的过程可以实现为：若负载C与负载安装部80的电性接口88电性连接和/或增稳电机62对连接组件223的 驱动力小于或等于第二驱动力阈值时，确定负载C安装到负载安装部80。
在一种可能的实现方式中，第二驱动力阈值可以表示为Torque_MIN，可以根据调试结果调整Torque_MIN的实际大小。
进一步地，为了确保负载C确实安装到负载安装部80，可选地，可以在检测到负载C与负载安装部80的电性接口88保持电性连接超过预设时长时，确定负载C安装到负载安装部80。
可选地，若在检测到负载C从负载安装部80拆卸后的第三时长内确定负载C未安装到负载安装部80，在连接组件223保持在当前位置预第三设时长后，控制增稳电机62将对连接组件223的驱动力逐渐减小为0，以使连接组件223在弹性件50的弹力作用下移动至极限位置。
实际应用中，当确定负载C从负载安装部80拆下后开始计时，如果计时达到第三时长时负载C还没有安装回负载安装部80，再控制增稳电机62将对连接组件223的驱动力逐渐减小为0，以使连接组件223在弹性件50的弹力作用下移动至极限位置。在一种可能的实现方式中，第三时长例如可以表示为T_MAX，第三时长例如可以设置成30s，当然，可以根据实际需求调整第三时长。
可以理解的是，在某些应用场景中，用户拆下负载只是为了更换另一个负载，而不是真的要拆下负载，因此可以给用户留有足够的更换另一个负载的时间，该更换时间可以是第三时长。当达到第三时长用户还没有将负载安装回负载安装部80时，表示用户不需要更换负载，可以控制增稳电机62逐渐卸力。
相应地，若确定在第一预设时长结束后的第二时长内确定负载C安装到负载安装部80，控制增稳电机62带动连接组件223相对于支撑件60转动以抵消或补偿负载在竖向上的抖动。
或者，可选地，若确定在第三预设时长确定负载C安装到负载安装部80，控制增稳电机62带动连接组件223相对于支撑件60转动以抵消或补偿负载在竖向上的抖动。
如果在第三时长内检测到负载C安装到负载安装部80，则表示用户已更换完负载，可以不控制增稳电机62进行卸力，而是控制增稳电机62进行正常的增稳操作，也就是控制增稳电机62带动连接组件223相对于支撑件60转动以抵消或补偿负载在竖向上的抖动。
可选地，若确定负载C安装到负载安装部80且获取到启动增稳信息，控制增稳电机62带动连接组件223从极限位置开始相对于支撑件60转动至预设位置，并控制增稳电机62带动连接组件223相对于支撑件60转动以抵消或补偿负载C在竖向上的抖动。
值得注意的是，在增稳装置20检测到负载C安装到负载安装部80且获取到启动增稳信息时，可以根据启动增稳信息控制增稳电机62带动连接组件223从极限位置开始相对于支撑件60转动至预设位置，并控制增稳电机62带动连接组件223相对于支撑件60转动以抵消或补偿负载C在竖向上的抖动。
上述预设位置可以是用户指定的位置，用户可以根据个人对增稳装置20的使用习惯向增稳装置20输入指定的位置。这样在增稳装置20被唤醒时，可以优先控制连接组件223转动至该指定的位置上。
可选地，响应于增稳电机62将对连接组件223的驱动力逐渐减小为0或者连接组件223移动至极限位置，可以控制增稳装置20进入休眠模式。相应地，在休眠模式中，若确定负载C安装到负载安装部80且获取到启动增稳信息，控制增稳电机62带动连接组件223从极限位置开始相对于支撑件60转动至预设位置，并控制增稳电机62带动连接组件223相对于支撑件60转动以抵消或补偿负载C在竖向上的抖动。
在增稳电机62卸力之后，可以控制增稳装置20进入休眠模式，以降低电能的消耗。当用户想要再次使用增稳装置20时，可以安装上负载C且唤醒增稳装置20。在用户唤醒增稳装置20时，增稳装置20可以获取到启动增稳信息，然后增稳装置20可以根据启动增稳信息操作增稳电机62。
可选地，增稳装置20还可以包括用于检测用户操作的交互装置。上述获取启动增稳信息的过程可以实现为：若检测到对用户对交互装置的启动增稳操作，生成启动增稳信息。
举例来说，可以在增稳装置中设置唤醒按键，该唤醒按键可以是上述交互装置，上述启动增稳操作相应的可以是对唤醒按键的点击操作。当用户点击了唤醒按键时，可以从休眠模式转换进入增稳模式。
采用本发明，当用户从负载安装部拆下负载时，能够及时检测到负载从负载安装部拆下，进而控制增稳电机向连接组件输出驱动力，以使得连接组件保持在当前位置不动，这样连接组件和负载安装部不会被拉起，用户不会被打伤，保证了用户的安全。
本发明又一示例性实施例提供了一种增稳装置20，如图1-图5所示，该装置包括：用于可拆卸连接负载C的负载安装部80、连接组件223、支撑件60、弹性件50、增稳电机62和处理器(图中未示出)；
所述连接组件223，一端与所述支撑件60转动连接，一端与所述负载安装部80相连；
所述负载安装部80包括用于可拆卸式安装所述负载C第一机械接口87；
所述弹性件50，用于为所述连接组件223提供支撑和平衡所述负载重力的平衡力；
所述增稳电机62带动所述连接组件223相对于所述支撑件60转动以抵消或补偿所述负载C的抖动；
所述处理器，用于确定安装在所述负载安装部80上的负载C是否从所述负载安装部80拆下；当确定所述负载C从所述负载安装部80拆下，控制所述增稳电机62以使所述连接组件223保持在当前位置。
可选地，所述负载安装部80包括用于为负载传输控制指令和/或电力和/或负载采集到的传感数据的电性接口88；
所述处理器，用于检测所述负载C是否断开与所述电性接口88之间的电性连接；若确定所述负载C断开与所述电性接口88之间的电性连接且所述增稳电机62对所述连接组件223的驱动力大于第一驱动力阈值时，确定安装在所述负载安装部80上的负载C从所述负载安装部80拆下。
可选地，所述负载安装部80包括用于检测所述第一机械接口87是否与负载C的第二机械接口解除锁定的检测传感器；
所述处理器，用于根据所述检测传感器检测到的传感数据，确定安装在所述负载安装部80上的负载C是否从所述负载安装部80拆下。
可选地，所述检测传感器为霍尔传感器或者干簧管。
可选地，所述处理器，用于：
控制所述增稳电机62以使所述连接组件223保持在当前位置第一预设时长。
可选地，所述处理器，还用于：
在所述连接组件223保持在当前位置所述第一预设时长后，控制增稳电机62将对所述连接组件223的驱动力逐渐减小为0，以使所述连接组件223在所述弹性件50的弹力作用下移动至极限位置。
可选地，所述处理器，还用于：
若确定在所述第一预设时长结束后的第二时长内确定负载C未安装到所述负载安装部80，控制增稳电机62将对所述连接组件223的驱动力逐渐减小为0，以使所述连接组件223在所述弹性件50的弹力作用下移动至极限位置。
可选地，所述处理器，还用于：
若确定在所述第一预设时长结束后的第二时长内确定负载C安装到所述负载安装部80，控制增稳电机62带动所述连接组件223相对于所述支撑件60转动以抵消或补偿负载C在竖向上的抖动。
可选地，所述处理器，还用于：
若在检测到负载C从负载安装部80拆卸后的第三时长内确定负载C未安装到所述负载安装部80，在所述连接组件223保持在当前位置预第三设时长后，控制增稳电机62将对所述连接组件223的驱动力逐渐减小为0，以使所述连接组件223在所述弹性件50的弹力作用下移动至极限位置；和/或，
若确定在所述第三预设时长确定负载C安装到所述负载安装部80，控制增稳电机62带动所述连接组件223相对于所述支撑件60转动以抵消或补偿负载C在竖向上的抖动。
可选地，所述处理器，还用于：
若确定负载C安装到所述负载安装部80且获取到启动增稳信息，控制增稳电机62带动所述连接组件223从所述极限位置开始相对于所述支撑件60转动至预设位置，并控制增稳电机62带动所述连接组件223相对于所述支撑件60转动以抵消或补偿负载C在竖向上的抖动。
可选地，所述处理器，还用于：
响应于所述增稳电机62将对所述连接组件223的驱动力逐渐减小为0或者所述连接组件223移动至极限位置，控制所述增稳装置20进入休眠模式；
所述若确定负载C安装到所述负载安装部80且获取到启动增稳信息，控制增稳电机62带动所述连接组件223从所述极限位置开始相对于所述支撑件60转动至预设位置，并控制增稳电机62带动所述连接组件223相对于所述支撑件60转动以抵消或补偿负载C在竖向上的抖动，包括：
在休眠模式中，若确定负载C安装到所述负载安装部80且获取到启动增稳信息，控制增稳电机62带动所述连接组件223从所述极限位置开始相对于所述支撑件60转动至预设位置，并控制增稳电机62带动所述连接组件223相对于所述支撑件60转动以抵消或补偿负载C在竖向上的抖动。
可选地，所述增稳装置20还包括用于检测用户操作的交互装置；
所述处理器，还用于若检测到对用户对交互装置的启动增稳操作，生成所述启动增稳信息。
可选地，所述处理器，还用于：
若所述负载C与所述负载安装部80的电性接口88电性连接和/或所述增稳电机62对所述连接组件223的驱动力小于或等于第二驱动力阈值时，确定负载C安装到所述负载安装部80；
其中，所述电性接口88用于为负载C传输控制指令和/或电力和/或负载C采集到的传感数据的电性接口。
可选地，所述连接组件223包括第一横杆部222、与所述第一横杆部222相对的第二横杆部224以及连接在第一横杆部222、第二横杆部224之间的竖杆部226，所述竖杆部226与负载安装部80相连；
所述负载安装部80用于承载负载C。
可选地，所述增稳电机62的数量为两个；所述两个增稳电机62用于驱动所述连接组件223绕所述支撑件60转动；
所述两个增稳电机62位于所述连接组件223的两侧。
可选地，所述增稳装置还包括传动件；
所述增稳电机62转动时通过所述传动件带动所述连接组件223相对于所述支撑件60转动。
可选地，所述传动件的一端偏心式地转动连接增稳电机62的外转子。
可选地，所述传动件的数量为两个；
所述增稳电机62的数量为两个；
位于在所述连接组件223两侧的两个传动件，其中，所述两个传动件中的第一传动件的第一端与两个增稳电机62中的第一增稳电机连接，所述两个传动件中的第二传动件的第一端与所述两个增稳电机62中的第二增稳电机连接；所述第一传动件和所述第二传动件的第二端对称铰接于所述连接组件223。
可选地，所述增稳装置20还包括传感器，所述传感器，用于获取所述负载C在竖向上的运动量值或位置改变量值；
所述处理器，还用于根据所述运动量值或所述位置改变量值计算出所述增稳电机62的转动方向及幅度，并根据所述增稳电机62的转动方向及幅度生成控制指令，以控制所述增稳电机62转动。
上述增稳装置可以执行图6所示实施例的方法，本实施例未详细描述的部分，可参考对图1-图6所示实施例的相关说明。该技术方案的执行过程和技术效果参见图1-图6所示实施例中的描述，在此不再赘述。
以上各个实施例中的技术方案、技术特征在不相冲突的情况下均可以单独，或者进行组合，只要未超出本领域技术人员的认知范围，均属于本发明保护范围内的等同实施例。
以上所述仅为本发明的实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术 人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。
Claims (38)
- 一种增稳装置的控制方法，其特征在于，所述增稳装置包括用于可拆卸连接负载的负载安装部、连接组件、支撑件、弹性件和增稳电机，其中，所述连接组件，一端与所述支撑件转动连接，一端与所述负载安装部相连，所述负载安装部包括用于可拆卸式安装所述负载的第一机械接口；所述弹性件，用于为所述连接组件提供支撑和平衡所述负载的重力的平衡力；所述增稳电机带动所述连接组件相对于所述支撑件转动以抵消或补偿所述负载在竖向上的抖动；所述方法包括：确定安装在所述负载安装部上的负载是否从所述负载安装部拆下；当确定所述负载从所述负载安装部拆下，控制所述增稳电机以使所述连接组件保持在当前位置。
- 根据权利要求1所述的方法，其特征在于，所述负载安装部包括用于为负载传输控制指令和/或电力和/或负载采集到的传感数据的电性接口，所述确定安装在所述负载安装部上的负载是否从所述负载安装部拆下，包括：检测所述负载是否断开与所述电性接口之间的电性连接；若确定所述负载断开与所述电性接口之间的电性连接时，确定安装在所述负载安装部上的负载从所述负载安装部拆下。
- 根据权利要求1所述的方法，其特征在于，所述负载安装部包括用于检测所述第一机械接口是否与负载的第二机械接口解除锁定的检测传感器，所述确定安装在所述负载安装部上的负载是否从所述负载安装部拆下，包括：根据所述检测传感器检测到的传感数据，确定安装在所述负载安装部上的负载是否从所述负载安装部拆下。
- 根据权利要求3所述的方法，其特征在于，所述检测传感器为霍尔传感器或者干簧管。
- 根据权利要求1-4任一项所述的方法，其特征在于，所述控制所述增稳电机以使所述连接组件保持在当前位置，包括：控制所述增稳电机以使所述连接组件保持在当前位置第一预设时长。
- 根据权利要求5所述的方法，其特征在于，所述方法还包括：在所述连接组件保持在当前位置所述第一预设时长后，控制增稳电机将对所述连接组件的驱动力逐渐减小为0，以使所述连接组件在所述弹性件的弹力作用下移动至极限位置。
- 根据权利要求5所述的方法，其特征在于，所述方法还包括：若确定在所述第一预设时长结束后的第二时长内确定负载未安装到所述负载安装部，控制增稳电机将对所述连接组件的驱动力逐渐减小为0，以使所述连接组件在所述弹性件的弹力作用下移动至极限位置。
- 根据权利要求5或7所述的方法，其特征在于，所述方法还包括：若确定在所述第一预设时长结束后的第二时长内确定负载安装到所述负载安装部，控制增稳电机带动所述连接组件相对于所述支撑件转动以抵消或补偿负载在竖向上的抖动。
- 根据权利要求1-4任一项所述的方法，其特征在于，所述方法还包括：若在检测到负载从负载安装部拆卸后的第三时长内确定负载未安装到所述负载安装部，在所述连接组件保持在当前位置预第三设时长后，控制增稳电机将对所述连接组件的驱动力逐渐减小为0，以使所述连接组件在所述弹性件的弹力作用下移动至极限位置；和/或，若确定在所述第三预设时长确定负载安装到所述负载安装部，控制增稳电机带动所述连接组件相对于所述支撑件转动以抵消或补偿负载在竖向上的抖动。
- 根据权利要求6、7或9所述的方法，其特征在于，所述方法还包括：若确定负载安装到所述负载安装部且获取到启动增稳信息，控制增稳电机带动所述连接组件从所述极限位置开始相对于所述支撑件转动至预设位置，并控制增稳电机带动所述连接组件相对于所述支撑件转动以抵消或补偿负载在竖向上的抖动。
- 根据权利要求10所述的方法，其特征在于，所述方法还包括：响应于所述增稳电机将对所述连接组件的驱动力逐渐减小为0或者所述连接组件移动至极限位置，控制所述增稳装置进入休眠模式；所述若确定负载安装到所述负载安装部且获取到启动增稳信息，控制增稳 电机带动所述连接组件从所述极限位置开始相对于所述支撑件转动至预设位置，并控制增稳电机带动所述连接组件相对于所述支撑件转动以抵消或补偿负载在竖向上的抖动，包括：在休眠模式中，若确定负载安装到所述负载安装部且获取到启动增稳信息，控制增稳电机带动所述连接组件从所述极限位置开始相对于所述支撑件转动至预设位置，并控制增稳电机带动所述连接组件相对于所述支撑件转动以抵消或补偿负载在竖向上的抖动。
- 根据权利要求10或11所述的方法，其特征在于，所述增稳装置还包括用于检测用户操作的交互装置，所述方法还包括：若检测到对用户对交互装置的启动增稳操作，生成所述启动增稳信息。
- 根据权利要求8或9所述的方法，其特征在于，所述方法还包括：若所述负载与所述负载安装部的电性接口电性连接和/或所述增稳电机对所述连接组件的驱动力小于或等于第二驱动力阈值时，确定负载安装到所述负载安装部；其中，所述电性接口用于为负载传输控制指令和/或电力和/或负载采集到的传感数据的电性接口。
- 根据权利要求1所述的方法，其特征在于，所述连接组件包括第一横杆部、与所述第一横杆部相对的第二横杆部以及连接在第一横杆部、第二横杆部之间的竖杆部，所述竖杆部与负载安装部相连。
- 根据权利要求1所述的方法，其特征在于，所述增稳电机的数量为两个，所述两个增稳电机用于驱动所述连接组件绕所述支撑件转动，所述两个增稳电机位于所述连接组件的两侧。
- 根据权利要求1所述的方法，其特征在于，所述增稳装置还包括传动件，所述增稳电机转动时通过所述传动件带动所述连接组件相对于所述支撑件转动。
- 根据权利要求16所述的方法，其特征在于，所述传动件的一端偏心式地转动连接增稳电机的外转子。
- 根据权利要求16所述的方法，其特征在于，所述传动件的数量为两个，所述增稳电机的数量为两个，位于在所述连接组件两侧的两个传动件，其中，所述两个传动件中的第一传动件的第一端与两个增稳电机中的第一增稳电机连接，所述两个传动件中的第二传动件的第一端与所述两个增稳电机中的第二增稳电机连接，所述第一传动件和所述第二传动件的第二端对称铰接于所述连接组件。
- 根据权利要求1所述的方法，其特征在于，所述增稳装置还包括：传感器，用于获取所述负载在竖向上的运动量值或位置改变量值；处理器，用于根据所述运动量值或所述位置改变量值计算出所述增稳电机的转动方向及幅度，并根据所述增稳电机的转动方向及幅度生成控制指令，以控制所述增稳电机转动。
- 一种增稳装置，其特征在于，所述增稳装置包括用于可拆卸连接负载的负载安装部、连接组件、支撑件、弹性件、增稳电机和处理器；所述连接组件，一端与所述支撑件转动连接，一端与所述负载安装部相连；所述负载安装部包括用于可拆卸式安装所述负载的第一机械接口；所述弹性件，用于为所述连接组件提供支撑和平衡所述负载重力的平衡力；所述增稳电机带动所述连接组件相对于所述支撑件转动以抵消或补偿所述负载在竖向上的抖动；所述处理器，用于：确定安装在所述负载安装部上的负载是否从所述负载安装部拆下；当确定所述负载从所述负载安装部拆下，控制所述增稳电机以使所述连接组件保持在当前位置。
- 根据权利要求20所述的增稳装置，其特征在于，所述负载安装部包括用于为负载传输控制指令和/或电力和/或负载采集到的传感数据的电性接口；所述处理器，用于：检测所述负载是否断开与所述电性接口之间的电性连接；若确定所述负载断开与所述电性接口之间的电性连接时，确定安装在所述负载安装部上的负载从所述负载安装部拆下。
- 根据权利要求20所述的增稳装置，其特征在于，所述负载安装部包括用于检测所述第一机械接口是否与负载的第二机械接口解除锁定的检测传感器；所述处理器，用于根据所述检测传感器检测到的传感数据，确定安装在所述负载安装部上的负载是否从所述负载安装部拆下。
- 根据权利要求22所述的增稳装置，其特征在于，所述检测传感器为霍尔传感器或者干簧管。
- 根据权利要求20-23任一项所述的增稳装置，其特征在于，所述处理器，用于：控制所述增稳电机以使所述连接组件保持在当前位置第一预设时长。
- 根据权利要求24所述的增稳装置，其特征在于，所述处理器，还用于：在所述连接组件保持在当前位置所述第一预设时长后，控制增稳电机将对所述连接组件的驱动力逐渐减小为0，以使所述连接组件在所述弹性件的弹力作用下移动至极限位置。
- 根据权利要求24所述的增稳装置，其特征在于，所述处理器，还用于：若确定在所述第一预设时长结束后的第二时长内确定负载未安装到所述负载安装部，控制增稳电机将对所述连接组件的驱动力逐渐减小为0，以使所述连接组件在所述弹性件的弹力作用下移动至极限位置。
- 根据权利要求24或26所述的增稳装置，其特征在于，所述处理器，还用于：若确定在所述第一预设时长结束后的第二时长内确定负载安装到所述负载安装部，控制增稳电机带动所述连接组件相对于所述支撑件转动以抵消或补偿负载在竖向上的抖动。
- 根据权利要求20-23任一项所述的增稳装置，其特征在于，所述处理器，还用于：若在检测到负载从负载安装部拆卸后的第三时长内确定负载未安装到所述负载安装部，在所述连接组件保持在当前位置预第三设时长后，控制增稳电机将对所述连接组件的驱动力逐渐减小为0，以使所述连接组件在所述弹性件的弹 力作用下移动至极限位置；和/或，若确定在所述第三预设时长确定负载安装到所述负载安装部，控制增稳电机带动所述连接组件相对于所述支撑件转动以抵消或补偿负载在竖向上的抖动。
- 根据权利要求25、26或28所述的增稳装置，其特征在于，所述处理器，还用于：若确定负载安装到所述负载安装部且获取到启动增稳信息，控制增稳电机带动所述连接组件从所述极限位置开始相对于所述支撑件转动至预设位置，并控制增稳电机带动所述连接组件相对于所述支撑件转动以抵消或补偿负载在竖向上的抖动。
- 根据权利要求29所述的增稳装置，其特征在于，所述处理器，还用于：响应于所述增稳电机将对所述连接组件的驱动力逐渐减小为0或者所述连接组件移动至极限位置，控制所述增稳装置进入休眠模式；所述若确定负载安装到所述负载安装部且获取到启动增稳信息，控制增稳电机带动所述连接组件从所述极限位置开始相对于所述支撑件转动至预设位置，并控制增稳电机带动所述连接组件相对于所述支撑件转动以抵消或补偿负载在竖向上的抖动，包括：在休眠模式中，若确定负载安装到所述负载安装部且获取到启动增稳信息，控制增稳电机带动所述连接组件从所述极限位置开始相对于所述支撑件转动至预设位置，并控制增稳电机带动所述连接组件相对于所述支撑件转动以抵消或补偿负载在竖向上的抖动。
- 根据权利要求29或30所述的增稳装置，其特征在于，所述增稳装置还包括用于检测用户操作的交互装置；所述处理器，还用于若检测到对用户对交互装置的启动增稳操作，生成所述启动增稳信息。
- 根据权利要求27或28所述的增稳装置，其特征在于，所述处理器，还用于：若所述负载与所述负载安装部的电性接口电性连接和/或所述增稳电机对所述连接组件的驱动力小于或等于第二驱动力阈值时，确定负载安装到所述负载安装部；其中，所述电性接口用于为负载传输控制指令和/或电力和/或负载采集到的传感数据的电性接口。
- 根据权利要求20所述的增稳装置，其特征在于，所述连接组件包括第一横杆部、与所述第一横杆部相对的第二横杆部以及连接在第一横杆部、第二横杆部之间的竖杆部，所述竖杆部与负载安装部相连。
- 根据权利要求20所述的增稳装置，其特征在于，所述增稳电机的数量为两个；所述两个增稳电机用于驱动所述连接组件绕所述支撑件转动；所述两个增稳电机位于所述连接组件的两侧。
- 根据权利要求20所述的增稳装置，其特征在于，所述增稳装置还包括传动件；所述增稳电机转动时通过所述传动件带动所述连接组件相对于所述支撑件转动。
- 根据权利要求35所述的增稳装置，其特征在于，所述传动件的一端偏心式地转动连接增稳电机的外转子。
- 根据权利要求35所述的增稳装置，其特征在于，所述传动件的数量为两个；所述增稳电机的数量为两个；位于在所述连接组件两侧的两个传动件，其中，所述两个传动件中的第一传动件的第一端与两个增稳电机中的第一增稳电机连接，所述两个传动件中的第二传动件的第一端与所述两个增稳电机中的第二增稳电机连接；所述第一传动件和所述第二传动件的第二端对称铰接于所述连接组件。
- 根据权利要求20所述的增稳装置，其特征在于，所述增稳装置还包括传感器，所述传感器，用于获取所述负载在竖向上的运动量值或位置改变量值；所述处理器，还用于根据所述运动量值或所述位置改变量值计算出所述增稳电机的转动方向及幅度，并根据所述增稳电机的转动方向及幅度生成控制指令，以控制所述增稳电机转动。
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