WO2023178521A1 - 云台控制装置和云台设备 - Google Patents

云台控制装置和云台设备 Download PDF

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Publication number
WO2023178521A1
WO2023178521A1 PCT/CN2022/082314 CN2022082314W WO2023178521A1 WO 2023178521 A1 WO2023178521 A1 WO 2023178521A1 CN 2022082314 W CN2022082314 W CN 2022082314W WO 2023178521 A1 WO2023178521 A1 WO 2023178521A1
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WO
WIPO (PCT)
Prior art keywords
pan
tilt
axis
control device
motor
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Application number
PCT/CN2022/082314
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English (en)
French (fr)
Inventor
陈哲斯
潘立忠
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 PCT/CN2022/082314 priority Critical patent/WO2023178521A1/zh
Priority to CN202280050540.3A priority patent/CN117693944A/zh
Publication of WO2023178521A1 publication Critical patent/WO2023178521A1/zh

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  • the present application relates to the technical field of PTZ control, and in particular to a PTZ control device and PTZ equipment.
  • the embodiment of the present application provides a PTZ control device and PTZ equipment.
  • Grip part connection part, sensor and processor
  • the holding part is movably connected to the frame of the pan/tilt through the connecting part;
  • the sensor is used to detect the rotation of the holding part relative to the frame and generate motion information
  • the processor is used to control the pan/tilt according to the motion information
  • the holding part provides supporting force to the frame of the pan/tilt through the connecting part during rotation.
  • a pan-tilt device includes the above-mentioned pan-tilt control device and a pan-tilt.
  • the pan-tilt is connected to a frame, and the holding portion is movably connected to the frame through the connecting portion. .
  • the grip portion can provide holding force support to a certain extent, allowing the user to control the gimbal through intuitive position control, reducing the difficulty of the user operating the gimbal and improving the movement time of the gimbal.
  • the stability and consistency can improve the shooting effect.
  • Figure 1 is a schematic structural diagram of a pan/tilt device according to an embodiment of the present application.
  • FIG. 2 is a module schematic diagram of the pan/tilt device according to the embodiment of the present application.
  • FIG. 3 is a schematic diagram of another module of the pan/tilt device according to the embodiment of the present application.
  • first and second are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features.
  • features defined as “first” and “second” may explicitly or implicitly include one or more of the described features.
  • “plurality” means two or more than two, unless otherwise explicitly and specifically limited.
  • connection should be understood in a broad sense.
  • it can be a fixed connection or a detachable connection.
  • the connection can be mechanical or electrical. It can be a direct connection or an indirect connection through an intermediary. It can be an internal connection between two elements or an interaction between two elements.
  • the term “above” or “below” a first feature on a second feature may include direct contact between the first and second features, or may also include the first and second features. Not in direct contact but through additional characteristic contact between them.
  • the terms “above”, “above” and “above” a first feature on a second feature include the first feature being directly above and diagonally above the second feature, or simply mean that the first feature is higher in level than the second feature.
  • “Below”, “under” and “under” the first feature is the second feature includes the first feature being directly below and diagonally below the second feature, or simply means that the first feature is less horizontally than the second feature.
  • a pan/tilt control device 100 proposed in an embodiment of the present application includes: a holding part 110, a connecting part 120, a sensor 130 and a processor 140.
  • the holding part 110 is movably connected to the frame 210 of the pan/tilt 200 through the connecting part 120 .
  • the sensor 130 is used to detect the rotation of the grip portion 110 relative to the frame 210 and generate motion information.
  • the processor 140 is used to control the pan/tilt 200 according to the motion information.
  • the holding part 110 provides supporting force to the frame 210 of the pan/tilt 200 through the connecting part 120 during rotation.
  • the gripping portion 110 can provide holding force support to a certain extent, allowing the user to control the pan-tilt 200 through intuitive position control, reducing the difficulty for the user to operate the pan-tilt 200, and improving the movement of the pan-tilt 200.
  • the stability and consistency during shooting can improve the shooting effect.
  • the pan/tilt control device 100 of this embodiment can be used in various shooting scenarios, and is used in conjunction with the pan/tilt 200.
  • the pan/tilt 200 is used to place and fix a shooting device 220 such as a mobile phone or camera.
  • the PTZ control device 100 can be used to control the PTZ 200 .
  • the rack 210 may include a first end for carrying the pan/tilt 200 and a second end away from the pan/tilt 200.
  • a side wall of the rack 210 is formed between the first end and the second end.
  • the holding part 110 is connected to the side wall of the frame 210 through the connecting part 120 .
  • the frame 210 can be used as a handle or a bracket of the pan/tilt 200.
  • the gripping part 110 is movably connected to the frame 210 of the pan/tilt 200 through the connecting part 120.
  • the connecting portion 120 can be a connecting structure provided on the frame 210, or a connecting structure independently provided and connecting the holding portion 110 and the frame 210.
  • the shape and position of the connecting structure satisfy the requirements of the holding portion 210.
  • the part 110 provides the support force requirement to the frame 210 through it.
  • the holding portion 110 provides support force in the direction of the rotation axis to the frame 210 of the pan/tilt 200 through the connecting portion 120 during rotation. In this way, the pan/tilt 200 can be provided with more stable support.
  • the connecting part 120 may be fixedly connected or detachably connected with the holding part 110 and the frame 210 .
  • the fixed connection method may be welding or integral structural connection formed by integrally molding the two.
  • the detachable connection method can be threaded connection, snap connection, magnetic connection, interference fit connection, etc.
  • the sensor 130 can be used as a position sensor 130 and can detect the rotation of the gripping part 110 relative to the frame 210.
  • the location of the sensor 130 and the specific type of the sensor 130 are not limited in order to detect the gripping part 110 and the frame 210. The relative rotation between them shall prevail.
  • the sensor 130 may include an angle sensor capable of detecting the rotation of the grip 110 relative to the frame 210 .
  • Angle sensors may include Hall sensors, rotary encoders, or other angle sensors.
  • the processor 140 can be disposed in the chassis 210 and can process various input signals, which include motion information detected by the sensor 130.
  • the processor 140 controls the pan/tilt 200 to perform corresponding operations based on the motion information.
  • the operations include But it is not limited to controlling the rotation of the pan/tilt 200 along each rotation axis to achieve the purpose of changing the shooting angle of the shooting device 220, adjusting the parameters of the pan/tilt 200, etc.
  • the pan/tilt control device 100 can control the movement of the pan/tilt 200 according to the rotation of the holding portion 110 relative to the frame 210 to achieve the beneficial effect of adjusting the attitude of the shooting device 220 .
  • the user can achieve this by making the holding part 110 and the frame 210 rotate relative to each other.
  • the sensor 130 connected to the holding part 110 can identify the current rotation of the holding part 110 to angle, generate movement information, and send the continuous movement information to the processor 140.
  • the processor 140 controls the pan/tilt motor 230 to rotate to the corresponding angle by fusing the current angle of the pan/tilt motor 230 with the movement information changes of the grip part 110. , to achieve the purpose of changing the shooting angle of the shooting device 220.
  • the angle of the pan/tilt motor 230 can be obtained through an attitude sensor.
  • the gripping part 110 is connected to the frame 210 of the pan/tilt 200 through the connecting part 120, and the user's hands hold the frame 210 and the gripping part 110 respectively, thereby providing two supporting forces to the pan/tilt device 300 at the same time. This can make the pan/tilt 200 more stable during use.
  • the shooting device 220 needs to adjust the shooting state, one hand can control the movement state of the holding part 110 and the relative position relationship with the frame 210
  • the other hand provides support to the frame 210 at the same time to avoid shaking when the user holds and operates the corresponding functional components with one hand, especially to avoid the need to move the pan/tilt 200 and operate the corresponding functional components at the same time in the shooting state.
  • the pan/tilt 200 When the camera shakes, the pan/tilt 200 remains stable, thereby achieving the beneficial effect of keeping the shooting image stable when the shooting device 220 moves and changes the shooting angle, and ultimately improves the shooting effect of the shooting device 220 .
  • the control of the pan/tilt 200 is realized through the relative rotation of the gripping part 110 and the frame 210, allowing the user to control the pan/tilt 200 through intuitive position change control, reducing the user's operating time of the pan/tilt 200. difficulty.
  • the pan/tilt 200 or the grip 110 can enter a locked state.
  • the locked state can be triggered or released via keys, touch screen or voice commands.
  • the grip 110 can move, but the sensor 130 no longer detects the movement state, or does not send the detected movement state to the processor 140 after detecting the movement state. In this way, the user can adjust the posture of the gripping part 110 for a better grip.
  • the gripping part 110 only has the function of providing support force.
  • the grip 110 can move, the sensor 130 can detect the movement state, generate movement information and send it to the processor 140, and the processor 140 controls the pan/tilt 200 based on the movement information.
  • the handles of gimbals often have relatively rough patterns to increase friction, absorb sweat, and increase the firmness of the grip. This means that the movement between the palm surface and the gimbal handle is reduced and there is static friction.
  • the corresponding posture of holding the gimbal will also change.
  • it is difficult to let go of the hand to adjust the holding gesture it is difficult to let go of the hand to adjust the holding gesture. Such a holding force will compress the wrist, and the user will be in an inappropriate holding posture for a long time, and the user will easily fatigue.
  • the pan/tilt control device 100 includes a holding part 110 and a connecting part 120 .
  • the gripping part 110 is movably connected to the frame 210 of the pan/tilt 200 through the connecting part 120, so that the gripping part 110 can rotate relative to the frame 210 and provide support at the same time.
  • the user can hold different pan/tilts 200 with both hands for support. position, overcoming the user's fatigue problem caused by gestures such as holding the handle with one hand or holding the same handle with both hands at the same time, making it difficult to let go to adjust the grip.
  • the gimbal 200 Take the gimbal 200 as a three-axis gimbal as an example.
  • the three-axis gimbal 200 includes an operating part, a yaw axis assembly (Yaw), a roll axis assembly (Roll), and a pitch axis assembly (Pitch).
  • the axis sequence is defined with the side of the shooting device 220 as the inside of the pan/tilt 200 and the side of the frame 210 as the outside of the pan/tilt 200.
  • the axis sequence of the three-axis pan/tilt 200 from the inside to the outside can be: roll axis component, pitch axis component and yaw axis. components.
  • the frame 210 is connected to the yaw axis assembly, and the operating part is provided on the frame 210.
  • the yaw axis assembly can drive the roll axis assembly, the pitch axis assembly and the shooting device 220 to rotate along the yaw axis.
  • the usage manner and posture of the pan/tilt 200 can be understood as the user performing corresponding movements of the pan/tilt 200 in order to achieve the desired shooting method (such as pushing, pulling, panning, moving the lens of the shooting device 220, etc.) to achieve the desired shooting mode.
  • 220 provides various assistances.
  • This corresponding movement can be the change of the position of the pan/tilt 200 in the horizontal direction and the change of the tilt angle of the pan/tilt 200 relative to the horizontal direction, or it can also be the position of the pan/tilt 200 in the vertical direction. changes and changes in tilt angle relative to the vertical direction.
  • the connecting portion 120 limits the relative positional relationship between the gripping portion 110 and the frame 210 in the axial direction of the rotation axis. In this way, the grip portion 110 can be kept stable when being rotated, allowing the user to accurately achieve an expected control purpose through the rotation of the grip portion 110 .
  • the connecting part 120 may have a limiting structure, and the limiting structure may limit the relative positional relationship between the holding part 110 and the frame 210 .
  • the limiting structure may be provided with an accommodating groove, and the accommodating groove may accommodate one end of the gripping part 110 along the axis of the rotating shaft, and one end of the gripping part 110 along the axis of the rotating axis may be stuck in the container. placed in the groove to prevent the gripping part 110 from being separated from the connecting part 120 during rotation, thereby limiting the relative positional relationship between the rotating shaft of the gripping part 110 and the frame 210 in the axial direction, and avoiding unexpected occurrences during the rotation of the gripping part 110 The displacement affects the stability of the pan/tilt 200.
  • the holding part 110 includes an inner shaft part and an outer peripheral holding part.
  • the outer peripheral holding part is sleeved on the outer surface of the inner shaft part and can rotate relative to the inner shaft part.
  • the inner shaft part is connected to the connecting part 120 fixed connection. In this way, the rotation of the gripping part 110 and the connecting part 120 limiting the relative positional relationship between the gripping part 110 and the frame 210 can be realized.
  • the holding portion 110 performs a rotational motion.
  • the outer peripheral gripping part is located on the outer peripheral surface of the gripping part 110.
  • the sensor 130 may be disposed on the connecting part 120.
  • the user holds the peripheral gripping part of the gripping part 110 and can rotate the outer peripheral gripping part to surround the inner axis.
  • the parts rotate relative to each other, and the sensor 130 can detect the rotation of the peripheral holding part and generate motion information.
  • the rotation of the outer peripheral holding member relative to the inner shaft member can make it easier for the user to control the pan/tilt 200 through hand feeling.
  • This operation method produces less shaking, making the pan/tilt 200 more stable, thereby improving the stability of the pan/tilt 200. This ensures the smoothness of the shooting image of the shooting device 220 and the control accuracy of the pan/tilt 200.
  • the processor 140 is configured to control the motor 230 of the pan/tilt 200 according to the motion information. In this way, the motor 230 can be used to control the posture of the pan/tilt 200, thereby controlling the posture of the shooting device 220.
  • the pan/tilt 200 may be a three-axis pan/tilt.
  • the three-axis pan/tilt includes a yaw axis component, a roll axis component, and a pitch axis component.
  • the axis sequence with the shooting device 220 side as the inside of the pan/tilt 200 and the rack 210 side as the outside of the pan/tilt 200.
  • the axis sequence of the three-axis pan/tilt from the inside to the outside can be: roll axis component, pitch axis component and yaw axis component.
  • the photographing device 220 is mounted on the innermost shaft assembly.
  • the processor 140 controls the motor 230 of the pan/tilt 200 according to the motion information, which may control at least one of the motor of the roll axis assembly, the motor of the pitch axis assembly, and the motor of the yaw axis assembly.
  • the motor 230 When controlling two or more motors 230, they can be controlled at the same time or in a time-sharing manner, and can be controlled according to preset rules.
  • the yaw axis, roll axis and pitch axis can be orthogonal to each other, or non-orthogonal to each other, or two of the axes can be orthogonal to each other and not orthogonal to the other axis. Non-orthogonal and so on.
  • the gimbal 200 may be a two-axis gimbal, and the two-axis gimbal includes two of a yaw axis component, a roll axis component, and a pitch axis component.
  • the definition of the axis sequence and the control of the motor 230 can be found in the above description of the three-axis gimbal, and will not be elaborated here.
  • the gimbal 200 may be a single-axis gimbal, and the single-axis gimbal includes one of a yaw axis component, a roll axis component, and a pitch axis component.
  • the shooting device 220 is installed on the axis assembly of the single-axis pan/tilt.
  • the processor 140 controls the motor 230 of the shaft assembly based on the motion information.
  • the pan/tilt 200 may include a leveling motor.
  • the motor 230 controlled by the processor 140 according to the motion information may be a leveling motor.
  • the leveling motor 230 may drive the pan/tilt 200 to perform a leveling operation, thereby reducing the load on the shaft assembly.
  • the output of the motor extends the service life of the gimbal 200.
  • the leveling motor can drive the axis arm of the shaft assembly to move or rotate to adjust the center of gravity of the entire pan/tilt 200 (including the pan/tilt 200 and the shooting device 220) so that the center of gravity of the entire pan/tilt 200 is located on the extension line of the frame 210. .
  • the gripping part 110 is configured to rotate around a preset axis; the sensor 130 is used to detect the rotational motion of the gripping part 110, and the motion information includes the rotational motion. In this way, the pan/tilt can be controlled by rotating the grip portion 110.
  • the gripping part 110 is configured to perform a rotational movement around a preset axis, which can be understood as the gripping part 110 making a revolution around the preset axis.
  • the preset axis may be an axis perpendicular to the drawing surface, and the holding part 110 may rotate clockwise or counterclockwise around the preset axis.
  • the holding part 110 can rotate through a rotating shaft.
  • the rotating shaft can be fixedly connected to the connecting part 120 and rotationally connected to the holding part 110 , or the rotating shaft can be rotationally connected to the connecting part 120 and fixedly connected to the holding part 110 .
  • the processor 140 controls the pan/tilt 200 according to the size of the rotation angle.
  • the gripping part 110 can also provide supporting force to the frame 210 through the connecting part 120 , thereby improving the stability and accuracy of the user's operation of the pan/tilt 200 .
  • the supporting force is increased to the frame 210 through the rotating shaft and the connecting part 120.
  • rotational motion is used to control motor 230 rotation. In this way, the control method of the motor 230 can be increased.
  • the pan/tilt 200 may include a single, two or three axis components.
  • the axis components are provided with corresponding motors 230.
  • the motors 230 controlled by the processor 140 according to the rotational motion may control the yaw axis component and the roll axis component.
  • a motor 230 of at least one of the pitch axis components to change at least one of the yaw angle, roll angle and pitch angle of the gimbal 200 , and the corresponding motor 230 is configured to be capable of corresponding rotation according to the control of the processor 140 , that is, the motion information is transmitted to the processor 140, and the processor 140 then controls the rotation of the motor 230 of the pan/tilt 200 to achieve the purpose of changing the shooting angle or posture of the shooting device 220.
  • the preset axis is one or more axes among a yaw axis, a pitch axis and a roll axis of the attitude of the shooting device 220 .
  • the control methods of the PTZ 200 can be enriched and adapted to more application scenarios.
  • the pan/tilt 200 may be a three-axis pan/tilt.
  • the three-axis pan/tilt includes a yaw axis component, a roll axis component, and a pitch axis component.
  • the axis sequence of a three-axis gimbal from inside to outside can be: roll axis component, yaw axis component and pitch axis component. That is, the yaw axis assembly connects the pitch axis assembly and the roll axis assembly, and the shooting device 220 is installed on the roll axis assembly.
  • the yaw axis component is used to control the yaw axis of the attitude of the shooting device 220
  • the roll axis component is used to control the roll axis of the attitude of the shooting device 220
  • the pitch axis component is used to control the pitch axis of the attitude of the shooting device 220 .
  • the pan/tilt 200 may be a two-axis pan/tilt or a single-axis pan/tilt.
  • a three-axis gimbal can have three axes that are orthogonal or non-orthogonal. For example, the angle between the pan axis and the pitch axis is less than 90 degrees.
  • the yaw axis, pitch axis and roll axis can be relative to the actual working state of the shooting device 220, and the position of the motor 230 of the corresponding axis assembly of the shooting device 220 changes.
  • the preset axis is one or more of the yaw axis, pitch axis or roll axis of the attitude of the shooting device 220.
  • the preset axis may be the yaw axis, pitch axis or roll axis of the attitude of the shooting device 220, or it may be
  • the preset axes are two or three axes among the yaw axis, pitch axis and roll axis of the attitude of the shooting device 220 .
  • One or more of the motor 230 of the yaw axis assembly, the motor 230 of the roll axis assembly, and the motor 230 of the pitch axis assembly are controlled by the gripping portion 110 rotating around the preset axis, so that the posture of the shooting device 220 is controlled accordingly.
  • One or more of the yaw axis, pitch axis and roll axis diversify the posture control of the shooting device 220 and adapt to more application scenarios.
  • the preset axis is one or more axes parallel to the yaw axis, pitch axis and roll axis of the attitude of the shooting device 220 . In this way, the control methods of the PTZ 200 can be enriched and adapted to more application scenarios.
  • the preset axis is one or more axes parallel to the yaw axis, pitch axis and roll axis of the attitude of the shooting device 220 .
  • the preset axis may be the yaw axis, the yaw axis, the pitch axis and the roll axis of the attitude of the shooting device 220 .
  • One axis parallel to the pitch axis or the roll axis, or the preset axis may be a yaw axis, two axes parallel to the attitude of the shooting device 220 , a pitch axis and a roll axis, or a heading that is parallel to the attitude of the shooting device 220 axis, pitch axis and roll axis are three parallel axes.
  • the preset axis may be a rotating axis to which the gripping part 110 is connected.
  • One or more of the motor 230 of the yaw axis assembly, the motor 230 of the roll axis assembly, and the motor 230 of the pitch axis assembly are controlled by the gripping portion 110 rotating around the preset axis, so that the corresponding control is related to the shooting device 220
  • One or more axes parallel to the yaw axis, pitch axis, and roll axis of the attitude diversify the attitude control of the shooting device 220 and adapt to more application scenarios.
  • the grip 110 is configured to move in a preset direction; the sensor 130 is used to detect the movement distance of the grip 110 , and the motion information includes the movement distance. In this way, the user can achieve the purpose of controlling the pan/tilt 200 by changing the position of the grip 110 in a certain preset direction.
  • the preset direction may include one or more directions of a horizontal direction, a vertical direction, a direction inclined to the horizontal direction, a direction inclined to the vertical direction, and the preset direction may be set according to actual needs or Adjustment, and movements in different directions and different distances correspond to different control results. It can be understood that this allows the pan/tilt control device 100 to have more operating modes to control the pan/tilt 200 by changing the state of the gripping portion 110 , expanding the usage of the PTZ control device 100 .
  • the holding portion 110 can move in a preset direction relative to the connecting portion 120 , for example, it can move away from and approach the connecting portion 120 in a horizontal direction, or it can move away from and approach the connecting portion 120 in a vertical direction, and so on.
  • the connecting part 120 may be provided with a guide rail
  • the holding part 110 may be provided with a guide rail groove that cooperates with the guide rail, and the length direction of the guide rail may be defined as a preset direction.
  • the movement distance is used to control the radial and/or axial movement of the motor 230 along the rotation axis of the motor 230 .
  • the purpose of controlling the pan/tilt 200 can be achieved by controlling the radial and/or axial movement of the motor 230 along the rotation axis of the motor 230 .
  • the pan/tilt 200 is configured to control the radial and/or axial movement of the motor 230 along the rotation axis of the motor 230 according to the movement distance.
  • Controlling the radial and/or axial movement of the motor 230 along the rotating shaft of the motor 230 may be controlling the radial movement of the motor 230 along the rotating shaft of the motor 230, or controlling the axial movement of the motor 230 along the rotating shaft of the motor 230, or controlling The motor 230 moves in the radial direction and the axial direction of the rotation axis of the motor 230 .
  • the pan/tilt 200 is a three-axis pan/tilt
  • the three-axis pan/tilt 200 includes a yaw axis component, a roll axis component, and a pitch axis component.
  • the axis sequence of the three-axis gimbal 200 from the inside to the outside may be: a roll axis component, a yaw axis component, and a pitch axis component. That is, the yaw axis assembly connects the pitch axis assembly and the roll axis assembly, and the shooting device 220 is installed on the roll axis assembly.
  • a three-axis gimbal can have three axes orthogonal or three axes non-orthogonal.
  • the motor 230 controlled by the moving distance may be the motor of the yaw axis assembly (hereinafter referred to as the yaw axis motor).
  • the motor 230 moves along the radial direction of the rotation axis of the motor 230, or the yaw axis motor may rotate along the yaw axis motor. Workplane translation.
  • the motor 230 moves along the axial direction of the rotation axis of the motor 230, which can be caused by the translation of the yaw axis motor along the rotation working plane perpendicular to the yaw axis motor, thereby enabling the shooting device 220 to translate in the rotation working plane of the yaw axis motor or perpendicular to the yaw axis motor. Rotate the work plane translation.
  • the motor 230 controlled by the moving distance may be the motor of the roll axis assembly (hereinafter referred to as the roll axis motor).
  • the motor 230 moves in the radial direction of the rotation axis of the motor 230, or the roll axis motor may move along the radial direction of the rotation axis of the motor 230.
  • the roller motor rotates the working plane and translates it.
  • the motor 230 moves along the axial direction of the rotation axis of the motor 230.
  • the roll axis motor may translate along the rotation working plane perpendicular to the roll axis motor, thereby enabling the shooting device 220 to translate in the rotation working plane of the roll axis motor or perpendicular to the roll axis motor.
  • the rotation of the roller motor translates the working plane.
  • the motor 230 controlled by the moving distance may be the motor of the pitch axis assembly (hereinafter referred to as the pitch axis motor).
  • the motor 230 moves in the radial direction of the rotation axis of the motor 230, or the pitch axis motor may rotate along the pitch axis motor.
  • Workplane translation The motor 230 moves along the axial direction of the rotation axis of the motor 230, which can be caused by the translation of the pitch axis motor along the rotation working plane perpendicular to the pitch axis motor, thereby realizing the translation of the shooting device 220 in the rotation working plane of the pitch axis 230 or the translation perpendicular to the pitch axis motor. Rotate the work plane translation.
  • the axis sequence of the three-axis gimbal 200 can also be other axis sequences, and the gimbal 200 can also be a two-axis gimbal or a single-axis gimbal.
  • the control method can refer to the above-mentioned three-axis gimbal 200. The description of the control method will not be elaborated here.
  • the motion information is used to adjust the operating mode of the pan/tilt 200. In this way, the operation mode of the pan/tilt 200 can be adjusted through the movement signal generated by the gripping part 110 .
  • the operating modes of the pan/tilt 200 may include “one-button smart follow", “gesture smart follow” and other modes. It can be understood that these described operating modes can be preset and stored in the pan/tilt. 200, adjust based on the motion information of the grip part 110. Specific implementations include: when the grip 110 is moved to a preset position by the user, the pan/tilt 200 can enter the "one-button intelligent following” operation mode; or, the pan/tilt 200 can enter the "gesture intelligent following” operation mode, and so on.
  • the preset position can be a preset angle, a preset distance, etc.
  • the operating modes of the pan/tilt 200 may include a "horizontal shooting” mode and a "vertical shooting” mode. It can be understood that these described operating modes can be preset and stored in the pan/tilt 200, and can be controlled through the holding part. 110 motion information to make adjustments. Specific implementation methods include: initially, the holding part 110 is set along the horizontal direction, and the pan/tilt 200 is in the "horizontal shooting" mode, so that the shooting device 220 shoots horizontally, that is, horizontally.
  • the pan/tilt 200 can be adjusted from the "horizontal shooting” mode to the "vertical shooting” mode, so that the shooting device 220 is adjusted from horizontal shooting to vertical shooting, that is, from horizontal shooting. For a vertical shot.
  • the pan/tilt 200 is provided with function keys; the motion information is used to adjust the correspondence between the function keys and the controlled functions. In this way, the user can selectively adjust the corresponding relationship between the function keys and the controlled functions according to actual needs, thereby improving the user experience.
  • the pan/tilt 200 is configured to adjust the corresponding relationship between the function keys and the controlled functions according to the motion information.
  • the operation part of the pan/tilt 200 may include function keys to implement corresponding functions.
  • the function key includes a rocker
  • the controlled function may include adjusting the response direction of the rocker, that is, adjusting the corresponding relationship between the rocker and the response direction of the rocker.
  • Response directions include horizontal, vertical and free directions.
  • the free directions may include upper left direction, lower left direction, upper right direction and lower right direction.
  • the corresponding relationship between the rocker and its response direction is adjusted based on the motion information of the grip portion 110 .
  • the response direction of the rocker is the horizontal direction.
  • the response direction of the rocker can be adjusted from the horizontal direction to the vertical direction. That is to say, initially, the response direction of the rocker
  • the response direction is the horizontal direction. Only when the joystick is operated in the horizontal direction (left or right), the pan/tilt 200 will respond to the corresponding operation.
  • the pan/tilt 200 will respond to the corresponding operation only when the rocker is operated in the vertical direction (up or down).
  • the function keys may also include other physical keys or virtual keys, and the virtual keys may be displayed on the touch display screen.
  • the touch display screen can be mounted on the rack 210.
  • the function keys include the motor 230 steering function key used to control the rotation of the motor 230 of the pan/tilt 200; the motion information is used to adjust the motor 230 steering function key to control the motor 230 correspondingly. In this way, control of the corresponding motor 230 can be achieved.
  • the pan/tilt 200 is configured to adjust the direction of the motor 230 according to the motion information to the motor 230 controlled corresponding to the function key.
  • the motor 230 steering function key provided on the pan/tilt 200 has the function of allowing the user to adjust the steering of the pan/tilt motor 230.
  • the rotation direction of the motor 230 may be forward rotation or reverse rotation.
  • the motor 230 steering function key can control the pan/tilt motor 230 to rotate forward or reverse. In one embodiment, initially, the pan/tilt motor 230 operates in forward rotation. After the steering function key of the motor 230 is triggered, the pan/tilt motor 230 operates in reverse rotation. In one embodiment, initially, the pan/tilt motor 230 operates in reverse rotation. After the steering function key of the motor 230 is triggered, the pan/tilt motor 230 operates in forward rotation.
  • the gimbal motor 230 may be at least one of a roll axis motor, a yaw axis motor, a pitch axis motor, and a leveling motor.
  • the rotation of the motor 230 is controlled through the motion information of the gripping part 110 to realize adjustment of the rotation directions of different motors 230 .
  • motion information is used to adjust shooting parameters of the shooting device 220 .
  • the user can adjust the shooting parameters of the shooting device 220 by operating the holding part 110, thereby improving the user experience.
  • the shooting parameters of the shooting device 220 include but are not limited to: focus and/or zoom; exposure parameters such as aperture, shutter speed, sensitivity value, white balance, etc.; and the switch of the flash.
  • Moving away may mean that the gripping part 110 moves away from the frame 210
  • approaching may mean that the gripping part 110 moves closer to the frame 210 .
  • the outer peripheral holding member of the holding portion 110 can rotate clockwise or counterclockwise around the inner shaft member, and the focal length of the photographing device 220 will be lengthened or shortened accordingly.
  • the gripping part 110 includes a first end close to the frame 210 and a second end far away from the frame 210. The gripping part 110 moves so that the second end is away from the frame 210. The focal length of the shooting device 220 is elongated. The gripping part 110 When moving, the second end is brought close to the frame 210, and the focal length of the shooting device 220 is shortened.
  • the sensitivity value can also be adjusted through similar operations.
  • the grip portion 110 further includes a damping portion for adjusting motion damping of the grip portion 110 . In this way, the user can feel a certain damping change when controlling the movement of the grip part 110, thereby improving the user experience.
  • the damping part can generate resistance to the movement of the grip part 110, and the resistance can increase as the rotation angle increases, or decrease as the rotation angle increases, etc., which can prompt the user to control the pan/tilt 200 or the shooting device 220 to a certain extent. limit and improve user experience.
  • the damping part is configured to adjust motion damping according to parameters of the pan/tilt 200 and/or parameters of the shooting device 220 . In this way, the damping part can be adjusted according to the parameter changes of the pan/tilt 200 and/or the parameter changes of the shooting device 220 and the parameters that need to be set, so as to adapt to actual needs and user expectations.
  • the damping size of the damping part changes with different parameter sizes or parameter types of the pan/tilt 200.
  • These parameters include but are not limited to parameters of the pan/tilt motor 230 and operation mode parameters of the pan/tilt 200.
  • the damping part will dampen the motion of the gripping part 110 from small to large to remind the user that the parameters of the pan-tilt motor 230 are about to be adjusted to
  • the required value is to facilitate the user to stop the force in time and avoid over-adjustment.
  • the parameters of the shooting device 220 may be shooting parameters and shooting angles.
  • the shooting parameters include but are not limited to: focus and/or zoom; exposure parameters such as aperture, shutter speed, sensitivity value, white balance; and the switch of the flash.
  • shooting The angle includes but is not limited to the pitch angle, heading angle, roll angle, etc. of the shooting device 220 .
  • the motion information is used to control the target parameter of the pan/tilt 200; the damping part is configured to, as the target parameter value of the pan/tilt 200 or the shooting device 220 approaches the end value of the value range of the corresponding parameter, Increase motion damping.
  • the control sensitivity of the holding part 110 can be adjusted accordingly according to changes in the target parameters of the pan/tilt 200 or the shooting device 220, thereby preventing the movement of the holding part 110 from affecting the corresponding parameters of the pan/tilt 200 or the shooting device 220.
  • the control sensitivity of the parameter is too large or too small.
  • the motion damping when the target parameter of the pan/tilt 200 is the first parameter value, the motion damping is controlled to be the first damping value, and when the target parameter of the pan/tilt 200 is the second parameter value, the motion damping is controlled to be the first damping value.
  • parameter value the motion damping is controlled to the second damping value, the second parameter value is closer to the end value of the target parameter value range than the first parameter value, and the second damping value is greater than the first damping value.
  • the damping part can set gear change damping, and can also adjust the damping steplessly.
  • the movement information is used to control target parameters of the pan/tilt 200; the pan/tilt 200 is configured to adjust the correspondence between the movement information and the target parameters based on received user instructions. In this way, the user can adjust the corresponding relationship between the motion information and the target parameters of the pan/tilt 200 through the motion information generated by the grip part 110 .
  • the target parameters include, but are not limited to, the follow focus speed of the shooting device 220, the steering control speed of the motor 230, the zoom sensitivity, etc.
  • the correspondence between the motion information and the target parameters includes, but is not limited to, some of the following implementations: Grip part
  • the grip 110 is pulled in the left and right direction to adjust the focus speed of the shooting device 220, the grip is pulled in the front and rear direction to adjust the steering control speed of the motor 230, and the grip 110 is rotated around the axis to adjust the zoom sensitivity.
  • the user instruction may be generated based on the user's operation of the operating part of the PTZ 200, or the user's voice instruction, or sent to the PTZ 200 through a user terminal (such as a mobile phone, tablet computer, etc.).
  • the PTZ 200 can operate the PTZ 200 based on the user instruction.
  • the corresponding relationship between the motion information and the target parameters is adjusted. For example, initially, the gripping part 110 is pulled in the left and right direction to adjust the focus speed of the shooting device 220, and the gripping part 110 is pulled in the front and rear direction to adjust. Motor 230 turns to control speed.
  • the gripping part 110 can be pulled in the left and right direction to adjust the focus speed of the shooting device 220, and the adjustment is to adjust the steering control speed of the motor 230; the gripping part 110 can be pulled in the front and rear direction to adjust the motor 230.
  • the steering control speed is adjusted to adjust the focus speed of the shooting device 220 and so on.
  • the senor 130 is configured to receive a user instruction to pause the generation of motion information. In this way, the posture of the gripping part 110 is adjusted for a better grip. At this time, the gripping part 110 has the function of providing support force and does not have the function of controlling the pan/tilt 200 .
  • the sensor 130 stops generating motion information.
  • the pan/tilt 200 or the grip 110 can enter a locked state.
  • the locked state can be triggered or released by user instructions, which can be achieved by buttons, touch screen or voice commands.
  • the sensor 130 pauses generating motion information it can be understood that the pan/tilt 200 or the grip part 110 is in a locked state.
  • the grip part 110 can move, but the sensor 130 no longer detects the motion state, or does not detect the motion state after detecting the motion state.
  • the detected motion state is then sent to the processor 140. In this way, the user can adjust the posture of the gripping part 110 for a better grip.
  • the gripping part 110 only has the function of providing support force.
  • the grip 110 can move, the sensor 130 can detect the movement state, generate movement information and send it to the processor 140, and the processor 140 controls the pan/tilt 200 based on the movement information.
  • the embodiment of the present application also proposes a pan-tilt device 300.
  • the pan-tilt device 300 includes the pan-tilt control device 100 and the pan-tilt 200 of any of the above embodiments.
  • the pan-tilt 200 is connected to a frame 210, and the holding part 110 is connected through
  • the part 120 is movably connected to the frame 210.
  • the gripping portion 110 can provide holding force support to a certain extent, allowing the user to control the pan-tilt 200 through intuitive position control, reducing the difficulty for the user to operate the pan-tilt 200, and improving the movement time of the pan-tilt 200.
  • the stability and consistency can improve the shooting effect.
  • pan-tilt control device 100 is also applicable to the pan-tilt device 300 of this embodiment. To avoid redundancy, it will not be elaborated here.

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Abstract

一种云台控制装置(100)和云台设备(300)。云台控制装置(100)包括：握持部(110)，连接部(120)，传感器(130)和处理器(140)；握持部(110)通过连接部(120)可活动地连接于云台(200)的机架(210)；传感器(130)，用于检测握持部(110)相对于机架(210)的转动动作，生成运动信息；处理器(140)，用于根据运动信息控制云台(200)，其中，握持部(110)在转动的过程中通过连接部(120)向云台(200)的机架(210)提供支撑力。

Description

云台控制装置和云台设备 技术领域
本申请涉及云台控制技术领域，特别涉及一种云台控制装置和云台设备。
背景技术
在相关技术中，控制云台动动的方法主要有两种：1.通过移动机架，云台电机跟随机架平滑移动；2.通过掰动机架上的摇杆，云台电机按照掰动摇杆杆量以设定速度转动。然而以上方法分别有以下缺点：方法一：由于云台本身自重较大，且机架设计为方便用户固定方向握持，在旋转云台机架时肘部容易晃动造成画面稳定性差。方案二：由于机架摇杆较小，同时用户需要握持云台的机架，只能使用拇指操控，无法精确控制杆量，导致云台电机转动速度难以和期望速度一致，造成画面偏移。
发明内容
本申请实施方式提供一种云台控制装置和云台设备。
本申请实施方式的云台控制装置包括：
握持部，连接部，传感器和处理器；
所述握持部通过所述连接部可活动地连接于云台的机架；
所述传感器，用于检测所述握持部相对于所述机架的转动动作，生成运动信息；
所述处理器，用于根据所述运动信息控制所述云台，
其中，所述握持部在转动的过程中通过所述连接部向所述云台的机架提供支撑力。
本申请实施方式的一种云台设备，包括上述的云台控制装置和云台，所述云台连接有机架，所述握持部通过所述连接部可活动地连接于所述机架。
上述云台控制装置和云台设备中，握持部可以一定程度上提供把持力的支撑，能够让用户通过直观的位置控制来控制云台，降低用户操作云台的难度，提升云台运动时的稳定性及一致性，可提升拍摄效果。
本申请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为本申请实施方式的云台设备的结构示意图；
图2为本申请实施方式的云台设备的模块示意图；
图3为本申请实施方式的云台设备的又一模块示意图。
具体实施方式
下面详细描述本申请的实施方式，所述实施方式的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施方式是示例性的，仅用于解释本申请，而不能理解为对本申请的限制。
在本申请的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。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一个或者更多个所述特征。在本申请的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本申请的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接。可以是机械连接，也可以是电连接。可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
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之“上”或之“下”可以包括第一和第二特征直接接触，也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征“之上”、“上方”和“上面”包括第一特征在第二特征正上方和斜上方，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”包括第一特征在第二特征正下方和斜下方，或仅仅表示第一特征水平高度小于第二特征。
上文的公开提供了许多不同的实施方式或例子用来实现本申请的不同结构。为了简化本 申请的公开，上文中对特定例子的部件和设置进行描述。当然，它们仅仅为示例，并且目的不在于限制本申请。此外，本申请可以在不同例子中重复参考数字和/或参考字母，这种重复是为了简化和清楚的目的，其本身不指示所讨论各种实施方式和/或设置之间的关系。此外，本申请提供了的各种特定的工艺和材料的例子，但是本领域普通技术人员可以意识到其他工艺的应用和/或其他材料的使用。
一并请参图1和图2，本申请实施方式提出的一种云台控制装置100，包括：握持部110，连接部120，传感器130和处理器140。握持部110通过连接部120可活动地连接于云台200的机架210。传感器130用于检测握持部110相对于机架210的转动动作，生成运动信息。处理器140用于根据运动信息控制云台200。其中，握持部110在转动的过程中通过连接部120向云台200的机架210提供支撑力。
上述云台控制装置100中，握持部110可以一定程度上提供把持力的支撑，能够让用户通过直观的位置控制来控制云台200，降低用户操作云台200的难度，提升云台200运动时的稳定性及一致性，可提升拍摄效果。
参照图3，具体地，本实施方式的云台控制装置100，可应用于各种拍摄场景中，其与云台200相配合使用，云台200用于放置固定手机或相机等拍摄装置220，该云台控制装置100可用于控制云台200。机架210可包括用于承载云台200的第一端和远离云台200的第二端，第一端和第二端之间形成有机架210的侧壁。握持部110通过连接部120连接于机架210的侧壁。机架210可以作为云台200的手柄或支架。
更具体地，握持部110通过连接部120可活动地连接于云台200的机架210，用户在使用云台200以及该云台控制装置100的时候，双手分别握持握持部110和机架210，其中，连接部120可以是设于机架210上的一个连接结构，或者是独立设置并且连接握持部110和机架210的连接结构，该连接结构的形状以及位置满足握持部110通过其向机架210提供支撑力的要求。在一个实施方式中，握持部110在转动的过程中通过连接部120向云台200的机架210提供转动轴向上的支撑力。如此，可以对云台200提供更稳定支撑。
连接部120可以固定连接或可拆卸地连接握持部110和机架210。固定连接的方式可以是焊接、两者一体成型所形成的一体结构连接。可拆卸地连接方式可以是螺纹连接、卡扣连接、磁吸连接、过盈配合连接等等。
传感器130可以作为位置传感器130，能够检测握持部110相对于机架210所发生的转动动作，其设置的位置以及具体的传感器130类型不作具体限定，以实现检测握持部110与机架210之间的相对转动动作为准。在一个实施方式中，传感器130可包括角度传感器，角度传感器能够检测握持部110相对于机架210所发生的转动动作。角度传感器可包括霍尔传 感器、旋转编码器、或其它角度传感器。
处理器140可以设置在机架210内，并能够处理各种的输入信号，这些输入信号包括传感器130检测到的运动信息，处理器140根据运动信息控制云台200做出相应操作，该操作包括但不限于控制云台200作沿各旋转轴的转动，从而实现变换拍摄装置220的拍摄角度的目的，以及云台200参数调整等等。
参照图1和图3，该云台控制装置100可以根据握持部110相对于机架210的转动动作来控制云台200运动以达到调节拍摄装置220姿态的有益效果。当拍摄装置220的拍摄角度需要调节的时候，用户可通过使握持部110与机架210发生相对的转动动作来实现，握持部110连接的传感器130可以识别出当前握持部110转动到的角度，生成运动信息，将连续的运动信息发送给处理器140，处理器140通过融合当前云台电机230的角度和握持部110的运动信息变化，控制云台电机230转动到相应的角度，达到变换拍摄装置220的拍摄角度的目的。云台电机230的角度可以通过姿态传感器获取。
进一步地，握持部110通过连接部120与云台200的机架210连接，用户的双手分别握持机架210和握持部110，从而能够同时给云台设备300提供两个支撑力，如此能够使得云台200在使用过程中更加平稳，尤其地，当拍摄装置220需要进行拍摄状态调节的时候，通过其中一只手控制握持部110的运动状态以及与机架210的相对位置关系而调节拍摄状态，另一只手同时给机架210提供支撑力，避免用户单手握持和操作相应功能组件时发生晃动，尤其是避免拍摄状态中需要移动云台200并同时操作相应功能组件的时候发生晃动，从而使得云台200保持平稳的状态，进而实现拍摄装置220在移动过程中以及变换拍摄角度的时候保持拍摄画面平稳的有益效果，最终提升拍摄装置220的拍摄效果。另外地，通过握持部110与机架210的相对转动来实现对云台200的控制，能够让用户可以通过直观的位置变化控制来达到控制云台200的目的，降低了用户操作云台200的难度。
在一个实施方式中，云台200或握持部110可以进入锁定状态。锁定状态可通过按键、触摸屏或语音指令触发或解除。在锁定状态下，握持部110可以运动，但是传感器130不再检测运动状态，或者检测到运动状态之后不向处理器140发送所检测到运动状态。这样，用户可以调整握持部110的姿态可以是为了更好的握持，此时握持部110仅具备提供支撑力的作用。解除锁定状态后，握持部110可以运动，传感器130可以检测运动状态，生成运动信息发送至处理器140，处理器140根据运动信息控制云台200。
在相关技术中，云台的手柄上往往有较为粗糙的花纹，增大摩擦力、吸汗、增加握持的牢固度。这意味着手掌面与云台手柄之间运动减少，处于静摩擦力。而当用户托举云台的姿 态发生变化，例如双手握持云台从身体左侧移动至身体右侧，相应的握持云台的姿态也会发生变化。一般云台使用过程中，尤其是拍摄过程中不便于松手以调节握持的手势，这样握持力会压迫手腕，长久处于不适当的握持姿势，用户容易疲劳。
在本申请实施方式中，云台控制装置100包括握持部110和连接部120。握持部110通过连接部120可活动地连接云台200机架210，使得握持部110可以相对于机架210转动，并同时提供支撑力，用户可以双手分别握持不同的云台200支撑部位，克服了单手握持手柄或双手同时握持同一手柄而不便于松手以调节握持的手势所导致的用户容易疲劳问题。
以云台200为三轴云台为例说明。三轴云台200包括操作部、航向轴组件(Yaw)、横滚轴组件(Roll)和俯仰轴组件(Pitch)。以拍摄装置220侧为云台200内侧，机架210侧为云台200外侧定义轴序，三轴云台200从内到外的轴序可以是：横滚轴组件、俯仰轴组件和航向轴组件。机架210连接航向轴组件，操作部设置在机架210上，航向轴组件可以驱动横滚轴组件、俯仰轴组件和拍摄装置220沿航向轴转动。
云台200的使用方式和使用姿态可以理解为，用户为达到所需的拍摄方式(例如拍摄装置220的镜头的推、拉、摇、移等)而将云台200进行诸如相应运动以为拍摄装置220提供各种的辅助，这种相应运动可以是云台200在水平方向上的位置的改变及云台200相对水平方向的倾斜角度的改变，也可以是云台200在竖直方式上的位置的改变及相对竖直方向的倾斜角度的改变。
在某些实施方式中，在握持部110转动时，连接部120限制握持部110在转动动作的转轴轴向上与机架210的相对位置关系。如此，能够使得握持部110在被转动的时候保持稳定，便于用户精准的通过握持部110的转动来实现预想的一个控制目的。
具体地，连接部120可具有限位结构，限位结构可限制握持部110与机架210的相对位置关系。在一个实施方式中，限位结构可开设有容置槽，容置槽可以容置握持部110沿转轴轴向上的一端，该握持部110沿转轴轴向上的一端可以卡在容置槽内，以防止握持部110转动过程中脱离连接部120，进而限制握持部110的转轴轴向上与机架210的相对位置关系，避免握持部110转动过程中发生期望外的位移而影响云台200的稳定性。
在某些实施方式中，握持部110包括内轴件和外周握持件，外周握持件套设于内轴件的外表面，并能够相对于内轴件转动，内轴件与连接部120固定连接。如此，可以实现握持部110转动和连接部120限制握持部110与机架210的相对位置关系。
具体地，在本实施方式中，相对于内轴件转动外周握持件时，可以理解为握持部110作自转运动。外周握持件位于握持部110的外周面，传感器130可以设置在连接部120上，用 户握持住握持部110的外周握持件，并可以转动外周握持件以使其围绕内轴件相对转动，传感器130能够检测外周握持件的转动动作，生成运动信息。可以理解，外周握持件作相对于内轴件转动能够更加便于用户通过手部感觉来控制云台200，这种操作方式产生的晃动更少，使得云台200的稳定性更好，从而提升了拍摄装置220的拍摄画面的平稳度和云台200的控制精度。
在某些实施方式中，处理器140用于根据运动信息控制云台200的电机230。如此，可以控制通过电机230来控制云台200姿态，进而控制拍摄装置220的姿态。
具体地，在一个实施方式中，云台200可以是三轴云台，三轴云台包括航向轴组件、横滚轴组件和俯仰轴组件。以拍摄装置220侧为云台200内侧，机架210侧为云台200外侧定义轴序，三轴云台从内到外的轴序可以是：横滚轴组件、俯仰轴组件和航向轴组件，也可以是俯仰轴组件、横滚轴组件和航向轴组件，也可以是横滚轴组件、航向轴组件和俯仰轴组件等等，在此不作具体限定。拍摄装置220安装在最内侧的轴组件上。处理器140根据运动信息控制云台200的电机230，可以是控制横滚轴组件的电机、俯仰轴组件的电机和航向轴组件的电机中的至少一个。当控制两个或两个以上电机230时，可以同时控制，或分时控制，根据预先设定的规则进行控制即可。航向轴、横滚轴和俯仰轴可以是三个轴相互之间是正交的，也可以三个轴相互之间是非正交的，也可以是其中两个轴相互正交，与另一轴非正交等等。
在一个实施方式中，云台200可以是两轴云台，两轴云台包括航向轴组件、横滚轴组件和俯仰轴组件中的其中两个。轴序的定义和电机230的控制可参上述三轴云台的说明，在此不作详细展开。
在一个实施方式中，云台200可以是单轴云台，单轴云台包括航向轴组件、横滚轴组件和俯仰轴组件中的其中一个。拍摄装置220安装在单轴云台的轴组件上。处理器140根据运动信息控制轴组件的电机230。
在一个实施方式中，云台200可包括调平电机，处理器140根据运动信息所控制的电机230可以是调平电机，调平电机230可以驱动云台200进行调平操作，减少轴组件的电机的出力，延长云台200的使用寿命。具体地，调平电机可以驱动轴组件的轴臂移动或转动来调整整个云台200(包括云台200和拍摄装置220)的重心，使整个云台200的重心位于机架210的延长线上。
在某些实施方式中，握持部110被配置为可绕预设轴做旋转运动；传感器130，用于检测握持部110的旋转运动，运动信息包括旋转运动。如此，可以通过握持部110的旋转来控 制云台。
具体地，在本实施方式中，握持部110被配置为可绕预设轴做旋转运动，可以理解为握持部110线预设轴做公转运动。图1所示的实施方式中，预设轴可以是垂直于图面的轴，握持部110可以绕预设轴沿顺时针旋转，也可以沿逆时针旋转。握持部110可以通过转轴实现旋转运动，具体地，转轴可固定连接连接部120并转动连接握持部110，也可以是转轴转动连接连接部120并固定连接握持部110。处理器140根据旋转角度的大小控制云台200。
在握持部110旋转过程中，握持部110也可以通过连接部120向机架210提供支撑力，提升了用户操作云台200的稳定性和精确性。例如，握持部110旋转过程中，通过转轴和连接部120向机架210提升支撑力。
在某些实施方式中，旋转运动用于控制电机230转动。如此，可以增加电机230的控制方式。
具体地，云台200可以包括单个、两个或三个轴组件，轴组件设有相应的电机230，处理器140根据旋转运动所控制的电机230，可以是控制航向轴组件、横滚轴组件和俯仰轴组件中的至少一个的电机230，以改变云台200的航向角度、横滚角度和俯仰角度中的至少一个，相应的电机230被配置为能够根据处理器140的控制而作相应转动，也即，运动信息传送到处理器140，处理器140再控制云台200的电机230转动便可以实现变换拍摄装置220的拍摄角度或姿态的目的。
在某些实施方式中，预设轴为拍摄装置220的姿态的航向轴、俯仰轴和横滚轴中的一个轴或者多个轴。如此，可以丰富云台200的控制方式，适应更多应用场景。
具体地，在一个实施方式中，云台200可以是三轴云台，三轴云台包括航向轴组件、横滚轴组件和俯仰轴组件。三轴云台从内到外的轴序可以是：横滚轴组件、航向轴组件和俯仰轴组件。即航向轴组件连接俯仰轴组件和横滚轴组件，拍摄装置220安装在横滚轴组件上。航向轴组件用于控制拍摄装置220的姿态的航向轴，横滚轴组件用于控制拍摄装置220的姿态的横滚轴，俯仰轴组件用于控制拍摄装置220的姿态的俯仰轴。在其它实施方式中，云台200可以是两轴云台或单轴云台。
三轴云台可以是三轴正交的，也可以是三轴非正交，例如，航向轴与俯仰轴夹角小于90度。航向轴、俯仰轴和横滚轴可相对于拍摄装置220实际工作状态来说的，拍摄装置220姿态对应轴组件的电机230位置发生变换。
预设轴为拍摄装置220的姿态的航向轴、俯仰轴或横滚轴中一个或者多个轴，可以是预设轴为拍摄装置220的姿态的航向轴、俯仰轴或横滚轴，也可以是预设轴为拍摄装置220的 姿态的航向轴、俯仰轴和横滚轴中的其中两个轴，或三个轴。
通过握持部110绕预设轴做旋转运动来控制航向轴组件的电机230、横滚轴组件的电机230和俯仰轴组件的电机230中的一个或多个，使得对应控制拍摄装置220的姿态的航向轴、俯仰轴和横滚轴中的一个轴或者多个轴，使得拍摄装置220的姿态控制多样化，适应更多的应用场景。
在某些实施方式中，预设轴为与拍摄装置220的姿态的航向轴、俯仰轴和横滚轴平行的轴中一个轴或者多个轴。如此，可以丰富云台200的控制方式，适应更多应用场景。
具体地，预设轴为与拍摄装置220的姿态的航向轴、俯仰轴和横滚轴平行的轴中一个轴或者多个轴，可以是预设轴为与拍摄装置220的姿态的航向轴、俯仰轴或横滚轴平行的一个轴，也可以是预设轴为与拍摄装置220的姿态的航向轴、俯仰轴和横滚轴中平行的两个轴，或与拍摄装置220的姿态的航向轴、俯仰轴和横滚轴平行的三个轴。
在一个实施方式中，预设轴可以是握持部110所连接的转轴。通过握持部110绕预设轴做旋转运动来控制航向轴组件的电机230、横滚轴组件的电机230和俯仰轴组件的电机230中的一个或多个，使得对应控制与拍摄装置220的姿态的航向轴、俯仰轴和横滚轴平行的轴中一个轴或者多个轴，使得拍摄装置220的姿态控制多样化，适应更多的应用场景。
在某些实施方式中，握持部110被配置为沿预设方向移动；传感器130用于检测握持部110的移动距离，运动信息包括移动距离。如此地，能够使得用户通过在某一预设方向上改变握持部110的位置来达到控制云台200的目的。
具体地，该预设方向可包括水平方向、竖直方向、与水平方向倾斜的方向、与竖直方向倾斜的方向中的一个方向或多个方向，该预设方向可以根据实际需要进行设置或调节，并且不同方向和不同距离的移动对应不同的控制结果，可以理解，如此能使该云台控制装置100具有更多操作方式以通过握持部110的状态改变来实现对云台200的控制，扩充了该云台控制装置100的使用方式。
握持部110可以相对于连接部120沿预设方向移动，例如可以沿水平方向远离和靠近连接部120移动，或可以沿竖直方向远离和靠近连接部120移动等等。具体地，连接部120上可设有导轨，握持部110上设有与导轨配合连接的导轨槽，导轨的长度方向可定义为预设方向。
在某些实施方式中，移动距离用于控制电机230沿电机230转轴的径向和/或轴向移动。如此，可以通过控制电机230沿电机230转轴的径向和/或轴向移动来实现控制云台200的目的。
具体地，云台200被配置为根据移动距离控制电机230沿电机230转轴的径向和/或轴向移动。控制电机230沿电机230转轴的径向和/或轴向移动，可以是控制电机230沿电机230转轴的径向移动，也可以是控制电机230沿电机230转轴的轴向移动，还可以是控制电机230沿电机230转轴的径向和轴向移动。
在一个实施方式中，云台200为三轴云台，三轴云台200包括航向轴组件、横滚轴组件和俯仰轴组件。三轴云台200从内到外的轴序可以是：横滚轴组件、航向轴组件和俯仰轴组件。即航向轴组件连接俯仰轴组件和横滚轴组件，拍摄装置220安装在横滚轴组件上。三轴云台可以是三轴正交，也可以是三轴非正交。
在一个实施方式中，移动距离所控制的电机230可以是航向轴组件的电机(下称航向轴电机)，电机230沿该电机230转轴的径向移动，可以是航向轴电机沿航向轴电机旋转工作平面平移。电机230沿该电机230转轴的轴向移动，可以是航向轴电机沿垂直于航向轴电机旋转工作平面平移，进而可以实现拍摄装置220在航向轴电机的旋转工作平面平移或垂直于航向轴电机的旋转工作平面平移。
在一个实施方式中，移动距离所控制的电机230可以是横滚轴组件的电机(下称横滚轴电机)，电机230沿该电机230转轴的径向移动，可以是横滚轴电机沿横滚轴电机旋转工作平面平移。电机230沿该电机230转轴的轴向移动，可以是横滚轴电机沿垂直于横滚轴电机旋转工作平面平移，进而可以实现拍摄装置220在横滚轴电机的旋转工作平面平移或垂直于横滚轴电机的旋转工作平面平移。
在一个实施方式中，移动距离所控制的电机230可以是俯仰轴组件的电机(下称俯仰轴电机)，电机230沿该电机230转轴的径向移动，可以是俯仰轴电机沿俯仰轴电机旋转工作平面平移。电机230沿该电机230转轴的轴向移动，可以是俯仰轴电机沿垂直于俯仰轴电机旋转工作平面平移，进而可以实现拍摄装置220在俯仰轴230的旋转工作平面平移或垂直于俯仰轴电机的旋转工作平面平移。
可以理解，在其它实施方式中，三轴云台200的轴序还可以是其它轴序，云台200还可以是两轴云台或单轴云台，控制方式可以参上述三轴云200的控制方式的描述，在此不作详细展开。
在某些实施方式中，运动信息用于调整云台200的操作模式。如此，能够通过握持部110所导致产生的运动信号对云台200的操作模式进行调整。
具体地，在一个实施方式中，云台200的操作模式可包括“一键智能跟随”、“手势智能跟随”等模式，可以理解，所描述的这些操作模式可以预先设定并存储在云台200，通过握 持部110的运动信息来进行调整。具体的实施方式包括：握持部110被用户扳到预设位置，云台200可进入“一键智能跟随”的操作模式；或者，云台200可以进入“手势智能跟随”，等等。预设位置可以是预设角度，预设距离等等。
在一个实施方式中，云台200的操作模式可包括“水平拍摄”模式和“垂直拍摄”模式，可以理解，所描述的这些操作模式可以预先设定并存储在云台200，通过握持部110的运动信息来进行调整。具体的实施方式包括：初始时，握持部110沿水平方向设置，云台200处于“水平拍摄”模式，使得拍摄装置220为水平拍摄，即横拍。当握持部110被用户从水平方向扳到垂直方向，云台200可以从“水平拍摄”模式调整为“垂直拍摄”模式，使得拍摄装置220从水平拍摄调整为垂直拍摄，即从横拍调整为竖拍。
在某些实施方式中，云台200上设置有功能键；运动信息用于调整功能键与被控功能之间的对应关系。如此，能够让用户根据实际需要有选择地调节功能键与被控功能之间的对应关系，提升用户体验。
具体地，云台200被配置为，根据运动信息调整功能键与被控功能之间的对应关系。云台200的操作部可以包括功能键以实现相应功能。在一个实施方式中，功能键包括摇杆，被控制功能可包括调节摇杆的响应方向，即调整摇杆与摇杆响应方向的对应关系。响应方向包括水平方向、竖直方向和自由方向。自由方向可包括左上方向，左下方向，右上方向和右下方向。
通过握持部110的运动信息来调整摇杆与其响应方向的对应关系。例如，初始时，摇杆的响应方向为水平方向，当握持部110转到一定角度时，可以将摇杆的响应方向从水平方向调整为竖直方向，也就是说，初始时，摇杆的响应方向为水平方向，只有摇杆沿水平方向(向左或向右)操作时，云台200才响应相应操作，当通过握持部110的运动信息将摇杆的响应方向从水平方向调整为竖直方向后，只有摇杆沿竖直方向(向上或向下)操作时，云台200才响应相应操作。
可以理解，在其它实施方式中，功能键还可以包括其它实体键，或虚拟键，虚拟键可以显示在触摸显示屏。触摸显示屏可以安装在机架210上。
在某些实施方式中，功能键包括用于控制云台200的电机230转动的电机230转向功能键；运动信息用于调整电机230转向功能键对应控制的电机230。如此，可以实现对应电机230的控制。
具体地，云台200被配置为，根据运动信息调整电机230转向功能键对应控制的电机230。云台200上设置的电机230转向功能键具有供用户调节云台电机230的转向的作用。 电机230的转向可以是正转和反转。
电机230转向功能键能够控制云台电机230正转或反转。在一个实施方式中，初始时，云台电机230工作时是正转，电机230转向功能键被触发后，云台电机230工作时为反转。在一个实施方式中，初始时，云台电机230工作时是反转，电机230转向功能键被触发后，云台电机230工作时为正转。
云台电机230可以是横滚轴电机、航向轴电机、俯仰轴电机、调平电机中的至少一个。通过握持部110的运动信息来控制电机230的转向，实现不同电机230转动方向的调整。
参照图3，在某些实施方式中，运动信息用于调整拍摄装置220的拍摄参数。如此，用户可以通过操作握持部110便可以调整拍摄装置220的拍摄参数，提升用户体验。
具体地，拍摄装置220的拍摄参数包括但不限于：对焦和/或变焦；光圈、快门速度、感光度值、白平衡等曝光参数；以及闪光灯的开关。运动信息与拍摄参数之间的对应关系的一些实施方式如下表所示：
  顺时针转动 逆时针转动 远离 靠近
焦距 长 短 长 短
感光度值 增加 减少 增加 减少
远离可以是指握持部110远离机架210移动，靠近可以是指握持部110靠近机架210移动。
具体地，握持部110的外周握持件可绕内轴件沿顺时针或者逆时针转动，拍摄装置220的焦距相应的拉长或者拉近。握持部110包括接近机架210的第一端和远离机架210的第二端，握持部110运动使得第二端远离机架210，拍摄装置220的焦距被拉长，握持部110运动时使第二端靠近机架210，拍摄装置220的焦距被拉近。感光度值也可以作类似操作来调整。
在某些实施方式中，握持部110还包括阻尼部，阻尼部用于调节握持部110的运动阻尼。如此，可以使用户在控制握持部110运动时感受到一定阻尼变化，提升用户体验。
具体地，阻尼部能够对握持部110运动产生阻力，阻力可以随着转动角度增大而增大，或增大而减少等，可以提示用户对云台200或拍摄装置220的控制达到一定的极限，提升用户体验。
在某些实施方式中，阻尼部被配置为，根据云台200的参数和/或拍摄装置220的参数调整运动阻尼。如此，能够使阻尼部根据云台200的参数变化和/或拍摄装置220的参数变化以及所需要设置的参数不同而进行调整，以适应实际需要和用户的预期。
具体地，阻尼部的阻尼大小随着云台200的参数大小不同或参数类型不同而发生改变，这些参数包括但不限于云台电机230的参数，云台200操作模式参数。例如，当通过握持部110的运动信息调整云台电机230的参数从小变大时，阻尼部对握持部110的运动阻尼从小变大，以提示用户，云台电机230的参数快调整到所需的数值，以利于用户及时收力，避免过调。
拍摄装置220的参数可以是拍摄参数和拍摄角度，拍摄参数包括但不限于：对焦和/或变焦；光圈、快门速度、感光度值、白平衡等曝光参数；以及闪光灯的开关，另外地，拍摄角度包括但不限于拍摄装置220的俯仰角度、航向角度、横滚角度等。
在某些实施方式中，运动信息用于控制云台200的目标参数；阻尼部被配置为，随着云台200或拍摄装置220的目标参数取值接近对应参数的取值范围的端值，增加运动阻尼。如此可以使得握持部110的控制灵敏度能够跟随云台200或拍摄装置220的目标参数改变而做出适应的调整，从而避免握持部110运动对与之对应的云台200参数或拍摄装置220参数的控制灵敏度过大或者过小。
具体地，在一个实施方式中，以云台200目标参数作为说明，在云台200的目标参数为第一参数值时，控制运动阻尼为第一阻尼值，在云台200目标参数为第二参数值时，控制运动阻尼为第二阻尼值，第二参数值较第一参数值更接近目标参数取值范围的端值，第二阻尼值大于第一阻尼值。其中，阻尼部可以设置档位变化阻尼，也可以无极调节阻尼。具体的一些实施方式如下表所示：
Figure PCTCN2022082314-appb-000001
在某些实施方式中，运动信息用于控制云台200的目标参数；云台200被配置为，基于接受到的用户指令调节运动信息与目标参数之间的对应关系。如此，使得用户能够通过握持部110所产生的运动信息对运动信息和云台200的目标参数的对应关系进行调整。
具体地，目标参数包括但不限于拍摄装置220的跟焦速度、电机230转向控制速度和变焦灵敏度等，运动信息与目标参数之间的对应关系包括但不限于以下的一些实施方式：握持部110沿左右方向被扳动以调节拍摄装置220的跟焦速度，握持沿前后方向被扳动以调节电机230转向控制速度，握持部110绕轴被转动以调变焦灵敏度。
用户指令可以是基于用户对云台200操作部的操作而产生的，或用户语音指令，或通过用户终端(如手机、平板电脑等)发送至云台200的，云台200能够基于用户指令对运动信息与目标参数之间的对应关系进行调节，例如，初始时，握持部110沿左右方向被扳动以调节拍摄装置220的跟焦速度，握持部110沿前后方向被扳动以调节电机230转向控制速度。基于用户指令，可以将握持部110沿左右方向被扳动以调节拍摄装置220的跟焦速度，调节为，调节电机230转向控制速度；握持部110沿前后方向被扳动以调节电机230转向控制速度，调节为，调节拍摄装置220的跟焦速度等。
在某些实施方式中，传感器130，用于接收用户指令暂停生成运动信息。如此，调整握持部110姿态是为了更好的握持，此时握持部110具备提供支撑力的作用，不具备控制云台200的作用。
具体地，在用户不需要通过操作握持部110来控制云台200的时候，传感器130暂停生成运动信息。云台200或握持部110可以进入锁定状态。锁定状态可通过用户指令触发或解除，用户指令可以由按键、触摸屏或语音指令来实现。当传感器130暂停生成运动信息的时候，此时可以理解为云台200或握持部110处于锁定状态，握持部110可以运动，但是传感器130不再检测运动状态，或者检测到运动状态之后不再向处理器140发送检测到的运动状态。这样，用户可以调整握持部110的姿态可以是为了更好的握持，此时握持部110仅具备提供支撑力的作用。解除锁定状态后，握持部110可以运动，传感器130可以检测运动状态，生成运动信息发送至处理器140，处理器140根据运动信息控制云台200。
本申请实施方式还提出一种云台设备300，该云台设备300包括上述任一实施方式的云台控制装置100和云台200，云台200连接有机架210，握持部110通过连接部120可活动地连接于机架210。
上述云台设备300中，握持部110可以一定程度上提供把持力的支撑，能够让用户通过直观的位置控制来控制云台200，降低用户操作云台200的难度，提升云台200运动时的稳定性及一致性，可提升拍摄效果。
需要说明的是，上述对云台控制装置100的实施方式和有益效果的解释说明，也适用于本实施方式的云台设备300，为避免冗余，在此不作详细展开。
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”等的描述意指结合实施方式或示例描述的具体特征、结构、材料或者特点包含在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。
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。
尽管已经示出和描述了本申请的实施方式，本领域的普通技术人员可以理解：在不脱离本申请的原理和宗旨的情况下可以对这些实施方式进行多种变化、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 (20)

  1. 一种云台控制装置，其特征在于，包括：
    握持部，连接部，传感器和处理器；
    所述握持部通过所述连接部可活动地连接于云台的机架；
    所述传感器，用于检测所述握持部相对于所述机架的转动动作，生成运动信息；
    所述处理器，用于根据所述运动信息控制所述云台，
    其中，所述握持部在转动的过程中通过所述连接部向所述云台的机架提供支撑力。
  2. 根据权利要求1所述的云台控制装置，其特征在于，
    在所述握持部转动时，所述连接部限制所述握持部在所述转动动作的转轴轴向上与所述机架的相对位置关系。
  3. 根据权利要求2所述的云台控制装置，其特征在于，所述握持部包括内轴件和外周握持件，所述外周握持件套设于所述内轴件的外表面，并能够相对于所述内轴件转动，所述内轴件与所述连接部固定连接。
  4. 根据权利要求1所述的云台控制装置，其特征在于，所述处理器用于根据所述运动信息控制所述云台的电机。
  5. 根据权利要求4所述的云台控制装置，其特征在于，所述握持部被配置为可绕预设轴做旋转运动；
    所述传感器，用于检测所述握持部的旋转运动，所述运动信息包括所述旋转运动。
  6. 根据权利要求5所述的云台控制装置，其特征在于，所述旋转运动用于控制所述电机转动。
  7. 根据权利要求5或6所述的云台控制装置，其特征在于，所述预设轴为拍摄装置的姿态的航向轴、俯仰轴和横滚轴中的一个轴或者多个轴。
  8. 根据权利要求5或6所述的云台控制装置，其特征在于，所述预设轴为与拍摄装置的姿态的航向轴、俯仰轴和横滚轴平行的轴中一个轴或者多个轴。
  9. 根据权利要求4至8任一项所述的云台控制装置，其特征在于，所述握持部被配置为沿预设方向移动；
    所述传感器，用于检测所述握持部的移动距离，所述运动信息包括所述移动距离。
  10. 根据权利要求9所述的云台控制装置，其特征在于，所述移动距离用于控制所述电机沿电机转轴的径向和/或轴向移动。
  11. 根据权利要求1至10任一项所述的云台控制装置，其特征在于，所述运动信息用于调整所述云台的操作模式。
  12. 根据权利要求11所述的云台控制装置，其特征在于，所述云台上设置有功能键；
    所述运动信息用于调整所述功能键与被控功能之间的对应关系。
  13. 根据权利要求12所述的云台控制装置，其特征在于，所述功能键包括用于控制所述云台的电机转动的电机转向功能键；
    所述运动信息用于调整所述电机转向功能键对应控制的电机。
  14. 根据权利要求1至13任一项所述的云台控制装置，其特征在于，所述运动信息用于调整拍摄装置的拍摄参数。
  15. 根据权利要求1至14任一项所述的云台控制装置，其特征在于，所述握持部还包括阻尼部，所述阻尼部用于调节所述握持部的运动阻尼。
  16. 根据权利要求15所述的云台控制装置，其特征在于，所述阻尼部被配置为，根据所述云台的参数和/或拍摄装置的参数调整所述运动阻尼。
  17. 根据权利要求16所述的云台控制装置，其特征在于，所述运动信息用于控制所述云台的目标参数；
    所述阻尼部被配置为，随着所述云台或拍摄装置的目标参数取值接近对应所述参数的取值范围的端值，增加所述运动阻尼。
  18. 根据权利要求1至17任一项所述的云台控制装置，其特征在于，所述运动信息用于控制所述云台的目标参数；
    所述云台被配置为，基于接受到的用户指令调节所述运动信息与所述目标参数之间的对应关系。
  19. 根据权利要求1至18任一项所述的云台控制装置，其特征在于，所述传感器，用于接收用户指令暂停生成所述运动信息。
  20. 一种云台设备，其特征在于，包括权利要求1至19任一项所述的云台控制装置和云台，所述云台连接有机架，所述握持部通过所述连接部可活动地连接于所述机架。
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