CN103901897B - The control method of head and the control system of head - Google Patents
The control method of head and the control system of head Download PDFInfo
- Publication number
- CN103901897B CN103901897B CN201410096067.XA CN201410096067A CN103901897B CN 103901897 B CN103901897 B CN 103901897B CN 201410096067 A CN201410096067 A CN 201410096067A CN 103901897 B CN103901897 B CN 103901897B
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- head
- motion
- user
- desired movement
- load
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000001514 detection method Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 2
- 241000222712 Kinetoplastida Species 0.000 description 1
- 208000003443 Unconsciousness Diseases 0.000 description 1
- 230000001154 acute effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Accessories Of Cameras (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
- Studio Devices (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of control method of head, head is used to carry a load, and the control method includes：Detect the motion state of head or load；The motion that head or load are judged according to motion state is user's desired movement or non-user desired movement；If non-user desired movement, then the direction of motion progress counter motion relative to the non-user desired movement is loaded by cradle head control, and then cause load to keep original orientation；If user's desired movement, then together moved by the direction of motion of user's desired movement by cradle head control load.The invention also discloses a kind of control system of the head corresponding with above-mentioned head control method.
Description
Technical field
The present invention relates to cradle head control technical field, the control method of more particularly to a kind of head and the control system of head
System.
Background technology
Camera is in shooting picture, and shake has a great impact to the image quality that it shoots, and this shake includes x, y, z
The small translation of axle and around x, y, z rotation, usual people are insensitive to translation, and rotate and can cause " a small discrepancy, it is wrong with
The problem of a thousand li ", i.e., small rotation can cause the acute variation of image content, have a strong impact on the quality of shooting picture.
Therefore, people are seeking the shake that a kind of effective manner eliminates camera, the camera of prior art when rotating,
It is conscious change shooting angle that user, which can not be judged,（User's desired movement）Or unconscious shake（Non-user is expected fortune
It is dynamic）, therefore, usually user's desired movement is eliminated by mistake, it is impossible to accurately eliminate the shake of camera.
Accordingly, it is desirable to provide the control method and the control system of head of a kind of head, to solve the above problems.
The content of the invention
The present invention provides a kind of control method of head and the control system of head, can solve the problem that in the prior art, it is impossible to
It is that user's desired movement or non-user desired movement cause to eliminate user's desired movement mistake to judge camera, causes camera to reach
Less than expected shooting angle.
In order to solve the above technical problems, one aspect of the present invention is：A kind of control method of head is provided,
Head is used to carry a load, and the control method includes：Detect the motion state of head or load；Cloud is judged according to motion state
The motion of platform or load is user's desired movement or non-user desired movement；If non-user desired movement, then pass through head
Control load carries out counter motion relative to the direction of motion of non-user desired movement, and then causes load to keep original orientation；
If user's desired movement, then together moved by the direction of motion of user's desired movement by cradle head control load.
Wherein, detection head or load motion state the step of be specially：Detect the rotational angle of head；According to motion
The step of motion of condition adjudgement head or load is user's desired movement or non-user desired movement be specially：Judge to rotate
Whether angle exceedes default angle threshold, if so, then the motion of head is user's desired movement, if it is not, the then motion of head
It is non-user desired movement.
Wherein, angle threshold is less than the maximum rotation angle of head.
Wherein, detection head or load motion state the step of be specially：Detect the angular speed of load.According to motion shape
State judges that the step of motion of head or load is user's desired movement or non-user desired movement is specially：Judge angular speed
Whether default angular speed threshold value is exceeded, if so, the motion then loaded is user's desired movement, if it is not, the motion then loaded is
Non-user desired movement.
Wherein, head is installed on a movable body, detection head or load motion state the step of be specially：Detection fortune
The control signal that kinetoplast is received.The motion that head or load are judged according to motion state is user's desired movement or non-user
The step of desired movement is specially：The control signal corresponding with the motion of movable body is judged whether, if so, then head
Motion is user's desired movement, if it is not, then the motion of head is non-user desired movement.
In order to solve the above technical problems, another technical solution used in the present invention is：A kind of control system of head is provided
System, head is used to carry a load, and the control system includes：Sensor and controller, sensor are used to detect head or load
Motion state.Controller is used to judge that the motion of head or load is user's desired movement or non-user according to motion state
Desired movement, and if non-user desired movement, then the fortune relative to non-user desired movement is loaded by cradle head control
Dynamic direction carries out counter motion, and then causes load to keep original orientation, if user's desired movement, then negative by cradle head control
Load is together moved by the direction of motion of user's desired movement.
Wherein, sensor is used for the rotational angle for detecting head, and whether controller is used to judge rotational angle more than default
Angle threshold, if so, then the motion of head is user's desired movement, if it is not, then the motion of head is non-user desired movement.
Wherein, angle threshold is less than the maximum rotation angle of head.
Wherein, sensor is used for the angular speed for detecting load, and controller is used to judge whether angular speed exceedes default angle
Threshold speed, if so, the motion then loaded is user's desired movement, if it is not, the motion then loaded is non-user desired movement.
Wherein, head is installed on a movable body, and controller is used to detecting the control signal that movable body received and is used for
The control signal corresponding with the motion of movable body is judged whether, if so, then the motion of head is user's desired movement, if
No, then the motion of head is non-user desired movement.
The beneficial effects of the invention are as follows：It is different from the situation of prior art, the fortune of the invention by detecting head or load
Dynamic state simultaneously judges that the motion of head is user's desired movement or non-user desired movement according to motion state, so as to standard
True elimination non-user desired movement, it is to avoid eliminate user's desired movement.
Brief description of the drawings
Fig. 1 is the flow chart of the control method first embodiment of head of the present invention；
Fig. 2 is the flow chart of the control method second embodiment of head of the present invention;
Fig. 3 is the flow chart of the control method 3rd embodiment of head of the present invention;
Fig. 4 is the flow chart of the control method fourth embodiment of head of the present invention;
Fig. 5 is the module diagram of the control system of head of the present invention.
Embodiment
The present invention will be described in detail with reference to the accompanying drawings and examples.
Referring to Fig. 1, Fig. 1 is the flow chart of the control method first embodiment of head of the present invention.The head is used to carry
In one load, the present embodiment, the load is a camera, and the control method of the head comprises the following steps：
Step S11：Detect the head or the motion state of the load.
Step S12：The motion that the head or the load are judged according to motion state is user's desired movement or non-user
Desired movement.
In step s 12, if non-user desired movement, then step S13 is performed：By the cradle head control load relative to
The direction of motion of the non-user desired movement carries out counter motion, and then causes load to keep original orientation；If user is expected
Motion, then perform step S14：Together moved by the direction of motion of user's desired movement by cradle head control load.
It is worth noting that, the user's desired movement of this in the present embodiment refers to the fortune of the desired load of user or head
It is dynamic, and the non-user desired movement refers to the undesirable load of user or the motion of head.
Referring to Fig. 2, Fig. 2 is the flow chart of the control method second embodiment of head of the present invention.The head is used to carry
In one load, the present embodiment, the load is a camera, and the control method of the head comprises the following steps：
Step S21：Detect the rotational angle of the head.
In step S21：In the present embodiment, holding cloud platform rotation by human hand drives camera to rotate.In other embodiment
In, also it can rotate to drive camera to rotate by other devices.
Step S22：Judge whether rotational angle exceedes default angle threshold.
In step S22, default angle threshold is less than in the maximum rotation angle of head, the present embodiment, predetermined angle
Threshold value is 15 degree, and the maximum rotation angle of head is 30 degree, and in other embodiments, predetermined angle threshold value can also be other
Value, the maximum rotation angle of head can also be other values.
In step S22, if so, then the motion of head is user's desired movement, step S23 is performed：Pass through the head control
The camera is made together to move by user's desired movement；If it is not, then the motion of head is non-user desired movement, step is performed
S24：Rotation direction is expected relative to the non-user by the cradle head control camera and carries out counter motion, and then camera is kept
Original orientation.
In step S23, the motion of the head is user's desired movement, and its purpose is to change the shooting angle of camera
Degree, then the cradle head control camera is together moved with head, so as to help the camera at the uniform velocity to change rotation shooting angle,
So that the picture shot in rotation process is more stable.
In step s 24, the motion of the head is non-user desired movement, then the cradle head control camera is relative to the head
Rotation direction carry out opposite direction rotation, and then cause camera the original orientation of holding.
Referring to Fig. 3, Fig. 3 is the flow chart of the control method 3rd embodiment of head of the present invention.The head is used to carry
One load, in the present embodiment, the head is installed on an aircraft, and the load is a camera, in other embodiments, the cloud
Platform is also mountable to vehicle or other movable bodies.In the present embodiment, the cloud platform control method comprises the following steps：
Step S31：Detect the angular speed of the load.
In step S31, the angular speed of load is detected, load generally comprises three kinds of rotations, and the first is the boat of course axle
To rotation（It is rotation of the load with aircraft in the horizontal plane on the basis of during by aircraft horizontal flight）, second is roll
The roll of axle is rotated（Load is rotation of the wing around fuselage in perpendicular with aircraft and direction）, the third is pitch axis
Pitch rotation（Load is rotation of the fuselage around wing in perpendicular with aircraft and direction）, it is with the rotation of wherein course
Example, then be detection course axle course rotational angular velocity.
Step S32：Judge whether angular speed exceedes default angular speed threshold value.
In step s 32, if so, the motion then loaded is user's desired movement, step S33 is performed：Pass through cradle head control
Load is together moved by the direction of motion of user's desired movement；If it is not, then the motion of the load is non-user desired movement, hold
Row step S34：Direction of motion progress counter motion relative to the non-user desired movement is loaded by cradle head control, and then made
The original orientation of holding must be loaded.
It is considered that aircraft is unstable in flight course when the angular speed of detection is less than default angular speed threshold value（Touch
To cloud layer or air-flow）Caused camera is with the rotation of small angular speed（Non-user desired movement）, then cradle head control camera is passed through
Rotation direction relative to the head carries out counter motion, and then causes camera to keep original orientation.It is big when detecting angular speed
It is considered that aircraft needs to change course when default angular speed threshold value（User's desired movement）, then the cradle head control phase is passed through
Machine is together rotated with the head.
Referring to Fig. 4, Fig. 4 is the flow chart of the control method fourth embodiment of head of the present invention.In the present embodiment, should
Head is used to carry a load.The head is installed on a movable body, in the present embodiment, and the movable body is an aircraft.At it
In his embodiment, the movable body is alternatively vehicle or other movable bodies.In the present embodiment, the cloud platform control method include with
Lower step：
Step S41：Detect the control signal that the movable body is received.
Step S42：Judge whether the control signal corresponding with the motion of the movable body.
In step S42, if so, then the motion of the head is user's desired movement, step S43 is performed：Pass through head control
System load is together moved by the direction of motion of user's desired movement；If it is not, then the motion of the head is non-user desired movement,
Perform step S44：Direction of motion progress counter motion relative to the non-user desired movement is loaded by the cradle head control, entered
And cause load to keep original orientation.
Control signal received by sense aircraft, judges whether the corresponding control letter of motion with aircraft
Number, such as control signal corresponding with the motion of aircraft can be being used for for the remote control transmitting of aircraft or aircraft
Control aircraft to rotate the control signal in course, this signal is the control signal desired by user, cloud is can determine whether if existing
The motion of platform is user's desired movement, then is together moved with head by cradle head control camera, and head is can determine whether if being not present
Motion be non-user desired movement, then the rotation direction by cradle head control camera relative to head is rotated backward, and is entered
And cause camera to keep original orientation.
Referring to Fig. 5, Fig. 5 is the module diagram of the control system of head of the present invention.In the present embodiment, head is used for
Carry one to load, load as a camera.
Control system includes：Sensor 10 and controller 20.
Sensor 10 is used for the motion state for detecting the head or load.
Controller 20 is used to judge that the motion of the head or load is that user's desired movement is also non-use according to motion state
Family desired movement, and if non-user desired movement, then by cradle head control load relative to the non-user desired movement
The direction of motion carries out counter motion, and then causes load to keep original orientation, if user's desired movement, then pass through cradle head control
Load is together moved by the direction of motion of user's desired movement.
Specifically, sensor 10 is used for the rotational angle for detecting head, and controller 20 is used to judge whether rotational angle surpasses
Default angle threshold is crossed, if so, then the motion of the head is user's desired movement, if it is not, then the motion of the head is non-use
Family desired movement.Preferably, angle threshold is less than the maximum rotation angle of head, and angle threshold is preferably 15 degree, head
Maximum rotation angle is 30 degree.
The sensor 10 is additionally operable to the angular speed of detection load, and controller 20 is additionally operable to judge whether and movable body
The corresponding control signal of motion, if so, then the motion of movable body is user's desired movement, if it is not, then the motion of movable body is
Non-user desired movement.
Head is installed on a movable body, and controller 20 is used to detecting the control signal that movable body received and for judging
With the presence or absence of the control signal corresponding with the motion of movable body, if so, then the motion of head is user's desired movement, if it is not,
Then the motion of head is non-user desired movement.
Prior art is different from, the present invention is by detecting the motion state of head or load and judging cloud according to motion state
The motion of platform or load is user's desired movement or non-user desired movement, and fortune is expected so as to accurately eliminate non-user
It is dynamic, it is to avoid to eliminate user's desired movement.
Embodiments of the present invention are the foregoing is only, are not intended to limit the scope of the invention, it is every to utilize this
Equivalent structure or equivalent flow conversion that description of the invention and accompanying drawing content are made, or directly or indirectly it is used in other correlations
Technical field, is included within the scope of the present invention.
Claims (2)
1. a kind of control method of head, it is characterised in that the head is used to carry a load, and the control method includes：
Detect the motion state of the head or the load；
The motion that the head or the load are judged according to the motion state is that user's desired movement or non-user are expected
Motion；
If non-user desired movement, then by loading the fortune relative to the non-user desired movement described in the cradle head control
Dynamic direction carries out counter motion, and then causes the load to keep original orientation；
If user's desired movement, then by loading the direction of motion one by user's desired movement described in the cradle head control
With motion；
Wherein described head is installed on a movable body, it is described detect the head or the load motion state the step of have
Body is：
Detect the control signal that the movable body is received；
The motion that the head or the load are judged according to the motion state is user's desired movement or non-user
The step of desired movement is specially：
The control signal corresponding with the motion of the movable body is judged whether, if so, then the motion of the head is to use
Family desired movement, if it is not, then the motion of the head is non-user desired movement.
2. a kind of control system of head, it is characterised in that the head is used to carry a load, and the control system includes：
Sensor, the motion state for detecting the head or the load；
Controller, the motion for judging the head or the load according to the motion state be user's desired movement or
Non-user desired movement, and if non-user desired movement, then it is non-relative to described by being loaded described in the cradle head control
The direction of motion of user's desired movement carries out counter motion, and then causes the load to keep original orientation, if user is expected
Motion, then together moved by being loaded described in the cradle head control by the direction of motion of user's desired movement；It is wherein described
Head is installed on a movable body, and the controller is used to detecting the control signal that the movable body received and is for judgement
It is no to there is the control signal corresponding with the motion of the movable body, if so, then the motion of the head is user's desired movement,
If it is not, then the motion of the head is non-user desired movement.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410096067.XA CN103901897B (en) | 2014-03-14 | 2014-03-14 | The control method of head and the control system of head |
| CN201710518332.2A CN107352038B (en) | 2014-03-14 | 2014-03-14 | The control method of holder and the control system of holder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410096067.XA CN103901897B (en) | 2014-03-14 | 2014-03-14 | The control method of head and the control system of head |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710518332.2A Division CN107352038B (en) | 2014-03-14 | 2014-03-14 | The control method of holder and the control system of holder |
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| Publication Number | Publication Date |
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| CN103901897A CN103901897A (en) | 2014-07-02 |
| CN103901897B true CN103901897B (en) | 2017-09-26 |
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| CN201710518332.2A Active CN107352038B (en) | 2014-03-14 | 2014-03-14 | The control method of holder and the control system of holder |
| CN201410096067.XA Active CN103901897B (en) | 2014-03-14 | 2014-03-14 | The control method of head and the control system of head |
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| CN201710518332.2A Active CN107352038B (en) | 2014-03-14 | 2014-03-14 | The control method of holder and the control system of holder |
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| WO2015135206A1 (en) | 2014-03-14 | 2015-09-17 | 深圳市大疆创新科技有限公司 | Control method for pan tilt and control system of pan tilt |
| WO2016154996A1 (en) * | 2015-04-02 | 2016-10-06 | 深圳市大疆创新科技有限公司 | Stabilized platform, follow-up control system thereof and method therefor |
| CN104883438B (en) * | 2015-05-04 | 2018-04-24 | 小米科技有限责任公司 | Terminal anti-fluttering method, device and terminal support |
| CN104914864B (en) * | 2015-05-22 | 2018-06-08 | 深圳市大疆灵眸科技有限公司 | A kind of mobile device, mobile device control system and control method |
| CN105872336A (en) * | 2016-05-24 | 2016-08-17 | 北京小米移动软件有限公司 | Camera |
| CN106227240B (en) * | 2016-07-28 | 2019-06-18 | 纳恩博（北京）科技有限公司 | A kind of cloud platform control method and device |
| CN109885105B (en) * | 2016-12-30 | 2022-04-19 | 深圳市大疆灵眸科技有限公司 | Cloud deck control method and device and cloud deck |
| CN108521805A (en) * | 2017-03-28 | 2018-09-11 | 深圳市大疆灵眸科技有限公司 | The control method and aircraft of installation condition based on holder |
| CN108780328A (en) * | 2017-12-18 | 2018-11-09 | 深圳市大疆灵眸科技有限公司 | A kind of cloud platform control method, unmanned plane, holder and storage medium |
| WO2019127344A1 (en) * | 2017-12-29 | 2019-07-04 | 深圳市大疆创新科技有限公司 | Pan-tilt head reset control method and device, pan-tilt head, and unmanned aerial vehicle |
| WO2019140655A1 (en) * | 2018-01-19 | 2019-07-25 | 深圳市大疆创新科技有限公司 | Position-limit angle calibration method and terminal device |
| WO2019148394A1 (en) * | 2018-01-31 | 2019-08-08 | 深圳市大疆创新科技有限公司 | Pan-tilt control method and apparatus, pan-tilt, photographing device and readable storage medium |
| CN108776471A (en) * | 2018-04-13 | 2018-11-09 | 四川木牛流马智能科技有限公司 | A kind of intelligent cruise method of autonomous robot |
| CN108549414A (en) * | 2018-05-28 | 2018-09-18 | 北京文香信息技术有限公司 | A kind of virtual cloud platform control system and method |
| WO2020062280A1 (en) * | 2018-09-30 | 2020-04-02 | 深圳市大疆创新科技有限公司 | Control method for gimbal, gimbal, mobile platform and computer readable storage medium |
| CN111316187B (en) * | 2019-04-29 | 2024-06-14 | 深圳市大疆创新科技有限公司 | Control method of cradle head, cradle head and cradle head shooting device |
| CN111959409B (en) * | 2020-07-29 | 2022-10-18 | 北京三快在线科技有限公司 | Holder adjusting method, storage medium, electronic device and vehicle |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN103901897A (en) | 2014-07-02 |
| CN107352038A (en) | 2017-11-17 |
| CN107352038B (en) | 2019-09-06 |
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