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CN113454432A - Balance degree detection method and device of holder, handheld holder and storage medium - Google Patents

Balance degree detection method and device of holder, handheld holder and storage medium Download PDF

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Publication number
CN113454432A
CN113454432A CN202080014734.9A CN202080014734A CN113454432A CN 113454432 A CN113454432 A CN 113454432A CN 202080014734 A CN202080014734 A CN 202080014734A CN 113454432 A CN113454432 A CN 113454432A
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CN
China
Prior art keywords
state
power output
balance
driving motor
shooting device
Prior art date
Legal status (The legal status 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 status listed.)
Pending
Application number
CN202080014734.9A
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Chinese (zh)
Inventor
谢卓
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Publication of CN113454432A publication Critical patent/CN113454432A/en
Pending legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M1/00—Testing static or dynamic balance of machines or structures
    • G01M1/30—Compensating imbalance
    • G01M1/36—Compensating imbalance by adjusting position of masses built-in the body to be tested
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/04—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or holding steady relative to, a person, e.g. by chains, e.g. rifle butt or pistol grip supports, supports attached to the chest or head
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M1/00—Testing static or dynamic balance of machines or structures
    • G01M1/14—Determining imbalance
    • G01M1/16—Determining imbalance by oscillating or rotating the body to be tested

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

Abstract

A balance degree detection method of a cradle head, a device, a handheld cradle head and a storage medium, wherein the cradle head comprises a bearing base (201) used for detachably bearing a shooting device, at least one driving motor (204,205,206) used for adjusting bearing postures and a handheld part (207) used for being held by a user, the bearing base (201) is detachably connected with the shooting device, and the method comprises the following steps: controlling at least one drive motor (204,205,206) to stabilize (101) a camera carried on a carrier base (201); acquiring power output parameters of at least one driving motor (204,205,206) in a stability augmentation process, and determining a balance degree state (102) of the shooting device relative to a rotating shaft of the at least one driving motor (204,205,206) according to the power output parameters; the balance state (103) is displayed on a display device on the hand-held unit (207). The method, the device, the handheld holder and the storage medium can improve the efficiency and the accuracy of judging the balance state of the shooting device relative to the rotating shaft of at least one driving motor (204,205, 206).

Description

Balance degree detection method and device of holder, handheld holder and storage medium
Technical Field
The invention relates to the technical field of cloud platforms, in particular to a cloud platform balance degree detection method and device, a handheld cloud platform and a storage medium.
Background
The handheld cloud platform can bear the shooting device including bearing the base, handheld cloud platform can adjust the gesture of shooting the device in real time in order to increase steadily to shooting the device. In order to achieve a better stability augmentation effect and save the electric quantity of the pan/tilt head, the relative positions of the shooting device relative to the rotating shafts of the plurality of driving motors of the pan/tilt head need to be adjusted so as to level the shooting device on the pan/tilt head. At present, a user needs to autonomously determine the balance state of the shooting device relative to the rotating shaft of the driving motor, or the user needs to adjust the cradle head to a preset posture according to an instruction output by the cradle head, and the cradle head can determine the balance state of the shooting device relative to the rotating shaft of the driving motor. This approach is inefficient and less accurate, and at the same time, adds operational burden to the user.
Disclosure of Invention
The embodiment of the invention provides a method, a device, equipment and a storage medium for detecting the balance degree of a holder, which are used for improving the efficiency and the accuracy of the balance degree state of a shooting device relative to a rotating shaft of a driving motor and reducing the operation burden of a user.
In a first aspect, an embodiment of the present invention provides a method for detecting a degree of balance of a pan/tilt head, where the pan/tilt head includes a carrying base for detachably carrying a shooting device, at least one driving motor for adjusting a carrying posture, and a handheld portion for a user to hold, and the carrying base is detachably connected to the shooting device, and the method includes:
controlling the at least one driving motor to increase stability of the shooting device borne on the bearing base;
in the stability augmentation process, acquiring power output parameters of the at least one driving motor, and determining the balance degree state of the shooting device relative to the rotating shaft of the at least one driving motor according to the power output parameters;
displaying the balance status on a display device on the handheld portion.
In a second aspect, an embodiment of the present invention provides a device for detecting a degree of balance of a pan/tilt head, where the device for detecting a degree of balance of a pan/tilt head includes a memory and a processor; wherein the memory has stored thereon executable code that, when executed by the processor, causes the processor to:
controlling the at least one driving motor to increase stability of the shooting device borne on the bearing base;
in the stability augmentation process, acquiring power output parameters of the at least one driving motor, and determining the balance degree state of the shooting device relative to the rotating shaft of the at least one driving motor according to the power output parameters;
controlling the balance state to be displayed on a display device on the handheld portion.
In a third aspect, an embodiment of the present invention provides a handheld pan/tilt head, including:
the bearing base is used for detachably bearing the shooting device and is detachably connected with the shooting device;
the handheld part is used for being held by a user;
and a balance degree detection device of the pan/tilt head in the second aspect.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, where program instructions are stored in the computer-readable storage medium, where the program instructions are used to implement the method for detecting the degree of balance of a pan/tilt head in the first aspect.
By adopting the invention, in the process of using the tripod head by a user, the tripod head can automatically judge the state of the balance degree of the shooting device relative to the rotating shaft according to the power output parameter of the driving motor in the process of stabilizing the shooting device, and the judgment result is displayed on the display device. In this way, even if the user does not know the balance state in a very short time, the user can directly view the balance state displayed on the display device to know the balance state of the photographing device with respect to the rotation shaft of the drive motor. In this way, the balance state of the shooting device relative to the rotating shaft of the driving motor can be known with high efficiency and high accuracy.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
Fig. 1 is a schematic view of a flowchart of a method for detecting a balance degree of a pan/tilt head according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a pan/tilt head according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a position of a rotating shaft in a pan-tilt according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of an interactive interface provided in an embodiment of the present invention;
fig. 5 is a schematic diagram of a prompt interface for indicating a balance state of a rotating shaft according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of another exemplary prompt interface for indicating a balance status of a rotating shaft according to an embodiment of the present disclosure;
FIG. 7 is a schematic diagram of another exemplary prompt interface for indicating a balance status of a rotating shaft according to an embodiment of the present disclosure;
fig. 8 is a schematic structural diagram of a device for detecting a degree of balance of a pan/tilt head according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a handheld pan/tilt head according to an embodiment of the present invention.
A carrier base 201; first shaft arm 202
A second shaft arm 203; first drive motor 204
A second drive motor 205; third drive motor 206
Hand-held part 207
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, and "a plurality" typically includes at least two.
The words "if", as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrases "if determined" or "if detected (a stated condition or event)" may be interpreted as "when determined" or "in response to a determination" or "when detected (a stated condition or event)" or "in response to a detection (a stated condition or event)", depending on the context.
In addition, the sequence of steps in each method embodiment described below is only an example and is not strictly limited.
The cloud platform comprises a bearing base used for detachably bearing a shooting device, at least one driving motor used for adjusting the posture of the bearing base and a handheld part used for being held by a user, wherein the bearing base is detachably connected with the shooting device. Fig. 1 is a flowchart of a method for detecting a degree of balance of a pan/tilt head according to an embodiment of the present invention, as shown in fig. 1, the method includes the following steps:
101. and controlling at least one driving motor to increase the stability of the shooting device borne on the bearing base.
102. And in the stability augmentation process, acquiring power output parameters of at least one driving motor, and determining the balance state of the shooting device relative to the rotating shaft of the at least one driving motor according to the power output parameters.
103. The balance state is displayed on a display device on the hand-held portion.
In practical application, in order to ensure the quality of a shot image, the holder needs to control the driving motor to rotate, and the driving motor adjusts the posture of the bearing base together so as to ensure that the shooting device borne on the bearing base keeps stable.
In the process that the user used the cloud platform, in order to guarantee that the shooting device is in steady state, the cloud platform can control at least one driving motor and increase steady to bearing the shooting device on bearing the base. In the process of using the tripod head, when the shooting device is to be inclined to a certain direction, the driving motor can output corresponding force or moment to enable the bearing base to keep a stable state.
In order to judge the balance state of the shooting device relative to the rotating shaft of the driving motor, the power output parameters of the at least one driving motor can be acquired in the stability augmentation process, and then the balance state of the shooting device relative to the rotating shaft of the at least one driving motor can be determined according to the power output parameters. After determining the state of the degree of balance of the camera with respect to the rotational axis of the at least one drive motor, the state of the degree of balance may be displayed on a display device on the handheld portion. The power output parameter may include an output force or a torque, among others.
Based on this, the user can view the balance state of the photographing apparatus with respect to the rotational shaft of the at least one driving motor through the display apparatus. If the user determines through the display device that the state of the degree of balance of the photographing apparatus with respect to the rotational axis of a certain driving motor is an unbalanced state, an adjustment manipulation member for adjusting the relative position of the photographing apparatus with respect to the rotational axis can be found, and the adjustment manipulation member is adjusted to enable the photographing apparatus to be in a balanced state with respect to the rotational axis, and how to adjust will be described below.
In the embodiment of the invention, a plurality of driving motors can be arranged to drive different rotating shafts to adjust balance, and the corresponding balance directions of different driving motors are different. In order to clearly illustrate the balance directions that can be adjusted by different driving motors in the embodiment of the present invention, the structure of the pan/tilt head in the embodiment of the present invention is described first, and the balance directions that can be adjusted by different driving motors are described with reference to the structure of the pan/tilt head.
As shown in fig. 2, the head may include a carrying base 201, a first axis arm 202, a second axis arm 203, a first drive motor 204, a second drive motor 205, a third drive motor 206, and a hand-held portion 207. The camera can be directly mounted on the carrying base 201, and in order to ensure that the camera is in a balanced state with respect to the rotating shaft of the driving motor, the carrying base 201 can be driven by the first driving motor 204 to move and rotate. The first axle arm 202 is used to support a first drive motor 204, and a second drive motor 205 may be used to drive the first axle arm 202. The second shaft arm 203 supports a second drive motor 205, a third drive motor 206 may be used to drive the second shaft arm 203, and a hand grip 207 may be used to support the third drive motor 206.
Wherein, optionally, the first drive motor 204 may be a pitch motor, the second drive motor 205 may be a roll motor, and the third drive motor 206 may be a yaw motor. A pitch axis may be disposed in the load base 201, a roll axis may be disposed in the first axis arm 202, and a roll axis may be disposed in the second axis arm 203.
As shown in fig. 3, the position of the pitch axis in the pan/tilt head is shown by "301", the position of the roll axis in the pan/tilt head is shown by "302", and the position of the translation axis in the pan/tilt head is shown by "303". The adjustment manipulation member may include a first adjustment manipulation member for adjusting a balance state of the photographing device in a front-rear direction and/or an up-down direction with respect to a rotation shaft of the first driving motor. The carrying base may include a mounting plate 305 to detachably mount the photographing device and a carrying plate 306 slidably coupled to the mounting plate 305, and the first adjustment manipulation part may include an adjustment manipulation part 304 for allowing and limiting a relative sliding between the mounting plate 305 and the carrying plate 306, and when it is required to adjust a balance state of the photographing device in a front-rear direction with respect to a rotation shaft of the first driving motor, the user may operate the adjustment manipulation part 304 to allow the relative sliding between the mounting plate 305 and the carrying plate 306, such that the user adjusts a front-rear position between the mounting plate 305 and the carrying plate 306 to adjust the balance state of the photographing device in the front-rear direction with respect to the rotation shaft of the first driving motor. The bearing base may include a connection plate slidably connected to the bearing plate 306 and directly driven by the first driving motor, and the first adjustment manipulation member may include an adjustment manipulation member 307 for allowing and limiting a relative sliding between the connection plate and the bearing plate 306, and when it is required to adjust a balance state of the photographing apparatus with respect to the rotation shaft of the first driving motor in the up-down direction, the user may operate the adjustment manipulation member 307 to allow the relative sliding between the connection plate and the bearing plate 306, such that the user adjusts an up-down position between the connection plate and the bearing plate 306 to adjust the balance state of the photographing apparatus with respect to the rotation shaft of the first driving motor in the up-down direction.
The adjustment manipulation part may include a second adjustment manipulation part 308 for adjusting a balance state of the photographing device in the left-right direction with respect to the rotation shaft of the second driving motor. The second adjustment manipulation member 308 is used to allow and restrict the relative sliding between the first shaft arm and the second driving motor, and when it is necessary to adjust the balance state of the photographing apparatus in the left-right direction with respect to the rotation shaft of the second driving motor, the user may operate the second adjustment manipulation member 308 to allow the relative sliding between the first shaft arm and the second driving motor, such that the user adjusts the left-right position between the first shaft arm and the second driving motor to adjust the balance state of the photographing apparatus in the left-right direction with respect to the rotation shaft of the second driving motor.
The adjustment manipulation part may include a third adjustment manipulation part 309 for adjusting a balance state of the photographing device in a front-rear direction with respect to a rotation shaft of the third driving motor. The third adjustment manipulation member 309 is configured to allow and restrict the relative sliding between the second axis arm and the third driving motor, and when it is necessary to adjust the balance state of the photographing device in the front-rear direction with respect to the rotation axis of the third driving motor, the user may operate the third adjustment manipulation member 309 to allow the relative sliding between the second axis arm and the third driving motor, so that the user adjusts the front-rear position between the second axis arm and the third driving motor to adjust the balance state of the photographing device in the front-rear direction with respect to the rotation axis of the third driving motor.
Alternatively, when the at least one driving motor is the first driving motor 204 directly driving the carrying base 201, the power output parameter of the at least one driving motor is obtained, and the process of determining the balance state of the photographing device relative to the rotating shaft of the at least one driving motor according to the power output parameter may be implemented as follows: the power output parameters of the first drive motor 204 are acquired, and the balance state of the photographing device relative to the rotating shaft of the first drive motor 204 is determined according to the power output parameters.
The above-described process of determining the state of the degree of balance of the photographing device with respect to the rotational shaft of the first drive motor 204 according to the power output parameter may be further implemented as: the state of the degree of balance of the photographing device in the front-rear direction and/or the up-down direction with respect to the rotational shaft of the first drive motor 204 is determined according to the power output parameter.
Note that the camera may be tilted in two dimensions with respect to the rotational axis of the first drive motor 204.
Alternatively, when the at least one driving motor is the second driving motor 205 that directly drives the first shaft arm 202, the power output parameter of the at least one driving motor is obtained, and the process of determining the state of the degree of balance of the photographing device with respect to the rotational shaft of the at least one driving motor according to the power output parameter may be implemented as follows: the power output parameter of the second drive motor 205 is acquired, and the balance state of the photographing device in the left-right direction with respect to the rotation shaft of the second drive motor 205 is determined based on the power output parameter.
Alternatively, when the at least one driving motor is the third driving motor 206 that directly drives the second axis arm 203, the power output parameter of the at least one driving motor is obtained, and the process of determining the balance state of the photographing device with respect to the rotation axis of the at least one driving motor according to the power output parameter may be implemented as follows: the power output parameter of the third drive motor 206 is acquired, and the state of the degree of balance of the photographing device in the front-rear direction with respect to the rotational shaft of the third drive motor 206 is determined based on the power output parameter.
A determination process of determining the state of the degree of balance of the photographing device with respect to the rotational shaft of the at least one driving motor will be described below. Alternatively, the process of determining the state of the degree of balance of the photographing device with respect to the rotational shaft of the at least one driving motor according to the power output parameter may be implemented as: if the power output parameter is smaller than or equal to the first power output threshold, determining that the balance state of the shooting device relative to the rotating shaft of the at least one driving motor is a balance state; and if the power output parameter is larger than the first power output threshold value, determining that the balance state of the shooting device relative to the rotating shaft of the at least one driving motor is an unbalanced state.
Theoretically, when the photographing device can be parallel to a horizontal plane and a driving motor driving the rotation shaft does not require an output force or a moment, if the photographing device can be in a stationary state at a certain position, it can be judged that the photographing device is in a balanced state with respect to the rotation shaft of the driving motor. In practical applications, a certain error range may be allowed, that is, when the driving motor driving the rotating shaft does not output force or outputs force smaller than a certain threshold, there is no or a small component of force in the vertical direction in the direction of the rotating shaft, and it can be determined that the photographing device is in a balanced state with respect to the rotating shaft of the driving motor.
When the state of the degree of balance of the photographing device with respect to the rotational shaft of the driving motor is an unbalanced state, further the photographing device may be slightly unbalanced with respect to the rotational shaft of the driving motor, and the photographing device may also be severely unbalanced with respect to the rotational shaft of the driving motor. In order to further clearly present the user, the user can know the degree of the unbalance of the rotation shaft of the driving motor in the unbalanced state of the imaging device, judge the degree of the unbalance of the rotation shaft of the driving motor in the imaging device, and present the degree of the unbalance of the rotation shaft of the driving motor in the display device. Thus, when the user knows the severity of the unbalance of the rotating shaft of the shooting device relative to the driving motor, the user can select the large-amplitude adjustment control component to quickly balance the shooting device relative to the rotating shaft of the driving motor according to the severity, or select the small-amplitude adjustment control component to accurately balance the shooting device relative to the rotating shaft of the driving motor.
Based on this, optionally, the above process of determining that the state of the balance degree of the photographing device with respect to the rotating shaft of the at least one driving motor is an unbalanced state if the power output parameter is greater than the first power output threshold may be implemented as follows: if the power output parameter is larger than the first power output threshold and smaller than or equal to the second power output threshold, determining that the balance state of the shooting device relative to the rotating shaft of the at least one driving motor is a first-level unbalanced state; and if the power output parameter is larger than the second power output threshold value, determining that the balance state of the shooting device relative to the rotating shaft of the at least one driving motor is a second-level unbalanced state.
It will be appreciated that the first power output threshold is less than the second power output threshold. When the power output parameter exceeds the first power output threshold but does not reach the second power output threshold, it may be determined that the state of the degree of balance of the photographing device with respect to the rotational shaft of the at least one driving motor is a first level of unbalance state. When the power output parameter exceeds the second power output threshold, it may be determined that the state of the degree of balance of the photographing device with respect to the rotational shaft of the at least one driving motor is a second level of unbalance.
Wherein the unbalance degree of the unbalanced state of the second level is higher than that of the unbalanced state of the first level. That is, if it is determined that the state of the degree of balance of the photographing device with respect to the rotational axis of the at least one driving motor is the unbalanced state of the first level, it indicates that the photographing device is lightly unbalanced with respect to the rotational axis of the at least one driving motor at present. If the balance degree state of the shooting device relative to the rotating shaft of the at least one driving motor is judged to be a non-balance state of a second level, the current shooting device is seriously unbalanced relative to the rotating shaft of the at least one driving motor.
The display mode for displaying the state of the degree of balance will be described below. In an initial state, an interactive interface as shown in fig. 4 may be presented in the display device, and a plurality of clickable options are set in the interactive interface. Assuming that the option for observing the balance state of the rotating shaft is arranged at the icon position at the upper right corner of the display interface, the prompt interface of the balance state of the rotating shaft can be entered after the user selects the option. One illustration of a prompt interface for the balance status of a rotating shaft is shown in FIG. 5.
The prompting can be performed through different display forms. For example, the state of the balance of the rotating shaft may be indicated in the form of characters, numerals, icons, or the like. The following describes a presentation manner for prompting the balance state of a rotating shaft in the form of an icon, where the icon may be an adjustment bar.
In practical applications, when the power output parameter of at least one driving motor is obtained, the power output parameter may be converted into a value within a preset interval, for example, into a value within 0-100. Assuming that the photographing device is in a balanced state with respect to the rotation shaft of the driving motor within a value of 20, the rotation shaft is considered to be slightly unbalanced if the value exceeds 20 and is less than 40, and the rotation shaft is considered to be severely unbalanced if the value exceeds 40.
After determining the corresponding conversion value for the power output parameter, the corresponding conversion value may be filled in the adjustment bar. The filling process may be implemented as: acquiring a conversion numerical value, determining a target ratio of the conversion numerical value relative to the maximum value of a preset interval, and marking the position between the initial position and the target position in the adjusting bar, wherein the target position can be found on the adjusting bar corresponding to the corresponding rotating shaft from the initial position on the assumption that the adjusting bar has a set length, the ratio of the length between the target position and the initial position relative to the set length of the adjusting bar is equal to the target ratio.
In order to be able to more prominently indicate to the user the state of the balance of the rotating shaft, different colors may be used to fill the adjustment bars between the starting position and the target position. Optionally, if the determined balance state is a balance state, displaying the balance state on the display device by using an icon in a first color; and if the determined balance degree state is the non-balance state, displaying the non-balance state on the display device by using an icon with a preset color different from the first color.
Alternatively, if the determined balance state is an unbalanced state, the process of displaying the unbalanced state on the display device by using an icon with a preset color different from the first color may be implemented as follows: if the determined balance degree state is the unbalanced state of the first level, displaying the unbalanced state of the first level on the display device by using an icon of a preset color of a second color; and if the determined balance degree state is the unbalanced state of the second level, displaying the unbalanced state of the second level on the display device by using an icon of a preset color of a third color.
In one possible embodiment, for example, the first color can be set to green, the second color to yellow, and the third color to red. Of course, the first color, the second color, and the third color may be configured according to user requirements, which is not limited in the embodiment of the present invention.
If there is no vertical force component in the direction of the rotation axis, the balance state of the imaging device with respect to the rotation axis of the drive motor may not be detected temporarily, and the balance state of the imaging device with respect to the rotation axis of the drive motor may be presented on the display device as an icon of a preset color of a fourth color. Wherein the fourth color may be, for example, gray.
In addition, after the user knows which rotating shaft is in an unbalanced state to what extent through the display device, the user may adjust the balance of the corresponding rotating shaft through the adjustment control part. In the process of adjusting the balance of the corresponding rotating shaft by a user, the balance state of the rotating shaft can be detected in real time, and the balance state displayed in the display device is updated. For example, assuming the user adjusts the translation axis from a severe imbalance to a balanced state, the color of the adjustment bar may be changed from red to green.
In addition to prompting the user of the state of the degree of balance of the photographing apparatus with respect to the rotational axis of the drive motor, in the case where the photographing apparatus is in an unbalanced state with respect to the rotational axis of the drive motor, the user may also be prompted of the direction of adjustment of the rotational axis because the direction of adjustment is not unique. Alternatively, if the determined balance state is an unbalanced state, the unbalanced state is used to indicate a direction in which the photographing device is unbalanced with respect to the rotational shaft of the at least one driving motor.
For example, the user may be prompted to tilt the pan axis forward or backward, the user to tilt the pitch axis forward, backward, upward or downward, or the user to tilt the roll axis to the left or right. Through the prompting mode, the user can directly acquire the direction to which the rotating shaft needs to be adjusted, and the adjusting efficiency is improved.
As shown in fig. 6 and 7, the interfaces are the indication interfaces of the balance degree state of the rotating shaft in two different situations. In fig. 6, the pan axis and the roll axis are in a balanced state, the pitch axis is slightly tilted backward, and the state of the balance of the pitch axis in the up-down direction is temporarily undetectable. In fig. 7, the pan axis and the pitch axis are in a balanced state in the front-rear direction, the roll axis is greatly inclined to the left, and the state of the balance of the pitch axis in the up-down direction is temporarily undetectable.
By adopting the invention, in the process of using the cradle head by a user, the cradle head can automatically judge the state of the balance degree of the shooting device relative to the rotating shaft according to the force condition of the driving motor in the process of increasing the stability of the shooting device, and the judgment result is displayed on the display device. In this way, even if the user does not know the balance state very much, the user can directly view the balance state shown in the display device to know the balance state of the photographing device with respect to the rotation shaft of the at least one driving motor. In this way, the balance state of the shooting device relative to the rotating shaft of the at least one driving motor can be known with high efficiency and high accuracy.
Still another exemplary embodiment of the present invention provides a balance degree detecting apparatus of a pan/tilt head, as shown in fig. 8, the apparatus including:
a memory 1910 for storing a computer program;
a processor 1920 configured to execute the computer program stored in the memory 1910 to implement:
controlling the at least one driving motor to increase stability of the shooting device borne on the bearing base;
in the stability augmentation process, acquiring power output parameters of the at least one driving motor, and determining the balance degree state of the shooting device relative to the rotating shaft of the at least one driving motor according to the power output parameters;
controlling the balance state to be displayed on a display device on the handheld portion.
Optionally, the at least one drive motor comprises a first drive motor directly driving the carrying base, the processor 1920 is configured to:
and acquiring power output parameters of the first driving motor, and determining the balance state of the shooting device relative to the rotating shaft of the first driving motor according to the power output parameters.
Optionally, the processor 1920 is configured to:
and determining the balance state of the shooting device relative to the rotating shaft of the first driving motor in the front-back direction and/or the up-down direction according to the power output parameters.
Optionally, the pan/tilt head comprises a first shaft arm supporting the first driving motor and a second driving motor directly driving the first shaft arm, the processor 1920 is configured to:
and acquiring power output parameters of the second driving motor, and determining the balance state of the shooting device in the left-right direction relative to the rotating shaft of the second driving motor according to the power output parameters.
Optionally, the head includes a second shaft arm supporting the second drive motor and a third drive motor directly driving the second shaft arm, the hand-held portion supporting the third drive motor, the processor 1920 is configured to:
and acquiring power output parameters of the third driving motor, and determining the balance state of the shooting device relative to the rotating shaft of the third driving motor in the front-rear direction according to the power output parameters.
Optionally, the power output parameter comprises an output force or torque.
Optionally, the processor 1920 is configured to:
if the power output parameter is smaller than or equal to a first power output threshold value, determining that the balance degree state of the shooting device relative to the rotating shaft of the at least one driving motor is a balance state;
and if the power output parameter is larger than the first power output threshold value, determining that the balance degree state of the shooting device relative to the rotating shaft of the at least one driving motor is an unbalanced state.
Optionally, the processor 1920 is configured to:
and if the power output parameter is greater than the first power output threshold and less than or equal to a second power output threshold, determining that the balance state of the shooting device relative to the rotating shaft of the at least one driving motor is a first-level unbalanced state.
And if the power output parameter is larger than the second power output threshold value, determining that the balance state of the shooting device relative to the rotating shaft of the at least one driving motor is a second-level unbalanced state.
Optionally, the processor 1920 is configured to:
if the determined balance degree state is the balance state, controlling the display device to display the balance state by using an icon with a first color;
and if the determined balance degree state is an unbalanced state, controlling the display device to display the unbalanced state by an icon with a preset color different from the first color.
Optionally, the processor 1920 is configured to:
if the determined balance degree state is a first-level unbalance state, controlling the display device to display the first-level unbalance state by using an icon with a preset color of a second color;
and if the determined balance degree state is a second-level unbalance state, controlling the display device to display the second-level unbalance state by using a third-color preset-color icon, wherein the unbalance degree of the second-level unbalance state is higher than that of the first-level unbalance state.
Optionally, if the determined balance state is an unbalanced state, the unbalanced state is used to indicate a direction in which the photographing device is unbalanced with respect to the rotation shaft of the at least one driving motor.
The balance degree detection device of the pan/tilt head shown in fig. 8 can execute the method of the embodiment shown in fig. 1-7, and the related description of the embodiment shown in fig. 1-7 can be referred to for the part of the embodiment not described in detail. The implementation process and technical effect of the technical solution refer to the descriptions in the embodiments shown in fig. 1 to 7, and are not described herein again.
Fig. 9 is a schematic structural diagram of a handheld pan/tilt head according to an embodiment of the present invention.
As shown in fig. 9, the handheld cloud deck includes: the device comprises a bearing base 91 for detachably bearing the shooting device, at least one driving motor for adjusting bearing posture, a handheld part 92 for holding by a user and a balance degree detection device 93 of the tripod head. Wherein, the bearing base 91 is detachably connected with the shooting device.
In addition, an embodiment of the present invention further provides a computer-readable storage medium, where an executable code is stored in the computer-readable storage medium, and the executable code is used to implement the method for detecting the degree of balance of the pan/tilt head provided in each of the foregoing embodiments.
The technical solutions and the technical features in the above embodiments may be used alone or in combination without conflict, and all embodiments that fall within the scope of the present invention are equivalent embodiments within the scope of the present invention as long as they do not exceed the knowledge of those skilled in the art.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (24)

1. The cloud platform comprises a bearing base used for detachably bearing a shooting device, at least one driving motor used for adjusting the posture of the bearing base and a handheld part used for being held by a user, wherein the bearing base is detachably connected with the shooting device, and the cloud platform is characterized by comprising:
controlling the at least one driving motor to increase stability of the shooting device borne on the bearing base;
in the stability augmentation process, acquiring power output parameters of the at least one driving motor, and determining the balance degree state of the shooting device relative to the rotating shaft of the at least one driving motor according to the power output parameters;
displaying the balance status on a display device on the handheld portion.
2. The method of claim 1, wherein the at least one drive motor comprises a first drive motor that directly drives the load-bearing base, wherein,
the acquiring of the power output parameter of the at least one driving motor and the determining of the balance state of the shooting device relative to the rotating shaft of the at least one driving motor according to the power output parameter comprise:
and acquiring power output parameters of the first driving motor, and determining the balance state of the shooting device relative to the rotating shaft of the first driving motor according to the power output parameters.
3. The method of claim 2, wherein said determining a state of balance of the camera with respect to a rotational axis of the first drive motor based on the power output parameter comprises:
and determining the balance state of the shooting device relative to the rotating shaft of the first driving motor in the front-back direction and/or the up-down direction according to the power output parameters.
4. The method of claim 2, wherein the pan/tilt head includes a first shaft arm supporting the first driving motor and a second driving motor directly driving the first shaft arm, the obtaining of the power output parameter of the at least one driving motor, and the determining of the state of the degree of balance of the photographing apparatus with respect to the rotation shaft of the at least one driving motor according to the power output parameter include:
and acquiring power output parameters of the second driving motor, and determining the balance state of the shooting device in the left-right direction relative to the rotating shaft of the second driving motor according to the power output parameters.
5. The method of claim 4, wherein the pan/tilt head includes a second shaft arm supporting the second drive motor and a third drive motor directly driving the second shaft arm, the hand-held portion supports the third drive motor, the obtaining of the power output parameter of the at least one drive motor, and the determining of the state of the balance of the camera with respect to the rotation shaft of the at least one drive motor based on the power output parameter comprises:
and acquiring power output parameters of the third driving motor, and determining the balance state of the shooting device relative to the rotating shaft of the third driving motor in the front-rear direction according to the power output parameters.
6. The method of any of claims 1-5, wherein the power output parameter comprises an output force or torque.
7. The method of claim 1, wherein said determining a state of balance of the camera with respect to a rotational axis of the at least one drive motor based on the power output parameter comprises:
if the power output parameter is smaller than or equal to a first power output threshold value, determining that the balance degree state of the shooting device relative to the rotating shaft of the at least one driving motor is a balance state;
and if the power output parameter is larger than the first power output threshold value, determining that the balance degree state of the shooting device relative to the rotating shaft of the at least one driving motor is an unbalanced state.
8. The method of claim 7, wherein determining that the balance status of the camera with respect to the rotational axis of the at least one drive motor is an unbalanced status if the power output parameter is greater than the first power output threshold comprises:
and if the power output parameter is greater than the first power output threshold and less than or equal to a second power output threshold, determining that the balance state of the shooting device relative to the rotating shaft of the at least one driving motor is a first-level unbalanced state.
And if the power output parameter is larger than the second power output threshold value, determining that the balance state of the shooting device relative to the rotating shaft of the at least one driving motor is a second-level unbalanced state.
9. The method of claim 1, wherein displaying the balance status on a display device on the handheld portion comprises:
if the determined balance degree state is the balance state, displaying the balance state on the display device by using an icon with a first color;
and if the determined balance degree state is an unbalanced state, displaying the unbalanced state on the display device by using an icon with a preset color different from the first color.
10. The method of claim 9, wherein if the determined balance status is an unbalanced status, displaying the unbalanced status on the display device with an icon of a predetermined color different from the first color comprises:
if the determined balance degree state is a first-level unbalanced state, displaying the first-level unbalanced state on the display device by using an icon with a preset color of a second color;
and if the determined balance degree state is a second-level unbalance state, displaying the second-level unbalance state on the display device by using a preset color icon of a third color, wherein the unbalance degree of the second-level unbalance state is higher than that of the first-level unbalance state.
11. The method of claim 1, wherein the unbalanced state is used to indicate a direction in which the photographing apparatus is unbalanced with respect to the rotational axis of the at least one driving motor if the determined state of the degree of balance is an unbalanced state.
12. A balance degree detection device of a cloud platform comprises a bearing base used for detachably bearing a shooting device, at least one driving motor used for adjusting the posture of the bearing base and a handheld part used for being held by a user, wherein the bearing base is detachably connected with the shooting device; wherein the memory has stored thereon executable code that, when executed by the processor, causes the processor to:
controlling the at least one driving motor to increase stability of the shooting device borne on the bearing base;
in the stability augmentation process, acquiring power output parameters of the at least one driving motor, and determining the balance degree state of the shooting device relative to the rotating shaft of the at least one driving motor according to the power output parameters;
controlling the balance state to be displayed on a display device on the handheld portion.
13. The apparatus of claim 12, wherein the at least one drive motor comprises a first drive motor that directly drives the carrier base, the processor configured to:
and acquiring power output parameters of the first driving motor, and determining the balance state of the shooting device relative to the rotating shaft of the first driving motor according to the power output parameters.
14. The apparatus of claim 13, wherein the processor is configured to:
and determining the balance state of the shooting device relative to the rotating shaft of the first driving motor in the front-back direction and/or the up-down direction according to the power output parameters.
15. The apparatus of claim 13, wherein the pan/tilt head comprises a first shaft arm supporting the first drive motor and a second drive motor directly driving the first shaft arm, the processor configured to:
and acquiring power output parameters of the second driving motor, and determining the balance state of the shooting device in the left-right direction relative to the rotating shaft of the second driving motor according to the power output parameters.
16. The apparatus of claim 15, wherein the pan head includes a second shaft arm supporting the second drive motor and a third drive motor directly driving the second shaft arm, the hand-held portion supporting the third drive motor, the processor configured to:
and acquiring power output parameters of the third driving motor, and determining the balance state of the shooting device relative to the rotating shaft of the third driving motor in the front-rear direction according to the power output parameters.
17. An arrangement according to any of claims 12-16, characterized in that the power take-off parameter comprises output force or torque.
18. The apparatus of claim 12, wherein the processor is configured to:
if the power output parameter is smaller than or equal to a first power output threshold value, determining that the balance degree state of the shooting device relative to the rotating shaft of the at least one driving motor is a balance state;
and if the power output parameter is larger than the first power output threshold value, determining that the balance degree state of the shooting device relative to the rotating shaft of the at least one driving motor is an unbalanced state.
19. The apparatus of claim 18, wherein the processor is configured to:
and if the power output parameter is greater than the first power output threshold and less than or equal to a second power output threshold, determining that the balance state of the shooting device relative to the rotating shaft of the at least one driving motor is a first-level unbalanced state.
And if the power output parameter is larger than the second power output threshold value, determining that the balance state of the shooting device relative to the rotating shaft of the at least one driving motor is a second-level unbalanced state.
20. The apparatus of claim 12, wherein the processor is configured to:
if the determined balance degree state is the balance state, controlling the display device to display the balance state by using an icon with a first color;
and if the determined balance degree state is an unbalanced state, controlling the display device to display the unbalanced state by an icon with a preset color different from the first color.
21. The apparatus of claim 20, wherein the processor is configured to:
if the determined balance degree state is a first-level unbalance state, controlling the display device to display the first-level unbalance state by using an icon with a preset color of a second color;
and if the determined balance degree state is a second-level unbalance state, controlling the display device to display the second-level unbalance state by using a third-color preset-color icon, wherein the unbalance degree of the second-level unbalance state is higher than that of the first-level unbalance state.
22. The apparatus of claim 12, wherein the unbalanced state is used to indicate a direction in which the photographing apparatus is unbalanced with respect to the rotation shaft of the at least one driving motor if the determined state of the degree of balance is an unbalanced state.
23. A handheld pan and tilt head, comprising:
the bearing base is used for detachably bearing the shooting device and is detachably connected with the shooting device;
the handheld part is used for being held by a user;
and a balance degree detecting device of a pan/tilt head according to any one of claims 12 to 22.
24. A computer-readable storage medium, characterized in that the storage medium is a computer-readable storage medium having stored therein program instructions for implementing the balance degree detection method of a pan/tilt head according to any one of claims 1 to 11.
CN202080014734.9A 2020-09-21 2020-09-21 Balance degree detection method and device of holder, handheld holder and storage medium Pending CN113454432A (en)

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