WO2020000363A1 - Control method and device for vertical stabilizing device, and computer-readable storage medium - Google Patents

Abstract

A vertical stabilizing device and a control method thereof. The device comprises a processor, a stabilizing motor (14), a transmission component, and a bearing assembly (16) for bearing a load. The processor is electrically connected to the stabilizing motor (14), so as to control rotation of the stabilizing motor (14). The stabilizing motor (14) is connected to the bearing assembly (16) by the transmission component. The processor is used to execute the following operations: acquiring status control information; controlling rotation of the stabilizing motor (14) according to the status control information, wherein during rotation of the stabilizing motor (14), the stabilizing motor (14) drives, via the transmission component, the bearing assembly (16) to move, such that the bearing assembly switches from an operating state to a retracted state, and/or switches from the retracted state to the operating state, and when in the operating state, the bearing assembly (16) performs vertical stabilization on the load. The device eliminates the need to manually adjust the status of a vertical stabilizing device, thereby reducing workload on an operator and preventing the vertical stabilizing device from being damaged.

Description

Control method and device for vertical stabilization device and computer-readable storage medium Technical field

Embodiments of the present invention relate to the field of photographing technologies, and in particular, to a method, a device, and a computer-readable storage medium for controlling a vertical stabilization device.

Background technique

In the prior art, in order to achieve stable shooting, many shooting devices are equipped with a pan / tilt head device. The pan / tilt head device generally has a stabilizing function in the rotation direction of the shooting device. For example, a three-axis head can be rotated on the pitch axis, yaw axis, and roll axis Orientation compensates for camera shake.

In addition, in order to prevent the camera from shaking in the direction of gravity, a vertical stabilization device is added to the gimbal device, but it is usually necessary to manually adjust the state of the vertical stabilization device, thereby increasing the workload of the operator. , So that the vertical stabilization device is easily damaged.

Summary of the invention

Embodiments of the present invention provide a control method, a device, and a computer-readable storage medium for a vertical stabilization device to reduce an operator's workload and make the vertical stabilization device not easily damaged.

A first aspect of an embodiment of the present invention is to provide a vertical stabilization device, including: a processor, a stabilization motor, a transmission component, and a load bearing component for carrying a load;

The processor is electrically connected to the stabilization motor, and the processor is configured to control the rotation of the stabilization motor;

The stabilization motor is connected to the load bearing component through the transmission component;

The processor is configured to perform the following operations:

Get status control information;

According to the status control information, the rotation of the stabilizing motor is controlled. During the rotation of the stabilizing motor, the stabilizing motor drives the bearing component to move through the transmission component to change the bearing component from the working state. A stowed state, and / or a transition from a stowed state to a working state;

Wherein, when the load-bearing component is in a working state, the load-bearing component is used for stabilizing the load in a vertical direction.

A second aspect of the embodiments of the present invention is to provide a method for controlling a vertical stabilization device. The vertical stabilization device includes a stabilization motor, a transmission component, and a load bearing component for carrying a load. The method includes:

Get status control information;

According to the status control information, the rotation of the stabilizing motor is controlled. During the rotation of the stabilizing motor, the stabilizing motor drives the bearing component to move through the transmission component to change the bearing component from the working state. A stowed state, and / or a transition from a stowed state to a working state;

Wherein, when the load-bearing component is in a working state, the load-bearing component is used for stabilizing the load in a vertical direction.

A third aspect of the embodiments of the present invention is to provide a computer-readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement the method described in the second aspect.

The control method, device, and computer-readable storage medium of the vertical stabilization device provided in this embodiment obtain state control information through the processor of the vertical stabilization device, and control the rotation of the stabilization motor according to the state control information, and the stabilization During the rotation of the motor, the load-bearing component is driven by the transmission component, so that the load-bearing component for stabilizing the load in the vertical direction is changed from the working state to the stowed state, and / or from the stowed state to the working state, avoiding manual labor. Adjusting the state of the vertical stabilization device reduces the workload of the operator and makes the vertical stabilization device not easily damaged.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to explain the technical solution in the embodiments of the present invention more clearly, the drawings used in the description of the embodiments are briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without paying creative labor.

FIG. 1 is a schematic diagram of a shooting system according to an embodiment of the present invention; FIG.

2 is a schematic structural diagram of a vertical stabilization device provided by an embodiment of the present invention;

3 is a cross-sectional view of another vertical stabilization device provided by an embodiment of the present invention;

4 is a schematic structural diagram of another vertical stabilization device provided by an embodiment of the present invention;

5 is a schematic diagram of another shooting system according to an embodiment of the present invention;

6 is a schematic structural diagram of still another vertical stabilization device according to an embodiment of the present invention;

7 is a side view of a photographing system when a load-bearing component in a vertical stabilization device according to an embodiment of the present invention is in a stowed state;

8 is a front view of a photographing system when a bearing component in a vertical stabilization device according to an embodiment of the present invention is in a stowed state;

FIG. 9 is a side view of a photographing system when a bearing component in a vertical stabilization device according to an embodiment of the present invention is in a working state; FIG.

FIG. 10 is a front view of a photographing system when a bearing component in a vertical stabilization device according to an embodiment of the present invention is in a working state; FIG.

FIG. 11 is a flowchart of a method for controlling a vertical stabilization device according to an embodiment of the present invention.

Reference signs:

10: base; 12: gimbal; 14: stabilization motor;

16: bearing component; 18: supporting component; 13: status control button or status control button;

15: Angle sensor 22: Connection component; 24: Load connection part;

26: containment space; 222: first crossbar section; 224: second crossbar section;

226: vertical rod part; 228: fixed part; 66: rocker;

65: limit section; 67: limit section.

detailed description

The technical solutions in the embodiments of the present invention will be clearly described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

It should be noted that when a component is called "fixed to" another component, it may be directly on another component or a centered component may exist. When a component is considered to be "connected" to another component, it can be directly connected to another component or a centered component may exist at the same time.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the present invention is only for the purpose of describing specific embodiments, and is not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

Hereinafter, some embodiments of the present invention will be described in detail with reference to the drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

An embodiment of the present invention provides a vertical stabilization device. FIG. 1 is a schematic structural diagram of a shooting system according to an embodiment of the present invention. As shown in FIG. 1, the shooting system includes a base 10, a vertical stabilization device, a head 12 and a shooting device.

The gimbal 12 may be a three-axis gimbal. The three-axis gimbal can adjust the angle of the shooting device around the yaw axis, the roll axis, and the pitch axis. The shooting device is used for shooting images / videos, and may be a camera, a video camera, or a mobile phone or a tablet computer with a camera function.

The vertical stabilization device includes a processor (not shown in FIG. 1), a stabilization motor 14, a transmission component (not shown in FIG. 1), and a load-bearing assembly 16 for carrying a load. Optionally, the processor is electrically connected to the stabilization motor 14, and the processor is configured to control the rotation of the stabilization motor 14; the processor may specifically be a microcontroller. The stabilizing motor 14 is connected to the bearing assembly 16 through the transmission component. Optionally, the load includes a gimbal 12 and a photographing device.

As shown in FIG. 1, the vertical stabilization device further includes a support assembly 18 on which the stabilization motor 14 can be mounted, and the load-bearing assembly 16 and the support assembly 18 are rotatably connected.

As shown in FIG. 2, the bearing assembly 16 includes a connection assembly 22 and a load connection part 24 connected to the connection assembly. The load connection part 24 is used to carry a load. The end of the load connection part 24 can be provided with a receiving space 26. The joint portion can be inserted into the accommodation space 26 to realize the load connection portion 24 and the load connection. The connecting component 22 may be disposed between the stabilizing motor and the load connecting portion 24. The connecting component 22 may drive the load connecting portion 24 and the load thereon to move in the vertical direction under the driving of the stabilizing motor to increase the stability in the vertical direction. Wherein, the vertical direction may be a direction parallel to gravity, that is, a direction along gravity and / or a direction opposite to gravity. Specifically, the stabilization motor is connected to the connection assembly 22 through the transmission component.

In the present embodiment, the connection assembly 22 includes a four-link mechanism. As shown in FIGS. 2 and 3, the four-link mechanism includes a first cross bar portion 222, a second cross bar portion 224 opposite to the first cross bar portion 222, and a first cross bar portion 222 and a second cross bar portion. A vertical rod portion 226 between the rod portions 224. One end of the first cross bar portion 222 and the second cross bar portion 224 is connected to the vertical bar portion 226, and the other ends of the first cross bar portion 222 and the second cross bar portion 224 are connected to a certain portion 228. Positioning 228 may be provided on the support assembly 16. The fixed portion 228 is disposed opposite to the vertical rod portion 226. In the operation of the four-link mechanism, the fixed portion 228 can be regarded as a relatively stationary component, and the first cross bar portion 222, the second cross bar portion 224, and the vertical bar portion 226 all move around the fixed portion 228. The first cross bar portion 222, the second cross bar portion 224, and the vertical bar portion 226 can be regarded as respective rods of a four-link mechanism. As shown in FIG. 3, the two ends of the first horizontal rod portion 222 are hinged to the vertical rod portion 226 and the fixed portion 228 respectively, and the hinge points are S1 and S3, respectively. The two ends of the second horizontal rod portion 224 are hinged to the vertical rod portion 226 and the fixed portion 228, respectively, and the hinge points are S2 and S4, respectively. The connection between the hinge points S1 and S3 is S1S3, the connection between the hinge points S2 and S4 is S2S4, and S1S3 and S2S4 are parallel and equal. That is, the four-link mechanism constitutes a parallelogram frame mechanism.

In this embodiment, the transmission member is eccentrically connected to the outer rotor of the stabilization motor. The stabilization motor and the transmission member are connected to form a crank link mechanism. Specifically, the transmission component includes a rocker 66. As shown in FIGS. 3 and 4, a first end of the rocker 66 is eccentrically connected to the outer rotor of the stabilization motor 14, wherein the rocker 66 and the outer rotor The connection point between them is denoted by S, and the rotation center (axis) of the stabilization motor 14 is denoted by R. The second end of the rocker 66 is rotatably connected (articulated) to the second cross bar portion 224 or the first cross bar portion 222. The above-mentioned connection mode makes the movement law of the rocker 66 meet the movement law of the rocker in the crank link mechanism. The connection line SR (non-solid structure) between the connection point S and the rotation center (axis) R can be regarded as a crank in a crank link mechanism.

As shown in FIG. 3, the supporting assembly 18 is U-shaped. The number of the stabilizing motors 14 is two, and is disposed symmetrically at both ends of the support assembly 18. Correspondingly, there are two joysticks 66. The first ends of the two rockers 66 are connected to the corresponding stabilization motor 14. The second ends of the two rockers 66 are symmetrically hinged to the connecting component, specifically, hinged to both sides of the second cross bar portion 224.

In this embodiment, the processor acquires state control information; and controls the stabilization motor to rotate according to the state control information. During the rotation of the stabilization motor, the stabilization motor drives the stabilization motor through the transmission component. The bearing assembly moves to change the bearing assembly from a working state to a stowed state, and / or from a stowed state to a working state; wherein, when the bearing assembly is in a working state, the bearing assembly is used to Increase stability vertically.

As a possible way, when the processor acquires the state control information, the processor is specifically configured to: detect the state control operation of the user; and generate the state control information according to the state control operation. As shown in FIG. 1, the shooting system further includes a state control button or a state control button 13. This embodiment does not limit the position of the state control button or the state control button 13 in the shooting system. Optionally, the state control button or the state control button 13 is provided on the base 10. When the processor detects a state control operation of the user, the processor is specifically configured to detect a user's operation of the state control button or the state control button. That is, when the user operates the state control button or the state control button 13, the processor may generate the state control information according to the detected operation of the user. The status control information can be used to control the vertical stabilization device to be in a working state when it is started, or to control the vertical stabilization device to be in a stowed state when it is stowed.

As another possible manner, the vertical stabilization device further includes a communication interface, and the communication interface is connected to the processor; when the processor acquires the state control information, the processor is specifically configured to: The communication interface receives status control information sent by the control terminal. Specifically, a control terminal such as a user terminal (such as one or more of a smart phone, a remote controller, a tablet computer, and a wearable device) performs wired or wireless communication with the vertical stabilization device, and the user terminal may be used to control the The status of the vertical stabilization device. Optionally, the user terminal sends status control information to the vertical stabilization device. The processor in the vertical stabilization device receives the user through the communication interface of the vertical stabilization device. The state control information sent by the terminal, where the state control information is determined by controlling the terminal to detect a state control operation of the user.

After the processor obtains the state control information in the above manner, it controls the rotation of the stabilization motor 14 according to the state control information. During the rotation of the stabilization motor 14, the stabilization motor 14 drives the connection component 22 relative to the support through the rocker 66 The assembly 18 rotates. The carrier assembly 16 is caused to change from the working state to the stowed state, and / or from the stowed state to the working state.

It can be understood that the shooting system or the vertical stabilization device has two working states, such as a forward state and an inverted state. Assume that the shooting system shown in FIG. 1 is a shooting system in a forward state, and the corresponding vertical stabilization device shown in FIG. 4 is a vertical stabilization device in a forward state. The shooting system shown in FIG. 5 is a shooting system in an inverted state, and the corresponding vertical stabilization device shown in FIG. 6 is a vertical stabilization device in an inverted state. In other embodiments, the shooting system shown in FIG. 1 may be used as the shooting system in an inverted state, and the vertical stabilization device shown in FIG. 4 is a vertical stabilization device in an inverted state. The shooting system shown in FIG. 5 is taken as the shooting system in the forward state, and the corresponding vertical stabilization device shown in FIG. 6 is the vertical stabilization device in the forward state.

In this embodiment, taking the inverted state as an example, FIG. 7 is a side view of the photographing system when the load-bearing component in the vertical stabilization device is in a stowed state; FIG. 8 is the load-bearing component in the vertical stabilization device in a stowed state The main view of the shooting system in the state. FIG. 9 is a side view of the photographing system when the load-bearing component in the vertical stabilization device is in a working state; FIG. 10 is a front view of the photographing system when the load-bearing component in the vertical stabilization device is in a working state.

As shown in FIG. 4, when the carrier assembly 16 is in the stowed state, if the state control information acquired by the processor is used to control the startup of the vertical stabilization device, the processor may control the stabilization motor 14 to rotate clockwise such that The carrier assembly 16 is switched from a stowed state to a working state. When the carrier assembly 16 is in the working state, if the state control information acquired by the processor is used to control the vertical stabilization device to be retracted, the processor can control the stabilization motor 14 to rotate counterclockwise, so that the carrier assembly 16 is switched from the working state. Switch to the collapsed state. The stowed state may indicate that the carried component 16 is in a stowed state relative to the base 10. When the carried component is in a working state, the carrying component 16 is in a deployed state relative to the base 10.

Optionally, after the carrier assembly 16 is switched from the working state to the stowed state, the processor controls the stabilizing motor 14 to not work. At this time, the carrier assembly 16 is in the stowed state and the temperature increasing motor 14 is not to work. The space occupied by the warming device is convenient for storage and carrying.

Optionally, after the load-carrying component 16 is switched from the stowed state to the working state, the processor controls the stabilizing motor 14 to rotate. When the stabilizing motor 14 rotates, the load-carrying component 16 is driven by the transmission component to increase the load in the vertical direction. stable. For example, when the load-carrying component 16 is in the working state, the connection component 22 can be rotated around the support component 18 under the drive of the stabilizing motor 14. Under the drive of the rotating connection component 22, the load connection portion 24 and the load on it can be Move vertically. The processor controls the movement direction and amplitude of the stabilization motor 14 so that the amount of vertical movement of the load driven by the load-bearing component 16 can offset or partially offset the amount of vertical vibration of the load, thereby realizing the vertical Increase stability.

In this embodiment, the processor of the vertical stabilization device obtains state control information, and the rotation of the stabilization motor is controlled according to the state control information. During the rotation, the stabilization motor drives the load-bearing component to move through the transmission part, so that The vertical stabilizing load-bearing component is changed from the working state to the stowed state, and / or from the stowed state to the working state, which avoids manually adjusting the state of the vertical stabilizing device, reduces the workload of the operator, and makes The vertical stabilization device is not easily damaged.

An embodiment of the present invention provides a vertical stabilization device. Based on the above embodiment, the stabilization motor and the transmission component are connected to form a crank link mechanism. As shown in FIG. 4, the first end of the rocker 66 is eccentrically connected to the outer rotor of the stabilizing motor 14, and the connection point between the rocker 66 and the outer rotor is denoted by S and the rotation of the stabilizing motor 14 The center (axis) is denoted as R. The second end of the rocker 66 is rotatably connected (articulated) to the second cross bar portion 224 or the first cross bar portion 222. The above-mentioned connection mode makes the movement law of the rocker 66 meet the movement law of the rocker in the crank link mechanism. The connection line SR (non-solid structure) between the connection point S and the rotation center (axis) R can be regarded as a crank in a crank link mechanism. When the crank and the rocker 66 are connected in a straight line, the crank link mechanism is in a dead point state. In this embodiment, when the crank link mechanism is in a dead point state, the angle at which the stabilization motor rotates is recorded as a reference angle.

Specifically, the processor controls the stabilization motor to rotate in the first rotation direction so that the rotation angle of the stabilization motor passes a reference angle; during the rotation of the stabilization motor, the stabilization motor passes The transmission component drives the bearing assembly to move in a first direction of movement. After the rotation angle of the stabilization motor passes a reference angle, the bearing assembly is changed from the working state to the stowed state. The reference angle is an angle at which the stabilization motor rotates when the crank link mechanism is in a dead point state.

As shown in FIG. 4, the processor controls the stabilization motor 14 to rotate in the counterclockwise direction. Here, the counterclockwise direction is referred to as the first rotation direction. During the rotation of the stabilization motor 14 in the counterclockwise direction, the stabilization motor 14 The rocker 66 drives the bearing assembly 16 to move in the first movement direction. It can be understood that, as shown in FIG. 4, the first movement direction may be a counterclockwise direction, and the radius of the movement track formed by the movement of the bearing assembly 16 in the first movement direction. It is constantly changing. During the movement of the bearing assembly 16 in the first movement direction, the connection assembly 22 rotates counterclockwise and the height continuously increases, and the load continuously moves upward in the vertical direction. When the crank SR and the rocker 66 are connected in a straight line, the crank The crank link mechanism composed of SR and rocker 66 is in a dead point state, and the rotation angle of the stabilization motor 14 reaches the reference angle. After the rotation angle of the stabilization motor 14 passes the reference angle, the load-bearing assembly 16 is switched from the working state to the stowed status.

As shown in FIG. 4, the vertical stabilization device further includes a support assembly 18, wherein the load-bearing assembly 16 is rotatably connected to the support assembly 18; the processor controls the stabilization motor to rotate in a first direction of rotation; During the rotation of the stabilizing motor, the stabilizing motor drives the bearing assembly to move in the first movement direction through the transmission component. After the angle between the bearing assembly and the supporting assembly passes a limit angle, the The load-carrying component is changed from the working state to the stowed state, wherein the limit angle is an angle between the load-carrying component and the support component when the rotation angle of the stabilization motor rotates to a reference angle.

For example, the processor controls the stabilization motor 14 to rotate counterclockwise. During the rotation of the stabilization motor 14 in the counterclockwise direction, the stabilization motor 14 drives the bearing assembly 16 to move in the first direction of movement through the rocker 66, and During the movement of the component 16 in the first movement direction, the load moves vertically upwards, and the angle between the bearing component 16 and the supporting component 18 is constantly changing. Specifically, the angle between the bearing component 16 and the supporting component 18 is continuously decreasing. small. It can be understood that the angle between the bearing assembly 16 and the supporting assembly 18 and the rotation angle of the stabilizing motor 14 correspond to each other. That is, when the stabilizing motor 14 rotates to a certain angle, the bearing assembly 16 and the supporting assembly are corresponding. An angle between 18. In this embodiment, when the rotation angle of the stabilization motor 14 is turned to a reference angle, the angle between the bearing assembly 16 and the supporting assembly 18 is recorded as the limit angle. It can be understood that, as shown in the figure, when the bearing assembly 16 and the supporting assembly The angle between 18 is at the limit angle, and the load-bearing component 16 is at the maximum height in the vertical direction, that is, the load carried on the load-bearing component 16 is at the maximum height in the vertical direction. Correspondingly, after the angle between the bearing assembly 16 and the supporting assembly 18 passes the limit angle, the bearing assembly 16 is changed from the working state to the stowed state.

In addition, a limit position portion is provided on the load bearing component; as shown in FIGS. 3 and 4, a limit position portion 65 is provided on the load bearing component 16; specifically, the limit position portion 65 may be provided on the first cross bar portion 222. In other embodiments, the bearing assembly 16 may be provided with two limiting portions, such as the limiting portion 65 and the limiting portion 67 shown in FIG. 3, wherein the limiting portion 67 may be provided on the second cross bar portion 224. on. Here, the limiting portion 65 is used as an example for schematic description.

When the angle of rotation of the stabilization motor in the first rotation direction passes a reference angle, when the stabilization motor rotates to a limit angle in the first rotation direction, the transmission member resists the limit portion to The bearing assembly is restricted from moving in a second moving direction opposite to the first moving direction.

As shown in FIG. 4, during the process of the stabilization motor 14 in the counterclockwise direction, the connection component 22 rotates counterclockwise and the height continuously increases, and the load continuously moves upward in the vertical direction. When the crank SR and the rocker 66 are connected to form a line, In a straight line, the crank link mechanism composed of the crank SR and the rocker 66 is in a dead point state, and the rotation angle of the stabilization motor 14 reaches a reference angle. At this time, after the stabilization motor 14 continues to rotate in a counterclockwise direction by a smaller angle The rocker 66 can contact the limiting portion 65. In this embodiment, when the rocker 66 contacts the limiting portion 65, the rotation angle of the stabilization motor 14 is recorded as the limiting angle. In this state, the connection assembly 22 at a high position has a downward movement tendency, but the downward movement tendency of the connection assembly 22 will be converted into a tendency of the crank SR and the rocker 66 to rotate counterclockwise. Blocking, the crank SR and the rocker 66 cannot continue to rotate counterclockwise, so that the connecting component 22 and the load are stably fixed in this position, so as to limit the movement of the bearing component 16 in the second moving direction opposite to the first moving direction. In this state, even if the processor controls the stabilizing motor 14 to not work, for example, to control the stabilizing motor 14 to be powered off or unloaded, the state of the rocker 66 can still be locked, thereby restricting the load from moving vertically.

In this embodiment, the stabilization motor is controlled to rotate in the first rotation direction by the processor. During the rotation of the stabilization motor, the stabilization motor drives the bearing assembly to move in the first movement direction through the transmission component. After the angle of rotation of the motor in the first rotation direction passes the reference angle, the load-bearing assembly is converted from the working state to the stowed state. When the stabilization motor continues to rotate in the first rotation direction to the limit angle, the transmission component resists It is held to the limiting portion to restrict the load-bearing component from moving in a second movement direction opposite to the first movement direction, so as to prevent the load from moving vertically when the load-bearing component is in a stowed state.

An embodiment of the present invention provides a vertical stabilization device. Based on the above embodiment, the processor controls the stabilization motor to rotate in the second rotation direction so that the rotation angle of the stabilization motor passes a reference angle; during the rotation of the stabilization motor, The stabilizing motor drives the load-bearing component to move in the second direction of movement through the transmission component. After the angle of rotation of the stabilizing motor passes a reference angle, the load-bearing component is changed from the stowed state to the Working status.

As shown in FIG. 4, the processor controls the stabilization motor 14 to rotate clockwise. Here, the clockwise direction is referred to as the second rotation direction. During the rotation of the stabilization motor 14 in the clockwise direction, the stabilization motor 14 is rotated. By using the rocker 66 to drive the bearing component 16 to move in the second movement direction, it can be understood that the second movement direction may be clockwise, and the radius of the movement track formed by the bearing component 16 moving in the second movement direction is constantly changing. During the movement of the bearing assembly 16 in the second movement direction, the connection assembly 22 rotates clockwise and the height continuously decreases, and the load continuously moves downward in a vertical direction. When the crank SR and the rocker 66 are connected in a straight line, the crank The crank link mechanism composed of SR and rocker 66 is in a dead point state, and the rotation angle of the stabilization motor 14 reaches the reference angle. After the rotation angle of the stabilization motor 14 passes the reference angle, the bearing assembly 16 is switched from the stowed state to work. status.

Specifically, when the rotation angle of the stabilization motor passes a reference angle and the rotation angle of the stabilization motor is within a preset rotation working angle range, the stabilization motor drives the bearing assembly to move through the transmission component to The carrier assembly is caused to change from the stowed state to the working state.

After the rotation angle of the stabilization motor 14 passes the reference angle, the stabilization motor 14 continues to rotate clockwise. During the rotation of the stabilization motor 14 in the clockwise direction, the stabilization motor 14 drives the bearing assembly 16 through the rocker 66 Moving along the second movement direction, the connecting component 22 rotates clockwise and the height continuously decreases, and the included angle between the first cross bar portion 222 or the second cross bar portion 224 and the horizontal direction decreases continuously. Assume that when the first cross bar portion 222 or When the included angle between the second cross bar portion 224 and the horizontal direction is within a preset angle range, such as between 30 degrees and 35 degrees, the rotation angle of the stabilization motor is within the preset rotation working angle range. At this time, the bearing assembly 16 can be considered Switching from the stowed state to the working state.

As shown in FIG. 4, the vertical stabilization device further includes a support assembly 18, wherein the load-bearing assembly 16 is rotatably connected to the support assembly 18; the processor controls the stabilization motor to rotate in a second rotation direction; During the rotation of the stabilizing motor, the stabilizing motor drives the bearing assembly to move in the second moving direction through the transmission component. When the angle between the bearing assembly and the supporting assembly passes a limit angle, the The load-carrying component is changed from the stowed state to the working state, wherein the limit angle is an angle between the load-carrying component and the support component when the rotation angle of the stabilization motor rotates to a reference angle.

For example, the processor controls the stabilization motor 14 to rotate in a clockwise direction. During the rotation of the stabilization motor 14 in a clockwise direction, the stabilization motor 14 drives the bearing assembly 16 to move in the second direction of movement through the rocker 66. During the movement of the module 16 in the second movement direction, the load moves vertically downwards, and the angle between the bearing module 16 and the supporting module 18 is constantly changing. Specifically, the angle between the bearing module 16 and the supporting module 18 is constantly changing. Increase. It can be understood that the angle between the bearing assembly 16 and the supporting assembly 18 and the rotation angle of the stabilizing motor 14 correspond to each other. That is, when the stabilizing motor 14 rotates to a certain angle, the bearing assembly 16 and the supporting assembly are corresponding. An angle between 18. In this embodiment, when the rotation angle of the stabilizing motor 14 is turned to a reference angle, the angle between the load-carrying component 16 and the supporting component 18 is recorded as the limit angle. Correspondingly, when the angle between the bearing assembly 16 and the supporting assembly 18 passes the limit angle, the bearing assembly 16 changes from the stowed state to the working state.

Specifically, when the rotation angle of the stabilization motor passes a reference angle and the rotation angle of the bearing component relative to the support component is within a preset rotation working angle range, the stabilization motor drives the The bearing assembly moves to cause the bearing assembly to transition from the stowed state to the working state.

After the rotation angle of the stabilization motor 14 passes the reference angle, the stabilization motor 14 continues to rotate clockwise. During the rotation of the stabilization motor 14 in the clockwise direction, the stabilization motor 14 drives the bearing assembly 16 through the rocker 66 Moving along the second direction of movement, the angle between the load bearing component 16 and the supporting component 18 increases continuously, and the included angle between the first cross bar portion 222 or the second cross bar portion 224 and the horizontal direction decreases continuously. When the included angle between the rod portion 222 or the second horizontal rod portion 224 and the horizontal direction is within a preset angle range, such as between 30 degrees and 35 degrees, the rotation angle of the bearing component 16 relative to the support component 18 is within a preset rotation working angle range. Inside.

As shown in FIG. 1, the vertical stabilization device further includes: an angle sensor 15, which can be used to detect a rotation angle of the bearing component 16 relative to the support component 18. The angle sensor 15 is connected to a processor, and the processor can obtain the rotation angle of the bearing component 16 relative to the support component 18 detected by the angle sensor 15 in real time, and determine the bearing component according to the rotation angle of the bearing component 16 relative to the support component 18. 16 state, for example, when the rotation angle of the stabilization motor 14 in the clockwise direction passes a reference angle, and the rotation angle of the bearing assembly 16 relative to the support assembly 18 is within a preset rotation working angle range, the stabilization motor 14 passes a rocker 66 drives the carrier assembly 16 to move the carrier assembly 16 from the stowed state to the working state.

An embodiment of the present invention provides a method for controlling a vertical stabilization device. FIG. 11 is a flowchart of a method for controlling a vertical stabilization device according to an embodiment of the present invention. In this embodiment, the vertical stabilization device includes a processor, a stabilization motor, a transmission component, and a load-bearing component for carrying a load. The specific structure is shown in FIG. 1, FIG. 2, FIG. 3, and FIG. 4. Details are not repeated here, wherein the processor is electrically connected to the stabilization motor, and the processor is configured to control the stabilization motor to rotate. The control method of the vertical stabilization device described in this embodiment may be specifically executed by the processor. As shown in FIG. 11, the method in this embodiment may include:

Step S1101: Obtain status control information.

As a feasible implementation manner, the acquiring state control information includes: detecting a state control operation of a user; and generating state control information according to the state control operation. The detecting a user's state control operation includes detecting a user's operation of a state control button or a state control button.

As another feasible implementation manner, the acquiring status control information includes receiving status control information sent by a control terminal.

In this embodiment, the implementation manner and specific principle of the processor acquiring the state control information are consistent with the foregoing embodiments, and details are not described herein again.

Step S1102, the rotation of the stabilization motor is controlled according to the state control information. During the rotation of the stabilization motor, the stabilization motor drives the bearing component to move through the transmission component so that the bearing component is driven by The working state is changed to a stowed state, and / or the stowed state is changed to a working state.

Wherein, when the load-bearing component is in a working state, the load-bearing component is used for stabilizing the load in a vertical direction.

In this embodiment, the processor controls the stabilizing motor to rotate so that the load-bearing component is changed from the working state to the stowed state, and / or the implementation manner and specific principle of the stowage state from the stowed state to the stowed state are consistent with the above embodiments. I will not repeat them here.

Specifically, after the bearing assembly is switched from the working state to the stowed state, the stabilization motor is controlled not to work. After the load-bearing component is switched from the stowed state to the working state, the stabilization motor is controlled to rotate. When the stability-increasing motor rotates, the load-bearing component is driven to move by the transmission component to stabilize the load in the vertical direction. .

As a possible manner, the controlling the rotation of the stabilization motor includes: controlling the rotation of the stabilization motor in a first rotation direction so that an angle of rotation of the stabilization motor passes a reference angle; In the process, the stabilizing motor drives the bearing assembly to move in the first direction of movement through the transmission component. After the rotation angle of the stabilizing motor passes a reference angle, the bearing assembly is changed from the working state to The stowed state.

Specifically, the vertical stabilization device further includes a support component, wherein the bearing component is rotatably connected to the support component; and controlling the rotation of the stabilization stabilization motor includes: controlling the stabilization stabilization motor to rotate in a first rotation direction ; During the rotation of the stabilization motor, the stabilization motor drives the bearing assembly to move in the first direction of movement through the transmission component, and when the angle between the bearing assembly and the support assembly passes a limit At the angle, the load-bearing component is switched from the working state to the stowed state, wherein the limit angle is the angle at which the load-stabilizing motor rotates to a reference angle between the load-bearing component and the support component. Angle.

In addition, the load-bearing component is provided with a limited position portion; when the angle of rotation of the stabilization motor in the first rotation direction passes a reference angle, when the stabilization motor rotates to the limitation angle in the first rotation direction, The transmission member resists the limiting portion to restrict the bearing assembly from moving in a second moving direction opposite to the first moving direction.

As another possible manner, the controlling the rotation of the stabilization motor includes: controlling the rotation of the stabilization motor in a second rotation direction so that an angle of the rotation of the stabilization motor passes a reference angle; and the rotation of the stabilization motor During the process, the stabilizing motor drives the bearing assembly to move in the second moving direction through the transmission component. After the rotation angle of the stabilizing motor passes the reference angle, the bearing assembly is moved from the stowed state. Transition to the working state.

Specifically, when the rotation angle of the stabilization motor passes a reference angle and the rotation angle of the stabilization motor is within a preset rotation working angle range, the stabilization motor drives the bearing assembly to move through the transmission component to The carrier assembly is caused to change from the stowed state to the working state.

In addition, the vertical stabilization device further includes a support assembly, wherein the bearing assembly is rotatably connected to the support assembly; and controlling the rotation of the stabilization stabilization motor includes: controlling the stabilization stabilization motor to rotate in a second rotation direction; During the rotation of the stabilization motor, the stabilization motor drives the bearing assembly to move in the second movement direction through the transmission component. When the angle between the bearing assembly and the support assembly passes a limit angle When the load-bearing component is changed from the stowed state to the working state, wherein the limit angle is the angle between the rotation of the stabilization motor and the reference angle when the load-bearing component and the support component rotate Angle.

Specifically, when the rotation angle of the stabilization motor passes a reference angle and the rotation angle of the bearing component relative to the support component is within a preset rotation working angle range, the stabilization motor drives the The bearing assembly moves to cause the bearing assembly to transition from the stowed state to the working state.

Optionally, the stabilizing motor and the transmission component are connected to form a crank link mechanism, and the reference angle is an angle at which the stabilizing motor rotates when the crank link mechanism is in a dead point state.

Optionally, the transmission member is eccentrically connected to the outer rotor of the stabilization motor.

Optionally, the load bearing component includes a connection component and a load connection portion connected to the connection component, and the load connection portion is used to carry a load; the stabilization motor is connected to the connection component through the transmission component.

Optionally, the connection assembly includes a four-link mechanism.

The structure of the vertical stabilization device described in this embodiment is the same as the structure of the vertical stabilization device described in the foregoing embodiment, and details are not described herein again.

In addition, the specific principles and implementation methods of the control method of the vertical stabilization device provided by the embodiments of the present invention are similar to the above embodiments, and are not described herein again.

In this embodiment, the state control information is obtained through the processor of the vertical stabilization device, and the rotation of the stabilization motor is controlled according to the state control information. During the rotation, the stabilization motor drives the bearing component to move through the transmission part, so that it is used for the load The vertical stabilizing load-bearing component is switched from the working state to the stowed state, and / or from the stowed state to the working state, avoiding manually adjusting the state of the vertical stabilizing device, and reducing the workload of the operator, This makes the vertical stabilization device less susceptible to damage.

In addition, this embodiment also provides a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the control method of the vertical stabilization device according to the foregoing embodiment.

In the several embodiments provided by the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the unit is only a logical function division. In actual implementation, there may be another division manner. For example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, which may be electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objective of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist separately physically, or two or more units may be integrated into one unit. The above integrated unit may be implemented in the form of hardware, or in the form of hardware plus software functional units.

The above integrated unit implemented in the form of a software functional unit may be stored in a computer-readable storage medium. The software functional unit is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) or a processor to execute the methods described in the embodiments of the present invention. Some steps. The foregoing storage media include: U disks, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks or compact discs and other media that can store program codes .

Those skilled in the art can clearly understand that for the convenience and brevity of the description, only the above-mentioned division of the functional modules is used as an example. In practical applications, the above-mentioned functions can be allocated by different functional modules according to needs. The internal structure is divided into different functional modules to complete all or part of the functions described above. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiments, and details are not described herein again.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention, but not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; and these modifications or replacements do not deviate the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present invention. range.

Claims (35)

1. A vertical stabilization device includes a processor, a stabilization motor, a transmission component, and a load bearing component for carrying a load;

   The processor is electrically connected to the stabilization motor, and the processor is configured to control the rotation of the stabilization motor;

   The stabilization motor is connected to the load bearing component through the transmission component;

   The processor is configured to perform the following operations:

   Get status control information;

   Controlling the stabilization motor to rotate according to the state control information;

   During the rotation of the stabilizing motor, the stabilizing motor drives the load bearing assembly to move through the transmission component to change the load bearing assembly from an operating state to a stowed state, and / or from a stowed state. Is working

   Wherein, when the load-bearing component is in a working state, the load-bearing component is used for stabilizing the load in a vertical direction.
2. The vertical stabilization device according to claim 1, wherein the processor is further configured to control the stabilization motor not to work after the load-bearing component is switched from a working state to a stowed state.
3. The vertical stabilization device according to claim 1 or 2, wherein the processor is further configured to control the stabilization motor to rotate after the carrier assembly is switched from a stowed state to a working state; When the stabilization motor is rotated, the load-carrying component is driven to move by the transmission component to stabilize the load in a vertical direction.
4. The vertical stabilization device according to any one of claims 1-3, wherein the processor is specifically configured to control the stabilization motor to rotate in a first rotation direction to rotate the stabilization motor The angle passes through the reference angle;

   During the rotation of the stabilization motor, the stabilization motor drives the bearing assembly to move in the first movement direction through the transmission component. After the rotation angle of the stabilization motor passes the reference angle, the load The component changes from the working state to the stowed state.
5. The vertical stabilization device according to claim 4, wherein the vertical stabilization device further comprises a support component, wherein the bearing component is rotatably connected to the support component;

   The processor is specifically configured to control the stabilization motor to rotate in a first rotation direction;

   During the rotation of the stabilizing motor, the stabilizing motor drives the bearing assembly to move in the first movement direction through the transmission component, and when the angle between the bearing assembly and the support assembly passes a limit angle When the load-bearing component is switched from the working state to the stowed state, wherein the limit angle is the angle between the rotation of the stabilization motor and the reference angle when the load-bearing component and the support component rotate Angle.
6. The vertical stabilization device according to claim 4 or 5, wherein a limit position is provided on the load bearing component;

   When the angle of rotation of the stabilization motor in the first rotation direction passes a reference angle, when the stabilization motor rotates to a limit angle in the first rotation direction, the transmission member resists the limit portion to The bearing assembly is restricted from moving in a second moving direction opposite to the first moving direction.
7. The vertical stabilization device according to any one of claims 1-6, wherein the processor is specifically configured to control the stabilization motor to rotate in a second rotation direction to rotate the stabilization motor The angle passes through the reference angle;

   During the rotation of the stabilizing motor, the stabilizing motor drives the bearing assembly to move in the second moving direction through the transmission component. After the angle of rotation of the stabilizing motor passes a reference angle, the load The component transitions from the stowed state to the working state.
8. The vertical stabilization device according to claim 7, characterized in that, when the rotation angle of the stabilization motor passes a reference angle and the rotation angle of the stabilization motor is within a preset rotation working angle range, the stabilization device The stabilizing motor drives the bearing assembly to move through the transmission component, so that the bearing assembly is converted from the stowed state to the working state.
9. The vertical stabilization device according to claim 7 or 8, wherein the vertical stabilization device further comprises a supporting component, wherein the bearing component is rotatably connected to the supporting component;

   The processor is specifically configured to control the stabilization motor to rotate in a second rotation direction;

   During the rotation of the stabilization motor, the stabilization motor drives the bearing assembly to move in the second movement direction through the transmission component. When the angle between the bearing assembly and the support assembly passes a limit angle The load-bearing component is switched from the stowed state to the working state, wherein the limit angle is the angle between the rotation of the stabilization motor and the reference angle when the load-bearing component and the support component Angle.
10. The vertical stabilization device according to claim 9, wherein when the rotation angle of the stabilization motor passes a reference angle and the rotation angle of the bearing component relative to the support component is within a preset rotation working angle range At this time, the stabilizing motor drives the load bearing component to move through the transmission component to change the load bearing component from the stowed state to the working state.
11. The vertical stabilization device according to any one of claims 4 to 10, wherein the stabilization motor and the transmission member are connected to form a crank link mechanism, and the reference angle is the crank link mechanism The angle of rotation of the stabilizing motor when in the dead state.
12. The vertical stabilization device according to any one of claims 1 to 11, wherein the transmission member is eccentrically connected to an outer rotor of the stabilization motor.
13. The vertical stabilization device according to any one of claims 1-12, wherein the load-bearing component comprises a connection component and a load connection portion connected to the connection component, and the load connection portion is configured to carry a load ;

    The stabilization motor is connected to the connection assembly through the transmission component.
14. The vertical stabilization device according to claim 13, wherein the connection assembly includes a four-link mechanism.
15. The vertical stabilization device according to any one of claims 1 to 14, wherein when the processor acquires state control information, the processor is specifically configured to:

    Detect user status control operations;

    According to the status control operation, status control information is generated.
16. The vertical stabilization device according to claim 15, wherein:

    When the processor detects a user's state control operation, the processor is specifically configured to:

    Detects a user's operation of a state control button or a state control button.
17. The vertical stabilization device according to any one of claims 1 to 14, wherein the vertical stabilization device further comprises a communication interface, and the communication interface is connected to the processor;

    When the processor obtains the state control information, the processor is specifically configured to:

    Receiving the state control information sent by the control terminal through the communication interface.
18. A control method for a vertical stabilization device, wherein the vertical stabilization device includes a stabilization motor, a transmission component, and a load-bearing component for carrying a load. The method includes:

    Get status control information;

    Controlling the stabilization motor to rotate according to the state control information;

    During the rotation of the stabilizing motor, the stabilizing motor drives the load bearing assembly to move through the transmission component to change the load bearing assembly from an operating state to a stowed state, and / or from a stowed state. Is working

    Wherein, when the load-bearing component is in a working state, the load-bearing component is used for stabilizing the load in a vertical direction.
19. The method according to claim 18, further comprising:

    After the load-bearing component is switched from the working state to the stowed state, the stabilization motor is controlled not to work.
20. The method according to claim 18 or 19, further comprising:

    After the load-bearing component is switched from the stowed state to the working state, the stabilization motor is controlled to rotate; when the stability-increasing motor rotates, the load-bearing component is driven to move by the transmission component to stabilize the load vertically .
21. The method according to any one of claims 18-20, wherein the controlling the rotation of the stabilizing motor comprises:

    Controlling the stabilization motor to rotate in a first direction of rotation so that the rotation angle of the stabilization motor passes a reference angle;

    During the rotation of the stabilization motor, the stabilization motor drives the bearing assembly to move in the first movement direction through the transmission component. After the rotation angle of the stabilization motor passes the reference angle, the load The component changes from the working state to the stowed state.
22. The method according to claim 21, wherein the vertical stabilization device further comprises a supporting component, wherein the bearing component is rotatably connected to the supporting component;

    The controlling the rotation of the stabilizing motor includes:

    Controlling the stabilization motor to rotate in a first rotation direction;

    During the rotation of the stabilizing motor, the stabilizing motor drives the bearing assembly to move in the first movement direction through the transmission component, and when the angle between the bearing assembly and the support assembly passes a limit angle When the load-bearing component is switched from the working state to the stowed state, wherein the limit angle is the angle between the rotation of the stabilization motor and the reference angle when the load-bearing component and the support component rotate Angle.
23. The method according to claim 21 or 22, wherein a limit portion is provided on the bearing component;

    When the angle of rotation of the stabilization motor in the first rotation direction passes a reference angle, when the stabilization motor rotates to a limit angle in the first rotation direction, the transmission member resists the limit portion to The bearing assembly is restricted from moving in a second moving direction opposite to the first moving direction.
24. The method according to any one of claims 18-23, wherein the controlling the rotation of the stabilizing motor comprises:

    Controlling the stabilization motor to rotate in a second direction of rotation so that the rotation angle of the stabilization motor passes a reference angle;

    During the rotation of the stabilization motor, the stabilization motor drives the bearing assembly to move in the second direction of movement through the transmission component. The component transitions from the stowed state to the working state.
25. The method according to claim 24, wherein:

    When the rotation angle of the stabilization motor passes a reference angle and the rotation angle of the stabilization motor is within a preset rotation working angle range, the stabilization motor drives the bearing assembly to move through the transmission part to make the The bearing component is switched from the stowed state to the working state.
26. The method according to claim 24 or 25, wherein the vertical stabilization device further comprises a supporting component, wherein the bearing component is rotatably connected to the supporting component;

    The controlling the rotation of the stabilizing motor includes:

    Controlling the stabilization motor to rotate in a second rotation direction;

    During the rotation of the stabilization motor, the stabilization motor drives the bearing assembly to move in the second movement direction through the transmission component. When the angle between the bearing assembly and the support assembly passes a limit angle The load-bearing component is switched from the stowed state to the working state, wherein the limit angle is the angle between the rotation of the stabilization motor and the reference angle when the load-bearing component and the support component Angle.
27. The method according to claim 26, wherein:

    When the rotation angle of the stabilization motor passes a reference angle and the rotation angle of the bearing assembly relative to the support assembly is within a preset rotation working angle range, the stabilization motor drives the bearing assembly through the transmission member The movement causes the bearing assembly to be changed from the stowed state to the working state.
28. The method according to any one of claims 21 to 27, wherein the stabilizing motor and the transmission member are connected to form a crank link mechanism, and the reference angle is the increase of the crank link mechanism when the crank link mechanism is in a dead point state Stable motor rotation angle.
29. The method according to any one of claims 18 to 28, wherein the transmission member is eccentrically connected to an outer rotor of the stabilization motor.
30. The method according to any one of claims 18 to 29, wherein the load-bearing component comprises a connection component and a load connection portion connected to the connection component, and the load connection portion is configured to carry a load;

    The stabilization motor is connected to the connection assembly through the transmission component.
31. The method according to claim 30, wherein the connection assembly comprises a four-link mechanism.
32. The method according to any one of claims 18 to 31, wherein the acquiring state control information comprises:

    Detect user status control operations;

    According to the status control operation, status control information is generated.
33. The method according to claim 32, wherein the detecting the state control operation of the user comprises:

    Detects a user's operation of a state control button or a state control button.
34. The method according to any one of claims 18 to 31, wherein the acquiring state control information comprises:

    Receive the status control information sent by the control terminal through the communication interface.
35. A computer-readable storage medium, characterized in that a computer program is stored thereon, and the computer program is executed by a processor to implement the method according to any one of claims 18-34.

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