WO2020237570A1 - Control method and device for gimbal, handheld gimbal and storage medium - Google Patents

Abstract

A control method and device for a gimbal, a handheld gimbal (50) and a storage medium. The gimbal (50) and an image capture apparatus (60) carried by the gimbal (50) are housed within a waterproof apparatus (100); the method comprises: acquiring a roll posture indication parameter of a base of the gimbal (50) (S301); when the roll posture indication parameter of the base is within a first preset range, using a first control mode to control the posture of the gimbal (50) so that the roll posture of the gimbal (50) is maintained as horizontal, the yaw posture of the gimbal (50) follows the yaw posture of the base, and the deviation of the pitch posture of the gimbal (50) relative to the pitch posture of the base is maintained at a preset angle determined by the structure of the waterproof device (100) (S302); and when the roll posture indication parameter of the base is within a second preset range, using a second control mode to control the posture of the gimbal (50) so that the posture of the gimbal (50) follows the posture of the base at a certain preset posture deviation (S303). The described method achieves stabilization control for the gimbal (50) by means of the waterproof device (100) when the gimbal (50) is located underwater.

Description

PTZ control method, equipment, handheld PTZ and storage medium Technical field

The embodiment of the present invention relates to the field of control technology, and in particular to a method, equipment, handheld pan/tilt and storage medium for controlling a pan/tilt.

Background technique

In the prior art, the pan/tilt can carry the camera to stabilize the camera. In order to cope with underwater shooting scenes, a pan/tilt carrying a camera is usually housed in a waterproof device. However, the existing control strategy of the pan/tilt is not suitable for underwater shooting scenes.

Summary of the invention

Embodiments of the present invention provide a pan-tilt control method, equipment, handheld pan-tilt, and storage medium, so as to provide a pan-tilt control method, so that the pan-tilt carrying the camera can meet the requirements of underwater shooting scenes.

The first aspect of the embodiments of the present invention is to provide a method for controlling a pan/tilt, the pan/tilt is used to carry a camera, the pan/tilt and the camera are housed in a waterproof device, and the method includes:

Obtain the roll attitude indication parameters of the base of the pan/tilt;

If the roll attitude indicator parameter of the base is within the first preset range, the first control mode is adopted to control the attitude of the pan/tilt head, wherein, in the first control mode, the pan/tilt head is controlled The roll attitude remains horizontal, the yaw attitude of the gimbal is controlled according to the yaw attitude of the base, and the pitch attitude of the gimbal is controlled according to the pitch attitude and a preset angle of the base, and the preset The angle is determined according to the structure of the waterproof device;

If the roll posture indication parameter of the base is within the second preset range, the second control mode is used to control the posture of the pan/tilt head, wherein, in the second control mode, according to the base The deviation of the attitude and the preset attitude controls the attitude of the pan-tilt.

A second aspect of the embodiments of the present invention is to provide a control device for a pan/tilt, the pan/tilt is used to carry a photographing device, the pan/tilt and the photographing device are housed in a waterproof device, and the control device includes: a memory And processor;

The memory is used to store program codes;

The processor calls the program code, and when the program code is executed, is used to perform the following operations:

Obtain the roll attitude indication parameters of the base of the pan/tilt;

If the roll attitude indicator parameter of the base is within the first preset range, the first control mode is adopted to control the attitude of the pan/tilt head, wherein, in the first control mode, the pan/tilt head is controlled The roll attitude remains horizontal, the yaw attitude of the gimbal is controlled according to the yaw attitude of the base, and the pitch attitude of the gimbal is controlled according to the pitch attitude and a preset angle of the base, and the preset The angle is determined according to the structure of the waterproof device;

If the roll posture indication parameter of the base is within the second preset range, the second control mode is used to control the posture of the pan/tilt head, wherein, in the second control mode, according to the base The deviation of the attitude and the preset attitude controls the attitude of the pan-tilt.

The third aspect of the embodiments of the present invention is to provide a handheld PTZ, including:

PTZ, used to carry the camera;

A base, the head and the base are connected; and

The control device as described in the second aspect.

The fourth aspect of the embodiments of the present invention is to provide a computer-readable storage medium having a computer program stored thereon, and the computer program is executed by a processor to implement the method described in the first aspect.

The control method, equipment, handheld pan/tilt and storage medium of this embodiment provide the pan/tilt and the photographing device carried by the pan/tilt in the waterproof device, and obtain the roll posture indication of the base of the pan/tilt. Parameter. When the roll attitude indication parameter of the base is within the first preset range, the first control mode is used to control the attitude of the gimbal so that the roll attitude of the gimbal remains level, and the yaw attitude of the gimbal follows the base The yaw attitude of the base, the deviation of the pitch attitude of the gimbal relative to the pitch attitude of the base is maintained at a preset angle determined by the structure of the waterproof device; when the roll attitude indicator parameter of the base is in the second preset When the range is set, the second control mode is used to control the attitude of the pan/tilt so that the attitude of the pan/tilt follows the attitude of the base with a certain preset attitude deviation, thereby providing a control method of the pan/tilt so as to carry the camera The PTZ adapts to the needs of underwater shooting scenes.

Description of the drawings

In order to explain the technical solutions in the embodiments of the present invention more clearly, the following will briefly introduce the drawings used in the description of the embodiments. 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 creative labor.

FIG. 1 is a schematic structural diagram of a waterproof device provided by an embodiment of the present invention;

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

FIG. 3 is a flowchart of a method for controlling a PTZ according to an embodiment of the present invention;

4 is a schematic diagram of a world coordinate system and a body coordinate system provided by an embodiment of the present invention;

5 is a schematic diagram of the roll posture indicating parameters of the base provided by the embodiment of the present invention;

Fig. 6 is a schematic diagram of controlling the rolling attitude of the pan/tilt head to keep level according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of the inclination angle of the upper housing relative to the lower housing provided by an embodiment of the present invention;

FIG. 8 is a schematic diagram of the pitch attitude of the gimbal according to an embodiment of the present invention;

FIG. 9 is a flowchart of a method for controlling a pan-tilt according to another embodiment of the present invention;

Fig. 10 is a structural diagram of a pan-tilt control device provided by an embodiment of the present invention.

Reference signs:

100: Waterproof device; 10: Lower case; 20: Upper case;

30: Fastener; 40: Viewfinder end surface; 50: PTZ;

60: Camera; 61: Base; 62: PTZ;

71: the longitudinal axis of the lower housing 10; 72: the axis of the upper housing 20;

73: the longitudinal axis of the base 61; 74: the optical axis of the camera 60;

101: control equipment; 102: memory;

103: Processor; 104: Communication interface.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly described below in conjunction with 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, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

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

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of the present invention. The terms used in the description of the present invention herein are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The term "and/or" as used herein includes any and all combinations of one or more related listed items.

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

The embodiment of the present invention provides a method for controlling a pan-tilt. In this embodiment, the pan/tilt is used to carry a camera, and the pan/tilt and the camera are housed in a waterproof device. Optionally, the waterproof device includes a lower casing for a user to hold and an upper casing connected with the lower casing. FIG. 1 is a schematic structural diagram of a waterproof device provided by an embodiment of the present invention. As shown in FIG. 1, the waterproof device 100 includes a lower housing 10 for a user to hold and an upper housing 20 connected to the lower housing 10, wherein the lower housing 10 and the upper housing 20 can be connected in various ways, Specifically, the lower housing 10 and the upper housing 20 may be connected by connecting components. For example, as shown in FIG. 1, the lower housing 10 and the upper housing 20 may be connected by a fastener 30. In addition, in other embodiments, the lower housing 10 and the upper housing 20 may also be integrally formed. The lower housing 10 and the upper housing 20 may form a sealed cavity, and the pan/tilt and its carrying camera can be placed in the sealed cavity. This embodiment does not limit the number of axes of the pan/tilt. For example, the pan/tilt may be a three-axis pan/tilt or a two-axis pan/tilt. The photographing device carried on the platform may specifically be a visible light photographing device or a thermal infrared photographing device.

Optionally, the upper housing includes a viewing end surface for viewing the shooting device. As shown in FIG. 1, the viewing end surface 40 is an end surface of the upper housing 20. The viewing end surface 40 can be used for viewing by the camera. Along the viewing end surface 40, the pan/tilt and the pan/tilt placed in the waterproof device 100 can be seen. Camera mounted on top. As shown in FIG. 2, 50 denotes a pan/tilt, and 60 denotes a camera carried on the pan/tilt 50. The pan-tilt 50 and the camera 60 can move in the cavity in the upper housing 20. The base (not shown) of the pan/tilt head 50 is located in the cavity in the lower housing 10. The base is connected to the three-axis stabilization mechanism of the pan/tilt. Optionally, the pan/tilt may be a handheld pan/tilt, and the base is a handheld rod of the pan/tilt. In this embodiment, the whole composed of the three-axis stabilization mechanism and the base can be referred to as a handheld pan/tilt. Optionally, when the processor of the pan/tilt head determines that the pan/tilt head is located in the waterproof device, the processor of the pan/tilt head does not respond to the user's posture control instruction.

Hereinafter, a method for controlling the pan/tilt head is introduced by taking the waterproof device 100 shown in FIGS. 1 and 2 as an example.

FIG. 3 is a flowchart of a method for controlling a pan-tilt according to an embodiment of the present invention. As shown in Figure 3, the method in this embodiment may include:

Step S301: Obtain the roll posture indication parameter of the base of the pan-tilt.

As shown in Figure 4, the three-dimensional coordinate system XYZ represents the body coordinate system of the base of the pan/tilt. Specifically, the front of the base is the X axis of the body coordinate system, and the left side of the base is the body coordinate system. The Y axis of the system is perpendicular to the X axis and Y axis, and the downward direction is the Z axis of the body coordinate system. It can be understood that the base can rotate with the three axes of the body coordinate system as the rotation axis. For example, when the base rotates with the X axis of the body coordinate system as the rotation axis, the roll posture of the base will change. At this time, the control device used to control the pan/tilt head can obtain the roll posture indication parameters of the base. The control device may be a control device in the handheld pan/tilt, and the control device may include a processor. The roll posture indicating parameter of the base refers to a parameter that can be used to indicate the roll posture of the base in a three-dimensional space. For example, the roll attitude indicating parameter of the base may specifically be the roll angle of the base. Alternatively, the roll posture indication parameter of the base includes the angle between the Z axis of the world coordinate system defined by the base and the Y axis of the body coordinate system defined by the pan/tilt.

As shown in Figure 4, the three-dimensional coordinate system formed by X1, Y1 and Z1 is a world coordinate system defined by the base, where Z1 represents the Z axis of the world coordinate system defined by the base, and the direction of the Z1 axis is perpendicular to the ground, and X1 The axis direction is the direct front of the base when the pan/tilt is turned on, and the Y1 axis direction is the right direction of the base when the pan/tilt is turned on. It can be understood that the body coordinate system defined by the pan/tilt may specifically be the body coordinate system of the base represented by the three-dimensional coordinate system XYZ as described above.

It can be understood that the body coordinate system can be changed with the change of the attitude of the pan/tilt or the base. For example, when the base rotates with the X axis of the body coordinate system as the rotation axis, the Y of the body coordinate system The directions of the axis and Z axis are constantly changing. The world coordinate system does not change with the attitude of the pan/tilt or the base. For example, the Z axis of the world coordinate system, that is, the Z1 axis direction, always remains perpendicular to the ground, and will not follow the base in the body coordinate system. The three axes of the rotation axis change for rotation. Therefore, when the base rotates with the X axis of the body coordinate system as the axis of rotation, the angle between the Y or Z axis direction of the body coordinate system and the Z1 axis direction of the world coordinate system is constantly changing . In other words, when the base rotates with the X axis of the body coordinate system as the axis of rotation, the angle between the Y or Z axis direction of the body coordinate system and the Z1 axis direction of the world coordinate system can be used To measure the roll posture of the base. Optionally, in this embodiment, the angle between the Z1 axis direction of the world coordinate system and the Y axis of the body coordinate system is used as a parameter indicating the roll posture of the base in the three-dimensional space, that is, the The roll posture of the base indicates the parameter.

Step S302: If the roll posture indicating parameter of the base is within a first preset range, the first control mode is used to control the posture of the pan/tilt head, wherein, in the first control mode, the The roll attitude of the gimbal is kept horizontal, the yaw attitude of the gimbal is controlled according to the yaw attitude of the base, the pitch attitude of the gimbal is controlled according to the pitch attitude of the base and a preset angle, so The preset angle is determined according to the structure of the waterproof device.

In this embodiment, the control mode of the pan/tilt may include a first control mode and a second control mode. When the roll attitude indicator parameter of the base is within the first preset range, the control device of the pan/tilt adopts the first control mode. One control mode controls the attitude of the PTZ. When the roll attitude indication parameter of the base is within the second preset range, the control device of the pan/tilt head adopts the second control mode to control the attitude of the pan/tilt head. In this embodiment, the first control mode may specifically be a ROLL horizontal mode, and the second control mode may specifically be a full follow mode.

As shown in FIG. 5, the Z1 axis is the Z axis of the world coordinate system as shown in FIG. 4, and the Y axis is the Y axis of the body coordinate system as shown in FIG. Here, the angle between the Z1 axis of the world coordinate system and the Y axis of the body coordinate system is recorded as θ, as shown in Figures 4 and 5, as the base uses the X axis of the body coordinate system as the axis of rotation Rotating, the angle θ between the Z1 axis of the world coordinate system and the Y axis of the body coordinate system will continue to change. As shown in Figure 5, when the angle θ between the Z1 axis of the world coordinate system and the Y axis of the body coordinate system is within the first preset range, for example, the angle θ is less than 130 degrees and greater than 50 degrees, the The control device of the pan/tilt uses the first control mode to control the attitude of the pan/tilt. It can be understood that, in other embodiments, the first preset range of the included angle θ is not limited to the included angle θ being less than 130 degrees and greater than 50 degrees, and the base is rotated with the X axis of the body coordinate system as the rotation. In the process of axis rotation, as long as the angle range of the angle θ between the Z1 axis of the world coordinate system and the Y axis of the body coordinate system when the roll angle of the pan/tilt is not limited, can be used as the first prediction. Set range.

In the first control mode, the control device controls the roll posture of the pan/tilt to remain level. Optionally, in the first control mode, the target roll posture of the pan/tilt is 0; the controlling the roll posture of the pan/tilt to keep level includes: rolling according to the target roll of the pan/tilt The posture controls the roll posture of the pan/tilt so that the roll posture of the pan/tilt remains level.

As shown in FIG. 6, the handheld pan/tilt placed in the waterproof device may specifically include a base 61 and a pan/tilt 62, and the pan/tilt 62 carries a camera 60. Specifically, the schematic diagram shown in FIG. 6 is a front view of the handheld PTZ. When the roll posture of the base 61 changes, the angle between the Z1 axis of the world coordinate system and the Y axis of the body coordinate system changes accordingly. When the angle is less than 130 degrees and greater than 50 degrees, the base 61 The roll angle of is small, which will not cause the roll angle of the pan/tilt 62 to be limited. At this time, the control device can determine that the target roll attitude of the pan/tilt is 0, and control the rotation of the drive motor of the roll axis of the pan/tilt according to the target roll attitude of the pan/tilt, that is, control the roll attitude of the pan/tilt. The roll posture of the pan/tilt head is kept horizontal, so that the roll posture of the camera 60 is kept horizontal.

In addition, in the first control mode, the yaw attitude of the pan/tilt is controlled according to the yaw attitude of the base. Specifically, the yaw attitude of the gimbal can be controlled to follow the yaw attitude of the base.

Optionally, in the first control mode, the controlling the yaw attitude of the gimbal according to the yaw attitude of the base includes: determining the cloud according to the yaw attitude of the base The target yaw attitude of the platform, wherein the target yaw attitude of the gimbal is the yaw attitude of the base; the yaw attitude of the gimbal is controlled according to the target yaw attitude of the gimbal.

For example, when the yaw attitude of the base changes, the control device can use the changed yaw attitude of the base as the target yaw attitude of the gimbal, and control the cloud according to the target yaw attitude of the gimbal. The yaw attitude of the platform enables the yaw attitude of the gimbal to follow the change of the yaw attitude of the base.

As shown in FIG. 7, 71 represents the longitudinal axis of the lower housing 10 of the waterproof device 100, and 72 represents the axis of the upper housing 20 of the waterproof device 100. Since the upper housing 20 is inclined relative to the lower housing 10, Therefore, there is an included angle between the axis 71 and the axis 72, and the included angle may be α as shown in FIG. 7 or β as shown in FIG. 7. As shown in Figure 7, α is an acute angle and β is an obtuse angle. Therefore, when the handheld pan/tilt is placed in the waterproof device 100, it is necessary to adjust the pitch angle of the pan/tilt 62 according to the inclination angle of the upper housing 20 relative to the lower housing 10. In the first control mode, the control device can also control the pitch posture of the pan/tilt head according to the pitch posture of the base and the preset angle, wherein the preset angle is determined according to the upper shell and the lower shell of the waterproof device .

Optionally, in the first control mode, the controlling the pitch attitude of the gimbal according to the pitch attitude and the preset angle of the base includes: according to the pitch attitude and the preset angle of the base Set the angle to determine the target pitch attitude of the pan/tilt; control the pitch attitude of the pan/tilt according to the target pitch attitude of the pan/tilt. Optionally, the preset angle is an inclination angle of the upper housing relative to the lower housing. The target pitch attitude of the pan/tilt head is the pitch attitude of the base plus the preset angle.

As shown in Figure 7, this embodiment sets the angle between the axis 72 of the upper housing 20 and the horizontal plane

Denoted as a preset angle, the preset angle is the inclination angle of the upper housing 20 relative to the lower housing 10. Included angle

Or, the angle

In the first control mode, the control device can determine the target pitch attitude of the gimbal 62 according to the pitch attitude of the base 61 and the preset angle. Optionally, the target pitch attitude of the gimbal 62 is the base 61 pitch attitude plus preset angle

As shown in FIG. 8, assuming that the pitch attitude of the base 61 is 0, the target pitch attitude of the gimbal 62 is a preset angle

Further, the control device can control the pitch attitude of the gimbal 62 according to the target pitch attitude of the gimbal 62, so that the pitch attitude of the gimbal 62 is the target pitch attitude of the gimbal 62. As shown in FIG. 8, 74 denotes the optical axis of the imaging device 60, and 73 denotes the longitudinal axis of the base 61. After adjusting the pitch attitude of the pan/tilt 62, the optical axis 74 of the camera 60 can be made to substantially coincide with the axis 72 of the upper housing 20 as shown in FIG. 7.

In the first control mode, when the pitch attitude of the base 61 changes, the control device can also add the preset angle to the changed pitch attitude of the base 61

Obtain the new target pitch attitude of the gimbal 62, and continue to control the pitch attitude of the gimbal 62 according to the new target pitch attitude of the gimbal 62, so that the pitch attitude of the gimbal 62 is the new target pitch attitude of the gimbal 62 .

In summary, it can be seen that in the first control mode, the control device can control the roll attitude of the gimbal to maintain the level, control the yaw attitude of the gimbal to follow the yaw attitude of the base, and according to the pitch attitude and pre-position of the base The angle is set to control the pitch attitude of the pan/tilt head, so that the deviation of the pitch attitude of the pan/tilt head relative to the pitch attitude of the base is maintained at the preset angle as described above.

Optionally, the optical axis of the camera carried by the pan/tilt head and the axis of the viewfinder end surface substantially coincide. In this embodiment, the axis 72 of the upper housing 20 shown in FIG. 7 may be the axis of the viewing end surface 40. Therefore, when the optical axis 74 of the imaging device 60 substantially coincides with the axis 72 of the upper housing 20 as shown in FIG. 7, the optical axis 74 of the imaging device 60 and the axis of the viewing end surface 40 also substantially coincide. In this case, the photographing device 60 may only photograph the part inside the viewfinder end surface 40, but not the part outside the viewfinder end surface 40.

Step S303: If the roll posture indicating parameter of the base is within a second preset range, adopt a second control mode to control the posture of the pan/tilt head, wherein, in the second control mode, according to the The deviation of the attitude of the base and the preset attitude controls the attitude of the pan/tilt.

As shown in Figure 5, when the included angle θ between the Z1 axis of the world coordinate system and the Y axis of the body coordinate system is within the second preset range, for example, the included angle θ is greater than 140 degrees and less than 180 degrees, or , When the included angle θ is less than 40 degrees and greater than 0 degrees, the roll angle of the base 61 is relatively large. In order to keep the roll attitude of the pan/tilt head horizontal, the roll angle of the pan/tilt head 62 may be limited. At this time, the control device of the pan/tilt uses the second control mode to control the attitude of the pan/tilt. That is to say, when the control device can control the pan/tilt's roll posture to be level, it will try its best to control the pan/tilt's roll posture to be level. If it cannot control the pan/tilt's roll posture to be level, then the first control The mode is switched to the second control mode.

It can be understood that, in other embodiments, the second preset range of the included angle θ is not limited to the included angle θ greater than 140 degrees and less than 180 degrees, or the included angle θ is less than 40 degrees and greater than 0. When the base rotates with the X axis of the body coordinate system as the rotation axis, as long as the roll angle of the pan/tilt is limited, the Z1 axis of the world coordinate system and the Y axis of the body coordinate system are clamped. The angle range within which the angle θ can be can be used as the second preset range. In the second control mode, the control device can control the attitude of the pan/tilt according to the attitude of the base and a preset attitude deviation.

Optionally, in the second control mode, the controlling the attitude of the pan/tilt head according to the attitude of the base and the preset attitude deviation includes: according to the attitude of the base and the preset attitude Deviation, determine the target attitude of the pan/tilt; control the attitude of the pan/tilt according to the target attitude of the pan/tilt. Optionally, the posture of the base is determined according to the posture of the pan/tilt and the joint angle corresponding to the drive motor of each axis of the pan/tilt.

In this embodiment, an inertial measurement unit (IMU) may be provided in the pan/tilt or camera, and the IMU can detect the posture of the pan/tilt or camera in real time. The gimbal may be a three-axis gimbal. The three axes include a pitch axis, a yaw axis, and a roll axis. Each axis corresponds to a drive motor. For example, the drive motor of the pitch axis is recorded as the pitch axis motor, and the roll The drive motor of the shaft is recorded as the roll axis motor, and the drive motor of the yaw axis is recorded as the yaw drive motor. The pitch axis motor, roll axis motor, and yaw drive motor can each have an angle sensor. For example, the angle sensor corresponding to the pitch axis motor can detect the joint angle corresponding to the pitch axis motor in real time, and the angle sensor corresponding to the roll axis motor. The joint angle corresponding to the roll axis motor can be detected in real time, and the angle sensor corresponding to the yaw axis motor can detect the joint angle corresponding to the yaw axis motor in real time.

In this embodiment, the attitude of the base can be determined according to the attitude of the pan/tilt or the camera, the joint angle corresponding to the pitch axis motor, the joint angle corresponding to the roll axis motor, and the joint angle corresponding to the yaw axis motor. As a feasible way to achieve, the attitude of the gimbal is expressed as q_camera with a quaternion, the joint angle corresponding to the pitch axis motor is expressed as a quaternion as joint_x, and the joint angle corresponding to the roll axis motor is expressed as a quaternion The number is expressed as joint_y, and the joint angle corresponding to the yaw axis motor is expressed as a quaternion as joint_z, so that 4 quaternions are obtained. Multiply these 4 quaternions continuously, and the quaternion obtained after continuous multiplication can express the attitude of the base. Here, the quaternion obtained by multiplying these 4 quaternions can be represented by The posture of the base is denoted as q_handle. In other embodiments, the quaternion obtained after continuous multiplication can be further converted into the attitude angle of the base, that is, the Euler angle. The Euler angle includes the yaw angle, roll angle, and pitch of the base. angle.

In addition, after the posture q_handle of the base is calculated, the angle θ between the Z1 axis of the world coordinate system and the Y axis of the body coordinate system can also be obtained according to the posture q_handle of the base.

Optionally, the preset attitude deviation is the attitude deviation of the pan/tilt head relative to the base when the pan/tilt head is switched from the first control mode to the second control mode. As shown in Figure 5, when the angle θ between the Z1 axis of the world coordinate system and the Y axis of the body coordinate system is less than 130 degrees and greater than 50 degrees, the control device of the pan/tilt uses the first control mode to control the pan/tilt attitude. When θ is greater than 140 degrees and less than 180 degrees, or the included angle θ is less than 40 degrees and greater than 0 degrees, the control device of the pan/tilt head adopts the second control mode to control the attitude of the pan/tilt head. In other words, when the angle θ between the Z1 axis of the world coordinate system and the Y axis of the body coordinate system is 180 degrees, and the Y axis of the body coordinate system is close to Z1 of the world coordinate system in the clockwise direction as shown in Figure 5 When the axis is in the range of 140 degrees to 180 degrees, the control device uses the second control mode to control the attitude of the pan/tilt. Within the range of 130 degrees to 140 degrees, the control mode of the pan/tilt continues to maintain the previous control mode. The second control mode. At 130 degrees, the control mode of the pan/tilt will be switched from the second control mode to the first control mode. In the range of 50 degrees to 130 degrees, the control device adopts the first control mode to control the attitude of the pan/tilt, and in the range of 40 degrees to 50 degrees, the control mode of the pan/tilt continues to maintain the first control mode. At 40 degrees, the control mode of the pan/tilt will be switched from the first control mode to the second control mode. In the range of 0 degrees to 40 degrees, the control device adopts the second control mode to control the attitude of the pan/tilt.

Taking 40 degrees as an example, since at 40 degrees, the control mode of the pan/tilt will switch from the first control mode to the second control mode. At this time, the attitude deviation of the pan/tilt relative to the base can be recorded, and This attitude deviation is recorded as the preset attitude deviation q_offset, and the q_offset is specifically a quaternion.

Alternatively, the preset attitude deviation is determined according to the joint angle corresponding to the drive motor of each axis of the pan/tilt when the pan/tilt is switched from the first control mode to the second control mode.

Taking 40 degrees as an example, since at 40 degrees, the control mode of the pan/tilt head will switch from the first control mode to the second control mode. At this time, the joint angle corresponding to the drive motor of each axis of the pan/tilt head can be recorded. For example, the joint angle corresponding to the pitch axis motor is expressed as a quaternion as cur_joint_x, the joint angle corresponding to the roll axis motor is expressed as a quaternion as cur_joint_y, and the joint angle corresponding to the yaw axis motor is expressed as a quaternion. Is cur_joint_z, and further, according to the joint angle corresponding to the drive motor of each axis recorded at this time, the attitude deviation of the pan/tilt head relative to the base is determined, and the attitude deviation is recorded as the preset attitude deviation q_offset, the q_offset Specifically, it is a quaternion, q_offset=cur_joint_x*cur_joint_y*cur_joint_z.

In the second control mode, the control device can control the attitude of the pan/tilt according to the attitude of the base and the deviation of the preset attitude. Specifically, the control device can determine the target attitude of the pan/tilt head according to the attitude of the base and the preset attitude deviation, the target attitude of the pan/tilt head is q_handle*q_offset, and further, control the pan/tilt head according to the target attitude The attitude of the gimbal.

Optionally, the controlling the posture of the gimbal according to the target posture of the gimbal includes: controlling the posture of the gimbal according to the target posture of the gimbal so that the gimbal is relative to the The attitude deviation of the base is the preset attitude deviation. As shown in Figure 5, at 40 degrees, the control mode of the pan/tilt head will be switched from the first control mode to the second control mode. At this time, the preset attitude deviation q_offset as described above is recorded. After entering the second control mode, the control device uses q_handle*q_offset as the target attitude of the pan/tilt, where q_handle is the attitude of the base. Therefore, when controlling the attitude of the pan/tilt according to q_handle*q_offset, it can make The attitude deviation of the pan/tilt head relative to the base is the preset attitude deviation q_offset. That is to say, in the second control mode, the control device controls the attitude of the pan/tilt to follow the attitude of the base with a certain preset attitude deviation q_offset, so that when the pan/tilt is switched from the first control mode to the second control mode, The shooting image of the camera is relatively stable and will not move randomly.

Optionally, the roll posture indication parameter of the base when switching from the first control mode to the second control mode is different from that when switching from the second control mode to the first control mode. The roll posture of the base indicates the parameter.

As shown in Figure 5, taking the range of 130 degrees to 140 degrees as an example, when the Y axis of the body coordinate system is away from the Z1 axis of the world coordinate system along the counterclockwise direction as shown in Figure 5, it is between 50 degrees and 130 degrees. Within the range of degrees, the control device adopts the first control mode to control the attitude of the pan/tilt. In the range of 130 degrees to 140 degrees, the control mode of the pan/tilt continues to maintain the previous control mode, that is, the first control mode. At 140 degrees, the control mode of the pan/tilt head will switch from the first control mode to the second control mode. When the Y axis of the body coordinate system is close to the Z1 axis of the world coordinate system in the clockwise direction as shown in Figure 5, within the range of 140 degrees to 180 degrees, the control device uses the second control mode to control the pan/tilt When the posture is in the range of 130 degrees to 140 degrees, the control mode of the pan/tilt head continues to maintain the previous control mode, that is, the second control mode. At 130 degrees, the control mode of the pan/tilt will be switched from the second control mode to the first control mode. That is to say, the angle θ between the Z1 axis of the world coordinate system and the Y axis of the body coordinate system is equal to 130 degrees, which is the indication parameter of the roll attitude of the base when the second control mode is switched to the first control mode. The world coordinate system The angle θ between the Z1 axis and the Y axis of the body coordinate system equals to 140 degrees is the roll attitude indicator parameter of the base when the first control mode is switched to the second control mode. That is, in this embodiment, from the The roll attitude indicating parameter of the base when the first control mode is switched to the second control mode may be different from the roll attitude of the base when the second control mode is switched to the first control mode Indicates the parameter.

In addition, in the second control mode, it is also possible to control the optical axis of the camera to substantially coincide with the axis of the viewfinder end surface, so that the pan/tilt can only capture the viewfinder regardless of whether it is in the first control mode or the second control mode. The part inside the end surface 40 will not be photographed outside the viewfinder end surface 40.

In addition, when the control mode of the pan/tilt head is switched from the second control mode to the first control mode, since the roll posture of the pan/tilt head is not horizontal in the second control mode, it is switched from the second control mode to the first control mode. After the control mode, the roll attitude of the gimbal needs to be restored to the horizontal state. At the same time, the yaw attitude of the gimbal needs to be controlled to follow the yaw attitude of the base, and the cloud is controlled according to the pitch attitude and preset angle of the base. The pitch posture of the platform is such that the deviation of the pitch posture of the platform relative to the pitch posture of the base is maintained at the preset angle as described above.

Specifically, at the moment when the second control mode is switched to the first control mode, the target attitude of the pan/tilt is recorded as q_handle*q_offset. According to the formula of quaternion conversion Euler angle, this can be obtained according to q_handle*q_offset The target attitude angle of the gimbal, for example, the target roll angle of the gimbal is recorded as roll_a, the target pitch angle of the gimbal is recorded as pitch_a, and the target yaw angle of the gimbal is recorded as yaw_a. The target roll angle roll_a gradually decays until roll_a decays to 0, so that after the pan/tilt head enters the first control mode, the roll attitude of the pan/tilt head returns to a horizontal state. At the same time, the target yaw angle yaw_a of the gimbal can also be modified to the yaw angle of the base, so that after the gimbal enters the first control mode, the yaw attitude of the gimbal follows the yaw attitude of the base. And modify the target pitch angle pitch_a of the gimbal to the pitch angle of the base plus the preset angle as described above

After the gimbal enters the first control mode, the deviation of the pitch attitude of the gimbal relative to the pitch attitude of the base is maintained at the preset angle as described above

In this embodiment, the pan/tilt and the camera carried by the pan/tilt are housed in the waterproof device, and the roll posture indicating parameters of the base of the pan/tilt are acquired. When the roll posture indicating parameters of the base are in the first preset When within the range, the first control mode is used to control the gimbal's attitude so that the gimbal's roll attitude remains level. The gimbal's yaw attitude follows the base's yaw attitude, and the gimbal's pitch attitude is relative to that of the base. The pitch attitude deviation is maintained at a preset angle determined by the structure of the waterproof device; when the roll attitude indication parameter of the base is within the second preset range, the second control mode is used to control the attitude of the pan/tilt, so that The posture of the gimbal follows the posture of the base with a certain preset posture deviation, thereby realizing the stabilization control of the gimbal when the gimbal is under water through the waterproof device.

The embodiment of the present invention provides a method for controlling a pan-tilt. The method for controlling the pan-tilt described in the above embodiment can be applied to control the pan-tilt after the pan-tilt is turned on. On the basis of the above-mentioned embodiment, this embodiment provides a method for controlling the pan-tilt when the pan-tilt is turned on. Control Method. FIG. 9 is a flowchart of a method for controlling a pan-tilt according to another embodiment of the present invention. As shown in FIG. 9, on the basis of the above-mentioned embodiment, the obtaining the roll posture indicating parameter of the base of the pan/tilt head includes: when the pan/tilt head is turned on, obtaining the roll posture indicating parameter of the base .

In this embodiment, the roll attitude indicator parameter of the base may specifically be the roll angle of the base, or the clip between the Z1 axis of the world coordinate system and the Y axis of the body coordinate system as described in the above embodiment. Angle θ. In this embodiment, the included angle θ between the Z1 axis of the world coordinate system and the Y axis of the body coordinate system is taken as an example for schematic description.

In addition, the method described in this embodiment further includes:

Step S901: If the roll posture indicating parameter of the base is within the second preset range when the pan/tilt is turned on, control the roll of the gimbal according to the roll posture of the base Attitude, the yaw attitude of the pan/tilt is controlled according to the yaw attitude of the base, and the pitch attitude of the pan/tilt is controlled according to the pitch attitude and a preset angle of the base.

If the angle θ between the Z1 axis of the world coordinate system and the Y axis of the body coordinate system is within the second preset range as described above when the gimbal is turned on, it indicates that the roll angle of the base is relatively large. The roll attitude of the gimbal is horizontal, and the roll angle of the gimbal may be limited. At this time, the control device of the gimbal can control the roll attitude of the gimbal to follow the roll attitude of the base, control the yaw attitude of the gimbal to follow the yaw attitude of the base, and according to the pitch attitude and the base The preset angle controls the pitch attitude of the pan/tilt head, so that the deviation of the pitch attitude of the pan/tilt head relative to the pitch attitude of the base is maintained at the preset angle as described above.

Step S902: If the roll attitude indication parameter of the base is within the first preset range when the pan/tilt is turned on, the first control mode is used to control the attitude of the pan/tilt.

If the angle θ between the Z1 axis of the world coordinate system and the Y axis of the body coordinate system is within the first preset range as described above when the gimbal is turned on, it means that the roll angle of the base is small. In order to maintain The roll attitude of the gimbal is horizontal, and the roll angle of the gimbal will not be limited. At this time, the control device adopts the first control mode as described above to control the attitude of the pan/tilt. Specifically, the control device controls the roll attitude of the pan/tilt to keep level, and controls the yaw attitude of the pan/tilt to follow the base. The yaw attitude and the control of the pitch attitude of the gimbal according to the pitch attitude and the preset angle of the base, so that the deviation of the pitch attitude of the gimbal relative to the pitch attitude of the base is maintained at the preset angle as described above.

In this embodiment, the roll posture indicating parameter of the base is acquired when the pan/tilt is turned on, and when the roll posture indicating parameter of the base is within the second preset range, the roll posture of the gimbal is controlled to follow the base Control the yaw attitude of the gimbal to follow the yaw attitude of the base, and control the pitch attitude of the gimbal according to the pitch attitude and preset angle of the base, so that the pitch attitude of the gimbal is relative to the base The deviation of the pitch attitude is maintained at a preset angle determined by the structure of the waterproof device; when the roll attitude indication parameter of the base is within the first preset range, the first control mode is used to control the attitude of the pan/tilt, The roll posture of the gimbal is kept level, thereby realizing the stabilization control of the gimbal when the gimbal is turned on.

The embodiment of the present invention provides a control device for a pan-tilt. The pan/tilt is used to carry a photographing device, and the pan/tilt and the photographing device are housed in a waterproof device. The structural schematic diagram of the waterproof device is as described above and will not be repeated here. FIG. 10 is a structural diagram of a control device for a pan/tilt head provided by an embodiment of the present invention. As shown in FIG. 10, the control device 101 includes a memory 102 and a processor 103. In addition, in other embodiments, the control device 101 may further include a communication interface 104, which is used to communicate with a user terminal. Specifically, the memory 102 is used for storing program code; the processor 103 is used for calling the program code, and when the program code is executed, it is used for performing the following operations: Obtain the roll posture indication parameters of the base of the pan/tilt; If the roll posture indicating parameter of the base is within the first preset range, the first control mode is adopted to control the posture of the pan/tilt, wherein, in the first control mode, the roll posture of the pan/tilt is controlled Keep level, control the yaw attitude of the gimbal according to the yaw attitude of the base, control the pitch attitude of the gimbal according to the pitch attitude of the base and a preset angle, and the preset angle is based on The structure of the waterproof device is determined; if the roll attitude indicator parameter of the base is within a second preset range, the second control mode is used to control the attitude of the pan/tilt, wherein, in the second control In the mode, the attitude of the pan/tilt head is controlled according to the attitude of the base and a preset attitude deviation.

Optionally, in the first control mode, the target roll posture of the pan/tilt is 0; when the processor 103 controls the roll posture of the pan/tilt to remain level, it is specifically configured to: The target roll posture of controls the roll posture of the pan/tilt so that the roll posture of the pan/tilt remains level.

Optionally, in the first control mode, when the processor 103 controls the yaw attitude of the gimbal according to the yaw attitude of the base, it is specifically configured to: according to the yaw attitude of the base, Determine the target yaw attitude of the gimbal, wherein the target yaw attitude of the gimbal is the yaw attitude of the base; and control the yaw of the gimbal according to the target yaw attitude of the gimbal attitude.

Optionally, in the first control mode, when the processor 103 controls the pitch attitude of the gimbal according to the pitch attitude and the preset angle of the base, it is specifically configured to: according to the pitch attitude of the base And the preset angle, determine the target pitch attitude of the pan/tilt; control the pitch attitude of the pan/tilt according to the target pitch attitude of the pan/tilt.

Optionally, in the second control mode, when the processor 103 controls the attitude of the pan/tilt according to the attitude and preset attitude deviation of the base, it is specifically configured to: The preset attitude deviation determines the target attitude of the pan/tilt; and controls the attitude of the pan/tilt according to the target attitude of the pan/tilt.

Optionally, the waterproof device includes a lower housing for a user to hold and an upper housing connected to the lower housing, and the preset angle is an inclination angle of the upper housing relative to the lower housing .

Optionally, the upper housing includes a viewing end surface for the shooting device to view a view; the optical axis of the shooting device carried by the pan/tilt head and the axis of the viewing end surface substantially coincide.

Optionally, the preset attitude deviation is the attitude deviation of the pan/tilt head relative to the base when the pan/tilt head is switched from the first control mode to the second control mode.

Optionally, the preset attitude deviation is determined according to a joint angle corresponding to a drive motor of each axis of the pan/tilt when the pan/tilt is switched from the first control mode to the second control mode.

Optionally, the roll posture indication parameter of the base when switching from the first control mode to the second control mode is different from that when switching from the second control mode to the first control mode. The roll posture of the base indicates the parameter.

Optionally, the posture of the base is determined according to the posture of the pan/tilt and the joint angle corresponding to the drive motor of each axis of the pan/tilt.

Optionally, the roll posture indication parameter of the base includes an angle between the Z axis of the world coordinate system defined by the base and the Y axis of the body coordinate system defined by the pan/tilt.

Optionally, when the processor 103 obtains the roll posture indication parameter of the base of the pan/tilt head, it is specifically used to: obtain the roll posture indication parameter of the base when the gimbal is powered on; the processor 103 also uses In: if the roll posture indicating parameter of the base is within the second preset range when the pan/tilt is turned on, the roll posture of the pan/tilt is controlled according to the roll posture of the base , Controlling the yaw attitude of the gimbal according to the yaw attitude of the base, and controlling the pitch attitude of the gimbal according to the pitch attitude and preset angle of the base; if the gimbal is turned on, If the roll posture indicating parameter of the base is within the first preset range, the first control mode is used to control the posture of the pan/tilt.

Optionally, the base is a handheld pole of a pan-tilt.

The specific principles and implementation manners of the control device provided in the embodiment of the present invention are similar to those in the foregoing embodiment, and will not be repeated here.

In this embodiment, the pan/tilt and the camera carried by the pan/tilt are housed in the waterproof device, and the roll posture indicating parameters of the base of the pan/tilt are acquired. When the roll posture indicating parameters of the base are in the first preset When within the range, the first control mode is used to control the gimbal's attitude so that the gimbal's roll attitude remains level. The gimbal's yaw attitude follows the base's yaw attitude, and the gimbal's pitch attitude is relative to that of the base. The pitch attitude deviation is maintained at a preset angle determined by the structure of the waterproof device; when the roll attitude indication parameter of the base is within the second preset range, the second control mode is used to control the attitude of the pan/tilt, so that The posture of the gimbal follows the posture of the base with a certain preset posture deviation, thereby realizing the stabilization control of the gimbal when the gimbal is under water through the waterproof device.

The embodiment of the present invention provides a handheld PTZ. The handheld pan/tilt includes: a pan/tilt, a base, and the control device as described in the above embodiments, wherein the pan/tilt is used to carry a photographing device, the pan/tilt is connected to the base, and the control device is The specific principles and implementation manners of the executed pan-tilt control method are consistent with the foregoing embodiment, and will not be repeated here.

Optionally, the pan-tilt and the photographing device are housed in a waterproof device. The schematic diagram of the structure of the waterproof device is shown in FIG. 1 or FIG. 2.

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 pan-tilt control method described in the foregoing embodiment.

In the several embodiments provided by the present invention, it should be understood that the disclosed device and method may be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components can be combined or It 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, and may be in 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, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.

In addition, the functional units in the various embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The above-mentioned integrated unit can be realized in the form of hardware, or in the form of hardware plus software functional unit.

The above-mentioned integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The above-mentioned software functional unit is stored in a storage medium and includes several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor execute the method described in the various embodiments of the present invention. Part of the steps. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code .

Those skilled in the art can clearly understand that, for the convenience and conciseness of the description, only the division of the above-mentioned functional modules is used as an example. In practical applications, the above-mentioned functions can be allocated by different functional modules as required, namely, the device 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 embodiment, which is not repeated here.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand: It is still possible to modify the technical solutions described in the foregoing embodiments, or equivalently replace some or all of the technical features; these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention range.

Claims (31)

1. A method for controlling a pan-tilt, characterized in that the pan-tilt is used to carry a camera, the pan-tilt and the camera are housed in a waterproof device, and the method includes:

   Obtain the roll attitude indication parameters of the base of the pan/tilt;

   If the roll attitude indicator parameter of the base is within the first preset range, the first control mode is adopted to control the attitude of the pan/tilt head, wherein, in the first control mode, the pan/tilt head is controlled The roll attitude remains horizontal, the yaw attitude of the gimbal is controlled according to the yaw attitude of the base, and the pitch attitude of the gimbal is controlled according to the pitch attitude and a preset angle of the base. The preset The angle is determined according to the structure of the waterproof device;

   If the roll posture indication parameter of the base is within the second preset range, the second control mode is used to control the posture of the pan/tilt head, wherein, in the second control mode, according to the base The deviation of the attitude and the preset attitude controls the attitude of the pan-tilt.
2. The method according to claim 1, wherein in the first control mode, the target roll attitude of the pan/tilt is 0;

   The controlling the roll posture of the pan/tilt head to keep level includes:

   The rolling attitude of the pan/tilt head is controlled according to the target rolling attitude of the pan/tilt head, so that the rolling attitude of the pan/tilt head is kept level.
3. The method according to claim 1 or 2, wherein in the first control mode, the controlling the yaw attitude of the pan/tilt according to the yaw attitude of the base comprises:

   Determining the target yaw attitude of the gimbal according to the yaw attitude of the base, wherein the target yaw attitude of the gimbal is the yaw attitude of the base;

   The yaw attitude of the gimbal is controlled according to the target yaw attitude of the gimbal.
4. The method according to any one of claims 1 to 3, wherein in the first control mode, the control of the pitch attitude of the pan/tilt head according to the pitch attitude of the base and a preset angle, include:

   Determining the target pitch attitude of the pan/tilt head according to the pitch attitude of the base and the preset angle;

   Controlling the pitch attitude of the gimbal according to the target pitch attitude of the gimbal.
5. The method according to any one of claims 1 to 4, wherein in the second control mode, the controlling the attitude of the pan/tilt according to the attitude of the base and a preset attitude deviation comprises :

   Determining the target posture of the pan/tilt head according to the posture of the base and the preset posture deviation;

   The attitude of the pan/tilt is controlled according to the target attitude of the pan/tilt.
6. The method according to any one of claims 1 to 5, wherein the waterproof device comprises a lower casing for a user to hold and an upper casing connected to the lower casing, and the preset angle is The inclination angle of the upper casing relative to the lower casing.
7. The method according to claim 6, wherein the upper housing comprises a viewing end surface for viewing the shooting device;

   The optical axis of the imaging device carried by the pan/tilt is substantially coincident with the axis of the viewfinder end surface.
8. The method according to any one of claims 1-7, wherein the preset attitude deviation is that when the pan/tilt is switched from the first control mode to the second control mode, the pan/tilt The attitude deviation relative to the base.
9. The method according to any one of claims 1-8, wherein the preset attitude deviation is based on when the pan/tilt is switched from the first control mode to the second control mode. The corresponding joint angle of the drive motor of each axis is determined.
10. The method according to claim 8 or 9, characterized in that when switching from the first control mode to the second control mode, the roll attitude indication parameter of the base is different from that of the second control mode. The roll posture of the base indicates a parameter when switching to the first control mode.
11. The method according to any one of claims 1-10, wherein the posture of the base is determined according to the posture of the pan/tilt and the joint angle corresponding to the drive motor of each axis of the pan/tilt. .
12. The method according to any one of claims 1-11, wherein the roll attitude indication parameters of the base include the Z axis of the world coordinate system defined by the base and the Z axis defined by the pan/tilt. The angle between the Y-axis of the body coordinate system.
13. The method according to any one of claims 1-12, wherein the obtaining a roll attitude indication parameter of the base of the pan-tilt head comprises:

    When the pan/tilt head is turned on, acquiring the roll attitude indication parameters of the base;

    The method also includes:

    If the roll posture indicating parameter of the base is within the second preset range when the platform is turned on, then the roll posture of the platform is controlled according to the roll posture of the base, according to The yaw attitude of the base controls the yaw attitude of the gimbal, and controls the pitch attitude of the gimbal according to the pitch attitude and a preset angle of the base;

    If the roll attitude indication parameter of the base is within the first preset range when the pan/tilt head is turned on, the first control mode is used to control the attitude of the pan/tilt head.
14. The method according to any one of claims 1-13, wherein the base is a handheld pole of a pan-tilt.
15. A control device for a pan-tilt, characterized in that the pan-tilt is used to carry a camera, the pan-tilt and the camera are housed in a waterproof device, and the control device includes a memory and a processor;

    The memory is used to store program codes;

    The processor calls the program code, and when the program code is executed, is used to perform the following operations:

    Obtain the roll attitude indication parameters of the base of the pan/tilt;

    If the roll attitude indicator parameter of the base is within the first preset range, the first control mode is adopted to control the attitude of the pan/tilt head, wherein, in the first control mode, the pan/tilt head is controlled The roll attitude remains horizontal, the yaw attitude of the gimbal is controlled according to the yaw attitude of the base, and the pitch attitude of the gimbal is controlled according to the pitch attitude and a preset angle of the base, and the preset The angle is determined according to the structure of the waterproof device;

    If the roll posture indicating parameter of the base is within the second preset range, the second control mode is adopted to control the posture of the pan/tilt head, wherein, in the second control mode, according to the base The deviation of the attitude and the preset attitude controls the attitude of the pan/tilt.
16. The control device according to claim 15, wherein in the first control mode, the target roll attitude of the pan/tilt is 0;

    When the processor controls the roll posture of the pan/tilt to remain level, it is specifically used for:

    The rolling attitude of the pan/tilt head is controlled according to the target rolling attitude of the pan/tilt head, so that the rolling attitude of the pan/tilt head is kept level.
17. The control device according to claim 15 or 16, wherein in the first control mode, when the processor controls the yaw attitude of the pan/tilt according to the yaw attitude of the base, specifically Used for:

    Determining the target yaw attitude of the gimbal according to the yaw attitude of the base, wherein the target yaw attitude of the gimbal is the yaw attitude of the base;

    The yaw attitude of the gimbal is controlled according to the target yaw attitude of the gimbal.
18. The control device according to any one of claims 15-17, wherein, in the first control mode, the processor controls the pan/tilt head according to the pitch attitude and a preset angle of the base In the pitch attitude, it is specifically used for:

    Determine the target pitch attitude of the gimbal according to the pitch attitude of the base and the preset angle;

    Controlling the pitch attitude of the gimbal according to the target pitch attitude of the gimbal.
19. The control device according to any one of claims 15-18, wherein in the second control mode, the processor controls the pan/tilt head according to the attitude of the base and a preset attitude deviation In posture, it is specifically used for:

    Determining the target posture of the pan/tilt head according to the posture of the base and the preset posture deviation;

    The attitude of the pan/tilt is controlled according to the target attitude of the pan/tilt.
20. The control device according to any one of claims 15-19, wherein the waterproof device comprises a lower housing for a user to hold and an upper housing connected to the lower housing, and the preset angle is The inclination angle of the upper casing relative to the lower casing.
21. 22. The control device according to claim 20, wherein the upper housing comprises a viewing end surface for viewing the shooting device;

    The optical axis of the imaging device carried by the pan/tilt is substantially coincident with the axis of the viewfinder end surface.
22. The control device according to any one of claims 15-21, wherein the preset attitude deviation is that when the pan/tilt is switched from the first control mode to the second control mode, the cloud The attitude deviation of the table relative to the base.
23. The control device according to any one of claims 15-22, wherein the preset attitude deviation is based on when the pan/tilt is switched from the first control mode to the second control mode. The joint angle corresponding to the drive motor of each axis of the table is determined.
24. The control device according to claim 22 or 23, wherein when switching from the first control mode to the second control mode, the roll posture indicating parameter of the base is different from that from the second control mode. When the mode is switched to the first control mode, the roll posture of the base indicates a parameter.
25. The control device according to any one of claims 15-24, wherein the attitude of the base is determined according to the attitude of the pan/tilt and the joint angle corresponding to the drive motor of each axis of the pan/tilt. of.
26. The control device according to any one of claims 15-25, wherein the roll attitude indication parameters of the base include the Z axis of the world coordinate system defined by the base and the Z axis defined by the pan/tilt. The angle between the Y axis of the body coordinate system.
27. The control device according to any one of claims 15-26, wherein when the processor obtains the roll attitude indication parameter of the base of the pan/tilt head, it is specifically used for:

    When the pan/tilt head is turned on, acquiring the roll attitude indication parameters of the base;

    The processor is also used for:

    If the roll posture indicating parameter of the base is within the second preset range when the platform is turned on, then the roll posture of the platform is controlled according to the roll posture of the base, according to The yaw attitude of the base controls the yaw attitude of the gimbal, and controls the pitch attitude of the gimbal according to the pitch attitude and a preset angle of the base;

    If the roll attitude indication parameter of the base is within the first preset range when the pan/tilt head is turned on, the first control mode is used to control the attitude of the pan/tilt head.
28. The control device according to any one of claims 15-27, wherein the base is a handheld pole of a pan-tilt.
29. A handheld PTZ, characterized in that it comprises

    The control device according to any one of claims 15-28.
30. The handheld pan/tilt according to claim 29, wherein the pan/tilt and the camera are housed in a waterproof device.
31. 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 1-14.

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