CN110770671A

CN110770671A - Cloud platform, control method thereof and movable platform

Info

Publication number: CN110770671A
Application number: CN201880040630.8A
Authority: CN
Inventors: 刘帅; 谢振生; 刘力源
Original assignee: Shenzhen Dajiang Innovations Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd; Shenzhen Dajiang Innovations Technology Co Ltd
Priority date: 2018-09-30
Filing date: 2018-09-30
Publication date: 2020-02-07
Also published as: WO2020062298A1

Abstract

A holder, a control method thereof and a movable platform are provided, wherein the method comprises the following steps: acquiring working parameters of a cloud deck, wherein the working parameters of the cloud deck comprise an expected attitude of the cloud deck (S201); if the detected working parameters are matched with the preset conditions for manually breaking the pan-tilt, determining the attitude conversion speed of the pan-tilt according to the expected attitude and the real-time attitude of the pan-tilt during the manual breaking of the pan-tilt (S202); and controlling the expected gesture to be a real-time gesture according to the direction and gesture conversion speed of the manual wrestling cradle head (S203). According to the method, when the holder is manually pulled, the expected attitude can be controlled to tend to the real-time attitude according to the direction of the holder manually pulled and the attitude conversion speed determined according to the expected attitude and the real-time attitude of the holder when the holder is manually pulled, so that the holder stays at the position corresponding to the real-time attitude of the holder when the holder is manually pulled, the operation process is simple and visual, the positioning precision is high, the attitude conversion speed of the holder can be adjusted in real time, and the situation that the holder swings back and forth when moving to the real-time attitude is avoided.

Description

Cloud platform, control method thereof and movable platform

Technical Field

The invention relates to the field of holder control, in particular to a holder, a control method thereof and a movable platform.

Background

In the related art, the motion of the pan-tilt is usually controlled by a remote controller, a rocker or an impeller is arranged on the remote controller, a user sends a motion instruction to the pan-tilt by controlling the rocker or the impeller, and the pan-tilt drives a motor to drive a corresponding shaft arm to rotate, displace and the like according to the received motion instruction. However, because the force of the user for operating the rocker or the impeller is unstable, the movement of the pan-tilt to a desired posture is difficult to control through one operation, repeated operation is possibly required for adjustment, the operation is complex, and the positioning accuracy is not high enough.

Disclosure of Invention

The invention provides a holder, a control method thereof and a movable platform.

Specifically, the invention is realized by the following technical scheme:

according to a first aspect of the present invention, there is provided a pan/tilt head control method, the method comprising:

acquiring working parameters of the holder, wherein the working parameters of the holder comprise an expected attitude of the holder;

if the working parameters are matched with preset conditions for manually breaking the cloud platform, determining the attitude conversion speed of the cloud platform according to the expected attitude and the real-time attitude of the cloud platform when the cloud platform is manually broken;

and controlling the expected gesture to be the real-time gesture according to the direction of manually breaking the holder and the gesture conversion speed.

According to a second aspect of the present invention, there is provided a head comprising: the inertial measurement unit IMU and the processor, the treater with the inertial measurement unit IMU electricity respectively connects, the processor is used for:

According to a third aspect of the present invention there is provided a moveable platform comprising: cloud platform and treater, the cloud platform includes inertial measurement unit IMU, the treater with inertial measurement unit IMU electricity is connected, the treater is used for:

According to the technical scheme provided by the embodiment of the invention, when the working parameters of the cradle head are detected to be matched with the preset conditions of manually wrestling the cradle head, the embodiment of the invention controls the expected attitude to tend to the real-time attitude according to the direction of manually wrestling the cradle head and the attitude conversion speed determined according to the expected attitude and the real-time attitude of the cradle head when the cradle head is manually wrestled, so that the cradle head stays at the position corresponding to the real-time attitude when the cradle head is manually wrestled, and compared with the existing mode of controlling the expected attitude of the cradle head through a remote controller, the operation process is simple and visual, and the positioning precision is high; and the mode that the expected gesture tends to the real-time gesture is controlled according to the expected gesture and the gesture conversion speed determined by the real-time gesture of the cradle head when the cradle head is manually pulled off, so that the cradle head can move smoothly along with the motion of the cradle head when the cradle head is manually pulled off, the gesture conversion speed of the cradle head can be adjusted in real time, the situation that the cradle head swings back and forth when moving to the real-time gesture is avoided, and the user experience is better.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.

FIG. 1 is a schematic diagram of the operation of a three-axis pan-tilt;

FIG. 2 is a flow chart of a method of controlling a pan/tilt head according to an embodiment of the present invention;

fig. 3 is a flowchart of a specific method of the pan/tilt head control method according to an embodiment of the present invention;

fig. 4A is a method flowchart of a first implementation manner of a pan/tilt head control method in an embodiment of the present invention;

fig. 4B is another method flowchart of the first implementation manner of the pan/tilt head control method in an embodiment of the present invention;

fig. 5A is a method flowchart of a second implementation manner of the pan/tilt head control method in an embodiment of the present invention;

fig. 5B is another method flowchart of the second implementation manner of the pan/tilt head control method in an embodiment of the present invention;

fig. 6A is a method flowchart of a third implementation manner of the pan/tilt head control method in an embodiment of the present invention;

fig. 6B is another method flowchart of the third implementation manner of the pan/tilt head control method in an embodiment of the present invention;

fig. 7 is a flowchart of another specific method of controlling a pan/tilt head according to an embodiment of the present invention;

fig. 8 is a specific structural block diagram of a pan/tilt head according to an embodiment of the present invention;

fig. 9 is a block diagram of a movable platform in an embodiment of the invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The cradle head, the control method thereof and the movable platform of the present invention will be described in detail below with reference to the accompanying drawings. The features of the following examples and embodiments may be combined with each other without conflict.

The cradle head in the embodiment of the invention can be a handheld cradle head and also can be a cradle head carried by a movable platform. The movable platform may include, for example, a drone, an unmanned vehicle, an unmanned ship, or the like. The head generally includes a shaft arm and a motor for driving the shaft arm to rotate. The electric machine may comprise at least one of: the shaft arm correspondingly comprises at least one of a yaw shaft arm, a pitch shaft arm and a roll shaft arm. Taking a common three-axis pan-tilt head as an example, the three-axis pan-tilt head includes three axis arms and motors for driving the three axis arms to rotate, wherein the three axis arms are a pitch axis arm, a roll axis arm, and a yaw axis arm, respectively.

When the cradle head is controlled to change the expected posture, the load carried on the cradle head, such as a camera device, a shooting device, a detection device and the like, can be driven. For example, the pan-tilt drives a camera or a video camera to move in one or more directions, so as to realize large-range shooting. In the prior art, a user controls a cradle head to change an expected posture through remote control equipment, such as a remote controller rocker or an impeller, and the operation process is complicated and the positioning accuracy is not high enough. Therefore, the embodiment of the invention provides a mode that a user manually breaks the holder, so that the holder can quickly and accurately move to a desired posture.

The following describes embodiments of the present invention in detail with reference to the accompanying drawings.

Example one

Referring to fig. 1, a schematic diagram of the working principle of a three-axis pan-tilt is shown. A three-axis pan-tilt head as shown in fig. 1 comprises: a processor, a three-axis motor, a three-axis shaft arm, an IMU (Inertial Measurement Unit), and an integrator. The three-axis pan-tilt can form a closed-loop PI (proportional integral) control system by taking a gyroscope forming an IMU (inertial measurement Unit) as a feedback element and taking a three-axis motor as an output element.

Generally speaking, the measurement attitude (i.e. real-time attitude) of the pan-tilt is obtained through the IMU, the offset between the measurement attitude and the expected attitude serves as a control deviation, the processor controls the input current of the three-axis motor according to the input control deviation, so as to drive the three-axis motor to work, the output torque drives the three-axis shaft arm to rotate in the working process of the three-axis motor, the measurement attitude of the pan-tilt is further changed in the rotating process, and the pan-tilt is moved to the expected attitude through the feedback control process. That is, the pan/tilt head can periodically and cyclically detect and can make the current measurement attitude the desired attitude. Wherein the desired gesture may be input by the user or preset.

In the embodiment of the invention, due to the reason of manual breaking, the convenience of manual breaking is expected to be used, so that the holder can be pushed by a user to stop, namely, the measurement posture is prior to the expected posture. Thus, contrary to the above, the present embodiment is to make the current desired attitude the measurement attitude when the platform is manually broken by measuring the offset between the attitude and the desired attitude. That is, in the embodiment of the present invention, the measurement attitude is taken as the expected attitude currently controlling the rotation of the pan/tilt head, and the expected attitude of the pan/tilt head (i.e., the expected attitude before the pan/tilt head is manually moved and when the pan/tilt head is closed last time) is taken as the measurement attitude currently controlling the rotation of the pan/tilt head. In the process of controlling the expected gesture to be the real-time gesture, the gesture switching speed can be matched with the control deviation, for example, the gesture switching speed and the control deviation can be in positive correlation.

Fig. 2 is a flowchart of a method of controlling a pan/tilt head according to an embodiment of the present invention. Referring to fig. 2, the pan-tilt control method of the present embodiment includes, but is not limited to, the following steps:

step S201: acquiring working parameters of the holder, wherein the working parameters of the holder comprise an expected attitude of the holder;

as shown in fig. 1, the operating parameters of the pan/tilt head in the embodiment of the present invention may further include: the desired torque of the motor, or the joint angle error of the pan/tilt head. The joint angle error and the desired torque are generally in a positive correlation.

In this embodiment, the expected torque of the motor is determined by the expected attitude and the real-time attitude (the real-time attitude of the pan/tilt head when the pan/tilt head is manually pulled). Specifically, the expected torque of the motor is the torque required to be output by the motor when the pan/tilt head moves from the real-time attitude to the expected attitude.

And the joint angle error of the pan-tilt is also determined by the desired attitude and the real-time attitude. Specifically, the joint angle error is a difference value between a joint angle corresponding to the expected attitude and a joint angle corresponding to the real-time attitude, wherein the real-time attitude is detected by an inertial measurement unit IMU on the holder. It will be appreciated that when joint angles are determined from a pose, if there are multiple solutions, a unique solution should be determined for the joint angle for that pose.

It will be appreciated that the head may be a single, two or three axis head. Taking the pan-tilt as a three-axis pan-tilt as an example, the pan-tilt can rotate around a pitch axis, a roll axis and a yaw axis, and the posture of the pan-tilt can correspond to the pitch axis, the roll axis and the yaw axis. Therefore, when the joint angle error is calculated, the joint angle error of each axis corresponding to the expected attitude and the real-time attitude can be calculated, whether the shaft arm corresponding to each axis in the holder is pushed by manpower or not is determined, and then the shaft arm corresponding to each axis is correspondingly controlled.

In this embodiment, the expected attitude is an attitude of the cradle head before the cradle head is manually snapped, that is, if the cradle head is in an initial starting state before the cradle head is manually snapped, the expected attitude is an initial attitude of the cradle head, and if the cradle head is started and rotated before the cradle head is manually snapped, the expected attitude is an expected attitude during the last closed loop, that is, a real-time attitude after the last closed loop is completed. It is understood that the desired pose may vary.

Step S202: if the detected working parameters are matched with the preset conditions for manually breaking the tripod head, determining the attitude conversion speed of the tripod head according to the expected attitude and the real-time attitude of the tripod head when the tripod head is manually broken;

it should be noted that, in the embodiment of the present invention, when the cloud platform is manually snapped, the shaft arm of the pan-tilt reaches the position manually snapped, so as to avoid rebounding of the pan-tilt, the expected posture needs to be converted into the real-time posture, the posture conversion speed is the conversion gradient of the pan-tilt from the expected posture to the real-time posture, and in fact, the shaft arm of the pan-tilt does not rotate any more, so that the effect of which position the pan-tilt can be pushed by the user and which position the pan-tilt is parked is achieved.

Generally, compared with the method for controlling the cradle head by a remote controller, the method for manually wrestling the cradle head has the advantage that the detected parameter values of the working parameters have larger difference, so that the working parameters can be used as the basis for judging the manual wrestling of the cradle head.

Firstly, when the cloud platform is manually broken, the working parameters of the cloud platform are usually larger than the working parameters when the cloud platform is controlled by a remote controller; secondly, when the human power mistakenly touches the cloud platform, the working parameters of the cloud platform are usually larger than those when the cloud platform is controlled by the remote controller, but the difference between the manual mistakenly touching the cloud platform and the manual wrestling of the cloud platform is that the duration of the detected parameter value of the former is shorter than that of the latter. Based on the analysis, according to different types of the working parameters, the following optional implementation modes can be respectively adopted to detect whether the holder is manually pulled.

In a first implementation manner, referring to fig. 4A, the operating parameters in step S201 further include a desired torque, and the embodiment may detect whether an absolute value of the desired torque is greater than or equal to a torque threshold, and if the absolute value of the desired torque is greater than or equal to the torque threshold, it may be determined that the manual wrestling of the pan-tilt head is detected; if the absolute value of the expected torque is smaller than the torque threshold value, the current non-manual wrestling of the tripod head can be determined.

Specifically, in some embodiments, the desired torque is compared to a torque threshold, and if the desired torque is greater than or equal to the torque threshold, it may be determined that the absolute value of the desired torque is detected to be greater than or equal to the torque threshold. In yet other embodiments, the desired torque is compared to the opposite of the torque threshold (i.e., the negative of the torque threshold), and if the desired torque is less than or equal to the opposite of the torque threshold, then it may be determined that the absolute value of the desired torque is detected to be greater than or equal to the torque threshold.

Optionally, it is further determined whether to compare the expected torque with a torque threshold or compare the expected torque with an opposite number of the torque threshold according to the positive or negative of the joint angle error, that is, the positive or negative of the difference between the joint angle corresponding to the expected posture and the joint angle corresponding to the real-time posture. In the present embodiment, when the joint angle error is a positive number, the desired torque is compared with a torque threshold; when the joint angle error is negative, the desired torque is compared to the opposite of the torque threshold. For example, when the joint angle is calculated using the attitude and can be uniquely determined, if the joint angle corresponding to the desired attitude is 0 °, the joint angle corresponding to the real-time attitude is 5 °, the joint angle error is-5 °, and the joint angle error is a negative number, the desired torque may be compared with the opposite number of the torque threshold. For another example, the joint angle corresponding to the expected attitude is 0 °, the joint angle corresponding to the real-time attitude is-5 °, the joint angle error is a positive number, and the expected torque may be compared with the torque threshold.

Alternatively, whether the desired torque is compared with the torque threshold or the opposite of the torque threshold may be determined according to the direction in which the pan/tilt head is manually pulled. In this embodiment, the direction of the manually-wrestling holder is determined according to the expected attitude and the real-time attitude, and if it is assumed that a difference between an attitude angle corresponding to the expected attitude and an attitude angle corresponding to the real-time attitude is a positive number, the direction of the manually-wrestling holder is taken as a first wrestling direction, and when a difference between an attitude angle corresponding to the expected attitude and an attitude angle corresponding to the real-time attitude is a negative number, the direction of the manually-wrestling holder is taken as a second wrestling direction. In this way, when the direction of manually breaking the tripod head is the first breaking direction, the expected torque can be compared with the torque threshold value; or/and, when the direction of the manual-force wrestling holder is the second wrestling direction, the expected torque may be compared with the opposite number of the torque threshold.

It is understood that, in practical applications, the comparison result of the desired torque and the torque threshold may not be determined according to the direction in which the pan-tilt is manually pulled. For example, the direction of manually wrestling the tripod head is not determined, but the desired torque is sequentially compared with the torque threshold and the opposite number of the torque threshold, so that it can also be determined whether the desired torque is greater than the torque threshold, smaller than the opposite number of the torque threshold, or between the torque threshold and the opposite number of the torque threshold, and further whether the tripod head is manually wrestled can also be detected.

When the cloud platform is manually broken, the torque value of the cloud platform is usually larger than the torque value when the cloud platform is controlled by the remote controller. The torque threshold value of the embodiment is preset according to a temperature protection strategy of the motor, and is a lower limit value of a torque value for judging when the platform is manually broken. Optionally, after the torque threshold is preset according to the temperature protection strategy of the motor, the torque threshold is not changed. When the torque sensor needs to be used, the preset torque threshold value can be directly obtained. Optionally, the torque threshold is adjusted in real time according to a temperature protection strategy of the motor, that is, in the process of manually breaking the cradle head to control the expected posture of the cradle head, the torque threshold is changed to meet different requirements.

Since the desired torque of the pan/tilt head is usually larger than the torque when the pan/tilt head is controlled by the remote controller when the human power is mistakenly touched to the pan/tilt head, the difference between the manual mistaken touch to the pan/tilt head and the manual wrestling of the pan/tilt head is that the duration of the torque larger than the torque threshold is shorter than that of the torque threshold. Therefore, in this embodiment, in order to avoid detecting that the human power mistakenly touches the pan/tilt head, a duration may be preset for determining whether the absolute value of the expected torque is continuously greater than or equal to the torque threshold value within a period of continuous time, so as to avoid that the human power mistakenly touches the pan/tilt head and also determine that the pan/tilt head is manually pulled, thereby improving the accuracy of detecting the human power pulled pan/tilt head.

In this embodiment, whether absolute values of the expected torques in the preset time period are all greater than or equal to the torque threshold value or not may be detected, and if the absolute values are all greater than or equal to the torque threshold value, it may be determined that the holder is manually snapped. Referring to fig. 4B, if the duration in which the absolute value of the desired torque is greater than or equal to the torque threshold exceeds the preset time period, it may be considered that the pan/tilt head is manually pulled. It can be assumed that the detection period of the desired torque is 0.001 second/time and the preset time period is 1 s. If the absolute value of the expected torque is detected to be greater than or equal to the torque threshold value within 1s for 1000 times, and if the expected torque is greater than or equal to the torque threshold value during the next 1s and 1001 st detection, the tripod head is considered to be manually pulled; if the expected torque is smaller than the torque threshold value, the tripod head is considered to be manually pulled. If the absolute value of the desired torque is detected to be greater than or equal to the torque threshold at the next time, a re-timer is started.

Optionally, within a preset time period, when the joint angle errors are positive numbers, it is determined whether the expected torques within the preset time period are all greater than or equal to a torque threshold, and if so, it may be determined that the absolute values of the expected torques within the preset time period are all greater than or equal to the torque threshold. Within a preset time period, when the joint angle errors are negative numbers, whether the expected torques within the preset time period are all smaller than or equal to the opposite number of the torque threshold value is judged, and if the expected torques within the preset time period are all smaller than or equal to the opposite number of the torque threshold value, it can be determined that the absolute values of the expected torques within the preset time period are all larger than or equal to the torque threshold value. The preset time period can be set according to actual requirements, for example, 0.5 second, 1 second, 1.5 seconds, 2 seconds, 2.5 seconds, 3 seconds, and the like.

Optionally, when the direction of manually snapping the pan-tilt is the first snapping direction, determining whether the expected torques within the preset time period are all greater than or equal to a torque threshold, and if so, determining that the absolute values of the expected torques within the preset time period are all greater than or equal to the torque threshold; or/and when the direction of manually wrestling the tripod head is the second wrestling direction, judging whether the expected torques in the preset time period are all smaller than or equal to the opposite numbers of the torque threshold, and if the expected torques in the preset time period are all smaller than or equal to the opposite numbers of the torque threshold, determining that the absolute values of the expected torques in the preset time period are all larger than or equal to the torque threshold.

In a second implementation manner, referring to fig. 5A, the working parameters in step S201 further include a joint angle error, and the embodiment may detect whether an absolute value of the joint angle error is greater than or equal to a joint angle threshold, and if the absolute value of the joint angle error is greater than or equal to the joint angle threshold, it may be determined that the manual rotation of the pan-tilt is detected; if the absolute value of the joint angle error is smaller than the joint angle threshold, the current non-manual pan-tilt can be determined. The joint angle error can be preset according to actual conditions, for example, the joint angle threshold is 1 degree, and when the absolute value of the joint angle error is greater than or equal to 1 degree, the manual wrestling of the tripod head is determined to be detected; when the absolute value of the joint angle error is smaller than 1 degree, the fact that the cradle head is touched by mistake by manpower or other factors causes small joint angle change of the cradle head is determined.

Specifically, in some embodiments, the joint angle error is compared to a joint angle threshold, and if the joint angle error is greater than or equal to the joint angle threshold, it may be determined that the absolute value of the detected joint angle error is greater than or equal to the joint angle threshold. In other embodiments, the joint angle error is compared to the inverse of the joint angle threshold (i.e., the negative of the joint angle threshold), and if the joint angle error is less than or equal to the inverse of the joint angle threshold, it may be determined that the absolute value of the joint angle error is detected to be greater than or equal to the joint angle threshold.

Optionally, it is further determined whether to compare the joint angle error with a joint angle threshold or compare the joint angle error with the inverse of the joint angle threshold according to the positive or negative of the joint angle error, that is, the positive or negative difference between the joint angle corresponding to the expected posture and the joint angle corresponding to the real-time posture. In this embodiment, when the joint angle error is a positive number, the joint angle error is compared with a joint angle threshold; when the joint angle error is negative, the joint angle error is compared to the inverse of the joint angle threshold. For example, when the joint angle is calculated from the attitude and can be uniquely determined, if the joint angle corresponding to the desired attitude is 0 °, the joint angle corresponding to the real-time attitude is 5 °, the joint angle error is-5 °, and the joint angle error is a negative number, it is necessary to compare the joint angle error with the opposite number of the joint angle threshold. In another example, the joint angle corresponding to the expected posture is 0 °, the joint angle corresponding to the real-time posture is-5 °, the joint angle error is a positive number, and the joint angle error needs to be compared with the joint angle threshold.

Optionally, it is determined whether to compare the joint angle error with a joint angle threshold or compare the joint angle error with the opposite number of the joint angle threshold according to the direction in which the holder is manually pulled. In this embodiment, the direction of the manual wrestling holder is determined according to the expected attitude and the real-time attitude, and if it is assumed that a difference between an attitude angle corresponding to the expected attitude and an attitude angle corresponding to the real-time attitude is a positive number, the direction of the manual wrestling holder is taken as a first wrestling direction, and when a difference between an attitude angle corresponding to the expected attitude and an attitude angle corresponding to the real-time attitude is a negative number, the direction of the manual wrestling holder is taken as a second wrestling direction. Thus, when the direction of manually breaking the holder is the first breaking direction, the joint angle error is compared with the joint angle threshold; or/and when the direction of the manual wrestling holder is the second wrestling direction, comparing the joint angle error with the opposite number of the joint angle threshold value.

It can be understood that, in practical application, the comparison result of the joint angle error and the joint angle threshold value may also be determined without depending on the direction in which the pan-tilt is manually snapped. For example, the direction of manually wrestling the pan/tilt head is not determined, and the joint angle error is sequentially compared with the joint angle threshold and the opposite number of the joint angle threshold, so as to determine whether the joint angle error is greater than the joint angle threshold, smaller than the opposite number of the joint angle threshold, or between the joint angle threshold and the opposite number of the joint angle threshold, and further detect whether the pan/tilt head is manually wrestled.

Since the joint angle error of the pan/tilt head is usually larger than the joint angle when the pan/tilt head is controlled by the remote controller when the human power mistakenly touches the pan/tilt head, the difference between the manual mistakenly touching the pan/tilt head and the manual wrestling of the pan/tilt head is that the duration of the joint angle larger than the threshold value of the joint angle is shorter than that of the joint angle of the former. Therefore, in the embodiment, in order to avoid detecting that the human power mistakenly touches the pan/tilt head, a duration can be preset for judging whether the absolute value of the joint angle error is continuously greater than or equal to the joint angle threshold value within a period of continuous time, so that the situation that the human power mistakenly touches the pan/tilt head is determined as the human power wrestling the pan/tilt head is avoided, and the accuracy of the detection of the human power wrestling the pan/tilt head is improved.

In this embodiment, whether absolute values of joint angle errors within a preset duration are all greater than or equal to a joint angle threshold may be detected, and if both are greater than or equal to the joint angle threshold, it may be determined that the holder is manually moved. Referring to fig. 5B, if the duration of the absolute value of the joint angle error is greater than or equal to the joint angle threshold reaches the preset duration, it is determined that the pan/tilt head is manually moved. It can be assumed that the detection period of the joint angle error is 0.001 second/time, and the preset time period is 1 s. If the absolute value of the joint angle error is detected to be greater than or equal to the joint angle threshold value within 1s for 1000 times, and if the joint angle error is greater than or equal to the joint angle threshold value during the next 1s and 1001 st detection, the tripod head is considered to be manually pulled; if the joint angle error is smaller than the joint angle threshold value, the tripod head is considered to be manually pulled. And if the absolute value of the joint angle error is detected to be larger than or equal to the joint angle threshold value next time, restarting timing.

Optionally, within the preset duration, when the joint angle errors are all positive numbers, it is determined whether the joint angle errors within the preset duration are all greater than or equal to a joint angle threshold, and if so, it may be determined that the absolute values of the joint angle errors within the preset duration are all greater than or equal to the joint angle threshold. Within a preset time period, when the joint angle errors are negative numbers, judging whether the joint angle errors within the preset time period are all smaller than or equal to the opposite number of the joint angle threshold, and if the joint angle errors within the preset time period are all smaller than or equal to the opposite number of the joint angle threshold, determining that the absolute values of the joint angle errors within the preset time period are all larger than or equal to the joint angle threshold. The preset time period can be set according to actual requirements, for example, 0.5 second, 1 second, 1.5 seconds, 2 seconds, 2.5 seconds, 3 seconds, and the like.

Optionally, when the direction of manually snapping the pan-tilt is the first snapping direction, determining whether the joint angle errors in the preset time duration are all greater than or equal to a joint angle threshold, and if so, determining that the absolute values of the joint angle errors in the preset time duration are all greater than or equal to the joint angle threshold; or/and when the direction of manually wrestling the holder is the second wrestling direction, judging whether the joint angle errors in the preset time duration are all smaller than or equal to the opposite number of the joint angle threshold, and if the joint angle errors in the preset time duration are all smaller than or equal to the opposite number of the joint angle threshold, determining that the absolute values of the joint angle errors in the preset time duration are all larger than or equal to the joint angle threshold.

In a third implementation manner, referring to fig. 6A, the operating parameters in step S201 may further include both the desired torque and the joint angle error, and the embodiment may detect whether the absolute value of the desired torque is greater than or equal to the torque threshold and whether the absolute value of the joint angle error is greater than or equal to the joint angle threshold, and if the absolute value of the desired torque is greater than or equal to the torque threshold and the absolute value of the joint angle error is greater than or equal to the joint angle threshold, determine that the manual-force wrestling of the pan and tilt head is detected.

Further, in order to avoid detecting that the holder is touched by the human power by mistake, referring to fig. 6B, it may be detected whether absolute values of the expected torques in the preset time duration are all greater than or equal to the torque threshold, and whether absolute values of the joint angle errors in the preset time duration are all greater than or equal to the joint angle threshold, if the absolute values of the expected torques in the preset time duration are all greater than or equal to the torque threshold, and the absolute values of the joint angle errors are all greater than or equal to the joint angle threshold, it may be determined that the holder is touched by the human power. For the implementation, reference may be made to the detailed description of the two implementations, which is not described herein again. It can be assumed that the detection cycle of the desired torque and joint angle errors is 0.001 second/time and the preset time period is 1 s. If the absolute value of the expected torque is detected for 1000 times within 1s and is greater than or equal to the torque threshold, and the absolute value of the joint angle error is detected for 1000 times and is greater than or equal to the joint angle threshold, and if the expected torque is greater than or equal to the torque threshold and the joint angle error is greater than or equal to the joint angle threshold in the next 1s and 1001 st detection, the tripod head is considered to be manually wrestled; if the expected torque is smaller than the torque threshold value or if the joint angle error is smaller than the joint angle threshold value, the tripod head is considered to be manually broken. The next time the absolute value of the desired torque is detected to be greater than or equal to the torque threshold and the absolute value of the joint angle error is greater than or equal to the joint angle threshold, then a re-timing is started.

In addition, in step S202, the attitude switching speed of the pan/tilt head is determined according to the desired attitude and the real-time attitude of the pan/tilt head when the pan/tilt head is manually pulled. Specifically, determining a joint angle error of the holder according to the expected attitude and the real-time attitude of the holder when the holder is manually pulled; and determining the attitude conversion speed of the holder according to the joint angle error and the preset coefficient. The joint angle error can be determined in the above embodiment. In this embodiment, the preset coefficient is determined by the number of time detection cycles and the gain coefficient. The time detection cycle number can be set according to a preset time length, for example, the preset time length is 1 second, the time detection cycle number is 1000, and 1000 detections are performed within 1 second, that is, a real-time gesture is detected once in 0.001 second. The magnitude of the gain coefficient may be set according to a specific use scenario, and in general, the gain coefficient may be larger, for example, the gain coefficient may be 10, in order to avoid the cradle head rebounding after performing step 203 (i.e. offsetting the real-time attitude of the cradle head when the cradle head is manually snapped to the opposite direction of manually snapping the cradle head).

The attitude conversion speed of the cradle head determined in step 202 is a joint angular speed, and the change of the expected attitude of the cradle head is actually controlled through the euler angular speed. Alternatively, the angular velocity of the joint determined in step 202 may be directly used as the euler angular velocity of the pan/tilt head.

Optionally, in order to implement accurate control of the pan/tilt head, coordinate conversion may be performed on the joint angular velocity to obtain the euler angular velocity of the pan/tilt head, and the converted euler angular velocity is used to control the expected attitude of the pan/tilt head to be the real-time attitude. Specifically, referring to fig. 7, the process of determining the attitude transition speed of the pan/tilt head according to the joint angle error and the preset time coefficient specifically includes:

step S701: determining a first angular speed of the cradle head on a cradle head joint angle coordinate system according to the joint angle error and a preset coefficient;

specifically, the first angular velocity W_iAs an example of the preset coefficients including the number of time detection cycles and the gain coefficient in the above embodiment, W_i-joint angle error/time detection cycle number gain factor.

Step S702: converting the first angular velocity into a second angular velocity of the cloud platform on the cloud platform body coordinate system according to the conversion relation between the cloud platform joint angular coordinate system and the cloud platform body coordinate system;

in this step, the second angular velocity is W_bThe calculation formula of (a) is as follows:

W_b＝R_j->b*W_i；

wherein R is_j->b(Jacobian matrix) is the conversion relation between the tripod head joint angular coordinate system and the tripod head body coordinate system, R_j->bDetermined by the configuration of the head, the configuration of the head being different, R_j->bIt is different.

Taking a ZXY three-axis pan-tilt configuration as an example, wherein Z is a yaw axis, X is a roll axis, Y is a pitch axis, in the configuration, Z is an outer frame, X is a middle frame, Y is an inner frame, the yaw axis motor is used for driving the yaw axis arm to rotate so as to drive the roll axis motor and the roll axis arm, the pitch axis motor and the pitch axis arm and the shooting device to rotate, the roll axis motor is used for driving the roll axis arm to rotate so as to drive the pitch axis motor and the pitch axis arm and the shooting device to rotate, and the pitch axis motor is used for driving the pitch axis arm to rotate so as to drive the shooting device to rotate. The axes of rotation of the coordinate axes of the three joint angles (yaw joint angle, roll joint angle, and pitch joint angle) are:

V_inny＝[0,1,0]

V_midx＝[1,0,0]；

V_outz＝[0,0,1]

wherein, V_inny、V_midx、V_outzThe rotation axes are respectively the coordinate axes of the pitch joint angle, the roll joint angle and the yaw joint angle.

Will V_inny、V_midx、V_outzRespectively converting to a cloud platform body coordinate system:

V_inny->b＝R_y′*V_inny

V_midx-＞b＝R_y′*R_x′*V_midx；

V_outz-＞b＝R_y′*R_x′*R_z′*V_outz

wherein，R_y′、R_x′、R_z' corresponds to R respectively_y、R_x、R_zTransposing; r_y、R_x、R_zThe rotation matrixes of the joint angle coordinate system around a Y axis (namely a pitch axis), an X axis (namely a roll axis) and a Z axis (namely a yaw axis) to the reference coordinate system are respectively. For example, R_y、R_x、R_zRespectively as follows:

the reference coordinate system is a coordinate system with a joint angle of 0, and A is a conversion angle from the joint angle coordinate system to the reference coordinate system.

Conversion relation R between cloud platform joint angular coordinate system and cloud platform body coordinate system_j->bThe conversion of (c) is as follows:

wherein inn _ joint _ rad is an inner frame joint angle, and mid _ jo int _ rad is an inner frame joint angle.

Aiming at a two-axis tripod head, a conversion relation R between a tripod head joint angular coordinate system and a tripod head body coordinate system_j->bThe conversion of (c) is as follows:

step S703: converting the second angular velocity into an Euler angular velocity according to a conversion relation between the cloud platform body coordinate system and the Euler coordinate system;

in this step, the Euler angular velocity is W_φThe calculation formula of (a) is as follows:

W_φ＝R_b->φ*W_b；

wherein R is_b->φThe conversion relation between the cloud platform body coordinate system and the Euler coordinate system is obtained;

wherein inn _ euler _ rad is an inner frame euler angle, mid _ euler _ rad is a middle frame euler angle, and the inner frame euler angle and the middle frame euler angle are both the expected euler angle of the cradle head when the last closed loop is performed, namely the real-time posture of the cradle head when the last closed loop is completed.

In one embodiment, according to the above-mentioned transformation relationship, assuming that the middle frame joint angle is 40 degrees, the inner frame euler angle is 10, the middle frame euler angle is 0, and the joint angular velocity (i.e. the first angular velocity) is [0,0,1], if the transformation between the coordinate systems is not performed, the euler angular velocity of the pan/tilt head is default to the joint angular velocity [0,0,1 ]. And after the conversion between the coordinate systems, the Euler angular velocity of the tripod head is [ -0.3830,0.6428,0.6634 ]. Therefore, the first angular speed is converted through the cloud platform body coordinate system, more accurate attitude control can be obtained, and the cloud platform can be more accurately stopped at the position where the cloud platform is pushed to stop by manpower.

In another specific implementation, when the shaft arm of the pan/tilt head corresponding to the preset shaft does not need to perform attitude control, after the euler angular velocity obtained by converting the joint angular velocity, the velocity of the euler angular velocity corresponding to the preset shaft may be controlled to be a preset value, for example, 0. And the shaft arm corresponding to the preset shaft is the shaft arm which does not need posture control in the holder. In this way, the torque output of the shaft arm for the preset shaft can be avoided, so as to prevent the attitude control of other shaft arms in the holder from being influenced due to control saturation.

In some embodiments, the cradle head is not provided with a shaft arm corresponding to the preset shaft, that is, the shaft arm corresponding to the preset shaft may be a shaft arm that does not actually exist in the cradle head, such as a traverse shaft. That is, due to the calculation of the euler angle, even if the shaft arm corresponding to the preset shaft does not exist, the shaft arm corresponding to the preset shaft may have the euler angular velocity, but defaults to the preset value, so as to prevent the motor torque output from being saturated.

The pan/tilt head may be a two-axis pan/tilt head, the axis arms include two of a yaw axis arm, a pitch axis arm, and a roll axis arm, and after step S703 is executed, the euler angular velocity of the other axis arm may be controlled to be 0. When the shaft arms comprise a yaw shaft arm and a pitch shaft arm, the other shaft arm is a roll shaft arm; when the axle arms comprise a yaw axle arm and a roll axle arm, the other axle arm is a pitch axle arm; when the axle arms include a pitch axle arm and a roll axle arm, the other axle arm is a yaw axle arm.

Step S704: and determining the Euler angular velocity as the attitude conversion velocity of the holder.

Step S203: and controlling the expected attitude to be a real-time attitude according to the direction and the attitude conversion speed of manually breaking the holder.

After the manual wrestling of the tripod head is detected, the wrestling direction during manual wrestling of the tripod head can be measured through the inertial measurement unit IMU on the tripod head, and then the expected posture is controlled to be a real-time posture in the wrestling direction according to the posture conversion speed determined in the step S202. So, the speed that the control expectation gesture tends to real-time gesture is relevant with the expectation gesture of cloud platform, the offset between the real-time gesture of cloud platform when the cloud platform is pulled off with the fingers and thumb to the manpower, and can obtain real-time adjustment according to this offset, so can avoid the resilience of cloud platform and the not smooth sense of rotation process (like the abrupt sense that produces in the position department that real-time gesture corresponds) that leads to because speed is uncontrollable for the armshaft can stop in real-time gesture comparatively smoothly, has promoted user experience.

For example, if an euler angle corresponding to a certain shaft arm in the expected posture is a, an euler angle corresponding to the shaft arm in the real-time posture is B, and if a is directly assigned as B, since one posture may correspond to a plurality of joint angles, after direct assignment, the corresponding shaft arm in the pan/tilt does not determine which joint angle should be stopped, so that the pan/tilt may not be stopped at a position at which user human power pushes the pan/tilt to be stopped after human power pushes the pan/tilt, for example, the pan/tilt may have a rotation and impact mechanical limit. However, if a is gradually converted into B according to the posture conversion speed and the rotation direction, the above problem can be effectively solved.

Further, after the expected posture of the cradle head is controlled to be the real-time posture of the cradle head when the cradle head is manually pulled, if the condition that the working parameters are matched with the preset condition that the cradle head is manually pulled is detected again, the current posture conversion speed of the cradle head can be determined according to the current expected posture and the detected real-time posture of the cradle head when the cradle head is manually pulled, and then the current expected posture is controlled to be the detected real-time posture of the cradle head manually pulled according to the direction and the current posture conversion speed of the cradle head which are manually pulled. Optionally, the posture switching speed of the pan/tilt head of this embodiment may be determined by the speed at which the pan/tilt head is manually pulled, and the change of the posture switching speed of the pan/tilt head is in positive correlation with the change of the speed at which the pan/tilt head is manually pulled.

In some embodiments, step S203 is performed after determining that the pan/tilt head is in the over-damping mode. In this embodiment, the cradle head is in the over-damping mode, and the cradle head moves along with the movement of the cradle head when the cradle head is manually pulled (i.e., the cradle head stays at a position corresponding to the real-time posture of the cradle head when the user pushes the cradle head by hand); in other modes, such as an underdamping mode, after the holder is manually pulled, the holder rebounds to a position before the holder is manually pulled. Whether the pan-tilt is in the over-damping mode or in the other modes can be selected according to the actual requirements of the user.

According to the cloud platform control method, when the working parameters of the cloud platform are matched with the preset conditions of manually wrestling the cloud platform, the cloud platform is controlled according to the direction of manually wrestling the cloud platform and the attitude conversion speed determined according to the expected attitude and the real-time attitude of the cloud platform when the cloud platform is manually wrestled so as to change the expected attitude of the cloud platform per se, so that the real-time attitude of the cloud platform when the cloud platform moves to the manually wrestling the cloud platform is enabled to be simple and visual in operation process and high in positioning accuracy compared with the existing mode of controlling the expected attitude of the cloud platform through a remote controller; in addition, the mode of controlling the cradle head according to the attitude conversion speed determined by the real-time attitude of the cradle head when the cradle head is pulled off by the expected attitude and manpower can adjust the attitude conversion speed of the cradle head so that the cradle head can move along with the movement of the cradle head when the cradle head is pulled off by the manpower more smoothly, and the user experience is better.

Corresponding to the cradle head control method in the first embodiment of the invention, the second embodiment of the invention also provides the cradle head.

Example two

Referring to fig. 8, a second embodiment of the present invention provides a cradle head, which may include: an inertial measurement unit IMU1 and a processor 2.

Wherein the processor 2 is electrically connected to the inertial measurement unit IMU 2. The processor 2 of the present embodiment is configured to execute the pan/tilt head control method as shown in fig. 2 to 7.

Specifically, the processor 2 is configured to: acquiring working parameters of the holder, wherein the working parameters of the holder comprise an expected attitude of the holder; if the detected working parameters are matched with the preset conditions for manually breaking the tripod head, determining the attitude conversion speed of the tripod head according to the expected attitude and the real-time attitude of the tripod head when the tripod head is manually broken; and controlling the expected attitude to be a real-time attitude according to the direction and the attitude conversion speed of manually breaking the holder.

For the implementation process and the working principle of the processor 2, reference may be made to the description of the pan/tilt control method in the first embodiment, and details are not described here again.

The processor 2 of this embodiment may be a Central Processing Unit (CPU). The processor 2 may further comprise a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The PLD may be a Complex Programmable Logic Device (CPLD), a field-programmable gate array (FPGA), a General Array Logic (GAL), or any combination thereof.

The holder of this embodiment can be a single-axis holder, a two-axis holder, a three-axis holder or other holders.

The head of the present embodiment is used for carrying the shooting device and for adjusting the attitude of the shooting device (for example, changing the height, inclination and/or direction of the shooting device) and stably maintaining the shooting device in a determined attitude. The cradle head can also carry other loads, such as a shooting device, and the shooting device can be a camera, an image sensor and the like.

EXAMPLE III

Referring to fig. 9, an embodiment of the present invention further provides a movable platform, which may include a processor 100 and a pan/tilt head 200, where the pan/tilt head 200 includes an inertial measurement unit IMU, and the processor 100 is electrically connected to the inertial measurement unit IMU. The processor 100 of the present embodiment is configured to execute the pan/tilt head control method shown in fig. 2 to 7.

Specifically, the processor 100 is configured to: acquiring working parameters of the holder 200, wherein the working parameters of the holder 200 comprise an expected posture of the holder 200; if the working parameters are matched with the preset conditions for manually breaking the holder 200, determining the posture conversion speed of the holder 200 according to the expected posture and the real-time posture of the holder 200 when the holder 200 is manually broken; and controlling the expected gesture to be a real-time gesture according to the direction and gesture conversion speed of manually breaking the holder 200.

For the implementation process and the operation principle of the processor 100, reference may be made to the description of the pan/tilt control method in the first embodiment, and details are not described herein again.

In this embodiment, the processor 100 may be a movable platform processor, a pan-tilt processor, or other controllers disposed on a movable platform. The movable platform can be an unmanned aerial vehicle such as an unmanned aerial vehicle, can also be ground mobile equipment such as a remote control trolley, and can also be water surface mobile equipment such as a remote control ship. When the movable platform is a drone, the processor 100 may be a flight controller.

In addition, the processor 100 of the present embodiment may be a Central Processing Unit (CPU). The processor 100 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The PLD may be a Complex Programmable Logic Device (CPLD), a field-programmable gate array (FPGA), a General Array Logic (GAL), or any combination thereof.

The holder 200 of this embodiment may be a single-axis holder, a two-axis holder, a three-axis holder, or other holders.

The head 200 of the present embodiment is used to carry a shooting device and to adjust the attitude of the shooting device (e.g., to change the height, inclination, and/or orientation of the shooting device) and to stably maintain the shooting device in a determined attitude. The cradle head 200 may also carry other loads, such as a camera, and the camera may be a camera or an image sensor.

Furthermore, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by the processor 100 to implement the steps of the pan/tilt control method according to the first embodiment.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.

The above disclosure is intended to be illustrative of only some embodiments of the invention, and is not intended to limit the scope of the invention.

Claims

1. A pan-tilt control method, characterized in that the method comprises:

2. The method according to claim 1, wherein the determining the attitude transition speed of the pan/tilt head according to the desired attitude and the real-time attitude of the pan/tilt head when the pan/tilt head is manually snapped comprises:

determining a joint angle error of the cloud deck according to the expected attitude and the real-time attitude of the cloud deck when the cloud deck is manually pulled;

and determining the attitude conversion speed of the holder according to the joint angle error and a preset coefficient.

3. The method according to claim 2, wherein determining the attitude transition speed of the pan/tilt head according to the joint angle error and a preset time coefficient comprises:

determining a first angular speed of the cradle head on a cradle head joint angle coordinate system according to the joint angle error and a preset coefficient;

converting the first angular velocity into a second angular velocity of the cloud platform on the cloud platform body coordinate system according to the conversion relation between the cloud platform joint angular coordinate system and the cloud platform body coordinate system;

converting the second angular velocity into an Euler angular velocity according to a conversion relation between the cloud platform body coordinate system and an Euler coordinate system;

and determining the Euler angular velocity as the attitude conversion velocity of the holder.

4. The method according to claim 3, wherein after converting the second angular velocity into the euler angular velocity according to the conversion relationship between the yurt body coordinate system and the euler coordinate system, the method further comprises:

and controlling the speed of a corresponding preset shaft in the Euler angular speed to be a preset value, wherein a shaft arm corresponding to the preset shaft is a shaft arm which does not need posture control in the holder.

5. The method according to claim 4, characterized in that the head is not provided with an arm corresponding to the preset axis.

6. The method according to claim 1, wherein after determining the attitude transition speed of the pan/tilt head according to the desired attitude and the real-time attitude of the pan/tilt head when the cloud platform is manually broken, the method further comprises:

and determining the real-time posture of the cloud deck as the current expected posture of the cloud deck when the cloud deck is manually pulled.

7. The method according to claim 6, wherein after controlling the desired attitude to be the real-time attitude according to the direction of manually snapping the pan/tilt head and the attitude conversion speed, further comprising:

if the working parameters are detected to be matched with the preset conditions for manually pulling the holder, determining the current attitude conversion speed of the holder according to the current expected attitude and the detected real-time attitude of the holder when the holder is manually pulled again;

and controlling the current expected attitude to be the real-time attitude of the cradle head when the cradle head is manually wrenched according to the redetected direction of manually wrenched the cradle head and the current attitude conversion speed of the cradle head.

8. The method according to claim 1, wherein before controlling the desired attitude to be the real-time attitude according to the direction of manually snapping the pan/tilt head and the attitude conversion speed, further comprising:

and determining that the holder is in an over-damping mode.

9. The method of claim 1, wherein the pan/tilt head comprises a shaft arm and a motor for driving the shaft arm to rotate;

the operating parameters of the holder further include: a desired torque of the motor and/or a joint angle error of the pan/tilt head;

and determining the expected torque of the motor and the joint angle error of the holder by the expected attitude and the real-time attitude, wherein the real-time attitude is detected by an Inertial Measurement Unit (IMU) on the holder.

10. The method of claim 9, wherein when the operating parameter further includes the desired torque, the detecting that the operating parameter matches a preset manual pan-tilt condition comprises:

detecting that an absolute value of the desired torque is greater than or equal to a torque threshold.

11. The method according to claim 9, wherein when the working parameter further includes the joint angle error, the detecting that the working parameter matches a preset manual pan-tilt condition comprises:

detecting that an absolute value of the joint angle error is greater than or equal to a joint angle threshold.

12. The method of claim 9, wherein when the operating parameters further include the desired torque and joint angle error, the detecting that the operating parameters match a preset manual pan-tilt condition comprises:

detecting that an absolute value of the desired torque is greater than or equal to a torque threshold, and detecting that an absolute value of the joint angle error is greater than or equal to a joint angle threshold.

13. Method according to claim 10 or 12, characterized in that the torque threshold is preset according to a temperature protection strategy of the electric machine.

14. The method of claim 13, wherein the torque threshold is adjusted in real time according to a temperature protection strategy of the electric machine.

15. The method of claim 10 or 12, wherein said detecting that an absolute value of the desired torque is greater than or equal to a torque threshold comprises:

detecting that the absolute values of the expected torques within a preset period of time are all greater than or equal to the torque threshold.

16. The method of claim 15, wherein the detecting that the absolute values of the desired torques for the preset period of time are each greater than or equal to the torque threshold further comprises:

when the direction of manually breaking the holder is a first breaking direction, detecting that the expected torques in a preset time period are all larger than or equal to a torque threshold value; or/and

when the direction of manually wrestling the holder is a second wrestling direction, it is detected that the expected torques within the preset time period are all smaller than or equal to the opposite number of the torque threshold.

17. The method of claim 11 or 12, wherein said detecting that the absolute value of the joint angle error is greater than or equal to a joint angle threshold comprises:

and detecting that the absolute values of the joint angle errors in the preset time length are all larger than or equal to a joint angle threshold value.

18. The method of claim 17, wherein the detecting that the absolute values of the joint angle errors within the preset time period are each greater than or equal to a joint angle threshold, further comprises:

when the direction of manually wrestling the holder is a first wrestling direction, detecting that the joint angle error within a preset time length is greater than or equal to a joint angle threshold; or/and

and when the direction of manually wrestling the holder is a second wrestling direction, detecting that the joint angle error in the preset time length is smaller than or equal to the opposite number of the joint angle threshold.

19. The method according to claim 1, wherein the controlling the desired attitude to the real-time attitude according to the direction of manually snapping the pan/tilt head and the attitude conversion speed comprises:

measuring the breaking direction of the cloud platform when the cloud platform is broken manually through an inertial measurement unit IMU on the cloud platform;

and in the snapping direction, controlling the expected gesture to be the real-time gesture according to the gesture conversion speed.

20. A head, comprising: the processor is electrically connected with the inertial measurement unit IMU; the processor is configured to:

21. A head according to claim 20, wherein said processor is particularly adapted to:

22. A head according to claim 21, wherein said processor is particularly adapted to:

23. A tripod head according to claim 22, wherein said processor, after converting said second angular velocity into euler angular velocity according to a conversion relationship between said cloud platform body coordinate system and said euler coordinate system, is further configured to:

24. A head according to claim 23, wherein said head is not provided with an arm to which said preset axis corresponds.

25. A tripod head according to claim 20, wherein said processor, after determining the attitude transition speed of said tripod head according to said desired attitude and the real-time attitude of said tripod head when said cloud platform is manually snapped, is further configured to:

26. A tripod head according to claim 25, wherein said processor is further configured, after controlling said desired attitude to be said real-time attitude according to the direction of manually snapping said tripod head and said attitude transition speed, to:

27. A tripod head according to claim 20, wherein said processor is further configured, before controlling said desired attitude to be said real-time attitude according to the direction of manually snapping said tripod head and said attitude transition speed, to:

and determining that the holder is in an over-damping mode.

28. A head according to claim 20, wherein said head comprises an axial arm and a motor for driving said axial arm in rotation;

29. A head according to claim 28, wherein when said operating parameters further comprise said desired torque, said processor is particularly adapted to:

and if the absolute value of the expected torque is detected to be greater than or equal to the torque threshold, determining that the working parameters are matched with the preset condition of manually breaking the tripod head.

30. A head according to claim 28, wherein when said operating parameters further comprise said joint angle error, said processor is particularly adapted to:

and if the absolute value of the joint angle error is detected to be greater than or equal to a joint angle threshold value, determining that the working parameter is matched with a preset condition for manually breaking the pan-tilt.

31. A head according to claim 28, wherein when said operating parameters further comprise said desired torque and joint angle error, said processor is particularly adapted to:

and if the absolute value of the expected torque is detected to be greater than or equal to a torque threshold value and the absolute value of the joint angle error is detected to be greater than or equal to a joint angle threshold value, determining that the working parameters are matched with a preset condition of manually wrestling the tripod head.

32. A head according to claim 29 or 31, wherein said torque threshold value is preset according to a temperature protection strategy of said motor.

33. A head according to claim 32, wherein said torque threshold is adjusted in real time according to a temperature protection strategy of said motor.

34. A head according to claim 29 or 31, wherein said processor is particularly adapted to:

35. A head according to claim 34, wherein said processor is particularly adapted to:

36. A head according to claim 30 or 31, wherein said processor is particularly adapted to:

37. A head according to claim 36, wherein said processor is particularly adapted to:

38. A head according to claim 20, wherein said processor is particularly adapted to:

39. A movable platform, comprising: cloud platform and treater, the cloud platform includes inertial measurement unit IMU, the treater with inertial measurement unit IMU electricity is connected, the treater is used for:

40. The movable platform of claim 39, wherein the processor is specifically configured to:

41. The movable platform of claim 40, wherein the processor is specifically configured to:

42. The movable platform of claim 41, wherein the processor, after converting the second angular velocity into the Euler angular velocity according to a conversion relationship between the cloud platform body coordinate system and the Euler coordinate system, is further configured to:

43. The movable platform of claim 42, wherein the pan/tilt head is not provided with a shaft arm corresponding to the preset shaft.

44. The movable platform of claim 39, wherein the processor, after determining the attitude transition speed of the pan/tilt head according to the desired attitude and the real-time attitude of the pan/tilt head during manual snapping of the pan/tilt head, is further configured to:

45. The movable platform of claim 44, wherein the processor is further configured to, after controlling the desired pose to be the real-time pose according to the direction of manually snapping the pan/tilt head and the pose switching speed,:

46. The movable platform of claim 39, wherein the processor is further configured to, before controlling the desired pose to be the real-time pose according to the direction of manually snapping the pan/tilt head and the pose switching speed,:

and determining that the holder is in an over-damping mode.

47. The movable platform of claim 39, wherein the pan/tilt head comprises a shaft arm and a motor for driving the shaft arm to rotate;

48. The movable platform of claim 47, wherein when the operating parameter further comprises the desired torque, the processor is specifically configured to:

49. The movable platform of claim 47, wherein when the operating parameter further comprises the joint angle error, the processor is specifically configured to:

and if the absolute value of the joint angle error is detected to be larger than or equal to a joint angle threshold value, determining that the working parameters are matched with the preset condition of manually breaking the pan-tilt.

50. The movable platform of claim 47, wherein when the operating parameters further include the desired torque and joint angle error, the processor is specifically configured to:

51. The movable platform of claim 48 or 50, wherein the torque threshold is preset according to a temperature protection strategy of the motor.

52. The movable platform of claim 51, wherein the torque threshold is adjusted in real-time according to a temperature protection strategy of the motor.

53. The movable platform of claim 48 or 50, wherein the processor is specifically configured to:

54. The movable platform of claim 53, wherein the processor is specifically configured to:

55. The movable platform of claim 49 or 50, wherein the processor is specifically configured to:

56. The movable platform of claim 55, wherein the processor is specifically configured to:

57. The movable platform of claim 39, wherein the processor is specifically configured to: