CN111316029A

CN111316029A - Cloud deck gravity center balancing method, cloud deck and client

Info

Publication number: CN111316029A
Application number: CN201980005507.7A
Authority: CN
Inventors: 刘力源; 谢文麟; 刘帅
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd; Shenzhen DJ Innovation Industry Co Ltd
Priority date: 2019-03-13
Filing date: 2019-03-13
Publication date: 2020-06-19
Anticipated expiration: 2039-03-13
Also published as: CN111316029B; WO2020181531A1

Abstract

A method for balancing the center of gravity of a pan/tilt head (100), a pan/tilt head (100) and a client (200), the method comprising: detecting whether the center of gravity position of a corresponding part in the pan/tilt head (100) deviates from a desired center of gravity position (S101) upon receiving a first trigger signal for center of gravity balancing; when the center of gravity position deviates from the desired center of gravity position, a prompt signal for instructing adjustment of the center of gravity position is output (S102).

Description

Cloud deck gravity center balancing method, cloud deck and client

Technical Field

The invention relates to the field of cloud platforms, in particular to a cloud platform gravity center balancing method, a cloud platform and a client.

Background

In the related art, most holders only support loads with known types and ranges, such as cameras, mobile phones and the like, but do not support users to install unknown custom load modules. Along with the development of cloud platform technique, some cloud platforms have the function that supports some unknown self-defined load modules of user's additional installation, like education robot cloud platform, can reserve a great deal of mounting hole on this type of cloud platform to support the user freely to carry self-defined load module. The DIY user can be a water bullet gun, a navigation module, a camera module, a searchlight, a microphone, even an ornament and the like, and the self-defined load module is additionally arranged on the cloud deck of the education robot, so that the high uncertainty is achieved. If the arrangement of the custom load module is not reasonable, the gravity center of the tripod head is possibly unstable, so that the tripod head needs to generate extra output for resisting gravity moment, and the use of the tripod head is influenced.

Disclosure of Invention

The invention provides a method for balancing the gravity center of a holder, the holder and a client.

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

according to a first aspect of the present invention, there is provided a method of balancing the centre of gravity of a head, the head being configured to rotate about a pitch axis and/or a roll axis, the method comprising:

detecting whether the gravity center position of a corresponding part in the cloud deck deviates from an expected gravity center position or not when a first trigger signal for gravity center balancing is received;

and if the center of gravity position deviates from the expected center of gravity position, outputting a prompt signal for indicating to adjust the center of gravity position.

According to a second aspect of the present invention, there is provided a head configured to rotate about a pitch axis and/or a roll axis, the head comprising:

a pitch axis motor and/or a roll axis motor; and

a controller electrically connected to the pitch axis motor and/or the roll axis motor;

wherein the controller is to:

According to a third aspect of the present invention, there is provided a method of balancing a center of gravity of a pan/tilt head, the method comprising:

if a balancing instruction is received, generating a first trigger signal for gravity center balancing;

sending the first trigger signal to a holder to trigger the holder to detect the gravity center position;

and receiving a prompt signal returned by the holder aiming at the first trigger signal, wherein the prompt signal is used for indicating and adjusting the gravity center position deviating from the expected gravity center position in the holder.

According to a fourth aspect of the present invention, there is provided a client, comprising:

storage means for storing program instructions; and

a controller that invokes the program instructions, which when executed, are operable to:

According to the technical scheme provided by the embodiment of the invention, after the user adds the self-defined load module on the cradle head, the cradle head can be triggered to carry out gravity center balancing, when the gravity center balancing is carried out, if the gravity center position of the corresponding part in the cradle head deviates from the expected gravity center position, a gravity center adjusting scheme is given to guide the user to adjust the self-defined load module carried on the corresponding part, so that the cradle head does not need to generate extra output for resisting gravity moment under the state that the normal output of the cradle head is kept balanced, the power consumption of the cradle head is reduced, the heating of the cradle head is reduced, the cradle head can be protected, the risk of scalding the user is greatly reduced, the sufficient output of the cradle head for stability augmentation can be ensured, and the reduction of disturbance inhibition performance caused by output saturation is greatly; meanwhile, user experience is expanded, and the user-defined load module can be normally used on the holder.

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 flow chart of a method of balancing the center of gravity of a pan/tilt head at the pan/tilt head side according to an embodiment of the present invention;

FIG. 2 is a flow chart of a method of balancing the center of gravity of the pan/tilt head at the pan/tilt head side according to an embodiment of the present invention;

FIG. 3 is a schematic coordinate diagram illustrating a method for detecting whether the position of the center of gravity of a portion of a pan/tilt head rotating about a pitch axis is shifted from a desired position of the center of gravity in a front-back direction according to an embodiment of the present invention;

FIG. 4 is a schematic coordinate diagram illustrating a method for detecting whether the center of gravity of a portion of a pan/tilt head rotating about a roll axis is shifted in the left/right direction from a desired center of gravity in accordance with an embodiment of the present invention;

fig. 5 is a schematic coordinate diagram of detecting whether the position of the center of gravity of the portion of the pan/tilt head rotating about the pitch axis is offset from the desired position of the center of gravity in the up-down direction in one embodiment of the present invention;

FIG. 6 is a schematic coordinate diagram illustrating a method for detecting whether the center of gravity of a portion of a pan/tilt head rotating about a roll axis is shifted from a desired center of gravity in the vertical direction according to an embodiment of the present invention;

FIG. 7 is a flow chart of a method for balancing the center of gravity of a pan/tilt head at the pan/tilt head side according to still another embodiment of the present invention;

fig. 8 is a block diagram of a cradle head according to an embodiment of the present invention;

FIG. 9 is a flow chart of a method of balancing the center of gravity of the pan/tilt head at the pan/tilt head side in an embodiment of the present invention;

fig. 10 is a block diagram of a client 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.

At present, education robot cloud platform can support the user to install some unknown self-defined load modules additional by oneself, because the high uncertainty of self-defined load module, if carry on the self-defined load module on the cloud platform arrange the rationality inadequately, can lead to cloud platform focus unstability for the cloud platform needs produce extra output in order to resist the gravity moment, influences the use of cloud platform.

The invention can guide the user to adjust the self-defined load modules carried on the corresponding parts after the gravity center balancing is carried out by the cradle head triggered by the user, thereby ensuring that the cradle head does not need to generate extra output for resisting gravity moment under the state of keeping the normal output balance, reducing the power consumption of the cradle head and reducing the heating of the cradle head, protecting the cradle head, greatly reducing the risk of scalding the user, ensuring that the cradle head has enough output for stability augmentation and greatly avoiding the reduction of disturbance inhibition performance caused by output saturation; meanwhile, user experience is expanded, and the user-defined load module can be normally used on the holder.

A pan and tilt head of an embodiment of the invention is configured to rotate about a pitch axis and/or a roll axis. Optionally, the pan/tilt head is a single-axis pan/tilt head configured to rotate about a pitch axis or a roll axis. Optionally, the pan/tilt head is a two-axis pan/tilt head, the pan/tilt head being configured to rotate around a pitch axis and a roll axis, or the pan/tilt head being configured to rotate around a pitch axis and a yaw axis, or the pan/tilt head being configured to rotate around a roll axis and a yaw axis. Optionally, the pan-tilt is a three-axis pan-tilt configured to rotate about a pitch axis, a roll axis and a yaw axis. Of course, the pan/tilt head may be other multi-axis pan/tilt heads, which are not listed here.

In addition, the cradle head of the embodiment of the invention can be a cradle head carried on mobile equipment and can also be a handheld cradle head. The mobile equipment can be a mobile trolley, an unmanned aerial vehicle and other equipment with a mobile function.

The following describes the method for balancing the center of gravity of the pan/tilt head, and the client in detail with reference to the accompanying drawings. The features of the following examples and embodiments may be combined with each other without conflict.

Example one

Fig. 1 is a flow chart of a method of balancing the center of gravity of a pan/tilt head at the pan/tilt head side in an embodiment of the present invention. It should be noted that the main implementation body of the method for balancing the center of gravity of the pan/tilt head according to the first embodiment of the present invention is the pan/tilt head. As shown in fig. 1, a method for balancing the center of gravity of a pan/tilt head according to a first embodiment of the present invention may include the following steps:

s101: detecting whether the gravity center position of a corresponding part in the holder deviates from an expected gravity center position when a first trigger signal for gravity center balancing is received;

wherein, first trigger signal is used for instructing the cloud platform to carry out the focus balancing, and the cloud platform of this embodiment carries out the focus balancing promptly after receiving first trigger signal. Optionally, the first trigger signal is generated by the cradle head, for example, the cradle head may be caused to generate the first trigger signal by operating a key/button on the cradle head. Optionally, the first trigger signal is sent by an external device, the external device may be a remote control device or a control terminal for controlling the cradle head, and the control terminal may be a mobile terminal such as a mobile phone and a Pad, and may also be other terminal devices. Of course, the user may also trigger the pan/tilt head to perform gravity center balancing by other means, such as touch control, gesture, voice, and the like.

Taking a three-axis pan-tilt head with an inner frame, a middle frame and an outer frame as an example, optionally, the inner frame is a frame rotating around a pitch axis, the middle frame is a frame rotating around a roll axis, and the outer frame is a frame rotating around a yaw axis. In an ideal state, the position of the center of gravity of the entire holder (i.e., the center of gravity of the entire holder formed by the outer frame, the middle frame, the inner frame and the load mounted on the inner frame) is the intersection position of the pitch axis, the roll axis and the yaw axis, at this time, the pitch axis and the roll axis hardly need to resist the gravitational moment, the output values of the pitch axis and the roll axis are extremely small, the average value is close to zero, and the holder does not need to generate extra output in order to resist the gravitational moment. During the cloud platform in-service use, when the distance of the holistic focus position of cloud platform skew intersect point position is less, the extra output that the cloud platform produced for resisting the gravity moment is also less, and this extra output can not influence the normal use of cloud platform yet, can set up the holistic focus position of cloud platform skew intersect point position the distance enough little also can satisfy cloud platform normal use demand. Therefore, the desired barycentric position may be a range of regions at a distance from the intersection position.

For example, optionally, when the head is configured to rotate about the pitch axis, the respective portion comprises a portion of the head that rotates about the pitch axis, and the distance between the position of the center of gravity and the pitch axis is not greater than a first preset distance. In this embodiment, the part of the pan/tilt head that rotates around the pitch axis includes the inner frame and the load mounted on the inner frame, and the distance between the desired center of gravity position and the pitch axis is the vertical distance from the desired center of gravity position to the pitch axis, where the first preset distance may be set as required, such as 0.5cm, so that the additional output generated by the pan/tilt head is small.

Optionally, when the pan/tilt head is configured to rotate about the roll axis, the corresponding portion includes a portion of the pan/tilt head that rotates about the roll axis, and the distance between the position of the center of gravity and the roll axis is not greater than a second preset distance. In this embodiment, the part of the pan/tilt head that rotates around the roll axis includes the middle frame, the inner frame, and the load mounted on the inner frame, and the distance between the desired center of gravity position and the roll axis is the vertical distance between the desired center of gravity position and the roll axis. Wherein, the second preset distance can be set as required, such as 0.5cm, so that the extra output generated by the holder is smaller.

S102: if the center of gravity position deviates from the expected center of gravity position, a prompt signal for instructing the adjustment of the center of gravity position is output.

In this embodiment, the deviation of the center of gravity position from the desired center of gravity position includes one or more of the following: the center of gravity position is offset from the desired center of gravity position in the front-rear direction, the center of gravity position is offset from the desired center of gravity position in the left-right direction, and the center of gravity position is offset from the desired center of gravity position in the up-down direction. Optionally, when the front of the cradle head faces the user, the side of the cradle head facing the user is front, and the side of the cradle head facing away from the user is back; the left side of the tripod head faces left, and the right side of the tripod head faces right; the gravity direction of the holder is downward, and the opposite direction of the gravity direction of the holder is upward.

When the corresponding part is a part of the holder rotating around the pitch axis, whether the gravity center position of the part of the holder rotating around the pitch axis is deviated from the expected gravity center position in the front-back direction and/or the up-down direction can be detected; when the corresponding portion is a portion of the pan/tilt head that rotates about the pan axis, it is possible to detect whether the center of gravity position of the portion of the pan/tilt head that rotates about the pan axis is shifted from the desired center of gravity position in the left-right direction and/or the up-down direction.

The embodiment detects whether the gravity center position of the corresponding part in the cloud platform deviates from the expected gravity center position according to the type of the cloud platform and actual requirements. For example, in some of the embodiments, it is only detected whether the center of gravity position of the corresponding portion in the pan/tilt head is offset from the desired center of gravity position in the up/down direction, such as whether the center of gravity position of the portion in the pan/tilt head that rotates about the pitch axis and/or the portion in the pan/tilt head that rotates about the roll axis is offset from the desired center of gravity position in the up/down direction. In other embodiments, it is not only detected whether the position of the center of gravity of the corresponding portion of the pan/tilt head is shifted from the desired position of the center of gravity in the up/down direction, but also detected whether the position of the center of gravity of the corresponding portion of the pan/tilt head is shifted from the desired position of the center of gravity in the front/rear direction and/or detected whether the position of the center of gravity of the corresponding portion of the pan/tilt head is shifted from the desired position of the center, if it is detected whether the position of the center of gravity of the portion of the pan/tilt head that rotates about the pitch axis is offset in the up-down direction from the desired position of the center of gravity, and detecting whether the position of the center of gravity of the portion of the pan/tilt head that rotates about the pitch axis is offset from the desired position of the center of gravity in the front-rear direction, and/or detecting whether the gravity center position of the part of the cradle head rotating around the roll axis is offset from the expected gravity center position in the up-down direction, and detecting whether the center of gravity position of a portion of the pan/tilt head that rotates about the roll axis is offset in the left-right direction from the desired center of gravity position.

An implementation of detecting whether the center of gravity position of the corresponding portion in the pan/tilt head deviates from the desired center of gravity position may be selected as required, and in a specific implementation, referring to fig. 2, the process of detecting whether the center of gravity position of the corresponding portion in the pan/tilt head deviates from the desired center of gravity position may include the following steps:

s201: controlling the holder to rotate so that the corresponding part in the holder is at least one preset position;

in this step, the preset position includes a target position and/or other positions. The target position may be a position of a corresponding part when the gravity center position of the history is at the desired gravity center position, or may be a position when the pan/tilt is centered (i.e., a position of a corresponding part when the pan/tilt is centered).

The preset positions may include one or more, for example, when detecting whether the barycentric position of the corresponding portion in the pan/tilt head is offset from the desired barycentric position in the front-rear direction and/or detecting whether the barycentric position of the corresponding portion in the pan/tilt head is offset from the desired barycentric position in the left-right direction, the preset positions include one. If the center of gravity position of the part rotating around the pitch axis in the cloud deck is detected to be offset from the expected center of gravity position in the front-back direction, the preset position is a first preset position; when detecting whether the gravity center position of the corresponding part in the holder deviates from the expected gravity center position in the left-right direction, the preset position is a second preset position. The first preset position and the second preset position may be the same position, and for example, the first preset position and the second preset position are both target positions. Of course, the first preset position and the second preset position may be different positions.

When detecting whether the gravity center position of a corresponding part in the holder deviates from the expected gravity center position in the vertical direction, the preset positions comprise 3, and if the gravity center position of the part rotating around the pitching axis in the holder deviates from the expected gravity center position in the vertical direction, the preset positions comprise a third preset position, a fourth preset position and a target position; when detecting whether the gravity center position of the part of the holder rotating around the transverse roller is deviated from the expected gravity center position in the up-down direction, the preset positions comprise a fifth preset position, a sixth preset position and a target position.

S202: it is detected whether the barycentric position at which the respective portion is at the target position among the at least one preset position deviates from the desired barycentric position.

When the corresponding portion is a portion of the pan/tilt head that rotates about the pitch axis, it is possible to detect whether the position of the center of gravity when the portion of the pan/tilt head that rotates about the pitch axis is at the target position of the at least one preset position is offset from the desired position of the center of gravity in the front-rear direction and/or whether the position of the center of gravity when the portion of the pan/tilt head that rotates about the pitch axis is at the target position of the at least one preset position is offset from the desired position of the center of gravity in the up-down direction.

When the corresponding portion is a portion of the pan/tilt head that rotates about the pan axis, it is possible to detect whether the center of gravity position of the portion of the pan/tilt head that rotates about the pan axis is offset in the left-right direction from the desired center of gravity position when the portion of the pan/tilt head that rotates about the pan axis is at the target position of the at least one preset position and/or whether the center of gravity position of the portion of the pan/tilt head that rotates about the pan axis is offset in the up-down direction from the desired center of gravity position when the portion of the pan/tilt head that.

Taking the example that the cradle head includes a pitch axis motor and/or a roll axis motor, S202 may include the following steps:

(1) when the corresponding part is located at a specific position of at least one preset position, acquiring a torque value output by a pitching shaft motor and/or a rolling shaft motor;

wherein the specific position is a first preset position when detecting whether the center of gravity position of the pan/tilt head at the target position of the at least one preset position is shifted from the desired center of gravity position in the front-rear direction. In the step, a first moment value output by a pitch axis motor when a part of the holder rotating around a pitch axis is at a first preset position is acquired.

The specific position is a second preset position when detecting whether the center of gravity position of the pan/tilt head at the time when the portion rotating about the roll axis is at the target position among the at least one preset position is offset from the desired center of gravity position in the left-right direction. In the step, a second moment value output by a transverse roller motor when the part of the holder rotating around the transverse roller is at a second preset position needs to be obtained.

Whether the center of gravity position at the time when the portion of the pan/tilt head that rotates about the pitch axis is at the target position among the at least one preset position is offset from the desired center of gravity position in the up-down direction or not is detected, and the specific position includes a third preset position and a fourth preset position. In the step, a third moment value output by the pitch axis motor when the part of the holder rotating around the pitch axis is at a third preset position and a fourth moment value output by the pitch axis motor when the part of the holder rotating around the pitch axis is at a fourth preset position are required to be obtained.

When detecting whether the center of gravity position of the pan/tilt head at the target position of the at least one preset position is shifted from the desired center of gravity position in the up/down direction, the specific position includes a fifth preset position and a sixth preset position. In the step, a fifth torque value output by the transverse rolling shaft motor when the part of the holder rotating around the transverse rolling shaft is at a fifth preset position and a sixth torque value output by the transverse rolling shaft motor when the part of the holder rotating around the transverse rolling shaft is at a sixth preset position are required to be obtained.

In some embodiments, before acquiring the torque value output by the pitch axis motor and/or the roll axis motor after the corresponding portion is in a specific position of the at least one preset position, the method further comprises: and determining the convergence of the torque value output by the pitching shaft motor and/or the rolling shaft motor so as to ensure the accuracy of the obtained torque value and improve the accuracy of the gravity center trim of the holder.

The convergence of the torque values output by the pitch axis motor and/or the roll axis motor may be determined in different manners, for example, as one implementation, the process of determining the convergence of the torque values output by the pitch axis motor and/or the roll axis motor includes: determining the variance of a plurality of moment values output by a pitching shaft motor and/or a rolling shaft motor in a specific time period; and determining the convergence of the torque values output by the pitching shaft motor and/or the rolling shaft motor according to the variance. Specifically, when the variance is smaller than or equal to a preset variance threshold value, determining that the torque value output by the pitch axis motor and/or the roll axis motor is converged; and when the variance is larger than a preset variance threshold value, determining that the torque value output by the pitching shaft motor and/or the rolling shaft motor does not converge. The preset variance threshold may be set as required, such as 0.5, 0.6, or other values. As another implementation, the process of determining convergence of the torque values output by the pitch axis motor and/or the roll axis motor includes: and determining that the torque values output by the pitching shaft motor and/or the rolling shaft motor are converged when the duration of the corresponding part in at least one preset position is greater than or equal to the preset duration. The fact that the duration of the corresponding part in the at least one preset position is greater than or equal to the preset duration can guarantee that the corresponding part is stably in the at least one preset position, and therefore accuracy of the torque value is guaranteed. The preset time duration can be set according to needs, such as 5 seconds, 10 seconds or other time durations.

In some embodiments, the torque values output by the pitch axis motor and/or the roll axis motor are: the numerical values obtained after smoothing and filtering are carried out on a plurality of moment values output by the pitching shaft motor and/or the rolling shaft motor in a specific time period so as to eliminate the influence of noise on the moment values and ensure the accuracy of the moment values, thereby improving the accuracy of the gravity center balancing of the holder.

(2) Whether the barycentric position of the corresponding portion at the target position among the at least one preset position deviates from the desired barycentric position is detected based on the moment value.

If the gravity center position of the corresponding part deviates from the expected gravity center position, the pitching shaft and/or the rolling shaft of the holder can output a continuous and constant moment value for resisting the gravity moment, so that the current balancing condition of the holder can be calculated according to the moment value output by the pitching shaft and/or the rolling shaft.

In a specific embodiment of detecting whether or not there is an offset in the front-rear direction from the desired barycentric position in a portion of the pan/tilt that rotates about the pitch axis, the pan/tilt is configured to rotate about the pitch axis, and the pan/tilt of this embodiment includes a pitch axis motor. In this embodiment, the corresponding portion refers to a portion of the pan/tilt head that rotates around the pitch axis. Wherein, the specific position is a first preset position, and the torque value may include: when the corresponding part is at the first preset position, the first moment value output by the pitching shaft motor is output. The process of detecting whether the barycentric position when the corresponding portion is at the target position among the at least one preset position deviates from the desired barycentric position, based on the moment values, includes: and detecting whether the position of the center of gravity of the corresponding part at the first preset position is deviated from the expected position of the center of gravity in the front-back direction or not according to the first moment value.

The implementation manner of detecting whether the position of the center of gravity when the corresponding portion is at the first preset position is offset from the desired position of the center of gravity in the front-rear direction according to the first moment value may include the following two implementation manners:

in a first implementation, referring to fig. 3, when the corresponding part is in a first preset position (e.g. position 1 in fig. 3), a first included angle θ is formed between the horizontal direction and the direction along the line of the distance from the pitch axis to the center of gravity position (i.e. the center of gravity position of the part of the pan/tilt head rotating around the pitch axis in the first preset position)₁. In this implementation, the process of detecting whether the barycentric position of the corresponding portion at the target position of the at least one preset position deviates from the desired barycentric position according to the moment value may include: firstly, determining the angle range of a first included angle and/or the cosine value of the first included angle according to a first moment value; and detecting whether the gravity center position of the corresponding part at the first preset position deviates from the expected gravity center position in the front-back direction or not according to the angle range of the first included angle and/or the cosine value of the first included angle.

In this implementation, when the angle range of the first angle and/or the cosine value of the first angle satisfies the first policy, it is determined that the center of gravity position is offset from the desired center of gravity position in the front-rear direction. The first strategy can be set according to the use requirement of the holder, and optionally, when the cosine value of the first included angle is a positive number, the gravity center position is determined to be ahead relative to the expected gravity center position; and when the cosine value of the first included angle is a negative number, determining that the gravity center position deviates from the expected gravity center position. Optionally, when the angle range of the first included angle is within a first preset angle range, determining that the position of the center of gravity is ahead relative to the expected position of the center of gravity; and when the angle range of the first included angle is within a second preset angle range, determining that the gravity center position deviates from the expected gravity center position. It is to be understood that the first strategy is not limited to the method exemplified in the above embodiment, and may be configured in other manners.

By disassembling the three axes of the pan/tilt head into three independent degrees of freedom, a section intersecting the pitch axis (pitch) and the roll axis (roll) can be selected to evaluate the gravity center position trim state of the portion of the pan/tilt head rotating around the pitch axis, as shown in fig. 3. Wherein, the position 1 is the gravity center position when the part of the pan-tilt rotating around the pitch axis is at the first preset position, theta₁A first angle T formed by the distance from the pitching axis to the gravity center position along the line direction and the horizontal direction₁When the corresponding part is at the first preset position, the first moment value output by the pitching shaft motor is set, m is the mass of the corresponding part, g is the gravity acceleration, d is the distance from the pitching shaft to the gravity center position, and the rotating direction of the holder is set to be anticlockwise positive. For convenience of intuitive understanding, the cross section of the pan/tilt head is divided into four quadrant blocks by taking the desired gravity center position as an origin and taking a horizontal plane and a vertical plane as references in fig. 3.

Wherein the first torque value T₁And a first angle theta₁Satisfies the following formula (1):

T₁＝mg·d·cos θ₁(1)

as can be seen from the formula (1), when cos θ is equal to₁>At 0, the position of the center of gravity of the part of the pan/tilt head rotating around the pitch axis is located in quadrant I or quadrant IV shown in fig. 3, and the position of the center of gravity of the part of the pan/tilt head rotating around the pitch axis is offset forward with respect to the desired position of the center of gravity; when cos theta₁<At 0, the position of the center of gravity of the portion of the pan/tilt head that rotates about the pitch axis is located in quadrant II or quadrant III shown in fig. 3, and the position of the center of gravity of the portion of the pan/tilt head that rotates about the pitch axis is offset from the desired position of the center of gravity.

When 0 degree<θ₁<90 or 270 degrees<θ₁<At 360 degrees, the gravity center position of the part of the tripod head rotating around the pitch axis is positioned in quadrant I or quadrant IV shown in figure 3, and the gravity center position of the part of the tripod head rotating around the pitch axis is deviated from the expected gravity center position; when the angle is 90 degrees<θ₁<At 270 degrees, the position of the center of gravity of the portion of the pan/tilt head that rotates about the pitch axis is located in quadrant II or quadrant III shown in fig. 3, and the position of the center of gravity of the portion of the pan/tilt head that rotates about the pitch axis is offset from the desired position of the center of gravity.

Further, when cos θ₁Is 0 and/or theta₁When the center of gravity position is 90 degrees or 270 degrees, it is determined that there is no offset from the desired center of gravity position in the front-rear direction.

In a second implementation, when the first torque value T is greater than the second torque value T₁Is greater than the first preset moment value, it is determined that the position of the center of gravity of the corresponding portion at the first preset position is offset from the desired position of the center of gravity in the front-rear direction. Optionally, when the first torque value T₁When the gravity center position is larger than the first preset moment value, determining that the gravity center position deviates from the expected gravity center position; when the first torque value T₁And when the first preset moment value is smaller than the opposite number of the first preset moment value, determining that the gravity center position deviates from the expected gravity center position. Wherein, the first predetermined torque value can be set according to the requirement, for example, the first predetermined torque value can be 5N m²When T is₁>5N·m²Determining that the position of the center of gravity is forward relative to the expected position of the center of gravity; when T is₁<-5N·m²It is determined that the position of the center of gravity is offset from the desired position of the center of gravity.

Furthermore, it can be understood that when the first torque value T is₁Is less than or equal to the first preset moment value, it is determined that there is no deviation of the position of the center of gravity of the corresponding portion in the front-rear direction from the desired position of the center of gravity when the corresponding portion is at the first preset position.

In a specific embodiment of detecting whether the center of gravity position of a portion of the pan/tilt head that rotates about the roll axis is offset from the desired center of gravity position in the left-right direction, the pan/tilt head is configured to rotate about the roll axis, and the pan/tilt head of this embodiment includes a roll axis motor. In this embodiment, the corresponding portion refers to a portion of the pan/tilt head that rotates around the traverse axis. Wherein, the specific position is the second preset position, and above-mentioned moment value includes: and when the corresponding part is at a second preset position, the transverse roller motor outputs a second moment value. In this implementation, the process of detecting whether the barycentric position of the corresponding portion at the target position of the at least one preset position deviates from the desired barycentric position according to the moment value may include: and detecting whether the gravity center position of the corresponding part at the second preset position is deviated from the expected gravity center position in the left-right direction or not according to the second moment value.

The implementation manner of detecting whether the barycentric position of the corresponding portion at the second preset position is shifted from the desired barycentric position in the left-right direction according to the second moment value may include the following two implementation manners:

in a first implementation, referring to fig. 4, when the corresponding portion is in the second preset position (e.g. position 2 in fig. 4), a second angle θ is formed between the horizontal direction and the direction along the line of the distance from the traverse roller to the center of gravity position (i.e. the center of gravity position of the portion of the pan/tilt head rotating around the traverse roller in the second preset position)₂. In this implementation, the detecting whether the barycentric position of the corresponding portion at the second preset position is shifted from the desired barycentric position in the left-right direction according to the second moment value may include: firstly, determining the angle range of the second included angle and/or the cosine value of the second included angle according to the second moment value; and detecting whether the gravity center position of the corresponding part at the second preset position deviates from the expected gravity center position in the left-right direction or not according to the angle range of the second included angle and/or the cosine value of the second included angle.

In this implementation, when the angle range of the second included angle and/or the cosine value of the second included angle satisfy the second policy, it is determined that the barycentric position deviates from the expected barycentric position in the left-right direction. The second strategy can be set according to the use requirement of the holder, and optionally, when the cosine value of the second included angle is a positive number, the gravity center position is determined to be deviated to the right relative to the expected gravity center position; and when the cosine value of the second included angle is a negative number, determining that the gravity center position is deviated to the left relative to the expected gravity center position. Optionally, when the angle range of the second included angle is within a third preset angle range, determining that the center of gravity position is inclined to the right relative to the expected center of gravity position; and when the angle range of the second included angle is within a fourth preset angle range, determining that the position of the center of gravity is deviated to the left relative to the expected position of the center of gravity. It is to be understood that the second strategy is not limited to the method exemplified in the above embodiment, and may be configured in other manners.

By disassembling the three axes of the pan/tilt head into three independent degrees of freedom, a section intersecting the pitch axis (pitch) and the roll axis (roll) can be selected to evaluate the gravity center position trim state of the corresponding part, as shown in fig. 4. Wherein, the position 2 is the gravity center position when the part of the pan-tilt head rotating around the transverse roller is at the second preset position, theta₂A second angle T formed by the distance from the transverse rolling shaft to the gravity center position along the line direction and the horizontal direction₂And when the corresponding part is at a second preset position, outputting a second moment value by the transverse rolling shaft motor, wherein m is the mass of the corresponding part, g is the gravity acceleration, d is the distance from the transverse rolling shaft to the gravity center position, and the rotating direction of the holder is set to be anticlockwise as positive. For convenience of intuitive understanding, the cross section of the pan/tilt head is divided into four quadrant blocks by taking the desired gravity center position as an origin and taking a horizontal plane and a vertical plane as references in fig. 4.

Wherein the second torque value T₂And a second angle theta₂Satisfies the following formula (2):

T₂＝mg·d·cos θ₂(2)

as can be seen from the formula (2), when cos θ is equal to₂>At 0, the center of gravity position of the part of the pan/tilt head rotating around the roll axis is located in quadrant I or quadrant IV shown in fig. 4, and the center of gravity position of the part of the pan/tilt head rotating around the roll axis is shifted to the right with respect to the desired center of gravity position; when cos theta₂<At 0, the center of gravity position of the portion of the pan/tilt head that rotates about the pan axis is located in quadrant II or quadrant III shown in fig. 4, and the center of gravity position of the portion of the pan/tilt head that rotates about the pan axis is shifted to the left with respect to the desired center of gravity position.

When 0 degree<θ₂<90 or 270 degrees<θ₂<At 360 degrees, the center of gravity of the portion of the pan/tilt head rotating about the pan axis is located in quadrant I or quadrant IV shown in fig. 4, and the weight of the portion of the pan/tilt head rotating about the pan axis is heavyThe center position is off to the right relative to the desired center of gravity position; when the angle is 90 degrees<θ₂<At 270 degrees, the center of gravity position of the portion of the pan/tilt head that rotates about the pan axis is located in quadrant II or quadrant III shown in fig. 4, and the center of gravity position of the portion of the pan/tilt head that rotates about the pan axis is off-left with respect to the desired center of gravity position.

Further, when cos θ₂Is 0 and/or theta₂When the center of gravity position is determined to be not offset from the desired center of gravity position in the left-right direction at 90 degrees or 270 degrees.

In a second implementation, when the second torque value T is₂Is greater than the second preset moment value, it is determined that the barycentric position at which the corresponding portion is at the second preset position is offset from the desired barycentric position in the left-right direction. Optionally, when the second moment value is greater than a second preset moment value, determining that the center of gravity position is deviated to the right relative to the expected center of gravity position; and when the second moment value is smaller than the opposite number of the second preset moment value, determining that the gravity center position is deviated to the left relative to the expected gravity center position. Wherein the second predetermined torque value can be set according to the requirement, for example, the second predetermined torque value can be 3N m²When T is₁>3N·m²Determining that the center of gravity position is off-right relative to the desired center of gravity position; when T is₁<-3N·m²The center of gravity position is determined to be off left relative to the desired center of gravity position.

Furthermore, it can be understood that when the second torque value T is set₂Is less than or equal to the second preset moment value, it is determined that there is no deviation in the left-right direction from the desired barycentric position of the barycentric position when the corresponding portion is at the second preset position.

In a specific embodiment of detecting whether the center of gravity position of the portion of the pan/tilt head rotating around the pitch axis is offset from the desired center of gravity position in the up-down direction, the pan/tilt head includes a pitch axis motor, and the corresponding portion of this embodiment refers to the portion of the pan/tilt head rotating around the pitch axis. Wherein, specific position includes third preset position and fourth preset position, and the moment value includes: a third torque value output by the pitch axis motor when the corresponding portion is at a third preset position, and a fourth torque value output by the pitch axis motor when the corresponding portion is at a fourth preset position. In this embodiment, the process of detecting whether the barycentric position when the corresponding portion is at the target position among the at least one preset position deviates from the desired barycentric position, based on the moment value, may include: and detecting whether the center of gravity position of the corresponding part at the target position of the at least one preset position is deviated from the expected center of gravity position in the up-down direction or not according to the third moment value and the fourth moment value.

And when the corresponding part is positioned at the fourth preset position, the included angle between the pitch axis and the gravity center position along the line direction is fixed. Optionally, an angle between the direction along the line of the distance from the pitch axis to the center of gravity position when the corresponding portion is located at the third preset position and the direction along the line of the distance from the pitch axis to the center of gravity position when the corresponding portion is located at the fourth preset position is greater than 0 degree and less than 180 degrees, and the angle may be 20 degrees, 30 degrees, 40 degrees, or other angles greater than 0 degree and less than 180 degrees.

In an embodiment, referring to fig. 5, the third angle θ is formed between the direction along the line of the distance from the pitch axis to the center of gravity position when the corresponding portion is at the third preset position (i.e., the center of gravity position when the portion of the pan/tilt head that rotates about the pitch axis is at the third preset position) and the direction along the line of the distance from the pitch axis to the center of gravity position when the corresponding portion is at the target position₃(ii) a A fourth included angle theta is formed by a third included angle formed by the line direction of the distance from the pitch axis to the gravity center position when the corresponding part is at the fourth preset position (namely, the gravity center position when the part rotating around the pitch axis in the pan-tilt head is at the fourth preset position) and the line direction of the distance from the pitch axis to the gravity center position when the corresponding part is at the target position₄。

Optionally, the third included angle θ₃And a fourth angle theta₄Are equal in size. In some examples, the third preset position is: when the corresponding part is at the target position, rotating the position of the corresponding part after the first preset included angle is formed in the first direction; the fourth preset position is as follows: and when the corresponding part is at the third preset position, rotating the position of the corresponding part twice the first preset included angle around the second direction. In other examples, the third preset position is: in thatWhen the corresponding part is positioned at the target position, rotating the position of the corresponding part after the first preset included angle is formed around the first direction; the fourth preset position is as follows: and when the corresponding part is at the target position, rotating the position of the corresponding part after the first preset included angle is formed around the second direction. The first direction and the second direction are two opposite directions, and when the first direction is a counterclockwise direction, the second direction is a clockwise direction; when the first direction is clockwise, the second direction is counterclockwise. In the embodiment shown in fig. 5, the first direction is counterclockwise and the second direction is clockwise. Further, the first preset included angle can be set as required, and the first preset included angle of the embodiment is greater than 0 degree and smaller than 90 degrees, for example, the first preset included angle can be 10 degrees, 15 degrees, 20 degrees, 30 degrees or other angle sizes greater than 0 degree and smaller than 90 degrees.

In other embodiments, the along-line direction of the distance from the pitch axis to the center-of-gravity position when the corresponding portion is in the third preset position may coincide with the along-line direction of the distance from the pitch axis to the center-of-gravity position when the corresponding portion is in the target position, or the along-line direction of the distance from the pitch axis to the center-of-gravity position when the corresponding portion is in the fourth preset position may coincide with the along-line direction of the distance from the pitch axis to the center-of-gravity position when the corresponding portion is in the target position.

In the following examples, the third included angle θ₃And a fourth angle theta₄Equal in size (theta)₃＝θ₄＝β₁) For example, it is explained how to detect whether the barycentric position when the corresponding portion is at the target position among the at least one preset position is shifted from the desired barycentric position in the up-down direction, based on the third moment value and the fourth moment value.

Implementations of detecting whether the barycentric position of the respective portion at the target position among the at least one preset position is offset from the desired barycentric position in the up-down direction according to the third moment value and the fourth moment value may include two kinds as follows:

in a first implementation, referring to fig. 5, the pitch axis is to the center of gravity position (i.e., the center of gravity position when the corresponding portion is at the target position) when the corresponding portion is at the target position) Form a fifth included angle theta with the horizontal direction along the line direction of the distance₅. In this implementation, the process of detecting whether the barycentric position of the corresponding portion at the target position of the at least one preset position is shifted from the desired barycentric position in the up-down direction according to the third moment value and the fourth moment value may include: determining the angle range of the fifth included angle and/or the sine value of the fifth included angle according to the third moment value and the fourth moment value; and detecting whether the gravity center position of the corresponding part at the target position in at least one preset position is deviated from the expected gravity center position in the up-down direction or not according to the angle range of the fifth included angle and/or the sine value of the fifth included angle.

In this implementation, when the angle range of the fifth included angle and/or the sine value of the fifth included angle satisfy the third policy, it is determined that the center of gravity position is offset from the expected center of gravity position in the up-down direction. The third strategy can be set according to the use requirement of the holder, and optionally, when the sine value of the fifth included angle is a positive number, the gravity center position is determined to be higher than the expected gravity center position; when the sine of the fifth angle is negative, the center of gravity position is determined to be lower than the expected center of gravity position. Optionally, when the angle range of the fifth included angle is within a fifth preset angle range, determining that the center of gravity position is higher than the expected center of gravity position; when the angle range of the fifth angle is within a sixth preset angle range, it is determined that the center of gravity position is off-center with respect to the desired center of gravity position. It is to be understood that the third strategy is not limited to the method exemplified in the above embodiment, and may be configured in other manners.

By disassembling the three axes of the pan/tilt head into three independent degrees of freedom, a section intersecting the pitch axis (pitch) and the roll axis (roll) can be selected to evaluate the gravity center position trim state of the corresponding part, as shown in fig. 5. Wherein, the position 3 is the gravity center position when the part of the tripod head rotating around the pitch axis is at the third preset position, the position 4 is the gravity center position when the part of the tripod head rotating around the pitch axis is at the fourth preset position, and theta₃The line direction of the distance from the pitch axis to the center of gravity position when the corresponding portion is at the third preset position and the line direction of the distance from the pitch axis to the center of gravity position when the corresponding portion is at the target positionAt a third angle of inclination, theta₄A fourth angle theta formed by the line direction of the distance from the pitch axis to the center of gravity position when the corresponding portion is at the fourth preset position and the line direction of the distance from the pitch axis to the center of gravity position when the corresponding portion is at the target position₅A fifth angle T formed between the horizontal direction and the line direction of the distance from the pitch axis to the center of gravity position (i.e., the center of gravity position when the corresponding portion is at the target position) when the corresponding portion is at the target position₃A third moment value, T, output by the pitch axis motor when the corresponding part is at a third preset position₄And when the corresponding part is at a fourth preset position, outputting a fourth moment value by the motor of the pitch shaft, wherein m is the mass of the corresponding part, g is the gravity acceleration, d is the distance from the pitch shaft to the gravity center position, and the rotating direction of the holder is set to be anticlockwise as positive. For convenience of intuitive understanding, the cross section of the pan/tilt head is divided into four quadrant blocks by taking the desired gravity center position as an origin and taking a horizontal plane and a vertical plane as references in fig. 5.

Wherein the third torque value T₃At an angle theta to the fifth₅And a fourth torque value T₄At an angle theta to the fifth₅Satisfies the following formula (3):

derived from equation (3):

T₄-T₃＝2mg·d·sin β₁·sin θ₅(4)

due to T₃、T₄M, g, d and β₁Are known, so from equation (4), when sin θ₅>When the position of the center of gravity of the part of the tripod head rotating around the pitch axis is in quadrant I or quadrant II shown in figure 5, the position of the center of gravity is determined to be higher than the expected position of the center of gravity; when sin theta₅<At 0, the position of the center of gravity of the portion of the pan/tilt head that rotates about the pitch axis is located in quadrant III or quadrant IV shown in fig. 5, and the position of the center of gravity is determined to be lower than the desired position of the center of gravity.

When 0 degree<θ₅<When the angle is 180 degrees, the cradle head rotates around the pitch axisIs located in quadrant I or quadrant II shown in fig. 5, the determined position of the center of gravity is located above the desired position of the center of gravity; when the angle is 180 DEG<θ₅<At 360 degrees, the position of the center of gravity of the portion of the pan/tilt head that rotates about the pitch axis is located in quadrant III or quadrant IV shown in fig. 5, and the position of the center of gravity is determined to be off-center with respect to the desired position of the center of gravity.

Furthermore, when sin θ₅Is 0 and/or theta₅When the center of gravity is 0 degrees or 180 degrees, it is determined that there is no deviation between the center of gravity position and the desired center of gravity position in the up-down direction.

In a second implementation, when the third torque value T₃And a fourth torque value T₄Absolute value of the difference of (1) | T₄-T₃And if the | is larger than the third preset moment value, determining that the gravity center position deviates from the expected gravity center position in the vertical direction. Optionally, when a difference between the third torque value and the fourth torque value is greater than a third preset torque value, determining that the center of gravity position is lower than the expected center of gravity position; and when the difference value of the third moment value and the fourth moment value is smaller than the opposite number of the third preset moment value, determining that the position of the center of gravity is higher than the expected position of the center of gravity. Wherein the third predetermined torque value can be set according to the requirement, for example, the third predetermined torque value can be 8N m²When T is₃-T₄>8N·m²Determining that the position of the center of gravity is off-center relative to the desired position of the center of gravity; when T is₃-T₄<-8N·m²It is determined that the position of the center of gravity is above the desired position of the center of gravity.

Furthermore, it can be understood that when the third torque value T is₃And a fourth torque value T₄Absolute value of the difference of (1) | T₄-T₃And if the | is smaller than or equal to the third preset moment value, determining that the gravity center position of the corresponding part has no offset from the expected gravity center position in the vertical direction.

In a specific embodiment of detecting whether the center of gravity position of the portion of the pan/tilt head rotating around the pan axis is offset from the desired center of gravity position in the up-down direction, the pan/tilt head includes a pan axis motor, and the corresponding portion of this embodiment refers to the portion of the pan/tilt head rotating around the pan axis. Wherein, specific position includes fifth preset position and sixth preset position, and the moment value includes: a fifth torque value output by the roll shaft motor when the corresponding portion is at a fifth preset position, and a sixth torque value output by the roll shaft when the corresponding portion is at a sixth preset position. In this embodiment, the process of detecting whether the barycentric position when the corresponding portion is at the target position among the at least one preset position deviates from the desired barycentric position, based on the moment value, may include: and detecting whether the position of the center of gravity of the corresponding portion at the target position among the at least one preset position is shifted from the desired position of the center of gravity in the up-down direction based on the fifth moment value and the sixth moment value.

And when the corresponding part is positioned at the sixth preset position, the included angle between the distance from the transverse rolling shaft to the gravity center position and the direction along the line is fixed. Optionally, an included angle between the direction along the line of the distance from the rolling shaft to the center of gravity position when the corresponding portion is located at the fifth preset position and the direction along the line of the distance from the rolling shaft to the center of gravity position when the corresponding portion is located at the sixth preset position is greater than 0 degree and less than 180 degrees, and the included angle may be 20 degrees, 30 degrees, 40 degrees or other angle sizes greater than 0 degree and less than 180 degrees.

In an embodiment, referring to fig. 6, when the corresponding portion is at the fifth predetermined position, a sixth angle θ is formed between the along-line direction of the distance from the roll axis to the center of gravity position (i.e., the center of gravity position when the portion of the pan/tilt head rotating around the roll axis is at the fifth predetermined position) and the along-line direction of the distance from the roll axis to the center of gravity position when the corresponding portion is at the target position₆(ii) a When the corresponding part is at the sixth preset position, a seventh included angle theta is formed between the line direction of the distance from the rolling shaft to the gravity center position (namely, the gravity center position when the part rotating around the pitching shaft in the pan-tilt head is at the sixth preset position) and the line direction of the distance from the rolling shaft to the gravity center position when the corresponding part is at the target position₇。

Optionally, sixth included angle θ₆And a seventh angle theta₇Are equal in size. In some examples, the fifth preset position is: when the corresponding part is at the target position, rotating the position of the corresponding part after the second preset included angle is formed around the third direction; the sixth preset position is as follows:and when the corresponding part is in the fifth preset position, rotating the position of the corresponding part twice as large as the second preset included angle around the fourth direction. In other examples, the fifth preset position is: when the corresponding part is at the target position, rotating the position of the corresponding part after the second preset included angle is formed around the third direction; the sixth preset position is as follows: and when the corresponding part is positioned at the target position, rotating the position of the corresponding part after the second preset included angle is formed around the fourth direction. The third direction and the fourth direction are two opposite directions, and when the third direction is a counterclockwise direction, the fourth direction is a clockwise direction; when the third direction is clockwise, the fourth direction is counterclockwise. In the embodiment shown in fig. 6, the third direction is counterclockwise and the fourth direction is clockwise. Further, the second preset included angle can be set as required, and the second preset included angle of the embodiment is greater than 0 degree and smaller than 90 degrees, for example, the first preset included angle can be 10 degrees, 15 degrees, 20 degrees, 30 degrees or other angle sizes greater than 0 degree and smaller than 90 degrees.

In other embodiments, the along-line direction of the distance from the roll axis to the center-of-gravity position when the corresponding section is in the fifth preset position may coincide with the along-line direction of the distance from the roll axis to the center-of-gravity position when the corresponding section is in the target position, or the along-line direction of the distance from the roll axis to the center-of-gravity position when the corresponding section is in the sixth preset position may coincide with the along-line direction of the distance from the roll axis to the center-of-gravity position when the corresponding section is in the target position.

In the following examples, the angle θ is the sixth angle₆And a seventh angle theta₇Equal in size (theta)₆＝θ₇＝β₂) For example, it is explained how to detect whether the barycentric position when the corresponding portion is at the target position among the at least one preset position is shifted from the desired barycentric position in the up-down direction, based on the fifth moment value and the sixth moment value.

The implementation manner of detecting whether the position of the center of gravity of the corresponding portion at the target position among the at least one preset position is offset from the desired position of the center of gravity in the up-down direction according to the fifth moment value and the sixth moment value may include two implementation manners as follows:

in the first implementation, referring to fig. 6, when the corresponding portion is located at the target position, the line direction of the distance from the roll axis to the barycentric position (i.e., the barycentric position when the corresponding portion is located at the target position) forms an eighth angle θ with the horizontal direction₈. In this implementation, the process of detecting whether the barycentric position of the corresponding portion at the target position of the at least one preset position is shifted from the desired barycentric position in the up-down direction according to the fifth moment value and the sixth moment value may include: determining the angle range of the eighth included angle and/or the sine value of the eighth included angle according to the fifth torque value and the sixth torque value; and detecting whether the gravity center position of the corresponding part at the target position in at least one preset position is deviated from the expected gravity center position in the front-back direction or not according to the angle range of the eighth included angle and/or the sine value of the eighth included angle.

In this implementation, when the angle range of the eighth included angle and/or the sine value of the eighth included angle satisfy the fourth policy, it is determined that the center of gravity position is offset from the expected center of gravity position in the up-down direction. The fourth strategy can be set according to the use requirement of the holder, and optionally, when the sine value of the eighth included angle is a positive number, the gravity center position is determined to be above the expected gravity center position; when the sine of the eighth angle is negative, it is determined that the center of gravity position is off-center with respect to the desired center of gravity position. Optionally, when the angle range of the eighth included angle is within a seventh preset angle range, determining that the center of gravity position is higher than the expected center of gravity position; and when the angle range of the eighth included angle is within an eighth preset angle range, determining that the position of the center of gravity is lower than the expected position of the center of gravity.

By disassembling the three axes of the pan/tilt head into three independent degrees of freedom, a section intersecting the pitch axis (pitch) and the roll axis (roll) can be selected to evaluate the gravity center position trim state of the corresponding part, as shown in fig. 6. Wherein, the position 5 is the gravity center position of the part of the pan/tilt head rotating around the horizontal rolling shaft at the fifth preset position, the position 6 is the gravity center position of the part of the pan/tilt head rotating around the horizontal rolling shaft at the sixth preset position, and theta₆The distance between the transverse rolling shaft and the gravity center position when the corresponding part is at the fifth preset position is along the line directionA sixth angle theta formed along the line direction of the distance from the roll axis to the center of gravity position when the corresponding portion is at the target position₇A seventh angle θ formed by the line direction of the distance from the roll shaft to the center of gravity position when the corresponding portion is at the sixth preset position and the line direction of the distance from the roll shaft to the center of gravity position when the corresponding portion is at the target position₈An eighth angle T formed between the horizontal direction and the line direction of the distance from the roll axis to the center of gravity position (i.e., the center of gravity position when the corresponding portion is at the target position) when the corresponding portion is at the target position₅A fifth torque value, T, output by the roll motor when the corresponding part is at a fifth preset position₆And when the corresponding part is at a sixth preset position, a sixth moment value output by the transverse rolling shaft motor, m is the mass of the corresponding part, g is the gravity acceleration, d is the distance from the transverse rolling shaft to the gravity center position, and the rotating direction of the holder is set to be anticlockwise as positive. For convenience of intuitive understanding, the cross section of the pan/tilt head is divided into four image limit blocks by taking the expected gravity center position as an origin and taking a horizontal plane and a vertical plane as references in fig. 6.

Wherein the fifth torque value T₅Angle theta with eighth angle₈And a sixth torque value T₆Angle theta with eighth angle₈Satisfies the following formula (5):

derived from equation (5):

T₆-T₅＝2mg·d·sin β₂·sin θ₈(6)

due to T₅、T₆M, g, d and β₂Are known, so from the formula (6), when sin θ₈>When the position is 0, the gravity center position of the part of the pan-tilt rotating around the transverse rolling shaft is positioned in a quadrant I or a quadrant II shown in fig. 6, and the gravity center position is determined to be higher than the expected gravity center position; when sin theta₈<At 0, the position of the center of gravity of the portion of the pan/tilt head that rotates about the roll axis is located in quadrant III or quadrant IV shown in fig. 6, and the position of the center of gravity is determined to be lower than the desired position of the center of gravity.

When 0 degree<θ₈<When the angle is 180 degrees, the gravity center position of the part of the pan-tilt rotating around the transverse rolling shaft is located in quadrant I or quadrant II shown in fig. 6, and the gravity center position is determined to be higher than the expected gravity center position; when the angle is 180 DEG<θ₈<At 360 degrees, the center of gravity position of the part of the pan/tilt head rotating around the roll axis is located in quadrant III or quadrant IV shown in fig. 6, and the center of gravity position is determined to be lower than the desired center of gravity position.

Furthermore, when sin θ₈Is 0 and/or theta₈When the center of gravity is 0 degrees or 180 degrees, it is determined that there is no deviation between the center of gravity position and the desired center of gravity position in the up-down direction.

In the second implementation, when the fifth torque value T₅And a sixth torque value T₆Absolute value of the difference of (1) | T₆-T₅And if the I is larger than the fourth preset moment value, determining that the center of gravity is deviated from the expected center of gravity position in the up-down direction. Optionally, when a difference between the fifth moment value and the sixth moment value is greater than a fourth preset moment value, determining that the center of gravity position is lower than the expected center of gravity position; and when the difference value of the fifth moment value and the sixth moment value is smaller than the negative number of the fourth preset moment value, determining that the position of the center of gravity is higher than the expected position of the center of gravity. Wherein the fourth predetermined torque value can be set according to the requirement, for example, the fourth predetermined torque value can be 6N m²When T is₅-T₆>6N·m²Determining that the position of the center of gravity is off-center relative to the desired position of the center of gravity; when T is₅-T₆<-6N·m²It is determined that the position of the center of gravity is above the desired position of the center of gravity.

Furthermore, it can be understood that when the fifth torque value T is₅And a sixth torque value T₆Absolute value of the difference of (1) | T₆-T₅And if the | is smaller than or equal to the fourth preset moment value, determining that the gravity center position of the corresponding part has no offset from the expected gravity center position in the vertical direction.

Optionally, the prompt signal in S102 carries information about the shift of the center of gravity position, so as to instruct the user to adjust the installation position of the load at the corresponding part. Wherein the offset information may include: a direction of offset and/or an amount of offset. For example, a plurality of mounting portions, such as mounting holes, are reserved in a part of the cradle head rotating around the transverse roller for a user to mount a custom load. The plurality of installation parts comprise a plurality of first installation parts which are arranged at intervals along the front-back direction and a plurality of second installation parts which are arranged at intervals along the up-down direction. When the deviation information in the prompt signal is used for indicating that the gravity center position of the part of the holder rotating around the transverse roller is deviated, the user can install the load on the first installation part positioned behind the current installation position of the load; when the offset information in the prompt signal is used to indicate that the center of gravity position of the portion of the pan/tilt head that rotates about the roll axis is off, the user can mount the load on the second mounting portion that is located above the current mounting position of the load, and finally the center of gravity position of the portion of the pan/tilt head that rotates about the roll axis coincides with the desired center of gravity position. Alternatively, adjacent first mounting portions may be spaced apart such as 0.1cm, 0.2cm, 0.3cm, 0.4cm, 0.5cm, 0.6cm, 0.7cm, 0.8cm, 0.9cm or 1cm, and adjacent second mounting portions may be spaced apart such as 0.1cm, 0.2cm, 0.3cm, 0.4cm, 0.5cm, 0.6cm, 0.7cm, 0.8cm, 0.9cm or 1 cm. When the offset information in the prompt signal is used for indicating that the gravity center position of the part of the pan/tilt head rotating around the transverse roller is offset by 0.1cm, the user can install the load on the first installation part behind the current installation position of the load; when the offset information in the prompt signal is used for indicating that the gravity center position of the part of the pan/tilt head rotating around the horizontal rolling shaft is lower by 0.2cm, the user can install the load on the second installation part which is positioned above the current installation position of the load, and finally the gravity center position of the part of the pan/tilt head rotating around the horizontal rolling shaft is enabled to be coincident with the expected gravity center position.

In this embodiment, the cradle head may output the prompt signal in different manners, for example, as a feasible implementation manner, the prompt signal for indicating to adjust the position of the center of gravity is sent to the client, the client may communicate with the cradle head, and the client may be a mobile terminal such as a mobile phone and a Pad, or may be other terminal equipment.

As another possible implementation, the cradle head includes a prompt module. In this implementation, a prompt signal for indicating the adjustment of the center of gravity position is output through the prompt module. The prompting module can be a display screen, a voice module or the like.

In this embodiment, before the cloud platform carries out the focus balancing, still need detect the load that the cloud platform carried at present whether exceed the load upper limit, if exceed the load upper limit, then do not allow to carry out the focus balancing, prevent that the load is too big to damage the cloud platform. Specifically, if the first trigger signal is obtained after the cradle head determines that the load size carried by the cradle head at present is within a preset cradle head load size range, the first trigger signal is considered to be an effective trigger signal; and if the first trigger signal is obtained by the cradle head in the range that the load size carried by the cradle head currently exceeds the preset cradle head load size, the first trigger signal is considered as an invalid trigger signal. In this embodiment, the center of gravity balancing is performed only after the cradle head receives the effective trigger signal.

Optionally, the pan/tilt head includes a motor, for example, when the pan/tilt head is a three-axis pan/tilt head configured to rotate around a pitch axis, a roll axis and a yaw axis, the motor correspondingly includes: a pitching shaft motor, a rolling shaft motor and a yawing shaft motor; when the cloud platform is configured as the two-axis cloud platform of pivot around pitch axis and roll axis, the motor correspondence includes: a pitch axis motor and a roll axis motor; when the cloud platform is configured as the two-axis cloud platform that rotates around pitch axis and yaw axis, the motor correspondence includes: a pitch axis motor and a yaw axis motor; when the cloud platform is configured as the two-axis cloud platform of rolling axle and driftage axle pivoted, the motor correspondence includes: a roll axis motor and a yaw axis motor; when the cloud platform is configured as a single-shaft cloud platform rotating around a pitch axis or a roll axis, the motor correspondingly comprises: a pitch axis motor or a roll axis motor; and so on. The motor of the present embodiment is used for driving the tripod head to rotate, or the corresponding motor of the present embodiment is used for driving the corresponding part in the tripod head to rotate, for example, the corresponding motor of the inner frame is used for driving the inner frame and the load carried by the inner frame to rotate. The load carried on the cradle head can include a common carrying load on the cradle head, such as an imaging device, and also can include a custom load module added by a user, or include the two, and is not specifically limited here.

Negative for large moment of inertia (J) with simultaneous fast motion requirement (requiring large angular acceleration α)In order to ensure that the output torque of the motor of the pan/tilt head can meet the requirement of larger angular acceleration (maximum output torque T) as far as possible_max＝J*α_maxAnd T is_maxCan be determined by the output capacity of the pan-tilt motor), so that the load is reasonably arranged, the rotational inertia of the motor can be reduced as much as possible, and the upper limit α of the angular acceleration as much as possible is obtained_max. Wherein J is J₀+m*d²D is the distance from the center of gravity of the load to the rotating shaft of the motor, m is the load mass, J₀The moment of inertia of the motor when the center of gravity of the load is located at the rotating shaft. Therefore, the preset inertia threshold value can be set, and the load size carried by the holder at present is judged to be in the preset holder load size range by comparing the rotational inertia of the holder motor with the preset inertia threshold value.

In this embodiment, the process of determining that the load size currently carried by the cradle head is within the preset cradle head load size range may include:

(1) when a second trigger signal for load evaluation is received, acquiring the output torque of a motor of the holder and the angular acceleration of the motor;

in this step, the second trigger signal is used to instruct the cradle head to perform load evaluation, and the cradle head of this embodiment performs load evaluation after receiving the second trigger signal. Optionally, the second trigger signal is generated by the cradle head, for example, the cradle head may generate the second trigger signal by operating a key/button on the cradle head. Optionally, the second trigger signal is sent by an external device, the external device may be a remote control device or a control terminal for controlling the cradle head, and the control terminal may be a mobile terminal such as a mobile phone and a Pad, and may also be other terminal devices. Of course, the user may also trigger the pan/tilt head to perform gravity center balancing by other means, such as touch control, gesture, voice, and the like.

The output torque of the pan-tilt motor and the angular acceleration of the motor can be detected by corresponding sensors and can also be determined according to input signals for controlling the rotation of the motor, and the determination mode of the output torque of the pan-tilt motor and the angular acceleration of the motor is the prior art and is not described in detail herein.

In addition, in this step, for the three-axis pan-tilt configured to rotate around the pitch axis, the roll axis, and the yaw axis, the output torque of the pitch axis motor and/or the roll axis motor and the angular acceleration of the pitch axis motor and/or the roll axis motor are acquired; for a two-axis pan-tilt head configured to rotate around a pitch axis and a roll axis, acquiring an output torque of a pitch axis motor and/or a roll axis motor and an angular acceleration of the pitch axis motor and/or the roll axis motor; for a two-axis pan-tilt configured to rotate around a pitch axis and a yaw axis, acquiring an output torque of a pitch axis motor and an angular acceleration of the pitch axis motor; for a two-axis pan-tilt configured to rotate around a roll axis and a yaw axis, acquiring an output torque of a roll axis motor and an angular acceleration of the roll axis motor; for a single-axis pan/tilt head configured to rotate around a pitch axis or a roll axis, it is necessary to acquire an output torque of a pitch axis motor and an angular acceleration of the pitch axis motor, or an output torque of a roll axis motor and an angular acceleration of a roll axis motor.

Further, in this step, for a three-axis pan-tilt configured to rotate around a pitch axis, a roll axis, and a yaw axis, if the load is a custom load module installed by a user, only the output torque and the angular acceleration of a motor driving the custom load module to rotate may be obtained. For example, the pitching axis motor drives the inner frame of the pan-tilt to rotate, but when the user-defined load module is additionally arranged on the middle frame of the pan-tilt driven by the rolling axis motor, only the output torque and the angular acceleration of the rolling axis motor can be obtained.

(2) Determining the rotational inertia of the motor according to the output moment and the angular acceleration;

the step is to determine the moment of inertia of the corresponding axis motor according to the output torque of the corresponding axis motor and the angular acceleration of the corresponding axis motor. This step requires determining the moment of inertia of the pitch axis motor and/or roll axis motor.

The calculation formula of the moment of inertia J of the motor can be as follows:

J＝T/α (7)

in the formula (7), T is the output torque of the motor, and α is the angular acceleration of the motor.

It is to be understood that the calculation formula of the moment of inertia J of the motor is not limited to the formula (7), and may be a modification based on the formula (7).

(3) And when the moment of inertia is smaller than or equal to a preset inertia threshold value, determining that the load carried by the cradle head at present is within a preset cradle head load range.

In this step, the moment of inertia being less than or equal to the preset inertia threshold value includes: and (3) determining that the rotational inertia of the pitching shaft motor and/or the rolling shaft motor in the step (2) is less than or equal to a corresponding preset inertia threshold value. For example, in one embodiment, the moment of inertia being less than or equal to the preset inertia threshold comprises: the moment of inertia of the pitch axis motor is less than or equal to a first preset inertia threshold value, and/or the moment of inertia of the roll axis motor is less than or equal to a second preset inertia threshold value. The first preset inertia threshold value and the second preset inertia threshold value may be equal or unequal in size, and the first preset inertia threshold value and the second preset inertia threshold value may be set according to a specific structure.

In this step, the preset inertia threshold may be set according to an angular acceleration demand of the load.

The method for balancing the gravity center of the pan/tilt head of the embodiment may further include: when the moment of inertia is greater than the preset inertia threshold value, it is determined that the load carried by the cradle head at present is too large, and a user needs to be prompted to reduce the load so as to protect the cradle head and prevent the cradle head from being damaged.

Further, the method for balancing the gravity center of the holder can further comprise the following steps: and outputting an evaluation result aiming at the second trigger signal. Wherein, the evaluation result comprises: the load size carried by the cradle head at present is in a preset cradle head load size range, or the load carried by the cradle head at present is overlarge. When the evaluation result is that the load carried by the holder at present is within a preset holder load range, reminding a user that the holder can be triggered to carry out gravity center balancing; and when the evaluation result is that the load carried by the holder at present is too large, reminding the user to reduce the load so as to protect the holder.

The cradle head can output the evaluation result in different modes, and as an implementation mode, the evaluation result is sent to a client, and the client can be a mobile terminal such as a mobile phone and a Pad, and can also be other terminal equipment. Optionally, the first trigger signal is sent after the client receives an evaluation result indicating that the load size currently carried by the cradle head is within a preset cradle head load size range. During specific implementation, after the user receives an evaluation result indicating that the load size carried by the cradle head at present is within a preset cradle head load size range, the user operates the client, so that the client sends a first trigger signal to the cradle head to trigger the cradle head to perform gravity center balancing.

Optionally, the first trigger signal is generated automatically after the cradle head detects an evaluation result that the load size currently carried by the cradle head is within a preset cradle head load size range, or the first trigger signal is generated by a user operating a key/button on the cradle head after the cradle head outputs the evaluation result that the load size currently carried by the cradle head is within the preset cradle head load size range.

As another implementation, the cradle head includes a prompt module. In the implementation mode, the evaluation result is output through the prompt module. The prompting module can be a display screen, a voice module or the like.

In addition, in some embodiments, after the pan/tilt head performs S102, if it is detected that the load carried by the pan/tilt head changes, the center of gravity balancing of the pan/tilt head is performed again, that is, when the pan/tilt head detects that the load carried by the pan/tilt head changes, whether the center of gravity position of the corresponding portion of the pan/tilt head deviates from the desired center of gravity position is detected again. If the gravity center trim of the holder is carried out again to determine that the gravity center position deviates from the expected gravity center position, outputting a prompt signal for indicating to adjust the gravity center position again; and if the gravity center trim of the holder is carried out again, and the gravity center position is determined not to deviate from the expected gravity center position, outputting a display signal for indicating that the gravity center trim of the holder is successful.

Wherein, detecting that the load carried by the holder changes may include: a change in the position and/or weight of a load carried by the head on the head is detected.

As shown in fig. 7, this embodiment is applicable to a three-axis pan-tilt (including a pitch axis, a roll axis, and a yaw axis) or a two-axis pan-tilt (including a pitch axis and a roll axis) without a yaw axis, and the embodiment shown in fig. 7 performs center-of-gravity balancing on the pitch axis first and then on the roll axis, and it can be understood that center-of-gravity balancing on the roll axis first and then on the pitch axis may be replaced. The method for balancing the gravity center of the pan/tilt head of the embodiment shown in fig. 7 can comprise the following steps:

(1) triggering the holder to carry out load assessment;

in this step, the user can make the cradle head generate the second trigger signal for instructing the cradle head to perform the load evaluation by operating the key/button on the cradle head, or the user can make the client send the second trigger signal for instructing the cradle head to perform the load evaluation to the cradle head by operating the client, so as to trigger the cradle head to perform the load evaluation.

(2) The load evaluation is passed, namely the cradle head determines that the load currently carried by the cradle head is in a preset cradle head load range;

(3) triggering the holder to perform gravity center balancing;

wherein step (3) is performed after step (2). In this step, a user can operate a key/button on the cradle head to enable the cradle head to generate a first trigger signal for indicating the cradle head to perform gravity center balancing, or, the user can operate a client to enable the client to send the first trigger signal for indicating the cradle head to perform gravity center balancing to the cradle head so as to trigger the cradle head to perform gravity center balancing, or the cradle head generates the first trigger signal for indicating the cradle head to perform gravity center balancing when determining that the size of the load carried by the cradle head at present is within a preset cradle head load size range.

(4) Controlling the holder to rotate to a target position, namely, the first preset position of the embodiment is the target position;

in this step, the target position is the position of the pan/tilt during the return to the center.

(5) When the holder rotates to the target position, the moment value T output by the pitching axis is obtained₁；

(6) Controlling the pitch shaft to rotate in an anticlockwise direction by β, and rotating the pitch shaft to a third preset position;

in this step, the pitch axis is rotated β degrees counterclockwise from the target position to a third preset position.

(7) When the pitching shaft is at a third preset position, obtaining a moment value T output by the pitching shaft₃；

(8) Controlling the pitch shaft to rotate clockwise by 2 β, and rotating the pitch shaft to a fourth preset position;

in this step, the pitch axis rotates β counterclockwise from the third preset position to the fourth preset position.

(9) When the pitching shaft is at a fourth preset position, obtaining a moment value T output by the pitching shaft₄；

(10) Determine | T₁Whether | is smaller than a first preset moment value a or not; if T₁|<a, determining that the gravity center position of a part of the holder rotating around the pitch axis does not deviate from the expected gravity center position in the front-back direction; if T₁>a, determining that the gravity center position of a part rotating around a pitch axis in the holder deviates from the expected gravity center position; if T₁<-a, the position of the centre of gravity of the part of the head that rotates about the pitch axis is offset with respect to the desired position of the centre of gravity;

(11) determine | T₄-T₃Whether | is smaller than a third preset moment value b or not; if T₄-T₃|<b, determining that the gravity center position of the part of the holder rotating around the pitch axis does not deviate from the expected gravity center position in the vertical direction; if T₄-T₃>b, determining that the gravity center position of a part rotating around the pitch axis in the holder is lower than the expected gravity center position; if T₄-T₃<B, determining the position of the center of gravity of the part of the head rotating about the pitch axis to be above the desired position of the center of gravity;

wherein, the step (10) and the step (11) can be executed successively or simultaneously. When the step (10) and the step (11) are executed successively, the cradle head may execute the step (10) first and then execute the step (11), or the cradle head may execute the step (11) first and then execute the step (10).

(12) Outputting a center-of-gravity position indicating a portion of the adjusting pan/tilt head that rotates about the pitch axis from a desired center-of-gravity position to guide a user to adjust a mounting position of the pitch axis load;

(13) controlling the holder to rotate to a target position, namely, the second preset position of the embodiment is the target position;

(14) when the holder rotates to the target position, the moment value T output by the transverse roller is obtained₂；

(15) Determine | T₂Whether | is smaller than a second preset moment value c; if T₂|<c, determining that the gravity center position of the part of the holder rotating around the transverse roller does not deviate from the expected gravity center position in the left-right direction; if T₂>c, determining that the gravity center position of the part of the holder rotating around the transverse rolling shaft is inclined to the right relative to the expected gravity center position; if T₂<C, the position of the center of gravity of the part of the fixed head rotating around the roll axis is set to the left relative to the expected position of the center of gravity.

The acquisition of the torque data in the balancing of the pitch axis and the balancing of the roll axis may be performed in other timings than the above-described timings, for example, the timings of steps (4) to (9) may be preceded by the timings of steps (13) to (14). Meanwhile, regarding whether the gravity center position of the corresponding portion is shifted from the desired gravity center position in the up-down direction, the gravity center position may be determined not only in the trimming of the pitch axis but also in the trimming of the roll axis, and is not particularly limited herein.

(16) The center of gravity position of a portion of the adjusting pan/tilt head that rotates about the roll axis and deviates from the desired center of gravity position is output to guide the user to adjust the mounting position of the roll axis load.

Wherein, the step (12) and the step (16) may be executed simultaneously, or may be executed sequentially according to the corresponding detection result, which is not limited specifically here.

In the embodiment of the invention, after a user adds the self-defined load module on the cradle head, the cradle head can be triggered to carry out gravity center balancing, when the gravity center balancing is carried out, if the gravity center position of a corresponding part in the cradle head deviates from an expected gravity center position, a gravity center adjusting scheme is given to guide the user to adjust the self-defined load module carried on the corresponding part, so that the cradle head does not need to generate extra output for resisting gravity moment under the state that the normal output of the cradle head is kept balanced, the power consumption of the cradle head is reduced, the heating of the cradle head is reduced, the cradle head can be protected, the risk of scalding the user is greatly reduced, the sufficient output of the cradle head for stability augmentation can be ensured, and the reduction of disturbance inhibition performance caused by output saturation; meanwhile, user experience is expanded, and the user-defined load module can be normally used on the holder.

Corresponding to the method for balancing the center of gravity of the pan/tilt head in the first embodiment, a pan/tilt head is further provided in the first embodiment of the present invention, referring to fig. 8, the pan/tilt head 100 may include: a pitch axis motor 110 and/or a roll axis motor 120, and a first controller 130, wherein the first controller 130 is electrically connected to the pitch axis motor 110 and/or the roll axis motor 120. In the embodiment shown in fig. 8, pan/tilt head 100 includes a pitch axis motor 110 and a roll axis motor 120.

Specifically, the first controller 130 is configured to: detecting whether the gravity center position of a corresponding part in the holder deviates from an expected gravity center position when a first trigger signal for gravity center balancing is received; if the center of gravity position deviates from the expected center of gravity position, a prompt signal for instructing the adjustment of the center of gravity position is output.

For the implementation process and the operation principle of the first controller 130, reference may be made to the description of the method for balancing the center of gravity of the pan/tilt head in the first embodiment, and details are not described herein again.

The first controller 130 of this embodiment may be a Central Processing Unit (CPU). The first controller 130 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.

In addition, the first controller 130 may include a pan/tilt controller and/or a stand-alone controller provided in the pan/tilt, and may also include other controllers.

Example two

Fig. 9 is a flowchart of a method of cloud deck center of gravity balancing on the client side in an embodiment of the present invention. It should be noted that the main execution body of the method for balancing the center of gravity of the pan/tilt head in the second embodiment of the present invention is a client, the client may communicate with the pan/tilt head, and the client may be a mobile terminal such as a mobile phone and a Pad, and may also be other terminal devices.

As shown in fig. 9, the method for balancing the center of gravity of the pan/tilt head according to the second embodiment of the present invention may include the following steps:

s901: if a balancing instruction is received, generating a first trigger signal for gravity center balancing;

in this embodiment, the method for balancing the center of gravity of the pan/tilt further includes: and before the trimming instruction is received, receiving an evaluation result sent by the holder. Wherein, the evaluation result comprises: the load size carried by the cradle head at present is in a preset cradle head load size range, or the load carried by the cradle head at present is overlarge.

Optionally, the balancing instruction is an evaluation result sent by the cradle head and used for indicating that the load size carried by the cradle head currently is within a preset cradle head load size range.

Optionally, the balancing instruction is generated by a user operating the client, for example, the user operates a virtual key of the client to generate the balancing instruction, or the user operates a physical key/button of the client to generate the balancing instruction. Further optionally, the client may determine whether to generate the first trigger signal according to the trim instruction according to the evaluation result. In the embodiment, after the client receives an evaluation result used for indicating that the load size carried by the cradle head currently is within a preset cradle head load size range, if a balancing instruction is received, a first trigger signal is generated; after the client receives the evaluation result used for indicating that the load carried by the holder at present is overlarge, if the client receives the balancing instruction, the first trigger signal cannot be generated.

In some embodiments, the method of pan-tilt center-of-gravity balancing further comprises: before receiving an evaluation result sent by the cradle head, if a load evaluation instruction is received, generating a second trigger signal for indicating the cradle head to carry out load evaluation; and sending a second trigger signal to the holder to trigger the holder to carry out load evaluation. The cloud deck is triggered by the client side to carry out load assessment, so that the flexibility is stronger, and the use requirements of users are met.

Wherein, the load evaluation instruction is generated by a user operating the client, for example, the user operating a virtual key of the client generates a balancing instruction, or the user operating a physical key/button of the client generates a load evaluation instruction.

S902: sending a first trigger signal to the holder to trigger the holder to detect the gravity center position;

the first embodiment can be referred to as a mode for detecting the position of the center of gravity of the pan/tilt, and details are not described here.

The cloud deck is triggered by the client to detect the gravity center position, so that the flexibility is stronger, and the use requirements of users are met.

S903: and receiving a prompt signal returned by the cradle head aiming at the first trigger signal, wherein the prompt signal is used for indicating the gravity center position deviating from the expected gravity center position in the cradle head to be adjusted.

In this step, the prompt signal carries information about the shift of the center of gravity position to guide the user to adjust the mounting position of the load on the corresponding part. Wherein the offset information includes: the offset direction and/or the offset amount can be specifically referred to the description of the corresponding part in the first embodiment.

In this embodiment, after receiving the cue signal returned by the pan/tilt head for the first trigger signal, the client may output the cue signal. The prompt signal may be output based on at least one of graphics, text, and voice. Of course, the client may output the prompt signal in other manners.

Corresponding to the method for balancing the center of gravity of the pan/tilt head in the second embodiment, a second embodiment of the present invention further provides a client, and referring to fig. 10, the client 200 may include: a storage device 210 and a second controller 220. Wherein the storage device 210 is configured to store program instructions, the second controller 220 calls the program instructions, and when the program instructions are executed, the second controller 220 is configured to execute the method for balancing the center of gravity of the pan/tilt head according to the embodiment shown in fig. 9.

Specifically, the second controller 220 is configured to: if a balancing instruction is received, generating a first trigger signal for gravity center balancing; sending the first trigger signal to a holder to trigger the holder to detect the gravity center position; and receiving a prompt signal returned by the holder aiming at the first trigger signal, wherein the prompt signal is used for indicating and adjusting the gravity center position deviating from the expected gravity center position in the holder.

For the implementation process and the operation principle of the second controller 220, reference may be made to the description of the method for balancing the center of gravity of the pan/tilt head in the second embodiment, and details are not described herein again.

The storage device 210 may include a volatile memory (volatile memory), such as a random-access memory (RAM); the storage device 210 may also include a non-volatile memory (non-volatile memory), such as a flash memory (flash memory), a Hard Disk Drive (HDD) or a solid-state drive (SSD); the storage device 210 may also comprise a combination of memories of the kind described above.

The second controller 220 of the present embodiment may be a Central Processing Unit (CPU). The second controller 220 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. 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 a controller to implement the steps of the method for balancing the center of gravity of a pan/tilt head according to the first embodiment or the second 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 method of balancing the center of gravity of a head configured to rotate about a pitch axis and/or a roll axis, the method comprising:

2. The method of claim 1, wherein when the head is configured to rotate about the pitch axis, the respective portion comprises a portion of the head that rotates about the pitch axis, and a distance between the desired center of gravity position and the pitch axis is no greater than a first preset distance.

3. The method of claim 1, wherein the respective portion comprises a portion of the pan/tilt head that rotates about the roll axis when the pan/tilt head is configured to rotate about the roll axis, and wherein a distance between the desired center of gravity position and the roll axis is no greater than a second predetermined distance.

4. The method of claim 1, wherein the center of gravity position deviating from the desired center of gravity position comprises one or more of:

the center of gravity position is offset from the desired center of gravity position in a front-rear direction, the center of gravity position is offset from the desired center of gravity position in a left-right direction, and the center of gravity position is offset from the desired center of gravity position in a top-bottom direction.

5. The method according to claim 4, wherein said detecting whether the position of the center of gravity of the corresponding portion of the pan/tilt head deviates from a desired position of the center of gravity comprises:

controlling the holder to rotate so that the corresponding part of the holder is at least one preset position;

detecting whether the barycentric position of the respective portion at a target position among at least one of the preset positions deviates from a desired barycentric position.

6. The method according to claim 5, wherein the pan-tilt comprises a pitch axis motor and/or a roll axis motor, and said detecting whether the position of the center of gravity of the respective portion at the target position of the at least one of the preset positions deviates from a desired position of the center of gravity comprises:

when the corresponding part is in a specific position of at least one preset position, acquiring a torque value output by the pitching shaft motor and/or the rolling shaft motor;

and detecting whether the gravity center position of the corresponding part at the target position in at least one preset position deviates from the expected gravity center position according to the moment value.

7. The method of claim 6, wherein the pan and tilt head is configured to rotate about the pitch axis, the pan and tilt head includes the pitch axis motor, the moment value comprises: a first moment value output by the pitch axis motor when the corresponding part is at a first preset position;

the detecting whether the barycentric position of the corresponding portion at the target position of the at least one preset position deviates from the expected barycentric position according to the moment value includes:

detecting whether the position of the center of gravity of the corresponding portion at the first preset position is shifted from the desired position of the center of gravity in the front-rear direction or not, based on the first moment value.

8. The method of claim 7, wherein the distance from the pitch axis to the center of gravity position along the line forms a first angle with the horizontal when the respective portion is in the first predetermined position;

the detecting, based on the first moment value, whether there is a shift in a front-rear direction of a position of a center of gravity of the corresponding portion at the first preset position from the desired position of the center of gravity includes:

determining the angle range of the first included angle and/or the cosine value of the first included angle according to the first moment value;

and detecting whether the gravity center position of the corresponding part at the first preset position is deviated from the expected gravity center position in the front-back direction or not according to the angle range of the first included angle and/or the cosine value of the first included angle.

9. The method of claim 8, further comprising:

and when the angle range of the first included angle and/or the cosine value of the first included angle meet a first strategy, determining that the gravity center position is offset from the expected gravity center position in the front-back direction.

10. The method of claim 9, wherein determining that the center of gravity position is offset from the desired center of gravity position in a fore-aft direction when the angular range of the first angle and/or the cosine value of the first angle satisfies a first policy comprises:

when the cosine value of the first included angle is a positive number, determining that the gravity center position deviates from the expected gravity center position;

and when the cosine value of the first included angle is a negative number, determining that the gravity center position is deviated from the expected gravity center position.

11. The method of claim 9, wherein determining that the center of gravity position is offset from the desired center of gravity position in a fore-aft direction when the angular range of the first angle and/or the cosine value of the first angle satisfies a first policy comprises:

when the angle range of the first included angle is within a first preset angle range, determining that the gravity center position is deviated from the expected gravity center position;

and when the angle range of the first included angle is within a second preset angle range, determining that the gravity center position is deviated from the expected gravity center position.

12. The method of claim 7, further comprising:

when the absolute value of the first moment value is larger than a first preset moment value, it is determined that the position of the center of gravity of the corresponding portion at the first preset position is offset from the desired position of the center of gravity in the front-rear direction.

13. The method according to claim 12, wherein the determining that the position of the center of gravity of the corresponding portion at the first preset position is offset from the desired position of the center of gravity in a front-rear direction when the absolute value of the first moment value is greater than a first preset moment value includes:

determining that the position of the center of gravity is offset from the desired position of the center of gravity when the first moment value is greater than the first preset moment value;

and when the first moment value is smaller than the opposite number of the first preset moment value, determining that the gravity center position is deviated from the expected gravity center position.

14. The method of claim 6, wherein the pan head is configured to rotate about the roll axis, the pan head includes a roll axis motor, and the torque value includes: a second moment value output by the transverse roller motor when the corresponding part is at a second preset position;

and detecting whether the gravity center position of the corresponding part at the second preset position is offset from the expected gravity center position in the left-right direction or not according to the second moment value.

15. The method of claim 14, wherein the distance from the roll axis to the center of gravity position when the corresponding portion is in the second predetermined position forms a second angle with the horizontal along the line direction;

the detecting, according to the second moment value, whether there is a shift in the center of gravity position of the corresponding portion at the second preset position from the desired center of gravity position in the left-right direction includes:

determining the angle range of the second included angle and/or the cosine value of the second included angle according to the second moment value;

and detecting whether the gravity center position of the corresponding part in the second preset position deviates from the expected gravity center position in the left-right direction or not according to the angle range of the second included angle and/or the cosine value of the second included angle.

16. The method of claim 15, further comprising:

and when the angle range of the second included angle and/or the cosine value of the second included angle meet a second strategy, determining that the center of gravity position deviates from the expected center of gravity position in the left-right direction.

17. The method of claim 16, wherein determining that the center of gravity position is offset in a left-right direction from the desired center of gravity position when the angular range of the second angle and/or the cosine value of the second angle satisfies a second policy comprises:

when the cosine value of the second included angle is a positive number, determining that the gravity center position is deviated to the right relative to the expected gravity center position;

and when the cosine value of the second included angle is a negative number, determining that the gravity center position is deviated to the left relative to the expected gravity center position.

18. The method of claim 16, wherein determining that the center of gravity position is offset in a left-right direction from the desired center of gravity position when the angular range of the second angle and/or the cosine value of the second angle satisfies a second policy comprises:

when the angle range of the second included angle is within a third preset angle range, determining that the center of gravity position is inclined to the right relative to the expected center of gravity position;

and when the angle range of the second included angle is within a fourth preset angle range, determining that the gravity center position is deviated to the left relative to the expected gravity center position.

19. The method of claim 14, further comprising:

when the absolute value of the second moment value is greater than a second preset moment value, it is determined that the barycentric position of the corresponding portion at the second preset position is offset from the desired barycentric position in the left-right direction.

20. The method of claim 19, wherein determining that the position of the center of gravity of the respective portion at the second preset position is offset in the left-right direction from the desired position of the center of gravity when the absolute value of the second moment value is greater than a second preset moment value comprises:

determining that the center of gravity position is right relative to the desired center of gravity position when the second moment value is greater than the second preset moment value;

and when the second moment value is smaller than the opposite number of the second preset moment value, determining that the gravity center position is deviated to the left relative to the expected gravity center position.

21. The method of claim 6, wherein the pan and tilt head comprises a pitch axis motor, and the torque values comprise: a third torque value output by the pitch axis motor when the corresponding portion is at a third preset position, and a fourth torque value output by the pitch axis motor when the corresponding portion is at a fourth preset position;

and detecting whether the gravity center position of the corresponding part at the target position in at least one preset position is deviated from the expected gravity center position in the vertical direction or not according to the third moment value and the fourth moment value.

22. The method of claim 21, wherein the distance from the pitch axis to the center of gravity position when the corresponding portion is in the third predetermined position is at a fixed angle along the line from the distance from the pitch axis to the center of gravity position when the corresponding portion is in the fourth predetermined position.

23. The method of claim 22, wherein the along-line direction of the distance from the pitch axis to the center of gravity position when the respective portion is in the third preset position forms a third angle with the along-line direction of the distance from the pitch axis to the center of gravity position when the respective portion is in the target position;

and a third included angle is formed between the direction along the line of the distance from the pitching shaft to the gravity center position when the corresponding part is at the fourth preset position and the direction along the line of the distance from the pitching shaft to the gravity center position when the corresponding part is at the target position.

24. The method of claim 23, wherein the third angle and the fourth angle are equal in magnitude;

the third preset position is as follows: when the corresponding part is located at the target position, rotating the position of the corresponding part after rotating the size of a first preset included angle around a first direction;

the fourth preset position is as follows: when the corresponding part is located at the third preset position, the position of the corresponding part is rotated twice the first preset included angle in the second direction;

wherein the first direction and the second direction are two opposite directions.

25. The method of claim 23, wherein a line direction of a distance from the pitch axis to the position of the center of gravity forms a fifth angle with a horizontal direction when the corresponding portion is at the target position;

the detecting, according to the third moment value and the fourth moment value, whether there is a deviation in the center of gravity position of the corresponding portion in a target position of the at least one preset position from the desired center of gravity position in the up-down direction includes:

determining the angle range of the fifth included angle and/or the sine value of the fifth included angle according to the third moment value and the fourth moment value;

and detecting whether the gravity center position of the corresponding part at the target position in at least one preset position is deviated from the expected gravity center position in the vertical direction or not according to the angle range of the fifth included angle and/or the sine value of the fifth included angle.

26. The method of claim 25, further comprising:

and when the angle range of the fifth included angle and/or the sine value of the fifth included angle meet a third strategy, determining that the gravity center position deviates from the expected gravity center position in the up-down direction.

27. The method of claim 26, wherein determining that the center of gravity position is offset in an up-down direction when the range of the fifth angle and/or the sine of the fifth angle satisfies a third policy comprises:

when the sine value of the fifth included angle is a positive number, determining that the barycentric position is higher relative to the expected barycentric position;

when the sine value of the fifth included angle is a negative number, determining that the barycentric position is lower than the expected barycentric position.

28. The method of claim 26, wherein determining that the center of gravity position is offset in an up-down direction when the range of the fifth angle and/or the sine of the fifth angle satisfies a third policy comprises:

when the angle range of the fifth included angle is within a fifth preset angle range, determining that the center of gravity position is higher than the expected center of gravity position;

and when the angle range of the fifth included angle is within a sixth preset angle range, determining that the gravity center position is lower than the expected gravity center position.

29. The method of claim 21, further comprising:

and when the absolute value of the difference value between the third moment value and the fourth moment value is larger than a third preset moment value, determining that the gravity center position is deviated from the expected gravity center position in the up-down direction.

30. The method of claim 29, wherein determining that the center of gravity position is offset in an up-down direction from the desired center of gravity position when an absolute value of a difference between the third moment value and the fourth moment value is greater than a third preset moment value comprises:

when the difference value between the third moment value and the fourth moment value is greater than the third preset moment value, determining that the gravity center position is lower than the expected gravity center position;

and when the difference value of the third moment value and the fourth moment value is smaller than the opposite number of the third preset moment value, determining that the gravity center position is higher than the expected gravity center position.

31. The method of claim 6, wherein the pan and tilt head comprises a roll motor, and the torque values comprise: a fifth torque value output by the traverse shaft motor when the corresponding portion is at a fifth preset position, and a sixth torque value output by the traverse shaft motor when the corresponding portion is at a sixth preset position,

and detecting whether the gravity center position of the corresponding part at the target position in at least one preset position is deviated from the expected gravity center position in the vertical direction or not according to the fifth moment value and the sixth moment value.

32. The method of claim 31 wherein the inline angle between the distance from the roll axis to the center of gravity position when the respective portion is in the fifth predetermined position and the distance from the roll axis to the center of gravity position when the respective portion is in the sixth predetermined position is fixed.

33. The method of claim 32, wherein a distance along the line from the roll axis to the center of gravity position when the respective portion is in the fifth predetermined position forms a sixth angle with a distance along the line from the roll axis to the center of gravity position when the respective portion is in the target position;

when the corresponding part is located at the sixth preset position, a seventh included angle is formed between the direction along the line of the distance from the transverse roller to the gravity center position and the direction along the line of the distance from the transverse roller to the gravity center position when the corresponding part is located at the target position.

34. The method of claim 33, wherein the sixth angle and the seventh angle are equal in magnitude;

the fifth preset position is as follows: when the corresponding part is located at the target position, rotating the position of the corresponding part after a second preset included angle is formed around a third direction;

the sixth preset position is as follows: when the corresponding part is located at the fifth preset position, rotating the position of the corresponding part twice as large as the second preset included angle in the fourth direction;

wherein the third direction and the fourth direction are two opposite directions.

35. The method of claim 33, wherein a line direction of a distance from the roll axis to the center of gravity position forms an eighth angle with a horizontal direction when the corresponding portion is at the target position;

the detecting, based on the fifth moment value and the sixth moment value, whether there is a shift in the center of gravity position of the corresponding portion in a vertical direction from the desired center of gravity position when the corresponding portion is at a target position of the at least one preset position includes:

determining the angle range of the eighth included angle and/or the sine value of the eighth included angle according to the fifth moment value and the sixth moment value;

and detecting whether the gravity center position of the corresponding part at the target position in at least one preset position is deviated from the expected gravity center position in the front-back direction or not according to the angle range of the eighth included angle and/or the sine value of the eighth included angle.

36. The method of claim 35, further comprising:

and when the angle range of the eighth included angle and/or the sine value of the eighth included angle meet a fourth strategy, determining that the gravity center position is offset from the expected gravity center position in the up-down direction.

37. The method according to claim 36, wherein determining that the center of gravity position is offset in an up-down direction from the desired center of gravity position when the angular range of the eighth angle and/or the sine of the eighth angle satisfies a fourth policy comprises:

when the sine value of the eighth included angle is a positive number, determining that the barycentric position is above the expected barycentric position;

when the sine of the eighth angle is negative, determining that the center of gravity position is lower than the expected center of gravity position.

38. The method according to claim 36, wherein determining that the center of gravity position is offset in an up-down direction from the desired center of gravity position when the angular range of the eighth angle and/or the sine of the eighth angle satisfies a fourth policy comprises:

when the angle range of the eighth angle is within a seventh preset angle range, determining that the center of gravity position is higher than the expected center of gravity position;

and when the angle range of the eighth included angle is within an eighth preset angle range, determining that the center of gravity position is lower than the expected center of gravity position.

39. The method of claim 31, further comprising:

and when the absolute value of the difference value between the fifth moment value and the sixth moment value is larger than a fourth preset moment value, determining that the gravity center is deviated from the expected gravity center position in the up-down direction.

40. The method of claim 39, wherein determining that the center of gravity position is offset in an up-down direction from the desired center of gravity position when an absolute value of a difference between the fifth moment value and the sixth moment value is greater than a fourth preset moment value comprises:

when the difference value between the fifth moment value and the sixth moment value is greater than the fourth preset moment value, determining that the center of gravity position is lower than the expected center of gravity position;

determining that the center of gravity position is above the desired center of gravity position when the difference between the fifth moment value and the sixth moment value is less than the negative of the fourth preset moment value.

41. The method of claim 6, wherein after the respective portion is in a particular position of the at least one preset position, before obtaining the torque value output by the pitch axis motor and/or the roll axis motor, the method further comprises:

and determining the convergence of the torque value output by the pitching shaft motor and/or the rolling shaft motor.

42. The method of claim 41, wherein said determining that the torque values output by the pitch axis motor and/or the roll axis motor converge comprises:

determining a variance of a plurality of torque values output by the pitch axis motor and/or the roll axis motor within a certain time period;

and determining the convergence of the torque value output by the pitching shaft motor and/or the rolling shaft motor according to the variance.

43. The method of claim 42, wherein said determining from said variance that said torque values output by said pitch axis motor and/or said roll axis motor converge comprises:

and when the variance is smaller than or equal to a preset variance threshold value, determining that the torque value output by the pitching shaft motor and/or the rolling shaft motor is converged.

44. The method of claim 41, wherein said determining that the torque values output by the pitch axis motor and/or the roll axis motor converge comprises:

and when the duration of the corresponding part in the at least one preset position is longer than or equal to a preset duration, determining that the torque value output by the pitch shaft motor and/or the roll shaft motor is converged.

45. The method of claim 6, wherein the pitch axis motor and/or the roll axis motor outputs a torque value of: and obtaining values obtained after smoothing and filtering a plurality of torque values output by the pitch axis motor and/or the roll axis motor in a specific time period.

46. The method of claim 5, wherein the target location is: the gravity center position of the history is a position of the corresponding portion at the desired gravity center position or a position at the time of the pan-tilt-return-to-center.

47. The method of claim 1, wherein prior to receiving the first trigger signal for center of gravity trim, the method further comprises:

and determining that the load carried by the cradle head at present is within a preset cradle head load range.

48. The method of claim 47, wherein the determining that the load size currently carried by the pan/tilt head is within a preset pan/tilt head load size range comprises:

when a second trigger signal for load evaluation is received, acquiring the output torque of a motor of the holder and the angular acceleration of the motor, wherein the motor is used for driving the load to rotate;

determining the rotational inertia of the motor according to the output torque and the angular acceleration;

and when the moment of inertia is smaller than or equal to a preset inertia threshold value, determining that the load carried by the cradle head at present is within a preset cradle head load range.

49. The method of claim 48, further comprising:

and when the moment of inertia is larger than the preset inertia threshold value, determining that the load carried by the holder at present is overlarge.

50. The method of claim 48 or 49, further comprising:

outputting an evaluation result for the second trigger signal;

wherein the evaluation result comprises: the load carried by the cradle head at present is within a preset cradle head load range, or the load carried by the cradle head at present is too large.

51. The method of claim 50, wherein outputting the evaluation result for the second trigger signal comprises:

and sending the evaluation result to the client.

52. The method according to claim 51, wherein the first trigger signal is sent after the client receives an evaluation result indicating that the load size currently carried by the pan/tilt head is within a preset pan/tilt head load size range.

53. The method of claim 50, wherein the pan-tilt comprises a prompting module;

the outputting an evaluation result for the second trigger signal includes:

and outputting the evaluation result through the prompting module.

54. The method of claim 1, wherein outputting a prompt indicating an adjustment to the center of gravity position comprises:

and sending a prompt signal for indicating the adjustment of the gravity center position to a client.

55. The method of claim 1, wherein the pan-tilt comprises a prompt module;

the output is used for instructing the prompt signal of adjusting the gravity center position, and comprises:

and outputting a prompt signal for indicating to adjust the position of the center of gravity through the prompt module.

56. The method of claim 1, wherein the cue signal carries information of a shift in the position of the center of gravity.

57. The method of claim 56, wherein the offset information comprises: a direction of offset and/or an amount of offset.

58. The method of claim 1, wherein after outputting a prompt signal indicating an adjustment of the center of gravity position if the center of gravity position deviates from the desired center of gravity position, the method further comprises:

and if detecting that the load carried by the holder changes, re-balancing the gravity center of the holder.

59. The method according to claim 58, wherein said detecting a change in a load carried by said head comprises:

detecting that a position and/or a weight of a load carried by the head changes on the head.

60. A head configured to rotate about a pitch axis and/or a roll axis, characterized in that it comprises:

a pitch axis motor and/or a roll axis motor; and

wherein the controller is to:

61. A head according to claim 60, wherein said respective portion comprises a portion of said head which is rotatable about said pitch axis when said head is configured to rotate about said pitch axis, the distance between said desired centre of gravity position and said pitch axis being not greater than a first predetermined distance.

62. A head according to claim 60, wherein said respective portion comprises a portion of said head which rotates about said roll axis when said head is configured to rotate about said roll axis, and wherein the distance between said desired centre of gravity position and said roll axis is not greater than a second predetermined distance.

63. A head according to claim 60, wherein said centre of gravity position offset from said desired centre of gravity position comprises one or more of:

64. A head according to claim 63, wherein said controller, when detecting whether the position of the centre of gravity of a respective portion of said head deviates from a desired position of the centre of gravity, is adapted to:

65. A head according to claim 64, wherein said head comprises a pitch axis motor and/or a roll axis motor, and said controller, when detecting whether the position of the centre of gravity of said respective portion at a target position of said at least one preset position deviates from a desired position of the centre of gravity, is particularly adapted to:

66. A head according to claim 65, wherein said head is configured to rotate about said pitch axis, said head comprising said pitch axis motor, said torque values comprising: a first moment value output by the pitch axis motor when the corresponding part is at a first preset position;

the controller is specifically configured to, when detecting, based on the moment value, whether a barycentric position of the corresponding portion at a target position of the at least one preset position deviates from a desired barycentric position:

67. A head according to claim 66, wherein said pitch axis extends at a first angle to the horizontal when said respective portion is in said first predetermined position;

the controller, when detecting whether the position of the center of gravity of the corresponding portion at the first preset position is offset from the desired position of the center of gravity in the front-rear direction according to the first moment value, is specifically configured to:

68. A head according to claim 67, wherein said controller is further adapted to:

69. A head according to claim 68, wherein said controller is particularly adapted to:

70. A head according to claim 68, wherein said controller is particularly adapted to:

71. A head according to claim 66, wherein said controller is further adapted to:

72. A head according to claim 71, wherein said controller is particularly adapted to:

73. A head according to claim 65, wherein said head is configured to rotate about said roll axis, said head comprising a roll axis motor, said torque values comprising: a second moment value output by the transverse roller motor when the corresponding part is at a second preset position;

74. A head according to claim 73, wherein said traverse axis extends along a line extending along a distance from said centre of gravity to a second predetermined position at a second angle to the horizontal;

the controller is specifically configured to, when detecting, according to the second moment value, whether the barycentric position of the corresponding portion at the second preset position is offset from the desired barycentric position in the left-right direction:

75. A head according to claim 74, wherein said controller is further adapted to:

76. A head according to claim 75, wherein said controller is particularly adapted to:

77. A head according to claim 75, wherein said controller is particularly adapted to:

78. A head according to claim 73, wherein said controller is further configured to:

79. A head according to claim 78, wherein said controller is particularly adapted to:

80. A head according to claim 65, wherein said head comprises a pitch axis motor, said torque values comprising: a third torque value output by the pitch axis motor when the corresponding portion is at a third preset position, and a fourth torque value output by the pitch axis motor when the corresponding portion is at a fourth preset position;

81. A head according to claim 80, wherein the distance from said pitch axis to said centre of gravity position when said respective portion is in said third predetermined position is substantially constant along the line thereof, relative to the distance from said pitch axis to said centre of gravity position when said respective portion is in said fourth predetermined position.

82. A head according to claim 81, wherein the direction along the line of the distance from said pitch axis to said position of centre of gravity when said respective portion is in said third preset position forms a third angle with the direction along the line of the distance from said pitch axis to said position of centre of gravity when said respective portion is in said target position;

83. A head according to claim 82, wherein said third angle and said fourth angle are equal in magnitude;

84. A head according to claim 82, wherein the along-line direction of the distance of said pitch axis to said centre-of-gravity position forms a fifth angle with the horizontal when said respective portion is at said target position;

when detecting, according to the third moment value and the fourth moment value, whether the center of gravity position of the corresponding portion at the target position of the at least one preset position is offset from the desired center of gravity position in the up-down direction, the controller is specifically configured to:

85. A head according to claim 84, wherein said controller is further adapted to:

86. A head according to claim 85, wherein said controller is particularly adapted to:

87. A head according to claim 85, wherein said controller is particularly adapted to:

88. A head according to claim 80, wherein said controller is further adapted to:

89. A head according to claim 88, wherein said controller is particularly adapted to:

90. A head according to claim 65, wherein said head comprises a roll motor, said torque values comprising: a fifth torque value output by the traverse shaft motor when the corresponding portion is at a fifth preset position, and a sixth torque value output by the traverse shaft motor when the corresponding portion is at a sixth preset position,

91. A head according to claim 90, wherein the distance from said crosspiece axis to said centre of gravity position when said respective portion is in said fifth predetermined position is substantially constant along the line, as is the distance from said crosspiece axis to said centre of gravity position when said respective portion is in said sixth predetermined position.

92. A head according to claim 91, wherein the distance from said roll axis to said centre of gravity when said respective portion is in said fifth predetermined position forms a sixth angle along the line with the distance from said roll axis to said centre of gravity when said respective portion is in said target position;

93. A head according to claim 92, wherein said sixth angle and said seventh angle are equal in magnitude;

94. A head according to claim 92, wherein the inline direction of the distance from said roll axis to said centre of gravity position forms an eighth angle with the horizontal when said respective portion is at said target position;

when detecting, according to the fifth moment value and the sixth moment value, whether the center of gravity position of the corresponding portion at the target position of the at least one preset position is offset from the desired center of gravity position in the up-down direction, the controller is specifically configured to:

95. A head according to claim 94, wherein said controller is further adapted to:

96. A head according to claim 95, wherein said controller is particularly adapted to:

97. A head according to claim 95, wherein said controller is particularly adapted to:

98. A head according to claim 90, wherein said controller is further adapted to:

99. A head according to claim 98, wherein said controller is particularly adapted to:

100. A head according to claim 65, wherein said controller, before acquiring said torque value output by said pitch axis motor and/or said roll axis motor after said respective portion is in a particular one of said at least one preset position, is further adapted to:

101. A head according to claim 100, wherein said controller, when determining that said torque values output by said pitch axis motor and/or said roll axis motor converge, is configured to:

102. A head according to claim 101, wherein said controller, when determining from said variance that said torque values output by said pitch axis motor and/or said roll axis motor converge, is adapted to:

103. A head according to claim 100, wherein said controller, when determining that said torque values output by said pitch axis motor and/or said roll axis motor converge, is configured to:

104. A head according to claim 65, wherein said pitch axis motor and/or said roll axis motor output a torque value of: and obtaining values obtained after smoothing and filtering a plurality of torque values output by the pitch axis motor and/or the roll axis motor in a specific time period.

105. A head according to claim 64, wherein said target positions are: the gravity center position of the history is a position of the corresponding portion at the desired gravity center position or a position at the time of the pan-tilt-return-to-center.

106. A head according to claim 60, wherein said controller, prior to receiving said first trigger signal for centre of gravity balancing, is further configured to:

107. A holder according to claim 106, wherein said controller, when determining that a size of a load currently carried by said holder is within a preset holder load size range, is specifically configured to:

108. A head according to claim 107, wherein said controller is further adapted to:

109. A head according to claim 107 or 108, wherein said controller is further configured to:

outputting an evaluation result for the second trigger signal;

110. A head according to claim 109, wherein said controller, when outputting an assessment result in respect of said second trigger signal, is specifically configured to:

and sending the evaluation result to the client.

111. A holder according to claim 110, wherein said first trigger signal is sent by said client after receiving an evaluation result indicating that the size of the load currently carried by said holder is within a preset range of holder load sizes.

112. A head according to claim 109, wherein said head comprises a prompt module;

when the controller outputs an evaluation result for the second trigger signal, the controller is specifically configured to:

and outputting the evaluation result through the prompting module.

113. A head according to claim 60, wherein said controller, when outputting a cue signal indicative of an adjustment of said centre of gravity position, is adapted to:

114. A head according to claim 60, wherein said head comprises a prompting module;

when outputting a prompt signal for instructing adjustment of the center of gravity position, the controller is specifically configured to:

115. A head according to claim 60, wherein said cue signals carry information on the displacement of said centre of gravity position.

116. A head according to claim 115, wherein said offset information comprises: a direction of offset and/or an amount of offset.

117. A head according to claim 60, wherein said controller, after outputting a cue signal indicative of an adjustment of said centre of gravity position when said centre of gravity position deviates from said desired centre of gravity position, is further adapted to:

118. A head according to claim 117, wherein said controller, upon detecting a change in the load carried by said head, is adapted to:

119. A method of balancing a center of gravity of a pan/tilt head, the method comprising:

120. The method of claim 119, wherein the cue signal carries information about the shift in the position of the center of gravity.

121. The method of claim 120, wherein the offset information comprises: a direction of offset and/or an amount of offset.

122. The method according to claim 119, wherein after receiving the cue signal returned by the pan/tilt head for the first trigger signal, the method further comprises:

and outputting the prompt signal.

123. The method of claim 122, wherein said outputting the cue signal comprises:

and outputting the prompt signal based on at least one of graphics, characters and voice.

124. The method of claim 119, wherein prior to receiving the trim instruction, the method further comprises:

receiving an evaluation result sent by the holder;

125. The method according to claim 124, wherein before receiving the evaluation result sent by the pan/tilt head, further comprising:

if a load evaluation instruction is received, generating a second trigger signal for indicating the holder to carry out load evaluation;

and sending the second trigger signal to the holder to trigger the holder to perform load evaluation.

126. A client, the client comprising:

storage means for storing program instructions; and

127. The client of claim 126, wherein the hint signal carries information about the shift in the position of the center of gravity.

128. The client of claim 127, wherein the offset information comprises: a direction of offset and/or an amount of offset.

129. The client of claim 126, wherein the controller, after receiving the notification signal returned by the pan/tilt head for the first trigger signal, is further configured to:

and outputting the prompt signal.

130. The client according to claim 129, wherein the controller, when outputting the alert signal, is specifically configured to:

131. The client of claim 126, wherein the controller, prior to receiving the trim instructions, is further configured to:

receiving an evaluation result sent by the holder;

132. The client of claim 131, wherein the controller, prior to receiving the evaluation result sent by the cradle head, is further configured to: