CN112154398A

CN112154398A - Pan-tilt control method, controller, pan-tilt, unmanned mobile platform and storage medium

Info

Publication number: CN112154398A
Application number: CN201980029986.6A
Authority: CN
Inventors: 刘帅; 王映知; 邓波
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2019-08-01
Filing date: 2019-08-01
Publication date: 2020-12-29
Also published as: WO2021016985A1

Abstract

A pan/tilt control method, a controller, a pan/tilt, an unmanned mobile platform, and a computer-readable storage medium. The holder control method comprises the following steps: confirming the measurement control deviation of the holder according to the target posture of the holder and the measurement posture of the base (S102); and controlling the plurality of motors to output specified torques based on the condition that the measurement control deviation of the pan-tilt is within a preset range so as to respectively drive the plurality of shaft arms to rotate (S104). According to the cloud platform control method, when the attitude error of the cloud platform is small, the motor is controlled to output at the minimum speed, the problems of power consumption rise and heating caused by long-time output of large torque of the motor under the condition that actual action does not occur are avoided, the power consumption of the cloud platform is reduced, and the service life of the cloud platform is effectively prolonged.

Description

Pan-tilt control method, controller, pan-tilt, unmanned mobile platform and storage medium

Technical Field

The application relates to the technical field of cloud platforms, in particular to a cloud platform control method, a controller, a cloud platform, an unmanned mobile platform and a computer readable storage medium.

Background

The cloud platform is the strutting arrangement who is used for installing, fixed camera equipment, and along with the development of science and technology and the progress of society, the electronic cloud platform of multiple form appears gradually on the market, for example handheld cloud platform and unmanned aerial vehicle cloud platform etc. portable small-size cloud platform, this type of small-size cloud platform also is through a plurality of axle arm actions of a plurality of motor control to the gesture of cloud platform is adjusted. When each motor is used for controlling each shaft arm, because of the existence of factors such as the friction force of the motor, under the condition that the position error is small and the static friction force of the motor is large, at the moment, because the error of the posture is small, the running angular speed of the motor can be improved by means of speed control, so that the static friction force is overcome, and the tripod head can reach the expected posture. And because can control the angular velocity of promotion along with the increase of error usually when speed control, but because the static friction is great, the condition that the motor output does not move takes place easily at the in-process of control motor acceleration, and at this moment, the motor has exported great torque moment for a long time, has just led to generating heat and the consumption of motor to rise, not only can make the power consumption of whole cloud platform increase, has still shortened the life of motor.

Content of application

The embodiment of the application provides a holder control method, a controller, a holder, an unmanned mobile platform and a storage medium, and can reduce power consumption and heat generated by a machine body.

To this end, a first aspect of the present application is directed to a method of controlling a head.

A second aspect of the present application is to provide a controller.

A third aspect of the present application is to provide a tripod head.

A fourth aspect of the present application is to provide an unmanned mobile platform.

A fifth aspect of the present application is to provide a computer-readable storage medium.

In view of the above, according to a first aspect of the present application, there is provided a control method for a pan/tilt head, the pan/tilt head including a base, a plurality of shaft arms, and a plurality of motors, the motors being configured to respectively drive the shaft arms to rotate, the control method including: confirming the measurement control deviation of the holder according to the target posture of the holder and the measurement posture of the base; based on the condition that the measurement control deviation of cloud platform is in the predetermined scope, control a plurality of motors output appointed moment of torsion to drive a plurality of armshafts respectively and rotate.

The application provides a holder control method, wherein a holder comprises a base, a plurality of shaft arms and a plurality of motors for controlling the rotation of the shaft arms, measurement control deviation is obtained through a measurement attitude of the base detected by a sensor and an input target attitude of the holder, wherein the measurement attitude of the base is an actual attitude after the holder acts, the target attitude of the holder is a preset attitude expected according to an operation instruction, because various friction forces exist between the holder base and the shaft arms or other movable positions, the measurement attitude of the base is easy to deviate from the target attitude of the holder, the measurement control deviation can be obtained by comparing the measurement attitude of the base with the target attitude of the holder, when the motors are controlled to act at a low speed, the static friction force of the motors is large, the motors can possibly output large torque moment for a long time, but the motors do not generate actual action to cause the heating of the motors, the consumption rises, consequently, set up a preset scope to the measurement control deviation, judge whether measurement control deviation is in presetting the within range, if the measurement control deviation is in the within range and can think that the motor does not overcome the frictional force and take place actual motion, then control motor output presets good appointed moment of torsion, thereby drive a plurality of armshafts and rotate, make when cloud platform attitude error is less, control motor exports with less speed, avoided the motor to export great moment of torsion for a long time under the condition that does not take place actual motion, prevent that the consumption that the motor generates heat and leads to from rising under the less condition of error.

In a second aspect of the present application, a controller is provided, including: a processor and a memory, the memory having stored therein a computer program, the processor executing the computer program stored in the memory to implement: confirming the measurement control deviation of the holder according to the target posture of the holder and the measurement posture of the base; based on the condition that the measurement control deviation of the holder is in the preset range, a plurality of motors of the holder are controlled to output specified torque so as to respectively drive a plurality of shaft arms of the holder to rotate.

The controller provided by the application acquires a measurement control deviation through a processor from a measurement attitude of a base detected by a sensor and an input target attitude of a holder, wherein the measurement attitude of the base is an actual attitude after the holder acts, the target attitude of the holder is a preset attitude expected according to an operation instruction, the measurement attitude of the base is easy to deviate from the target attitude of the holder due to various friction forces existing between the holder base and a shaft arm or other movable positions, the measurement control deviation can be obtained by comparing the measurement attitude of the base with the target attitude through the processor, when the processor controls a motor to act at a low speed, the motor possibly outputs a large torque moment for a long time due to large static friction force of the motor, but the motor does not generate actual action to cause the motor to generate heat, the power consumption is increased, and therefore, the processor sets a preset range for the measurement control deviation, whether the measurement control deviation is within the preset range or not is judged, if the measurement control deviation is within the range, the motor can be considered not to overcome the friction force to perform actual action, the processor controls the motor to output preset specified torque, and therefore the shaft arms are driven to rotate, when the posture error of the holder is small, the motor is controlled to output at a small speed, the motor is prevented from outputting large torque for a long time under the condition that the actual action is not performed, and power consumption rise caused by heating of the motor under the condition that the error is small is prevented.

In a third aspect of the present application, a cradle head is provided, which includes the controller of any one of the above technical solutions; and a plurality of shaft arms including a yaw shaft arm, a pitch shaft arm, and a roll shaft arm; a plurality of motors for driving the plurality of shaft arms to rotate the plurality of motors; the base is connected with the yawing shaft arm. Because the cloud platform includes the controller of any above-mentioned technical scheme, therefore have the whole beneficial effect of the controller of any above-mentioned technical scheme, no longer describe here.

The fourth aspect of the present application provides an unmanned mobile platform, including the cloud platform among any one of the above-mentioned technical scheme. Because unmanned mobile platform includes the cloud platform of any above-mentioned technical scheme, consequently have the whole beneficial effect of the cloud platform of any above-mentioned technical scheme, no longer describe here.

In a fifth aspect of the present application, a computer-readable storage medium is provided, on which a computer program is stored, and the computer program, when executed by a processor, implements the control method of the pan and tilt head according to any of the above technical solutions. Therefore, the beneficial effects of the control method of the cradle head according to any one of the above technical schemes are not repeated herein.

Drawings

The advantages of the above and/or additional aspects of the present application will be apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 shows a schematic flow chart of a pan-tilt control method of an embodiment of the present application;

fig. 2 shows a schematic flow chart of a pan-tilt control method of another embodiment of the present application;

fig. 3 shows a schematic flow chart of a pan-tilt control method of another embodiment of the present application;

fig. 4 shows a schematic flow chart of a target attitude acquisition method of a pan/tilt head according to an embodiment of the present application;

FIG. 5 shows a schematic flow diagram of a method of measurement attitude acquisition of a base according to an embodiment of the present application;

fig. 6 shows a schematic flow chart of a pan-tilt control method of yet another embodiment of the present application;

fig. 7 shows a schematic flow chart of a pan-tilt control method of yet another embodiment of the present application;

fig. 8 shows a schematic flow chart of a pan-tilt control method of yet another embodiment of the present application;

FIG. 9 shows a schematic block diagram of a controller of an embodiment of the present application;

fig. 10 shows a schematic block diagram of a head of an embodiment of the present application;

FIG. 11 illustrates a control deviation versus follow speed curve for one embodiment of the present application;

FIG. 12 illustrates a control deviation versus follow speed curve for a current position dual loop control method;

FIG. 13 shows an experimental simulation of motor torque versus measured control deviation data for a current position dual loop control method;

FIG. 14 shows an experimental simulation of motor torque versus measured control deviation data for one embodiment of the present application;

FIG. 15 shows a control block diagram of a current position dual loop control method;

fig. 16 shows a control block diagram of a pan/tilt control method according to an embodiment of the present application.

Wherein, the corresponding relationship between the reference numbers and the components in fig. 9 and 10 is:

10 controllers, 12 processors, 14 memory, 20 pan/tilt, 222 yaw axis arm, 224 pitch axis arm, 226 roll axis arm, 242 yaw motor, 244 pitch motor, 246 roll motor.

Detailed Description

In order that the above objects, features and advantages of the present application can be more clearly understood, the present application will be described in further detail with reference to the accompanying drawings and detailed description. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, however, the present application may be practiced in other ways than those described herein, and therefore the scope of the present application is not limited by the specific embodiments disclosed below.

A control method of a pan/tilt head, a controller, a pan/tilt head, an unmanned mobile platform, and a computer-readable storage medium according to some embodiments of the present application are described below with reference to fig. 1 to 16.

According to an embodiment of a first aspect of the present application, a pan and tilt head control method is provided, and fig. 1 shows a schematic flow chart of the pan and tilt head control method according to an embodiment of the present application. As shown in fig. 1, the pan-tilt control method includes:

s102, confirming the measurement control deviation of the holder according to the target posture of the holder and the measurement posture of the base;

the attitude of the holder is determined by the joint rotation of a plurality of shaft arms, wherein the shaft arms comprise one or any combination of a roll shaft, a pitch shaft and a yaw shaft.

And S104, controlling a plurality of motors to output specified torques based on the condition that the measurement control deviation of the holder is within a preset range so as to respectively drive a plurality of shaft arms to rotate.

The control method of the cloud platform provided by the application, the obtained measurement attitude of the base and the input target attitude of the cloud platform obtain the measurement control deviation, wherein the measurement attitude of the base is the actual attitude of the base after the cloud platform acts, the target attitude of the cloud platform is the preset attitude expected according to an operation instruction, the measurement attitude is easy to deviate from the target attitude of the cloud platform due to various friction forces existing between the cloud platform base and a shaft arm or other movable positions, the measurement control deviation can be obtained by comparing the measurement attitude of the base with the target attitude of the cloud platform, when the motor is controlled to act at a low speed, the static friction force of the motor is very large, the motor can possibly output a large torque moment for a long time, but the motor does not generate actual action to cause the heating of the motor and the power consumption is increased, so a preset range is set for the measurement control deviation, whether the measurement control deviation is within the preset range or not is judged, if the measurement control deviation is outside the range, the motor can be considered not to overcome the friction force to actually move, the motor is controlled to directly output preset specified torque, so that the shaft arms are driven to rotate, when the posture error of the holder is small, the motor is controlled to output at the minimum speed, the motor is prevented from outputting large torque for a long time under the condition that the actual movement does not occur, and the power consumption caused by the heating of the motor is prevented from rising under the condition that the error is small.

The preset range is a larger value, namely the measurement control deviation of the holder is under a larger condition, the motor is directly controlled to output a larger torque, wherein the larger torque is enough torque capable of realizing the static friction force of the motor, and the phenomenon that the power consumption is increased because the torque is not enough to overcome the heating of the motor caused by the static friction force of the motor is avoided.

In the specific embodiment, the cradle head receives a control instruction, controls a plurality of motors to control a plurality of corresponding shaft arms of the cradle head to move according to the control instruction, wherein the control instruction comprises an expected position of the control shaft arm, but the actual moving position of the shaft arm does not reach the expected position due to larger static friction force in the motor, after the sensor detects the actual moving position of the shaft arm, the sensor determines the measurement control deviation of the cradle head, namely the position error of the cradle head, according to the expected position of each shaft arm and the actual position of each shaft arm, judges whether the measurement control error of the cradle head is in a preset range, if the attitude error of the cradle head is out of the preset range, the motor is directly controlled to output an appointed torque to drive the shaft arm to rotate to an expected attitude, so that the situation that the motor outputs a very small expected speed when the cradle head has a small attitude error is avoided, meanwhile, when the holder has a large attitude error, a large angular velocity enough to overcome static friction force can be generated, so that the problems of heating and power consumption increase caused by the fact that the motor outputs large torque under the condition of not overcoming the static friction force for a long time are solved.

Fig. 2 shows a schematic flow chart of a control method of a pan/tilt head according to another embodiment of the present application, as shown in fig. 2, the control method of a pan/tilt head comprising:

s202, confirming the measurement control deviation of the holder according to the target posture of the holder and the measurement posture of the base;

s204, determining that the measurement control deviation is within a preset range according to the measurement control deviation, the control deviation and the following speed curve;

s206, determining the specified torque according to the shaft-arm following speed corresponding to the measurement control deviation;

and S208, controlling the motors to output the designated torque.

In this embodiment, according to the control deviation and following speed curve shown in fig. 11, where the control deviation and following speed curve can be used for a relation curve between a following speed output by a motor of any one of the axes in the pan/tilt head during control and a measurement control deviation of the pan/tilt head, the measurement attitude of the base includes a measurement attitude of the base of each axis, and the measurement control deviation of each axis is determined according to the measurement attitude of each axis and a target attitude of the pan/tilt head, and the output following speed of the motor corresponding to each axis can be obtained through the control deviation and following speed curve according to the measurement control deviation of each pan/tilt head, so as to determine an output torque of the motor controlling rotation of each axis, and further enable each motor to control each axis to reach a desired attitude.

Because various parameters of different holders are different, for example, different motors used by different holders are different, and different motors have different static friction forces, it cannot be guaranteed that each holder can obtain a proper result when calculating by using the same control deviation and following speed curve, and the control deviation and following speed curve can be obtained in various ways, including the following several embodiments.

Example one

The mobile data storage device is used for storing various different control deviations and following speed curves, the mobile data storage device is connected with the cloud deck, and the cloud deck can select the control deviations and the following speed curves stored in the mobile data storage device according to user selection, so that the appropriate control deviations and the following speed curves are obtained.

In this embodiment, by storing a plurality of preset control deviations and following speed curves in the mobile data storage device, the user can select different control deviations and following speed curves according to the own needs or the model of the pan/tilt head.

Example two

Different control deviation and following speed curves are stored in the cloud server, the cloud platform can be connected with the cloud server through the external equipment, and the control deviation and following speed curve which are consistent with the model of the cloud platform are obtained from the cloud server.

In this embodiment, different control deviation and following speed curve storage are in the cloud ware, have still realized that cloud platform manufacturer updates the control deviation and following speed curve in the cloud ware at any time, when the cloud platform was networked access cloud ware through external device, can obtain the control deviation and the following speed curve of the corresponding model of cloud platform automatically, avoided the user to select the control deviation by oneself and followed the required loaded down with trivial details operation of speed curve, further promoted user's use experience.

EXAMPLE III

An algorithm program for acquiring the control deviation and the following speed curve in real time is stored in a processor of the cradle head, and the cradle head calculates and generates the control deviation and the following speed curve through the algorithm program according to the attitude data acquired in real time.

In this embodiment, because the environments in which the pan/tilt is used are different, the parameters of the pan/tilt may not be completely the same, for example, the pan/tilt is used in an environment with a large air humidity, the static friction of the pan/tilt motor itself is different from the environment with a small air humidity, and the preset control deviation and the following speed curve have set the corresponding measurement control deviation range, and cannot be adjusted according to the environment in which the pan/tilt is used.

Specifically, the cradle head can calculate and generate a control deviation and following speed curve according to an attitude error generated after the first action after the power-on, the control deviation and following speed curve do not need to be generated again during each action, and the power consumption of the cradle head is prevented from being increased due to excessive calculation amount and the service life of the cradle head is shortened.

As shown in fig. 12, the relationship between the follow-up speed and the measurement control deviation in the related art is that after the measurement control deviation is generated, when the measurement control deviation is small, the motor may increase the angular speed along with the increase of the measurement control deviation due to the direct use of the speed loop control, and when the angular speed is increased, the torque output by the motor cannot overcome the friction force to drive the motor to rotate, thereby causing the problem of heating of the motor.

When the measurement control deviation of the cradle head is out of the preset range, the shaft arm can be controlled to run at a higher expected speed so as to overcome the static friction force, the preset range can be more than or equal to 0 | X | < R, wherein X is a preset measurement control deviation value, and when the measurement control deviation X is between more than or equal to 0 | X | < R, the measurement control deviation of the cradle head can be considered to be within the preset range and smaller; when the measurement control deviation value X is greater than or equal to R, the measurement control deviation of the holder can be considered to be outside the preset range, namely the measurement control deviation is larger.

In one embodiment of the present application, preferably, in a case where the measurement control deviation is within a preset range, the corresponding shaft arm fluctuates smoothly following the speed change; and measuring the condition that the control deviation is out of the preset range, wherein the corresponding shaft arm following speed is approximately in positive correlation with the control deviation.

In this embodiment, when the measurement control deviation value X of the pan/tilt head is between | X | < R > and less than 0, the pan/tilt head does not control the shaft arm to follow the speed increase, namely, when the measurement control deviation is in the smaller condition within the preset range, the motor is not controlled to output a larger torque, when the measurement control deviation value is in | X | ≧ R, the motor output torque corresponding to the control shaft arm is controlled to overcome the friction force, and the shaft arm following speed is increased along with the increase of the control deviation, namely, the motor is output with a larger torque by controlling the increase of the shaft arm following speed, thereby realizing the reduction of the measurement control deviation of the pan/tilt head.

In one embodiment of the present application, the control deviation and following speed curve is preferably obtained by: acquiring a control deviation and a following speed curve prestored in a storage of the holder; or acquiring a control deviation and a following speed curve in a control command received by the communication device of the holder.

In this embodiment, the control deviation and following speed curve may be stored in a memory in the pan/tilt head, or may be carried in a control command received from an external device by using a communication device of the pan/tilt head, and the curve may be updated at any time by receiving the control deviation and following speed curve from the external device, so that the curve may be adjusted according to actual use conditions.

Fig. 3 shows a schematic flow chart of a control method of a pan/tilt head according to another embodiment of the present application, as shown in fig. 3, the control method of a pan/tilt head comprising:

s302, acquiring a target posture of the holder;

s304, obtaining the measurement attitude of the base;

s306, confirming the measurement control deviation of the holder according to the target posture of the holder and the measurement posture of the base;

and S308, controlling the motors to output specified torques based on the condition that the measurement control deviation of the holder is within a preset range so as to respectively drive the shaft arms to rotate.

In this embodiment, the target attitude of the pan/tilt head and the measurement attitude of the base are obtained first, and the measurement control deviation of the pan/tilt head is determined according to the obtained target attitude of the pan/tilt head and the measurement attitude of the base.

The acquisition of the target attitude of the holder may be obtained in various ways, including several embodiments provided below.

Example one

Through the communication between the cradle head communication device and the body sensing controller, as shown in fig. 4, the method for acquiring the target posture of the cradle head comprises the following steps:

s402, receiving cradle head measurement data sent by a somatosensory controller;

and S404, confirming the target posture of the holder according to the holder measurement data.

In this embodiment, the body sensing controller includes the sensor, and the sensor includes inertial measurement unit and compass, can measure the attitude information and the velocity information of body sensing controller to can confirm cloud platform measured data according to attitude information and velocity information, still include the transmitter in the body sensing controller, the transmitter is wireless signal transmitter, and body sensing controller passes through the transmitter and sends cloud platform measured data to the cloud platform, and the cloud platform is according to the target gesture of cloud platform measured data determination cloud platform.

The body sensation controller also comprises a setting panel, so that a user directly inputs corresponding settings through the setting panel, corresponding setting information comprises holder measurement data, the setting information comprising the holder measurement data is sent to the holder through the transmitter, and the holder determines the target posture of the holder according to the holder measurement data.

In the foregoing embodiment, preferably, the cradle head measurement data is angular velocity data of the cradle head, and the process of determining the target attitude of the cradle head according to the cradle head measurement data specifically includes: determining a target angular velocity of the holder according to the angular velocity data of the holder; and integrating the target angular velocity of the holder to determine the target attitude of the holder.

In the embodiment, the pan-tilt measurement data is angular velocity data, the angular velocity information is the angular velocity of the body sensing controller in a geodetic coordinate system, measuring by an accelerometer in an inertial measurement unit to obtain a gravity direction vector, obtaining a geomagnetic direction by a compass, performing difference integration on the gravity direction and the geomagnetic direction to obtain a vector in the east direction, performing difference integration on the vector in the gravity direction and the vector in the east direction to obtain a vector in the north direction, forming a reference space attitude cosine matrix by using the vector in the gravity direction, the vector in the north direction and the vector in the east direction, converting the reference space attitude cosine matrix into an attitude quaternion, performing extended Kalman filter fusion filtering on the attitude quaternion to obtain final target attitude information, the cloud deck is controlled through the body sensing controller, so that the interaction experience between a user and the cloud deck is better, and the use experience of the user is improved.

Example two

The method for acquiring the target posture of the cradle head comprises the following steps of communicating with terminal equipment through a cradle head communication device:

the control communication device receives a control instruction sent by the terminal equipment, wherein the control instruction comprises a target posture of the holder; the target posture of the holder is generated by the terminal equipment according to the motion track of the control instruction, and the control instruction is received by a setting panel of the terminal equipment.

In this embodiment, a user can input a control instruction for controlling the pan/tilt head through a data input of a setting panel of the terminal, where the control instruction includes a motion track for controlling the motion of the pan/tilt head, the terminal can generate a posture of the pan/tilt head after moving according to the control instruction according to the motion track simulation, that is, a target posture of the pan/tilt head, add the target posture of the pan/tilt head into the control instruction, and perform communication connection with a communication device of the pan/tilt head through a communication device of the terminal itself, and send the control instruction to the pan/tilt head, thereby achieving that the pan/tilt head obtains the target posture of the pan/tilt head, and the pan/tilt head is connected with other terminals, thereby achieving an effect of remotely controlling the pan/tilt.

EXAMPLE III

The holder is provided with a control handle, and the method for acquiring the target posture of the holder comprises the following steps:

and receiving a setting instruction received by a control handle of the holder, wherein the setting instruction comprises a target posture of the holder.

In this embodiment, cloud platform self has the brake valve lever who controls the action of cloud platform, and brake valve lever has the setting panel, and the user can be through setting up the panel input setting instruction, and the user can directly send the setting instruction that has the target gesture of cloud platform to the cloud platform through this brake valve lever, sets up the structure that the handle can be for being connected with the cloud platform, is applicable to handheld cloud platform to will set up the handle setting in the holding rod position, can adjust the gesture of cloud platform through the operation setting handle.

Example four

and receiving the actual posture of a control handle of the holder, and taking the actual posture of the control handle as the target posture of the holder.

In this embodiment, cloud platform self has the brake valve lever of induction type, including inertial measurement unit in this brake valve lever, can detect brake valve lever's gesture, when the user changes brake valve lever's gesture, inertial measurement unit measures and takes notes brake valve lever's gesture, regard brake valve lever's gesture as the target gesture of cloud platform simultaneously, brake valve lever of somatosensory type does not need the user to pass through various parameters of panel input, the direct gesture of handle itself with the somatosensory type is as the target gesture of cloud platform, the user has been simplified the setting of user to the cloud platform gesture, convenience of customers operates, a large amount of loaded down with trivial details operations have been saved, thereby user's use experience has been improved.

As shown in fig. 5, the method for obtaining the measurement attitude of the base includes:

s502, obtaining the measurement attitude and the joint angle of the holder;

and S504, confirming the measurement attitude of the base according to the measurement attitude and the joint angle of the holder.

In this embodiment, the joint angle is an angle of the plurality of axis arms to the joint coordinate system of the pan/tilt head, the base is a structure for placing a camera in the pan/tilt head, and since the base is connected to the axis arms, the attitude of the base can be determined by the attitude and the joint angle of the pan/tilt head, the pan/tilt head is provided with an inertia measurement unit, the measurement attitude and the joint angle of the pan/tilt head can be obtained by using the inertia measurement unit, and the measurement attitude of the base is determined according to the measurement attitude and the joint angle of the pan/tilt head.

Fig. 6 shows a schematic flow chart of a control method of a pan/tilt head according to another embodiment of the present application, as shown in fig. 6, the control method of a pan/tilt head comprising:

s602, acquiring a target attitude of the holder;

s604, obtaining the measurement attitude of the base;

s606, confirming the measurement control deviation of the holder according to the target posture of the holder and the measurement posture of the base;

s608, judging whether the measurement control deviation of the holder is within a preset range, if so, executing S610, and if not, executing S612;

s610, controlling a plurality of motors to output specified torques;

and S612, confirming the driving torques of the motors according to the target postures of the holder, and controlling the motors to output the driving torques.

In the embodiment, whether the measurement control deviation of the cradle head is within a preset range or not is judged, when the measurement control deviation of the cradle head is within the preset range, the position error of the cradle head can be judged to be not large, at the moment, the rotating speed of a plurality of motors does not need to be changed, the plurality of motors can be kept at the initial lowest rotating speed, the initial lowest rotating speed is kept, namely, the motors are controlled not to increase the following speed according to the position error, so that the plurality of motors output appointed torques, when the measurement control deviation of the cradle head is judged to be out of the preset range, the position error of the cradle head can be considered to be overlarge, at the moment, the plurality of motors need to be controlled to increase the torques so as to accelerate the rotating speeds of the plurality of motors, so that the cradle head can be restored to the target posture, and the problems of heating and power, meanwhile, the preset target posture can be quickly reached when the posture of the cradle head has large errors, namely, the speed of adjusting the cradle head is guaranteed, and the problem that the heating power consumption of a motor is increased due to overlarge static friction force is solved.

Fig. 7 shows a schematic flow chart of a control method of a pan/tilt head according to another embodiment of the present application, as shown in fig. 7, the control method of a pan/tilt head comprising:

s702, acquiring a target posture of the holder;

s704, obtaining the measuring attitude of the base;

s706, confirming the measurement control deviation of the holder according to the target posture of the holder and the measurement posture of the base;

s708, judging whether the measurement control deviation of the holder is within a preset range, if so, executing S710, and if not, executing S712;

s710, controlling a plurality of motors to output specified torques;

s712, determining position errors of a plurality of shaft arms according to the target postures of the holder;

s714, confirming target angular velocities of the multiple shaft arms according to the position errors of the multiple shaft arms;

and S716, confirming the driving torques of the motors according to the target angular speeds of the shaft arms and the measured angular speeds of the shaft arms, and controlling the motors to output the driving torques.

In this embodiment, the control method shown in fig. 15 and 16 is adopted, the position errors of the plurality of shaft arms in the pan/tilt head are determined, the position error of each shaft arm can be determined according to the target attitude of the pan/tilt head, the target angular velocity of each shaft arm is determined according to the position error of each shaft arm, the sensor of the pan/tilt head measures the measured angular velocity of each shaft arm, the error of the angular velocity is obtained according to the measured angular velocity and the target angular velocity, the specific torque required by the motor can be calculated according to the error of the angular velocity to obtain the angular velocity reaching the target angular velocity, so as to determine the driving torque of each motor, and the motor is controlled to output the driving torque according to the driving torque, so that when the attitude error of the pan/tilt head is small, the motor is not controlled to output a small angular velocity, and therefore the motor does not output a large torque for a long time under the condition of a large static, and then reduced the motor because the circumstances that the hindrance of static friction does not rotate and lead to generates heat and the consumption rises, when having reduced the electric energy consumption, still prolonged the life of motor in the cloud platform to user's use experience has been improved.

Specifically, as shown in the current position dual-loop control block diagram of the pan/tilt motor shown in fig. 15, the pan/tilt receives an external command, determines a target attitude of the pan/tilt, and obtains a measurement control deviation of the pan/tilt by making a difference between the target attitude of the pan/tilt and the measurement attitude of the base, determining the angular speed output of the motor according to the obtained measurement control deviation of the pan-tilt, wherein the control method can increase the angular speed output by the motor along with the increase of the measurement control deviation, but the motor can not act when the angular speed can not overcome the static friction force, on the basis of the control method, a controller is added again, such as the control block diagram shown in fig. 16, the angular speed output by the motor is not changed when the measurement control deviation is in the specified preset range, therefore, the problems of motor heating and power consumption increase caused by only speed loop control when the measurement control deviation is small are solved.

As shown in fig. 13 and 14, in fig. 13, a curve of the torque of the motor changing with the measurement control deviation under the current position dual-loop control is shown, when the measurement control deviation is small, the torque suddenly and rapidly rises, at this time, the output angular speed of the motor is always in a rising stage, but the output torque does not overcome the static friction force of the motor, so that the torque continuously increases, at this time, the motor generates a large amount of heat, the service life of the motor is influenced, and the power consumption is also increased, and in fig. 14, a curve of the torque of the motor changing with the measurement control deviation under the control method in any one of the above embodiments is shown, that even under the condition that the measurement control deviation is small, the torque is basically maintained around a value, and the maximum torque is far smaller than the maximum torque in the curve of the current position dual-loop control in fig.

Fig. 8 shows a schematic flow chart of a control method of a pan/tilt head according to another embodiment of the present application, as shown in fig. 8, the control method of a pan/tilt head comprising:

s802, acquiring a target attitude of the holder;

s804, obtaining the measuring attitude of the base;

s806, confirming the measurement control deviation of the holder according to the target posture of the holder and the measurement posture of the base;

s808, judging whether the measurement control deviation of the holder is within a preset range, if so, executing S810, and if not, executing S812;

s810, controlling a plurality of motors to output specified torques;

s812, confirming a cradle head attitude error according to the cradle head target attitude and the cradle head measurement attitude;

s814, converting the attitude errors of the holder according to a preset algorithm to confirm the position errors of the multiple shaft arms;

s816, confirming target angular velocities of the multiple shaft arms according to the position errors of the multiple shaft arms;

and S818, confirming the driving torques of the motors according to the target angular speeds of the shaft arms and the measured angular speeds of the shaft arms, and controlling the motors to output the driving torques.

Further, the preset algorithm is a Jacobian inverse matrix algorithm.

In this embodiment, because the cradle head has a plurality of axis arms, when the overall attitude of the cradle head is controlled, the position error of each axis arm in the cradle head is different, so the attitude of each axis arm in the cradle head needs to be controlled, when the position error of each axis arm in the cradle head is determined, the attitude error of the cradle head can be calculated according to the target attitude of the cradle head and the measured attitude of the cradle head, and the position errors of the plurality of axis arms are calculated according to the attitude error of the cradle head through the inverse matrix of the jacobian matrix, wherein the jacobian matrix can convert the space coordinate system into a two-dimensional coordinate system through calculation, the position error of the whole cradle head can be converted into a two-dimensional error corresponding to each axis arm through the jacobian matrix, thereby the position error of each axis arm is obtained, and the motor corresponding to each axis arm is controlled to output with different torques, therefore, the overall posture of the cradle head can be accurately controlled. As shown in fig. 9, an embodiment of the second aspect of the present application proposes a controller 10, including: a processor 12 and a memory 14, the memory having stored therein computer programs, the processor 12 executing the computer programs stored in the memory 14 to implement: confirming the measurement control deviation of the holder according to the target posture of the holder and the measurement posture of the base; based on the condition that the measurement control deviation of the holder is in the preset range, a plurality of motors of the holder are controlled to output specified torque so as to respectively drive a plurality of shaft arms of the holder to rotate.

The controller provided by the application comprises a processor 12 and a memory 14, wherein the memory 14 is used for storing a computer program, and measuring control deviation is obtained by making the measuring posture of the base obtained by the processor 12 and the input target posture of the pan-tilt, wherein the measuring posture of the base is the actual posture of the base after the pan-tilt is operated, the target posture of the pan-tilt is a preset posture expected according to an operation instruction, the measuring posture is easy to deviate from the target posture of the pan-tilt due to various friction forces existing between the pan-tilt base and a shaft arm or other movable positions, the measuring control deviation can be obtained by comparing the measuring posture of the base with the target posture of the pan-tilt, when the motor is controlled to operate at a low speed, the motor can possibly output large torque moment for a long time due to large static friction force of the motor, but the motor does not generate actual operation to cause the heating of the motor, the consumption rises, consequently, set up a preset scope to the measurement control deviation, judge whether the measurement control deviation is in presetting the within range, if the measurement control deviation is outside can think that the motor does not overcome the frictional force and take place actual motion, then the direct appointed moment of torsion of predetermineeing of control motor output, thereby drive a plurality of armshafts and rotate, make when cloud platform attitude error is less, the control motor exports with minimum speed, avoided the motor to export great moment of torsion for a long time under the condition that does not take place actual motion, prevent that the consumption that the motor generates heat and leads to from rising under the less condition of error.

The preset range is a larger value, that is, the measurement control deviation of the pan/tilt is under a larger condition, the processor 12 directly controls the motor to output a larger torque, wherein the larger torque is a torque enough to overcome the static friction of the motor, and the problems that the motor is heated and the power consumption is increased due to the fact that the torque is not enough to overcome the static friction of the motor are avoided.

In the specific embodiment, the processor 12 receives a control instruction, controls the motors to control the corresponding axes of the pan/tilt head to move according to the control instruction, wherein the control instruction includes an expected position of the control axis, but the actual moving position of the axis does not reach the expected position due to the large static friction force inside the motor itself, after the sensor detects the actual moving position of the axis, the sensor determines the measurement control deviation of the pan/tilt head, that is, the position error of the pan/tilt head, according to the expected position of each axis and the actual position of each axis, determines whether the measurement control error of the pan/tilt head is within a preset range, if the measurement control error is outside the preset range, the sensor directly controls the motor to output a specified torque to drive the axis to rotate to a desired attitude, so as to avoid the motor output and very small expected speed when the pan/tilt head has a small attitude error, meanwhile, when the holder has a large attitude error, a large angular velocity enough to overcome static friction force can be generated, so that the problems of heating and power consumption increase caused by the fact that the motor outputs large torque under the condition of not overcoming the static friction force for a long time are solved.

In an embodiment of the present application, preferably, the processor 12 executes a process of controlling a plurality of motors of the pan/tilt head to output a specified torque based on a condition that the measured control deviation of the pan/tilt head is within a preset range, specifically including: determining that the measurement control deviation is within a preset range according to the measurement control deviation, the control deviation and the following speed curve; the control deviation and following speed curve is a relation curve of the shaft arm following speed of any one of the shaft arms and the control deviation of the holder; determining the designated torque according to the shaft arm following speed corresponding to the measurement control deviation; the plurality of motors are controlled to output a specified torque.

In this embodiment, according to the control deviation and following speed curve shown in fig. 11, where the control deviation and following speed curve can be used for a relation curve between the following speed output by the motor of any one of the axes in the pan/tilt head during control and the measurement control deviation of the pan/tilt head, the measurement attitude of the base includes the measurement attitude of the base of each axis, the processor 12 determines the measurement control deviation of each axis according to the measurement attitude of each axis and the target attitude of the pan/tilt head, and the output following speed of the motor corresponding to each axis can be obtained through the control deviation and following speed curve according to the measurement control deviation of each pan/tilt head, so as to determine the output torque of the motor controlling the rotation of each axis, and further enable each motor to control each axis to achieve the desired attitude.

In this embodiment, according to the control deviation and following speed curve shown in fig. 11, where the control deviation and following speed curve can be used as a relation curve between the following speed and the measurement control deviation of any one of the axes in the pan/tilt head during control, the measurement attitude of the base includes the measurement attitude of the base of each axis, the measurement control deviation of each axis is determined according to the measurement attitude and the target attitude of each axis, and the following speed corresponding to each axis can be obtained through the control deviation and following speed curve according to each measurement control deviation, so as to determine the output torque of the motor controlling rotation of each axis, and further enable each motor to control each axis to reach a desired attitude.

When the measurement control deviation of the cradle head is out of the preset range, the shaft arm can be controlled to run at a higher expected speed so as to overcome the static friction force, the preset range can be more than or equal to | X | < R, wherein X is a preset measurement control deviation value, and when the measurement control deviation X is between more than or equal to | X | < R, the measurement control deviation of the cradle head can be considered to be within the preset range and smaller; when the measurement control deviation value X is greater than or equal to R, the measurement control deviation of the holder can be considered to be outside the preset range, namely the measurement control deviation is larger.

In another embodiment of the present application, preferably, in case that the measurement control deviation is within a preset range, the corresponding shaft arm fluctuates smoothly following the speed variation; and measuring the condition that the control deviation is out of the preset range, wherein the corresponding shaft arm following speed is approximately in positive correlation with the control deviation.

In this embodiment, when the measurement control deviation value X of the pan/tilt is between | X | < R > and less than 0, the pan/tilt does not control the increase of the shaft-arm following speed, that is, when the measurement control deviation is in a smaller condition within a preset range, the motor is not controlled to output a larger torque, when the measurement control deviation value is in | X | ≧ R, the motor output torque corresponding to the control shaft-arm is controlled to overcome the friction force, and the shaft-arm following speed is increased along with the increase of the control deviation, that is, the motor is output with a larger torque by controlling the increase of the shaft-arm following speed, thereby realizing the reduction of the measurement control deviation of the pan/tilt.

In another embodiment of the present application, processor 12 preferably obtains the control deviation versus following speed curve by: acquiring a control deviation and a following speed curve prestored in a storage of the holder; or acquiring a control deviation and a following speed curve in a control command received by the communication device of the holder.

In this embodiment, the control deviation and following speed curve for the processor 12 to perform the calculation processing may be stored in the memory 14 in the pan/tilt head, or may be carried in a control instruction received from the outside by using a communication device of the pan/tilt head, and the curve may be updated at any time by receiving the control deviation and following speed curve received from the outside, so as to adjust the curve according to the actual use condition.

In another embodiment of the present application, preferably, the communication device of the pan/tilt head is capable of communicating with the somatosensory controller, and the processor 12 obtains the target attitude of the pan/tilt head by: receiving cradle head measurement data sent by the somatosensory controller; and confirming the target attitude of the holder according to the holder measurement data.

In this embodiment, the processor 12 obtains the target attitude of the pan/tilt head through the body sensing controller, the body sensing controller includes a sensor, the sensor includes an inertial measurement unit and a compass, the attitude information and the speed information of the body sensing controller can be measured, and the pan/tilt head measurement data can be determined according to the attitude information and the speed information, the body sensing controller further includes a transmitter, the transmitter is a wireless signal transmitter, the body sensing controller transmits the pan/tilt head measurement data to the pan/tilt head through the transmitter, and the pan/tilt head determines the target attitude of the pan/tilt head according to the pan/tilt head measurement data.

In another embodiment of the present application, preferably, the pan-tilt measurement data is angular velocity data of the pan-tilt, and the processor 12 is further configured to: determining a target angular velocity of the holder according to the angular velocity data of the holder; and integrating the target angular velocity of the holder to determine the target attitude of the holder.

In this embodiment, the pan-tilt measurement data is angular velocity data, the angular velocity information is angular velocity of the body-sensing controller in the geodetic coordinate system, a gravity direction vector is obtained by an accelerometer in the inertial measurement unit, a geomagnetic direction is obtained by a compass, the processor 12 obtains an east-oriented vector by performing difference integration on the gravity direction and the geomagnetic direction, obtains a north-oriented vector by performing difference integration on the gravity direction vector and the east-oriented vector, forms a reference spatial attitude cosine matrix by using the gravity direction vector, the north-oriented vector and the east-oriented vector, converts the reference spatial attitude cosine matrix into an attitude quaternion, performs extended kalman filter fusion filtering on the attitude quaternion to obtain final target attitude information, controls the pan-tilt by the body-sensing controller, and can make interaction experience between a user and the pan-tilt better, the use experience of the user is improved.

In another embodiment of the present application, preferably, the communication device of the pan/tilt head is capable of communicating with a terminal device, and the processor 12 obtains the target attitude of the pan/tilt head by: the control communication device receives a control instruction sent by the terminal equipment, wherein the control instruction comprises a target posture of the holder; the target posture of the holder is generated by the terminal equipment according to the motion track of the control instruction, and the control instruction is received by a setting panel of the terminal equipment.

In this embodiment, the processor 12 obtains a target posture of the cradle head through a communication device of the cradle head, the processor 12 can receive a control instruction for controlling the cradle head through data input of a setting panel of the terminal by a user, wherein the control instruction includes a motion track for controlling the motion of the cradle head, the terminal can generate a posture of the cradle head after the motion is performed according to the control instruction according to the motion track simulation, that is, the target posture of the cradle head, add the target posture of the cradle head into the control instruction, and perform communication connection with the communication device of the cradle head through the communication device of the terminal itself, and send the control instruction to the cradle head, thereby achieving the target posture of the cradle head obtained by the cradle head, and the cradle head is connected with other terminals, thereby achieving the effect of remotely controlling the cradle head, for example, the user can use a computer or a mobile.

In another embodiment of the present application, processor 12 preferably obtains the target attitude of the pan/tilt head by: and receiving a setting instruction received by a control handle of the holder, wherein the setting instruction comprises a target posture of the holder.

In this embodiment, treater 12 acquires cloud platform target gesture through the brake valve that cloud platform self has, cloud platform self has the brake valve who controls the action of cloud platform, and brake valve has the setting panel, treater 12 acquires the setting instruction that the user passes through the setting panel input, the user can directly send the setting instruction that has the target gesture of cloud platform to the cloud platform through this brake valve, the structure that the setting handle can be for being connected with the cloud platform, be applicable to handheld cloud platform, and will set up the handle setting at the holding rod position, can adjust the gesture of cloud platform through the operation setting handle.

In another embodiment of the present application, it is preferable to receive an actual attitude of a control handle of the pan/tilt head, and to take the actual attitude of the control handle as a target attitude of the pan/tilt head.

In this embodiment, cloud platform self has the brake valve lever of induction type, including inertial measurement unit in this brake valve lever, can detect brake valve lever's gesture, when the user changes brake valve lever's gesture, processor 12 measures and takes notes brake valve lever's gesture through inertial measurement unit, regard brake valve lever's gesture as the target gesture of cloud platform simultaneously, brake valve lever of somatosensory type does not need the user to pass through various parameters of panel input, directly regard the gesture of handle itself of somatosensory type as the target gesture of cloud platform, the user has been simplified the setting to the cloud platform gesture, convenience of customers operates, a large amount of loaded down with trivial details operations have been saved, thereby user's use experience has been improved.

In another embodiment of the present application, the processor 12 preferably obtains the measured attitude of the base by: acquiring the measurement attitude and joint angle of the holder; confirming the measurement attitude of the base according to the measurement attitude and the joint angle of the holder; wherein the joint angle is an angle of a plurality of axis arms of the pan/tilt head with respect to a joint coordinate system of the pan/tilt head.

In another embodiment of the present application, preferably, the cradle head includes an inertial measurement unit, and the processor 12 executes a process of acquiring a measurement attitude and a joint angle of the cradle head, specifically including: and controlling the inertia measurement unit to obtain the measurement attitude and the joint angle of the holder.

In this embodiment, the joint angle is an angle of a plurality of axis arms to a joint coordinate system of the pan/tilt head, the base is a structure for placing a camera in the pan/tilt head, the base is connected to the axis arms, so the attitude of the base can be determined by the attitude and the joint angle of the pan/tilt head, the pan/tilt head is provided with an inertial measurement unit, the processor 12 receives and utilizes the inertial measurement unit to obtain the measurement attitude and the joint angle of the pan/tilt head, and the processor 12 determines the measurement attitude of the base according to the received measurement attitude and the joint angle of the pan/tilt head.

In another embodiment of the present application, preferably, based on the fact that the measured control deviation of the pan/tilt head is outside the preset range, the processor 12 is further configured to: confirming the driving torques of a plurality of motors according to the target postures of the holder; and controlling the plurality of motors to output the driving torque.

In this embodiment, the processor 12 determines whether the measurement control deviation of the pan/tilt is within a preset range, and when the measurement control deviation of the pan/tilt is within the preset range, it may determine that the position error of the pan/tilt is not large, and at this time, it is not necessary to change the rotation speeds of the plurality of motors, so that the plurality of motors can maintain the initial minimum rotation speed, even if the plurality of motors output the designated torque, and when the measurement control deviation of the pan/tilt is determined to be outside the preset range, it may be determined that the position error of the pan/tilt is too large, and at this time, it is necessary to control the plurality of motors to increase the torque so as to accelerate the rotation speeds of the plurality of motors, so that the pan/tilt recovers to the target attitude as soon as possible, thereby solving the problems of heating and power consumption increase caused by the motors outputting a large torque without overcoming the, the problem that the heating power consumption of the motor is increased due to overlarge static friction force is solved while the speed of adjusting the holder is ensured.

In another embodiment of the present application, preferably, the processor 12 executes a process of confirming the driving torques of the plurality of motors according to the target attitude of the pan/tilt head, specifically including: determining position errors of a plurality of shaft arms according to the target postures of the holder; confirming target angular velocities of the plurality of shaft arms according to the position errors of the plurality of shaft arms; the drive torques of the motors are determined based on the target angular velocities of the shaft arms and the measured angular velocities of the shaft arms.

In this embodiment, the control method shown in fig. 15 and 16 is adopted, the processor 12 first determines position errors of a plurality of shaft arms in the pan/tilt, the position error of each shaft arm can be determined according to the target attitude of the pan/tilt, the target angular velocity of each shaft arm is determined according to the position error of each shaft arm, the sensor of the pan/tilt measures the measured angular velocity of each shaft arm, the error of the angular velocity is obtained according to the measured angular velocity and the target angular velocity, the specific torque required by the motor can be calculated according to the error of the angular velocity to obtain the angular velocity reaching the target angular velocity, so as to determine the driving torque of each motor, and the motor is controlled to output the driving torque according to the driving torque, so that when the attitude error of the pan/tilt is small, the processor 12 does not control the motor to output a small angular velocity, and therefore the motor does not output a large torque for a long time under the condition of large static friction force, and then reduced the motor because the circumstances that the hindrance of static friction does not rotate and lead to generates heat and the consumption rises, when having reduced the electric energy consumption, still prolonged the life of motor in the cloud platform to user's use experience has been improved.

Specifically, as shown in the current position dual-loop control block diagram of the pan/tilt motor shown in fig. 15, the pan/tilt receives an external command, determines a target attitude of the pan/tilt, and obtains a measurement control deviation of the pan/tilt by making a difference between the target attitude of the pan/tilt and the measurement attitude of the base, determining the angular speed output of the motor according to the obtained measurement control deviation of the pan-tilt, wherein the control method can increase the angular speed output by the motor along with the increase of the measurement control deviation, but the motor can not act when the angular speed can not overcome the static friction force, on the basis of the control method, a controller is added again, such as the control block diagram shown in fig. 16, the angular speed output by the motor is not changed when the measurement control deviation of the holder is in the specified preset range, therefore, the problems of motor heating and power consumption increase caused by only speed loop control when the measurement control deviation is small are solved.

In another embodiment of the present application, preferably, the processor 12 executes a process of determining position errors of the plurality of axis arms according to the target attitude of the pan/tilt head, specifically including: confirming a cradle head attitude error according to the target attitude of the cradle head and the measurement attitude of the cradle head; and converting the attitude errors of the holder according to a preset algorithm to confirm the position errors of the multiple shaft arms.

In another embodiment of the present application, preferably, the preset algorithm is a jacobian inverse matrix algorithm.

In this embodiment, because there are multiple axis arms in the pan/tilt, when the processor 12 controls the overall attitude of the pan/tilt, the position error of each axis arm in the pan/tilt is different, so that the attitude of each axis arm in the pan/tilt needs to be controlled, when the processor 12 determines the position error of each axis arm in the pan/tilt, the attitude error of the pan/tilt can be calculated according to the target attitude of the pan/tilt and the measured attitude of the pan/tilt, and the position errors of the multiple axis arms are calculated according to the attitude error of the pan/tilt through the inverse matrix of the jacobian matrix, wherein the jacobian matrix can convert the spatial coordinate system into a two-dimensional coordinate system through calculation, the position error of the entire pan/tilt can be converted into a two-dimensional error corresponding to each axis arm through the jacobian matrix, thereby obtaining the position error of each axis arm, the processor 12 outputs the motors corresponding to each axis arm with different torques, therefore, the overall posture of the cradle head can be accurately controlled.

As shown in fig. 10, embodiments of the third aspect of the present application provide a pan/tilt head 20 comprising a plurality of shaft arms, including a yaw shaft arm 222, a pitch shaft arm 224, and a roll shaft arm 226;

a plurality of motors for driving the plurality of shaft arms to rotate the plurality of motors, which are a yaw motor 242, a pitch motor 244, and a roll motor 246;

the base is connected with the yaw shaft arm;

the controller is used for confirming the measurement control deviation of the holder according to the target posture of the holder and the measurement posture of the base; based on the condition that the measurement control deviation of cloud platform is in the predetermined scope, control a plurality of motors output appointed moment of torsion to drive a plurality of armshafts respectively and rotate.

The present application provides a tripod head, which comprises the controller 10 in any of the above embodiments, a plurality of shaft arms including a yaw shaft arm, a pitch shaft arm, and a roll shaft arm, wherein in a spatial coordinate system of the tripod head, the pitch shaft rotates along an x-axis, the base is controlled to pitch, the roll shaft rotates along a z-axis, the base is controlled to roll back and forth, the yaw shaft rotates along a y-axis, the base is controlled to roll left and right, and a plurality of motors for driving the plurality of shaft arms, each motor controls the rotation of one shaft arm, and the yaw shaft arm, the pitch shaft arm, and the roll shaft arm are respectively controlled by three motors to control the attitude of the base, a measurement control deviation is obtained by making the measurement attitude of the base obtained by the controller 10 and an input target attitude of the tripod head, wherein the measurement attitude of the base is an actual attitude of the base after the action of the tripod head, and the target attitude of the tripod head is a preset attitude expected according to an operation instruction, because various friction forces exist between a holder base and a shaft arm or other movable positions, the deviation between a measuring posture and a target posture of a holder is easy to generate, the measuring control deviation can be obtained by comparing the measuring posture of the base with the target posture of the holder, when a motor is controlled to perform low-speed action, the motor can possibly output large torque moment for a long time due to the large static friction force of the motor, but the motor does not generate actual action to cause the heating of the motor and the increase of power consumption, a preset range is set for the measuring control deviation, whether the measuring control deviation is in the preset range or not is judged, if the measuring control deviation is out of the range, the motor can be considered not to overcome the friction force to generate actual action, the motor is controlled to directly output preset specified torque, so that a plurality of shaft arms are driven to rotate, and the error of the posture of the holder is small, the motor is controlled to output at the minimum speed, so that the phenomenon that the motor outputs large torque for a long time under the condition that actual action does not occur is avoided, and the power consumption rise caused by heating of the motor under the condition that the error is small is prevented.

In the specific embodiment, the controller 10 receives a control instruction, controls a plurality of motors to control a plurality of corresponding shaft arms of the pan/tilt head to move according to the control instruction, wherein the control instruction includes an expected position of the control shaft arm, but the actual moving position of the shaft arm does not reach the expected position due to large static friction force inside the motor itself, after the sensor detects the actual position of the shaft arm movement, the sensor determines the measurement control deviation of the pan/tilt head, that is, the position error of the pan/tilt head, according to the expected position of each shaft arm and the actual position of each shaft arm, determines whether the measurement control error of the pan/tilt head is within a preset range, if the measurement control error is outside the preset range, the sensor directly controls the motor to output a specified torque to drive the shaft arm to rotate to a desired attitude, so that the motor output and very small expected speed when the pan/tilt head has a small attitude error are avoided, meanwhile, when the holder has a large attitude error, a large angular velocity enough to overcome static friction force can be generated, so that the problems of heating and power consumption increase caused by the fact that the motor outputs large torque under the condition of not overcoming the static friction force for a long time are solved.

In an embodiment of the present application, preferably, the controller 10 executes a process of controlling the plurality of motors to output the designated torques based on a condition that the measured control deviation of the pan/tilt is within a preset range, specifically including: determining that the measurement control deviation is within a preset range according to the measurement control deviation, the control deviation and the following speed curve; the control deviation and following speed curve is a relation curve of the shaft arm following speed of any one of the shaft arms and the control deviation of the holder; determining the designated torque according to the shaft arm following speed corresponding to the measurement control deviation; the plurality of motors are controlled to output a specified torque.

In this embodiment, according to the control deviation and following speed curve shown in fig. 11, where the control deviation and following speed curve can be used for a relation curve between the following speed output by the motor of any one of the axes in the pan/tilt head during control and the measurement control deviation of the pan/tilt head, the measurement attitude of the base includes the measurement attitude of the base of each axis, the controller 10 determines the measurement control deviation of each axis according to the measurement attitude of each axis and the target attitude of the pan/tilt head, and the output following speed of the motor corresponding to each axis can be obtained through the control deviation and following speed curve according to the measurement control deviation of each pan/tilt head, so as to determine the output torque of the motor controlling the rotation of each axis, and further enable each motor to control each axis to achieve the desired attitude.

As shown in fig. 12, the relationship between the follow-up speed and the measurement control deviation in the related art is that after the measurement control deviation is generated, when the measurement control deviation is small, the motor may increase the angular speed along with the increase of the measurement control deviation due to the direct use of the speed loop control, and when the angular speed is increased, the output torque of the motor cannot overcome the friction force to drive the motor to rotate, thereby causing the problem of heating of the motor.

In another embodiment of the present application, the controller 10 preferably obtains the control deviation versus following speed curve by: acquiring a control deviation and a following speed curve prestored in a storage of the holder; or acquiring a control deviation and a following speed curve in a control command received by the communication device of the holder.

In this embodiment, the control deviation and the following speed curve for the controller 10 to perform the operation processing may be stored in a memory in the pan/tilt, or may be carried in a control command received from the outside by using a communication device of the pan/tilt, and the curve may be updated at any time by receiving the control deviation and the following speed curve transmitted from the outside, so as to adjust the curve according to the actual use condition.

In another embodiment of the present application, preferably, the pan/tilt head comprises a communication device, the communication device being capable of communicating with the somatosensory controller, the target attitude of the pan/tilt head being obtained by: receiving cradle head measurement data sent by the somatosensory controller; and confirming the target attitude of the holder according to the holder measurement data.

In this embodiment, the controller 10 obtains the target attitude of the pan/tilt head through the body sensing controller, the body sensing controller includes a sensor, the sensor includes an inertial measurement component and a compass, the attitude information and the speed information of the body sensing controller can be measured, and the pan/tilt head measurement data can be determined according to the attitude information and the speed information, the body sensing controller further includes a transmitter, the transmitter is a wireless signal transmitter, the body sensing controller transmits the pan/tilt head measurement data to the pan/tilt head through the transmitter, and the pan/tilt head determines the target attitude of the pan/tilt head according to the pan/tilt head measurement data.

In another embodiment of the present application, the pan-tilt measurement data is angular velocity data of the pan-tilt, and the controller 10 is further configured to: determining a target angular velocity of the holder according to the angular velocity data of the holder; and integrating the target angular velocity of the holder to determine the target attitude of the holder.

In this embodiment, the pan-tilt measurement data is angular velocity data, the angular velocity information is angular velocity of the body-sensing controller in the geodetic coordinate system, a gravity direction vector is obtained by an accelerometer in the inertial measurement component, a geomagnetic direction is obtained by a compass, the controller 10 obtains an east-oriented vector by performing difference integration on the gravity direction and the geomagnetic direction, obtains a north-oriented vector by performing difference integration on the gravity direction vector and the east-oriented vector, forms a reference spatial attitude cosine matrix by using the gravity direction vector, the north-oriented vector and the east-oriented vector, converts the reference spatial attitude cosine matrix into an attitude quaternion, performs extended kalman filter fusion filtering on the attitude quaternion to obtain final target attitude information, controls the pan-tilt by the body-sensing controller, and can make interaction experience between a user and the pan-tilt better, the use experience of the user is improved.

In another embodiment of the present application, preferably, the cradle head includes a communication device, the communication device is capable of communicating with the terminal equipment, and the controller 10 obtains the target attitude of the cradle head by the following process: the control communication device receives a control instruction sent by the terminal equipment, wherein the control instruction comprises a target posture of the holder; the target posture of the holder is generated by the terminal equipment according to the motion track of the control instruction, and the control instruction is received by a setting panel of the terminal equipment.

In this embodiment, the cradle head further includes a communication device for communicating with other devices, the controller 10 obtains the target attitude of the cradle head through the communication device of the cradle head, the controller 10 can receive the control instruction of the user for controlling the cradle head through the data input of the setting panel of the terminal, wherein the control command comprises a motion track for controlling the motion of the pan-tilt, the terminal can generate the posture of the pan-tilt after moving according to the control command according to the motion track simulation, namely the target attitude of the holder, the target attitude of the holder is added into the control instruction, the communication device of the holder is in communication connection with the communication device of the holder through the communication device of the terminal, and the control instruction is sent to the holder, therefore, the cloud platform can acquire the target posture of the cloud platform, and the cloud platform is connected with other terminals, so that the effect of remotely controlling the cloud platform is achieved, and for example, a user can use a computer or a mobile terminal to control the action of the cloud platform.

In another embodiment of the present application, preferably, the controller 10 obtains the target attitude of the pan/tilt head by: and acquiring a setting instruction received by a control handle of the holder, wherein the setting instruction comprises a target posture of the holder.

In this embodiment, controller 10 acquires cloud platform target gesture through the brake valve that cloud platform self has, cloud platform self has the brake valve who controls the action of cloud platform, and brake valve has the setting panel, controller 10 acquires the setting instruction that the user passes through the setting panel input, the user can directly send the setting instruction that has the target gesture of cloud platform to the cloud platform through this brake valve, the structure that the setting handle can be for being connected with the cloud platform, be applicable to handheld cloud platform, and will set up the handle setting at the holding rod position, can adjust the gesture of cloud platform through the operation setting handle.

In another embodiment of the present application, preferably, the controller 10 obtains the target attitude of the pan/tilt head by: and receiving the actual posture of a control handle of the holder, and taking the actual posture of the control handle as the target posture of the holder.

In this embodiment, cloud platform self has the brake valve lever of induction type, including inertial measurement subassembly in this brake valve lever, can detect brake valve lever's gesture, when the user changes brake valve lever's gesture, controller 10 measures and takes notes brake valve lever's gesture through inertial measurement subassembly, regard brake valve lever's gesture as the target gesture of cloud platform simultaneously, brake valve lever of somatosensory type does not need the user to pass through various parameters of panel input, directly regard the gesture of handle itself of somatosensory type as the target gesture of cloud platform, the user has been simplified the setting to the cloud platform gesture, convenience of customers operates, a large amount of loaded down with trivial details operations have been saved, thereby user's use experience has been improved.

In another embodiment of the present application, preferably, the pan/tilt head further includes: the inertial measurement unit is used for acquiring the measurement attitude and the joint angle of the holder and sending the measurement attitude and the joint angle of the holder to the controller 10; the controller 10 is further configured to confirm the measurement attitude of the base according to the measurement attitude and the joint angle of the pan/tilt; wherein the joint angle is an angle of the plurality of axis arms with respect to a joint coordinate system of the pan/tilt head.

In this embodiment, the joint angle is an angle of a plurality of shaft arms to a joint coordinate system of the pan/tilt head, the base is a structure for placing a camera in the pan/tilt head, because the base is connected to the shaft arms, the attitude of the base can be determined by the attitude and the joint angle of the pan/tilt head, an inertial measurement component is disposed in the pan/tilt head, the controller 10 receives the measurement attitude and the joint angle that can be obtained by the inertial measurement component, and the controller 10 determines the measurement attitude of the base according to the received measurement attitude and the joint angle of the pan/tilt head.

In another embodiment of the present application, preferably, based on the fact that the measured control deviation of the pan/tilt head is outside the preset range, the controller 10 is further configured to: confirming the driving torques of a plurality of motors according to the target postures of the holder; and controlling the plurality of motors to output the driving torque.

In this embodiment, the controller 10 determines whether the measurement control deviation of the pan/tilt is within a preset range, and when the measurement control deviation of the pan/tilt is within the preset range, it may determine that the position error of the pan/tilt is not large, and at this time, it is not necessary to change the rotation speeds of the plurality of motors, so that the plurality of motors can maintain the initial minimum rotation speed, even if the plurality of motors output the designated torque, and when the measurement control deviation of the pan/tilt is determined to be outside the preset range, it may be determined that the position error of the pan/tilt is too large, and at this time, it is necessary to control the plurality of motors to increase the torque so as to accelerate the rotation speeds of the plurality of motors, so that the pan/tilt recovers to the target attitude as soon as possible, thereby solving the problems of heating and power consumption increase caused by the motors outputting a large torque without overcoming the, the problem that the heating power consumption of the motor is increased due to overlarge static friction force is solved while the speed of adjusting the holder is ensured.

In another embodiment of the present application, preferably, the controller 10 performs a process of confirming the driving torques of the plurality of motors according to the target attitude of the pan/tilt head, specifically including: determining position errors of a plurality of shaft arms according to the target postures of the holder; confirming target angular velocities of the plurality of shaft arms according to the position errors of the plurality of shaft arms; the drive torques of the motors are determined based on the target angular velocities of the shaft arms and the measured angular velocities of the shaft arms.

In this embodiment, the control method shown in fig. 15 and 16 is adopted, the controller 10 first determines position errors of a plurality of shaft arms in the pan/tilt head, the position error of each shaft arm can be determined according to the target attitude of the pan/tilt head, the target angular velocity of each shaft arm is determined according to the position error of each shaft arm, the sensor of the pan/tilt head can measure the measured angular velocity of each shaft arm, the error of the angular velocity can be obtained according to the measured angular velocity and the target angular velocity, the specific torque required by the motor can be calculated according to the error of the angular velocity to obtain the angular velocity reaching the target angular velocity, so as to determine the driving torque of each motor, and the motor is controlled to output the driving torque according to the driving torque, so that when the attitude error of the pan/tilt head is small, the controller 10 does not control the motor to output a small angular velocity, and therefore the motor does not output a large torque for a long time under the condition of a large, and then reduced the motor because the circumstances that the hindrance of static friction does not rotate and lead to generates heat and the consumption rises, when having reduced the electric energy consumption, still prolonged the life of motor in the cloud platform to user's use experience has been improved.

In another embodiment of the present application, preferably, the controller 10 executes a process of determining position errors of the plurality of axis arms according to the target attitude of the pan/tilt head, specifically including: confirming a cradle head attitude error according to the target attitude of the cradle head and the measurement attitude of the cradle head; and converting the attitude errors of the holder according to a preset algorithm to confirm the position errors of the multiple shaft arms.

In this embodiment, because there are multiple axis arms in the pan/tilt, when the controller 10 controls the overall attitude of the pan/tilt, the position error of each axis arm in the pan/tilt is different, so that the attitude of each axis arm in the pan/tilt needs to be controlled, when the controller 10 determines the position error of each axis arm in the pan/tilt, the attitude error of the pan/tilt can be calculated according to the target attitude of the pan/tilt and the measured attitude of the pan/tilt, and the position errors of the multiple axis arms are calculated according to the attitude error of the pan/tilt through the inverse matrix of the jacobian matrix, wherein the jacobian matrix can convert the spatial coordinate system into a two-dimensional coordinate system through calculation, the position error of the entire pan/tilt can be converted into a two-dimensional error corresponding to each axis arm through the jacobian matrix, thereby obtaining the position error of each axis arm, the controller 10 outputs the motors corresponding to each axis arm with different torques, therefore, the overall posture of the cradle head can be accurately controlled.

An embodiment of a fourth aspect of the present application provides an unmanned mobile platform, including the cradle head in any of the above embodiments, so that the beneficial effects of the cradle head in any of the above embodiments are achieved, and details are not repeated herein.

Embodiments of a fifth aspect of the present application propose a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the pan-tilt control method of any of the above embodiments. Therefore, the beneficial effects of the pan/tilt control method in any of the above embodiments are achieved, and are not described herein again.

In particular, computer-readable storage media may include any medium that can store or transfer information. Examples of computer readable storage media include electronic circuits, semiconductor memory devices, ROM, flash memory, Erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, Radio Frequency (RF) links, and so forth. The code segments may be downloaded via computer networks such as the internet, intranet, etc.

In this application, the term "plurality" means two or more unless explicitly defined otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A control method of a pan-tilt head, the pan-tilt head comprising a base, a plurality of shaft arms and a plurality of motors, the motors being used for driving the shaft arms to rotate respectively, the control method comprising:

confirming the measurement control deviation of the holder according to the target posture of the holder and the measurement posture of the base;

and controlling the motors to output specified torques based on the condition that the measurement control deviation of the holder is within a preset range so as to respectively drive the shaft arms to rotate.

2. A method for controlling a pan/tilt head according to claim 1, wherein said controlling the plurality of motors to output a specified torque based on a condition that the measured control deviation of the pan/tilt head is within a preset range comprises:

determining that the measurement control deviation is within a preset range according to the measurement control deviation and the control deviation and following speed curve; wherein the control deviation and following speed curve is a relation curve of the shaft arm following speed of any one of the plurality of shaft arms and the control deviation of the pan-tilt;

determining the specified torque according to the shaft-arm following speed corresponding to the measurement control deviation;

controlling the plurality of motors to output the specified torque.

3. A control method of a head according to claim 2,

under the condition that the control deviation is within a preset range, the corresponding shaft arm is stable in fluctuation along with the speed change; and under the condition that the control deviation is out of the preset range, the corresponding shaft arm following speed and the control deviation are in positive correlation approximately.

4. A control method of a head according to claim 2, wherein said control deviation and follow-up speed curve is obtained by:

acquiring the control deviation and the following speed curve prestored in a memory of the holder; or

And acquiring the control deviation and the following speed curve in a control command received by a communication device of the holder.

5. A control method of a head according to claim 1, characterized in that said communication means of the head are able to communicate with a somatosensory controller, the target attitude of the head being obtained by:

receiving holder measurement data sent by the somatosensory controller;

and confirming the target posture of the holder according to the holder measurement data.

6. A method for controlling a pan/tilt head according to claim 5, wherein the pan/tilt head measurement data are angular velocity data of the pan/tilt head, and the process of determining the target attitude of the pan/tilt head according to the pan/tilt head measurement data specifically comprises:

determining a target angular velocity of the holder according to the angular velocity data of the holder;

and integrating the target angular velocity of the holder to determine the target attitude of the holder.

7. A control method of a pan/tilt head according to claim 1, characterized in that the communication means of the pan/tilt head are able to communicate with a terminal device, the target attitude of the pan/tilt head being obtained by:

controlling the communication device to receive a control instruction sent by the terminal equipment, wherein the control instruction comprises a target attitude of the holder;

the target posture of the holder is generated by the terminal equipment according to the motion track of the control instruction, and the control instruction is received by a setting panel of the terminal equipment.

8. A control method of a head according to claim 1, characterized in that said target attitude of the head is obtained by:

and receiving a setting instruction received by a control handle of the holder, wherein the setting instruction comprises the target posture of the holder.

9. A control method of a head according to claim 1, characterized in that said target attitude of the head is obtained by:

10. A control method of a head according to any one of claims 1 to 9, wherein the measured attitude of the base is obtained by:

acquiring the measurement attitude and the joint angle of the base of the holder;

confirming the measuring attitude of the base according to the measuring attitude of the base of the holder and the joint angle; wherein the joint angle is an angle of the plurality of axis arms with respect to a joint coordinate system of the pan/tilt head.

11. A control method of a head according to claim 10, said head comprising an inertial measurement unit, characterized in that said process of acquiring a measurement attitude and a joint angle of a base of said head specifically comprises:

and controlling the inertia measurement unit to acquire the measurement attitude and the joint angle of the base of the holder.

12. A control method of a head according to any one of claims 1 to 11, characterized in that it further comprises:

confirming the driving torques of the motors according to the target postures of the holder on the basis of the condition that the measurement control deviation of the holder is out of the preset range;

controlling the plurality of motors to output the driving torque.

13. A control method of a pan and tilt head according to claim 12, wherein the process of confirming the driving torques of the plurality of motors according to the target attitude of the pan and tilt head comprises:

determining position errors of the plurality of shaft arms according to the target postures of the holder;

confirming target angular velocities of the plurality of shaft arms according to the position errors of the plurality of shaft arms;

and confirming the driving torques of the motors according to the target angular speeds of the shaft arms and the measured angular speeds of the shaft arms.

14. A control method of a head according to claim 13, wherein the process of determining the position errors of said plurality of axial arms according to the target attitude of said head comprises:

confirming a holder attitude error according to the target attitude of the holder and the measurement attitude of the base of the holder;

and converting the attitude error of the holder according to a preset algorithm to confirm the position errors of the multiple shaft arms.

15. A control method of a pan and tilt head according to claim 14,

the preset algorithm is a Jacobian inverse matrix algorithm.

16. A controller, comprising:

a processor and a memory, the memory having stored therein a computer program, the processor executing the computer program stored in the memory to implement:

and controlling a plurality of motors of the holder to output specified torque based on the condition that the measurement control deviation of the holder is within a preset range so as to respectively drive a plurality of shaft arms of the holder to rotate.

17. The controller according to claim 16, wherein the processor performs a process of controlling the plurality of motors of the pan/tilt head to output a specified torque based on a condition that the measured control deviation of the pan/tilt head is within a preset range, specifically comprising:

controlling the plurality of motors to output the specified torque.

18. The controller of claim 17,

19. The controller of claim 17, wherein the processor obtains the control deviation versus follow speed profile by:

20. The controller of claim 16, wherein the communication device of the pan/tilt head is capable of communicating with a somatosensory controller, and the processor obtains the target attitude of the pan/tilt head by:

receiving holder measurement data sent by the somatosensory controller;

21. The controller of claim 20, wherein the pan-tilt measurement data is angular velocity data of the pan-tilt, the processor further configured to:

22. The controller according to claim 16, wherein the communication device of the pan/tilt head is capable of communicating with a terminal device, and the processor obtains the target attitude of the pan/tilt head by:

23. The controller of claim 16, wherein the processor obtains the target pose of the pan/tilt head by:

24. The controller of claim 16, wherein the processor obtains the target pose of the pan/tilt head by:

25. The controller according to any one of claims 16 to 24, wherein: the processor obtains the measured attitude of the base by:

confirming the measuring attitude of the base according to the measuring attitude of the base of the holder and the joint angle; wherein the joint angle is an angle of a plurality of axis arms of the head with respect to a joint coordinate system of the head.

26. The controller according to claim 25, wherein the pan/tilt head comprises an inertial measurement unit, and wherein the processor performs a process of obtaining a measurement attitude and a joint angle of a base of the pan/tilt head, and specifically comprises:

27. The controller according to any one of claims 16 to 26, wherein the processor is further configured to, based on the measured control deviation of the pan/tilt head being outside a preset range:

confirming the driving torques of the motors according to the target postures of the holder;

controlling the plurality of motors to output the driving torque.

28. The controller according to claim 27, wherein the processor performs a process of confirming the driving torques of the plurality of motors according to the target attitude of the pan/tilt head, specifically comprising:

29. The controller according to claim 28, wherein the processor performs a process of determining position errors of the plurality of axis arms according to the target attitude of the pan/tilt head, specifically comprising:

30. The controller of claim 29,

the preset algorithm is a Jacobian inverse matrix algorithm.

31. A head, comprising:

a plurality of shaft arms including a yaw shaft arm, a pitch shaft arm and a roll shaft arm;

the motors drive the shaft arms to rotate;

the base is connected with the yaw shaft arm;

the controller is used for confirming the measurement control deviation of the holder according to the target posture of the holder and the measurement posture of the base; and controlling the motors to output specified torques based on the condition that the measurement control deviation of the holder is within a preset range so as to respectively drive the shaft arms to rotate.

32. A head according to claim 31, wherein said controller performs a process of controlling said plurality of motors to output a given torque based on a condition that a measured control deviation of said head is within a preset range, in particular comprising:

controlling the plurality of motors to output the specified torque.

33. A head according to claim 32,

34. A head according to claim 32, wherein said controller derives said control deviation versus follow velocity profile by:

35. A head according to claim 31, characterized in that it comprises communication means able to communicate with a somatosensory control, the target attitude of said head being obtained by:

receiving holder measurement data sent by the somatosensory controller;

36. A head according to claim 35, wherein said head measurement data are angular velocity data of said head, said controller being further configured to:

37. A head according to claim 31, wherein said head comprises communication means able to communicate with a terminal device, said controller obtaining said target attitude of said head by:

38. A head according to claim 31, wherein said controller obtains said target attitude of the head by:

and acquiring a setting instruction received by a control handle of the holder, wherein the setting instruction comprises a target posture of the holder.

39. A head according to claim 31, wherein said controller obtains said target attitude of the head by:

40. A head according to any one of claims 31 to 39, wherein said head further comprises:

the inertial measurement unit is used for acquiring the measurement attitude and the joint angle of the base of the holder and sending the measurement attitude and the joint angle of the base of the holder to the controller;

the controller is also used for confirming the measuring attitude of the base according to the measuring attitude of the base of the holder and the joint angle; wherein the joint angle is an angle of the plurality of axis arms with respect to a joint coordinate system of the pan/tilt head.

41. A head according to any one of claims 31 to 40, wherein said controller is further configured, based on a measured control deviation of said head being outside a preset range:

controlling the plurality of motors to output the driving torque.

42. A head according to claim 41, wherein said controller carries out a process of determining the driving torques of said plurality of motors according to a target attitude of said head, in particular comprising:

43. A head according to claim 42, wherein said controller performs a process of determining position errors of said plurality of axial arms as a function of a target attitude of said head, in particular comprising:

44. A head according to claim 43,

the preset algorithm is a Jacobian inverse matrix algorithm.

45. An unmanned mobile platform, comprising a pan-tilt head according to any one of claims 31 to 44.

46. A computer-readable storage medium, on which a computer program is stored, characterized in that said computer program, when being executed by a processor, carries out the steps of a method for controlling a head according to any one of claims 1 to 15.