CN114585986A

CN114585986A - Detection method and device of holder, movable platform and storage medium

Info

Publication number: CN114585986A
Application number: CN202080067361.1A
Authority: CN
Inventors: 林荣华
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2020-12-22
Filing date: 2020-12-22
Publication date: 2022-06-03
Also published as: WO2022133732A1

Abstract

A detection method and device for a holder, a movable platform and a storage medium are provided. Wherein, cloud platform includes: the image acquisition device comprises a base and a machine body connected with the base, wherein the machine body is used for bearing the image acquisition device; the method further comprises the following steps: in the process of moving the mirror by the holder, acquiring a first operation state of the base for identifying the mirror moving effect of the base, and determining a second operation state of the body for identifying the mirror moving effect of the body; detecting whether the holder is in a normal state or not based on the first running state and the second running state; when the cloud platform is in normal state, the fortune mirror effect of cloud platform satisfies the preset condition. The technical scheme that this embodiment provided, at the in-process of cloud platform fortune mirror, can confirm whether the cloud platform is in normal condition based on whether base operation effect and fuselage fortune mirror effect satisfy the preset condition to can discern whether the fortune mirror effect of cloud platform receives the influence of factors such as external motion, be convenient for carry out the division of after-sale problem based on the running state of cloud platform, be favorable to promoting user's operating skill.

Description

Detection method and device of holder, movable platform and storage medium

Technical Field

The embodiment of the invention relates to the technical field of cloud platforms, in particular to a cloud platform detection method, a cloud platform detection device, a movable platform and a storage medium.

Background

With the rapid development of the movable platform technology, the application field of the movable platform is more and more extensive, and taking a handheld cradle head as the movable platform as an example, the portable cradle head is widely applied to the field of shooting. When a user operates the handheld tripod head to perform shooting operation, the mirror moving effect of the tripod head is not only related to the stability of the tripod head, but also influenced by factors such as the gesture (for example, the pace speed and the shaking condition) of the user operating the handheld tripod head.

Therefore, there is a need for a method for detecting a pan/tilt head to identify whether the mirror moving effect of the pan/tilt head is affected by external motion (e.g., pace speed of user operation, jitter of user), so as to ensure or improve the quality of the mirror moving effect.

Disclosure of Invention

The embodiment of the invention provides a detection method and device of a cloud deck, a movable platform and a storage medium, which are used for identifying whether the mirror moving effect of the cloud deck is influenced by factors such as external motion (for example, the pace speed of user operation and the shaking condition of a user) and the like, so that the quality of the mirror moving effect is ensured or improved conveniently.

The first aspect of the present invention is to provide a method for detecting a pan/tilt head, wherein the pan/tilt head includes: the image acquisition device comprises a base and a machine body connected with the base, wherein the machine body is used for bearing the image acquisition device; the method further comprises the following steps:

in the process of moving the mirror by the holder, acquiring a first operation state of the base for identifying the mirror moving effect of the base, and determining a second operation state of the body for identifying the mirror moving effect of the body;

detecting whether the holder is in a normal state or not based on the first running state and the second running state; when the cloud platform is in normal state, the fortune mirror effect of cloud platform satisfies the preset condition.

A second aspect of the present invention is to provide a detection apparatus for a pan/tilt head, wherein the pan/tilt head includes: the image acquisition device comprises a base and a machine body connected with the base, wherein the machine body is used for bearing the image acquisition device; the device further comprises:

a memory for storing a computer program;

a processor for executing a computer program stored in the memory to implement:

A third aspect of the present invention is to provide a movable platform, comprising:

a platform body;

the detection device of the cradle head according to the second aspect is disposed on the platform main body, and is configured to detect whether the cradle head is in a normal state.

A fourth aspect of the present invention is to provide a computer-readable storage medium, wherein the storage medium is a computer-readable storage medium, and program instructions are stored in the computer-readable storage medium, and the program instructions are used for the detection method of the pan and tilt head according to the first aspect.

According to the detection method and device for the pan/tilt/zoom, provided by the embodiment of the invention, in the process of moving the mirror by the pan/tilt/zoom, the first running state of the base and the second running state of the body are obtained, and after the first running state and the second running state are obtained, the first running state and the second running state can be analyzed to determine whether the running effect of the base and the mirror moving effect of the body meet the preset conditions, and then whether the pan/tilt/zoom is in the normal state can be determined based on the analysis result whether the running effect of the base and the mirror moving effect of the body meet the preset conditions; moreover, the mirror-transporting effect corresponding to the base and the body when the holder is in a normal state or an abnormal state can be known, so that whether the mirror-transporting effect of the holder is influenced by factors such as external motion (for example, the pace speed of user operation and the shaking condition of a user) can be effectively recognized, the after-sale problems can be conveniently divided based on the operation state of the holder, the operation skill of the user can be favorably improved, the quality of the mirror-transporting effect can be further ensured or improved, and the stability and the reliability of the use of the method can be effectively improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

fig. 1 is a schematic flow chart of a method for detecting a pan/tilt head according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a three-axis pan-tilt provided in an embodiment of the present invention;

fig. 3 is a schematic flowchart of acquiring a first operation state of the base for identifying a mirror moving effect of the base according to an embodiment of the present invention;

fig. 4 is a first schematic flowchart illustrating a process of determining a first operating state of the base based on the first motion characteristic according to an embodiment of the present invention;

fig. 5 is a second schematic flowchart illustrating a process of determining a first operation state of the base based on the first motion characteristic according to the embodiment of the present invention;

fig. 6 is a schematic diagram of second spectrum information according to an embodiment of the present invention;

fig. 7 is a schematic flow chart illustrating a process of determining a second operating state of the body for identifying a mirror operation effect of the body according to the embodiment of the present invention;

fig. 8 is a first flowchart illustrating a process of determining a second operating state of the body for identifying a mirror-moving effect of the body based on the second motion characteristic according to the embodiment of the present invention;

fig. 9 is a second schematic flowchart of determining a second operating state of the body for identifying the mirror-moving effect of the body based on the second motion characteristic according to the embodiment of the present invention;

fig. 10 is a schematic flowchart of a process of acquiring a first operating state of the base for identifying a mirror-moving effect of the base and determining a second operating state of the body for identifying a mirror-moving effect of the body according to an embodiment of the present invention;

FIG. 11 is a schematic diagram of a plurality of displacement signatures obtained according to an embodiment of the present invention;

fig. 12 is a schematic flow chart of another pan/tilt head detection method according to an embodiment of the present invention;

fig. 13 is a schematic structural diagram of a detection device of a pan/tilt head according to an embodiment of the present invention;

fig. 14 is a schematic structural diagram of a movable platform according to an embodiment of the present invention.

Detailed Description

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

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

In order to understand the specific implementation process of the technical solution in this embodiment, the following briefly describes the related art:

with the rapid development of scientific technology, the technology of the movable platform is more and more mature, so that the application field of the movable platform is more and more extensive. Taking a handheld cloud platform as an example, the current handheld cloud platform is not popularized yet, and when most users take the handheld cloud platform, especially when the cloud platform is a three-axis cloud platform, stable video pictures can be randomly shot.

Specifically, when a user operates the handheld tripod head to perform a shooting operation, the mirror moving effect of the tripod head is not only related to the stability of the tripod head, but also affected by the posture (e.g., pace speed, shaking condition) of the user operating the handheld tripod head. Taking the three-axis pan-tilt as a handheld pan-tilt, in the process of image shooting operation, the three-axis pan-tilt can solve the unstable effect of moving the mirror due to the attitude of the pan-tilt, but cannot solve the problem of unstable up-and-down movement of the picture due to the attitude (for example, pace speed and jitter) of the handheld pan-tilt operated by the user.

In summary, the prior art only provides a control method for a movable platform, but does not provide a method capable of evaluating the operation level of a user, so that it cannot be identified whether the mirror moving effect of the pan/tilt head is affected by external motion (for example, the pace speed of user operation, the shaking condition of the user) and other factors, and meanwhile, after-sale problems cannot be divided, and it is not beneficial to improve the operation skill of the user on the pan/tilt head.

In order to solve the above technical problem, the present embodiment provides a method and an apparatus for detecting a pan/tilt, a movable platform, and a storage medium. Wherein, the cloud platform can include: the image acquisition device comprises a base and a machine body connected with the base, wherein the machine body is used for bearing the image acquisition device, and the image acquisition device can be used for carrying out image acquisition operation. Specifically, the detection method can acquire a first running state of the base for identifying the mirror moving effect of the base in the process of moving the mirror by the holder, and determine a second running state of the body for identifying the mirror moving effect of the body; detecting whether the holder is in a normal state or not based on the first running state and the second running state; when the cloud platform is in normal state, the fortune mirror effect of cloud platform satisfies the preset condition.

In the method, the apparatus, the movable platform and the storage medium for detecting the pan/tilt head provided in this embodiment, the obtained first operating state may be used to identify whether the mirror-moving effect of the base meets the preset condition, the obtained second operating state may be used to identify whether the mirror-moving effect of the body meets the preset condition, after the first running state and the second running state are obtained, the first running state and the second running state can be analyzed to determine whether the base running effect and the body mirror operation effect meet the preset conditions, then, whether the cradle head is in a normal state can be determined based on the analysis result of whether the base operation effect and the body mirror operation effect meet the preset conditions, and it can be understood that, when the cloud platform is in a normal state, the mirror transporting effect of the cloud platform meets the preset condition, and when the cloud platform is in an abnormal state, the mirror transporting effect of the cloud platform does not meet the preset condition; moreover, the operation effect corresponding to the base and the machine body can be determined when the cradle head is in a normal state or an abnormal state, so that whether the mirror moving effect of the cradle head is influenced by factors such as external motion (for example, the pace speed of user operation and the shaking condition of a user) or not can be effectively identified, and meanwhile, after-sale problems can be divided, so that the operation skill of the user can be improved, the quality of the mirror moving effect can be further ensured or improved, and the stability and the reliability of the use of the method can be effectively improved.

Some embodiments of a method, an apparatus, a movable platform and a storage medium for detecting a pan/tilt head according to the present invention are described in detail below with reference to the accompanying drawings. The features of the embodiments and examples described below may be combined with each other without conflict between the embodiments.

Fig. 1 is a schematic flow chart of a method for detecting a pan/tilt head according to an embodiment of the present invention; fig. 2 is a schematic structural diagram of a three-axis pan-tilt provided in an embodiment of the present invention; referring to fig. 1-2, the present embodiment provides a method for detecting a pan/tilt head, where the pan/tilt head includes: the image acquisition device is a device with image acquisition capacity and image transmission capacity, and can be a camera, a video camera, a mobile phone with a shooting function, a tablet personal computer and the like in specific application. Taking a three-axis pan-tilt head as an example, as shown in fig. 2, the pan-tilt head 100 may include a base 10 and a body, and the body may include: the image capturing device comprises a first motor 104 for driving the image capturing device 200 to rotate around a first axis (yaw axis), a second motor 105 for driving the image capturing device 200 to rotate around a second axis (roll axis), a third motor 106 for driving the image capturing device 200 to rotate around a third axis (pitch axis), a first support 101 located between the first motor 104 and the second motor 105, and a second support 102 located between the second motor 105 and the third motor 106, wherein one end of the third motor 106 is connected with the image capturing device 200 or connected with a third support 103 for supporting the image capturing device 200. It can be understood that, for the pan/tilt heads with different structure types, the body may include different structural components, and those skilled in the art may set the specific structure included in the body according to the specific pan/tilt head type, which is not described herein again.

In addition, the main body of the detection method of the pan/tilt head may be a detection device of the pan/tilt head, and it is understood that the detection device may be implemented as software, or a combination of software and hardware; when the detection device executes the detection method, the influence degree of the mirror moving effect of the holder and the operation posture of the user on the posture of the holder can be evaluated, so that the problem that the level of the user operating the holder cannot be judged in the prior art is solved, the control level of the holder can be improved, and a more stable picture can be shot by the holder. Specifically, the method may include:

step S101: in the process of moving the mirror by the holder, a first running state of the base for identifying the mirror moving effect of the base is obtained, and a second running state of the body for identifying the mirror moving effect of the body is determined.

Step S102: detecting whether the holder is in a normal state or not based on the first running state and the second running state; when the cloud platform is in normal state, the fortune mirror effect of cloud platform satisfies the preset condition.

The following is a detailed description of the implementation process of each step:

The lens shot by the image acquisition device in motion is called a moving lens, and is called a moving mirror for short. When the pan-tilt mirror is moved, two implementation modes exist: one implementation mode is that the cradle head is controlled to automatically move according to a preset route, so that an image acquisition device arranged on the cradle head can perform image shooting operation in motion; the other implementation mode is that the user holds the holder to move, namely the user moves and then drives the holder to move, so that the image acquisition device arranged on the holder can perform image shooting operation in motion.

When the second implementation manner is used for realizing the cloud deck mirror moving, the mirror moving effect of the cloud deck is not only related to the stability of the cloud deck, but also influenced by factors such as the posture (for example, the pace speed and the jitter condition) of the cloud deck operated by the user. For example: when the user holds the cloud platform and carries out the rapid draing, the fortune mirror effect of cloud platform can correspond effect one, and this effect one can include: the scene acquired by the image acquisition device is faster in conversion and faster in image switching speed. When the user holds the holder to move slowly, the mirror moving effect of the holder can correspond to the second effect, and the second effect can include: the scene acquired by the image acquisition device is slower in conversion and the image switching speed is slower. When the arm shake of the handheld cloud platform of user is great, the fortune mirror effect of cloud platform can correspond effect three, and this effect three can include: the image acquired by the image acquisition device has larger jitter amplitude. When the arm of the user handheld cloud platform is comparatively steady, the fortune mirror effect of cloud platform can correspond effect four, and this effect four can include: the image collected by the image collecting device is stable.

Because the mirror-moving effect of the holder is influenced by the posture of the holder operated by the user, in order to accurately detect the mirror-moving effect of the holder, a first operation state of the base for identifying the mirror-moving effect of the base can be acquired in the mirror-moving process of the holder, wherein the first operation state is used for identifying the mirror-moving effect of the base, and it can be understood that different mirror-moving effects of the bases can correspond to different first operation states. For example: when the base mirror moving effect meets the preset condition, the first operation state can be a first normal state; when the base mirror moving effect does not meet the preset condition, the first running state may be a first abnormal state, specifically, the preset condition may be a condition that is preset by a user and used for detecting whether the mirror moving effect of the base meets the shooting requirement or the use requirement, and it can be understood that the user may set different preset conditions based on different application scenes and application requirements.

It should be noted that, when the user holds the pan/tilt head to move, the pan/tilt head component directly contacted by the user is the base, and the pan/tilt head can be controlled to move through the base. Therefore, the mirror moving effect of the base can reflect the influence degree of the posture of the user operating the pan/tilt head on the pan/tilt mirror moving, for example: when the first running state of the base is the first normal state, the mirror transporting effect of the base meets the preset condition, then the influence degree of the posture of the user operating the holder on the mirror transporting effect of the holder is smaller, and therefore the posture of the user operating the holder can be determined to be more appropriate. When the first running state of the base is the first abnormal state, the mirror transporting effect of the base does not meet the preset condition, then the influence degree of the posture of the user operating the holder on the mirror transporting effect of the holder is large, and the posture of the user operating the holder can be determined to be adjusted and optimized.

In addition, in order to identify whether the mirror-moving effect of the pan-tilt is affected by factors such as external motion (for example, the pace speed of user operation, the shaking condition of a user) and the like, in the process of mirror-moving by the pan-tilt, a second operation state of the body for identifying the mirror-moving effect of the body can be determined, wherein the second operation state is used for identifying the mirror-moving effect of the body, and it can be understood that different mirror-moving effects of the body can correspond to different second operation states. For example: when the mirror moving effect of the body meets the preset condition, the second operation state can be a second normal state; when the body mirror moving effect does not meet the preset condition, the second running state may be a second abnormal state, where the preset condition may be a condition that is preset by a user and used for detecting whether the mirror moving effect of the body meets the shooting requirement or the use requirement, and it can be understood that the user may set different preset conditions based on different application scenes and application requirements.

It should be noted that, because the fuselage sets up on the base, and is used for bearing image acquisition device, consequently, the fuselage fortune mirror effect can directly reflect the fortune mirror effect of cloud platform, for example: when the second running state of the body is the second normal state, it is stated that the mirror moving effect of the holder meets the preset condition, and then it is stated that the holder is in the normal state. When the second running state of the body is the second abnormal state, the fact that the mirror moving effect of the pan-tilt head does not meet the preset condition is indicated, and then the fact that the pan-tilt head is in the abnormal state is indicated.

In addition, in this embodiment, an execution sequence between the step "acquiring the first operation state of the base for identifying the mirror-moving effect of the base" and the step "determining the second operation state of the body for identifying the mirror-moving effect of the body" is not limited, and a person skilled in the art may set the operation sequence according to specific application requirements and design requirements, for example: the step of acquiring the first operating state of the base for identifying the mirror-moving effect of the base may be performed simultaneously with the step of determining the second operating state of the body for identifying the mirror-moving effect of the body, or the step of acquiring the first operating state of the base for identifying the mirror-moving effect of the base may be performed before or after the step of determining the second operating state of the body for identifying the mirror-moving effect of the body.

The method comprises the following steps that during the operation process of the cloud deck, the cloud deck can be in a normal state and an abnormal state correspondingly, and when the cloud deck is in the normal state, the mirror moving effect of the cloud deck meets a preset condition; when the holder is in an abnormal state, the mirror moving effect of the holder is not satisfied with the preset condition. Because the mirror moving effect of the holder is related to the first running state of the base and the second running state of the body, after the first running state and the second running state are obtained, the first running state and the second running state can be analyzed to determine whether the holder is in a normal state. Specifically, based on the first operating state and the second operating state, detecting whether the cradle head is in the normal state may include: acquiring a control state of a holder; and detecting whether the holder is in a normal state or not based on the control state, the first running state and the second running state.

Specifically, in the process of the operation of the cradle head, the cradle head can be in a normal control state or an abnormal control state, when the cradle head is in the normal control state, the cradle head can be normally controlled and operated, and when the cradle head is in the abnormal control state, the cradle head cannot be normally controlled and operated. It can be understood that different control states of the pan/tilt head can have different influences on whether the pan/tilt head is in a normal state, and therefore, in order to accurately detect whether the pan/tilt head is in a normal state, the control state of the pan/tilt head can be acquired. In some examples, obtaining the control state of the pan/tilt head may include: acquiring actual attitude information and target attitude information corresponding to the holder; and determining the control state of the holder based on the target attitude information and the actual attitude information.

During specific implementation, an Inertial Measurement Unit (IMU for short) can be arranged on the pan-tilt, actual attitude information corresponding to the pan-tilt can be obtained through the IMU, then the actual attitude information and target attitude information required to be reached by the pan-tilt can be analyzed and compared, attitude deviation between the actual attitude information and the target attitude information is determined, the attitude deviation and a preset attitude threshold value are analyzed and compared, and when the attitude deviation is greater than or equal to the preset attitude threshold value, the control state of the pan-tilt can be determined to be in an abnormal control state; and when the attitude deviation is smaller than the preset attitude threshold value, determining that the control state of the holder is in a normal control state.

In other examples, obtaining the control state of the pan/tilt head may include: acquiring base angular speed change information corresponding to a base on the holder and body angular speed change information corresponding to a body on the holder in the process of moving the mirror by the holder; and determining the control state of the holder based on the angular speed change information of the base and the angular speed change information of the body.

Specifically, referring to fig. 2, a base IMU 107 may be disposed on the base 10 of the pan/tilt head 100, and a body IMU 108 may be disposed on the body, and in the process of moving the mirror by the pan/tilt head, base angular velocity change information corresponding to the base 10 may be acquired through the base IMU 107, and body angular velocity change information corresponding to the body on the pan/tilt head 100 may be acquired through the body IMU 108. After the base angular velocity change information and the body angular velocity change information are acquired, the base angular velocity change information and the body angular velocity change information can be analyzed to determine the control state of the holder.

In some examples, determining the control state of the pan/tilt head based on the base angular velocity variation information and the body angular velocity variation information may include: acquiring deviation information between the angular speed change information of the base and the angular speed change information of the body; when the deviation information is greater than or equal to a preset threshold value, determining that the control state of the holder is an abnormal control state; and when the deviation information is smaller than a preset threshold value, determining that the control state of the holder is a normal control state.

Specifically, in the process of moving the base of the pan/tilt head, the body of the pan/tilt head can move along with the movement of the base, that is, there is an association relationship between the angular velocity change information of the base and the angular velocity change information of the body. Therefore, after the base angular velocity change information and the body angular velocity change information are acquired, deviation information between the base angular velocity change information and the body angular velocity change information can be acquired, after the deviation information is acquired, the deviation information can be analyzed and compared with a preset threshold value, and when the deviation information is greater than or equal to the preset threshold value, the control state of the pan-tilt head can be determined to be an abnormal control state; and when the deviation information is smaller than the preset threshold value, determining that the control state of the holder is a normal control state.

After the control state, the first running state and the second running state are obtained, the control state, the first running state and the second running state can be analyzed to detect whether the holder is in a normal state. In some examples, detecting whether the pan/tilt head is in the normal state based on the control state, the first operating state, and the second operating state may include: when the first running state is a normal state, the second running state is a normal state and the control state is an abnormal control state, determining that the holder is in an abnormal state; and when the first running state is a normal state or an abnormal state, the second running state is a normal state and the control state is a normal control state, determining that the holder is in the normal state.

Specifically, when the first operating state is a normal state, the second operating state is a normal state, and the control state is an abnormal control state, it is indicated that the mirror-moving effect of the base on the cradle head meets the preset condition, the mirror-moving effect of the body on the cradle head meets the preset condition, and the control deviation of the cradle head is large, that is, the base and the body of the cradle head can operate normally, and the control deviation of the cradle head is greater than or equal to the preset threshold value, which indicates that the cradle head is in an abnormal state. When the first running state is a normal state, the second running state is a normal state and the control state is a normal control state, it is indicated that the mirror transporting effect of the base on the holder meets the preset condition, the mirror transporting effect of the body on the holder meets the preset condition, and the control deviation of the holder is small, namely, the base and the body of the holder can run normally, and the control deviation of the holder is smaller than the preset threshold value, it is indicated that the holder is in the normal state, so that whether the holder is in the normal state is effectively detected and identified.

When the first running state is an abnormal state, the second running state is a normal state and the control state is a normal control state, it is described that the base mirror transporting effect of the base on the holder does not meet the preset condition, the body mirror transporting effect of the body on the holder meets the preset condition, and the control deviation of the holder is small, namely the base mirror transporting level of the holder is not high, but the body mirror transporting level is still good, and the control deviation of the holder is smaller than the preset threshold value, it is described that the body on the holder can adapt to the corresponding mirror transporting problem, and then the holder is described to be in a normal state, thereby effectively realizing the detection and identification of whether the holder is in a normal state.

In the detection method of the pan/tilt head provided by this embodiment, in the process of moving a mirror by the pan/tilt head, after the first operation state and the second operation state are obtained, the first operation state and the second operation state may be analyzed to determine whether the operation effect of the base and the mirror movement effect of the body satisfy the preset condition, and then, whether the pan/tilt head is in the normal state may be determined based on the analysis result of whether the operation effect of the base and the mirror movement effect of the body satisfy the preset condition, when the pan/tilt head is in the normal state, the mirror movement effect of the pan/tilt head satisfies the preset condition, and when the pan/tilt head is in the abnormal state, the mirror movement effect of the pan/tilt head does not satisfy the preset condition; moreover, the mirror moving effect corresponding to the base and the machine body when the holder is in a normal state or an abnormal state can be obtained, so that whether the mirror moving effect of the holder is influenced by factors such as external motion (for example, the pace speed of user operation and the shaking condition of the user) can be effectively identified, the after-sale problems can be conveniently divided based on the operation state of the holder, the operation skills of the user can be favorably improved, the quality of the mirror moving effect can be further ensured or improved, and the stability and the reliability of the method are effectively improved.

Fig. 3 is a schematic flowchart of acquiring a first operating state of a base for identifying a mirror-moving effect of the base according to an embodiment of the present invention; on the basis of the foregoing embodiment, referring to fig. 3, in this embodiment, a specific implementation manner of obtaining the first operation state of the base for identifying the mirror-moving effect of the base is not limited, and a person skilled in the art may set the first operation state according to specific application requirements and design requirements, and preferably, the obtaining the first operation state of the base for identifying the mirror-moving effect of the base in this embodiment may include:

step S301: a first motion characteristic of the base is obtained.

Step S302: based on the first motion characteristic, a first operational state of the base is determined.

The base is provided with a first motion feature, the first motion feature can be obtained through a base IMU arranged on the base, and the base IMU can be arranged on a stator of a base motor in order to accurately obtain the first motion feature of the base. The obtained first motion characteristic of the base may comprise at least one of: the first acceleration of the base in the direction of three coordinate axes in the cloud platform coordinate system and the first angular velocity of the base in the cloud platform coordinate system.

After the first motion characteristic is obtained, the first motion characteristic may be analyzed to determine a first operation state of the base, and it may be understood that, for the same type of motion characteristic, different first motion characteristics may correspond to different operation states; for different types of motion characteristics, the first operation state of the base can be determined in different modes, so that the accuracy and reliability of determining the first operation state of the base are effectively ensured.

FIG. 4 is a first schematic flow chart illustrating a process for determining a first operating state of the base based on the first motion characteristic according to an embodiment of the present invention; with reference to the above embodiment and with continued reference to fig. 4, the first motion feature at the base comprises: the base is at first acceleration in three coordinate axis directions in a holder coordinate system; determining the first operational state of the base based on the first motion characteristic in this embodiment may include:

step S401: based on first acceleration of the base in the direction of three coordinate axes in the cloud platform coordinate system, the acceleration value of the base in the gravity direction is obtained.

The holder coordinate system can include a coordinate X axis, a coordinate Y axis and a coordinate Z axis, and the first acceleration of the base in the three coordinate axis directions can be obtained through the base IMU disposed on the base, that is, the first acceleration can include a first acceleration ax corresponding to the coordinate X axis, a first acceleration ay corresponding to the coordinate Y axis, and a first acceleration az corresponding to the coordinate Z axis. After the first accelerations of the base in the three coordinate axis directions in the holder coordinate system are obtained, the first accelerations of the base in the three coordinate axis directions in the holder coordinate system can be analyzed to obtain the acceleration values of the base in the gravity direction. In some examples, obtaining the acceleration value of the base in the gravity direction based on the first acceleration of the base in the three coordinate axis directions in the pan/tilt coordinate system may include: acquiring first attitude information of a base; and projecting first accelerations of the base in three coordinate axis directions in a cloud platform coordinate system to a world coordinate system based on the first attitude information, and obtaining an acceleration value of the base in the gravity direction.

In order to accurately acquire the acceleration value of the base in the gravity direction, the first attitude information of the base can be acquired, the first attitude information can be acquired through the IMU (inertial measurement unit) arranged on the base, and after the first attitude information is acquired, the first acceleration of the base in the three coordinate axis directions in the cloud deck coordinate system can be projected to the world coordinate system based on the first attitude information, so that the acceleration value of the base in the gravity direction can be acquired, and the acceleration value of the base in the gravity direction can be accurately and effectively acquired. In this embodiment, through projecting the first acceleration to under the world coordinate system, can be effectively convenient based on the acceleration value of base in the direction of gravity to adjust and the configuration the direction of cloud platform.

Step S402: first spectral information corresponding to the first acceleration is determined.

After the first acceleration is acquired, fourier transform processing may also be performed on the first acceleration, so that first spectrum information corresponding to the first acceleration may be determined, where the first spectrum information is used to reflect a change frequency of the first acceleration of the base within a preset time period. It should be noted that the first acceleration may include a first acceleration ax corresponding to the coordinate X axis, a first acceleration ay corresponding to the coordinate Y axis, and a first acceleration az corresponding to the coordinate Z axis, and therefore, the obtained first spectrum information also includes first spectrum information fx corresponding to the coordinate X axis, first spectrum information fy corresponding to the coordinate Y axis, and first spectrum information fz corresponding to the coordinate Z axis.

In addition, in this embodiment, the execution sequence between step S401 and step S402 is not limited, and those skilled in the art may set according to specific application requirements and design requirements, for example: step S401 may be performed simultaneously with step S402, or step S401 may be performed before or after step S402.

Step S403: based on the acceleration value and the first spectral information, a first operating state of the base is determined.

After the acceleration value and the first spectrum information are acquired, the acceleration value and the first spectrum information may be analyzed to determine a first operating state of the base. In some examples, determining the first operating state of the base based on the acceleration value and the first spectral information may include: acquiring step frequency information corresponding to the pan-tilt mirror moving; determining first proportion information of step frequency information included in the first spectrum information; a first operating state of the base is determined based on the acceleration value and the first fraction information.

Wherein, when the user control cloud platform moved, user's step frequency information can produce the influence to the effect that the base fortune mirror. Therefore, in order to accurately determine the first operating state of the base, the step frequency information corresponding to the pan/tilt/zoom lens may be obtained, and it can be understood that, under different application scenarios and application requirements, the step frequency information corresponding to the pan/tilt/zoom lens may be the same or different, and in general, the step frequency information corresponding to the pan/tilt/zoom lens may be in a frequency range from 1Hz to 2 Hz. After the step frequency information is obtained, analyzing the step frequency information included in the first frequency spectrum information to determine first proportion information of the step frequency information included in the first frequency spectrum information, wherein the first proportion information is used for reflecting the influence degree of the step frequency information of the user on the base mirror-moving effect, and the larger the first proportion information is, the larger the influence degree of the step frequency information of the user on the base mirror-moving effect is; the smaller the first proportion information is, the smaller the influence degree of the pace frequency information of the user on the base mirror moving effect is.

After the acceleration value and the first fraction information are acquired, the acceleration value and the first fraction information may be analyzed to determine a first operating state of the base. In some examples, determining the first operational state of the base based on the acceleration value and the first fraction information may include: acquiring a standard acceleration value for analyzing and processing the acceleration value and a first proportion threshold value for analyzing and processing the first proportion information; when the acceleration value is not matched with the standard acceleration value and the first proportion information is greater than or equal to a first proportion threshold value, determining that the first running state of the base is an abnormal state, wherein the abnormal state is used for identifying that the mirror moving effect of the base does not meet a preset condition in the process of moving the mirror by the holder; when the acceleration value is matched with the standard acceleration value or the first proportion information is smaller than a first proportion threshold value, the first running state of the base is determined to be a normal state, the normal state is used for identifying the process of moving the mirror by the holder, and the mirror moving effect of the base meets the preset condition.

Specifically, in the process of moving the mirror by the holder, the user generally moves on a certain plane, so that the acceleration value of the base in the gravity direction is often matched with the standard acceleration value (namely g), and when the acceleration value of the base in the gravity direction is not matched with the standard acceleration value, the effect that the mirror moving effect of the base is greatly influenced by the mirror moving level of the user can be reversely proved. Therefore, after the acceleration value and the first proportion information of the base in the gravity direction are acquired, the acceleration value and the standard acceleration value (g) can be analyzed and compared, the first proportion information and the first proportion threshold value are analyzed and compared, the acceleration value and the standard acceleration value are not matched (namely, the deviation between the acceleration value and the standard acceleration value is greater than or equal to the preset threshold value), and when the first proportion information is greater than or equal to the first proportion threshold value, the influence of the step frequency information of the user or the posture information of the user on the mirror operation effect of the base is relatively large, and then the first operation state of the base can be determined to be an abnormal state. When the acceleration value is matched with the standard acceleration value (namely the deviation between the acceleration value and the standard acceleration value is smaller than a preset threshold), or the first proportion information is smaller than the first proportion threshold, it is indicated that the influence of the step frequency information of the user or the posture information of the user on the mirror operation effect of the base is small, and then the first running state of the base can be determined to be a normal state.

In the embodiment, the acceleration value of the base in the gravity direction is obtained based on the first acceleration of the base in the three coordinate axis directions in the cloud platform coordinate system, the first frequency spectrum information corresponding to the first acceleration is determined, then the first running state of the base is determined based on the acceleration value and the first frequency spectrum information, the first running state of the base is effectively identified, and the accuracy and reliability of detection of the working state of the cloud platform are further improved.

FIG. 5 is a second flowchart illustrating a process of determining a first operating state of the base based on the first motion characteristic according to an embodiment of the present invention; on the basis of the above embodiment, referring to fig. 5, the first motion characteristic of the base includes: determining the first operating state of the base based on the first motion characteristic in the present embodiment at the first angular velocity of the base in the pan/tilt coordinate system may include:

step S501: based on the first angular velocity of the base in the pan-tilt coordinate system, the rotation angular velocity of the base on the world coordinate system is obtained.

Wherein, can include coordinate X axle, coordinate Y axle and coordinate Z axle in the cloud platform coordinate system, can acquire the first angular velocity of base in three coordinate axis directions through setting up the base IMU on the base, first angular velocity can include the first angular velocity wx that corresponds with coordinate X axle, the first angular velocity wy that corresponds with coordinate Y axle, the first angular velocity wz that corresponds with coordinate Z axle promptly. After the first angular velocity of the base in the pan-tilt coordinate system is obtained, the first angular velocity of the base in the pan-tilt coordinate system may be analyzed to obtain a rotation angular velocity of the base in the world coordinate system.

In some examples, obtaining the angular velocity of the rotation of the base on the world coordinate system based on the first angular velocity of the base in the pan-tilt coordinate system may include: acquiring first attitude information of a base; and projecting the first angular speed of the base in the holder coordinate system to the world coordinate system based on the first attitude information, and obtaining the rotation angular speed of the base on the world coordinate system.

In order to accurately obtain the rotation angular velocity of the base on the world coordinate system, the first posture information of the base may be obtained, specifically, the first posture information may be obtained through a base IMU disposed on the base, and after the first posture information is obtained, the first angular velocity of the base in the pan-tilt coordinate system may be projected onto the world coordinate system based on the first posture information, so as to obtain the rotation angular velocity of the base on the world coordinate system, thereby accurately and effectively obtaining the rotation angular velocity of the base on the world coordinate system.

Step S502: second spectrum information corresponding to the rotation angular velocity is determined.

After the rotational angular velocity is acquired, fourier transform processing may be performed on the rotational angular velocity, so that second spectrum information corresponding to the rotational angular velocity may be determined, the second spectrum information being for reflecting a change frequency of the rotational angular velocity of the base within a preset time period.

In addition, in this embodiment, the execution sequence between step S501 and step S502 is not limited, and those skilled in the art may set according to specific application requirements and design requirements, for example: step S501 may be performed simultaneously with step S502, or step S501 may be performed before or after step S502.

Step S503: based on the second spectral information, a first operational state of the pedestal is determined.

After the second spectrum information is acquired, the second spectrum information may be analyzed to determine the first operating state of the base. Specifically, determining the first operating state of the base based on the second spectrum information may include: acquiring at least one peak-to-peak value included in the second spectrum information; determining at least one first amplitude difference value corresponding to any two peak-to-peak values; when the first amplitude difference value is larger than or equal to the preset threshold value, determining that the first running state of the base is an abnormal state, wherein the abnormal state is used for identifying that the mirror moving effect of the base does not meet the preset condition in the process of moving the mirror by the holder; when all the first amplitude difference values are smaller than the preset threshold value, the first running state of the base is determined to be a normal state, the normal state is used for identifying the process of moving the mirror by the holder, and the mirror moving effect of the base meets the preset condition.

After the second spectrum information is obtained, the second spectrum information may be analyzed to determine at least one peak-to-peak value included in the second spectrum information. For example, as shown in fig. 6, the second spectrum information may include a plurality of peaks, and the peaks may include a positive peak and a negative peak, wherein the positive peak may include a positive peak a and a positive peak b, and the negative peak may include a negative peak a and a negative peak b, and after the positive peak and the negative peak are obtained, a sum between the positive peak and the negative peak may be determined as a peak-to-peak value, so that at least one peak included in the second spectrum information, that is, the positive peak a + the negative peak a, the positive peak a + the negative peak b, the positive peak b + the negative peak a, the positive peak b + the negative peak b, may be obtained.

After the at least one peak-to-peak value is obtained, any two peak-to-peak values may be analyzed and compared, and then at least one first amplitude difference value corresponding to any two peak-to-peak values may be determined, where the first amplitude difference value may include: positive peak b-positive peak a, negative peak b-negative peak a, positive peak b-positive peak a + negative peak b-negative peak a.

After the first amplitude difference values are obtained, analyzing and comparing all the first amplitude difference values with a preset threshold, and when the first amplitude difference values (a positive peak value b-a + a negative peak value b-a) are larger than or equal to the preset threshold, that is, at least one more prominent frequency signal exists in the second frequency spectrum information, determining that the first operation state of the base is an abnormal state, where the abnormal state is used for identifying that the mirror moving effect of the base does not meet a preset condition in the process of moving the mirror by the pan/tilt head. When all the first amplitude difference values are smaller than the preset threshold value, namely no prominent frequency signal exists in the second frequency spectrum information, the first running state of the base can be determined to be a normal state, and the normal state is used for identifying that the mirror moving effect of the base meets the preset condition in the process of moving the mirror by the holder.

In the embodiment, the rotation angular velocity of the base on the world coordinate system is acquired based on the first angular velocity of the base in the cloud platform coordinate system, the second frequency spectrum information corresponding to the rotation angular velocity is determined, the first running state of the base is determined based on the second frequency spectrum information, the first running state of the base is effectively identified, and the accuracy and reliability of detection of the working state of the cloud platform are further improved.

In some examples, after determining that the first operating state of the base is an abnormal state, the method in this embodiment may further include: and generating first prompt information corresponding to the base, wherein the first prompt information is used for prompting a user to carry out parameter adjustment operation so as to adjust the abnormal state of the base.

Specifically, after the first operation state of the base is determined to be the abnormal state, in order to facilitate a user to timely know that the first operation state of the base is the abnormal state, first prompt information corresponding to the base may be generated, where the first prompt information includes at least one of: reducing the response sensitivity of the pan-tilt in the pitch axis pitch direction; the control smoothness degree corresponding to the holder is improved; reducing a cut-off frequency corresponding to the pan-tilt, the cut-off frequency being related to the step frequency information; adjusting the user motion characteristics in the process of moving the mirror by the pan-tilt; the generated first prompt information can be used for prompting a user to perform parameter adjustment operation so as to adjust the abnormal state of the base.

Fig. 7 is a schematic flow chart illustrating a process of determining a second operating state of the body for identifying the mirror operation effect of the body according to the embodiment of the present invention; on the basis of the foregoing embodiment, referring to fig. 7, in this embodiment, a specific implementation manner of determining the second operating state of the body for identifying the mirror-moving effect of the body is not limited, and a person skilled in the art may set the second operating state according to specific application requirements and design requirements, and preferably, determining the second operating state of the body for identifying the mirror-moving effect of the body in this embodiment may include:

step S701: a second motion characteristic of the fuselage is acquired.

Step S702: and determining a second operation state of the body for identifying the mirror operation effect of the body based on the second motion characteristic.

Wherein, when the fuselage moves, can acquire the first motion characteristic of fuselage, specifically, be provided with second inertia measuring unit on the fuselage, perhaps, be provided with second inertia measuring unit on the image acquisition device, and then can acquire the second motion characteristic of fuselage through second inertia measuring unit, this second motion characteristic can include at least one of following: and the second acceleration of the body in the direction of three coordinate axes in the holder coordinate system and the second angular velocity of the body in the holder coordinate system. In some examples, to facilitate analysis of the second motion characteristic, XYZ axes of the second inertial measurement unit disposed on the body may be parallel to XYZ axes of the first inertial measurement unit disposed on the base.

After the second motion characteristic is acquired, the second motion characteristic may be analyzed to determine a second operating state of the body for identifying a mirror-moving effect of the body. It will be appreciated that for the same type of motion characteristic, different second motion characteristics may correspond to different operating states; for different types of motion characteristics, the second operation state of the fuselage can be determined in different modes, so that the accuracy and reliability of determining the second operation state of the fuselage are effectively ensured.

Fig. 8 is a first schematic flowchart of determining a second operating state of the body for identifying the mirror-moving effect of the body based on the second motion characteristic according to the embodiment of the present invention; on the basis of the above embodiment, with continued reference to fig. 8, the second motion characteristic includes: the second acceleration of the body in the direction of three coordinate axes in the holder coordinate system; determining a second operational state of the body for identifying the mirror operation effect of the body based on the second motion characteristic in this embodiment may include:

step S801: third spectral information corresponding to the second acceleration is determined.

After second accelerations of the body in the three coordinate axis directions in the holder coordinate system are obtained, fourier transform processing may be performed on the second accelerations to determine third spectrum information corresponding to the second accelerations, where the third spectrum information is used to reflect change frequencies of the second accelerations of the body within a preset time period. It should be noted that the second acceleration may include a second acceleration ax corresponding to the coordinate X-axis, a second acceleration ay corresponding to the coordinate Y-axis, and a second acceleration az corresponding to the coordinate Z-axis, and therefore, the obtained third spectral information also includes: the third spectral information fx corresponding to the coordinate X axis, the third spectral information fy corresponding to the coordinate Y axis, and the third spectral information fz corresponding to the coordinate Z axis.

Step S802: and determining a second operating state of the fuselage based on the third spectral information.

After the third spectrum information is acquired, the third spectrum information may be analyzed to determine a second operating state of the fuselage. Specifically, determining the second operating state of the fuselage based on the third spectral information may include: acquiring step frequency information corresponding to the pan-tilt mirror moving; determining second proportion information of the step frequency information included in the third spectrum information; and determining a second operation state of the fuselage based on the second proportion information.

When the user controls the holder to move, the step frequency information of the user and the mirror moving effect of the base can affect the mirror moving effect of the body. Therefore, in order to accurately determine the second operating state of the body, the step frequency information corresponding to the pan/tilt/zoom may be obtained, and it may be understood that, under different application scenarios and application requirements, the step frequency information corresponding to the pan/tilt/zoom may be the same or different, and in general, the step frequency information corresponding to the pan/tilt/zoom may be in a frequency range from 1Hz to 2 Hz.

After the step frequency information is obtained, analyzing the step frequency information included in the third spectrum information to determine second proportion information of the step frequency information included in the third spectrum information, wherein the second proportion information is used for reflecting the influence degree of the step frequency information of the user on the body mirror-moving effect, and the larger the first proportion information is, the larger the influence degree of the step frequency information of the user on the body mirror-moving effect is; the smaller the first proportion information is, the smaller the influence degree of the step frequency information of the user on the mirror-moving effect of the body is.

After the second proportion information is acquired, the second proportion information may be analyzed to determine a second operating state of the fuselage. In some examples, determining the second operational state of the fuselage based on the second proportion information may include: acquiring a second proportion threshold value used for analyzing and processing the second proportion information; when the second proportion information is larger than or equal to a second proportion threshold value, determining that the second running state of the body is an abnormal state, wherein the abnormal state is used for marking that the mirror moving effect of the body does not meet the preset condition in the mirror moving process of the holder; and when the second proportion information is smaller than a second proportion threshold value, determining that the second running state of the body is a normal state, wherein the normal state is used for marking that the mirror moving effect of the body meets the preset condition in the mirror moving process of the holder.

Specifically, in the process of moving the mirror by the holder, the second proportion information and the second proportion threshold value may be analyzed and compared, and when the second proportion information is greater than or equal to the second proportion threshold value, it is indicated that the step frequency information of the user or the posture information of the user has a large influence on the mirror moving effect of the body, so that it may be determined that the second operating state of the body is an abnormal state. When the second proportion information is smaller than the second proportion threshold, it is indicated that the influence of the step frequency information of the user or the posture information of the user on the mirror operation effect of the body is small, and then the second operation state of the body can be determined to be a normal state.

In the embodiment, the third spectrum information corresponding to the second acceleration is determined, and then the second running state of the machine body is determined based on the third spectrum information, so that the second running state of the machine body is effectively identified, and the accuracy and reliability of detection of the working state of the holder are further improved.

Fig. 9 is a second schematic flowchart of the process of determining the second operating state of the body for identifying the mirror-moving effect of the body based on the second motion characteristic according to the embodiment of the present invention; on the basis of the above embodiment, as shown in fig. 9, the second motion characteristic includes: when the body is at the second angular velocity in the pan-tilt coordinate system, determining the second operating state of the body for identifying the mirror-moving effect of the body based on the second motion characteristic in this embodiment may include:

step S901: and acquiring the rotation angular velocity of the fuselage on a world coordinate system based on the second angular velocity of the fuselage in the holder coordinate system.

Wherein, can include coordinate X axle, coordinate Y axle and coordinate Z axle in the cloud platform coordinate system, can acquire the second angular velocity of fuselage in three coordinate axis directions through setting up the fuselage IMU on the fuselage, second angular velocity promptly can include: a second angular velocity wx corresponding to the coordinate X axis, a second angular velocity wy corresponding to the coordinate Y axis, and a second angular velocity wz corresponding to the coordinate Z axis. After the second angular velocity of the body in the pan-tilt coordinate system is obtained, the second angular velocity of the body in the pan-tilt coordinate system may be analyzed to obtain a rotation angular velocity of the body in the world coordinate system.

In some examples, obtaining the angular velocity of the rotation of the body in the world coordinate system based on the second angular velocity of the body in the pan-tilt coordinate system may include: acquiring second attitude information of the fuselage; and projecting a second angular velocity of the fuselage in the holder coordinate system to the world coordinate system based on the second attitude information, and obtaining the rotation angular velocity of the fuselage on the world coordinate system.

In order to accurately obtain the rotation angular velocity of the body on the world coordinate system, the second attitude information of the body may be obtained, specifically, the second attitude information may be obtained through an IMU of the body disposed on the body, and after the second attitude information is obtained, the second angular velocity of the body in the pan-tilt coordinate system may be projected to the world coordinate system based on the second attitude information, so as to obtain the rotation angular velocity of the body on the world coordinate system, thereby accurately and effectively obtaining the rotation angular velocity of the body on the world coordinate system.

Step S902: fourth spectrum information corresponding to the rotation angular velocity is determined.

After the rotational angular velocity is acquired, fourier transform processing may be performed on the rotational angular velocity, so that fourth spectrum information corresponding to the rotational angular velocity may be determined, the fourth spectrum information being for reflecting a change frequency of the rotational angular velocity of the body within a preset time period.

In addition, in this embodiment, the execution sequence between step S901 and step S902 is not limited, and those skilled in the art may set according to specific application requirements and design requirements, for example: step S901 may be executed simultaneously with step S902, or step S901 may be executed before or after step S902.

Step S903: and determining a second operating state of the fuselage based on the fourth spectrum information.

After the fourth spectrum information is acquired, the fourth spectrum information may be analyzed to determine a second operating state of the fuselage. Specifically, determining the second operating state of the fuselage based on the fourth spectrum information may include: detecting at least one peak-to-peak value included in the fourth spectrum information; determining at least one second frequency difference value corresponding to any two peak-to-peak values; when the second frequency difference is larger than or equal to the preset threshold, determining that the second running state of the body is an abnormal state, wherein the abnormal state is used for marking that the mirror moving effect of the body does not meet the preset condition in the mirror moving process of the holder; and when all the second frequency difference values are smaller than the preset threshold value, determining that the second running state is a normal state, wherein the normal state is used for identifying that the mirror moving effect of the body meets the preset condition in the mirror moving process of the holder.

Specifically, in this embodiment, the specific implementation process and implementation effect of step S903 are similar to those of step S503 in the above embodiment, and the above statements may be specifically referred to, and are not repeated herein.

In this embodiment, based on the second angular velocity of the body in the pan-tilt coordinate system, the rotation angular velocity of the body in the world coordinate system is obtained, the fourth spectrum information corresponding to the rotation angular velocity is determined, and then the second operating state of the body is determined based on the fourth spectrum information, so that the second operating state of the body is effectively identified, and the accuracy and reliability of detecting the operating state of the pan-tilt are further improved.

In some examples, after determining that the second operating state of the fuselage is an abnormal state, the method in this embodiment may further include: and generating second prompt information corresponding to the body, wherein the second prompt information is used for prompting a user to perform parameter adjustment operation so as to adjust the abnormal state of the body.

Specifically, after determining that the second operating state of the body is the abnormal state, in order to enable the user to timely know that the second operating state of the body is the abnormal state, second prompt information corresponding to the body may be generated, where the second prompt information may include at least one of the following: the control smoothness degree corresponding to the holder is improved; reducing a cut-off frequency corresponding to the pan-tilt, the cut-off frequency being related to the step frequency information; and adjusting the user motion characteristics of the pan-tilt in the process of moving the mirror. The user can be prompted to carry out parameter adjustment operation through the generated second prompt message so as to adjust the abnormal state of the fuselage.

In some examples, the pan-tilt may correspond to different follow-up modes, and different follow-up modes may correspond to different control parameters. Taking a three-axis pan-tilt as an example, the three-axis pan-tilt may specifically include a yaw axis yaw, a roll axis roll, and a pitch axis pitch, which are connected in sequence, and at this time, the following mode of the pan-tilt may include a single-axis following mode, a double-axis following mode, and a three-axis following mode. When the following mode of the pan/tilt head is the single-axis following mode, the second prompt message may correspond to a single axis of the pan/tilt head, for example: when the following mode of the pan/tilt head is following operation for the yaw axis yaw, at this time, the second running state of the body includes as an abnormal state: when the yaw axis is in an abnormal state, second prompt information corresponding to the yaw axis on the body may be generated.

When the following mode of the pan/tilt head is the dual-axis following mode, the second prompt information may correspond to two axes of the pan/tilt head, for example: when the following mode of the pan/tilt head is following operation for the yaw axis yaw and the roll axis roll, at this time, the second operating state of the body includes as an abnormal state: the device can generate second prompt information corresponding to the raw axis and the roll axis on the body when the raw axis is in an abnormal state and the roll axis is in an abnormal state.

When the following mode of the pan/tilt head is the three-axis following mode, the second prompt information may correspond to three axes of the pan/tilt head, for example: when the following mode of the pan/tilt head is following operation for the yaw axis yaw, roll axis roll and pitch axis pitch, at this time, the second running state of the body is an abnormal state including: the raw axis is in an abnormal state, the roll axis is in an abnormal state, and the pitch axis is in an abnormal state, and second presentation information corresponding to the raw axis, the roll axis, and the pitch axis on the body may be generated.

It can be understood that a person skilled in the art can adjust the control mode of the pan/tilt head based on different application scenarios and application requirements, and details are not described herein.

In this embodiment, the rotational angular velocity of the body on the world coordinate system is obtained based on the second angular velocity of the body in the pan-tilt coordinate system, the fourth spectrum information corresponding to the rotational angular velocity is determined, and then the second operating state of the body is determined based on the fourth spectrum information, so that the accuracy and reliability of determining the second operating state of the body are effectively achieved, and further, whether the pan-tilt is in a normal state or not is conveniently detected based on the second operating state of the body, and the practicability of the method is further improved.

Fig. 10 is a schematic flowchart of a process of acquiring a first operating state of a base for identifying a mirror-moving effect of the base and determining a second operating state of a body for identifying a mirror-moving effect of the body according to an embodiment of the present invention; on the basis of the foregoing embodiment, referring to fig. 10, this embodiment provides another implementation manner for determining the first operating state and the second operating state, and specifically, acquiring the first operating state of the base for identifying the mirror-moving effect of the base, and determining the second operating state of the body for identifying the mirror-moving effect of the body in this embodiment may include:

step S1001: acquiring a multi-frame image aiming at a target object through an image acquisition device.

Step S1002: based on the multi-frame images, a first operation state of the base is obtained, and a second operation state of the body for identifying the mirror moving effect of the body is determined.

The control device is used for controlling the image acquisition device arranged on the holder to perform image acquisition operation, so that a multi-frame image aiming at a target object can be acquired. After acquiring the multiple frames of images, the multiple frames of images may be analyzed to obtain a first operating state of the base and a second operating state of the body. In some examples, obtaining a first operational state of the base based on the plurality of frames of images and determining a second operational state of the body for identifying a body mirror effect may include: determining a plurality of displacement features and a plurality of contour features corresponding to the target object according to the multi-frame image; determining a first operating state of the base based on the plurality of displacement characteristics; based on the plurality of profile features, a second operating state of the fuselage is determined for identifying a fuselage mirror effect.

It should be noted that, in the process of controlling the pan/tilt/zoom lens, the image capturing device on the pan/tilt/zoom lens may perform an image capturing operation, and there is an association relationship between the operating states of the base and the body on the pan/tilt/zoom lens and the image capturing operation of the image capturing device, that is, when the first operating state of the base is different from the second operating state of the body, the features corresponding to the target object in the multi-frame image obtained by the image capturing device are different. Therefore, the first operating state of the base and the second operating state of the main body can be determined by the multi-frame images obtained by the image acquisition device.

Specifically, the multi-frame image obtained by the image acquisition device may include a target object, and the target objects in different images may have the same or different displacement features and contour features. Therefore, after acquiring the multi-frame images, the multi-frame images may be analyzed by using an image analysis algorithm, so that a plurality of displacement features and a plurality of contour features corresponding to the target object in the multi-frame images may be determined, where the displacement features may include at least one of: position information, a moving speed corresponding to the position information, amplitude information corresponding to the position information, and the like; the profile features may include at least one of: contour information, change information corresponding to the contour information, and the like.

After the plurality of displacement features are acquired, the plurality of displacement features may be analyzed to determine a first operational state of the base. In some examples, determining the first operational state of the base based on the plurality of displacement characteristics may include: determining displacement variation amplitudes corresponding to adjacent position features; when the displacement variation amplitude is larger than or equal to a preset threshold value, determining that the first running state of the base is an abnormal state, wherein the abnormal state is used for marking that the mirror moving effect of the base does not meet a preset condition in the process of moving the mirror by the holder; when the displacement variation amplitude is smaller than a preset threshold value, the first running state of the base is determined to be a normal state, the normal state is used for identifying the mirror moving effect of the base meeting a preset condition in the process of moving the mirror by the holder.

For example, referring to fig. 11, the multi-frame image includes 5 frames of images (image a, image B, image C, image D, and image E), and the position features corresponding to the target object in the 5 frames of images may include a position a1, a position a2, a position a3, a position a4, and a position a 5. After the corresponding position feature is acquired, the position variation amplitudes corresponding to the adjacent position features may be determined, that is, the position variation amplitude d1 between the position a1 and the position a2, the position variation amplitude d2 between the position a2 and the position a3, the position variation amplitude d3 between the position a3 and the position a4, and the position variation amplitude d4 between the position a4 and the position a5 may be acquired.

After the displacement variation amplitude is obtained, the displacement variation amplitude may be analyzed and compared with a preset threshold, and when the displacement variation amplitude is greater than or equal to the preset threshold, for example: if the position variation amplitude D4 is greater than the preset threshold D and the position variation amplitude D3 is equal to the preset threshold D, it may be determined that the first operation state of the base corresponding to the image C, the image D, and the image E is an abnormal state, where the abnormal state is used to identify that the mirror moving effect of the base does not meet the preset condition in the process of moving the mirror by the pan-tilt. When the displacement change amplitude is smaller than a preset threshold, for example: and if the position change amplitude D1 is smaller than the preset threshold value D and the position change amplitude D2 is smaller than the preset threshold value D, determining that the first running state of the base corresponding to the image A, the image B and the image C is a normal state, wherein the normal state is used for identifying that the mirror moving effect of the base meets the preset condition in the mirror moving process of the pan-tilt-zoom, so that the accuracy and reliability of determining the first running state of the base are effectively ensured.

After the plurality of profile features are acquired, the plurality of profile features may be analyzed to determine a second operational state of the fuselage for identifying a fuselage mirror operation effect. In some examples, determining a second operational state of the fuselage for identifying a fuselage mirror effect based on the plurality of profile features may include: determining profile variation information corresponding to adjacent profile features; when the contour change information is greater than or equal to a preset threshold value, determining that the second running state is an abnormal state, wherein the abnormal state is used for marking that the mirror moving effect of the body does not meet a preset condition in the mirror moving process of the holder; and when the contour change information is smaller than a preset threshold value, determining that the second running state is a normal state, wherein the normal state is used for identifying that the mirror moving effect of the body meets a preset condition in the process of moving the mirror by the holder.

For multiple frames of images, each frame of image may include a target object, and contour features corresponding to the target objects in different images may be the same or different, and when the contour features corresponding to the target objects in two frames of images are different, contour change information corresponding to the target objects in the two frames of images may be obtained. However, in the course of the pan/tilt mirror movement, the contour change information corresponding to the target object is related to the rotational operation of the roll axis and the pitch axis of the pan/tilt, and thus the operating state of the body can be determined based on the contour change information corresponding to the target object.

Specifically, after the plurality of contour features are obtained, contour change information corresponding to adjacent contour features can be determined, then the contour change information can be analyzed and compared with a preset threshold, when the contour change information is larger than or equal to the preset threshold, a second operation state of the body corresponding to the contour change information can be determined to be an abnormal state, the abnormal state is used for identifying that a mirror moving effect of the body does not meet a preset condition in a mirror moving process of a holder. When the contour change information is smaller than the preset threshold value, the second running state of the machine body corresponding to the contour change information is determined to be a normal state, the normal state is used for identifying the mirror moving process of the cloud deck, and the mirror moving effect of the machine body meets the preset condition, so that the accuracy and reliability of determining the second running state of the machine body are effectively guaranteed.

In the embodiment, the image acquisition device acquires multi-frame images aiming at a target object, then the first running state of the base is obtained based on the multi-frame images, and the second running state of the body for identifying the mirror moving effect of the body is determined, so that the accuracy and reliability of determining the first running state of the base and the second running state of the body are effectively realized, and whether the cradle head is in a normal state or not is conveniently detected based on the first running state of the base and the second running state of the body, and the practicability of the method is further improved.

In some examples, after determining that the pan/tilt head is in the abnormal state, the method in this embodiment may further include: and generating third prompt information corresponding to the abnormal state, wherein the third prompt information is used for identifying that the holder is in the abnormal state.

After the cradle head is determined to be in the abnormal state, in order to facilitate a user to know that the cradle head is in the abnormal state in time, third prompt information corresponding to the abnormal state can be generated, the third prompt information is used for identifying that the cradle head is in the abnormal state, in some examples, the third prompt information can include sound prompt information, light prompt information, display message prompt information and the like, and the flexibility and the reliability of the use of the method are further improved.

Fig. 12 is a schematic flow chart of another pan/tilt head detection method according to an embodiment of the present invention; on the basis of the foregoing embodiment, with continued reference to fig. 12, after determining that the pan/tilt head is in the abnormal state, the method in this embodiment may further include:

step S1201: maintenance request information corresponding to the abnormal state is generated.

Step S1202: and sending the maintenance request information to the server so that the server generates a maintenance task corresponding to the holder based on the maintenance request information.

The detection device of the pan/tilt. In physical implementation, the server may be any device capable of providing computing services, responding to service requests, and performing processing, and may be, for example, a conventional server, a cloud host, a virtual center, and the like. The server mainly comprises a processor, a hard disk, a memory, a system bus and the like, and is similar to a general computer framework.

After the cloud deck is determined to be in the abnormal state, the detection device of the cloud deck can generate maintenance request information corresponding to the abnormal state, in order to carry out timely maintenance operation on the cloud deck, the maintenance request information can be sent to the server, after the server obtains the maintenance request information, maintenance tasks corresponding to the cloud deck can be generated based on the maintenance request information, and personnel scheduling operation can be carried out on the generated maintenance tasks, so that maintenance personnel can carry out maintenance operation on the cloud deck in the abnormal state in time, and the practicability of the method is further improved.

In specific application, taking a three-axis pan-tilt as an example, the embodiment of the present application provides a detection method for a pan-tilt, wherein the three-axis pan-tilt may include: the base with set up the fuselage on the base, be provided with the base IMU on the motor stator on the base, be provided with the fuselage IMU on fuselage or the camera, for the operating condition to the cloud platform detects in order to make things convenient for, the coordinate axis of base IMU can be parallel with the coordinate axis of fuselage IMU. Specifically, the method in this embodiment includes:

step 1: the user controls the holder to move, and in the process of moving the mirror by the holder, a first operation state of the base, which is used for identifying the mirror moving effect of the base, is obtained through the IMU of the base.

Specifically, acquiring a first operation state of the base for identifying the mirror moving effect of the base through the base IMU comprises the following steps:

step 11: base accelerations in three directions of the base are detected by a three-axis accelerometer included in the base IMU.

Wherein base accelerations of the base in three directions include: base acceleration of the base in the X-axis direction, base acceleration of the base in the Y-axis direction, and base acceleration of the base in the Z-axis direction.

Step 12: the base pose is acquired by the base IMU.

Step 13: and projecting the acceleration of the base in three directions to a world coordinate system according to the attitude of the base, and calculating the acceleration value of the base in the gravity direction.

Step 14: and performing FFT (fast Fourier transform) processing on the base acceleration to obtain acceleration frequency spectrum information corresponding to the base acceleration.

Step 15: and determining step frequency information corresponding to the pan-tilt mirror moving, and determining first proportion information of the step frequency information included in the acceleration frequency spectrum information.

In some examples, the step frequency information is in the frequency band of about 1-2 Hz.

Step 16: and analyzing and comparing the acceleration value with the standard acceleration, analyzing and comparing the first proportion information with a preset threshold value, and detecting whether the holder is in a normal state or not according to an analysis and comparison result.

And step 17: when the acceleration value is not matched with the standard acceleration and the first proportion information is larger than or equal to the first proportion threshold value, the first running state of the base is determined to be an abnormal state, and the abnormal state is used for identifying that the mirror moving effect of the base does not meet the preset condition in the process of moving the mirror by the holder. When the acceleration value is matched with the standard acceleration value, or the first proportion information is smaller than a first proportion threshold value, the first running state of the base is determined to be a normal state, the normal state is used for identifying the process of moving the mirror by the holder, and the mirror moving effect of the base meets the preset condition.

Specifically, when the first running state of the base is a normal state, it is determined that the user has good pace control, that is, it indicates that the user does not need to adjust the pace or the posture of operating the cradle head; when the first running state of the base is an abnormal state, it is determined that the user does not have good pace control, that is, it indicates that the user needs to adjust the pace or the posture of operating the holder.

Step 18: when the first running state of the base is determined to be the abnormal state, first prompt information corresponding to the base is generated, the first prompt information can be directly displayed on an interactive interface to prompt a user to carry out parameter adjustment operation, the abnormal state of the base can be adjusted, and meanwhile the user (especially a novice user) can be informed of how to improve the mirror-moving level of the operating holder.

In some examples, when the first operating state of the base in the X-axis direction is an abnormal state, the generated first prompt message may prompt the user to perform a parameter adjustment operation in the X-axis direction; when the first running state of the base in the X-axis direction and the Y-axis direction is an abnormal state, the generated first prompt message can prompt a user to perform parameter adjustment operation in the X-axis direction and the Y-axis direction; when the first operation state of the base in the X-axis direction, the Y-axis direction and the Z-axis direction is an abnormal state, the generated first prompt message may prompt the user to perform a parameter adjustment operation in the X-axis direction, the Y-axis direction and the Z-axis direction.

Step 19: when the first prompt message is displayed, an adjustment inquiry request can be generated, and the adjustment inquiry request can be displayed through a display interface so as to inquire whether a user performs parameter adjustment operation.

Specifically, the adjusting query request may include: the method comprises the steps that a confirmation option used for identifying permission of parameter adjustment operation and a rejection option used for identifying prohibition of parameter adjustment operation are obtained, and when execution operation input by a user aiming at the confirmation option is obtained, the parameter adjustment operation can be carried out according to the execution operation; when the execution operation input by the user for the "reject option" is acquired, the parameter adjustment operation may be prohibited.

Step 2: and in the process of transporting the mirror by the holder, acquiring a second running state of the body, which is used for identifying the mirror transporting effect of the body, through the IMU of the body.

Specifically, the step of acquiring the second operation state of the fuselage, which is used for identifying the mirror-moving effect of the fuselage, through the fuselage IMU comprises the following steps:

step 21: rotational angular velocities of the user in various directions are detected by a three-axis gyroscope included in the fuselage IMU.

Step 22: and acquiring the attitude of the fuselage through the IMU of the fuselage.

Step 23: and projecting the rotation angular velocity of the body in each direction to a world coordinate system based on the body posture, and determining the rotation angular velocity of the body relative to the world coordinate system when the user operates the cloud platform.

Step 24: the rotational angular velocity is subjected to FFT processing, and angular velocity spectrum information corresponding to the rotational angular velocity is obtained.

Step 25: whether a plurality of kinds of high-frequency components are highlighted in the angular velocity spectrum information is detected, and a second operating state of the body is determined based on the detection result.

Step 26: when the prominent high-frequency component(s) exist in the angular velocity spectrum information, determining that the second running state of the body is an abnormal state, wherein the abnormal state is used for marking that the mirror moving effect of the body does not meet the preset condition in the mirror moving process of the holder; and when no prominent high-frequency component exists in the angular velocity frequency spectrum information, determining that the second running state is a normal state, wherein the normal state is used for marking that the mirror moving effect of the body meets the preset condition in the mirror moving process of the holder.

Specifically, when the angular velocity spectrum information contains a prominent high-frequency component, it indicates that the operation of the user controlling the pan/tilt head has an involuntary shaking condition, and thus the second operation state of the body can be determined to be an abnormal state; when no prominent high-frequency component exists in the angular velocity frequency spectrum information, the operation of controlling the holder by the user is smooth, and the second running state of the body can be determined to be a normal state.

Step 27: when the second running state of the body is determined to be the abnormal state, second prompt information corresponding to the body is generated, the second prompt information can be directly displayed on the interactive interface, a user is prompted to conduct parameter adjustment operation, the abnormal state of the body can be adjusted, and meanwhile the user (especially a novice user) can be informed of how to improve the mirror-moving level of the operating holder.

Step 28: when the second prompt message is displayed, an adjustment query request may be generated, and the adjustment query request may be displayed through the display interface to query the user whether to perform a parameter adjustment operation.

And step 3: detecting whether the holder is in a normal state or not based on the first running state and the second running state; when the cloud platform is in normal state, the fortune mirror effect of cloud platform satisfies the preset condition.

Specifically, when the first operating state is a normal state, the second operating state is a normal state, and the control state is an abnormal control state, it is determined that the cradle head is in an abnormal state, that is, there is no problem in controlling the base and the body of the cradle head, but the cradle head is abnormal in performance, and it is further determined that the cradle head is in an abnormal state, and at this time, the cradle head needs to be maintained, and the information for identifying that "there is no problem in controlling the base and the body of the cradle head, but the cradle head is abnormal in performance" can be used as an after-sale basis.

When the first running state is a normal state or an abnormal state, the second running state is a normal state, and the control state is a normal control state, the cradle head is determined to be in a normal state, namely, no problem exists in the operation of the cradle head upper base, or no problem exists in the base, the operation of the body is not problematic, the cradle head is normally represented, and then the cradle head can be determined to be in a normal state, and the cradle head does not need to be maintained and operated at the moment.

In other examples, the pan/tilt head is provided with a camera for performing image capturing operation, and at this time, the detection operation of the pan/tilt head can also be realized in an image recognition manner, specifically, the method includes:

step 100: and carrying out image acquisition operation through a camera arranged on the holder to obtain a multi-frame image.

Step 200: and analyzing the multi-frame images, and determining a plurality of displacement characteristics and a plurality of contour characteristics corresponding to the target object included in the multi-frame images.

Specifically, the image characteristics can be determined by manually observing the image, analyzing the image by adopting an artificial intelligence algorithm, or adopting a visual recognition mode, and the like, and the mirror moving effect of the base and the body can be evaluated by the image characteristics.

Step 300: determining a first operating state of the base based on the plurality of displacement characteristics; based on the plurality of profile features, a second operating state of the fuselage is determined for identifying a fuselage mirror effect.

Step 400: detecting whether the holder is in a normal state or not based on the first running state and the second running state; when the cloud platform is in normal state, the fortune mirror effect of cloud platform satisfies the preset condition.

It should be noted that the first detection result corresponding to the pan/tilt head can be obtained by the above-mentioned detection method using the body IMU and the base IMU, the second detection result corresponding to the pan/tilt head can be obtained by the image recognition method, and when the first detection result is inconsistent with the second detection result, the second detection result can be determined as the target detection result corresponding to the pan/tilt head.

This cloud platform detection method that application embodiment provided, can obtain the influence degree of user's step to the fortune mirror effect of cloud platform based on base IMU and fuselage IMU and assess, it is specific, can detect out user action at the control angular velocity and the acceleration of base because of gyroscope and acceleration in the base IMU, gyroscope and acceleration in the fuselage IMU can detect out the stationary degree of cloud platform fuselage under user's control, then can realize when user's exercise or applied stabilizer, to user's own step, the evaluation is carried out to cloud platform fortune mirror effect, and then be favorable to providing some direction of promotion for the user, the direction that the suggestion user improved, for example: the user can be informed to adjust the pace so as to stably drive the holder to move; or, informing the user of the amplitude change of the control in the Z-axis direction; or, informing the user that the speed of rotating the base is stable; alternatively, some prompt information identifying the adjustment parameter (following speed) may be generated for some primary users, such as: the following speed between the holder and the base can be adjusted to be lower, the sensitivity between the holder and the base can be adjusted to be lower, and the smoothness between the holder and the base can be adjusted to be higher; in addition, because the data simultaneously comprise the base angular velocity and the body angular velocity, the detection data can be used as an after-sale basis to provide information for the after-sale of the holder to judge whether the operation problem of the user or the problem of the holder is the problem of the holder, wherein the judgment basis of the problem of the holder can comprise the shaking of the holder or the reciprocating motion of the holder; therefore, the method is not only beneficial to improving the operating skill of the user, but also can ensure or improve the quality of the mirror moving effect, thereby effectively improving the stability and reliability of the method.

Fig. 13 is a schematic structural diagram of a detection device of a pan/tilt head according to an embodiment of the present invention; referring to fig. 13, the present embodiment provides a detection apparatus for a pan/tilt head, wherein the pan/tilt head includes: the image acquisition device comprises a base and a machine body connected with the base, wherein the machine body is used for bearing the image acquisition device; the detection apparatus of the pan/tilt head may execute the detection method of the pan/tilt head corresponding to fig. 1, specifically, the apparatus may include:

a memory 12 for storing a computer program;

a processor 11 for executing the computer program stored in the memory 12 to implement:

The detection device of the pan/tilt head may further include a communication interface 13 for the electronic device to communicate with other devices or a communication network.

In some examples, when the processor 11 obtains a first operational state of the base for identifying the base mirror effect, the processor 11 is configured to: acquiring a first motion characteristic of the base; based on the first motion characteristic, a first operational state of the base is determined.

In some examples, the first motion characteristic of the base comprises at least one of: the first acceleration of the base in the direction of three coordinate axes in the cloud platform coordinate system and the first angular velocity of the base in the cloud platform coordinate system.

In some examples, the first motion feature of the base comprises: first acceleration of the base in three coordinate axis directions in a holder coordinate system; when the processor 11 determines the first operating state of the base based on the first motion characteristic, the processor 11 is configured to: acquiring an acceleration value of the base in the gravity direction based on first accelerations of the base in three coordinate axis directions in a cloud deck coordinate system; determining first spectrum information corresponding to the first acceleration; based on the acceleration value and the first spectral information, a first operating state of the base is determined.

In some examples, when the processor 11 obtains the acceleration value of the base in the gravity direction based on the first acceleration of the base in the three coordinate axis directions in the pan/tilt coordinate system, the processor 11 is configured to: acquiring first attitude information of a base; and projecting first accelerations of the base in three coordinate axis directions in a cloud platform coordinate system to a world coordinate system based on the first attitude information, and obtaining an acceleration value of the base in the gravity direction.

In some examples, when the processor 11 determines the first operational state of the base based on the acceleration value and the first spectral information, the processor 11 is configured to: acquiring step frequency information corresponding to the pan-tilt mirror moving; determining first proportion information of step frequency information included in the first spectrum information; a first operating state of the base is determined based on the acceleration value and the first fraction information.

In some examples, when the processor 11 determines the first operational state of the base based on the acceleration value and the first fraction information, the processor 11 is configured to: acquiring a standard acceleration value for analyzing and processing the acceleration value and a first proportion threshold value for analyzing and processing the first proportion information; when the acceleration value is not matched with the standard acceleration value and the first proportion information is greater than or equal to a first proportion threshold value, determining that the first running state of the base is an abnormal state, wherein the abnormal state is used for identifying that the mirror moving effect of the base does not meet a preset condition in the process of moving the mirror by the holder; when the acceleration value is matched with the standard acceleration value, or the first proportion information is smaller than a first proportion threshold value, the first running state of the base is determined to be a normal state, the normal state is used for identifying the process of moving the mirror by the holder, and the mirror moving effect of the base meets the preset condition.

In some examples, the first motion feature of the base comprises: a first angular velocity of the base in a pan-tilt coordinate system; when the processor 11 determines the first operation state of the base based on the first motion characteristic, the processor 11 is configured to: acquiring a rotation angular velocity of the base on a world coordinate system based on a first angular velocity of the base in a holder coordinate system; determining second spectrum information corresponding to the rotation angular velocity; based on the second spectral information, a first operational state of the pedestal is determined.

In some examples, when the processor 11 obtains the rotation angular velocity of the base on the world coordinate system based on the first angular velocity of the base in the pan-tilt coordinate system, the processor 11 is configured to: acquiring first attitude information of a base; and projecting the first angular speed of the base in the holder coordinate system to the world coordinate system based on the first attitude information, and obtaining the rotation angular speed of the base on the world coordinate system.

In some examples, when the processor 11 determines the first operating state of the base based on the second spectrum information, the processor 11 is configured to: acquiring at least one peak-to-peak value included in the second spectrum information; determining at least one first amplitude difference value corresponding to any two peak-to-peak values; when the first amplitude difference value is larger than or equal to the preset threshold value, determining that the first running state of the base is an abnormal state, wherein the abnormal state is used for identifying that the mirror moving effect of the base does not meet the preset condition in the process of moving the mirror by the holder; when all the first amplitude difference values are smaller than the preset threshold value, the first running state of the base is determined to be a normal state, the normal state is used for identifying the process of moving the mirror by the holder, and the mirror moving effect of the base meets the preset condition.

In some examples, after determining that the first operational state of the base is an abnormal state, the processor 11 is further configured to: and generating first prompt information corresponding to the base, wherein the first prompt information is used for prompting a user to carry out parameter adjustment operation so as to adjust the abnormal state of the base.

In some examples, the first reminder information includes at least one of: reducing the response sensitivity of the pan/tilt head in the pitch axis pitch direction; the control smoothness corresponding to the holder is improved; reducing a cut-off frequency corresponding to the pan-tilt, the cut-off frequency being related to the step frequency information; and adjusting the user motion characteristics of the pan-tilt in the process of moving the mirror.

In some examples, when the processor 11 determines a second operational state of the body for identifying a body mirror effect, the processor 11 is further for: acquiring a second motion characteristic of the fuselage; and determining a second operation state of the body for identifying the mirror operation effect of the body based on the second motion characteristic.

In some examples, the second motion characteristic includes at least one of: and the second acceleration of the body in the direction of three coordinate axes in the holder coordinate system and the second angular velocity of the body in the holder coordinate system.

In some examples, the second motion characteristic comprises: the second acceleration of the body in the direction of three coordinate axes in the holder coordinate system; when the processor 11 determines a second operating state of the body for identifying the mirror effect of the body based on the second motion characteristic, the processor 11 is further configured to: determining third spectral information corresponding to the second acceleration; and determining a second operating state of the fuselage based on the third spectral information.

In some examples, when processor 11 determines a second operational state of the fuselage based on the third spectral information, processor 11 is further configured to: acquiring step frequency information corresponding to the mirror moving of the holder; determining second proportion information of the step frequency information included in the third spectrum information; and determining a second operation state of the fuselage based on the second proportion information.

In some examples, when processor 11 determines the second operational state of the fuselage based on the second proportion information, processor 11 is further configured to: acquiring a second proportion threshold value used for analyzing the second proportion information; when the second proportion information is larger than or equal to a second proportion threshold value, determining that the second running state of the body is an abnormal state, wherein the abnormal state is used for marking that the mirror moving effect of the body does not meet the preset condition in the mirror moving process of the holder; and when the second proportion information is smaller than a second proportion threshold value, determining that the second running state of the body is a normal state, wherein the normal state is used for marking that the mirror moving effect of the body meets the preset condition in the mirror moving process of the holder.

In some examples, the second motion characteristic comprises: a second angular velocity of the fuselage in the pan-tilt coordinate system; when the processor 11 determines a second operating state of the body for identifying the mirror effect of the body based on the second motion characteristic, the processor 11 is further configured to: acquiring a rotation angular velocity of the fuselage on a world coordinate system based on a second angular velocity of the fuselage in the holder coordinate system; determining fourth spectrum information corresponding to the rotation angular velocity; and determining a second operating state of the fuselage based on the fourth spectrum information.

In some examples, when the processor 11 obtains the rotation angular velocity of the body on the world coordinate system based on the second angular velocity of the body in the pan-tilt coordinate system, the processor 11 is further configured to: acquiring second attitude information of the fuselage; and projecting a second angular velocity of the fuselage in the holder coordinate system to the world coordinate system based on the second attitude information, and obtaining the rotation angular velocity of the fuselage on the world coordinate system.

In some examples, when the processor 11 determines the second operating state of the fuselage based on the fourth spectrum information, the processor 11 is further configured to: detecting at least one peak-to-peak value included in the fourth spectrum information; determining at least one second frequency difference value corresponding to any two peak-to-peak values; when the second frequency difference is larger than or equal to the preset threshold, determining that the second running state of the body is an abnormal state, wherein the abnormal state is used for marking that the mirror moving effect of the body does not meet the preset condition in the mirror moving process of the holder; and when all the second frequency difference values are smaller than the preset threshold value, determining that the second running state is a normal state, wherein the normal state is used for identifying that the mirror moving effect of the body meets the preset condition in the mirror moving process of the holder.

In some examples, after determining that the second operational state of the airframe is an abnormal state, the processor 11 is further configured to: and generating second prompt information corresponding to the body, wherein the second prompt information is used for prompting a user to perform parameter adjustment operation so as to adjust the abnormal state of the body.

In some examples, the second reminder information includes at least one of: the control smoothness corresponding to the holder is improved; reducing a cut-off frequency corresponding to the pan-tilt, the cut-off frequency being related to the step frequency information; and adjusting the user motion characteristics of the pan-tilt in the process of moving the mirror.

In some examples, when the processor 11 obtains a first operating state of the base for identifying the base mirror effect and determines a second operating state of the body for identifying the body mirror effect, the processor 11 is further configured to: acquiring a multi-frame image aiming at a target object through an image acquisition device; based on the multi-frame images, a first operation state of the base is obtained, and a second operation state of the body for identifying the mirror moving effect of the body is determined.

In some examples, when the processor 11 obtains a first operating state of the base based on the plurality of frames of images, and determines a second operating state of the body for identifying a body mirror effect, the processor 11 is further configured to: determining a plurality of displacement features and a plurality of contour features corresponding to the target object according to the multi-frame image; determining a first operating state of the base based on the plurality of displacement characteristics; based on the plurality of profile features, a second operating state of the fuselage is determined for identifying a fuselage mirror effect.

In some examples, when the processor 11 determines the first operational state of the base based on the plurality of displacement characteristics, the processor 11 is further configured to: determining displacement variation amplitudes corresponding to adjacent position features; when the displacement variation amplitude is larger than or equal to a preset threshold value, determining that the first running state of the base is an abnormal state, wherein the abnormal state is used for marking that the mirror moving effect of the base does not meet a preset condition in the process of moving the mirror by the holder; when the displacement variation amplitude is smaller than a preset threshold value, the first running state of the base is determined to be a normal state, the normal state is used for identifying the mirror moving effect of the base meeting a preset condition in the process of moving the mirror by the holder.

In some examples, when the processor 11 determines a second operational state of the body for identifying a body mirror effect based on the plurality of profile features, the processor 11 is further configured to: determining profile variation information corresponding to adjacent profile features; when the contour change information is greater than or equal to a preset threshold value, determining that the second running state is an abnormal state, wherein the abnormal state is used for marking that the mirror moving effect of the machine body does not meet a preset condition in the process of moving the mirror by the holder; and when the contour change information is smaller than a preset threshold value, determining that the second running state is a normal state, wherein the normal state is used for identifying that the mirror moving effect of the body meets a preset condition in the process of moving the mirror by the holder.

In some examples, when the processor 11 detects whether the pan/tilt head is in the normal state based on the first operating state and the second operating state, the processor 11 is further configured to: acquiring a control state of a holder; and detecting whether the holder is in a normal state or not based on the control state, the first running state and the second running state.

In some examples, when the processor 11 obtains the control state of the pan/tilt head, the processor 11 is further configured to: in the process of transporting the mirror by the holder, acquiring base angular velocity change information corresponding to a base on the holder and fuselage angular velocity change information corresponding to a fuselage on the holder; and determining the control state of the holder based on the angular speed change information of the base and the angular speed change information of the body.

In some examples, when the processor 11 determines the control state of the pan/tilt head based on the base angular velocity variation information and the body angular velocity variation information, the processor 11 is further configured to: acquiring deviation information between the angular speed change information of the base and the angular speed change information of the body; when the deviation information is greater than or equal to a preset threshold value, determining that the control state of the holder is an abnormal control state; and when the deviation information is smaller than a preset threshold value, determining that the control state of the holder is a normal control state.

In some examples, when the processor 11 detects whether the cradle head is in the normal state based on the control state, the first operating state and the second operating state, the processor 11 is further configured to: when the first running state is a normal state, the second running state is a normal state and the control state is an abnormal control state, determining that the holder is in an abnormal state; and when the first running state is a normal state or an abnormal state, the second running state is a normal state and the control state is a normal control state, determining that the holder is in the normal state.

In some examples, after determining that the pan/tilt head is in the abnormal state, the processor 11 is further configured to: and generating third prompt information corresponding to the abnormal state, wherein the third prompt information is used for identifying that the holder is in the abnormal state.

In some examples, after determining that the pan/tilt head is in the abnormal state, processor 11 is further configured to: generating maintenance request information corresponding to the abnormal state; and sending the maintenance request information to the server so that the server generates a maintenance task corresponding to the holder based on the maintenance request information.

The apparatus shown in fig. 13 can perform the method of the embodiment shown in fig. 1 to 12, and for the parts not described in detail in this embodiment, reference may be made to the related description of the embodiment shown in fig. 1 to 12. The implementation process and technical effect of the technical solution refer to the descriptions in the embodiments shown in fig. 1 to 12, and are not described herein again.

Fig. 14 is a schematic structural diagram of a movable platform according to an embodiment of the present invention, and referring to fig. 14, the embodiment provides a movable platform, where the movable platform may include:

a platform main body 1401;

the above-mentioned detection device 1402 of the pan/tilt head of fig. 13 is disposed on the platform main body 1401, and is used for detecting whether the pan/tilt head is in a normal state.

The platform main body 1401 is different according to the type of the movable platform, for example, when the movable platform is a handheld cloud platform, the platform main body 1401 may be a handle, and when the movable platform is an onboard cloud platform, the platform main body 1401 may be a body for mounting a cradle head. It is understood that the movable platform includes, but is not limited to, the types described above.

The specific implementation principle and implementation effect of the movable platform provided in the embodiment shown in fig. 14 are consistent with the specific implementation principle and implementation effect of the detection device 1402 of the pan/tilt head corresponding to fig. 13, and reference may be made to the above statements specifically, and details are not repeated here.

In addition, an embodiment of the present invention provides a computer-readable storage medium, where the storage medium is a computer-readable storage medium, and program instructions are stored in the computer-readable storage medium, where the program instructions are used to implement the above-mentioned detection method for the pan/tilt head in fig. 1 to 12.

The technical solutions and the technical features in the above embodiments may be used alone or in combination in case of conflict with the present disclosure, and all embodiments that fall within the scope of protection of the present disclosure are intended to be equivalent embodiments as long as they do not exceed the scope of recognition of those skilled in the art.

In the embodiments provided in the present invention, it should be understood that the disclosed correlation detection apparatus and method can be implemented in other ways. For example, the above-described embodiments of the detection apparatus are merely illustrative, and for example, the division of the modules or units is only one logical function division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, detection devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer processor (processor) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for detecting a pan/tilt head, wherein the pan/tilt head comprises: the image acquisition device comprises a base and a machine body connected with the base, wherein the machine body is used for bearing the image acquisition device; the method further comprises the following steps:

2. The method of claim 1, wherein obtaining a first operational state of the base for identifying a base mirror effect comprises:

acquiring a first motion characteristic of the base;

based on the first motion characteristic, a first operating state of the base is determined.

3. The method of claim 2,

the first motion characteristic of the base comprises at least one of: the base is in the first acceleration of three coordinate axis directions in the cloud platform coordinate system, the base is in the first angular velocity in the cloud platform coordinate system.

4. The method of claim 2, wherein the first motion characteristic of the base comprises: first acceleration of the base in three coordinate axis directions in a holder coordinate system; determining a first operational state of the base based on the first motion characteristic, including:

acquiring an acceleration value of the base in the gravity direction based on first accelerations of the base in three coordinate axis directions in a holder coordinate system;

determining first spectrum information corresponding to the first acceleration;

determining a first operating state of the base based on the acceleration value and the first spectral information.

5. The method according to claim 4, wherein obtaining the acceleration value of the base in the gravity direction based on the first acceleration of the base in the directions of three coordinate axes in the pan-tilt coordinate system comprises:

acquiring first attitude information of the base;

and projecting first acceleration of the base in three coordinate axis directions in a cloud platform coordinate system to a world coordinate system based on the first attitude information, and obtaining an acceleration value of the base in a gravity direction.

6. The method of claim 4, wherein determining the first operational state of the base based on the acceleration value and the first spectral information comprises:

acquiring step frequency information corresponding to the pan-tilt mirror moving;

determining first proportion information of the step frequency information included in the first spectrum information;

determining a first operational state of the base based on the acceleration value and the first fraction information.

7. The method of claim 6, wherein determining a first operational state of the base based on the acceleration value and the first fraction information comprises:

acquiring a standard acceleration value for analyzing the acceleration value and a first proportion threshold value for analyzing the first proportion information;

when the acceleration value is not matched with the standard acceleration value and the first proportion information is larger than or equal to the first proportion threshold value, determining that the first running state of the base is an abnormal state, wherein the abnormal state is used for identifying that the mirror moving effect of the base does not meet a preset condition in the process of moving the mirror by the holder;

the acceleration value with the standard acceleration value phase-match, perhaps, first proportion information is less than when first proportion threshold value, then confirm the first running state of base is normal condition, normal condition is used for the sign to be in the in-process of cloud platform fortune mirror, the fortune mirror effect of base satisfies the preset condition.

8. The method of claim 2, wherein the first motion characteristic of the base comprises: a first angular velocity of the base in a pan-tilt coordinate system; determining a first operational state of the base based on the first motion characteristic, including:

acquiring a rotation angular velocity of the base on a world coordinate system based on a first angular velocity of the base in a holder coordinate system;

determining second spectrum information corresponding to the rotation angular velocity;

determining a first operating state of the base based on the second spectral information.

9. The method of claim 8, wherein obtaining the angular velocity of the base in the world coordinate system based on the first angular velocity of the base in the pan-tilt coordinate system comprises:

acquiring first attitude information of the base;

and projecting the first angular speed of the base in the holder coordinate system to a world coordinate system based on the first attitude information, and obtaining the rotation angular speed of the base on the world coordinate system.

10. The method of claim 8, wherein determining the first operational state of the base based on the second spectral information comprises:

acquiring at least one peak-to-peak value included in the second spectrum information;

determining at least one first amplitude difference value corresponding to any two peak-to-peak values;

when the first amplitude difference value is larger than or equal to a preset threshold value, determining that the first running state of the base is an abnormal state, wherein the abnormal state is used for identifying that the mirror moving effect of the base does not meet a preset condition in the process of moving the mirror by the holder;

when all the first amplitude difference values are smaller than a preset threshold value, the first running state of the base is determined to be a normal state, the normal state is used for identifying the process of moving the mirror by the holder, and the mirror moving effect of the base meets a preset condition.

11. The method of claim 7 or 10, wherein after determining that the first operational state of the base is an abnormal state, the method further comprises:

and generating first prompt information corresponding to the base, wherein the first prompt information is used for prompting a user to carry out parameter adjustment operation so as to adjust the abnormal state of the base.

12. The method of claim 11, wherein the first prompting message comprises at least one of:

reducing the response sensitivity of the pan/tilt head in the pitch axis pitch direction;

improving the control smoothness degree corresponding to the holder;

reducing a cut-off frequency corresponding to the pan-tilt, the cut-off frequency being related to step frequency information;

and adjusting the user motion characteristics of the pan-tilt mirror moving process.

13. The method of claim 1, wherein determining a second operational state of the body for identifying a body mirror effect comprises:

acquiring a second motion characteristic of the fuselage;

and determining a second operation state of the body for identifying the mirror operation effect of the body based on the second motion characteristic.

14. The method of claim 13,

the second motion characteristic comprises at least one of: the second acceleration of the body in the direction of three coordinate axes in the holder coordinate system, and the second angular velocity of the body in the holder coordinate system.

15. The method of claim 13, wherein the second motion characteristic comprises: the body is subjected to second acceleration in the directions of three coordinate axes in the holder coordinate system; determining a second operational state of the body for identifying a body mirror-moving effect based on the second motion characteristic, comprising:

determining third spectral information corresponding to the second acceleration;

determining a second operational state of the fuselage based on the third spectral information.

16. The method of claim 15, wherein determining a second operational state of the airframe based on the third spectral information comprises:

determining second proportion information of the step frequency information included in the third spectrum information;

and determining a second operation state of the fuselage based on the second proportion information.

17. The method of claim 16, wherein determining a second operational state of the airframe based on the second fraction information comprises:

acquiring a second proportion threshold value used for analyzing the second proportion information;

when the second proportion information is greater than or equal to the second proportion threshold, determining that a second running state of the machine body is an abnormal state, wherein the abnormal state is used for marking that a mirror moving effect of the machine body does not meet a preset condition in the process of moving the mirror by the holder;

and when the second proportion information is smaller than the second proportion threshold value, determining that the second running state of the body is a normal state, wherein the normal state is used for identifying the process of moving the mirror by the holder, and the mirror moving effect of the body meets the preset condition.

18. The method of claim 13, wherein the second motion characteristic comprises: a second angular velocity of the fuselage in a pan-tilt coordinate system; determining a second operational state of the body for identifying a body mirror-moving effect based on the second motion characteristic, comprising:

acquiring a rotation angular velocity of the body on a world coordinate system based on a second angular velocity of the body in a holder coordinate system;

determining fourth spectrum information corresponding to the rotation angular velocity;

determining a second operating state of the fuselage based on the fourth spectral information.

19. The method of claim 18, wherein obtaining a rotational angular velocity of the fuselage in a world coordinate system based on a second angular velocity of the fuselage in a pan-tilt coordinate system comprises:

acquiring second attitude information of the fuselage;

and projecting a second angular velocity of the body in the holder coordinate system to the world coordinate system based on the second attitude information, and obtaining a rotation angular velocity of the body on the world coordinate system.

20. The method of claim 18, wherein determining a second operational state of the airframe based on the fourth spectral information comprises:

detecting at least one peak-to-peak value included in the fourth spectrum information;

determining at least one second frequency difference value corresponding to any two peak-to-peak values;

when the second frequency difference is greater than or equal to a preset threshold, determining that a second operation state of the body is an abnormal state, wherein the abnormal state is used for identifying that a mirror moving effect of the body does not meet a preset condition in a mirror moving process of the holder;

when all the second frequency difference values are smaller than the preset threshold value, the second running state is determined to be a normal state, the normal state is used for identifying the process of moving the mirror by the holder, and the mirror moving effect of the body meets the preset condition.

21. The method of claim 17 or 20, wherein after determining that the second operational state of the airframe is an abnormal state, the method further comprises:

and generating second prompt information corresponding to the body, wherein the second prompt information is used for prompting a user to carry out parameter adjustment operation so as to adjust the abnormal state of the body.

22. The method of claim 21, wherein the second prompting message comprises at least one of:

improving the control smoothness degree corresponding to the holder;

reducing a cut-off frequency corresponding to the pan-tilt, the cut-off frequency being associated with step frequency information;

23. The method of claim 1, wherein obtaining a first operational state of the base for identifying a base mirror effect and determining a second operational state of the body for identifying a body mirror effect comprises:

acquiring a multi-frame image aiming at a target object through the image acquisition device;

and obtaining a first operation state of the base based on the multi-frame images, and determining a second operation state of the body for identifying the mirror moving effect of the body.

24. The method of claim 23, wherein obtaining a first operational state of the base based on the plurality of frames of images and determining a second operational state of the body for identifying a body mirror effect comprises:

determining a plurality of displacement features and a plurality of contour features corresponding to the target object according to the multi-frame image;

determining a first operating state of the base based on the plurality of displacement characteristics;

and determining a second operating state of the body for identifying the mirror operation effect of the body based on the plurality of profile features.

25. The method of claim 24, wherein determining the first operational state of the base based on the plurality of displacement characteristics comprises:

determining displacement variation amplitudes corresponding to adjacent position features;

when the displacement variation amplitude is larger than or equal to a preset threshold value, determining that the first running state of the base is an abnormal state, wherein the abnormal state is used for identifying that the mirror moving effect of the base does not meet a preset condition in the process of moving the mirror by the holder;

and when the displacement variation amplitude is smaller than a preset threshold value, determining that the first running state of the base is a normal state, wherein the normal state is used for identifying the process of moving the mirror by the holder, and the mirror moving effect of the base meets a preset condition.

26. The method of claim 24, wherein determining a second operational state of the fuselage for identifying a fuselage mirror effect based on the plurality of contour features comprises:

determining profile variation information corresponding to adjacent profile features;

when the contour change information is greater than or equal to a preset threshold value, determining that the second running state is an abnormal state, wherein the abnormal state is used for marking that the mirror moving effect of the body does not meet a preset condition in the mirror moving process of the holder;

and when the contour change information is smaller than a preset threshold value, determining that the second running state is a normal state, wherein the normal state is used for identifying the process of moving the mirror by the holder, and the mirror moving effect of the body meets a preset condition.

27. The method of claim 1, wherein detecting whether the pan/tilt head is in a normal state based on the first operational state and the second operational state comprises:

acquiring a control state of the holder;

and detecting whether the holder is in a normal state or not based on the control state, the first running state and the second running state.

28. The method of claim 27, wherein obtaining the control state of the pan/tilt head comprises:

acquiring base angular velocity change information corresponding to the base on the holder and body angular velocity change information corresponding to the body on the holder in the process of moving the mirror by the holder;

and determining the control state of the holder based on the angular velocity change information of the base and the angular velocity change information of the body.

29. The method of claim 28, wherein determining the control state of the pan/tilt head based on the base angular velocity variation information and the body angular velocity variation information comprises:

acquiring deviation information between the angular velocity change information of the base and the angular velocity change information of the body;

when the deviation information is greater than or equal to a preset threshold value, determining that the control state of the holder is an abnormal control state;

and when the deviation information is smaller than a preset threshold value, determining that the control state of the holder is a normal control state.

30. The method of claim 27, wherein detecting whether the pan/tilt head is in a normal state based on the control state, the first operational state, and the second operational state comprises:

when the first running state is a normal state, the second running state is a normal state and the control state is an abnormal control state, determining that the holder is in an abnormal state;

and when the first running state is a normal state or an abnormal state, the second running state is a normal state and the control state is a normal control state, determining that the holder is in a normal state.

31. The method of claim 30, wherein after determining that the pan/tilt head is in an abnormal state, the method further comprises:

and generating third prompt information corresponding to the abnormal state, wherein the third prompt information is used for identifying that the holder is in the abnormal state.

32. The method of claim 30, wherein after determining that the pan/tilt head is in an abnormal state, the method further comprises:

generating maintenance request information corresponding to the abnormal state;

and sending the maintenance request information to a server so that the server generates a maintenance task corresponding to the holder based on the maintenance request information.

33. A detection device of a pan/tilt head, wherein the pan/tilt head comprises: the image acquisition device comprises a base and a machine body connected with the base, wherein the machine body is used for bearing the image acquisition device; the device further comprises:

a memory for storing a computer program;

a processor for executing the computer program stored in the memory to implement:

34. The apparatus of claim 33, wherein when the processor obtains a first operational state of the base for identifying a base mirror effect, the processor is configured to:

acquiring a first motion characteristic of the base;

35. The apparatus of claim 34,

the first motion characteristic of the base comprises at least one of: the device comprises a base, a first acceleration of the base in three coordinate axis directions in a holder coordinate system, and a first angular velocity of the base in the holder coordinate system.

36. The apparatus of claim 34, wherein the first motion feature of the base comprises: first acceleration of the base in three coordinate axis directions in a holder coordinate system; when the processor determines a first operational state of the base based on the first motion characteristic, the processor is to:

determining first spectrum information corresponding to the first acceleration;

37. The apparatus of claim 36, wherein when the processor obtains the acceleration value of the base in the gravity direction based on the first acceleration of the base in the three coordinate axis directions in the pan/tilt coordinate system, the processor is configured to:

acquiring first attitude information of the base;

38. The apparatus of claim 36, wherein when the processor determines the first operational state of the base based on the acceleration value and the first spectral information, the processor is configured to:

39. The apparatus of claim 38, wherein when the processor determines a first operational state of the base based on the acceleration value and the first fraction information, the processor is configured to:

40. The apparatus of claim 34, wherein the first motion feature of the base comprises: a first angular velocity of the base in a pan-tilt coordinate system; when the processor determines a first operational state of the base based on the first motion characteristic, the processor is to:

41. The apparatus of claim 40, wherein when the processor obtains the angular velocity of rotation of the base in the world coordinate system based on the first angular velocity of the base in the pan-tilt coordinate system, the processor is configured to:

acquiring first attitude information of the base;

42. The apparatus of claim 40, wherein when the processor determines the first operating state of the base based on the second spectrum information, the processor is configured to:

43. The apparatus of claim 39 or 42, wherein after determining that the first operational state of the base is an abnormal state, the processor is further configured to:

44. The apparatus of claim 43, wherein the first prompting message comprises at least one of:

improving the control smoothness degree corresponding to the holder;

45. The apparatus of claim 33, wherein when the processor determines a second operational state of the body for identifying a body mirror effect, the processor is further configured to:

acquiring a second motion characteristic of the fuselage;

46. The apparatus of claim 45,

47. The apparatus of claim 45, wherein the second motion feature comprises: the body is subjected to second acceleration in the directions of three coordinate axes in the holder coordinate system; when the processor determines a second operational state of the body for identifying a body mirror-moving effect based on the second motion characteristic, the processor is further configured to:

48. The apparatus of claim 47, wherein when the processor determines a second operational state of the fuselage based on the third spectral information, the processor is further configured to:

49. The apparatus of claim 48, wherein when the processor determines a second operational state of the fuselage based on the second fraction information, the processor is further configured to:

50. The apparatus of claim 45, wherein the second motion feature comprises: a second angular velocity of the fuselage in the pan-tilt coordinate system; when the processor determines a second operating state of the body for identifying a body mirror effect based on the second motion characteristic, the processor is further configured to:

51. The apparatus of claim 50, wherein when the processor obtains a rotational angular velocity of the body in the world coordinate system based on a second angular velocity of the body in the pan-tilt coordinate system, the processor is further configured to:

acquiring second attitude information of the fuselage;

52. The apparatus of claim 50, wherein when the processor determines a second operational state of the airframe based on the fourth spectral information, the processor is further configured to:

when all the second frequency difference values are smaller than the preset threshold value, the second running state is determined to be a normal state, the normal state is used for marking the process that the holder moves the mirror, and the mirror moving effect of the machine body meets the preset condition.

53. The apparatus of claim 49 or 52, wherein after determining that the second operational state of the airframe is an abnormal state, the processor is further configured to:

54. The apparatus of claim 53, wherein the second prompting message comprises at least one of:

improving the control smoothness degree corresponding to the holder;

55. The apparatus of claim 33, wherein when the processor obtains a first operational state of the base for identifying a base mirror effect and determines a second operational state of the body for identifying a body mirror effect, the processor is further configured to:

56. The apparatus of claim 55, wherein when the processor obtains a first operational state of the base based on the plurality of frames of images and determines a second operational state of the body for identifying a body mirror effect, the processor is further configured to:

57. The apparatus of claim 56, wherein when the processor determines the first operational state of the base based on the plurality of displacement characteristics, the processor is further configured to:

when the displacement variation amplitude is larger than or equal to a preset threshold value, determining that a first running state of the base is an abnormal state, wherein the abnormal state is used for marking that a mirror moving effect of the base does not meet a preset condition in the process of moving a mirror by the holder;

58. The apparatus of claim 56, wherein when the processor determines a second operational state of the body for identifying a body mirror effect based on the plurality of profile features, the processor is further configured to:

59. The apparatus of claim 33, wherein when the processor detects whether the pan/tilt head is in a normal state based on the first operational state and the second operational state, the processor is further configured to:

acquiring a control state of the holder;

60. The apparatus according to claim 59, wherein when the processor obtains the control state of the pan/tilt head, the processor is further configured to:

61. The apparatus of claim 60, wherein when the processor determines the control state of the pan/tilt head based on the base angular velocity variation information and the body angular velocity variation information, the processor is further configured to:

62. The apparatus according to claim 59, wherein when the processor detects whether the pan/tilt head is in a normal state based on the control state, the first operational state and the second operational state, the processor is further configured to:

63. The apparatus according to claim 62, wherein after determining that the pan/tilt head is in an abnormal state, the processor is further configured to:

64. The apparatus according to claim 62, wherein after determining that the pan/tilt head is in an abnormal state, the processor is further configured to:

generating maintenance request information corresponding to the abnormal state;

65. A movable platform, comprising:

a platform body;

a detecting unit for a pan and tilt head according to any one of claims 33 to 64, arranged on said platform body for detecting whether said pan and tilt head is in a normal condition.

66. A computer-readable storage medium, characterized in that the storage medium is a computer-readable storage medium having stored therein program instructions for implementing the method of detecting a pan/tilt head according to any one of claims 1 to 32.