CN116724561A

CN116724561A - PTZ system processing method and device and PTZ system

Info

Publication number: CN116724561A
Application number: CN202180087795.2A
Authority: CN
Inventors: 谢振生; 刘帅; 庞少阳
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2021-06-30
Filing date: 2021-06-30
Publication date: 2023-09-08
Also published as: WO2023272596A1

Abstract

A cloud deck system processing method and device and a cloud deck system. The method comprises the following steps: determining whether the gravity of a first cradle head in the cradle head system acts on a base, wherein the base is used for bearing the first cradle head, and the first cradle head is used for bearing a shooting device and driving the shooting device to rotate; and performing target processing aiming at the first cloud deck by adopting a processing mode corresponding to the determination result. The method can enable the processing for the first cradle head to be more suitable, and is beneficial to improving user experience.

Description

PTZ system processing method and device and PTZ system

Technical Field

The present application relates to the field of shooting technologies, and in particular, to a method and an apparatus for processing a pan-tilt system, and a pan-tilt system.

Background

With the continuous development of the cradle head technology, the cradle head is also widely applied.

Generally, when a user uses a shooting device to shoot a video or an image, the shooting device can be fixed by adopting a tripod head system, the tripod head system can comprise a triaxial tripod head, and the shooting device can be arranged on the triaxial tripod head. At present, the tripod head system processes the triaxial tripod head in the same processing mode, however, the processing of the triaxial tripod head is not suitable in the mode.

Disclosure of Invention

The embodiment of the application provides a method and a device for processing a tripod head system and the tripod head system, which are used for solving the problem that the triaxial tripod head is unsuitable to process in the prior art.

In a first aspect, an embodiment of the present application provides a method for processing a pan-tilt system, including:

determining whether the gravity of a first cradle head in the cradle head system acts on a base, wherein the base is used for bearing the first cradle head, and the first cradle head is used for bearing a shooting device and driving the shooting device to rotate;

and performing target processing aiming at the first cloud deck by adopting a processing mode corresponding to the determination result.

In a second aspect, an embodiment of the present application provides a method for processing a pan-tilt system, including:

determining a coupling state of a first cradle head and a second cradle head in the cradle head system, wherein the first cradle head is used for bearing a shooting device and driving the shooting device to rotate, and the second cradle head is borne on a base and used for driving the first cradle head to move in a translation direction;

In a third aspect, an embodiment of the present application provides a control device for a pan-tilt system, including: a processor and a memory; the memory is used for storing program codes; the processor invokes the program code, which when executed, is operable to:

In a fourth aspect, an embodiment of the present application provides a control device for a pan-tilt system, including: a processor and a memory; the memory is used for storing program codes; the processor invokes the program code, which when executed, is operable to:

In a fifth aspect, an embodiment of the present application provides a pan-tilt system, including: the first cradle head and cradle head system control device;

the first cradle head is used for bearing the shooting device and driving the shooting device to rotate;

The cradle head system control device is used for determining whether the gravity of the first cradle head acts on a base or not, wherein the base is used for bearing the first cradle head, and a processing mode corresponding to a determination result is adopted to perform target processing on the first cradle head.

In a sixth aspect, an embodiment of the present application provides a pan-tilt system, including: the first cradle head, the second cradle head and the cradle head system control device;

the second cradle head is borne on the base and used for driving the first cradle head to move in the translational direction;

the cradle head system control device is used for determining the coupling state of the first cradle head and the second cradle head, and performing target processing on the first cradle head by adopting a processing mode corresponding to a determination result.

In a seventh aspect, embodiments of the present application provide a computer-readable storage medium storing a computer program, the computer program comprising at least one piece of code executable by a computer to control the computer to perform the method of any one of the first aspects.

In an eighth aspect, embodiments of the present application provide a computer-readable storage medium storing a computer program, the computer program comprising at least one piece of code executable by a computer to control the computer to perform the method of any one of the second aspects above.

In a ninth aspect, an embodiment of the present application provides a computer program for implementing the method according to any one of the first aspects above, when said computer program is executed by a computer.

In a tenth aspect, embodiments of the present application provide a computer program for implementing the method according to any of the second aspects above, when said computer program is executed by a computer.

The embodiment of the application provides a method, a device and a tripod head system for processing a first tripod head by determining whether the gravity of the first tripod head in the tripod head system acts on a base or not and adopting a processing mode corresponding to a determination result to perform target processing on the first tripod head, so that the target processing on the first tripod head is performed by adopting the processing mode corresponding to the determination result whether the gravity of the first tripod head acts on the base or not.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic diagram of a pan-tilt system according to an embodiment of the present application;

FIG. 2A is a schematic diagram illustrating a product form of a first cradle head according to an embodiment of the present application, wherein gravity acts on a base;

fig. 2B is a schematic diagram of a product form of gravity of the first pan-tilt acting on the base according to another embodiment of the present application;

FIG. 2C is a schematic diagram illustrating a product form of the first cradle head according to an embodiment of the present application in which gravity does not act on the base;

fig. 3 is a flow chart of a control method of a pan-tilt system according to an embodiment of the application;

fig. 4 is a flowchart of a control method of a pan-tilt system according to another embodiment of the present application;

fig. 5 is a flowchart of a control method of a pan-tilt system according to another embodiment of the present application;

fig. 6 is a flowchart of a control method of a pan-tilt system according to another embodiment of the present application;

Fig. 7 is a flowchart of a control method of a pan-tilt system according to another embodiment of the present application;

fig. 8 is a flowchart of a control method of a pan-tilt system according to another embodiment of the present application;

fig. 9 is a schematic structural diagram of a pan-tilt system control device according to an embodiment of the present application;

fig. 10 is a schematic structural diagram of a pan-tilt system control device according to another embodiment of the present application.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

The method for processing the pan-tilt system provided by the embodiment of the application can be applied to the pan-tilt system 10 shown in fig. 1. Referring to fig. 1, a pan-tilt system 10 may include a first pan-tilt 11 and a pan-tilt system control device 12, where the first pan-tilt 11 is configured to carry a photographing device and drive the photographing device to rotate, and the photographing device may be, for example, a video camera, a mobile phone, etc. The pan-tilt system control device 12 is configured to execute the method provided by the embodiment of the present application.

The first pan/tilt head 11 may specifically be any type of mechanism capable of carrying the photographing device and driving the photographing device to rotate. In one embodiment, the first pan-tilt 11 may include an axial stability-increasing mechanism with an axial stability-increasing function, so as to compensate for axial shake of the photographing device reversely, reduce influence on the photographed image caused by axial shake of a body or an arm of a user in the photographing process, and improve photographing effect. The first pan/tilt head 11 may be a three-axis pan/tilt head, which may rotate around a yaw (yaw) axis, a roll (roll) axis, and a pitch (pitch) axis to adjust an angle of the photographing device.

In practical applications, a user may change different product forms for the pan-tilt system 10 according to requirements, so as to be applicable to different usage scenarios.

In a product form, the gravity of the first pan/tilt head 11 may act on the base. The product form of the first pan/tilt head 11, in which gravity acts on the base, may be as shown in fig. 2A or fig. 2B, for example. In fig. 2A and 2B, the first pan-tilt 11 may be carried on the second pan-tilt 13, the second pan-tilt 13 may be carried on the base 14, and the second pan-tilt 13 is configured to drive the first pan-tilt 11 to move in the translational direction. It should be noted that fig. 2A and fig. 2B are schematic diagrams of the bearing assembly of the second pan/tilt head 13 for bearing the first pan/tilt head 11 in different usage states.

The second pan/tilt head 13 may specifically be any type of mechanism capable of carrying the first pan/tilt head 11 and driving the first pan/tilt head 11 to move in the translational direction. In one embodiment, the translation direction may be a vertical direction, and the second pan-tilt 13 may include a vertical stability-increasing mechanism with a vertical stability-increasing function, so as to compensate for shake in the vertical direction of the photographing device in a reverse direction, reduce an influence on a photographed image caused by shake in the vertical direction of a body or an arm of a user in a photographing process, and improve a photographing effect.

In fig. 2A, the first pan/tilt head 11 is taken as an axial stability augmentation mechanism (specifically, a triaxial pan/tilt head), and the second pan/tilt head 13 is taken as a vertical stability augmentation mechanism as an example.

In fig. 2A and 2B, the gravity of the first pan/tilt head 11 acts on the base 14 by directly mechanically coupling the first pan/tilt head 11 and the second pan/tilt head 13. It will be appreciated that in other embodiments, the gravity of the first pan/tilt head 11 may be applied to the base 14 by other means, for example, by directly mechanically coupling the first pan/tilt head 11 with the base 14, so that the gravity of the first pan/tilt head 11 acts on the base 14, and the corresponding product form does not provide the function of moving the first pan/tilt head 11 in the translational direction.

In another product form, the gravity of the first pan/tilt head 11 may act on a predetermined platform other than the base. The predetermined platform may be specifically a platform different from the base shown in fig. 2A and capable of carrying the first pan-tilt 11, so as to be suitable for other use situations where the base is inconvenient to use, including, but not limited to, a vehicle-mounted platform, an airborne platform, and a handheld pan-tilt. In one embodiment, the predetermined platform may include a handle, in which case the product form of the first pan/tilt 11, in which gravity acts on the predetermined platform, may be as shown in fig. 2C, for example. In fig. 2C, the first pan/tilt head 11 is carried on the handle 15 for the user to hold. The handle 15 may also be communicatively coupled to the base 14 in a wired manner and may provide one or more functions from the base 14. It will be appreciated that in other embodiments, the communication connection may be performed wirelessly if desired; alternatively, in other embodiments, the handle 15 may not be communicatively coupled to the base 14, i.e., the base may not provide functionality when the weight of the first pan/tilt head is not acting on the base.

As can be seen from fig. 2A to fig. 2C, the product form of the gravity of the first pan/tilt head 11 acting on the base is suitable for use in a small-scale dispatching and a wide space, but is not suitable for use in a large-scale dispatching or a narrow space. The gravity of the first pan/tilt head 11 does not act on the product form of the base, and can be suitable for use scenes in a wide-range dispatching or narrow space. Thus, the user can select the product form suitable for the use scene according to the specific use scene.

However, if the same processing method is adopted for the first pan/tilt head 11 after the product morphology corresponding to the pan/tilt head system is changed, there is a problem that the control of the first pan/tilt head 11 is not suitable.

In the embodiment of the application, the cradle head system control device 12 determines whether the gravity of the first cradle head 11 in the cradle head system 10 acts on the base 14, and adopts the processing mode corresponding to the determination result to perform the target processing on the first cradle head 11, so that the target processing on the first cradle head 11 is performed by adopting the processing mode corresponding to the determination result whether the gravity of the first cradle head 11 acts on the base, and because the factors which can be considered when the gravity of the first cradle head 11 acts on the base and the gravity of the first cradle head 11 does not act on the base can be different, the processing mode corresponding to the factors which can be considered in the current product form is adopted to perform the processing on the first cradle head 11, so that the processing on the first cradle head 11 is more suitable and the user experience is facilitated to be improved.

In fig. 1, the pan/tilt system control device 12 is located outside the first pan/tilt 11. In other embodiments, the pan-tilt system control device 12 may also be integrated into the first pan-tilt 11; alternatively, where the pan-tilt system 10 further includes a base, the pan-tilt system control 12 may be integrated into the base 14 and/or the first pan-tilt 11.

Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.

Fig. 3 is a flow chart of a control method of a pan-tilt system according to an embodiment of the present application, where an execution body of the embodiment may be a pan-tilt system control device, and may specifically be a processor of the pan-tilt system control device. As shown in fig. 3, the method of the present embodiment may include:

step 31, determining whether a gravity of a first pan-tilt in the pan-tilt system acts on a base, wherein the base is used for bearing the first pan-tilt, and the first pan-tilt is used for bearing a shooting device and driving the shooting device to rotate.

In this step, the specific mode of determining whether the gravity of the first pan-tilt in the pan-tilt system acts on the base can be flexibly implemented. For example, it may be determined what the support device currently carrying the first pan-tilt is, and further determine whether the gravity of the first pan-tilt acts on the base according to the determined support device. For example, as shown in fig. 2B and 2C, when determining that the support device currently carrying the first pan-tilt is the second pan-tilt carried on the base, it may be further determined that the gravity of the first pan-tilt acts on the base; when the support device currently carrying the first pan-tilt is determined to be the handle, it may be further determined that the gravity of the first pan-tilt is not acting on the base.

Alternatively, for example, a product form selected manually by the user may be determined, and whether gravity of the first pan-tilt acts on the base may be determined according to the product form selected by the user. For example, as shown in fig. 2B and 2C, when the product configuration selected by the user is the on-board configuration shown in fig. 2B, it may be determined that the gravity of the first pan-tilt acts on the base; when the product form selected by the user is the split form shown in fig. 2C, it may be determined that the gravity of the first pan-tilt does not act on the base.

Alternatively, by way of example, it may be determined whether the gravity of the first pan-tilt acts on the base through the pressure value sensed by the pressure sensor. For example, as shown in fig. 2B and 2C, a position of the first pan/tilt head 11 for connecting the second pan/tilt head 13 may be provided with a pressure sensor, and when the pressure value sensed by the pressure sensor is greater than a preset pressure value, it may be determined that gravity of the first pan/tilt head 11 acts on the base 14; when the pressure value sensed by the pressure sensor is smaller than the preset pressure value, it may be determined that the gravity of the first pan/tilt head 11 is not acting on the base 14.

Alternatively, for example, it may be determined whether the gravity of the first pan-tilt acts on the base through the light intensity value sensed by the light sensor. For example, as shown in fig. 2B and fig. 2C, a light sensor may be disposed at a position of the first pan-tilt 11 for connecting with the second pan-tilt 13, and when the light intensity value sensed by the light sensor is smaller than the preset light intensity value, since the first pan-tilt 11 shields the connection position, it may be determined that the gravity of the first pan-tilt acts on the base 14; when the light intensity value sensed by the light sensor is greater than the preset light intensity value, since the first pan/tilt head 11 does not shade the connection position, it can be determined that the gravity of the first pan/tilt head 11 does not act on the base 14.

And step 32, performing target processing for the first cradle head by adopting a processing mode corresponding to the determined result.

In this step, the target process may be any type of process in which the specific process mode is affected by whether the gravity of the first pan/tilt head acts on the base. For example, the target process may include a gesture determination process and/or a follow-up control process.

It is understood that, when the gravity of the first pan/tilt head acts on the base, the specific processing manner of the target processing for the first pan/tilt head is different from the specific processing manner of the target processing for the first pan/tilt head when the gravity of the first pan/tilt head does not act on the base.

According to the cradle head system processing method, whether the gravity of the first cradle head in the cradle head system acts on the base is determined, the processing mode corresponding to the determination result is adopted to perform target processing on the first cradle head, the target processing on the first cradle head is performed by adopting the processing mode corresponding to the determination result whether the gravity of the first cradle head acts on the base or not is achieved, and because the factors which can be considered when the gravity of the first cradle head acts on the base and the gravity of the first cradle head does not act on the base can be different, the processing on the first cradle head by adopting the processing mode corresponding to the factors which can be considered in the current product form is achieved, so that the processing on the first cradle head is more suitable, and the user experience is improved.

Fig. 4 is a flowchart of a control method of a pan-tilt system according to another embodiment of the present application, where an alternative implementation manner of performing target processing for a first pan-tilt by using a processing manner corresponding to a determination result is mainly described based on the embodiment shown in fig. 3. As shown in fig. 4, the method of the present embodiment may include:

step 41, determining whether a gravity of a first pan-tilt in the pan-tilt system acts on a base, wherein the base is used for carrying the first pan-tilt, and the first pan-tilt is used for carrying a photographing device and driving the photographing device to rotate.

In this step, optionally, it may be determined whether the supporting device currently carrying the first pan-tilt is a predetermined platform, which is different from the base. The current supporting device for bearing the first cradle head is a preset platform, which means that the gravity of the first cradle head does not act on the base; the fact that the support device currently carrying the first pan-tilt does not represent a predetermined platform means that the gravity of the first pan-tilt acts on the base.

Further optionally, determining whether the supporting device currently carrying the first pan-tilt is a predetermined platform may specifically include: determining whether a preset platform is connected to a cradle head system or not; the preset platform access cloud deck system indicates that the current supporting equipment carrying the first cloud deck in the cloud deck system is the preset platform; the predetermined platform not being connected to the cradle head system indicates that the support device currently carrying the first cradle head is not the predetermined platform. For example, a hardware circuit for detecting whether the handle is connected to the base 14 or the second pan/tilt head 13 in fig. 2C may be provided, and whether the handle is connected to the pan/tilt head system is determined according to the output of the hardware circuit.

For example, when the first pan-tilt can be directly mechanically coupled to the base, the supporting device currently carrying the first pan-tilt may not be a predetermined platform, including: the current supporting device for carrying the first cradle head is a base. Alternatively, as shown in fig. 2A, when the first pan/tilt head 11 can be directly mechanically coupled to the second pan/tilt head 13, the supporting device currently carrying the first pan/tilt head 11 is not a predetermined platform may include: the support device currently carrying the first pan-tilt 11 is the second pan-tilt 13 carried on the base 14.

And step 42, performing attitude determination processing for the first pan/tilt by adopting a processing mode corresponding to the determination result.

In this step, the specific processing mode of the attitude determination processing for the first pan-tilt is affected by whether the gravity of the first pan-tilt acts on the base. That is, the specific processing method for performing the posture determining processing for the first pan/tilt head when the gravity of the first pan/tilt head acts on the base is different from the specific processing method for performing the posture determining processing for the first pan/tilt head when the gravity of the first pan/tilt head does not act on the base.

Because the posture of the first cradle head can be changed due to the change of the posture of the base when the gravity of the first cradle head acts on the base, the posture of the base has a referential property for determining the posture of the first cradle head when the gravity of the first cradle head acts on the base, and therefore, the posture of the base can be taken into consideration when the gravity of the first cradle head acts on the base. In this case, an inertial measurement unit (IMU, inertial Measurement Unit), a visual sensor, or a compass may be provided on the base to obtain the base pose.

When the gravity of the first cradle head does not act on the base, the posture of the base is not changed, so when the gravity of the first cradle head does not act on the base, the determination of the posture of the base by the posture of the base does not have a referential property, and when the gravity of the first cradle head does not act on the base, the posture of the base is not taken into consideration as a factor capable of being considered for the posture determination processing of the first cradle head.

Therefore, when the gravity of the first pan/tilt head acts on the base, the posture determination processing can be performed using the base posture, and when the gravity of the first pan/tilt head does not act on the base, the posture determination processing cannot be performed using the base posture. In one embodiment, in step 52, the attitude of the first pan-tilt is determined based on the attitude of the base when the gravity of the first pan-tilt is acting on the base, and the attitude of the first pan-tilt is not determined based on the attitude of the base when the gravity of the first pan-tilt is not acting on the base.

For example, the first pan/tilt head is provided with an attitude sensor, and step 52 may specifically include: when the gravity of the first cradle head acts on the base, determining the posture of the first cradle head according to the posture information acquired by the posture sensor and the posture of the base; and/or when the gravity of the first cradle head is determined not to act on the base, determining the posture of the first cradle head according to the posture information acquired by the posture sensor.

Optionally, determining the posture of the first pan-tilt according to the posture information acquired by the posture sensor may specifically include: and taking the gesture corresponding to the gesture information acquired by the gesture sensor as the gesture of the first cradle head. According to the gesture information collected by the gesture sensor and the gesture of the base, determining the gesture of the first pan-tilt specifically may include: and fusing the posture information acquired by the posture sensor and the posture of the base to obtain the posture of the first cradle head. For example, the posture corresponding to the posture information may be corrected using the posture of the base, so as to obtain the posture of the first pan/tilt. By determining the posture of the first cradle head according to the posture information acquired by the posture sensor and the posture of the base, the drift in the yaw direction can be reduced, and the accuracy of determining the posture of the first cradle head is improved. It should be noted that, the specific manner of fusing the posture information acquired by the posture sensor and the base posture to obtain the pan-tilt posture may refer to the content in the related art, which is not described herein again.

Or, optionally, the yaw axis joint angle of the first pan-tilt may be fused when determining the posture of the first pan-tilt, so as to further improve the accuracy of determining the posture of the first pan-tilt.

Based on this, according to the posture information acquired by the posture sensor and the posture of the base, determining the posture of the first pan-tilt may specifically include: and fusing the posture information acquired by the posture sensor, the base posture of the base and the yaw axis joint angle of the first cradle head to obtain the posture of the first cradle head. For example, the posture corresponding to the posture information may be corrected using the base posture and the yaw axis joint angle of the first pan-tilt to obtain the posture of the first pan-tilt. It should be noted that, the specific manner of obtaining the pan-tilt attitude by fusing the attitude information acquired by the attitude sensor, the base attitude and the yaw axis joint angle of the first pan-tilt can be referred to the content in the related art, and will not be described herein.

According to the gesture information acquired by the gesture sensor, determining the gesture of the first pan-tilt may specifically include: and fusing the attitude information acquired by the attitude sensor and the yaw axis joint angle of the first cradle head to obtain the attitude of the first cradle head. For example, the yaw axis joint angle of the first pan-tilt may be used to correct the posture corresponding to the posture information, so as to obtain the posture of the first pan-tilt. It should be noted that, the specific manner of obtaining the pan-tilt posture by fusing the posture information acquired by the posture sensor and the yaw axis joint angle of the first pan-tilt may be referred to the content in the related art, and will not be described herein.

The attitude sensor may include an angular velocity sensor, or an acceleration sensor and an angular velocity sensor, among others.

When the attitude sensor comprises an angular velocity sensor and the gravity of the first cradle head acts on the base, for example, the angular velocity information acquired by the angular velocity sensor, the base attitude of the base and the yaw axis joint angle of the first cradle head can be fused to obtain the attitude of the first cradle head; when it is determined that the gravity of the first pan-tilt does not act on the base, for example, the angular velocity information acquired by the angular velocity sensor and the yaw axis joint angle of the first pan-tilt may be fused to obtain the posture of the first pan-tilt.

When the attitude sensor comprises an acceleration sensor and an angular velocity sensor and the gravity of the first cradle head acts on the base, for example, the acceleration information acquired by the acceleration sensor, the angular velocity information acquired by the angular velocity sensor, the base attitude of the base and the yaw axis joint angle of the first cradle head can be fused to obtain the attitude of the first cradle head; when it is determined that the gravity of the first pan-tilt does not act on the base, for example, acceleration information acquired by the acceleration sensor, angular velocity information acquired by the angular velocity sensor, and a yaw axis joint angle of the first pan-tilt may be fused to obtain a posture of the first pan-tilt. In this case, the attitude sensor may be specifically an IMU.

According to the cradle head system processing method, whether the gravity of the first cradle head in the cradle head system acts on the base is determined, the processing mode corresponding to the determination result is adopted to perform gesture determination processing on the first cradle head, the processing mode corresponding to the determination result whether the gravity of the first cradle head acts on the base is adopted to perform gesture determination processing on the first cradle head, and because the gravity of the first cradle head acts on the base and does not act on the base, factors which can be considered in the gesture determination processing on the first cradle head can be different, the processing mode corresponding to the factors which can be considered in the current product form is adopted to perform gesture determination processing on the first cradle head, so that the processing on the first cradle head is more suitable, and the user experience is improved.

Fig. 5 is a flowchart of a control method of a pan-tilt system according to another embodiment of the present application, where, based on the embodiment shown in fig. 3, another alternative implementation manner of performing target processing for a first pan-tilt is mainly described, where the first pan-tilt is in a following mode, and a processing manner corresponding to a determination result is adopted. As shown in fig. 5, the method of the present embodiment may include:

Step 51, determining whether a gravity of a first pan-tilt in the pan-tilt system acts on a base, where the base is used to carry the first pan-tilt, and the first pan-tilt is used to carry a photographing device and drive the photographing device to rotate.

It should be noted that, step 51 is similar to step 31 and step 41, and will not be described here again.

And step 52, performing follow-up control processing for the first pan-tilt by adopting a processing mode corresponding to the determination result.

In this step, the specific processing mode of the following control processing for the first pan-tilt is affected by whether the gravity of the first pan-tilt acts on the base. That is, when the gravity of the first pan/tilt head acts on the base, the specific processing method for performing the following determination processing for the first pan/tilt head is different from the specific processing method for performing the following determination processing for the first pan/tilt head when the gravity of the first pan/tilt head does not act on the base.

When the first pan-tilt is in the following mode, the following control process may be performed for the first pan-tilt. Taking the first tripod head as a triaxial tripod head as an example, the following mode can be specifically a mode of stabilizing the following support device of the yaw shaft, the pitch shaft and the roll shaft, or a mode of stabilizing the following support device of the yaw shaft and the pitch shaft and the roll shaft, or a mode of stabilizing the following support device of the pitch shaft, the yaw shaft and the roll shaft.

Because when the gravity of the first cradle head acts on the base, the reaction force of the rotation motor of the first cradle head acts on the base, and the reaction force of the rotation motor is overlarge relative to the inertia of the base, the shake of the first cradle head can be caused, when the gravity of the first cradle head acts on the base, the inertia of the base can be used as a factor which can be considered for carrying out following control processing on the first cradle head.

When the gravity of the first tripod head does not act on the base, the reaction force of the rotation motor of the first tripod head does not act on the inertia of the base, and whether the reaction force of the rotation motor of the rotation causes shaking of the first tripod head is irrelevant to the inertia of the base, so when the gravity of the first tripod head does not act on the base, the inertia of the base is not taken into consideration for carrying out the following control processing on the first tripod head, but the inertia of other objects (namely, preset platforms) acted by the gravity of the first tripod head is taken into consideration for carrying out the following control processing on the first tripod head.

Therefore, when the gravity of the first pan/tilt head acts on the base, the following control process can be performed by a process corresponding to the weight of the base, and when the gravity of the first pan/tilt head does not act on the base, the following control process can be performed by a process corresponding to the weight of the predetermined platform. In one embodiment, in step 52, the control parameters used for the following control process when the gravity of the first pan and tilt head is acting on the base may be different from the control parameters used for the following control process when the gravity of the first pan and tilt head is not acting on the base.

Step 52 may include, for example, steps a and B as follows.

And A, determining target control parameters required to be used for follow-up control according to a determination result, wherein when the determination result is that the gravity of the first cradle head acts on the base, the target control parameters comprise first control parameters, and when the determination result is that the gravity of the first cradle head does not act on the base, the target control parameters comprise second control parameters, and the first control parameters are different from the second control parameters.

When the weight of the base is greater than the predetermined platform, the control intensity of the first control parameter may be greater than the second control parameter, that is, when the gravity of the first pan-tilt acts on the base, a strong parameter mode may be adopted, and when the gravity of the first pan-tilt does not act on the base, a weak parameter mode may be adopted. Therefore, when the gravity of the first cradle head acts on the base with heavy weight, the first cradle head can follow the supporting equipment at a faster following speed on the basis of avoiding shaking of the first cradle head caused by overlarge control intensity of the control parameter, and the problem of shaking of the first cradle head caused by overlarge control intensity of the control parameter is avoided by losing the following speed of the first cradle head when the gravity of the first cradle head acts on the preset platform with light weight.

When the weight of the base is smaller than the predetermined platform, the control intensity of the first control parameter may be smaller than the second control parameter, that is, when the gravity of the first pan-tilt acts on the base, a weak parameter mode may be adopted, and when the gravity of the first pan-tilt does not act on the base, a strong parameter mode may be adopted. Therefore, when the gravity of the first cradle head acts on the base with lighter weight, the problem of shaking of the first cradle head caused by overlarge control intensity of the control parameter is avoided by losing the following speed of the first cradle head, and when the gravity of the first cradle head acts on the preset platform with heavier weight, the first cradle head can follow the supporting equipment with faster following speed on the basis of avoiding shaking of the first cradle head caused by overlarge control intensity of the control parameter.

And B, determining a motor control quantity based on the target control parameter, wherein the motor control quantity is used for controlling the corresponding rotating motor in the first cradle head to rotate.

The target control parameter may be a parameter in a proportional-integral-derivative (PID) control system, and the PID control system is a closed-loop control system.

Alternatively, the first control parameter and the second control parameter may be control parameters of the PID control system that perform the following control process in a speed closed loop manner. Based on this, step B may specifically include: and determining the motor control quantity according to the rotation speed difference between the first cradle head and the supporting equipment thereof and the target control parameter.

Specifically, when the determination result is that the gravity of the first pan-tilt acts on the base, the motor control amount can be determined according to the rotation speed difference between the first pan-tilt and the supporting device thereof and the first control parameter, for example, the product of the rotation speed difference between the first pan-tilt and the supporting device thereof and the first control parameter can be used as the motor control amount; when the result of the determination is that the gravity of the first pan-tilt does not act on the base, the motor control amount can be determined according to the rotation speed difference between the first pan-tilt and the supporting device thereof and the second control parameter, for example, the product of the rotation speed difference between the first pan-tilt and the supporting device thereof and the second control parameter can be used as the motor control amount.

It is understood that, when the following mode is a mode in which the yaw axis follows the supporting device, the pitch axis, and the roll axis are stabilized, the rotation speed difference may specifically be a rotation speed difference between the first pan and the supporting device thereof rotating around the yaw axis. Correspondingly, the motor control quantity can be particularly used for controlling the rotation of the rotary motor of the yaw shaft in the first cradle head.

When the following mode is a mode that the yaw axis and the pitch axis follow the supporting device and the roll axis are stable, the rotation speed difference can be specifically a rotation speed difference of rotation around the yaw axis between the first tripod head and the supporting device and a rotation speed difference of rotation around the pitch axis between the first tripod head and the supporting device, and the motor control quantity can be specifically used for controlling the rotation of a rotation motor of the pitch axis in the first tripod head.

When the following mode is a mode in which the pitch axis, the yaw axis, and the roll axis all follow, the rotation speed difference may specifically include a pitch axis rotation speed difference in rotation about the pitch axis between the first head and its supporting device, a yaw axis rotation speed difference in rotation about the yaw axis between the first head and its supporting device, and a roll axis rotation speed difference in rotation about the roll axis between the first head and its supporting device. Correspondingly, the motor control amount may specifically include a pitch axis motor control amount for controlling rotation of a rotation motor of a pitch axis in the first pan/tilt head, a yaw axis motor control amount for controlling rotation of a rotation motor of a yaw axis in the first pan/tilt head, and a roll axis motor control amount for controlling rotation of a roll axis rotation motor in the first pan/tilt head.

Alternatively, the following control process may be performed in a position closed loop manner in the PID control system. In this case, the target control parameter may further include a third control parameter, which is a control parameter for performing the following control process in a position closed loop manner in the PID control system. Based on this, step B may specifically include: determining a first calculation result according to the rotation speed difference between the first cradle head and the supporting equipment thereof and the target control parameter; determining a second calculation result according to the rotation angle difference between the first cradle head and the supporting equipment thereof and the third control parameter; and determining a motor control amount according to the first calculation result and the second calculation result.

Specifically, when the determination result is that the gravity of the first pan-tilt acts on the base, a first calculation result can be determined according to the rotation speed difference between the first pan-tilt and the supporting device thereof and the first control parameter, a second calculation result is determined according to the rotation angle difference between the first pan-tilt and the supporting device and the third control parameter, and the motor control amount is determined according to the first calculation result and the second calculation result; when the result of the determination is that the gravity of the first pan-tilt does not act on the base, a first calculation result can be determined according to the rotation speed difference between the first pan-tilt and the supporting equipment and the second control parameter, a second calculation result is determined according to the rotation angle difference between the first pan-tilt and the supporting equipment and the third control parameter, and the motor control amount is determined according to the first calculation result and the second calculation result.

The first calculation result is determined according to the rotation speed difference between the first pan-tilt and the supporting device thereof and the target control parameter, for example, the product of the rotation speed difference between the first pan-tilt and the supporting device thereof and the target control parameter may be used as the first calculation result. Of course, in other embodiments, the first calculation result may be determined by other manners, which is not limited by the present application.

The second calculation result may be determined according to the rotation angle difference between the first pan-tilt and its supporting device and the third control parameter, for example, a product of the rotation angle difference between the first pan-tilt and its supporting device and the third control parameter may be used as the second calculation result. Of course, in other embodiments, the second calculation result may be determined by other manners, which is not limited by the present application.

The motor control amount is determined based on the first calculation result and the second calculation result, and may be, for example, a sum of the first calculation result and the second calculation result as the motor control amount. Of course, in other embodiments, the motor control amount may be determined in other ways, and the application is not limited in this regard.

According to the cradle head system processing method, whether the gravity of the first cradle head in the cradle head system acts on the base is determined, the following control processing for the first cradle head is performed by adopting the processing mode corresponding to the determination result whether the gravity of the first cradle head acts on the base, and because the factors which can be considered for the following control processing for the first cradle head can be different under the two conditions that the gravity of the first cradle head acts on the base and does not act on the base, the following control processing for the first cradle head is performed by adopting the processing mode corresponding to the factors which can be considered under the current product form, so that the processing for the first cradle head is more suitable, and the user experience is improved.

Fig. 6 is a flow chart of a control method of a pan-tilt system according to another embodiment of the present application, and on the basis of the foregoing embodiment of the present application, an alternative implementation in a case where the pan-tilt system further includes a base is mainly described. As shown in fig. 6, the method of the present embodiment may include:

step 61, determining whether a gravity of a first pan-tilt in the pan-tilt system acts on a base, where the base is used to carry the first pan-tilt, and the first pan-tilt is used to carry a photographing device and drive the photographing device to rotate.

It should be noted that, step 61 is similar to steps 31 and 41, and will not be described here again.

And step 62, performing target processing for the first cradle head by adopting a processing mode corresponding to the determination result.

It should be noted that, step 62 is similar to steps 32, 42 and 52, and will not be described herein.

Step 63, performing a function control process for the base by using a processing method corresponding to the determination result.

In this step, the specific processing mode of the function control processing for the base may be affected by whether the gravity of the first pan/tilt head acts on the base. That is, the specific processing method for performing the function control processing for the base when the gravity of the first pan/tilt head acts on the base is different from the specific processing method for performing the function control processing for the base when the gravity of the first pan/tilt head does not act on the base.

Because when the gravity of the first cloud platform acts on the base, the relevance of the base and the first cloud platform is strong, and the functions provided by the base are more convenient in the process that a user uses the shooting device carried on the first cloud platform to shoot, the base can provide more functions for the user.

When the gravity of the first cradle head does not act on the base, the relevance of the base and the first cradle head is weak, and in the process that a user uses the shooting device mounted on the first cradle head to shoot, the function provided by the base is inconvenient, so that the base can provide less functions for the user.

Therefore, when the gravity of the first cradle head acts on the base, the base can be controlled to provide more functions for the user, and when the gravity of the first cradle head does not act on the base, the base can be controlled to provide less functions for the user. In one embodiment, the function provided by the function control process when the gravity of the first pan-tilt is not acting on the base may be a subset of the function provided by the function control process when the gravity of the first pan-tilt is acting on the base.

Illustratively, step 63 may specifically include: when the gravity of the first cradle head acts on the base, controlling the base to be in a first working mode; and/or controlling the base to be in a second working mode when the gravity of the first cradle head is not acted on the base, wherein the function provided by the base in the second working mode is a subset of the function provided by the base in the first working mode.

Optionally, in the case that the pan-tilt system further includes a second pan-tilt that is carried on the base and is used for driving the first pan-tilt to move in the translational direction, the function provided by the base in the first working mode may include a first function related to the second pan-tilt, and the function provided by the base in the second working mode may not include the first function. For example, the first function may be turned off or dormant in the second mode of operation. Because the function provided by the second cradle head for driving the first cradle head to move in the translational direction is invalid when the gravity of the first cradle head does not act on the base, the problem caused by the control processing of the function related to the second cradle head by the base under the condition that the function provided by the second cradle head is invalid can be avoided by excluding the first function related to the second cradle head under the second working mode, and the improvement of user experience is facilitated.

The first function can be flexibly realized according to control requirements. Illustratively, the first function may include: aiming at the working state switching function of the bearing assembly in the second cradle head, the bearing assembly is used for bearing the first cradle head, and the working state of the bearing assembly comprises a retracted state and an extended state; and/or, for the operation mode switching function of the second pan/tilt, the operation mode of the second pan/tilt includes a following mode (i.e., the second pan/tilt is used to follow the motion of the base in a translational direction) and a stability enhancement mode (i.e., the second pan/tilt is used to achieve stability enhancement of the load in a translational direction). It should be noted that, when the working state of the bearing assembly is the stowage state, the bearing assembly cannot drive the first pan-tilt to move in the translational direction; when the working state of the bearing assembly is an unfolding state, the bearing assembly can drive the first cradle head to move in the translational direction. For example, in the product form shown in fig. 2B, the base may provide a function of switching the operating state of the carrier assembly in the second pan-tilt, and/or a function of switching the operating mode of the second pan-tilt.

Further optionally, the functions provided by the base in the first working mode may further include a second function unrelated to the second pan-tilt, so that a functional range of the base is enlarged, and user experience is improved. The second function can also be flexibly implemented according to control requirements. By way of example, the second function may include one or more of the following: the camera comprises a start-stop control function for the shooting device, a rotation control function for the first cradle head, or a coding and decoding function for contents shot by the shooting device.

The starting control function of the shooting device is aimed at, so that a user can use the base to control the shooting device to start shooting and end shooting, and the shooting device is convenient for the user to use. The rotation control function of the first cradle head is aimed at, so that a user can control the rotation of the first cradle head by using the base, and the user can use the base conveniently. For the coding and decoding functions of the contents shot by the shooting device, the first cradle head is not required to carry out coding and decoding processing, so that the first cradle head can send the original data with higher definition acquired by the shooting device to the base, and the shooting effect can be improved. For example, in the product form shown in fig. 2B, the base may further provide one or more of a start-stop control function for the photographing device, a rotation control function for the first pan-tilt, or a codec function for the content photographed by the photographing device.

Optionally, in a case where the predetermined platform is capable of functioning as a supporting device for the first pan-tilt and the predetermined platform is communicatively connected to the base, the functions provided by the base in the second operation mode may include a second function; wherein the predetermined platform is disposed apart from the base. That is, even if the base is separated from the first head, the base can provide a second function unrelated to the second head. For example, in the product form shown in fig. 2C, the base may provide one or more of a start-stop control function for the photographing device, a rotation control function for the first pan-tilt, or a codec function for content photographed by the photographing device.

It should be noted that, the execution sequence of step 62 and step 63 is not limited by the embodiment of the present application.

According to the cradle head system processing method, whether the gravity of the first cradle head in the cradle head system acts on the base is determined, the processing mode corresponding to the determination result is adopted to perform the function control processing aiming at the base, the function control processing aiming at the base is performed by adopting the processing mode corresponding to the determination result whether the gravity of the first cradle head acts on the base is achieved, and because the factors which can be considered in the function control of the base can be different under the two conditions that the gravity of the first cradle head acts on the base and does not act on the base, the function control processing aiming at the base by adopting the processing mode corresponding to the factors which can be considered under the current product form is achieved, so that the processing aiming at the base is more suitable, and the user experience is promoted.

Fig. 7 is a flow chart of a control method of a pan-tilt system according to another embodiment of the present application, where an execution body of the embodiment may be a pan-tilt system control device, and in particular may be a processor of the pan-tilt system control device. As shown in fig. 7, the method of the present embodiment may include:

step 71, determining a coupling state of a first pan-tilt and a second pan-tilt in the pan-tilt system, where the first pan-tilt is used to carry a photographing device and drive the photographing device to rotate, and the second pan-tilt is carried on a base and used to drive the first pan-tilt to move in a translational direction.

In this step, the coupling state of the first pan-tilt and the second pan-tilt may include a mechanical coupling state and/or an electrical coupling state. In one embodiment, the product form of the first cradle head that is acted on the base by the gravity of the first cradle head or the product form of the first cradle head that is not acted on the base by the gravity of the first cradle head may be determined by the mechanical coupling state of the first cradle head and the second cradle head, that is: when the mechanical coupling state of the first cradle head and the second cradle head is that mechanical coupling exists, the gravity of the first cradle head can be considered to act on the base; when the mechanical coupling state of the first pan-tilt and the second pan-tilt is that there is no mechanical coupling, it can be considered that the gravity of the first pan-tilt does not act on the base.

In another embodiment, in practical application, if the first pan-tilt and the second pan-tilt are electrically coupled by directly plugging the electrical connection end of the first pan-tilt and the electrical connection end of the second pan-tilt, that is, when there is electrical coupling between the first pan-tilt and the second pan-tilt, the gravity of the first pan-tilt will act on the base, and when there is no electrical coupling between the first pan-tilt and the second pan-tilt, the gravity of the first pan-tilt will not act on the base, then the product form of the gravity of the first pan-tilt acting on the base or the product form of the gravity of the first pan-tilt not acting on the base may also be determined by the electrical coupling state of the first pan-tilt and the second pan-tilt, that is: when the electric coupling state of the first cradle head and the second cradle head is that electric coupling exists, the gravity of the first cradle head acts on the base; when the electric coupling state of the first cradle head and the second cradle head is that electric coupling does not exist, the gravity of the first cradle head does not act on the base.

In practical application, for the product form of the base, which needs to be controlled by the second Yun Taidui first pan-tilt and the load thereof, by determining the electric coupling state of the first pan-tilt and the second pan-tilt, it can also be determined whether the control of the base on the first pan-tilt and the load carried by the first pan-tilt and the load thereof can be actually realized. It should be noted that, for the product in which the base may be communicatively connected to the predetermined platform in the split-type configuration, even if there is no electrical coupling between the first cradle head and the second cradle head, the base may control the first cradle head and the load carried by the first cradle head through the communication connection between the first cradle head and the predetermined platform.

In this step, whether there is a mechanical coupling between the first pan-tilt and the second pan-tilt in the pan-tilt system may be determined in a similar manner as described above for determining whether the gravity of the first pan-tilt acts on the base. For example, it may be determined whether the support device currently carrying the first pan-tilt is a predetermined platform, the predetermined platform being different from the base. The method comprises the steps that a current supporting device for bearing a first cradle head is a preset platform, and the first cradle head and a second cradle head are not mechanically coupled; the fact that the current support device carrying the first pan-tilt does not represent a mechanical coupling between the first pan-tilt and the second pan-tilt for the predetermined platform.

For example, in the case where the first pan-tilt and the second pan-tilt are electrically coupled by using an electrical connection manner, a manner of determining whether the electrical connection end of the first pan-tilt is electrically connected with the electrical connection end adapted to the second pan-tilt may be used to determine the electrical coupling state of the first pan-tilt and the second pan-tilt. For example, in fig. 2B, a hardware circuit for detecting whether the electrical connection end of the first pan-tilt head 11 is inserted into the electrical connection end adapted to the second pan-tilt head 13 may be disposed on the second pan-tilt head 13, and determining the electrical coupling state of the first pan-tilt head and the second pan-tilt head according to the output of the hardware circuit. The electric connection end of the first cradle head is inserted into the electric connection end of the second cradle head to indicate that electric coupling exists between the first cradle head and the second cradle head, and the electric connection end of the first cradle head is not inserted into the electric connection end of the second cradle head to indicate that electric coupling does not exist between the first cradle head and the second cradle head.

Or, for example, in the case that the first pan-tilt and the second pan-tilt are electrically coupled by using an electromagnetic induction manner, the electrical coupling state of the first pan-tilt and the second pan-tilt may be determined according to the electromagnetic strength sensed by the electromagnetic induction end of the second pan-tilt. For example, in fig. 2B, a hardware circuit for detecting the electromagnetic intensity sensed by the electromagnetic induction end of the first pan/tilt head 11 may be disposed on the second pan/tilt head 13, and the electrical coupling state of the first pan/tilt head and the second pan/tilt head may be determined according to the output of the hardware circuit. The induction electromagnetic intensity is larger than the preset electromagnetic intensity to indicate that the first cradle head and the second cradle head are electrically coupled, and the induction electromagnetic intensity is smaller than the preset electromagnetic intensity to indicate that the first cradle head and the second cradle head are not electrically coupled.

It should be noted that, the specific manner of determining the electrical coupling state of the first pan-tilt and the second pan-tilt can be flexibly implemented.

And step 72, performing target processing for the first cradle head by adopting a processing mode corresponding to the determination result.

Optionally, step 72 may specifically include: and adopting a processing mode corresponding to the determination result to perform gesture determination processing aiming at the first cradle head. Specifically, when the determination result represents that the gravity of the first pan-tilt acts on the product form of the base, the target processing for the first pan-tilt can be performed by adopting a processing mode corresponding to the product form of the gravity of the first pan-tilt acting on the base; when the determined result represents that the gravity of the first cradle head does not act on the product form of the base, the target processing for the first cradle head can be performed by adopting a processing mode corresponding to the product form of the first cradle head, wherein the gravity of the first cradle head does not act on the base.

Further optionally, an attitude sensor may be disposed in the first pan-tilt, and the determining the attitude of the first pan-tilt by adopting a processing manner corresponding to the determination result may specifically include: when the first cradle head and the second cradle head are mechanically coupled, determining the posture of the first cradle head according to the posture information acquired by the posture sensor and the posture of the base; and/or when the first cradle head and the second cradle head are determined to have no mechanical coupling, determining the gesture of the first cradle head according to the gesture information acquired by the gesture sensor.

Alternatively, if the first pan-tilt and the second pan-tilt are electrically coupled by directly plugging the electrical connection end of the first pan-tilt with the electrical connection end adapted to the second pan-tilt, the determining the pose of the first pan-tilt by adopting a processing mode corresponding to the determination result may specifically include: when determining that the first cradle head and the second cradle head are electrically coupled, determining the posture of the first cradle head according to the posture information acquired by the posture sensor and the posture of the base; and/or when the first cradle head and the second cradle head are determined to have no electric coupling, determining the gesture of the first cradle head according to the gesture information acquired by the gesture sensor.

It should be noted that, regarding the specific processing manner of performing the posture determining processing on the first pan-tilt under the product form that the gravity of the first pan-tilt acts on the base and under the product form that the gravity of the first pan-tilt does not act on the base, reference may be made to the related description of the foregoing embodiments, which is not repeated herein.

And/or, optionally, step 72 may specifically include: and adopting a processing mode corresponding to the determination result to carry out follow-up control processing aiming at the first cradle head.

Further optionally, the performing the following control processing for the first pan/tilt by using a processing manner corresponding to the determination result may specifically include: determining target control parameters to be used for follow-up control according to a determination result, wherein when the determination result is that the first cradle head and the second cradle head are mechanically coupled, the target control parameters comprise first control parameters, and when the determination result is that the first cradle head and the second cradle head are not mechanically coupled, the target control parameters comprise second control parameters, and the first control parameters are different from the second control parameters; and determining a motor control amount based on the target control parameter, wherein the motor control amount is used for controlling the corresponding rotating motor in the first cradle head to rotate.

Alternatively, if the first pan-tilt and the second pan-tilt are electrically coupled by directly plugging the electrical connection end of the first pan-tilt with the electrical connection end adapted to the second pan-tilt, the following control processing for the first pan-tilt is performed by adopting a processing mode corresponding to the determination result, which specifically may include: when determining that the first cradle head and the second cradle head are electrically coupled, the target control parameters comprise first control parameters; when the first cradle head and the second cradle head are not electrically coupled as a result of the determination, the target control parameters comprise second control parameters, and the first control parameters are different from the second control parameters; and determining a motor control amount based on the target control parameter, wherein the motor control amount is used for controlling the corresponding rotating motor in the first cradle head to rotate.

It should be noted that, regarding the specific processing manner of performing the following control processing on the first pan/tilt under the product form that the gravity of the first pan/tilt acts on the base and the product form that the gravity of the first pan/tilt does not act on the base, reference may be made to the related description of the foregoing embodiments, which is not repeated herein.

Optionally, the method may further include: and performing function control processing for the base by adopting a processing mode corresponding to the determination result.

Further optionally, the performing the function control process for the base by adopting a processing manner corresponding to the determination result may specifically include: when the first cradle head and the second cradle head are determined to have mechanical coupling, the base is controlled to be in a first working mode; and/or controlling the base to be in a second working mode when the first cradle head and the second cradle head are determined to have no mechanical coupling, wherein the functions provided by the base in the second working mode are a subset of the functions provided by the base in the first working mode.

Alternatively, if the first pan-tilt and the second pan-tilt are electrically coupled by directly plugging the electrical connection end of the first pan-tilt with the electrical connection end of the second pan-tilt, the processing method corresponding to the determination result is adopted to perform the function control processing for the base, which specifically may include: when the first cradle head and the second cradle head are electrically coupled, the base is controlled to be in a first working mode; and/or controlling the base to be in a second working mode when the first cradle head and the second cradle head are not electrically coupled, wherein the functions provided by the base in the second working mode are a subset of the functions provided by the base in the first working mode.

For products in which the base needs to be controlled by the second Yun Taidui first pan-tilt and its load, when the coupling state includes the electrical coupling state, the functions provided by the base in the first operating mode may include a third function for controlling the first pan-tilt and its load, and the functions provided by the base in the second operating mode may not include the third function. In addition, under the condition that the control base is in the second working mode, if the control instruction of the user aiming at the first cradle head or the load thereof is obtained, prompt information for prompting that the instruction cannot take effect can be output to the user, so that the user experience is improved.

It should be noted that, regarding the specific processing manner of performing the function control processing on the base under the product form of the gravity of the first pan-tilt acting on the base and under the product form of the gravity of the first pan-tilt not acting on the base, reference may be made to the related description of the foregoing embodiments, which is not repeated herein.

According to the cloud platform system processing method, whether the first cloud platform and the second cloud platform in the cloud platform system are mechanically coupled or not is determined, the target processing for the first cloud platform is performed by adopting the processing mode corresponding to the determination result of whether the first cloud platform and the second cloud platform are mechanically coupled or not, and as the factors which can be considered for the processing for the first cloud platform can be different under the two conditions that the first cloud platform and the second cloud platform are mechanically coupled or not, the processing for the first cloud platform by adopting the processing mode corresponding to the factors which can be considered under the current product form is achieved, so that the processing for the first cloud platform is more suitable, and the user experience is improved.

Taking the example that the cradle head system can change the airborne form shown in fig. 2B and the split form shown in fig. 2C, and the cradle head system processing device 12 includes a first cradle head system control device located at a first cradle head and a second cradle head system control device located at a base, a flow block diagram of the cradle head system control method can be shown in fig. 8.

Referring to fig. 8, in step 81 and step 82, the first pan-tilt-system control device and the second pan-tilt-system control device continuously inquire of the central controller whether the handle is connected, respectively. The central controller can detect whether the handle is connected or not in a hardware mode, and returns the result to the first holder system control device and the second holder system control device as a response.

In step 83 and step 84, the first pan-tilt system control device and the second pan-tilt system control device determine that the product form is a split form or an on-board form according to the query result, respectively. The device is in a split type if the handle is connected, and is in an onboard type if the handle is not connected.

When the product form is a split form, in step 85, the first pan-tilt system control device sets the posture fusion mode to a handheld fusion mode, and sets the control parameter mode to a weak parameter mode. In the handheld fusion mode, the posture information acquired by the posture sensor and the yaw axis joint angle of the first cradle head can be fused to obtain the posture of the first cradle head without being according to the posture of the base when the posture of the first cradle head is determined. In the weak parameter mode, when the following control processing for the first cradle head is performed, the motor control quantity is determined according to the second control parameter, and the control intensity of the second control parameter is smaller than that of the first control parameter.

When the product form is a split form, in step 86, the second pan-tilt system control device sets the operation mode of the base to the second operation mode. In the second working mode, the base can provide fewer functions, for example, can provide a start-stop control function for the shooting device, a rotation control function for the first cradle head, and a coding and decoding function for contents shot by the shooting device, but cannot provide a working state switching function for a bearing component in the second cradle head and a working mode switching function for the second cradle head.

When the product form is the on-board form, in step 87, the first pan-tilt system control device sets the attitude fusion mode to the on-board fusion mode, and sets the control parameter mode to the strong parameter mode. In the airborne fusion mode, the attitude information acquired by the attitude sensor, the base attitude of the base and the yaw axis joint angle of the first cradle head can be fused according to the base attitude when the attitude determination processing for the first cradle head is performed, so that the attitude of the first cradle head is obtained. In the strong parameter mode, when the following control processing for the first cradle head is performed, the motor control quantity is determined according to the first control parameter, and the control intensity of the first control parameter is larger than that of the second control parameter.

When the product form is the on-board form, in step 88, the second pan-tilt system control device sets the operation mode of the base to the first operation mode. In the first working mode, the base can provide more functions, for example, a start-stop control function for the shooting device, a rotation control function for the first cradle head, a coding and decoding function for contents shot by the shooting device, a working state switching function for the bearing component in the second cradle head and a working mode switching function for the second cradle head.

Fig. 9 is a schematic structural diagram of a pan-tilt system control device according to an embodiment of the present application, as shown in fig. 9, the device 90 may include: a processor 91 and a memory 92.

The memory 92 for storing program codes;

the processor 91 invokes the program code, which when executed, is operative to:

The control device for the pan-tilt system provided in this embodiment may be used to execute the technical solutions of the method embodiments shown in fig. 3 to 6, and its implementation principle and technical effects are similar to those of the method embodiments, and are not described herein again.

Fig. 10 is a schematic structural diagram of a pan-tilt system control device according to another embodiment of the present application, and as shown in fig. 10, the device 100 may include: a processor 101 and a memory 102.

The memory 102 is used for storing program codes;

the processor 101 invokes the program code, which when executed, is operable to:

The control device for the pan-tilt system provided in this embodiment may be used to execute the technical scheme of the method embodiment shown in fig. 7, and its implementation principle and technical effects are similar to those of the method embodiment, and are not described herein again.

In addition, the embodiment of the application also provides a cradle head system, which comprises a first cradle head and a cradle head control device in the embodiment shown in fig. 9.

The embodiment of the application also provides a cradle head system, which comprises a first cradle head and a cradle head control device in the embodiment shown in fig. 10.

Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the method embodiments described above may be performed by hardware associated with program instructions. The foregoing program may be stored in a computer readable storage medium. The program, when executed, performs steps including the method embodiments described above; and the aforementioned storage medium includes: various media that can store program code, such as ROM, RAM, magnetic or optical disks.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application.

Claims

The cloud deck system processing method is characterized by comprising the following steps of:

determining whether the gravity of a first cradle head in the cradle head system acts on a base, wherein the base is used for bearing the first cradle head, and the first cradle head is used for bearing a shooting device and driving the shooting device to rotate;

and performing target processing aiming at the first cloud deck by adopting a processing mode corresponding to the determination result.
The method of claim 1, wherein performing the target processing for the first pan/tilt using the processing method corresponding to the determination result comprises:

and determining the gesture of the first cradle head by adopting a processing mode corresponding to the determination result.
The method of claim 2, wherein an attitude sensor is disposed in the first pan/tilt head; the determining the gesture of the first pan-tilt by adopting a processing mode corresponding to the determination result includes:

when the gravity of the first cradle head acts on a base, determining the posture of the first cradle head according to posture information acquired by a posture sensor and the posture of the base; and/or the number of the groups of groups,

And when the gravity of the first cradle head is determined not to act on the base, determining the posture of the first cradle head according to the posture information acquired by the posture sensor.
The method of claim 3, wherein determining the attitude of the first pan-tilt based on the attitude information acquired by the attitude sensor and the base attitude of the base comprises:

and fusing the posture information acquired by the posture sensor, the posture of the base and the yaw axis joint angle of the first cradle head to obtain the posture of the first cradle head.
The method of claim 3, wherein determining the pose of the first pan-tilt based on the pose information acquired by the pose sensor comprises:

and fusing the attitude information acquired by the attitude sensor and the yaw axis joint angle of the first cradle head to obtain the attitude of the first cradle head.
A method according to claim 3, wherein the attitude sensor comprises an inertial measurement unit IMU.
The method according to any one of claims 1-6, wherein, when the first pan-tilt is in the following mode, the performing, by using a processing manner corresponding to the determination result, the target processing for the first pan-tilt includes:

And adopting a processing mode corresponding to the determination result to carry out follow-up control processing aiming at the first cradle head.
The method of claim 7, wherein the performing the following control process for the first pan-tilt using the processing manner corresponding to the determination result includes:

determining a target control parameter to be used for follow-up control according to the determination result, wherein the target control parameter comprises a first control parameter when the determination result is that the gravity of the first cradle head acts on the base, and comprises a second control parameter when the determination result is that the gravity of the first cradle head does not act on the base, and the first control parameter is different from the second control parameter;

and determining a motor control amount based on the target control parameter, wherein the motor control amount is used for controlling the corresponding rotating motor in the first cradle head to rotate.
The method of claim 8, wherein determining the motor control amount based on the target control parameter comprises:

and determining the motor control amount according to the rotation speed difference between the first cradle head and the supporting equipment thereof and the target control parameter.
The method of claim 8, wherein the target control parameters further comprise a third control parameter; the determining the motor control amount based on the target control parameter includes:

determining a first calculation result according to the rotation speed difference between the first cradle head and the supporting equipment thereof and the target control parameter;

determining a second calculation result according to the rotation angle difference between the first cradle head and the supporting equipment thereof and the third control parameter;

and determining the motor control amount according to the first calculation result and the second calculation result.
The method according to any one of claims 1-10, wherein, in case the pan-tilt system further comprises the base, the method further comprises:

and performing function control processing for the base by adopting a processing mode corresponding to the determination result.
The method according to claim 11, wherein the performing the function control process for the base using the processing method corresponding to the determination result includes:

when the gravity of the first cradle head acts on a base, controlling the base to be in a first working mode; and/or the number of the groups of groups,

And when the gravity of the first cradle head does not act on the base, controlling the base to be in a second working mode, wherein the functions provided by the base in the second working mode are a subset of the functions provided by the base in the first working mode.
The method of claim 12, wherein the functions provided by the base in the first mode of operation include first functions associated with the second pan and the functions provided by the base in the second mode of operation do not include the first functions, in the case where the pan and tilt system further includes a second pan carried by the base and configured to move the first pan and tilt in a translational direction.
The method of claim 13, wherein the first function comprises:

aiming at the working state switching function of a bearing assembly in the second cradle head, the bearing assembly is used for bearing the first cradle head, and the working state of the bearing assembly comprises a retracted state and an extended state; and/or the number of the groups of groups,

aiming at the working mode switching function of the second cradle head, the working mode of the second cradle head comprises a following mode and a stability augmentation mode.
The method of claim 13, wherein the functions provided by the base in the first mode of operation further comprise a second function unrelated to the second pan/tilt.
The method of claim 15, wherein the second function comprises one or more of: and the starting and stopping control function of the shooting device is aimed at the rotation control function of the first cradle head or the encoding and decoding function of the content shot by the shooting device.
The method according to claim 15 or 16, wherein the functions provided by the base in the second mode of operation comprise the second functions in case a predetermined platform is capable of functioning as a support device for the first pan-tilt and the predetermined platform is communicatively connected to the base;

wherein the predetermined platform is disposed separately from the base.
The method of any one of claims 1-17, wherein determining whether a first pan-tilt in the pan-tilt system is acting on a base comprises:

determining whether the current supporting equipment carrying the first cradle head is a preset platform or not, wherein the preset platform is different from the base;

the supporting device currently carrying the first cradle head indicates that the gravity of the first cradle head does not act on the base for the preset platform; the support device currently carrying the first pan-tilt does not indicate to the predetermined platform that the gravity of the first pan-tilt acts on the base.
The method of claim 18, wherein determining whether the support device currently carrying the first pan-tilt in the pan-tilt system is a predetermined platform comprises:

determining whether a preset platform is connected to the cradle head system;

the preset platform is accessed into the cradle head system to represent that the support equipment currently carrying the first cradle head in the cradle head system is the preset platform; the fact that the preset platform is not connected to the cradle head system indicates that the support device carrying the first cradle head is not the preset platform.
The method of claim 18, wherein the support device currently carrying the first pan-tilt is not the predetermined platform, comprising:

the supporting equipment currently carrying the first cradle head is a base; or alternatively, the process may be performed,

the current supporting device for bearing the first cradle head is a second cradle head borne on the base, and the second cradle head is used for driving the first cradle head to move in the translational direction.
The method of any one of claims 13 to 15, 20, wherein the second pan-tilt comprises a vertical stability augmentation mechanism.
The method of any one of claims 1 to 21, wherein the first pan-tilt comprises an axial stability augmentation mechanism.
The cloud deck system processing method is characterized by comprising the following steps of:

determining a coupling state of a first cradle head and a second cradle head in the cradle head system, wherein the first cradle head is used for bearing a shooting device and driving the shooting device to rotate, and the second cradle head is borne on a base and used for driving the first cradle head to move in a translation direction;

and performing target processing aiming at the first cloud deck by adopting a processing mode corresponding to the determination result.
A holder system processing apparatus, the apparatus comprising: a memory and a processor;

the memory is used for storing program codes;

the processor invokes the program code, which when executed, is operable to:

determining whether the gravity of a first cradle head in the cradle head system acts on a base, wherein the base is used for bearing the first cradle head, and the first cradle head is used for bearing a shooting device and driving the shooting device to rotate;

and performing target processing aiming at the first cloud deck by adopting a processing mode corresponding to the determination result.
The apparatus of claim 24, wherein the processor is configured to perform target processing for the first pan-tilt by adopting a processing manner corresponding to a determination result, and specifically includes:

And determining the gesture of the first cradle head by adopting a processing mode corresponding to the determination result.
The apparatus of claim 25, wherein an attitude sensor is disposed in the first pan/tilt head; the processor is configured to perform gesture determination processing for the first pan-tilt by adopting a processing manner corresponding to a determination result, and specifically includes:

when the gravity of the first cradle head acts on a base, determining the posture of the first cradle head according to posture information acquired by a posture sensor and the posture of the base; and/or the number of the groups of groups,

and when the gravity of the first cradle head is determined not to act on the base, determining the posture of the first cradle head according to the posture information acquired by the posture sensor.
The apparatus of claim 26, wherein the processor is configured to determine the posture of the first pan-tilt based on the posture information collected by the posture sensor and the posture of the base, and specifically comprises:

and fusing the posture information acquired by the posture sensor, the posture of the base and the yaw axis joint angle of the first cradle head to obtain the posture of the first cradle head.
The apparatus of claim 26, wherein the processor is configured to determine the pose of the first pan-tilt based on pose information acquired by the pose sensor, and specifically comprises:

and fusing the attitude information acquired by the attitude sensor and the yaw axis joint angle of the first cradle head to obtain the attitude of the first cradle head.
The apparatus of claim 26, wherein the attitude sensor comprises an inertial measurement unit IMU.
The apparatus of any one of claims 24-29, wherein, when the first pan-tilt is in the following mode, the processor is configured to perform, by using a processing manner corresponding to the determination result, target processing for the first pan-tilt, and specifically includes:

and adopting a processing mode corresponding to the determination result to carry out follow-up control processing aiming at the first cradle head.
The apparatus of claim 30, wherein the processor is configured to perform a following control process for the first pan-tilt by adopting a processing manner corresponding to a determination result, and specifically includes:

determining a target control parameter to be used for follow-up control according to the determination result, wherein the target control parameter comprises a first control parameter when the determination result is that the gravity of the first cradle head acts on the base, and comprises a second control parameter when the determination result is that the gravity of the first cradle head does not act on the base, and the first control parameter is different from the second control parameter;

And determining a motor control amount based on the target control parameter, wherein the motor control amount is used for controlling the corresponding rotating motor in the first cradle head to rotate.
The apparatus of claim 31, wherein the processor is configured to determine the motor control amount based on a target control parameter, and specifically comprises:

and determining the motor control amount according to the rotation speed difference between the first cradle head and the supporting equipment thereof and the target control parameter.
The apparatus of claim 31, wherein the target control parameter further comprises a third control parameter; the processor is used for determining the motor control quantity based on the target control parameter, and specifically comprises the following steps:

determining a first calculation result according to the rotation speed difference between the first cradle head and the supporting equipment thereof and the target control parameter;

determining a second calculation result according to the rotation angle difference between the first cradle head and the supporting equipment thereof and the third control parameter;

and determining the motor control amount according to the first calculation result and the second calculation result.
The apparatus of any one of claims 24-33, wherein, where the pan-tilt system further comprises the base, the processor is further configured to:

And performing function control processing for the base by adopting a processing mode corresponding to the determination result.
The apparatus of claim 34, wherein the processor is configured to perform a function control process for the base in a processing manner corresponding to the determination result, and specifically comprises:

when the gravity of the first cradle head acts on a base, controlling the base to be in a first working mode; and/or the number of the groups of groups,

and when the gravity of the first cradle head is determined not to act on the base, controlling the base to be in a second working mode, wherein the functions provided by the base in the second working mode are a subset of the functions provided by the base in the first working mode.
The apparatus of claim 35, wherein the base provides a function that includes a first function associated with the second pan-tilt in the first mode of operation and the base provides a function that does not include the first function in the second mode of operation, in the case where the pan-tilt system further includes a second pan-tilt carried by the base and configured to move the first pan-tilt in the translational direction.
The apparatus of claim 36, wherein the first function comprises:

Aiming at the working state switching function of a bearing assembly in the second cradle head, the bearing assembly is used for bearing the first cradle head, and the working state of the bearing assembly comprises a retracted state and an extended state; and/or the number of the groups of groups,

aiming at the working mode switching function of the second cradle head, the working mode of the second cradle head comprises a following mode and a stability augmentation mode.
The apparatus of claim 36, wherein the functions provided by the base in the first mode of operation further comprise a second function unrelated to the second pan/tilt.
The apparatus of claim 38, wherein the second function comprises one or more of: and the starting and stopping control function of the shooting device is aimed at the rotation control function of the first cradle head or the encoding and decoding function of the content shot by the shooting device.
The apparatus of claim 38 or 39, wherein the function provided by the base in the second mode of operation comprises the second function if a predetermined platform is capable of functioning as a support device for the first pan-tilt and the predetermined platform is communicatively coupled to the base;

Wherein the predetermined platform is disposed separately from the base.
The apparatus of any one of claims 24-40, wherein the processor is configured to determine whether a first pan-tilt in the pan-tilt system is acting on a base, specifically comprising:

determining whether the current supporting equipment carrying the first cradle head is a preset platform or not, wherein the preset platform is different from the base;

the supporting device currently carrying the first cradle head indicates that the gravity of the first cradle head does not act on the base for the preset platform; the support device currently carrying the first pan-tilt does not indicate to the predetermined platform that the gravity of the first pan-tilt acts on the base.
The apparatus of claim 41, wherein the processor is configured to determine whether a supporting device currently carrying the first pan-tilt in the pan-tilt system is a predetermined platform, and specifically comprises:

determining whether a preset platform is connected to the cradle head system;

the preset platform is accessed into the cradle head system to represent that the support equipment currently carrying the first cradle head in the cradle head system is the preset platform; the fact that the preset platform is not connected to the cradle head system indicates that the support device carrying the first cradle head is not the preset platform.
The apparatus of claim 41, wherein the support device currently carrying the first pan-tilt is not the predetermined platform, comprising:

the supporting equipment currently carrying the first cradle head is a base; or alternatively, the process may be performed,

the current supporting device for bearing the first cradle head is a second cradle head borne on the base, and the second cradle head is used for driving the first cradle head to move in the translational direction.
The apparatus of any one of claims 36 to 38, 43, wherein the second pan-tilt comprises a vertical stability augmentation mechanism.
The apparatus of any one of claims 24 to 44, wherein the first pan-tilt comprises an axial stability augmentation mechanism.
A holder system processing apparatus, the apparatus comprising: a memory and a processor;

the memory is used for storing program codes;

the processor invokes the program code, which when executed, is operable to:

determining a coupling state of a first cradle head and a second cradle head in the cradle head system, wherein the first cradle head is used for bearing a shooting device and driving the shooting device to rotate, and the second cradle head is borne on a base and used for driving the first cradle head to move in a translation direction;

And performing target processing aiming at the first cloud deck by adopting a processing mode corresponding to the determination result.
A pan-tilt system, comprising: the first cradle head and cradle head system control device;

the first cradle head is used for bearing the shooting device and driving the shooting device to rotate;

the cradle head system control device is used for determining whether the gravity of the first cradle head acts on a base or not, wherein the base is used for bearing the first cradle head, and a processing mode corresponding to a determination result is adopted to perform target processing on the first cradle head.
A pan-tilt system, comprising: the first cradle head, the second cradle head and the cradle head system control device;

the first cradle head is used for bearing the shooting device and driving the shooting device to rotate;

the second cradle head is borne on the base and used for driving the first cradle head to move in the translational direction;

the cradle head system control device is used for determining the coupling state of the first cradle head and the second cradle head, and performing target processing on the first cradle head by adopting a processing mode corresponding to a determination result.
A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program comprising at least one piece of code executable by a computer to control the computer to perform the method according to any one of claims 1-23.
A computer program for implementing the method according to any one of claims 1-23 when the computer program is executed by a computer.