WO2019061029A1

WO2019061029A1 - Method for controlling pan-tilt, control device, and pan-tilt

Info

Publication number: WO2019061029A1
Application number: PCT/CN2017/103508
Authority: WO
Inventors: 苏铁; 郝祎
Original assignee: 深圳市大疆灵眸科技有限公司
Priority date: 2017-09-26
Filing date: 2017-09-26
Publication date: 2019-04-04
Also published as: CN109154836A

Abstract

Disclosed is a method for controlling a pan-tilt (30), comprising: acquiring rotation parameter information of at least one wheel (21, 22); and sending the rotation parameter information to the pan-tilt (30), so that the pan-tilt (30) adjusts the attitude of the pan-tilt (30) according to the rotation parameter information. According to the method, a control device (20) receives the rotation parameter information of at least one wheel (21, 22) thereon, and sends the rotation parameter information of the wheel (21, 22) to the pan-tilt (30), so that the pan-tilt (30) adjusts the attitude of the pan-tilt (30) according to the rotation parameter information of the wheel (21, 22); because the angular speed or angle value of the wheel (21, 22) can be accurately controlled or calculated, the accuracy of controlling the attitude of the pan-tilt (30) can be improved when the attitude of the pan-tilt (30) is adjusted according to the angular speed or angle value of the wheel (21, 22). Also disclosed are a control device and a pan-tilt (30).

Description

PTZ control method, control equipment and gimbal

Technical field

The embodiments of the present invention relate to the field of drones, and in particular, to a method, a control device, and a pan/tilt.

Background technique

In the prior art, when the photographing device is mounted on the handheld pan/tilt, the handheld pan/tilt can stabilize the image taken by the photographing device, and the handheld pan/tilt is provided with a three-axis motor for controlling the attitude angle of the photographing device such as the heading angle, Pitch angle, roll angle.

In the prior art, the handheld cloud platform can perform attitude control according to user requirements, but the attitude control accuracy achieved according to user requirements is low.

Summary of the invention

The embodiment of the invention provides a control method, a control device and a cloud platform of a cloud platform to improve the control precision of the attitude of the pan/tilt.

A first aspect of the present invention provides a method for controlling a pan/tilt, which is applied to a control device, where the control device is provided with at least one rocker, and the method includes:

Obtaining rotation parameter information of the at least one rocker;

Transmitting the rotation parameter information to the pan/tilt to enable the pan/tilt to adjust the attitude of the pan/tilt head according to the rotation parameter information.

A second aspect of the embodiments of the present invention provides a method for controlling a pan/tilt, which is applied to a control device, where the control device is provided with at least one rocker, and the method includes:

Storing historical rotation parameter information of at least one rocker in a memory;

And transmitting the stored historical rotation parameter information of the at least one rocker to the pan/tilt, so that the pan/tilt adjusts the posture of the pan/tilt according to the historical rotation parameter information of the at least one rocker.

A third aspect of the embodiments of the present invention provides a method for controlling a cloud platform, which is applied to a cloud platform, and the method includes:

Receiving rotation parameter information of at least one rocker on the control device sent by the control device;

Adjusting the posture of the pan/tilt according to the rotation parameter information.

A fourth aspect of the present invention provides a method for controlling a cloud platform, which is applied to a cloud platform, and the method includes:

Receiving historical rotation parameter information of at least one rocker on the control device sent by the control device;

Adjusting a posture of the pan/tilt according to historical rotation parameter information of the at least one rocker.

A fifth aspect of the present invention provides a control device, which is applied to a rocker control device, including: at least one rocker, a processor, and a communication interface;

The processor is configured to acquire rotation parameter information of the at least one rocker;

The communication interface is configured to send the rotation parameter information to the pan/tilt, so that the pan/tilt adjusts the posture of the pan/tilt head according to the rotation parameter information.

A sixth aspect of the present invention provides a control device, which is applied to a rocker control device, including: at least one rocker, a communication interface, and a processor;

The processor is configured to store historical rotation parameter information of the at least one rocker in a memory;

The communication interface is configured to send the historical rotation parameter information of the stored at least one rocker to the pan/tilt, so that the pan/tilt adjusts the pan/tilt according to historical rotation parameter information of the at least one rocker Gesture.

A seventh aspect of the present invention provides a cloud platform, including: a communication interface, and a processor;

The communication interface is configured to receive rotation parameter information of at least one rocker on the control device sent by the control device;

The processor is configured to adjust a posture of the pan/tilt according to the rotation parameter information.

An eighth aspect of the embodiments of the present invention provides a cloud platform, including: a communication interface, and a processor;

The communication interface is configured to receive historical rotation parameter information of at least one rocker on the control device sent by the control device;

The processor is configured to adjust, according to historical rotation parameter information of the at least one rocker Describe the posture of the gimbal.

The control method, the control device and the pan/tilt head of the pan/tilt provided by the embodiment obtain the rotation parameter information of at least one of the rockers on the control device, and send the rotation parameter information of the rocker to the pan-tilt, so that the pan-tilt The rotation parameter information of the rocker adjusts the attitude of the gimbal. Since the angular velocity or angle value of the rocker can be accurately controlled or calculated, the attitude of the gimbal can be improved when the attitude of the gimbal is adjusted according to the angular velocity or angle value of the rocker. Precision.

DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are some embodiments of the present invention. Other drawings may also be obtained from those of ordinary skill in the art in view of the drawings.

FIG. 1 is a flowchart of a method for controlling a pan/tilt according to an embodiment of the present invention;

2 is a schematic structural diagram of a control device according to an embodiment of the present invention;

3 is a schematic structural diagram of a cloud platform according to an embodiment of the present invention;

4 is a flowchart of a method for controlling a pan/tilt according to another embodiment of the present invention;

FIG. 5 is a flowchart of a method for controlling a pan/tilt according to another embodiment of the present invention; FIG.

6 is a schematic diagram of a three-axis of a pan/tilt head according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of a pitch angle of a pan/tilt head according to an embodiment of the present invention; FIG.

FIG. 8 is a schematic diagram of a pitch angle of a pan/tilt head according to an embodiment of the present invention; FIG.

FIG. 9 is a schematic diagram of a yaw angle of a pan/tilt head according to an embodiment of the present invention; FIG.

FIG. 10 is a schematic diagram of a yaw angle of a pan/tilt head according to an embodiment of the present invention; FIG.

FIG. 11 is a flowchart of a method for controlling a pan/tilt according to another embodiment of the present invention;

FIG. 12 is a flowchart of a method for controlling a pan/tilt according to another embodiment of the present invention; FIG.

FIG. 13 is a flowchart of a method for controlling a pan/tilt according to another embodiment of the present invention; FIG.

FIG. 14 is a flowchart of a method for controlling a pan/tilt according to another embodiment of the present invention; FIG.

FIG. 15 is a flowchart of a method for controlling a pan/tilt according to another embodiment of the present invention; FIG.

FIG. 16 is a flowchart of a method for controlling a pan/tilt according to another embodiment of the present invention; FIG.

FIG. 17 is a flowchart of a method for controlling a pan/tilt according to another embodiment of the present invention;

FIG. 18 is a flowchart of a method for controlling a pan/tilt according to an embodiment of the present invention;

FIG. 19 is a flowchart of a method for controlling a pan/tilt according to another embodiment of the present invention; FIG.

FIG. 20 is a flowchart of a method for controlling a pan/tilt according to another embodiment of the present invention; FIG.

FIG. 21 is a flowchart of a method for controlling a pan/tilt according to another embodiment of the present invention;

FIG. 22 is a flowchart of a method for controlling a pan/tilt according to another embodiment of the present invention; FIG.

FIG. 23 is a flowchart of a method for controlling a pan/tilt according to another embodiment of the present invention; FIG.

FIG. 24 is a flowchart of a method for controlling a pan/tilt according to another embodiment of the present invention;

25 is a flowchart of a method for controlling a pan/tilt according to another embodiment of the present invention;

FIG. 26 is a structural diagram of a control device according to an embodiment of the present invention;

FIG. 27 is a structural diagram of a cloud platform according to an embodiment of the present invention.

Reference mark:

20-Control Equipment 21-Rock 22-Wheel

23-monitor 24-angle adjustment mechanism 25-GCU screen

26-Battery 30-PTZ 31-Pitch Axis Motor

32-Roll shaft motor 33-Yaw shaft motor 34-PTZ base

35-Yaw shaft arm 36-camera fixing mechanism 37-Pitch shaft arm

38-Roll Axle Arm 39-Camera 60-PTZ

260-control device 261-at least one rocker 262-processor

263-Communication Interface 270-PTZ

271-Communication Interface 272-Processor

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly described with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

It should be noted that when a component is referred to as being "fixed" to another component, it can be directly on the other component or the component can be in the middle. When a component is considered to "connect" another component, it can be directly connected to another component or possibly a central component.

Unless otherwise defined, all technical and scientific terms used herein are intended to be in accordance with the invention Those skilled in the art generally understand the same meaning. The terminology used in the description of the present invention is for the purpose of describing particular embodiments and is not intended to limit the invention. The term "and/or" used herein includes any and all combinations of one or more of the associated listed items.

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

Embodiments of the present invention provide a method for controlling a pan/tilt. FIG. 1 is a flowchart of a method for controlling a pan/tilt according to an embodiment of the present invention. In this embodiment, the cloud platform may specifically be a handheld cloud platform, wherein the cloud platform may be a two-axis pan/tilt or a three-axis pan/tilt. As shown in FIG. 1, the method in this embodiment may include:

Step S101: Acquire rotation parameter information of the at least one rocker.

The control method of the pan/tilt head according to the embodiment is applied to a control device, and the control device is provided with at least one rocker. FIG. 2 is a schematic structural diagram of a control device according to an embodiment of the present invention. As shown in FIG. 2, the control device 20 may specifically be a rocker control device. Optionally, the control device 20 is provided with two rocking wheels, such as a rocker 21 and a rocker 22, which are merely illustrative and not limited to the control device. The number of upper rockers, in other embodiments, the control device 20 can also be provided with three rockers. Further, the control device 20 further includes a monitor 23, an angle adjustment mechanism 24, a GCU screen 25, and a battery 26.

In this embodiment, the control device 20 can control the posture of the pan/tilt. FIG. 3 is a schematic structural diagram of the pan/tilt head according to the embodiment of the present invention. As shown in FIG. 3, the pan/tilt head 30 includes a Pitch axis motor 31, a Roll axis motor 32, a Yaw axis motor 33, a pan/tilt base 34, a Yaw axis arm 35, a camera fixing mechanism 36, a Pitch shaft arm 37, and a Roll axis. The axle arm 38 and the camera 39, wherein the camera fixing mechanism 36 includes an inertial measurement unit (IMU), and the IMU is used to detect the posture of the camera 39.

As shown in FIG. 2, the user can control the attitude of the pan/tilt head 30 by rotating the rocker of the control device 20. For example, the user can turn the rocker 21 counterclockwise or clockwise, or turn the rocker 22 counterclockwise or clockwise. The user can turn the rocker 21 or the rocker 22 individually, or both the rocker 21 and the rocker 22. The rocker 21 can be used to control the yaw angle of the pan/tilt head 30, the rocker 22 can be used to control the pitch angle of the pan/tilt head 30; or the rocker 21 can be used to control the pitch angle of the pan/tilt head 30, and the rocker 22 can be used to control the gimbal The yaw angle of 30, here is only a schematic description, not limited to each shake The specific attitude angle of the pan/tilt that can be controlled by the wheel.

Specifically, when the user rotates the rocker 21, the control device 20 can acquire the rotation parameter information of the rocker 21. Optionally, the rotation parameter information includes at least one of the following: an angle value and an angular velocity. That is to say, when the user turns the rocker 21, the control device 20 can acquire the angle value of the rocker 21 when rotating, for example, the real-time angle value of the rocker 21, and can also obtain the angular velocity of the rocker 21 when rotating, for example, the rocker 21 Real-time angular velocity. Similarly, when the user turns the rocker 22, the control device 20 can acquire the rotation parameter information of the rocker 22. When the user rotates the rocker 21 and the rocker 22 at the same time, the control device 20 can simultaneously acquire the rotation parameter information of the rocker 21 and the rotation parameter information of the rocker 22.

Without loss of generality, the control device for controlling the pan/tilt is provided with three rockers for controlling the attitude of the pan/tilt. Here, the three rockers are respectively recorded as the first rocker, The second rocker and the third rocker, the first rocker can be used to control the yaw angle of the gimbal, the second rocker can be used to control the pitch angle of the gimbal, and the third rocker can be used to control the roll angle of the gimbal. This is only a schematic illustration and does not limit the specific attitude angle of each pan/tilt that can be controlled by the rocker.

The acquiring the rotation parameter information of the at least one rocker includes at least one of: acquiring rotation parameter information of the first wheel; acquiring rotation parameter information of the second wheel; and acquiring rotation parameter information of the third wheel.

In this embodiment, the acquiring the rotation parameter information of the at least one rocker comprises: acquiring a measurement value output by the angle sensor, and determining rotation parameter information of the remote wheel according to the measurement value. For example, the control device 20 is further provided with one or more angle sensors, the angle sensor can be used to detect the angle value of the rocker, and further, the angular velocity of the rocker can be determined according to the angle value of the rocker and the rotation time of the rocker. This embodiment does not limit the correspondence between the angle sensor and the rocker and the connection relationship. Optionally, each of the wheels corresponds to an angle sensor, that is, an angle sensor can detect the angle value of one of the wheels. In other embodiments, an angle sensor can also detect angle values for a plurality of wheels.

Optionally, the angle sensor comprises one or more of a photoelectric encoder, a Hall sensor, and a potentiometer. Taking a photoelectric encoder as an example, in this embodiment, a 5000-line photoelectric encoder can be used as an angle sensor, and after multi-frequency acquisition by a micro controller unit (MCU), it can reach 20000 lines, so that the resolution of the photoelectric encoder can be achieved. The rate can reach 360 degrees / 2.000 = 0.011 degrees.

In addition, the angle sensor may be replaced by an angular velocity sensor, and the acquiring the rotation parameter information of the at least one rocker comprises: obtaining a measurement value output by the angular velocity sensor, and determining rotation parameter information of the remote wheel according to the measurement value. For example, the control device 20 is also provided with one or more angular velocity sensors that can be used to detect the angular velocity of the rocker. Further, the angular value of the rocker can be determined based on the angular velocity of the rocker and the rotational time of the rocker. This embodiment does not limit the correspondence relationship between the angular velocity sensor and the rocker and the connection relationship. Optionally, each of the wheels corresponds to an angular velocity sensor, that is, an angular velocity sensor can detect the angular velocity of a rocker. In other embodiments, an angular velocity sensor can also detect the angular velocity of a plurality of rollers.

Step S102: Send the rotation parameter information to the pan/tilt, so that the pan/tilt adjusts the posture of the pan/tilt head according to the rotation parameter information.

The control device can acquire the rotation parameter information of the at least one rocker through the above step S101, and the rotation parameter information includes an angle value and/or an angular velocity. Optionally, the control device smoothes the obtained rotation parameter information of the rocker to obtain the smoothed rotation parameter information, and sends the smoothed rotation parameter information to the pan/tilt. The pan/tilt adjusts the attitude of the pan/tilt based on the rotational parameter information after smoothing. The control device may send the smoothed rotation parameter information to the pan/tilt by using a wired transmission method or a wireless communication method. In this embodiment, the control device uses 2.4G and 5.8G radio frequency signals for data transmission, and the data transmission distance can reach 1000 meters, and the anti-interference ability is strong.

Specifically, the transmitting the rotation parameter information to the pan/tilt to adjust the posture of the pan/tilt head according to the rotation parameter information, and at least one of the following: sending the first wave to the pan/tilt Rotating the parameter information of the wheel, so that the pan/tilt adjusts the yaw angle of the pan/tilt according to the rotation parameter information of the first wheel; and transmits the rotation parameter information of the second wheel to the pan/tilt, so that The pan/tilt adjusts a pitch angle of the pan/tilt according to rotation parameter information of the second wheel; and transmits rotation parameter information of the third wheel to the pan/tilt, so that the pan/tilt is according to the third The rotation parameter information of the rocker adjusts the roll angle of the pan/tilt.

Without loss of generality, the control device for controlling the pan/tilt is provided with three rockers for controlling the attitude of the pan/tilt. Here, the three rockers are respectively recorded as the first rocker, The second rocker and the third rocker, the first rocker can be used to control the yaw angle of the gimbal, the second rocker can be used to control the pitch angle of the gimbal, and the third rocker can be used to control the roll angle of the gimbal. . Optionally, when the pan/tilt receives the rotation parameter information of the first wheel sent by the control device, the pan/tilt is according to the first wheel The rotation parameter information adjusts the yaw angle of the pan/tilt. When the pan/tilt receives the rotation parameter information of the second rocker sent by the control device, the pan/tilt adjusts the pitch angle of the pan/tilt according to the rotation parameter information of the second wheel. When the pan/tilt receives the rotation parameter information of the third wheel transmitted by the control device, the pan/tilt adjusts the roll angle of the pan/tilt according to the rotation parameter information of the third wheel.

As shown in FIG. 2, for example, the rocker 21 can be used to control the yaw angle of the platform 30, and the rocker 22 can be used to control the pitch angle of the platform 30. When the pan/tilt head 30 receives the rotation parameter information of the smoothed rocker 21, the pan/tilt head 30 adjusts the yaw angle of the pan/tilt head 30 based on the rotation parameter information of the rocker 21. When the pan/tilt head 30 receives the rotation parameter information of the smoothed rocker 22, the pan/tilt head 30 adjusts the pitch angle of the pan-tilt head 30 based on the rotation parameter information of the rocker 22. In the following, the control device 20 sends the rotation parameter information of the smoothed rocker 21 to the pan/tilt head 30, so that the pan/tilt head 30 adjusts the yaw angle of the pan/tilt head 30 according to the rotation parameter information of the rocker 21 as an example, and introduces the control device in detail. 20 The process of controlling the gimbal 30.

Specifically, the control device 20 supports two control modes: one control mode is a speed control mode, and the other control mode is a position control mode.

In the speed control mode, the control device 20 transmits the angular velocity of the smoothed rocker 21 to the pan/tilt head 30. After receiving the angular velocity of the rocker 21, the pan-tilt 30 integrates the angular velocity of the rocker 21 to obtain the angle of the rocker 21. Further, the pan/tilt head 30 calculates the angle value of the rocker 21 as the target value of the yaw angle of the pan/tilt head 30, and the pan/tilt head 30 performs feedback control according to the difference between the target value and the actual value of the yaw angle. The actual value of the yaw angle of the pan/tilt head 30 is equal to the target value, thereby realizing the control of the pan/tilt head 30 by the control device 20.

In the position control mode, the control device 20 transmits the angle value of the rocker 21 to the pan/tilt head 30. After receiving the angle value of the rocker 21, the pan/tilt head 30 smoothes the angle value of the rocker 21 according to the preset smoothness. Further, the pan/tilt head 30 uses the angle value of the smoothed rocker 21 as the target value of the yaw angle of the pan/tilt head 30, and the pan/tilt head 30 performs feedback control based on the difference between the target value and the actual value of the yaw angle. The actual value of the yaw angle of the pan/tilt head 30 is equal to the target value, thereby realizing the control of the pan/tilt head 30 by the control device 20.

It should be noted that in the position control mode, the repeating precision of the rocker control is high, and the pan/tilt can be returned to the initial point after being controlled by the rocker. For example, when the rocker 21 and the rocker 22 are in the initial position, the attitude angle of the pan/tilt is recorded as the initial posture angle. If the rocker 22 is not moving, and the user turns the rocker 21, the yaw angle of the pan/tilt will change. The user turns the rocker 21 counterclockwise to make the rocker 21 counterclockwise Rotate 5 times, then turn the rocker 21 clockwise to make the rocker 21 rotate 5 times clockwise, then the rocker 21 can return to the initial position, and the attitude angle of the pan/tilt can also return to the initial attitude angle, that is, there is no return difference .

In this embodiment, the rotation parameter information of the at least one rocker is obtained by the control device, and the rotation parameter information of the rocker is sent to the cloud platform, so that the pan/tilt adjusts the posture of the pan/tilt according to the rotation parameter information of the rocker, The angular velocity or angle value of the wheel can be accurately controlled or calculated. When the attitude of the pan/tilt is adjusted according to the angular velocity or angle value of the rocker, the control accuracy of the attitude of the gimbal can be improved.

Embodiments of the present invention provide a method for controlling a pan/tilt. FIG. 4 is a flowchart of a method for controlling a pan/tilt according to another embodiment of the present invention. As shown in FIG. 4, on the basis of the embodiment shown in FIG. 1, the method in this embodiment may further include:

Step S401: Store historical rotation parameter information of at least one rocker in a memory.

In this embodiment, when at least one of the rockers on the control device is rotating, the control device may further record historical rotation parameter information of the at least one rocker, and specifically, store historical rotation parameter information of the at least one rocker. To the memory of the control device, such as flash memory. Optionally, the historical measurement value of the photoelectric encoder output is stored in the flash memory, that is, the historical angle value of the rocker detected by the photoelectric encoder is stored in the flash memory.

Specifically, the storing the historical rotation parameter information of the at least one rocker in the memory comprises: detecting a storage operation of the user; and when detecting the storage operation, storing the historical rotation parameter information of the at least one rocker in the memory in.

In this embodiment, the control device is provided with a track record button or a button. When the user needs to record the motion track or the rotation track of the pan/tilt, the user clicks the track record button or the button, when the control device checks that the user clicks the track record button or When the button is pressed, the rotation parameter information of the rocker rotating on the control device is started, and after a period of time, the historical rotation parameter information of at least one of the rockers is obtained. Optionally, the control device stores the historical angle value of the first wheel, the historical angle value of the second wheel, and the historical angle value of the third wheel during the historical time period, wherein the first wheel can be used to control the cloud The yaw angle of the platform, the second wheel can be used to control the pitch angle of the gimbal, and the third wheel can be used to control the roll angle of the gimbal.

Step S402: Send the stored historical rotation parameter information of the at least one rocker to the pan/tilt, so that the pan/tilt is adjusted according to historical rotation parameter information of the at least one rocker. The posture of the gimbal.

The control device can also be provided with a track playback button or a button. When the user needs to play back the motion track or the rotation track of the pan/tilt, the user clicks the track playback button or the button, and at this time, the control device stores the history of at least one wheel. The rotation parameter information is sent to the cloud platform, and the cloud platform determines the historical posture of the cloud platform according to the historical rotation parameter information of at least one rocker, for example, the historical angle value, and adjusts the current attitude of the cloud platform according to the historical posture of the cloud platform, thereby realizing the cloud. The track playback function of the station.

Optionally, the control device sends the stored historical angle value of the first wheel, the historical angle value of the second wheel, and the historical angle value of the third wheel to the pan/tilt. According to the historical angle value of the first wheel, the cloud platform determines the historical yaw angle of the pan/tilt; according to the historical angle value of the second wheel, determines the historical pitch angle of the pan/tilt; according to the historical angle value of the third wheel Determine the historical roll angle of the gimbal, further adjust the actual yaw angle of the gimbal according to the historical yaw angle, adjust the actual pitch angle of the gimbal according to the historical pitch angle, and adjust the actual roll angle of the gimbal according to the historical roll angle. .

In this embodiment, the historical rotation parameter information of at least one rocker on the control device is stored, and the historical rotation parameter information is sent to the cloud platform, so that the pan/tilt adjusts the gimbal according to the historical attitude of the pan/tilt corresponding to the historical rotation parameter information. The current posture realizes the track playback function of the gimbal.

Embodiments of the present invention provide a method for controlling a pan/tilt. FIG. 5 is a flowchart of a method for controlling a pan/tilt according to another embodiment of the present invention. As shown in FIG. 5, on the basis of the foregoing embodiment, the method in this embodiment may further include:

Step S501: detecting a limit setting operation of the user.

As shown in FIG. 6, it is assumed that the X axis represents the roll axis of the pan/tilt head 60, the Y axis represents the pitch axis of the pan/tilt head 60, and the Z axis represents the yaw axis of the pan/tilt head 60. When the pan/tilt head 60 rotates with the roll axis as the rotation axis, the roll angle of the pan/tilt head 60 changes; when the pan/tilt head 60 rotates with the pitch axis as the rotation axis, the pitch angle of the pan/tilt head 60 changes; when the pan/tilt head 60 is biased When the axis is rotated, the yaw angle of the pan/tilt 60 changes.

In this embodiment, the control device may further set a limit angle when the pan/tilt is rotated by one or more of the yaw axis, the pitch axis, and the roll axis. Without loss of generality, it is assumed that three rockers are arranged on the control device, and the three rockers are respectively recorded as a first rocker, a second rocker, and a third rocker, and the first rocker can be used to control the yaw of the pan/tilt. Angle, the second wheel can be used to control the pitch angle of the gimbal, The third wheel can be used to control the roll angle of the gimbal. When the user rotates one or more of the three rockers, the pan/tilt will rotate with one or more of the yaw axis, the pitch axis, and the roll axis. Optionally, the user rotates three rockers at the same time, and the pan/tilt rotates with the yaw axis, the pitch axis and the roll axis as the rotating shaft at the same time. When the pan/tilt rotates to a certain posture, the user clicks the limit button on the control device or Press the button to indicate the limit setting of the attitude angle of the drone.

Step S502: When the limit setting operation is detected, send a limit angle setting instruction to the pan/tilt to set a limit angle of the pan/tilt head rotating with one or more axes as a rotating shaft.

When the control device detects that the user clicks the limit button or the button, sends a limit angle setting command to the pan/tilt, and the pan/tilt sets the limit angle of the pan/tilt to rotate the axis with one or more axes according to the limit angle setting instruction. In this embodiment, the limit angle setting instruction sent by the control device to the pan/tilt includes the following possible situations:

A possible situation is that the limit angle setting command only controls the attitude angle of the pan/tilt at the current time recorded by the gimbal, and determines the limit of the pan/tilt rotation with one or more axes as the rotation axis according to the attitude angle of the pan/tilt at the current time. Bit angle.

Specifically, the sending a limit angle setting instruction to the pan/tilt to set a limit angle of the pan/tilt head rotating on the one or more axes, includes: sending a limit angle setting instruction to the pan/tilt to indicate that the pan/tilt head will The angle at which the pan/tilt head rotates with one or more axes as the axis of rotation is determined to be a corresponding limit angle of rotation about one or more axes of rotation.

For example, when the user rotates three rockers at the same time, the pan/tilt rotates with the yaw axis, the pitch axis and the roll axis as the rotating shaft. When the pan/tilt rotates to a certain posture, the user clicks the limit button or button on the control device. The control device sends a limit angle setting command to the pan/tilt to instruct the pan/tilt to record the yaw angle, the pitch angle, and the roll angle of the pan/tilt at the current time, and determines the yaw angle of the pan/tilt at the current time as the pan-tilt to yaw The axis is a limit angle of the rotation of the rotating shaft, and the pitch angle of the pan/tilt at the current time is determined as a limit angle at which the pan/tilt is rotated by the pitch axis, and the roll angle of the pan/tilt at the current time is determined as the pan/tilt. The roller is a limit angle for the rotation of the shaft.

The user continues to rotate three rockers at the same time, and the pan/tilt rotates with the yaw axis, the pitch axis and the roll axis as the rotating shaft. When the pan/tilt rotates to another posture, the user clicks the limit button or button on the control device again. The control device sends a limit angle setting command to the pan/tilt again to instruct the pan-tilt to record the yaw angle, the pitch angle, and the roll angle of the pan/tilt at the current time, and determine the yaw angle of the pan/tilt at the current time as the pan-tilt The other axis of the axis is the limit of the rotation of the axis, and the pitch of the pan/tilt at the current time. The angle is determined as the other limit angle of the gimbal rotation with the pitch axis as the rotation axis, and the roll angle of the pan/tilt at the current time is determined as the other limit angle of the gimbal rotation with the roll axis as the rotation axis.

Optionally, the user can also rotate only one of the three rockers to set the limit angle of the pan/tilt with the axis as the axis of rotation. The limit button or button on the control device can include a tilt limit button or button, a scroll limit button or button, and a yaw limit button or button.

The detecting a user's limit setting operation includes: detecting a user's pitch limit setting operation; the sending a limit angle setting instruction to the pan/tilt to instruct the pan/tilt to rotate the current pan/tilt head with one or more axes Determining the angle of rotation as a corresponding limit angle for rotating about one or more axes of rotation, comprising: transmitting a pitch limit angle setting command to the pan/tilt to instruct the pan/tilt to rotate the current pan/tilt head with the pitch axis as a rotation axis The angle is determined as the limit angle at which the pitch axis is rotated.

For example, the second wheel can be used to control the pitch angle of the gimbal. When the user only rotates the second wheel, the pan/tilt rotates with the pitch axis, ie, the Y axis, when the pan/tilt rotates to the pitch attitude as shown in FIG. The user clicks the tilt limit button or button on the control device, and the control device sends a pitch limit angle setting instruction to the pan/tilt according to the user's click operation on the tilt limit button or the button to instruct the pan/tilt to record the current time of the pan/tilt. The pitch angle α is determined by determining the pitch angle α of the pan/tilt at the current time as a limit angle at which the pan/tilt head rotates with the pitch axis as a rotation axis. The user continues to rotate the second rocker, and the pan/tilt continues to rotate with the pitch axis as the rotation axis. When the pan/tilt head rotates to the pitch attitude as shown in FIG. 8, the user clicks the pitch limit button or button on the control device again, and the control device according to the control device The user clicks the tilt limit button or the button again to send the pitch limit angle setting command to the pan/tilt to instruct the pan/tilt to record the pitch angle β of the pan/tilt at the current time again, and the pitch angle β of the pan/tilt at the current time. Determine the other limit angle for the pan/tilt to rotate with the pitch axis as the axis of rotation.

Alternatively, the detecting a user's limit setting operation includes: detecting a user's yaw limit setting operation; and sending a limit angle setting instruction to the pan/tilt to instruct the pan/tilt to take the current pan/tilt in one or more The angle of rotation of the axis for the rotation axis is determined as a corresponding limit angle of rotation about one or more rotation axes, comprising: sending a yaw limit angle setting instruction to the pan/tilt to instruct the pan/tilt to bias the current pan/tilt The angle at which the axis of the rotation is the rotation of the rotating shaft is determined as the limit angle at which the yaw axis is rotated.

For example, the first rocker can be used to control the yaw angle of the gimbal. When the user only rotates the first rocker, the pan/tilt rotates with the yaw axis, that is, the Z axis, when the pan/tilt rotates to the bias shown in FIG. When the attitude is The user clicks the yaw limit button or button on the control device, and the control device sends a yaw limit angle setting instruction to the pan/tilt according to the user's click operation on the yaw limit button or the button, to instruct the gimbal to record the current time cloud. The yaw angle γ of the stage is determined as the yaw angle γ of the gimbal at the current time as a limit angle at which the gyro is rotated by the yaw axis. The user continues to rotate the first rocker, and the pan/tilt continues to rotate with the yaw axis as the rotation axis. When the pan/tilt head rotates to the yaw attitude as shown in FIG. 10, the user clicks the yaw limit button or button on the control device again. The control device sends a yaw limit angle setting instruction to the pan/tilt again according to the user's click operation on the yaw limit button or the button, so as to instruct the pan/tilt to record the yaw angle θ of the pan/tilt at the current time again, and the current time The yaw angle θ of the gimbal is determined as the other limit angle at which the gimbal rotates with the yaw axis as the axis of rotation.

Another possible situation is that the limit angle setting command includes the angle value of the rocker, and the pan/tilt determines the maximum angle value that the pan/tilt can rotate according to the angle value of the rocker in the limit angle setting command. For example, the user only rotates one of the three rockers, assuming that the rocker is used to control the pitch angle of the gimbal. When the user turns the rocker, the pan/tilt rotates with the pitch axis as the rotation axis, assuming that the rocker is at the initial position. At the angle, the pan/tilt is in the initial pitch attitude. When the user rotates the rocker to a target angle, the user clicks on the tilt limit button or button on the control device, and the control device according to the user's click operation on the tilt limit button or button The pan/tilt transmits a pitch limit angle setting command, and the pitch limit angle setting command includes a current angle value of the rocker. For example, the rocker rotates 360 degrees clockwise from the initial angle, and the current angle value of the rocker is positive 360 degrees. Based on the current angle value of the rocker, the pan/tilt determines a limit angle at which the pan/tilt head rotates with the pitch axis as the axis of rotation. The user continues to rotate the rocker. When the user rotates the rocker to another target angle, the user clicks the tilt limit button or button on the control device again, and the control device sends a pitch limit angle setting command to the pan/tilt again, the pitching. The limit angle setting command includes the current angle value of the rocker. For example, the rocker rotates counterclockwise from negative 360 degrees by minus 360 degrees, the current angle value of the rocker is minus 360 degrees, and the pan/tilt is based on the current angle value of the rocker. Determine the other limit angle of the pan/tilt rotation with the pitch axis as the axis of rotation. When the angle value of the rocker sent by the control device to the pan/tilt is greater than or equal to 360 degrees or less than minus 360 degrees, the pitch angle of the pan/tilt can only be rotated to a limit angle close to the angle value.

In this embodiment, the method further includes: detecting a release limit operation of the user; when detecting the release limit operation, sending a release limit command to the pan/tilt to cancel the pan/tilt with one or more axes The rotation limit of the rotation of the shaft.

For example, a limited position release button or button is also set on the control device when the user clicks on the control device. When the limit release button or button is prepared, the control device sends a release limit command to the pan/tilt according to the user's click operation on the limit release button or the button, so as to cancel the rotation limit of the pan/tilt head rotating on one or more axes. Bit.

In this embodiment, the control device detects the limit setting operation of the user, and sends a limit angle setting instruction to the pan/tilt to set a limit angle of the pan/tilt head rotating on one or more axes, thereby realizing the attitude angle of the pan/tilt head. Limit function.

Embodiments of the present invention provide a method for controlling a pan/tilt. FIG. 11 is a flowchart of a method for controlling a pan/tilt according to another embodiment of the present invention. FIG. 12 is a flowchart of a method for controlling a pan/tilt according to another embodiment of the present invention.

As shown in FIG. 11, the method in this embodiment may further include:

Step S1101, detecting an emergency stop operation of the user.

Step S1102: When the emergency stop operation is detected, an emergency stop command is sent to the PTZ to make the PTZ emergency stop.

Optionally, the control device is further provided with an emergency stop button or a button. When the user finds that the pan/tilt rotation is abnormal and the pan/tilt is urgently stopped, the emergency stop button or button on the control device may be clicked, and the control device will stop according to the user. The button or button click operation sends an emergency stop command to the PTZ, and the PTZ uses the current joint angle of the motor for closed-loop control to make the PTZ emergency stop.

As shown in FIG. 12, on the basis of the foregoing embodiment, the method in this embodiment may further include:

Step S1201: Detect a PTZ parameter configuration operation of the user.

Step S1202: Determine a PTZ configuration parameter according to the detected PTZ parameter configuration operation.

In this embodiment, the user may also configure the parameters of the pan/tilt by the control device. For example, the control device is provided with a parameter configuration button or a button, and the control device may determine the cloud according to the user's click operation on the parameter configuration button or button. Station configuration parameters. Optionally, the PTZ configuration parameter includes one or more of a dead zone value, an angular velocity multiplier, and a smoothness.

Step S1203: Send the PTZ configuration parameter to the PTZ.

Further, the control device sends one or more of pan/tilt configuration parameters such as dead zone value, angular velocity magnification, and smoothness to the pan/tilt.

When the pan/tilt receives the dead zone value, the dead zone value is stored. In this embodiment, the dead zone value may be an angle value or an angular velocity value. When the pan/tilt receives the angular velocity of the rocker sent by the control device, the angular velocity and the dead zone value of the rocker sent by the control device are compared. If the angular velocity of the rocker sent by the control device is less than the dead zone value, the pan/tilt does not respond to the control device's control of the pan/tilt. If the angular velocity of the rocker sent by the control device is greater than the dead zone value, the pan/tilt will subtract the dead zone value from the angular velocity of the rocker sent by the control device to obtain a speed difference, and further integrate the velocity difference to obtain the pan/tilt. The target posture, and adjust the actual attitude of the gimbal according to the target posture of the gimbal. When the pan/tilt receives the angle value of the rocker sent by the control device, the angle value of the rocker sent by the control device and the size of the dead zone value are compared. If the angle value of the rocker sent by the control device is less than the dead zone value, the pan/tilt does not respond to the control device's control of the pan/tilt. If the angle value of the rocker sent by the control device is greater than the dead zone value, the pan/tilt will subtract the dead zone value from the angle value of the rocker sent by the control device to obtain an angle difference, and further use the angle difference as the pan/tilt The target posture, and adjust the actual attitude of the gimbal according to the target posture of the gimbal.

When the pan/tilt receives the angular velocity magnification, the angular velocity magnification is stored. When the pan/tilt receives the angular velocity of the rocker sent by the control device, multiplies the angular velocity of the rocker sent by the control device by the angular velocity multiplier, and integrates the angular velocity of the pan by the angular velocity multiplier to determine The target posture of the cloud platform is further adjusted according to the target posture of the gimbal.

When the pan/tilt receives smoothness, the smoothness is stored. When the pan/tilt receives the angular velocity of the rocker sent by the control device, the angular velocity of the rocker is filtered according to the smoothness of the preselected storage, and the angular velocity after the filtering process is integrated to determine the target posture of the pan/tilt, further Adjust the actual attitude of the gimbal according to the target posture of the gimbal.

In this embodiment, the emergency stop operation of the user is detected by the control device, and according to the detected emergency stop operation, an emergency stop command is sent to the pan/tilt to make the pan/tilt stop urgently, so as to prevent the pan/tilt from continuing to rotate when abnormal rotation occurs; The device can also send the PTZ configuration parameters to the PTZ. When the PTZ adjusts the PTZ attitude according to the PTZ configuration parameters, the control accuracy of the PTZ can be improved.

Embodiments of the present invention provide a method for controlling a pan/tilt. FIG. 13 is a flowchart of a method for controlling a pan/tilt according to another embodiment of the present invention. The control method of the pan/tilt head according to the embodiment is applied to a control device, and the control device is provided with at least one rocker. As shown in FIG. 13, the method in this embodiment may include:

Step S1301, storing historical rotation parameter information of at least one of the wheels in the memory.

Step S1302: Send the stored historical rotation parameter information of the at least one rocker to the pan/tilt, so that the pan/tilt adjusts the posture of the pan/tilt according to the historical rotation parameter information of the at least one rocker.

The specific principles and implementations of the method for controlling the gimbal provided by the embodiment of the present invention are similar to the embodiment shown in FIG. 4, and details are not described herein again.

Embodiments of the present invention provide a method for controlling a pan/tilt. FIG. 14 is a flowchart of a method for controlling a pan/tilt according to another embodiment of the present invention. As shown in FIG. 14, the method in this embodiment may further include:

Step S1401: Acquire rotation parameter information of the at least one rocker.

Optionally, the rotation parameter information includes at least one of the following: an angle value and an angular velocity.

Step S1402: Send the rotation parameter information to the pan/tilt, so that the pan/tilt adjusts the posture of the pan/tilt head according to the rotation parameter information.

Transmitting the rotation parameter information to the pan/tilt to adjust the posture of the pan/tilt head according to the rotation parameter information, including at least one of: transmitting the rotation of the first rocker to the pan/tilt Parameter information, so that the pan/tilt adjusts the rotation parameter information according to the first rocker Determining the yaw angle of the pan/tilt; transmitting the rotation parameter information of the second pulsator to the pan/tilt, so that the pan/tilt adjusts the pitch angle of the pan/tilt according to the rotation parameter information of the second oscillating wheel; The pan/tilt transmits the rotation parameter information of the third rocker, so that the pan/tilt adjusts the roll angle of the pan/tilt according to the rotation parameter information of the third wheel.

The specific principles and implementations of the method for controlling the gimbal provided by the embodiment of the present invention are similar to those of the embodiment shown in FIG. 1 and will not be further described herein.

Embodiments of the present invention provide a method for controlling a pan/tilt. FIG. 15 is a flowchart of a method for controlling a pan/tilt according to another embodiment of the present invention. As shown in FIG. 15, the method in this embodiment may further include:

Step S1501, detecting a limit setting operation of the user.

Step S1502: When the limit setting operation is detected, send a limit angle setting instruction to the pan/tilt to set a limit angle of the pan/tilt head rotating with one or more axes as a rotating shaft.

Optionally, the sending a limit angle setting instruction to the pan/tilt to set a limit angle of the pan/tilt head rotating on the one or more axes, comprising: sending a limit angle setting instruction to the pan/tilt to indicate the pan/tilt head The angle at which the current pan/tilt is rotated with one or more axes as the axis of rotation is determined as the corresponding limit angle of rotation about one or more axes of rotation.

Specifically, the detecting a user's limit setting operation includes: detecting a user's yaw limit setting operation; and sending a limit angle setting instruction to the pan/tilt to instruct the pan/tilt to set the current head and the pan as one or more The angle at which the axis rotates for the rotating shaft is determined as a corresponding limit angle of rotation about one or more axes of rotation, and includes: sending a yaw limit angle setting command to the pan/tilt to instruct the pan/tilt to yaw the current pan/tilt The angle at which the axis rotates on the rotating shaft is determined as a limit angle at which the yaw axis is rotated.

Alternatively, the detecting a user's limit setting operation includes: detecting a user's pitch limit setting operation; the sending a limit angle setting instruction to the pan/tilt to instruct the pan/tilt to set the current pan/tilt to one or more axes The angle of rotation for the shaft is determined to correspond to one or more axes of rotation The limit position of the rotation includes: sending a pitch limit angle setting command to the pan/tilt to instruct the pan/tilt to determine an angle at which the current pan/tilt head rotates with the pitch axis as a rotation axis as a limit angle rotated by the pitch axis as a rotation axis.

In addition, the method further includes: detecting a release limit operation of the user; when detecting the release limit operation, sending a release limit command to the pan/tilt to cancel the rotation of the pan/tilt head with one or more axes as a rotation axis Limit.

The specific principles and implementation manners of the control method of the gimbal provided by the embodiment of the present invention are similar to the embodiment shown in FIG. 5, and details are not described herein again.

Embodiments of the present invention provide a method for controlling a pan/tilt. FIG. 16 is a flowchart of a method for controlling a pan/tilt according to another embodiment of the present invention. FIG. 17 is a flowchart of a method for controlling a pan/tilt according to another embodiment of the present invention.

As shown in FIG. 16, the method in this embodiment may further include:

Step S1601, detecting an emergency stop operation of the user.

Step S1602: When the emergency stop operation is detected, an emergency stop command is sent to the PTZ to make the PTZ emergency stop.

As shown in FIG. 17, the method in this embodiment may further include:

Step S1701: Detect a PTZ parameter configuration operation of the user.

Step S1702: Determine a PTZ configuration parameter according to the detected PTZ parameter configuration operation.

Step S1703: Send the PTZ configuration parameter to the PTZ.

Optionally, the PTZ configuration parameter includes one or more of a dead zone value, an angular velocity multiplier, and a smoothness.

The specific principles and implementation manners of the control method of the gimbal provided by the embodiment of the present invention are similar to those of the embodiment shown in FIG. 11 and FIG. 12, and details are not described herein again.

Embodiments of the present invention provide a method for controlling a pan/tilt. FIG. 18 is a flowchart of a method for controlling a pan/tilt according to an embodiment of the present invention. The control method of the pan/tilt described in this embodiment is applied to a pan/tilt. As shown in FIG. 18, the method in this embodiment may include:

Step S1801: Receive rotation parameter information of at least one rocker on the control device sent by the control device.

The rotation parameter information of the at least one rocker on the control device sent by the control device includes at least one of: receiving rotation parameter information of the first wheel sent by the control device; and receiving a second wheel sent by the control device Rotation parameter information; receiving rotation parameter information of the third wheel transmitted by the control device.

Step S1802: Adjust the posture of the pan/tilt according to the rotation parameter information.

Adjusting the posture of the pan/tilt according to the rotation parameter information, comprising at least one of: adjusting a yaw angle of the pan/tilt according to rotation parameter information of the first wheel; according to the second wheel The rotation parameter information adjusts a pitch angle of the pan/tilt; and adjusts a roll angle of the pan/tilt according to rotation parameter information of the third wheel.

In this embodiment, the rotation parameter information of the at least one rocker sent by the control device is received by the pan/tilt, and the posture of the pan/tilt is adjusted according to the rotation parameter information of the rocker. Since the angular velocity or the angle value of the rocker can be accurately controlled or calculated, When the attitude of the pan/tilt is adjusted according to the angular velocity or angle value of the rocker, the control accuracy of the attitude of the gimbal can be improved.

Embodiments of the present invention provide a method for controlling a pan/tilt. FIG. 19 is a flowchart of a method for controlling a pan/tilt according to another embodiment of the present invention. As shown in FIG. 19, on the basis of the embodiment shown in FIG. 18, the method in this embodiment may further include:

Step S1901: Receive historical rotation parameter information of the at least one rocker sent by the control device.

Step S1902: Adjust the posture of the pan/tilt according to historical rotation parameter information of the at least one rocker.

In this embodiment, the historical rotation parameter information of the at least one rocker sent by the control device is received by the cloud platform, and the current attitude of the pan/tilt is adjusted according to the historical attitude of the pan/tilt corresponding to the historical rotation parameter information, thereby realizing the track playback function of the pan/tilt. .

Embodiments of the present invention provide a method for controlling a pan/tilt. FIG. 20 is a flowchart of a method for controlling a pan/tilt according to another embodiment of the present invention. As shown in FIG. 20, on the basis of the embodiment shown in FIG. 18 or FIG. 19, the method in this embodiment may further include:

Step S2001: Receive a limit angle setting instruction sent by the control device.

Step S2002, setting a limit angle for rotating the one or more axes as a rotation axis according to the limit angle setting instruction.

The setting, according to the limit angle setting instruction, setting a limit angle for rotating the one or more axes as a rotation axis, comprising: when receiving the limit angle setting instruction, setting the current pan/tilt head by one or more axes The angle of rotation of the shaft is determined as the corresponding limit angle of rotation about one or more axes of rotation.

Optionally, the limit angle setting instruction sent by the receiving control device includes: receiving a yaw limit angle setting instruction sent by the control device; determining the angle at which the current pan/tilt is rotated by the one or more axes The limit angle for rotating the corresponding one or more rotation axes includes: determining an angle at which the current pan/tilt is rotated by the yaw axis as a limit angle for rotating the yaw axis as a rotation axis.

Alternatively, the limit angle setting instruction sent by the receiving control device includes: receiving a pitch limit angle setting instruction sent by the control device; and determining, by the angle of the current pan/tilt, rotating on one or more axes as a corresponding axis The limit angle of rotation about one or more rotation axes includes: determining an angle at which the current pan/tilt is rotated by the pitch axis as a limit angle for rotating the pitch axis as a rotation axis.

Optionally, the method further includes: receiving a release limit command sent by the control device; and canceling, according to the release limit command, a rotation limit of the pan/tilt rotating with one or more axes as a rotation axis.

In this embodiment, the limit angle setting instruction sent by the control unit is received by the pan/tilt, and the limit angle of the rotation of the one or more axes is set according to the limit angle setting instruction, thereby realizing the attitude of the control device to the pan/tilt Corner limit function.

Embodiments of the present invention provide a method for controlling a pan/tilt. FIG. 21 is a flowchart of a method for controlling a pan/tilt according to another embodiment of the present invention. As shown in FIG. 21, on the basis of the foregoing embodiment, the method in this embodiment may further include:

Step S2101: Receive an emergency stop command sent by the control device.

Step S2202: Control the PTZ emergency stop according to the emergency stop command.

In addition, the method further includes: receiving the PTZ configuration parameter sent by the control device.

The specific principles and implementations of the method for controlling the gimbal provided by the embodiment of the present invention are similar to those of the embodiment shown in FIG. 11 and are not described herein again.

In this embodiment, the cloud station receives the emergency stop command sent by the control device, and according to the emergency stop command, controls the pan-tilt emergency stop to prevent the pan/tilt from continuing to rotate when abnormal rotation occurs; in addition, the pan/tilt can also receive the control device to send The configuration parameters of the PTZ can improve the control accuracy of the PTZ when the PTZ adjusts the PTZ attitude according to the PTZ configuration parameters.

Embodiments of the present invention provide a method for controlling a pan/tilt. FIG. 22 is a flowchart of a method for controlling a pan/tilt according to another embodiment of the present invention. The control method of the pan/tilt described in this embodiment is applied to a pan/tilt. As shown in FIG. 22, the method in this embodiment may include:

Step S2201: Receive historical rotation parameter information of at least one rocker on the control device sent by the control device.

Step S2202: Adjust the posture of the pan/tilt according to historical rotation parameter information of the at least one rocker.

In this embodiment, the historical rotation parameter information of the at least one rocker on the control device sent by the control device is received by the cloud platform, and the current posture of the pan/tilt is adjusted according to the historical posture of the pan/tilt corresponding to the historical rotation parameter information. The track playback function of the PTZ.

Embodiments of the present invention provide a method for controlling a pan/tilt. FIG. 23 is a flowchart of a method for controlling a pan/tilt according to another embodiment of the present invention. As shown in FIG. 23, on the basis of the embodiment shown in FIG. 22, the method in this embodiment may further include:

Step S2301: Receive rotation parameter information of at least one rocker on the control device sent by the control device.

The rotation parameter information of the at least one rocker on the control device sent by the control device includes at least one of the following: receiving rotation parameter information of the first wheel on the control device sent by the control device; Rotation parameter information of the second wheel on the control device; receiving rotation parameter information of the third wheel on the control device sent by the control device.

Step S2302, adjusting the posture of the pan/tilt according to the rotation parameter information.

In this embodiment, the rotation parameter information of the at least one rocker on the control device sent by the control device is received by the pan/tilt, and the posture of the pan/tilt is adjusted according to the rotation parameter information, because the angular velocity or the angle value of the rocker can be accurately For the control or calculation, when the attitude of the gimbal is adjusted according to the angular velocity or angle value of the rocker, the control precision of the attitude of the gimbal can be improved.

Embodiments of the present invention provide a method for controlling a pan/tilt. FIG. 24 is a flowchart of a method for controlling a pan/tilt according to another embodiment of the present invention. As shown in FIG. 24, it is shown in FIG. 22 or FIG. On the basis of the embodiment, the method in this embodiment may further include:

Step S2401: Receive a limit angle setting instruction sent by the control device.

Step S2402, according to the limit angle setting instruction, set a limit angle for rotating the one or more axes as a rotation axis.

In addition, the method further includes: receiving a release limit command sent by the control device, and canceling, according to the release limit command, a rotation limit of the pan/tilt rotating with one or more axes as a rotation axis.

In this embodiment, the limit angle setting instruction sent by the control unit is received by the pan/tilt, and the limit angle of the rotation of the one or more axes is set according to the limit angle setting instruction, thereby realizing the attitude angle of the pan/tilt. Limit function.

Embodiments of the present invention provide a method for controlling a pan/tilt. FIG. 25 is a flowchart of a method for controlling a pan/tilt according to another embodiment of the present invention. As shown in FIG. 25, based on the foregoing embodiment, the method in this embodiment may further include:

Step S2501: Receive an emergency stop command sent by the control device.

Step S2502, controlling the emergency stop of the gimbal according to the emergency stop command.

In addition, the method further includes: receiving the PTZ configuration parameter sent by the control device. Optionally, the PTZ configuration parameter includes one or more of a dead zone value, an angular velocity multiplier, and a smoothness.

Embodiments of the present invention provide a control device. The control device is applied to a rocker control device. FIG. 26 is a structural diagram of a control device according to an embodiment of the present invention. As shown in FIG. 26, the control device 260 includes: at least one rocker 261, a processor 262, and a communication interface 263. The processor 262 is configured to acquire rotation parameter information of the at least one rocker 261; the communication interface 263 is configured to send the rotation parameter information to the pan/tilt, so that the pan/tilt adjusts the pan/tilt head according to the rotation parameter information. Gesture.

Optionally, when the processor 262 acquires the rotation parameter information of the at least one rocker 261, the method is specifically configured to: at least one of: acquiring rotation parameter information of the first wheel; acquiring rotation parameter information of the second wheel; acquiring the third Rotation parameter information of the rocker.

Optionally, the communication interface 263 sends the rotation parameter information to the pan-tilt, so that when the pan-tilt adjusts the posture of the pan-tilt according to the rotation parameter information, it is specifically used to send at least one of the following: sending to the gimbal The rotation parameter information of the first rocker is such that the pan/tilt adjusts the yaw angle of the pan/tilt according to the rotation parameter information of the first wheel; and transmits the rotation of the second wheel to the pan/tilt Parameter information, so that the pan/tilt adjusts a pitch angle of the pan/tilt according to rotation parameter information of the second wheel; and transmits rotation parameter information of the third wheel to the pan/tilt to make the pan/tilt Adjusting a roll angle of the pan/tilt according to rotation parameter information of the third wheel.

Optionally, the processor 262 is further configured to store the historical rotation parameter information of the at least one rocker 261 in the memory. Alternatively, the memory may be a memory on the processor chip, or may be The processor's off-chip memory. The communication interface 263 is further configured to send the historical rotation parameter information of the stored at least one rocker 261 to the pan/tilt, so that the pan/tilt adjusts the pan/tilt according to the historical rotation parameter information of the at least one rocker 261. Gesture.

Optionally, the processor 262 is further configured to: detect a storage operation of the user; when detecting the storage operation, the processor 262 stores the historical rotation parameter information of the at least one rocker 261 in the memory.

Optionally, the processor 262 is further configured to: detect a limit setting operation of the user; when detecting the limit setting operation, the communication interface 263 sends a limit angle setting instruction to the pan/tilt to set the pan/tilt to one or more The axis is the limit angle of the rotation of the shaft.

Optionally, when the communication interface 263 sends a limit angle setting instruction to the pan/tilt to set a limit angle of the pan/tilt head rotating by the one or more axes, the method is specifically configured to: send a limit angle setting instruction to the pan/tilt to indicate The pan/tilt determines an angle at which the current pan/tilt is rotated by one or more axes as a corresponding limit angle of rotation about one or more axes of rotation.

Optionally, when the processor 262 detects the limit setting operation of the user, the method is specifically configured to: detect a yaw limit setting operation of the user; the communication interface 263 sends a limit angle setting instruction to the pan/tilt to indicate that the pan/tilt is current When the angle of rotation of the gimbal with one or more axes as the axis of rotation is determined as a corresponding limit angle of rotation about one or more axes of rotation, the method is specifically configured to: send a yaw limit angle setting command to the pan/tilt to indicate the The gimbal determines the angle at which the current gimbal rotates with the yaw axis as the axis of rotation as the limit angle at which the yaw axis rotates.

Optionally, when the processor 262 detects the limit setting operation of the user, the method is specifically configured to: detect a user's pitch limit setting operation; the communication interface 263 sends a limit angle setting instruction to the pan/tilt to indicate that the pan/tilt will present the current cloud. When the angle at which the one or more axes rotate on the axis is determined as the corresponding limit angle of rotation about the one or more axes of rotation, the method is specifically configured to: send a pitch limit angle setting command to the pan/tilt to indicate the pan/tilt head The angle at which the current pan/tilt is rotated with the pitch axis as the axis of rotation is determined as the limit angle at which the pitch axis is rotated.

Optionally, the processor 262 is further configured to: detect a release limit operation of the user; when detecting the release limit operation, the communication interface 263 sends a release limit command to the pan/tilt to cancel the pan/tilt to one or more The axis is the rotation limit of the rotation of the rotating shaft.

Optionally, the processor 262 is further configured to: detect an emergency stop operation of the user; when detecting the emergency stop operation, the communication interface 263 sends an emergency stop command to the pan/tilt to make the pan/tilt emergency stop.

Optionally, the processor 262 is further configured to: detect a PTZ parameter configuration operation of the user; determine a PTZ configuration parameter according to the detected PTZ parameter configuration operation; and the communication interface 263 is further configured to send the PTZ configuration parameter to the PTZ The pan/tilt configuration parameter.

Optionally, when the processor 262 acquires the rotation parameter information of the at least one rocker 261, the method is specifically configured to: obtain a measurement value output by the angular velocity sensor, and determine rotation parameter information of the remote wheel according to the measurement value.

Optionally, the angle sensor comprises one or more of a photoelectric encoder, a Hall sensor, and a potentiometer.

The specific principles and implementations of the control device provided by the embodiment of the present invention are similar to the embodiment shown in FIG. 1 to FIG. 12, and details are not described herein again.

In this embodiment, the rotation parameter information of the at least one rocker is obtained by the control device, and the rotation parameter information of the rocker is sent to the cloud platform, so that the pan/tilt adjusts the posture of the pan/tilt according to the rotation parameter information of the rocker, The angular velocity or angle value of the wheel can be accurately controlled or calculated. When the attitude of the pan/tilt is adjusted according to the angular velocity or angle value of the rocker, the control accuracy of the attitude of the gimbal can be improved; and the historical rotation of at least one rocker on the storage control device can be realized. Parameter information, and transmitting the historical rotation parameter information to the cloud platform, so that the pan/tilt adjusts the current attitude of the pan/tilt according to the historical posture of the pan/tilt corresponding to the historical rotation parameter information, and realizes the track playback function of the pan/tilt; The device detects the user's limit setting operation, and sends a limit angle setting command to the pan/tilt to set a limit angle of the pan/tilt head rotating with one or more axes as the rotating shaft, thereby realizing the limit function of the attitude angle of the pan/tilt head; The emergency stop operation of the user is detected by the control device, and an emergency stop command is sent to the gimbal according to the detected emergency stop operation, so that The station stops urgently to prevent the pan/tilt from continuing to rotate when abnormal rotation occurs. In addition, the control device can also send the PTZ configuration parameters to the PTZ. When the PTZ adjusts the PTZ attitude according to the PTZ configuration parameters, the control accuracy of the PTZ can be improved. .

Embodiments of the present invention provide a control device. The control device is applied to a rocker control device. FIG. 26 is a structural diagram of a control device according to an embodiment of the present invention. As shown in FIG. 26, the control device 260 provided in this embodiment includes: at least one rocker 261, a processor 262, and a communication interface 263; The processor 262 is configured to store the historical rotation parameter information of the at least one rocker 261 in the memory. Alternatively, the memory may be a memory on the processor chip or a memory outside the processor. The communication interface 263 is configured to send the historical rotation parameter information of the stored at least one rocker 261 to the pan/tilt, so that the pan/tilt adjusts the pan/tilt according to the historical rotation parameter information of the at least one rocker 261. attitude.

Optionally, the processor 262 is further configured to detect a storage operation of the user; when detecting the storage operation, the processor 262 stores the historical rotation parameter information of the at least one wheel 261 in the memory.

Optionally, the processor 262 is further configured to: acquire rotation parameter information of the at least one rocker 261; the communication interface 263 is further configured to send the rotation parameter information to the pan/tilt, so that the pan/tilt is based on the rotation parameter information. Adjust the posture of the gimbal.

Optionally, when the processor 262 detects the limit setting operation of the user, the processor 262 is specifically configured to: detect The yaw limit setting operation of the user; the communication interface 263 sends a limit angle setting instruction to the pan/tilt to instruct the pan/tilt to determine the angle at which the current pan/tilt is rotated by the one or more axes as the corresponding one or more When the limit angle of the rotation axis is rotated, the method is specifically configured to: send a yaw limit angle setting command to the pan/tilt to instruct the pan/tilt to determine the angle at which the current pan/tilt head rotates with the yaw axis as the yaw axis as the yaw axis The limit angle for the rotation of the shaft.

Optionally, the processor 262 is further configured to: detect an emergency stop operation of the user; when detecting the emergency stop operation, the communication interface 263 sends an emergency stop command to the pan/tilt to make the pan/tilt stop urgently.

Optionally, the processor 262 is further configured to: detect a PTZ parameter configuration operation of the user; the processor 262 is further configured to determine a PTZ configuration parameter according to the detected PTZ parameter configuration operation; the communication interface 263 is further configured to: : transmitting the PTZ configuration parameter to the PTZ.

The specific principles and implementations of the control device provided by the embodiment of the present invention are similar to the embodiment shown in FIG. 13 to FIG. 17, and details are not described herein again.

In this embodiment, the historical rotation parameter information of at least one rocker on the control device is stored, and the historical rotation parameter information is sent to the cloud platform, so that the pan/tilt adjusts the gimbal according to the historical attitude of the pan/tilt corresponding to the historical rotation parameter information. The current posture realizes the track playback function of the pan/tilt; obtains the rotation parameter information of at least one of the rockers on the control device, and transmits the rotation parameter information of the rocker to the pan/tilt, so that the pan/tilt is rotated according to the pan The parameter information adjusts the attitude of the pan/tilt. Since the angular velocity or angle value of the rocker can be accurately controlled or calculated, according to the angular velocity of the rocker Or when the angle value adjusts the posture of the gimbal, the control precision of the attitude of the gimbal can be improved; the limit setting operation of the user is detected by the control device, and the limit angle setting instruction is sent to the pan/tilt to set the pan/tilt to one or more axes. For the limit angle of the rotation of the rotating shaft, the limit function of the attitude angle of the pan/tilt is realized; the emergency stop operation of the user is detected by the control device, and an emergency stop command is sent to the gimbal according to the detected emergency stop operation to make the cloud The station stops urgently to prevent the pan/tilt from continuing to rotate when abnormal rotation occurs. In addition, the control device can also send the PTZ configuration parameters to the PTZ. When the PTZ adjusts the PTZ attitude according to the PTZ configuration parameters, the control accuracy of the PTZ can be improved. .

Embodiments of the present invention provide a cloud platform. FIG. 27 is a structural diagram of a cloud platform according to an embodiment of the present invention. In this embodiment, the cloud platform may specifically be a handheld cloud platform. As shown in FIG. 27, the pan/tilt 270 provided in this embodiment includes: a communication interface 271, and a processor 272; wherein the communication interface 271 is configured to receive rotation parameter information of at least one rocker on the control device sent by the control device; The processor 272 is configured to adjust the posture of the pan/tilt according to the rotation parameter information.

Optionally, when the communication interface 271 receives the rotation parameter information of the at least one rocker on the control device sent by the control device, the communication interface 271 is specifically configured to: at least one of: receiving rotation parameter information of the first rocker sent by the control device; Controlling rotation parameter information of the second rocker sent by the control device; receiving rotation parameter information of the third rocker sent by the control device.

Optionally, when the processor 272 adjusts the posture of the pan/tilt according to the rotation parameter information, it is specifically used to: at least one of: adjusting a yaw angle of the pan/tilt according to the rotation parameter information of the first wheel And adjusting a pitch angle of the pan/tilt according to the rotation parameter information of the second wheel; and adjusting a roll angle of the pan/tilt according to the rotation parameter information of the third wheel.

Optionally, the communication interface 271 is further configured to: receive historical rotation parameter information of the at least one rocker sent by the control device; the processor 272 is further configured to: adjust according to historical rotation parameter information of the at least one rocker The posture of the gimbal.

The communication interface 271 is further configured to: receive a limit angle setting instruction sent by the control device; the processor 272 is further configured to: set a limit angle that is rotated by the one or more axes according to the limit angle setting instruction.

Optionally, the processor 272 is configured to: when the one or more axes are used as the rotation limit of the rotation axis, according to the limit angle setting instruction, specifically: receiving the limit at the communication interface 271 When the angle setting command is executed, the processor 272 determines the angle at which the current pan/tilt is rotated by the one or more axes as the corresponding limit angle of rotation about the one or more axes of rotation.

Optionally, when the communication interface 271 receives the limit angle setting instruction sent by the control device, specifically: receiving the yaw limit angle setting instruction sent by the control device; the processor 272 sets the current pan/tilt to one or more axes. When the angle of rotation of the rotating shaft is determined as the corresponding limit angle of rotation about one or more axes of rotation, the specific angle is used to determine the angle at which the current head is rotated by the yaw axis as the limit of the rotation of the yaw axis. Bit angle.

When the communication interface 271 receives the limit angle setting instruction sent by the control device, specifically: receiving the pitch limit angle setting command sent by the control device; the processor 272 determines the angle at which the current pan/tilt is rotated by the one or more axes. For the corresponding limit angle of rotation about one or more axes of rotation, it is specifically used to: determine the angle at which the current pan/tilt is rotated by the pitch axis as the limit angle of rotation with the pitch axis as the axis of rotation.

Optionally, the communication interface 271 is further configured to: receive a release limit command sent by the control device; the processor 272 is further configured to: cancel the rotation of the pan/tilt with one or more axes as a rotation axis according to the release limit command Limit.

Optionally, the communication interface 271 is further configured to: receive an emergency stop command sent by the control device; and the processor 272 is further configured to: control the pan-tilt emergency stop according to the emergency stop command.

Optionally, the communication interface 271 is further configured to: receive the PTZ configuration parameter sent by the control device.

The specific principles and implementations of the PTZ provided by the embodiments of the present invention are similar to the embodiments shown in FIG. 18 to FIG. 21, and details are not described herein again.

In this embodiment, the rotation parameter information of the at least one rocker sent by the control device is received by the pan/tilt, and the posture of the pan/tilt is adjusted according to the rotation parameter information of the rocker. Since the angular velocity or the angle value of the rocker can be accurately controlled or calculated, When the attitude of the pan/tilt is adjusted according to the angular velocity or the angle value of the rocker, the control precision of the attitude of the gimbal can be improved; the historical rotation parameter information of the at least one rocker transmitted by the control device is received by the gimbal, and corresponding to the historical rotational parameter information The historical posture of the gimbal adjusts the current attitude of the gimbal, realizes the track playback function of the gimbal; receives the limit angle setting instruction sent by the control device through the pan/tilt, and sets the command setting according to the limit angle setting One or more axes are limit angles for rotating the shaft, which realizes the limit function of the control device to the attitude angle of the pan/tilt; receives an emergency stop command sent by the control device through the pan/tilt, and controls the cloud according to the emergency stop command The emergency stop of the station prevents the pan/tilt from continuing to rotate when abnormal rotation occurs. In addition, the pan/tilt can also receive the configuration parameters of the pan/tilt sent by the control device. When the pan-tilt adjusts the attitude of the gimbal according to the configuration parameters of the gimbal, the control of the gimbal can be improved. Precision.

Embodiments of the present invention provide a cloud platform. FIG. 27 is a structural diagram of a cloud platform according to an embodiment of the present invention. In this embodiment, the cloud platform may specifically be a handheld cloud platform. As shown in FIG. 27, the pan/tilt 270 provided in this embodiment includes: a communication interface 271, and a processor 272. The communication interface 271 is configured to receive a historical rotation of at least one rocker on the control device sent by the control device. Parameter information; the processor 272 is configured to adjust the posture of the pan/tilt according to historical rotation parameter information of the at least one rocker.

Optionally, the communication interface 271 is further configured to: receive rotation parameter information of the at least one rocker on the control device sent by the control device; the processor 272 is further configured to: adjust the posture of the pan/tilt according to the rotation parameter information .

Optionally, when the communication interface 271 receives the rotation parameter information of the at least one rocker on the control device sent by the control device, the communication interface 271 is specifically configured to: at least one of the following: receiving the first rocker on the control device sent by the control device Rotating the parameter information; receiving the rotation parameter information of the second wheel on the control device sent by the control device; and receiving the rotation parameter information of the third wheel on the control device sent by the control device.

Optionally, the communication interface 271 is further configured to: receive a limit angle setting instruction sent by the control device; the processor 272 is further configured to: set a limit that is rotated by the one or more axes according to the limit angle setting instruction angle.

Optionally, when receiving the limit angle setting instruction sent by the control device, the communication interface 271 is specifically configured to: receive a pitch limit angle setting instruction sent by the control device; and the processor 272 rotates the current pan/tilt with one or more axes. When the angle of rotation is determined as the corresponding limit angle of rotation about one or more axes of rotation, it is specifically used to:

The angle at which the current pan/tilt is rotated with the pitch axis as the axis of rotation is determined as the limit angle at which the pitch axis is rotated.

Optionally, the communication interface 271 is further configured to receive a release limit command sent by the control device; the processor 272 is further configured to: according to the release limit command, cancel the rotation limit of the pan/tilt rotating with one or more axes as a rotation axis .

Optionally, the communication interface 271 is further configured to receive an emergency stop command sent by the control device; the processor 272 is further configured to control the PTZ emergency stop according to the emergency stop command.

Optionally, the communication interface 271 is further configured to receive the PTZ configuration parameter sent by the control device.

The specific principles and implementations of the PTZ provided by the embodiments of the present invention are similar to the embodiments shown in FIG. 22 to FIG. 25, and details are not described herein again.

In this embodiment, the historical rotation parameter information of the at least one rocker on the control device sent by the control device is received by the cloud platform, and the current posture of the pan/tilt is adjusted according to the historical posture of the pan/tilt corresponding to the historical rotation parameter information. a track playback function of the pan/tilt; receiving, by the pan/tilt, the rotation parameter information of the at least one rocker on the control device sent by the control device, and adjusting the posture of the pan/tilt according to the rotation parameter information, due to the angular velocity of the pan Or the angle value can be accurately controlled or calculated. When the attitude of the pan/tilt is adjusted according to the angular velocity or angle value of the rocker, The control precision of the attitude of the Gaoyuntai; the limit angle setting command sent by the gimbal receiving control device, and setting the limit angle of the one or more axes as the rotating shaft according to the limit angle setting instruction, realizing the cloud The limit function of the attitude angle of the station; receiving the emergency stop command sent by the control device through the pan/tilt, and controlling the emergency stop of the gimbal according to the emergency stop command to prevent the pan/tilt from continuing to rotate when abnormal rotation occurs; It can also receive the PTZ configuration parameters sent by the control device. When the PTZ adjusts the PTZ attitude according to the PTZ configuration parameters, the control accuracy of the PTZ can be improved.

In the several embodiments provided by the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the device embodiments described above are merely illustrative. For example, the division of the unit is only a logical function division. In actual implementation, there may be another division manner, for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional units.

The above-described integrated unit implemented in the form of a software functional unit can be stored in a computer readable storage medium. The above software functional unit is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to perform the methods of the various embodiments of the present invention. Part of the steps. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes. .

Those skilled in the art can clearly understand that for the convenience and simplicity of the description, only the above The division of each functional module is illustrated. In practical applications, the above function assignment can be completed by different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. . For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiments, and details are not described herein again.

Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, and are not intended to be limiting; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that The technical solutions described in the foregoing embodiments may be modified, or some or all of the technical features may be equivalently replaced; and the modifications or substitutions do not deviate from the technical solutions of the embodiments of the present invention. range.

Claims

A control method for a gimbal is applied to a control device, wherein the control device is provided with at least one rocker, and the method includes:

Obtaining rotation parameter information of the at least one rocker;

Transmitting the rotation parameter information to the pan/tilt to enable the pan/tilt to adjust the attitude of the pan/tilt head according to the rotation parameter information.
The method according to claim 1, wherein the rotation parameter information comprises at least one of the following:

Angle value, angular velocity.
The method according to claim 1 or 2, wherein the acquiring the rotation parameter information of the at least one rocker comprises at least one of the following:

Obtaining rotation parameter information of the first rocker;

Obtaining rotation parameter information of the second rocker;

Obtain the rotation parameter information of the third wheel.
The method according to claim 3, wherein the transmitting the rotation parameter information to the pan/tilt to adjust the posture of the pan/tilt according to the rotation parameter information, including at least one of the following :

Transmitting the rotation parameter information of the first rocker to the pan/tilt, so that the pan/tilt adjusts the yaw angle of the pan/tilt according to the rotation parameter information of the first rocker;

Transmitting the rotation parameter information of the second rocker to the pan/tilt, so that the pan/tilt adjusts the pitch angle of the pan/tilt according to the rotation parameter information of the second rocker;

Transmitting the rotation parameter information of the third wheel to the pan/tilt, so that the pan/tilt adjusts the roll angle of the pan/tilt according to the rotation parameter information of the third wheel.
The method according to any one of claims 1 to 4, wherein the method further comprises:

Storing historical rotation parameter information of at least one rocker in a memory;

And transmitting the stored historical rotation parameter information of the at least one rocker to the pan/tilt, so that the pan/tilt adjusts the posture of the pan/tilt according to the historical rotation parameter information of the at least one rocker.
The method of claim 5 wherein said at least one rocker The historical rotation parameter information is stored in the memory, including:

Detecting user storage operations;

When the storage operation is detected, historical rotation parameter information of at least one of the wheels is stored in the memory.
The method according to any one of claims 1 to 6, wherein the method further comprises:

Detecting the user's limit setting operation;

When the limit setting operation is detected, a limit angle setting command is sent to the pan/tilt to set a limit angle at which the pan/tilt rotates with one or more axes as a rotation axis.
The method according to claim 7, wherein the sending the limit angle setting command to the pan/tilt to set the limit angle of the pan/tilt head rotating on the one or more axes comprises:

Sending a limit angle setting command to the pan/tilt to instruct the pan/tilt to determine an angle at which the current pan/tilt is rotated by one or more axes as a corresponding limit angle for rotating about one or more axes of rotation.
The method according to claim 8, wherein the detecting a limit setting operation of the user comprises:

Detecting the user's yaw limit setting operation;

Sending a limit angle setting instruction to the pan/tilt to instruct the pan/tilt to determine an angle at which the current pan/tilt is rotated by one or more axes as a corresponding limit angle for rotating about one or more axes of rotation, including :

The sending a yaw limit angle setting command to the pan/tilt to instruct the pan/tilt to determine the angle at which the current pan/tilt head rotates with the yaw axis as a rotating shaft as a limiting angle for rotating the yaw axis as a rotating shaft.
The method according to claim 8, wherein the detecting a limit setting operation of the user comprises:

Detecting the user's pitch limit setting operation;

Sending a limit angle setting instruction to the pan/tilt to instruct the pan/tilt to determine an angle at which the current pan/tilt is rotated by one or more axes as a corresponding limit angle for rotating about one or more axes of rotation, including :

Sending a pitch limit angle setting instruction to the pan/tilt to instruct the pan/tilt to be the current pan/tilt The angle at which the pitch axis is rotated is determined as the limit angle at which the pitch axis is rotated.
The method according to any one of claims 7 to 10, wherein the method further comprises:

Detecting the user's release limit operation;

When the release limit operation is detected, the release limit command is sent to the pan/tilt to cancel the rotation limit of the pan/tilt head rotating with one or more axes as the rotation axis.
The method according to any one of claims 1 to 11, wherein the method further comprises:

Detecting the user's emergency stop operation;

When the emergency stop operation is detected, an emergency stop command is sent to the pan/tilt to make the pan/tilt emergency stop.
The method according to any one of claims 1 to 12, wherein the method further comprises:

Detecting the user's PTZ parameter configuration operation;

Determining a PTZ configuration parameter according to the detected PTZ parameter configuration operation;

Sending the PTZ configuration parameter to the PTZ.
The method according to claim 13, wherein the pan/tilt configuration parameter comprises one or more of a dead zone value, an angular velocity magnification, and a smoothness.
The method according to any one of claims 1 to 14, wherein the acquiring the rotation parameter information of the at least one rocker comprises:

Obtaining a measured value output by the angle sensor, and determining rotation parameter information of the remote wheel according to the measured value.
The method of claim 15 wherein said angle sensor comprises one or more of a photoelectric encoder, a Hall sensor, and a potentiometer.
A control method for a gimbal is applied to a control device, wherein the control device is provided with at least one rocker, and the method includes:

Storing historical rotation parameter information of at least one rocker in a memory;

And transmitting the stored historical rotation parameter information of the at least one rocker to the pan/tilt, so that the pan/tilt adjusts the posture of the pan/tilt according to the historical rotation parameter information of the at least one rocker.
The method according to claim 17, wherein the storing the historical rotation parameter information of the at least one rocker in the memory comprises:

Detecting user storage operations;

When the storage operation is detected, historical rotation parameter information of at least one of the wheels is stored in the memory.
The method according to claim 17 or 18, wherein the method further comprises:

Obtaining rotation parameter information of the at least one rocker;

Transmitting the rotation parameter information to the pan/tilt to enable the pan/tilt to adjust the attitude of the pan/tilt head according to the rotation parameter information.
The method according to any one of claims 17 to 19, wherein the rotation parameter information comprises at least one of the following:

Angle value, angular velocity.
The method according to any one of claims 17 to 20, wherein the rotation parameter information of the at least one rocker is obtained, including at least one of the following:

Obtaining rotation parameter information of the first rocker;

Obtaining rotation parameter information of the second rocker;

Obtain the rotation parameter information of the third wheel.
The method according to claim 21, wherein the rotation parameter information is sent to the pan/tilt to enable the pan/tilt to adjust the posture of the pan/tilt according to the rotation parameter information, including at least one of the following:

Transmitting the rotation parameter information of the first rocker to the pan/tilt, so that the pan/tilt adjusts the yaw angle of the pan/tilt according to the rotation parameter information of the first rocker;

Transmitting the rotation parameter information of the second rocker to the pan/tilt, so that the pan/tilt adjusts the pitch angle of the pan/tilt according to the rotation parameter information of the second rocker;

Transmitting the rotation parameter information of the third wheel to the pan/tilt, so that the pan/tilt adjusts the roll angle of the pan/tilt according to the rotation parameter information of the third wheel.
The method according to any one of claims 17 to 22, wherein the method further comprises:

Detecting the user's limit setting operation;

When the limit setting operation is detected, a limit angle setting command is sent to the pan/tilt to set a limit angle at which the pan/tilt rotates with one or more axes as a rotation axis.
The method according to claim 23, wherein the sending a limit angle setting command to the pan/tilt to set a limit angle of the pan/tilt head rotating on one or more axes, comprising:

Sending a limit angle setting command to the pan/tilt to instruct the pan/tilt to determine an angle at which the current pan/tilt is rotated by one or more axes as a corresponding limit angle for rotating about one or more axes of rotation.
The method according to claim 24, wherein the detecting a limit setting operation of the user comprises:

Detecting the user's yaw limit setting operation;

Sending a limit angle setting instruction to the pan/tilt to instruct the pan/tilt to determine an angle at which the current pan/tilt is rotated by one or more axes as a corresponding limit angle for rotating about one or more axes of rotation, including :

Sending a yaw limit angle setting command to the pan/tilt to instruct the pan/tilt to determine an angle at which the current pan/tilt head rotates with the yaw axis as a rotation axis as a limit angle at which the yaw axis is rotated.
The method according to claim 24, wherein the detecting a limit setting operation of the user comprises:

Detecting the user's pitch limit setting operation;

Sending a limit angle setting instruction to the pan/tilt to instruct the pan/tilt to determine an angle at which the current pan/tilt is rotated by one or more axes as a corresponding limit angle for rotating about one or more axes of rotation, including :

Sending a pitch limit angle setting command to the pan/tilt to instruct the pan/tilt to determine an angle at which the current pan/tilt head rotates with the pitch axis as a rotation axis as a limit angle at which the pitch axis is rotated.
The method of any of claims 23-26, wherein the method further comprises:

Detecting the user's release limit operation;

When the release limit operation is detected, the release limit command is sent to the pan/tilt to cancel the rotation limit of the pan/tilt head rotating with one or more axes as the rotation axis.
Method according to any of claims 17-27, characterized in that the method Also includes:

Detecting the user's emergency stop operation;

When the emergency stop operation is detected, an emergency stop command is sent to the pan/tilt to make the pan/tilt emergency stop.
The method according to any one of claims 17 to 28, wherein the method further comprises:

Detecting the user's PTZ parameter configuration operation;

Determining a PTZ configuration parameter according to the detected PTZ parameter configuration operation;

Sending the PTZ configuration parameter to the PTZ.
The method according to claim 29, wherein the pan/tilt configuration parameter comprises one or more of a dead zone value, an angular velocity magnification, and a smoothness.
A cloud platform control method is applied to a cloud platform, and the method includes:

Receiving rotation parameter information of at least one rocker on the control device sent by the control device;

Adjusting the posture of the pan/tilt according to the rotation parameter information.
The method according to claim 31, wherein said rotation parameter information comprises at least one of the following:

Angle value, angular velocity.
The method according to claim 31 or 32, wherein the rotation parameter information of the at least one rocker on the control device sent by the control device comprises at least one of the following:

Receiving rotation parameter information of the first rocker sent by the control device;

Receiving rotation parameter information of the second rocker sent by the control device;

Receiving rotation parameter information of the third rocker sent by the control device.
The method according to claim 33, wherein the adjusting the posture of the pan/tilt according to the rotation parameter information comprises at least one of the following:

Adjusting a yaw angle of the pan/tilt according to rotation parameter information of the first rocker;

Adjusting a pitch angle of the pan/tilt according to rotation parameter information of the second rocker;

Adjusting a roll angle of the pan/tilt according to rotation parameter information of the third wheel.
The method of any of claims 31-34, wherein the method further comprises:

Receiving historical rotation parameter information of the at least one rocker sent by the control device;

Adjusting a posture of the pan/tilt according to historical rotation parameter information of the at least one rocker.
The method of any of claims 31-35, wherein the method further comprises:

Receiving a limit angle setting instruction sent by the control device;

According to the limit angle setting instruction, a limit angle for rotating the shaft with one or more axes is set.
The method according to claim 36, wherein said setting a limit angle for rotating the one or more axes according to said limit angle setting command comprises:

Upon receiving the limit angle setting command, the angle at which the current pan/tilt is rotated by the one or more axes is determined as a corresponding limit angle of rotation about one or more axes of rotation.
The method according to claim 37, wherein the receiving control device sends a limit angle setting instruction, comprising:

Receiving a yaw limit angle setting instruction sent by the control device;

The determining the angle at which the current pan/tilt is rotated by the one or more axes is determined as a corresponding limit angle of rotation about the one or more axes of rotation, including:

The angle at which the current pan/tilt is rotated with the yaw axis as the axis of rotation is determined as the limit angle at which the yaw axis is rotated.
The method according to claim 37, wherein the receiving control device sends a limit angle setting instruction, comprising:

Receiving a pitch limit angle setting instruction sent by the control device;

The determining the angle at which the current pan/tilt is rotated by the one or more axes is determined as a corresponding limit angle of rotation about the one or more axes of rotation, including:

The angle at which the current pan/tilt is rotated with the pitch axis as the axis of rotation is determined as the limit angle at which the pitch axis is rotated.
The method of any of claims 36-39, wherein the method further comprises:

Receiving a release limit command sent by the control device;

According to the release limit command, the rotation limit of the pan/tilt head rotating with one or more axes as the rotation axis is released.
The method according to any one of claims 31 to 40, wherein the method further comprises:

Receiving an emergency stop command sent by the control device;

According to the emergency stop command, the pan/tilt is controlled to be stopped urgently.
The method according to any one of claims 31 to 41, wherein the method further comprises:

Receiving the PTZ configuration parameter sent by the control device.
The method according to claim 42, wherein the pan/tilt configuration parameter comprises one or more of a dead zone value, an angular velocity magnification, and a smoothness.
A cloud platform control method is applied to a cloud platform, and the method includes:

Receiving historical rotation parameter information of at least one rocker on the control device sent by the control device;

Adjusting a posture of the pan/tilt according to historical rotation parameter information of the at least one rocker.
The method of claim 44, wherein the method further comprises:

Receiving rotation parameter information of at least one rocker on the control device sent by the control device;

Adjusting the posture of the pan/tilt according to the rotation parameter information.
The method according to claim 44 or 45, wherein the rotation parameter information comprises at least one of the following:

Angle value, angular velocity.
The method according to claim 45 or 46, wherein the rotation parameter information of the at least one rocker on the control device sent by the control device comprises at least one of the following:

Receiving rotation parameter information of the first rocker on the control device sent by the control device;

Receiving rotation parameter information of the second rocker on the control device sent by the control device;

Receiving rotation parameter information of the third wheel on the control device sent by the control device.
The method according to claim 47, wherein the adjusting the posture of the pan/tilt according to the rotation parameter information comprises at least one of the following:

Adjusting a yaw angle of the pan/tilt according to rotation parameter information of the first rocker;

Adjusting a pitch angle of the pan/tilt according to rotation parameter information of the second rocker;

Adjusting a roll angle of the pan/tilt according to rotation parameter information of the third wheel.
The method of any of claims 44-48, wherein the method further comprises:

Receiving a limit angle setting instruction sent by the control device;

According to the limit angle setting instruction, a limit angle for rotating the shaft with one or more axes is set.
The method according to claim 49, wherein said setting a limit angle for rotating the one or more axes as a rotation axis according to said limit angle setting command comprises:

Upon receiving the limit angle setting command, the angle at which the current pan/tilt is rotated by the one or more axes is determined as a corresponding limit angle of rotation about one or more axes of rotation.
The method according to claim 50, wherein the receiving control device sends a limit angle setting instruction, comprising:

Receiving a yaw limit angle setting instruction sent by the control device;

The determining the angle at which the current pan/tilt is rotated by the one or more axes is determined as a corresponding limit angle of rotation about the one or more axes of rotation, including:

The angle at which the current pan/tilt is rotated with the yaw axis as the axis of rotation is determined as the limit angle at which the yaw axis is rotated.
The method according to claim 50, wherein the receiving control device sends a limit angle setting instruction, comprising:

Receiving a pitch limit angle setting instruction sent by the control device;

The determining the angle at which the current pan/tilt is rotated by the one or more axes is determined as a corresponding limit angle of rotation about the one or more axes of rotation, including:

The angle at which the current pan/tilt is rotated with the pitch axis as the axis of rotation is determined as the limit angle at which the pitch axis is rotated.
The method of any of claims 49-52, wherein the method further comprises:

Receiving the release limit command sent by the control device,

According to the release limit command, the rotation limit of the pan/tilt head rotating with one or more axes as the rotation axis is released.
The method of any of claims 44-53, wherein the method further comprises:

Receiving an emergency stop command sent by the control device;

According to the emergency stop command, the pan/tilt is controlled to be stopped urgently.
The method of any of claims 44-54, wherein the method further comprises:

Receiving the PTZ configuration parameter sent by the control device.
The method according to claim 55, wherein the pan/tilt configuration parameter comprises one or more of a dead zone value, an angular velocity magnification, and a smoothness.
A control device is applied to a rocker control device, comprising: at least one rocker, a processor, and a communication interface;

The processor is configured to acquire rotation parameter information of the at least one rocker;

The communication interface is configured to send the rotation parameter information to the pan/tilt, so that the pan/tilt adjusts the posture of the pan/tilt head according to the rotation parameter information.
The control device according to claim 57, wherein said rotation parameter information comprises at least one of the following:

Angle value, angular velocity.
The control device according to claim 57 or 58, wherein the processor is configured to use at least one of the following when acquiring the rotation parameter information of the at least one rocker:

Obtaining rotation parameter information of the first rocker;

Obtaining rotation parameter information of the second rocker;

Obtain the rotation parameter information of the third wheel.
The control device according to claim 59, wherein the communication interface transmits the rotation parameter information to the pan/tilt, so that the pan/tilt adjusts the posture of the pan/tilt according to the rotation parameter information, specifically Used for at least one of the following:

Transmitting the rotation parameter information of the first rocker to the pan/tilt, so that the pan/tilt adjusts the yaw angle of the pan/tilt according to the rotation parameter information of the first rocker;

Transmitting the rotation parameter information of the second rocker to the pan/tilt, so that the pan/tilt adjusts the pitch angle of the pan/tilt according to the rotation parameter information of the second rocker;

Transmitting the rotation parameter information of the third wheel to the pan/tilt, so that the pan/tilt adjusts the roll angle of the pan/tilt according to the rotation parameter information of the third wheel.
A control apparatus according to any one of claims 57 to 60, wherein said said The processor is further configured to store the historical rotation parameter information of the at least one rocker in a memory; the communication interface is further configured to send the stored historical rotation parameter information of the at least one rocker to the pan/tilt, So that the pan/tilt adjusts the attitude of the pan/tilt according to historical rotation parameter information of the at least one rocker.
The control device according to claim 61, wherein the processor is further configured to: detect a storage operation of the user;

The processor stores historical rotation parameter information of the at least one rocker in a memory when the storage operation is detected.
The control device according to any one of claims 57 to 62, wherein the processor is further configured to: detect a limit setting operation of the user;

When the limit setting operation is detected, the communication interface sends a limit angle setting instruction to the pan/tilt to set a limit angle at which the pan/tilt rotates with one or more axes as a rotation axis.
The control device according to claim 63, wherein the communication interface sends a limit angle setting command to the pan/tilt to set a limit angle of the pan/tilt head rotating on one or more axes, specifically for:

Sending a limit angle setting command to the pan/tilt to instruct the pan/tilt to determine an angle at which the current pan/tilt is rotated by one or more axes as a corresponding limit angle for rotating about one or more axes of rotation.
The control device according to claim 64, wherein when the processor detects a limit setting operation of the user, the method is specifically configured to:

Detecting the user's yaw limit setting operation;

The communication interface sends a limit angle setting instruction to the pan/tilt to instruct the pan/tilt to determine an angle at which the current pan/tilt head rotates with one or more axes as a rotation axis as a corresponding limit angle of rotation about one or more rotation axes When specifically used to:

Sending a yaw limit angle setting command to the pan/tilt to instruct the pan/tilt to determine an angle at which the current pan/tilt head rotates with the yaw axis as a rotation axis as a limit angle at which the yaw axis is rotated.
The control device according to claim 64, wherein when the processor detects a limit setting operation of the user, the method is specifically configured to:

Detecting the user's pitch limit setting operation;

The communication interface sends a limit angle setting instruction to the pan/tilt to indicate that the gimbal will present When the angle of rotation of the gimbal with one or more axes as the axis of rotation is determined as the corresponding limit angle of rotation about one or more axes of rotation, specifically for:

Sending a pitch limit angle setting command to the pan/tilt to instruct the pan/tilt to determine an angle at which the current pan/tilt head rotates with the pitch axis as a rotation axis as a limit angle at which the pitch axis is rotated.
The control device according to any one of claims 63 to 66, wherein the processor is further configured to: detect a release limit operation of the user;

When the release limit operation is detected, the communication interface sends a release limit command to the pan/tilt to release the rotation limit of the pan/tilt head rotating on one or more axes.
The control device according to any one of claims 57 to 67, wherein the processor is further configured to: detect an emergency stop operation of the user;

When the emergency stop operation is detected, the communication interface sends an emergency stop command to the pan/tilt to make the pan/tilt emergency stop.
The control device according to any one of claims 57 to 68, wherein the processor is further configured to:

Detecting the user's PTZ parameter configuration operation;

Determining a PTZ configuration parameter according to the detected PTZ parameter configuration operation;

The communication interface is further configured to send the PTZ configuration parameter to the PTZ.
The control device according to claim 69, wherein the pan/tilt configuration parameter comprises one or more of a dead zone value, an angular velocity magnification, and a smoothness.
The control device according to any one of claims 57 to 70, wherein when the processor acquires the rotation parameter information of the at least one rocker, the method is specifically configured to:

Obtaining a measured value output by the angle sensor, and determining rotation parameter information of the remote wheel according to the measured value.
The control device according to claim 71, wherein said angle sensor comprises one or more of a photoelectric encoder, a Hall sensor, and a potentiometer.
A control device is applied to a rocker control device, comprising: at least one rocker, a communication interface, and a processor;

The processor is configured to store historical rotation parameter information of the at least one rocker in a memory;

The communication interface is configured to record historical rotation parameter information of the stored at least one rocker Sending to the cloud platform, so that the cloud platform adjusts the posture of the pan/tilt according to the historical rotation parameter information of the at least one rocker.
The control device according to claim 73, characterized in that

The processor is further configured to detect a storage operation of the user;

The processor stores historical rotation parameter information of the at least one rocker in a memory when the storage operation is detected.
The control device according to claim 73 or 74, wherein the processor is further configured to: acquire rotation parameter information of the at least one rocker;

The communication interface is further configured to send the rotation parameter information to the pan/tilt, so that the pan/tilt adjusts the posture of the pan/tilt head according to the rotation parameter information.
The control device according to any one of claims 73 to 75, wherein the rotation parameter information comprises at least one of the following:

Angle value, angular velocity.
The control device according to any one of claims 73 to 76, wherein when the processor acquires the rotation parameter information of the at least one rocker, it is specifically used for at least one of the following:

Obtaining rotation parameter information of the first rocker;

Obtaining rotation parameter information of the second rocker;

Obtain the rotation parameter information of the third wheel.
The control device according to claim 77, wherein the communication interface transmits the rotation parameter information to the pan/tilt, so that the pan/tilt adjusts the posture of the pan/tilt according to the rotation parameter information, specifically Used for at least one of the following:

Transmitting the rotation parameter information of the first rocker to the pan/tilt, so that the pan/tilt adjusts the yaw angle of the pan/tilt according to the rotation parameter information of the first rocker;

Transmitting the rotation parameter information of the second rocker to the pan/tilt, so that the pan/tilt adjusts the pitch angle of the pan/tilt according to the rotation parameter information of the second rocker;

Transmitting the rotation parameter information of the third wheel to the pan/tilt, so that the pan/tilt adjusts the roll angle of the pan/tilt according to the rotation parameter information of the third wheel.
The control device according to any one of claims 73 to 78, wherein the processor is further configured to: detect a limit setting operation of the user;

When the limit setting operation is detected, the communication interface sends a limit angle setting instruction to the pan/tilt to set a limit angle at which the pan/tilt rotates with one or more axes as a rotation axis.
The control device according to claim 79, wherein the communication interface sends a limit angle setting command to the pan/tilt to set a limit angle of the pan/tilt head rotating on one or more axes, specifically for:

Sending a limit angle setting command to the pan/tilt to instruct the pan/tilt to determine an angle at which the current pan/tilt is rotated by one or more axes as a corresponding limit angle for rotating about one or more axes of rotation.
The control device according to claim 80, wherein when the processor detects the limit setting operation of the user, the processor is specifically configured to: detect a yaw limit setting operation of the user;

The communication interface sends a limit angle setting instruction to the pan/tilt to instruct the pan/tilt to determine an angle at which the current pan/tilt head rotates with one or more axes as a rotation axis as a corresponding limit angle of rotation about one or more rotation axes When specifically used to:

Sending a yaw limit angle setting command to the pan/tilt to instruct the pan/tilt to determine an angle at which the current pan/tilt head rotates with the yaw axis as a rotation axis as a limit angle at which the yaw axis is rotated.
The control device according to claim 80, wherein when the processor detects the limit setting operation of the user, the processor is specifically configured to: detect a pitch limit setting operation of the user;

The communication interface sends a limit angle setting instruction to the pan/tilt to instruct the pan/tilt to determine an angle at which the current pan/tilt head rotates with one or more axes as a rotation axis as a corresponding limit angle of rotation about one or more rotation axes When specifically used to:

Sending a pitch limit angle setting command to the pan/tilt to instruct the pan/tilt to determine an angle at which the current pan/tilt head rotates with the pitch axis as a rotation axis as a limit angle at which the pitch axis is rotated.
The control device according to any one of claims 79 to 82, wherein the processor is further configured to: detect a release limit operation of the user;

When the release limit operation is detected, the communication interface sends a release limit command to the pan/tilt to release the rotation limit of the pan/tilt head rotating on one or more axes.
The control device according to any one of claims 73 to 83, wherein the processor is further configured to: detect an emergency stop operation of the user;

When the emergency stop operation is detected, the communication interface sends an emergency stop command to the pan/tilt to make the pan/tilt emergency stop.
The control device according to any one of claims 73 to 84, wherein the processor is further configured to: detect a PTZ parameter configuration operation of the user;

The processor is further configured to determine a PTZ configuration parameter according to the detected PTZ parameter configuration operation;

The communication interface is further configured to: send the PTZ configuration parameter to the PTZ.
The control device according to claim 85, wherein the pan/tilt configuration parameter comprises one or more of a dead zone value, an angular velocity magnification, and a smoothness.
A cloud platform, comprising: a communication interface and a processor;

The communication interface is configured to receive rotation parameter information of at least one rocker on the control device sent by the control device;

The processor is configured to adjust a posture of the pan/tilt according to the rotation parameter information.
The pan/tilt head according to claim 87, wherein the rotation parameter information comprises at least one of the following:

Angle value, angular velocity.
The pan/tilt head according to claim 87 or claim 88, wherein the communication interface is used for at least one of the following when receiving the rotation parameter information of the at least one rocker on the control device sent by the control device:

Receiving rotation parameter information of the first rocker sent by the control device;

Receiving rotation parameter information of the second rocker sent by the control device;

Receiving rotation parameter information of the third rocker sent by the control device.
The pan/tilt head according to claim 89, wherein the processor is configured to use at least one of the following when the posture of the pan/tilt is adjusted according to the rotation parameter information:

Adjusting a yaw angle of the pan/tilt according to rotation parameter information of the first rocker;

Adjusting a pitch angle of the pan/tilt according to rotation parameter information of the second rocker;

Adjusting a roll angle of the pan/tilt according to rotation parameter information of the third wheel.
The pan/tilt head according to any one of claims 87 to 90, wherein the communication interface is further configured to: receive historical rotation parameter information of the at least one rocker sent by the control device;

The processor is further configured to: adjust a posture of the pan/tilt according to historical rotation parameter information of the at least one rocker.
The pan/tilt head according to any one of claims 87 to 91, wherein the communication interface is further configured to: receive a limit angle setting instruction sent by the control device;

The processor is further configured to: set a limit angle for rotating the one or more axes as a rotation axis according to the limit angle setting instruction.
The pan/tilt head according to claim 92, wherein the processor is configured to: when the limit angle is set according to the limit angle setting instruction, the one or more axes are rotated.

When the communication interface receives the limit angle setting instruction, the processor determines an angle at which the current pan/tilt is rotated by one or more axes as a corresponding limit of rotation about one or more rotation axes. angle.
The pan/tilt head according to claim 93, wherein when the communication interface receives the limit angle setting instruction sent by the control device, specifically:

Receiving a yaw limit angle setting instruction sent by the control device;

When the processor determines the angle at which the current pan/tilt is rotated by one or more axes as the corresponding limit angle of rotation about one or more axes of rotation, specifically for:

The angle at which the current pan/tilt is rotated with the yaw axis as the axis of rotation is determined as the limit angle at which the yaw axis is rotated.
The pan/tilt head according to claim 93, wherein when the communication interface receives the limit angle setting instruction sent by the control device, specifically:

Receiving a pitch limit angle setting instruction sent by the control device;

When the processor determines the angle at which the current pan/tilt is rotated by one or more axes as the corresponding limit angle of rotation about one or more axes of rotation, specifically for:

The angle at which the current pan/tilt is rotated with the pitch axis as the axis of rotation is determined as the limit angle at which the pitch axis is rotated.
The pan/tilt head according to any one of claims 92-95, wherein the communication interface is further configured to: receive a release limit command sent by the control device;

The processor is further configured to: according to the release limit command, cancel a rotation limit of the pan-tilt rotating with one or more axes as a rotation axis.
The pan/tilt head according to any one of claims 87 to 96, wherein the communication interface is further configured to: receive an emergency stop command sent by the control device;

The processor is further configured to: control the gimbal emergency stop according to the emergency stop instruction.
The cloud platform according to any one of claims 87 to 97, wherein the communication interface is further configured to: receive the PTZ configuration parameter sent by the control device.
The pan/tilt head according to claim 98, wherein the pan/tilt configuration parameter comprises one or more of a dead zone value, an angular velocity multiplier, and a smoothness.
A cloud platform, comprising: a communication interface and a processor;

The communication interface is configured to receive historical rotation parameter information of at least one rocker on the control device sent by the control device;

The processor is configured to adjust a posture of the pan/tilt according to historical rotation parameter information of the at least one rocker.
The pan/tilt head according to claim 100, wherein the communication interface is further configured to: receive rotation parameter information of at least one rocker on the control device sent by the control device;

The processor is further configured to: adjust a posture of the pan/tilt according to the rotation parameter information.
The pan/tilt head according to claim 100 or 101, wherein the rotation parameter information comprises at least one of the following:

Angle value, angular velocity.
The pan/tilt head according to claim 101 or 102, wherein the communication interface is used for at least one of the following when receiving the rotation parameter information of the at least one rocker on the control device sent by the control device:

Receiving rotation parameter information of the first rocker on the control device sent by the control device;

Receiving rotation parameter information of the second rocker on the control device sent by the control device;

Receiving rotation parameter information of the third wheel on the control device sent by the control device.
The pan/tilt head according to claim 103, wherein the processor is configured to adjust at least one of the following when the posture of the pan/tilt is adjusted according to the rotation parameter information:

Adjusting a yaw angle of the pan/tilt according to rotation parameter information of the first rocker;

Adjusting a pitch angle of the pan/tilt according to rotation parameter information of the second rocker;

Adjusting a roll angle of the pan/tilt according to rotation parameter information of the third wheel.
The pan/tilt head according to any one of claims 100 to 104, wherein the communication interface is further configured to: receive a limit angle setting instruction sent by the control device;

The processor is further configured to: set a limit angle for rotating the one or more axes as a rotation axis according to the limit angle setting instruction.
The pan/tilt head according to claim 105, wherein the processor is configured to: when the limit angle is set according to the limit angle setting command, the one or more axes are rotated.

When the communication interface receives the limit angle setting instruction, the processor determines an angle at which the current pan/tilt is rotated by one or more axes as a corresponding limit of rotation about one or more rotation axes. angle.
The pan/tilt head according to claim 106, wherein when the communication interface receives the limit angle setting instruction sent by the control device, specifically:

Receiving a yaw limit angle setting instruction sent by the control device;

When the processor determines the angle at which the current pan/tilt is rotated by one or more axes as the corresponding limit angle of rotation about one or more axes of rotation, specifically for:

The angle at which the current pan/tilt is rotated with the yaw axis as the axis of rotation is determined as the limit angle at which the yaw axis is rotated.
The pan/tilt head according to claim 106, wherein when the communication interface receives the limit angle setting instruction sent by the control device, specifically:

Receiving a pitch limit angle setting instruction sent by the control device;

When the processor determines the angle at which the current pan/tilt is rotated by one or more axes as the corresponding limit angle of rotation about one or more axes of rotation, specifically for:

The angle at which the current pan/tilt is rotated with the pitch axis as the axis of rotation is determined as the limit angle at which the pitch axis is rotated.
The pan/tilt head according to any one of claims 105-108, wherein the communication interface is further configured to receive a release limit command sent by the control device;

The processor is further configured to cancel the rotation limit of the gimbal rotating by the one or more axes according to the release limit command.
The pan/tilt head according to any one of claims 105-109, wherein the communication interface is further configured to receive an emergency stop command sent by the control device;

The processor is further configured to control the gimbal emergency stop according to the emergency stop command.
A platform according to any one of claims 105 to 110, wherein said The communication interface is further configured to receive the PTZ configuration parameter sent by the control device.
The pan/tilt head according to claim 111, wherein the pan/tilt configuration parameter comprises one or more of a dead zone value, an angular velocity multiplier, and a smoothness.