WO2020042134A1

WO2020042134A1 - Control method for gimbal, gimbal, and mobile platform

Info

Publication number: WO2020042134A1
Application number: PCT/CN2018/103441
Authority: WO
Inventors: 刘帅
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2018-08-31
Filing date: 2018-08-31
Publication date: 2020-03-05
Also published as: CN110785725A

Abstract

A control method for a gimbal (10), a gimbal (10), and a mobile platform. The control method comprises: (012) detecting the position of the center of gravity of the gimbal (10); (014) if the center of gravity is located at the first side or the second side of a vertical plane where the rotating shaft of the gimbal (10) is located, planning the motion parameter of the gimbal (10) according to the position of the center of gravity, wherein the first side and the second side are opposite two sides; and (016) according to the motion parameter, controlling the gimbal (10) to move towards one side where the center of gravity is located to a static equilibrium position. By means of the control method for the gimbal (10), the gimbal (10), and the mobile platform, the present invention can plan the motion parameter of the gimbal according to the position of the center of gravity of the gimbal (10), and control the gimbal (10) to smoothly move towards one side where the center of gravity is located to the static equilibrium position, thereby avoiding the gimbal from being damaged because the gimbal (10) directly crashes into a limit position due to gravity.

Description

PTZ control method, PTZ and mobile platform

Technical field

The invention relates to the technical field of PTZ control, in particular to a control method of the PTZ, a PTZ and a mobile platform.

Background technique

PTZ is generally used to stabilize the load. The load can be a camera, mobile phone, sensor, etc. Users can carry various loads on the gimbal as needed. However, due to the uncertainty of the load, it is difficult to balance the center of gravity of the gimbal. When the gimbal is powered off or hibernated, because the gimbal's motor stops working, the gimbal will directly hit the limit (the mechanical limit of the rotating structure of the gimbal) due to its own gravity. There is a risk of damage over time. .

Summary of the Invention

Embodiments of the present invention provide a control method for a PTZ, a PTZ and a mobile platform.

The method for controlling a pan / tilt according to an embodiment of the present invention includes: detecting a position of a center of gravity of the pan / tilt; if the position of the center of gravity is located on a first side or a second side of a vertical plane in which a rotation axis of the pan / tilt is located, The position of the center of gravity is to plan motion parameters of the gimbal, and the first side and the second side are opposite sides; and to control the side of the gimbal to the position of the center of gravity position according to the motion parameter. Move to a statically balanced position.

The gimbal according to the embodiment of the present invention includes a processor, the processor is configured to: detect a position of a center of gravity of the gimbal; if the position of the center of gravity is located on a first side or a first side of a vertical plane in which a rotation axis of the gimbal is located; On both sides, the movement parameters of the gimbal are planned according to the position of the center of gravity, and the first side and the second side are opposite sides; and the gimbal is controlled to the center of gravity according to the motion parameters. Position the side to the static equilibrium position.

The mobile platform according to the embodiment of the present invention includes a mobile platform body and the pan / tilt head of the foregoing embodiment, and the pan / tilt head is disposed on the mobile platform body.

The control method of the gimbal, the gimbal and the mobile platform according to the embodiments of the present invention can plan the motion parameters of the gimbal according to the position of the center of gravity of the gimbal to control the gimbal to move gently to the side where the center of gravity position is located to a static equilibrium position. This prevents the head from crashing due to gravity directly hitting the limit.

Additional aspects and advantages of the embodiments of the present invention will be given in part in the following description, part of which will become apparent from the following description, or be learned through practice of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS

The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, wherein:

FIG. 1 is a schematic flowchart of a control method for a pan / tilt according to some embodiments of the present invention; FIG.

2 is a schematic structural diagram of a pan / tilt head according to some embodiments of the present invention;

3 to 6 are schematic diagrams of application scenarios of a control method for a pan / tilt according to some embodiments of the present invention;

7 to 14 are schematic flowcharts of a control method of a pan / tilt head according to some embodiments of the present invention.

detailed description

The embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the drawings. The same or similar reference numerals indicate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present invention, but should not be construed as limiting the present invention.

In the description of the embodiments of the present invention, it should be understood that the orientations or positional relationships indicated by the terms “upper”, “front”, “rear”, “left”, “right”, and “horizontal” are based on the drawings The orientations or positional relationships shown are only for the convenience of describing the embodiments of the present invention and simplify the description, and do not indicate or imply that the device or element referred to must have a specific orientation, structure and operation in a specific orientation, and therefore cannot be understood This is a limitation on the embodiment of the present invention. In the description of the embodiments of the present invention, the meaning of "a plurality" is two or more, unless it is specifically and specifically defined otherwise.

In the description of the embodiments of the present invention, it should be noted that the term “installation” should be understood in a broad sense, unless it is explicitly stated and limited otherwise. For example, it may be a fixed connection, a detachable connection, or an integral unit. Connection; it can be mechanical connection, electrical connection or can communicate with each other; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific situations.

The following disclosure provides many different embodiments or examples for implementing different structures of the embodiments of the present invention. To simplify the disclosure of the embodiments of the present invention, the components and settings of specific examples are described below. Of course, they are merely examples and are not intended to limit the invention.

Referring to FIG. 1 and FIG. 2, a control method of the pan / tilt head 10 according to an embodiment of the present invention includes:

012: detecting the position of the center of gravity of the gimbal 10;

014: If the position of the center of gravity is located on the first side or the second side of the vertical plane where the rotation axis of the gimbal 10 is located, plan the motion parameters of the gimbal 10 according to the position of the center of gravity. The first and second sides are opposite sides. ;with

016: Control the gimbal 10 to move to the side of the center of gravity position to the static equilibrium position according to the motion parameters.

The gimbal 10 according to the embodiment of the present invention includes a processor 11. The control method of the pan / tilt head 10 according to the embodiment of the present invention can be implemented by the pan / tilt head 10 according to the embodiment of the present invention. For example, the processor 11 may be used to execute the methods in 012, 014, and 016. That is to say, the processor 11 can be used to: detect the position of the center of gravity of the gimbal 10; if the position of the center of gravity is located on the first side or the second side of the vertical plane where the rotation axis of the gimbal 10 is located, plan the cloud according to the position of the center of gravity The movement parameters of the platform 10, the first side and the second side are opposite sides; and according to the movement parameters, the head 10 is controlled to move to the side where the center of gravity is located to the static equilibrium position.

Specifically, the head 10 may be a three-axis head, a two-axis head, a single-axis head, or the like. The embodiment of the present invention is described by taking the pan-tilt head 10 as a three-axis pan-tilt head as an example. The pan-tilt head 10 may be configured to rotate about the pitch axis 12, the roll axis 13, and the yaw axis 14. It can be understood that when the gimbal 10 is a two-axis gimbal, the gimbal 10 can be configured to rotate about any two of the pitch axis 12, the roll axis 13, and the yaw axis 14. When the gimbal 10 is a single axis In the case of a pan / tilt head, the pan / tilt head 10 can be configured to rotate around any one of the pitch axis 12, the roll axis 13, and the yaw axis 14. It should be noted that the above-mentioned pitch axis 12, roll axis 13 and yaw axis 14 are relative to the geodetic coordinate system. When the gimbal 10 is flipped, etc., the pitch axis 12, roll axis 13 and yaw The axis 14 may be exchanged, for example, the pitch axis 12 becomes a roll axis 13, the roll axis 13 becomes a yaw axis 14, the yaw axis 14 becomes a roll axis 13, and the like.

The pan-tilt head 10 is described as a three-axis head. The shaft structure 17 in the head 10 may include a first shaft structure, a second shaft structure, and a third shaft structure. The first shaft structure is used to carry the load 16, the first shaft structure is connected to the second shaft structure, and the second shaft structure is connected to the third shaft structure. Then, relative to the rotation axis of the gimbal 10, the position of the center of gravity of the gimbal may include the following: the position of the center of gravity of the first shaft structure and the load 16 relative to the rotation axis of the first shaft structure, the load 16, the first shaft structure, the first The position of the center of gravity of the two-axis structure relative to the rotation axis of the second-axis structure, the position of the center of gravity of the load 16, the first shaft structure, the second-axis structure, and the third-axis structure relative to the rotation shaft of the third-axis structure. Wherein, when the position of the center of gravity is on the vertical plane where the corresponding axis is located, it can be considered that the corresponding structure in the gimbal 10 is in a balanced state, and the corresponding structure will not occur due to gravity when the driving device 18 of the gimbal 10 is unloaded. Tilt to hit the mechanical limit. Conversely, it is considered that the position of the center of gravity of the corresponding structure in the gimbal 10 is located on one of the opposite sides of the vertical plane where the corresponding axis is located. There may be a risk of hitting the mechanical limit. Therefore, when the position of the center of gravity of the corresponding structure in the head 10 is located on one of the opposite sides of the vertical plane where the corresponding axis is located, the head 10 can be controlled so that the head 10 moves to the position of the center of gravity. Move to the static equilibrium position on one side.

It can be understood that when the position of the center of gravity of the pan / tilt head 10 is located on a vertical plane where the corresponding axis is located, it indicates that the pan / tilt head 10 may not directly hit the limit (ie, the mechanical limit of the shaft structure 17 of the head 10). Then at this time, the corresponding control of the PTZ 10 may not be performed, and the current attitude or joint angle of the PTZ 10 may be maintained.

The gimbal 10 includes a gimbal body 15 and one or more loads 16 detachably disposed on the gimbal body 15. The load 16 may be a device for obtaining external information and information, such as a camera, a mobile phone, a camera, a tablet, a sensor, and a wifi module, or may be an object such as a model arbitrarily carried by a user. The user can freely mount the load 16 on the gimbal body 15 as needed. After the user installs the load 16 on the gimbal body 15 or removes the load 16 from the gimbal body 15, the position of the center of gravity of the gimbal 10 may change, such as tilting the center of gravity forward, backward, left, and right. The control method of the gimbal 10 and the gimbal 10 according to the embodiment of the present invention can plan the motion parameters of the gimbal 10 according to the position of the center of gravity of the gimbal 10 to control the gimbal 10 to smoothly move to the side where the center of gravity position is located to static equilibrium Position, thereby avoiding the situation that the gimbal 10 crashes directly due to the effect of gravity.

In FIG. 3, the x-axis direction is consistent with the roll axis 13 direction, the y-axis direction is consistent with the pitch axis 12 direction, and the z-axis direction is consistent with the yaw axis 14 direction. The plane shown in FIG. 3 is a vertical plane in which the pitch axis 12 is located. Specifically, the vertical plane is relative to the horizontal plane. When the yaw axis 14 is perpendicular to the horizontal plane, the vertical plane in which the pitch axis 12 is located is a plane formed by passing over the pitch axis 12 and the yaw axis 14.

Please refer to FIGS. 4 to 6, and take the pitch axis 12 as an example for explanation. The static balance position of the gimbal 10 is that under the condition that the driving device 18 of the gimbal 10 is unloaded, the corresponding axis structure can reach the receiving force in the natural state. The position where the force balances and stops rotating, for example, may include a mechanical limit position corresponding to the pitch axis 12 in the gimbal 10, such as a first side limit position (ie, A1 position), a second side limit position (ie, A2 position) For another example, it may include that the corresponding structure corresponding to the pitch axis 12 in the head 10 moves to a position where the force is balanced due to gravity in a natural state, such as the position A0 in the direction of gravity.

Please refer to FIG. 4, when the joint angle of the rotatable area of the gimbal 10 is less than 360 degrees, for example, the rotatable area in FIG. 4 is 45 degrees (A2 position) to 135 degrees (A1 position) (including 90 degrees to 135 degrees) , And 90 degrees to 45 degrees), that is, the joint angle of the rotatable area is 90 degrees. If the position of the center of gravity of the gimbal 10 is located at M1 (the positive angle with the x axis is 120 degrees), it means that the position of the center of gravity of the gimbal 10 is located at On the first side of the vertical plane where the pitch axis 12 is located, the gimbal 10 moves to the first side to the A1 position; if the position of the center of gravity of the gimbal 10 is at M2 (the positive angle with the x-axis is 60 degrees), it means that the cloud The position of the center of gravity of the platform 10 is located on the second side of the vertical plane where the pitch axis 12 is located, then the head 10 moves to the second side to the A2 position; if the position of the center of gravity of the platform 10 is at M3 (the positive angle with the x-axis is still 60 degrees), indicating that the center of gravity of the gimbal 10 is located on the first side of the vertical plane where the tilt axis 12 is located, then the gimbal 10 moves to the first side to the A0 position; if the center of gravity of the gimbal 10 is located at M4 (and The positive angle of the x-axis is still 120 degrees), indicating that the center of gravity of the gimbal 10 is located on the second side of the vertical plane where the tilt axis 12 is located, and the gimbal 10 moves to the second side to A0 position.

It can be understood that the position where the corresponding structure of the head 10 is balanced due to the effect of gravity in the natural state may not be in the direction of gravity but may reach the static equilibrium in addition to the case of the position A0 described above. For example, as shown in FIG. 4, assuming that the position of the center of gravity of the gimbal 10 is located at M3, the gimbal 10 may also move to the first side to a static equilibrium position between a straight line at the A0 position and a straight line at the M3 position.

Please refer to FIG. 5, when the joint angle of the rotatable area of the head 10 is equal to 360 degrees, for example, the rotatable area in FIG. 5 is -90 degrees (A2 position) to 270 degrees (A1 position) (including 90 degrees to 270) Degrees, and 90 degrees to -90 degrees), if the position of the center of gravity of the gimbal 10 is at M1 (the positive angle with the x axis is 120 degrees), it means that the position of the center of gravity of the gimbal 10 is located in the vertical plane where the pitch axis 12 is located. On the first side, the gimbal 10 can move to the first side to the A0 / A1 / A2 position; if the position of the center of gravity of the gimbal 10 is at M2 (the positive angle with the x axis is 60 degrees), the center of gravity of the gimbal 10 If the position is located on the second side of the vertical plane where the pitch axis 12 is located, the gimbal 10 can move to the second side to the A0 / A1 / A2 position; if the position of the center of gravity of the gimbal 10 is at M3 (positive angle with the x axis) (It is still 60 degrees), indicating that the center of gravity of the gimbal 10 is located on the first side of the vertical plane where the pitch axis 12 is located, then the gimbal 10 moves to the first side to the A0 / A1 / A2 position; if the center of gravity of the gimbal 10 The position is at M4 (the positive angle with the x-axis is still 120 degrees), indicating that the center of gravity of the gimbal 10 is located on the second side of the vertical plane where the pitch axis 12 is located, then the gimbal 10 moves to the second side to A0 / A1 / A2 . In this embodiment, the first side limit position, the second side limit position, and the center of gravity balance position substantially coincide.

Please refer to FIG. 6, when the joint angle of the pivotable area of the head 10 is greater than 360 degrees, for example, the pivotable area in FIG. 6 is -315 degrees (A2 position) to 495 degrees (A1 position) (including 90 degrees to 495) Degrees, and 90 degrees to -315 degrees), that is, the joint angle of the rotatable area is 810 degrees. If the position of the center of gravity of the gimbal 10 is located at M1 (the positive angle with the x-axis is 120 degrees), the center of gravity of the gimbal 10 The position is located on the first side of the vertical plane where the tilt axis 12 is located. Further, if the head 10 is rotated from 90 degrees to 120 degrees before reaching the current position, the head 10 can move 150 degrees to the first side to the A0 position. If the gimbal 10 is rotated from 90 degrees to 480 degrees before reaching the current position, the gimbal 10 can move 15 degrees to the first side to the A1 position; if the center of gravity position of the gimbal 10 is located at M2 (positive clamping with the x axis) The angle is 60 degrees), indicating that the position of the center of gravity of the gimbal 10 is located on the second side of the vertical plane where the tilt axis 12 is located. Further, if the gimbal 10 is rotated from 90 degrees to 60 degrees before reaching the current position, the gimbal 10 can move to the second side by 150 degrees to the A0 position. If the gimbal 10 is rotated from 90 degrees to -300 degrees to reach the current position, the gimbal 10 can be moved to the first position. The two sides move 15 degrees to the A2 position; if the position of the center of gravity of the gimbal 10 is located at M3 (the positive angle with the x-axis is still 60 degrees), it means that the position of the center of gravity of the gimbal 10 is located at the first of the vertical plane where the pitch axis 12 is located. One side, further, if the gimbal 10 is rotated from 90 degrees to 60 degrees before reaching the current position, the gimbal 10 can be moved to the first side by 30 degrees to the A0 position. If the gimbal 10 is rotated from 90 degrees to- After reaching the current position at 300 degrees, the gimbal 10 can move 30 degrees to the A0 position to the first side; if the position of the center of gravity of the gimbal 10 is at M4 (the positive angle with the x axis is still 120 degrees), it means that the gimbal 10 The center of gravity position is located on the second side of the vertical plane where the pitch axis 12 is located. Further, if the head 10 is rotated from 90 degrees to 120 degrees before reaching the current position, the head 10 moves to the second side by 30 degrees to A0 Position, if the head 10 is rotated from 90 degrees to 480 degrees before reaching the current position, the head 10 moves to the second side by 30 degrees to the A0 position.

It can be understood that for the case where the joint angle of the pan / tilt head 10's rotatable area is greater than or equal to 360 degrees, the pan / tilt head 10 is also controlled accordingly to make it reach the static equilibrium position smoothly, which can prevent the weight of the load 16 from being excessive. When the driving device 18 is unloaded, the corresponding structure in the head 10 collides with the corresponding mechanical limit due to the inertia effect of gravity. For example, when the mechanical limit position corresponding to the corresponding structure in the gimbal 10 is close to the position where the force is balanced due to the action of gravity in the natural state, when the driving device 18 is unloaded, it is likely to hit Corresponding mechanical limit, but by controlling the pan / tilt head 10 to slowly reach the position where the force is balanced in the natural state, the corresponding structure in the pan / tilt head 10 can be prevented from being damaged due to hitting the corresponding mechanical limit.

Please refer to FIG. 2 and FIG. 7. In some embodiments, the step (ie, 012) of detecting the position of the center of gravity of the gimbal 10 includes:

0121: When the preset instruction is received, the position of the center of gravity of the PTZ 10 is detected.

In some embodiments, the processor 11 may be used to perform the method in 0121. That is, the processor 11 may be configured to detect the position of the center of gravity of the PTZ 10 when receiving a preset instruction.

Specifically, the preset instruction may include a power-down instruction or a sleep instruction for the PTZ 10; or, the preset instruction includes a power-down instruction or a sleep instruction for the drive device 18 of the corresponding shaft structure 17 in the PTZ 10.

It can be understood that the preset instruction may also be other instructions input by the user. For example, when the user has powered on the PTZ 10, the user changes the load 16 on the PTZ 10, which may cause the position of the center of gravity of the PTZ 10 to change. Inputting a corresponding instruction indicates that the position of the center of gravity of the pan / tilt head 10 needs to be re-detected to better implement attitude control of the pan / tilt head 10.

Referring to FIG. 2, the shaft structure 17 of the gimbal 10 may include a pitch frame 171, a roll frame 172, and a yaw frame 173. That is, the aforementioned first axis structure is the pitch frame 171, the second axis structure is the roll frame 172, and the second axis structure is the yaw frame 173. The driving device 18 of the shaft structure 17 may be a motor. In other embodiments, the driving device 18 may be a gear, a screw, or the like. When the shaft structure 17 includes a pitch frame 171, a roll frame 172, and a yaw frame 173, the driving device 18 may include a pitch motor 181, a roll motor 182, and a yaw motor 183. The pitch motor 181 is used to drive the pitch frame 171 to rotate to control the pitch frame 171 and the load 16 to move around the pitch axis 12, and the roll motor 182 is used to drive the roll frame 172 to rotate to control the roll frame 172, the pitch frame 171, and the load 16 around The roll axis 13 moves, and the yaw motor 183 is used to drive the yaw frame 173, the roll frame 172, the pitch frame 171, and the load 16 to move around the yaw axis 14. The shaft structure 17 is generally provided with a mechanical limit. When the shaft structure 17 hits the mechanical limit, it cannot move in the original direction. In the embodiment of the present invention, only the tilting frame 171 may be provided with a mechanical limit; or only the roll frame 172 may be provided with a mechanical limit; or both the pitch frame 171 and the roll frame 172 may be provided with a mechanical limit. Of course, in other embodiments, the yaw frame 173 may also be provided with a mechanical limit as required. Since the yaw frame 173 is not likely to hit the mechanical limit due to gravity relative to the geodetic coordinate system, in the embodiment of the present invention, the mechanical limit is provided by the pitch frame 171 and / or the roll frame 172. As an example, the control situation of the pan / tilt head 10 will be described.

The power-down instruction or the sleep instruction for the PTZ 10 can be used to instruct the PTZ 10 to enter the power-off state or the hibernation state, that is, to instruct the pitch motor 181, the yaw motor 183, and the roll motor 182 to stop working. At this time, if the pitch motor 181, yaw motor 183, and roll motor 182 stop working, the gimbal 10 will directly hit the mechanical limit of the pitch axis 12 and / or the mechanical of the roll axis 13 under the effect of its own gravity. Limit. Therefore, the processor 11 detects the position of the center of gravity of the PTZ 10 when receiving a power-down instruction or a sleep instruction for the PTZ 10, thereby planning the motion parameters of the PTZ 10 according to the position of the center of gravity of the PTZ 10 to control the movement of the PTZ 10 to The static balance position prevents the pan / tilt head 10 from crashing due to the direct impact of gravity.

A power-off instruction or a sleep instruction for the driving device 18 of the corresponding shaft structure 17 in the gimbal 10 may be used to instruct the driving device 18 of the corresponding shaft structure 17 to enter a power-off state or a sleep state. For example, a power-down instruction or a sleep instruction for the driving device 18 of the tilt frame 171 in the gimbal 10 is used to instruct the driving device 18 of the tilt frame 171, that is, the pitch motor 181 enters a power-off state or a sleep state; The power-off instruction or the sleep instruction of the driving device 18 of the roll frame 172 is used to instruct the driving device 18 of the roll frame 172, that is, the roll motor 182 enters a power-off state or a sleep state; for the pitch frame 171 and roll in the gimbal 10 The power-off instruction or the sleep instruction of the driving device 18 of the frame 172 is used to instruct the driving devices 18 of the pitch frame 171 and the roll frame 172, that is, the pitch motor 181 and the roll motor 182 both enter a power-off state or a sleep state. Since the embodiment of the present invention takes as an example the mechanical limit of the pitch frame 171 and / or the roll frame 172, the power-off or sleep command for the drive device 18 of the corresponding axis structure 17 in the gimbal 10 may not be directed to the cloud. A power-off instruction or a sleep instruction of the driving device 18 of the yaw frame 173 in the stage 10 is taken into consideration. When receiving a power-off or sleep command for the driving device 18 of the corresponding shaft structure 17 in the gimbal 10, if the driving device 18 of the corresponding shaft structure 17 stops working, the gimbal 10 will directly impact under its own gravity. To the mechanical limit of the pitch axis 12 and / or the mechanical limit of the roll axis 13. Therefore, the processor 11 detects the position of the center of gravity of the PTZ 10 when receiving a power-off instruction or a sleep command for the drive device 18 of the corresponding axis structure 17 in the PTZ 10, thereby planning the position of the PTZ 10 according to the position of the center of gravity of the PTZ 10 The movement parameters are used to control the movement of the PTZ 10 to the static equilibrium position, so as to avoid the situation that the PTZ 10 directly hits the limit due to gravity and crashes.

Please refer to FIG. 2 and FIG. 8. In some embodiments, after the step (ie, 016) of controlling the PTZ 10 to move to the static equilibrium position according to the motion parameter, the method further includes:

018: execute the power-off or hibernation command for the PTZ 10; or

020: Execute a power-off instruction or a sleep instruction for the drive device 18 of the corresponding shaft structure 17 in the gimbal 10.

In some embodiments, the processor 11 may be used to perform the methods in 018 and 020. That is to say, the processor 11 may be configured to: execute a power-down instruction or a sleep instruction for the PTZ 10; or execute a power-down instruction or a sleep instruction for the drive device 18 of the corresponding shaft structure 17 in the PTZ 10.

Specifically, the power-off instruction or the sleep instruction for the PTZ 10 is executed, that is, the PTZ 10 stops working as a whole; the power-down instruction or the sleep instruction for the drive device 18 of the corresponding axis structure in the PTZ 10 is executed, that is, the PTZ 10 The corresponding axis structure stops working. In this way, after avoiding the PTZ 10 hitting the limit, it is possible to actively respond to the power-down or sleep command for the PTZ 10 or the power-down or sleep command for the drive device 18 of the corresponding shaft structure 17 in the PTZ 10 to Reduce power consumption of the PTZ 10.

In one embodiment, when the processor 11 receives a power-down instruction or a sleep instruction for the PTZ 10 (or a power-down instruction or a sleep instruction for the drive device 18 of the corresponding shaft structure 17 in the PTZ 10), it first detects Position of the center of gravity of the gimbal 10, then plan the motion parameters of the gimbal 10 according to the position of the center of gravity, and then control the gimbal 10 to move to the side of the center of gravity position to a static equilibrium position according to the motion parameters, and finally power off the gimbal 10 Instruction or sleep instruction (or execute a power-down instruction or sleep instruction for the drive device 18 of the corresponding shaft structure 17 in the gimbal 10).

In another embodiment, the processor 11 detects the position of the center of gravity of the gimbal 10 when receiving other instructions input by the user (refer to the previous description), and then plans the motion parameters of the gimbal 10 according to the position of the center of gravity, and then controls according to the motion parameters. The gimbal 10 moves to the side where the center of gravity is located to the static equilibrium position, and finally executes the power-off or hibernation command for the gimbal 10 (or the power-off command for the drive device 18 of the corresponding shaft structure 17 in the gimbal 10 Or sleep instructions).

Please refer to FIG. 2 and FIG. 9. In some embodiments, the step (ie, 012) of detecting the position of the center of gravity of the gimbal 10 includes:

0122: when the error between the actual attitude and the expected attitude of the gimbal 10 is within a predetermined range, obtain the output torque of the driving device 18 for driving the gimbal 10 within a predetermined time period; and

0123: The position of the center of gravity of the gimbal 10 is detected based on the output torque.

In some embodiments, the processor 11 may be used to perform the methods in 0122 and 0123. That is to say, the processor 11 may be configured to: when the error between the actual attitude and the expected attitude of the gimbal 10 is within a predetermined range, obtain the output of the driving device 18 for driving the gimbal 10 within a predetermined period of time Torque; and detecting the position of the center of gravity of the gimbal 10 based on the output torque.

Specifically, when the gimbal 10 is powered on, the gimbal 10 may have an expected posture, which is a posture that the gimbal 10 is expected to arrive. The attitude of the gimbal 10 may include a pitch attitude corresponding to the pitch axis 12, a roll attitude corresponding to the roll axis 13, and a yaw attitude corresponding to the yaw axis 14. The error between the actual attitude of the gimbal 10 and the expected attitude may be The error between the actual attitude and the expected attitude of the corresponding axis in the gimbal 10. Taking the pitch axis 12 as an example, assuming that the expected attitude corresponding to the pitch axis 12 is currently in a horizontal direction (such as a north-south direction), the processor 11 determines whether the angle difference between the actual attitude corresponding to the pitch axis 12 and the horizontal direction is within a predetermined range. If yes, the processor 11 obtains the output torque of the pitch motor 181 within a predetermined period of time. Among them, the error between the actual attitude of the PTZ 10 and the expected attitude is within a predetermined range, which means that when the PTZ 10 is not powered off or sleeping, it will still tend to approach the expected attitude, that is, the actual attitude of the PTZ 10 and expected The attitude error is basically small, and the PTZ 10 is currently in a steady state. At this time, the detection of the position of the center of gravity of the PTZ 10 is more statistically significant; and if the error between the actual attitude of the PTZ 10 and the expected attitude is within a predetermined range In addition, it means that the user may disturb the PTZ 10, so that the error between the actual attitude of the PTZ 10 and the expected attitude is too large. At this time, the detection of the position of the center of gravity of the PTZ 10 may be inaccurate. Therefore, when the error between the actual attitude and the expected attitude of the gimbal 10 is within a predetermined range, the position of the center of gravity of the gimbal 10 can be detected by counting the output torque.

Taking the roll axis 13 as an example, assuming that the expected posture of the roll axis 13 is currently in a horizontal direction (e.g., east-west direction), the processor 11 determines whether the angle difference between the actual posture of the roll axis 13 and the horizontal direction is within a predetermined range. If yes, the processor 11 obtains the output torque of the roll motor 182 within a predetermined period of time. Since the embodiment of the present invention takes the pitch frame 171 and / or the roll frame 172 as an example of a mechanical limit, the processor 11 does not need to judge that the error between the actual attitude and the expected attitude of the yaw axis 14 is within a predetermined range.

After acquiring the output torque of the driving device 18 within a predetermined period of time, the processor 11 may further detect the position of the center of gravity of the gimbal 10 according to the output torque. For example, the position of the center of gravity of the pitch frame 171 and the load 16 relative to the pitch axis 12 is determined based on the output torque of the pitch motor 181 within a predetermined period of time; or the roll frame 172 is determined based on the output torque of the roll motor 182 within a predetermined period of time The position of the center of gravity of the pitch frame 171 and the load 16 with respect to the roll axis 13.

Referring to FIG. 2 and FIG. 10, in some embodiments, the step (ie, 0123) of detecting the position of the center of gravity of the gimbal 10 according to the output torque includes:

01231: Calculate the average and variance of the output torque within a predetermined time period;

01232: When the average value is greater than a preset value and the variance is less than a predetermined value, determine that the position of the center of gravity of the head 10 is located on the first side of the vertical plane in which the rotation axis of the head 10 is located; and

01233: When the average value is less than a preset value and the variance is less than a predetermined value, it is determined that the position of the center of gravity of the gimbal 10 is located on the second side of the vertical plane where the rotation axis of the gimbal 10 is located.

In some embodiments, the processor 11 may be used to perform the methods in 01231, 01232, and 01233. That is to say, the processor 11 may be used to: calculate the average value and variance of the output torque within a predetermined time period; when the average value is greater than a preset value and the variance is less than a predetermined value, determine that the position of the center of gravity of the gimbal 10 is located at the gimbal 10 The first side of the vertical plane on which the rotation axis of the camera is located; and when the average value is less than a preset value and the variance is less than a predetermined value, it is determined that the position of the center of gravity of the gimbal 10 is located on the second plane of the vertical plane on which the rotation axis of the gimbal 10 is located side.

Specifically, taking the pitch axis 12 as an example, after the processor 11 obtains the output torque of the pitch motor 181 within a predetermined period of time, it calculates the average value and variance of the output torque of the pitch motor 181 within a predetermined period of time. When the value and the variance are less than the predetermined value, the processor 11 determines that the position of the center of gravity of the pitch frame 171 and the load 16 (that is, the position of the center of gravity of the pitch frame 171 and the load 16) is located on the first side of the vertical plane in which the pitch axis 12 is located, that is, the pitch The center of gravity of the frame 171 and the load 16 is tilted to the left in FIG. 2 (or to the left of the z-axis in FIG. 3); when the average value is less than a preset value and the variance is less than a predetermined value, the processor 11 determines the center of gravity of the tilting frame 171 and the load 16 The position is located on the second side of the vertical plane where the pitch axis 12 is located, that is, the center of gravity of the pitch frame 171 and the load 16 is tilted to the right in FIG. 2 (or to the right of the z-axis in FIG. 3).

Taking the roll axis 13 as an example, after the processor 11 obtains the output torque of the roll motor 182 within a predetermined period of time, it calculates the average and variance of the output torque of the roll motor 182 within a predetermined period of time. When the value and the variance are smaller than the predetermined value, the processor 11 determines that the position of the center of gravity of the roll frame 172, the pitch frame 171, and the load 16 (that is, the position of the center of gravity of the roll frame 172, the pitch frame 171, and the load 16) is located at the roll axis 13. The first side of the vertical plane, that is, the center of gravity of the roll frame 172, the pitch frame 171, and the load 16 is tilted forward in FIG. 2; when the average value is less than a preset value and the variance is less than a predetermined value, the processor 11 determines the roll The positions of the center of gravity of the frame 172, the pitch frame 171, and the load 16 are located on the second side of the vertical plane on which the roll axis 13 is located, that is, the centers of gravity of the roll frame 172, the pitch frame 171, and the load 16 are tilted backward in FIG.

It can be understood that the relationship between the magnitude of the average value of the output torque and the position of the center of gravity of the gimbal 10 can be set in addition to the above relationship. For example, the cloud can be determined when the average value is greater than a preset value and the variance is less than a predetermined value. The position of the center of gravity of the platform 10 is located on the second side of the vertical plane where the rotation axis of the head 10 is located, and when the average value is less than a preset value and the variance is less than a predetermined value, it is determined that the position of the center of gravity of the platform 10 is located in the rotation of the head 10 The first side of the vertical plane in which the shaft is located. Specifically, it can be set according to needs. The magnitude of the average value of the output torque and the position of the center of gravity of the gimbal 10 are a mapping relationship. The position of the center of gravity of the gimbal 10 can be determined according to the average value of the output torque. The description will not be repeated later.

It can be understood that the variance may reflect the fluctuation of the output torque of the driving device 18 within a predetermined period of time. When the value of the variance is larger, the fluctuation of the output torque in a predetermined period of time is larger, and the credibility of the average value of the output torque in the predetermined period of time is lower; when the value of the variance is smaller, the output torque is predetermined in the predetermined period of time. The smaller the fluctuation, the higher the credibility of the average value of the output torque in the predetermined time period. Therefore, in the embodiment of the present invention, when the variance of the processor 11 is less than a predetermined value, the position of the center of gravity of the PTZ 10 is determined according to the average value, which is more accurate and reliable. In addition, since the processor 11 simultaneously calculates the average value and the variance of the output torque within a predetermined time period, the position of the center of gravity of the pan / tilt head 10 can be determined relatively quickly.

01234: Calculate the variance of the output torque within a predetermined time period;

01235: When the variance is less than a predetermined value, the average value of the output torque within a predetermined period of time is counted;

01236: when the average value is greater than a preset value, determine that the position of the center of gravity of the gimbal 10 is located on the first side of the vertical plane in which the rotation axis of the gimbal 10 is located; and

01237: When the average value is less than the preset value, it is determined that the position of the center of gravity of the gimbal 10 is located on the second side of the vertical plane where the rotation axis of the gimbal 10 is located.

In some embodiments, the processor 11 may be used to execute the methods of 01234, 01235, 01236, and 01237. That is to say, the processor 11 may be used to: calculate the variance of the output torque within a predetermined time period; when the variance is less than a predetermined value, calculate the average value of the output torque within a predetermined time period; when the average value is greater than a preset value, determine The position of the center of gravity of the head 10 is located on the first side of the vertical plane in which the rotation axis of the head 10 is located; and when the average value is less than a preset value, it is determined that the position of the center of gravity of the head 10 is located in the vertical position where the rotation axis of the head 10 is located. The second side of the straight plane.

Specifically, taking the pitch axis 12 as an example, after the processor 11 obtains the output torque of the pitch motor 181 in a predetermined period of time, first calculates the variance of the output torque of the pitch motor 181 in the predetermined period of time, and when the variance is less than the predetermined value, then The average value of the output torque of the pitch motor 181 during the predetermined time period is further calculated. When the average value is greater than a preset value, the processor 11 determines that the positions of the centers of gravity of the pitch frame 171 and the load 16 are located in the first plane of the vertical plane where the pitch axis 12 is located. One side, that is, the center of gravity of the pitch frame 171 and the load 16 is tilted to the left in FIG. 2; when the average value is less than a preset value, the processor 11 determines that the positions of the center of gravity of the pitch frame 171 and the load 16 are located in the vertical plane where the pitch axis 12 is located. The second side, that is, the center of gravity of the pitch frame 171 and the load 16 is tilted right in FIG. 2.

Taking the rolling axis 13 as an example again, after the processor 11 obtains the output torque of the rolling motor 182 in a predetermined period of time, it first calculates the variance of the output torque of the rolling motor 182 in the predetermined period of time. When the variance is less than a predetermined value, Furthermore, the average value of the output torque of the roll motor 182 during the predetermined time period is further calculated. When the average value is greater than a preset value, the processor 11 determines that the positions of the center of gravity of the roll frame 172, the pitch frame 171, and the load 16 are located on the roll axis. The first side of the vertical plane where 13 is located, that is, the center of gravity of the roll frame 172, the pitch frame 171, and the load 16 is tilted forward in FIG. 2; when the average value is less than a preset value, the processor 11 determines the roll frame 172, The positions of the center of gravity of the pitch frame 171 and the load 16 are located on the second side of the vertical plane where the roll axis 13 is located, that is, the centers of gravity of the roll frame 172, the pitch frame 171, and the load 16 are tilted backward in FIG. 2.

It can be understood that the variance may reflect the fluctuation of the output torque of the driving device 18 within a predetermined period of time. When the value of the variance is larger, the fluctuation of the output torque in a predetermined period of time is larger, and the credibility of the average value of the output torque in the predetermined period of time is lower; when the value of the variance is smaller, the output torque is predetermined in the predetermined period of time. The smaller the fluctuation, the higher the credibility of the average value of the output torque in the predetermined time period. Therefore, in the embodiment of the present invention, when the variance of the processor 11 is less than a predetermined value, the position of the center of gravity of the PTZ 10 is determined according to the average value, which is more accurate and reliable. In addition, because the processor 11 only counts the average value of the output torque in a predetermined time period when the variance is less than a predetermined value, it can avoid counting the average value of the output torque in a predetermined time period when the variance is greater than or equal to the predetermined value, which is unnecessary. The amount of data processed.

01238: Calculate the average value of output torque within a predetermined period of time;

01239: when the average value is greater than the preset value, determine that the position of the center of gravity of the gimbal 10 is located on the first side of the vertical plane in which the rotation axis of the gimbal 10 is located; and

01240: When the average value is less than the preset value, it is determined that the position of the center of gravity of the gimbal 10 is located on the second side of the vertical plane where the rotation axis of the gimbal 10 is located.

In some embodiments, the processor 11 may be used to perform the methods in 01238, 01239, and 01240. That is to say, the processor 11 can be used to: calculate the average value of the output torque within a predetermined period of time; when the average value is greater than a preset value, determine that the position of the center of gravity of the gimbal 10 is located in the vertical position of the rotation axis of the gimbal 10 The first side of the plane; and when the average value is less than the preset value, it is determined that the position of the center of gravity of the head 10 is located on the second side of the vertical plane in which the rotation axis of the head 10 is located.

Specifically, taking the pitch axis 12 as an example, after the processor 11 obtains the output torque of the pitch motor 181 in a predetermined period of time, it calculates an average value of the output torque of the pitch motor 181 in a predetermined period of time, and when the average value is greater than a preset value The processor 11 determines that the positions of the centers of gravity of the pitch frame 171 and the load 16 are located on the first side of the vertical plane in which the pitch axis 12 is located, that is, the centers of gravity of the pitch frame 171 and the load 16 are tilted to the left in FIG. 2; when the average value is less than a preset value At this time, the processor 11 determines that the positions of the centers of gravity of the pitch frame 171 and the load 16 are located on the second side of the vertical plane where the pitch axis 12 is located, that is, the centers of gravity of the pitch frame 171 and the load 16 are tilted to the right in FIG. 2.

Taking the roll axis 13 as an example again, after the processor 11 obtains the output torque of the roll motor 182 within a predetermined period of time, it calculates the average value of the output torque of the roll motor 182 within a predetermined period of time, and when the average value is greater than a preset value At this time, the processor 11 determines that the positions of the centers of gravity of the roll frame 172, the pitch frame 171, and the load 16 are located on the first side of the vertical plane in which the roll axis 13 is located, that is, the centers of gravity of the roll frame 172, the pitch frame 171, and the load 16 are at When the average value is less than the preset value, the processor 11 determines that the positions of the center of gravity of the roll frame 172, the pitch frame 171, and the load 16 are located on the second side of the vertical plane where the roll axis 13 is located, that is, the horizontal The center of gravity of the roll frame 172, the pitch frame 171, and the load 16 is tilted backward in FIG.

In some embodiments, the preset value may be zero. It can be understood that, in general, when the position of the center of gravity of the gimbal 10 is located in a vertical plane on which the rotation axis of the gimbal 10 is located, that is, when no forward tilt, backward tilt, left tilt, or backward tilt occurs, the output torque of the driving device 18 is zero. Or close to zero. Therefore, in the embodiment of the present invention, the processor 11 may take an average value according to the output torque of the driving device 18 within a predetermined period of time. If the average value is zero, it indicates that the position of the center of gravity of the corresponding structure in the gimbal 10 is located at the gimbal 10 If the average value of the vertical axis on which the rotation axis is located is greater than or less than zero, it indicates that the position of the center of gravity of the corresponding structure in the head 10 is located on the first side or the second side of the vertical plane on which the rotation axis of the head 10 is located.

Please refer to FIG. 2 and FIG. 11. In some embodiments, the position of the center of gravity of the head 10 includes the position of the center of gravity of the first structure 17 a in the head 10 relative to the pitch axis 12. The steps of planning the motion parameters of the gimbal 10 according to the position of the center of gravity include:

0141: Plan the movement parameters of the first structure 17a around the pitch axis 12 according to the position of the center of gravity of the first structure 17a relative to the pitch axis 12 in the gimbal 10;

The step (i.e., 016) of controlling the PTZ 10 to move to the static equilibrium position according to the motion parameter, including:

0161: Controlling the first structure 17a to move to the side of the center of gravity position of the first structure 17a to the static equilibrium position according to the motion parameters of the first structure 17a around the pitch axis 12.

In some embodiments, the position of the center of gravity of the head 10 includes the position of the center of gravity of the first structure 17 a in the head 10 relative to the pitch axis 12. The processor 11 may be used to execute the methods in 0141 and 0161. That is to say, the processor 11 may be used to: plan the movement parameters of the first structure 17a around the pitch axis 12 according to the position of the center of gravity of the first structure 17a relative to the pitch axis 12 in the gimbal 10; The motion parameter of the pitch axis 12 controls the first structure 17a to move to the side where the center of gravity position of the first structure 17a is located to the static equilibrium position.

Specifically, the first structure 17 a may include the above-mentioned pitch frame 171 and the load 16. When the positions of the center of gravity of the pitch frame 171 and the load 16 are located on the first side of the vertical plane where the pitch axis 12 is located, the processor 11 plans the motion parameters of the pitch frame 171 and the load 16 around the pitch axis 12 to control the pitch frame according to the position of the center of gravity. 171 and load 16 move to the first side to the static equilibrium position; when the center of gravity of the pitch frame 171 and the load 16 is on the second side of the vertical plane where the pitch axis 12 is located, the processor 11 plans the pitch frame according to the position of the center of gravity The motion parameters of 171 and load 16 around the pitch axis 12 are used to control the pitch frame 171 and load 16 to move to the second side to the static equilibrium position.

Referring to FIGS. 2 and 11, in some embodiments, the position of the center of gravity of the head 10 includes the position of the center of gravity of the second structure 17 b in the head 10 relative to the roll axis 13. The steps of planning the motion parameters of the gimbal 10 according to the position of the center of gravity include:

0142: Plan the movement parameters of the second structure 17b around the roll axis 13 according to the position of the center of gravity of the second structure 17b relative to the roll axis 13 in the head 10;

0162: Controlling the second structure 17b to move to the side of the center of gravity position of the second structure 17b to the static equilibrium position according to the motion parameters of the second structure 17b around the roll axis 13.

In some embodiments, the position of the center of gravity of the head 10 includes the position of the center of gravity of the second structure 17 b in the head 10 relative to the roll axis 13. The processor 11 may be used to execute the methods in 0142 and 0162. That is to say, the processor 11 may be used to: plan the movement parameters of the second structure 17b around the roll axis 13 according to the position of the center of gravity of the second structure 17b relative to the roll axis 13 in the head 10; and according to the second structure The movement parameter of 17b around the roll axis 13 controls the second structure 17b to move to the side where the center of gravity position of the second structure 17b is located to the static equilibrium position.

Specifically, the second structure 17 b may include the roll frame 172, the pitch frame 171, and the load 16 described above. When the positions of the center of gravity of the roll frame 172, the pitch frame 171, and the load 16 are located on the first side of the vertical plane where the roll axis 13 is located, the processor 11 plans the roll frame 172, the pitch frame 171, and the load 16 according to the position of the center of gravity. The movement parameters around the roll axis 13 are used to control the roll frame 172, the pitch frame 171, and the load 16 to move toward the first side to a static equilibrium position; when the position of the center of gravity of the roll frame 172, the pitch frame 171, and the load 16 is located in the roll When the second side of the vertical plane where the axis 13 is located, the processor 11 plans the movement parameters of the roll frame 172, the pitch frame 171, and the load 16 around the roll axis 13 to control the roll frame 172 and the pitch frame 171 according to the position of the center of gravity. The load 16 moves to the second side to the static equilibrium position.

Please refer to FIG. 2 and FIG. 11. In some embodiments, the position of the center of gravity of the head 10 includes the position of the center of gravity of the first structure 17 a in the head 10 relative to the pitch axis 12 and the position of the second structure 17 b in the head 10. At the center of gravity of the roll axis 13. The steps of planning the motion parameters of the gimbal 10 according to the position of the center of gravity include:

0143: Plan the movement parameters of the first structure 17a around the pitch axis 12 according to the position of the center of gravity of the first structure 17a relative to the pitch axis 12 in the gimbal 10, and relative to the roll axis 13 according to the second structure 17b in the gimbal 10 Planning the motion parameters of the second structure 17b around the roll axis 13 based on the position of the center of gravity;

0163: The first structure 17a is controlled to move to the static equilibrium position to the side where the center of gravity of the first structure 17a is located according to the movement parameters of the first structure 17a around the pitch axis 12. The motion parameter controls the second structure 17b to move to the side where the center of gravity position of the second structure 17b is located to the static equilibrium position.

In some embodiments, the position of the center of gravity of the head 10 includes the position of the center of gravity of the first structure 17 a in the head 10 relative to the pitch axis 12 and the position of the center of gravity of the second structure 17 b in the head 10 relative to the roll axis 13 . The processor 11 may be used to execute the methods in 0143 and 0163. That is to say, the processor 11 may be configured to plan the movement parameters of the first structure 17a around the pitch axis 12 according to the position of the center of gravity of the first structure 17a relative to the pitch axis 12 in the gimbal 10, and The position of the center of gravity of the second structure 17b relative to the roll axis 13 plans the movement parameters of the second structure 17b around the roll axis 13; and controls the first structure 17a to the first structure 17a according to the movement parameters of the first structure 17a around the pitch axis 12. The side where the center of gravity is located moves to the static equilibrium position, and the second structure 17b is controlled to move to the side where the center of gravity of the second structure 17b is located to static equilibrium according to the movement parameters of the second structure 17b around the roll axis 13 position.

Specifically, the above explanations of 0141 and 0142 also apply to the embodiments of the present invention. It should be noted that the processor 11 plans the movement parameters of the first structure 17a around the pitch axis 12 according to the position of the center of gravity of the first structure 17a relative to the pitch axis 12 in the gimbal 10, as opposed to according to the second structure 17b in the gimbal 10 The process of planning the movement parameters of the second structure 17b around the roll axis 13 based on the position of the center of gravity of the roll axis 13 is independent and does not affect each other. The processor 11 controls the first structure 17a to move to the static balance position on the side of the center of gravity position of the first structure 17a according to the motion parameter of the first structure 17a around the pitch axis 12, and around the roll axis 13 according to the second structure 17b The process of controlling the movement of the second structure 17b to the side of the center of gravity position of the second structure 17b to the static equilibrium position is also independent of each other and does not affect each other. The processor 11 may plan the movement parameters of the first structure 17a about the pitch axis 12 according to the position of the center of gravity of the first structure 17a relative to the pitch axis 12 in the gimbal 10, and control the first structure 17a according to the movement parameters of the first structure 17a about the pitch axis 12. A structure 17a is moved to the side where the center of gravity of the first structure 17a is located to the static equilibrium position, and the second structure 17b is planned to be horizontally orientated according to the position of the center of gravity of the second structure 17b relative to the roll axis 13 in the head 10 The movement parameters of the roller 13 are controlled according to the movement parameters of the second structure 17b around the roll axis 13 to move the second structure 17b to the side where the center of gravity of the second structure 17b is located to the static equilibrium position. Or, under the premise of time, that is, to ensure that neither the pitch frame 171 nor the roll frame 172 will hit the mechanical limit, the processor 11 first relative to the pitch axis according to the first structure 17a in the gimbal 10 The position of the center of gravity of 12 is planned for the movement parameters of the first structure 17a around the pitch axis 12, and the first structure 17a is controlled to move to the side where the position of the center of gravity of the first structure 17a is located according to the movement parameters of the first structure 17a around the pitch axis 12. Balance position, and then plan the movement parameters of the second structure 17b around the roll axis 13 according to the position of the center of gravity of the second structure 17b relative to the roll axis 13 in the head 10, and according to the movement parameters of the second structure 17b around the roll axis 13 Control the second structure 17b to move to the static equilibrium position to the side where the center of gravity of the second structure 17b is located; or, first plan the second structure according to the position of the center of gravity of the second structure 17b relative to the roll axis 13 in the gimbal 10 The movement parameters of 17b around the roll axis 13 are controlled according to the movement parameters of the second structure 17b around the roll axis 13 to control the second structure 17b to move to the side of the center of gravity position of the second structure 17b to the static equilibrium position, and then according to the cloud No. 1 in Taiwan The position of the center of gravity of the structure 17a relative to the pitch axis 12 is to plan the movement parameters of the first structure 17a around the pitch axis 12, and the position of the center of gravity of the first structure 17a to the first structure 17a is controlled according to the movement parameters of the first structure 17a around the pitch axis 12. Move to the static equilibrium position on one side.

Please refer to FIG. 2 and FIG. 12. In some embodiments, the working modes of the gimbal 10 include an attitude closed-loop mode and a joint angle closed-loop mode. Control methods also include:

022: Obtain the current working mode of the PTZ 10;

024: The current working mode of the control gimbal 10 is a joint angle closed loop mode;

The steps of planning the motion parameters of the gimbal 10 according to the position of the center of gravity include:

0144: Determine the target joint angle of the gimbal 10 to the static equilibrium position in the joint angle closed-loop mode;

0145: Plan the motion parameters of the gimbal 10 according to the current joint angle and the target joint angle of the gimbal 10;

0164: Control the gimbal 10 to the target joint angle to the side where the center of gravity is located according to the motion parameters.

In some embodiments, the working modes of the pan / tilt head 10 include an attitude closed-loop mode and a joint angle closed-loop mode. The processor 11 may be used to execute the methods in 022, 024, 0144, 0145, and 0164. That is to say, the processor 11 can be used to: obtain the current working mode of the gimbal 10; control the current working mode of the gimbal 10 to be a joint angle closed-loop mode; in the joint angle closed-loop mode, determine that the gimbal 10 reaches static equilibrium Position the target joint angle; plan the motion parameters of the gimbal 10 according to the current joint angle and the target joint angle of the gimbal 10; and control the gimbal 10 to move to the target joint angle to the side where the center of gravity is located according to the motion parameters.

Specifically, when the current working mode of the PTZ 10 is the attitude closed-loop mode, the process of the processor 11 controlling the current working mode of the PTZ 10 to be the joint angle closed-loop mode is: the processor 11 controls the PTZ 10 to switch from the attitude closed-loop mode to Joint angle closed-loop mode; when the current working mode of the gimbal 10 is the joint angle closed-loop mode, the process of the processor 11 controlling the current working mode of the gimbal 10 to be a joint angle closed-loop mode is: the processor 11 controls the gimbal 10 to maintain the joint angle Closed loop mode.

In the joint angle closed-loop mode, the processor 11 determines the target joint angle at which the gimbal 10 needs to reach the static equilibrium position. For example, when the positions of the center of gravity of the pitch frame 171 and the load 16 are on the first side of the vertical plane in which the pitch axis 12 is located At this time, the processor 11 plans the movement parameters of the pitch frame 171 and the load 16 around the pitch axis 12 according to the position of the center of gravity to control the pitch frame 171 and the load 16 to move to the first side to a static equilibrium position, which is the first Pitch joint angle; when the positions of the center of gravity of the pitch frame 171 and the load 16 are on the second side of the vertical plane where the pitch axis 12 is located, the processor 11 plans the motion parameters of the pitch frame 171 and the load 16 around the pitch axis 12 according to the position of the center of gravity To control the pitch frame 171 and the load 16 to move to the second side to a static equilibrium position, the static balance position is the second pitch joint angle; when the roll frame 172, the pitch frame 171, and the center of gravity of the load 16 are located on the roll axis When the first side of the vertical plane where 13 is located, the processor 11 plans the movement parameters of the roll frame 172, the pitch frame 171, and the load 16 around the roll axis 13 to control the roll frame according to the position of the center of gravity. 172. The pitch frame 171 and the load 16 move to the first side to a static equilibrium position, where the static balance position is the first roll joint angle; when the roll frame 172, the pitch frame 171, and the center of gravity of the load 16 are located in the roll When the second side of the axis 13, the processor 11 plans the movement parameters of the roll frame 172, the pitch frame 171, and the load 16 around the roll axis 13 according to the position of the center of gravity to control the roll frame 172, the pitch frame 171, and the load 16 to the first Both sides move to the static equilibrium position, which is the second roll joint angle.

The processor 11 determines the target joint angle of the gimbal 10 according to the position of the center of gravity of the gimbal 10, and then plans the motion parameters of the gimbal 10 according to the current joint angle and the target joint angle of the gimbal 10 to control the gimbal 10 to move to the target joint angle.

022: Obtain the current working mode of the PTZ 10;

028: Control the current working mode of the pan / tilt head 10 as an attitude closed loop mode;

0146: Determine the target attitude of the PTZ 10 to the static equilibrium position in the attitude closed-loop mode;

0147: Plan the motion parameters of the PTZ 10 according to the current attitude and target attitude of the PTZ 10;

0165: Control the pan / tilt head 10 to the side where the center of gravity is located to the target attitude according to the motion parameter.

In some embodiments, the working modes of the pan / tilt head 10 include an attitude closed-loop mode and a joint angle closed-loop mode. The processor 11 may be used to execute the methods in 022, 028, 0146, 0147, and 0165. That is to say, the processor 11 can be used to: obtain the current working mode of the PTZ 10; control the current working mode of the PTZ 10 as an attitude closed-loop mode; in the attitude closed-loop mode, determine whether the PTZ 10 has reached the static equilibrium position Target attitude; planning the motion parameters of the gimbal 10 according to the current attitude of the gimbal 10 and the target attitude; and controlling the gimbal 10 to move to the target attitude based on the motion parameters to the side where the center of gravity is located.

Specifically, when the current working mode of the PTZ 10 is the attitude closed-loop mode, the process of the processor 11 controlling the current working mode of the PTZ 10 to be the attitude closed-loop mode is: the processor 11 controls the PTZ 10 to maintain the attitude closed-loop mode; When the current working mode of the platform 10 is the joint angle closed-loop mode, the process of the processor 11 controlling the PTZ 10's current working mode to the attitude closed-loop mode is: the processor 11 controls the PTZ 10 to switch from the joint angle closed-loop mode to the attitude closed-loop mode.

In the attitude closed-loop mode, the processor 11 determines the target attitude that the gimbal 10 needs to reach the static equilibrium position. For example, when the positions of the centers of gravity of the pitch frame 171 and the load 16 are located on the first side of the vertical plane in which the pitch axis 12 is located, the processor 11 plans the motion parameters of the pitch frame 171 and the load 16 around the pitch axis 12 to control according to the positions of the centers of gravity. The pitching frame 171 and the load 16 move to the first side to a static equilibrium position, where the static equilibrium position is the first pitching attitude. At this time, the roll attitude and yaw attitude of the gimbal 10 may not be limited. When the positions of the centers of gravity of 171 and load 16 are on the second side of the vertical plane where the pitch axis 12 is located, the processor 11 plans the movement parameters of the pitch frame 171 and the load 16 around the pitch axis 12 to control the pitch frame 171 and the load according to the position of the center of gravity. 16 moves to the second side to the static equilibrium position, and the static equilibrium position is the second pitch attitude. At this time, the roll attitude and yaw attitude of the gimbal 10 may not be limited; when the roll frame 172, the pitch frame When the position of the center of gravity of 171 and the load 16 is on the first side of the vertical plane where the roll axis 13 is located, the processor 11 plans the movement of the roll frame 172, the pitch frame 171, and the load 16 about the roll axis 13 according to the position of the center of gravity. Control the roll frame 172, the pitch frame 171, and the load 16 to the first side to the static equilibrium position, and the static equilibrium position is the first roll attitude. At this time, the pitch attitude and yaw attitude of the gimbal 10 It may not be limited; when the center of gravity position of the roll frame 172, the pitch frame 171, and the load 16 is located on the second side of the roll axis 13, the processor 11 plans the roll frame 172, the pitch frame 171, and the load 16 according to the position of the center of gravity The movement parameters around the roll axis 13 are used to control the roll frame 172, the pitch frame 171, and the load 16 to move to the second side to the static equilibrium position, which is the second roll attitude. At this time, the pan / tilt head 10 The pitch attitude and yaw attitude may not be limited.

After the processor 11 determines the target attitude of the gimbal 10 according to the position of the center of gravity of the gimbal 10, the motion parameters of the gimbal 10 are planned according to the current attitude and target attitude of the gimbal 10 to control the gimbal 10 to move to the target attitude.

It can be understood that, in the attitude closed-loop mode, the pitch motor 181, the roll motor 182, and the yaw motor 183 work together to stabilize the load 16 in a predetermined attitude. In the above-mentioned joint angle closed-loop mode, the pitch motor 181 operates so that the pitch axis 12 reaches a predetermined pitch joint angle, the roll motor 182 operates so that the roll axis 13 reaches a predetermined roll joint angle, and the yaw motor 183 operates so that the yaw axis 14 reaches Predetermined yaw joint angle.

Please refer to FIG. 2 and FIG. 13. In some embodiments, the step of planning the motion parameters of the gimbal 10 according to the position of the center of gravity includes:

0148: Plan the acceleration of the gimbal 10 according to the position of the center of gravity;

0166: The gimbal 10 is controlled to move to the side of the center of gravity position to the static equilibrium position according to the motion acceleration.

In some embodiments, the processor 11 may be used to perform the methods in 0148 and 0166. That is to say, the processor 11 can be used for: planning the movement acceleration of the gimbal 10 according to the position of the center of gravity; and controlling the movement of the gimbal 10 to the side of the center of gravity position to the static equilibrium position according to the movement acceleration.

For example, when the positions of the center of gravity of the pitch frame 171 and the load 16 are located on the first side of the vertical plane where the pitch axis 12 is located, the static equilibrium position is the first pitch joint angle, such as 80 degrees, and the current pitch of the gimbal 10 The joint angle is 20 degrees, so the processor 11 can plan the gimbal 10 to first accelerate the movement from the current pitch joint angle with an acceleration of 2.4 degrees / second2 from the initial velocity of 0 degrees / second for 5 seconds, and then with an acceleration of -2.4 degrees / second 2 Slowly decelerate for 5 seconds, and finally reach the position of the first pitch joint angle gently.

0149: Plan the moving speed of the gimbal 10 according to the position of the center of gravity;

0167: Control the PTZ 10 to move to the side of the center of gravity position to the static equilibrium position according to the movement speed.

In some embodiments, the processor 11 may be used to perform the methods in 0149 and 0167. That is to say, the processor 11 may be used for: planning the movement speed of the gimbal 10 according to the position of the center of gravity; and controlling the movement of the gimbal 10 to the side where the center of gravity position is located to the static equilibrium position according to the movement speed.

For example, when the positions of the center of gravity of the roll frame 172, the pitch frame 171, and the load 16 are located on the first side of the vertical plane in which the roll axis 13 is located, the static balance position is the first roll joint angle, such as 80 degrees, The current roll joint angle of the PTZ 10 is 20 degrees, so the processor 11 can plan that the PTZ 10 first accelerates from the current roll joint angle from the initial speed of 0 degrees / sec to 10 degrees / sec in 5 seconds. Then, it moves at a constant speed of 10 degrees / second at an intermediate speed for 1 second, and finally decelerates from 0 degrees / second at an intermediate speed of 10 degrees / second to 0 degrees / second, and finally reaches the position of the first roll joint angle smoothly.

Please refer to FIG. 2 and FIG. 14. In some embodiments, the step of controlling the head 10 to move to the side of the center of gravity position to the static equilibrium position according to the movement speed (ie, 0167) includes:

01671: Control the PTZ 10 to decelerate to the position of the center of gravity to the static equilibrium position according to the speed of movement; or

01672: Control the side of the gimbal 10 to the center of gravity position based on the speed of movement to plan the movement to the static equilibrium position according to the acceleration-deceleration speed; or

01673: According to the speed of movement, control the side of the PTZ 10 to the center of gravity position to plan the movement to the static equilibrium position according to the acceleration-uniform-deceleration speed.

In some embodiments, the processor 11 may be used to perform the methods in 01671, 01672, and 01673. That is to say, the processor 11 can be used to control the PTZ 10 to decelerate to the position of the center of gravity according to the speed of movement to the static equilibrium position; or to control the side of the PTZ 10 to the position of the center of gravity according to the speed of movement The acceleration-deceleration speed is planned to move to the static equilibrium position; or the side of the gimbal 10 to the position of the center of gravity position is controlled according to the movement speed to plan the movement to the static equilibrium position according to the acceleration-uniform-deceleration speed.

For example, when the positions of the center of gravity of the pitch frame 171 and the load 16 are on the second side of the vertical plane where the pitch axis 12 is located, the static equilibrium position is the second pitch joint angle, such as -80 degrees, and the current position of the gimbal 10 The pitch joint angle is -20 degrees.

The processor 11 can plan the movement speed of the gimbal 10 as follows: The first method is to first decelerate from the current pitch joint angle from the initial speed of 24 degrees / second to 0 degrees / second in 5 seconds, and finally reach the second gently. The position of the pitch joint angle; the second way is to accelerate from the current pitch joint angle from the initial velocity of 0 degrees / second to 12 degrees / second within 5 seconds, and then decelerate from 12 degrees / second within 5 seconds. To 0 degrees / second, and finally reached the position of the second pitch joint angle gently; the third way, first from the current pitch joint angle, from the initial velocity of 0 degrees / second to accelerate uniformly to 10 degrees / second in 5 seconds, Then, it moves at a constant speed of 10 degrees / second at an intermediate speed for 1 second, and finally decelerates from a middle speed of 10 degrees / second to 0 degrees / second in 5 seconds, and finally reaches the position of the second pitch joint angle gently.

An embodiment of the present invention further provides a mobile platform. The mobile platform may include a mobile platform body and a pan / tilt according to any one of the foregoing embodiments. The gimbal is set on the mobile platform body. The movable platform may specifically be a movable device such as a mobile cart or a drone.

Specifically, when the movable platform is a mobile cart, the pan / tilt on the mobile cart can be a two-axis pan / tilt. The pan / tilt can be configured to rotate around the pitch axis and yaw axis. The pan / tilt can be mounted with a shot. Device so that the mobile cart can be used in scenarios such as competitions. Of course, other loads can be freely configured by the user on the PTZ.

The mobile platform according to the embodiment of the present invention can plan the motion parameters of the gimbal according to the position of the center of gravity of the gimbal to control the gimbal to move gently to the side where the center of gravity is located to a static equilibrium position, thereby avoiding the gimbal directly due to gravity A crash caused by hitting a limit will help reduce the frequency of replacement of the gimbal and improve the use experience of the mobile car.

In the description of this specification, the description with reference to the term "certain embodiments" and the like means that specific features, structures, or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment. Moreover, the specific features, structures, or characteristics described may be combined in any suitable manner in any one or more embodiments.

Any process or method description in a flowchart or otherwise described herein can be understood as a module, fragment, or portion of code that includes one or more executable instructions for implementing a particular logical function or step of a process And, the scope of the preferred embodiments of the present invention includes additional implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order according to the functions involved, which should It is understood by those skilled in the art to which the embodiments of the present invention pertain.

Logic and / or steps represented in a flowchart or otherwise described herein, for example, a sequenced list of executable instructions that may be considered to implement a logical function, may be embodied in any computer-readable medium, For use by instruction execution systems, devices, or devices (such as computer-based systems, systems that include processing modules, or other systems that can take instructions from and execute instructions) Or equipment. For the purposes of this specification, a "computer-readable medium" may be any device that can contain, store, communicate, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer-readable media include the following: electrical connections (control methods) with one or more wirings, portable computer disk cartridges (magnetic devices), random access memory (RAM), Read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program can be printed, because, for example, by optically scanning the paper or other medium, followed by editing, interpretation, or other suitable Processing to obtain the program electronically and then store it in computer memory.

It should be understood that each part of the embodiments of the present invention may be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods may be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it may be implemented using any one or a combination of the following techniques known in the art: Discrete logic circuits, application-specific integrated circuits with suitable combinational logic gate circuits, programmable gate arrays (PGA), field programmable gate arrays (FPGA), etc.

A person of ordinary skill in the art can understand that all or part of the steps carried by the methods in the foregoing embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium. The program is When executed, one or a combination of the steps of the method embodiment is included.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing module, or each unit may exist separately physically, or two or more units may be integrated into one module. The above integrated modules may be implemented in the form of hardware or software functional modules. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

The aforementioned storage medium may be a read-only memory, a magnetic disk, or an optical disk.

Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limitations on the present invention. Those skilled in the art can interpret the above within the scope of the present invention. Embodiments are subject to change, modification, replacement, and modification.

Claims

A control method for a pan / tilt head, characterized in that the control method includes:

Detecting the position of the center of gravity of the pan / tilt;

If the position of the center of gravity is located on the first side or the second side of the vertical plane in which the rotation axis of the gimbal is located, then the motion parameters of the gimbal are planned according to the position of the center of gravity, and the first side and the The second side is the opposite side; and

Controlling the pan / tilt head to move to the side where the center of gravity position is located to a static equilibrium position according to the motion parameter.
The control method according to claim 1, wherein the step of detecting the position of the center of gravity of the gimbal comprises:

When a preset instruction is received, the position of the center of gravity of the gimbal is detected.
The control method according to claim 2, wherein the preset instruction comprises a power-off instruction or a sleep instruction for the PTZ; or

The preset instruction includes receiving a power-down instruction or a sleep instruction for a driving device of a corresponding axis structure in the gimbal.
The control method according to claim 1, wherein after the step of controlling the pan-tilt to move to a side of the center of gravity position to a static equilibrium position according to the motion parameter, the method further include:

Execute a power-off instruction or a sleep instruction for the PTZ; or

A power-off instruction or a sleep instruction for a drive device of a corresponding axis structure in the gimbal is executed.
The control method according to claim 1, wherein the step of detecting the position of the center of gravity of the gimbal comprises:

When the error between the actual attitude and the expected attitude of the gimbal is within a predetermined range, obtaining an output torque of a driving device for driving the gimbal within a predetermined time period; and

Detecting the position of the center of gravity of the gimbal according to the output torque.
The control method according to claim 5, wherein the step of detecting the position of the center of gravity of the gimbal based on the output torque comprises:

Statistics the average value and variance of the output torque in the predetermined time period;

When the average value is greater than a preset value and the variance is less than a predetermined value, determining that the position of the center of gravity of the gimbal is located on a first side of a vertical plane in which a rotation axis of the gimbal is located; and

When the average value is smaller than the preset value and the variance is smaller than the predetermined value, it is determined that the position of the center of gravity of the head is located on the second side of the vertical plane in which the rotation axis of the head is located.
The control method according to claim 5, wherein the step of detecting the position of the center of gravity of the gimbal based on the output torque comprises:

Statistics the variance of the output torque in the predetermined time period;

When the variance is less than a predetermined value, averaging the average value of the output torque in the predetermined time period;

When the average value is greater than a preset value, determining that a position of a center of gravity of the gimbal is located on a first side of a vertical plane in which a rotation axis of the gimbal is located; and

When the average value is smaller than the preset value, it is determined that the position of the center of gravity of the gimbal is located on the second side of the vertical plane where the rotation axis of the gimbal is located.
The control method according to claim 5, wherein the step of detecting the position of the center of gravity of the gimbal based on the output torque comprises:

Statistics the average value of the output torque in the predetermined time period;

When the average value is greater than a preset value, determining that a position of a center of gravity of the gimbal is located on a first side of a vertical plane in which a rotation axis of the gimbal is located; and

When the average value is smaller than the preset value, it is determined that the position of the center of gravity of the gimbal is located on the second side of the vertical plane where the rotation axis of the gimbal is located.
The control method according to any one of claims 5 to 8, wherein the driving device is a motor.
The control method according to any one of claims 5 to 8, wherein the position of the center of gravity of the head includes the position of the center of gravity of the first structure in the head relative to the pitch axis;

The step of planning motion parameters of the gimbal according to the position of the center of gravity includes:

Planning the motion parameters of the first structure around the pitch axis according to the position of the center of gravity of the first structure relative to the pitch axis in the gimbal;

The step of controlling the gimbal to move to the side of the center of gravity position to the static equilibrium position according to the motion parameter includes:

Controlling the first structure to move to the side of the center of gravity position of the first structure to a static equilibrium position according to a movement parameter of the first structure around the pitch axis.
The control method according to any one of claims 5 to 8, wherein the position of the center of gravity of the head includes the position of the center of gravity of the second structure in the head relative to the roll axis;

The step of planning motion parameters of the gimbal according to the position of the center of gravity includes:

Planning the movement parameters of the second structure around the roll axis according to the position of the center of gravity of the second structure relative to the roll axis in the head;

The step of controlling the gimbal to move to the side of the center of gravity position to the static equilibrium position according to the motion parameter includes:

Controlling the second structure to move to the side of the center of gravity position of the second structure to the static equilibrium position according to the movement parameters of the second structure around the roll axis.
The control method according to any one of claims 5 to 8, wherein the position of the center of gravity of the head includes the position of the center of gravity of the first structure in the head relative to the pitch axis and the second position in the head of the head. The position of the center of gravity of the structure relative to the roll axis;

The step of planning motion parameters of the gimbal according to the position of the center of gravity includes:

Planning the movement parameters of the first structure around the pitch axis according to the position of the center of gravity of the first structure in the gimbal relative to the pitch axis, and planning the position of the center of gravity of the second structure in the gimbal relative to the roll axis Motion parameters of the second structure around the roll axis;

The step of controlling the gimbal to move to the side of the center of gravity position to the static equilibrium position according to the motion parameter includes:

Controlling the first structure to move to the side where the center of gravity of the first structure is located according to the motion parameter of the first structure around the pitch axis, and to orbit the static structure according to the second structure The motion parameter of the roll axis controls the second structure to move to the side where the center of gravity of the second structure is located to the static equilibrium position.
The control method according to any one of claims 6 to 8, wherein the preset value is zero.
The control method according to claim 1, wherein the working mode of the pan / tilt head includes a posture closed-loop mode and a joint angle closed-loop mode, and the control method further comprises:

Obtaining the current working mode of the PTZ;

Controlling the current working mode of the gimbal to the joint angle closed-loop mode;

The step of planning motion parameters of the gimbal according to the position of the center of gravity includes:

In the joint angle closed-loop mode, determining a target joint angle at which the gimbal reaches the static equilibrium position;

Planning the motion parameters of the gimbal according to the current joint angle of the gimbal and the target joint angle;

The step of controlling the gimbal to move to the side of the center of gravity position to the static equilibrium position according to the motion parameter includes:

Controlling the gimbal to move to the target joint angle to the side where the center of gravity position is located according to the motion parameter.
The control method according to claim 1, wherein the working mode of the pan / tilt head includes an attitude closed-loop mode and a joint angle closed-loop mode, and the control method further comprises:

Obtaining the current working mode of the PTZ;

Controlling the current working mode of the pan / tilt to be an attitude closed-loop mode;

The step of planning motion parameters of the gimbal according to the position of the center of gravity includes:

Determining the target attitude of the gimbal to the static equilibrium position in the attitude closed-loop mode;

Planning the motion parameters of the gimbal according to the current attitude of the gimbal and the target attitude;

The step of controlling the gimbal to move to the side of the center of gravity position to the static equilibrium position according to the motion parameter includes:

Controlling the pan / tilt to move to the target attitude to the side where the center of gravity position is located according to the motion parameter.
The control method according to claim 1, wherein the step of planning motion parameters of the pan / tilt according to the position of the center of gravity comprises:

Planning the movement acceleration of the gimbal according to the position of the center of gravity;

The step of controlling the gimbal to move to the side of the center of gravity position to the static equilibrium position according to the motion parameter includes:

And controlling the gimbal to move to the static equilibrium position to the side where the center of gravity position is located according to the motion acceleration.
The control method according to claim 1, wherein the step of planning motion parameters of the gimbal according to the position of the center of gravity comprises:

Planning the movement speed of the gimbal according to the position of the center of gravity of the gimbal;

The step of controlling the gimbal to move to the side of the center of gravity position to the static equilibrium position according to the motion parameter includes:

Controlling the pan-tilt head to move to the static equilibrium position to the side where the center of gravity position is located according to the moving speed.
The control method according to claim 17, wherein the step of controlling the gimbal to move to the side where the center of gravity position is located to the static equilibrium position according to the movement speed comprises:

Controlling the gimbal to decelerate to the static balance position to the side where the center of gravity position is located according to the movement speed; or

Controlling the pan-tilt head to the side where the center of gravity is located according to the movement speed to plan the movement to a static equilibrium position according to the acceleration-deceleration speed; or

Control the pan / tilt head to the side where the center of gravity position is located according to the movement speed to plan the movement to the static equilibrium position according to the acceleration-uniform-deceleration speed.
The control method according to claim 1, wherein the pan / tilt head comprises a pan / tilt head body and one or more loads detachably disposed on the pan / tilt head body.
A pan / tilt head characterized in that the pan / tilt head includes a processor, and the processor is used for:

Detecting the position of the center of gravity of the pan / tilt;

If the position of the center of gravity is located on the first side or the second side of the vertical plane in which the rotation axis of the gimbal is located, then the motion parameters of the gimbal are planned according to the position of the center of gravity, and the first side and the The second side is the opposite side; and

Controlling the pan / tilt head to move to the side where the center of gravity position is located to a static equilibrium position according to the motion parameter.
The gimbal of claim 20, wherein the processor is further configured to:

When a preset instruction is received, the position of the center of gravity of the gimbal is detected.
The PTZ according to claim 21, wherein the preset instruction comprises a power-off instruction or a sleep instruction for the PTZ; or

The preset instruction includes a power-off instruction or a sleep instruction for a driving device of a corresponding axis structure in the gimbal.
The gimbal of claim 20, wherein the processor is further configured to:

Execute a power-off instruction or a sleep instruction for the PTZ; or

A power-off instruction or a sleep instruction for a drive device of a corresponding axis structure in the gimbal is executed.
The gimbal of claim 20, wherein the processor is further configured to:

When the error between the actual attitude and the expected attitude of the gimbal is within a predetermined range, obtaining an output torque of a driving device for driving the gimbal within a predetermined time period; and

Detecting the position of the center of gravity of the gimbal according to the output torque.
The PTZ according to claim 24, wherein the processor is further configured to:

Statistics the average value and variance of the output torque in the predetermined time period;

When the average value is greater than a preset value and the variance is less than a predetermined value, determining that the position of the center of gravity of the gimbal is located on a first side of a vertical plane in which a rotation axis of the gimbal is located; and

When the average value is smaller than the preset value and the variance is smaller than the predetermined value, it is determined that the position of the center of gravity of the head is located on the second side of the vertical plane in which the rotation axis of the head is located.
The PTZ according to claim 24, wherein the processor is further configured to:

Statistics the variance of the output torque in the predetermined time period;

When the variance is less than a predetermined value, averaging the average value of the output torque in the predetermined time period;

When the average value is greater than a preset value, determining that a position of a center of gravity of the gimbal is located on a first side of a vertical plane in which a rotation axis of the gimbal is located; and

When the average value is smaller than the preset value, it is determined that the position of the center of gravity of the gimbal is located on the second side of the vertical plane where the rotation axis of the gimbal is located.
The PTZ according to claim 24, wherein the processor is further configured to:

Statistics the average value of the output torque in the predetermined time period;

When the average value is greater than a preset value, determining that a position of a center of gravity of the gimbal is located on a first side of a vertical plane in which a rotation axis of the gimbal is located; and

When the average value is smaller than the preset value, it is determined that the position of the center of gravity of the gimbal is located on the second side of the vertical plane in which the rotation axis of the gimbal is located.
The gimbal according to any one of claims 24-27, wherein the driving device is a motor.
The gimbal according to any one of claims 24-27, wherein the position of the center of gravity of the gimbal includes the position of the center of gravity of the first structure in the gimbal relative to the pitch axis; the processor is further configured to: :

Planning the motion parameters of the first structure around the pitch axis based on the position of the center of gravity of the first structure relative to the pitch axis in the gimbal; and

Controlling the first structure to move to the side of the center of gravity position of the first structure to a static equilibrium position according to a movement parameter of the first structure around the pitch axis.
The gimbal according to any one of claims 24-27, wherein the position of the center of gravity of the gimbal includes the position of the center of gravity of the second structure in the gimbal relative to the roll axis; the processor further uses to:

Planning the movement parameters of the second structure around the roll axis based on the position of the center of gravity of the second structure relative to the roll axis in the head; and

Controlling the second structure to move to the side of the center of gravity position of the second structure to the static equilibrium position according to the movement parameters of the second structure around the roll axis.
The gimbal according to any one of claims 24-27, wherein the position of the center of gravity of the gimbal includes the position of the center of gravity of the first structure in the gimbal relative to the pitch axis and the second position in the gimbal The position of the structure relative to the center of gravity of the roll axis; the processor is further configured to:

Planning the movement parameters of the first structure around the pitch axis according to the position of the center of gravity of the first structure in the gimbal relative to the pitch axis, and planning the position of the center of gravity of the second structure in the gimbal relative to the roll axis Motion parameters of the second structure around the roll axis; and

Controlling the first structure to move to the side where the center of gravity of the first structure is located according to the motion parameter of the first structure around the pitch axis, and to orbit the static structure according to the second structure The motion parameter of the roll axis controls the second structure to move to the side where the center of gravity of the second structure is located to the static equilibrium position.
The gimbal according to any one of claims 25-27, wherein the preset value is zero.
The gimbal of claim 20, wherein the working mode of the gimbal comprises a closed-loop attitude mode and a closed-loop joint angle mode, and the processor is further configured to:

Obtaining the current working mode of the PTZ;

Controlling the current working mode of the gimbal to the joint angle closed-loop mode;

In the joint angle closed-loop mode, determining a target joint angle at which the gimbal reaches the static equilibrium position;

Planning motion parameters of the gimbal based on the current joint angle of the gimbal and the target joint angle; and

Controlling the gimbal to move to the target joint angle to the side where the center of gravity position is located according to the motion parameter.
The gimbal of claim 20, wherein the working mode of the gimbal comprises a closed-loop attitude mode and a closed-loop joint angle mode, and the processor is further configured to:

Obtaining the current working mode of the PTZ;

Controlling the current working mode of the pan / tilt to be an attitude closed-loop mode;

Determining the target attitude of the gimbal to the static equilibrium position in the attitude closed-loop mode;

Planning the motion parameters of the gimbal according to the current attitude of the gimbal and the target attitude; and

Controlling the pan / tilt to move to the target attitude to the side where the center of gravity position is located according to the motion parameter.
The gimbal of claim 20, wherein the processor is further configured to:

Planning the movement acceleration of the gimbal according to the position of the center of gravity; and

And controlling the gimbal to move to the static equilibrium position to the side where the center of gravity position is located according to the motion acceleration.
The gimbal of claim 20, wherein the processor is further configured to:

Planning the movement speed of the gimbal according to the position of the center of gravity of the gimbal; and

Controlling the pan-tilt head to move to the static equilibrium position to the side where the center of gravity position is located according to the moving speed.
The PTZ according to claim 36, wherein the processor is further configured to:

Controlling the gimbal to decelerate to the static balance position to the side where the center of gravity position is located according to the movement speed; or

Controlling the pan-tilt head to the side where the center of gravity is located according to the movement speed to plan the movement to the static equilibrium position according to the acceleration-deceleration speed; or

Control the pan / tilt head to the side where the center of gravity position is located according to the movement speed to plan the movement to the static equilibrium position according to the acceleration-uniform-deceleration speed.
The gimbal of claim 20, wherein the gimbal comprises a gimbal body and one or more loads detachably disposed on the gimbal body.
A mobile platform is characterized in that the mobile platform includes:

Mobile platform ontology; and

The gimbal according to any one of claims 20 to 38, wherein the gimbal is disposed on the mobile platform body.