WO2020062280A1

WO2020062280A1 - Control method for gimbal, gimbal, mobile platform and computer readable storage medium

Info

Publication number: WO2020062280A1
Application number: PCT/CN2018/109184
Authority: WO
Inventors: 刘帅
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2018-09-30
Filing date: 2018-09-30
Publication date: 2020-04-02
Also published as: CN110352394A

Abstract

Disclosed are a control method for a gimbal (100), a gimbal (100), a mobile platform and a computer readable storage medium (400). The control method comprises the following steps: acquiring working parameters of a rotating shaft structure (10) (012); when detecting that the working parameters are in conformity with preset conditions for pushing the rotating shaft structure (10) with manpower, determining an angle of manpower pushing for the rotating shaft structure (10) with respect to an initial position according to a preset rotating speed; when detecting that the working parameters change from being in conformity with to not being in conformity with the preset conditions, driving the rotating shaft structure (10) to return to the initial position in a direction opposite to the direction of forming the angle of manpower pushing (018).

Description

Control method of gimbal, gimbal, mobile platform and computer-readable storage medium

Technical field

The invention relates to the technical field of PTZ, in particular to a control method of the PTZ, a PTZ, a mobile platform, and a computer-readable storage medium.

Background technique

Camera shake usually affects the captured image or video. In order to improve the camera's anti-shake ability, the camera can be set on the gimbal and the adjustment ability of the gimbal can be used to keep the camera stable. After the gimbal with mechanical limit is pushed by the hand, when returning to the posture before the hand push, it is easy to hit the mechanical limit due to the shortest path and other reasons.

Summary of the Invention

Embodiments of the present invention provide a control method for a PTZ, a PTZ, a mobile platform, and a computer-readable storage medium.

The control method according to the embodiment of the present invention is used for a pan / tilt head. The pan / tilt head includes at least one shaft structure. The control method includes: obtaining a working parameter of the shaft structure; and detecting that the working parameter conforms to human power to push the shaft. When the structure has a preset condition, a manual pushing angle of the rotating shaft structure relative to the initial position is determined according to a preset rotation speed; and when it is detected that the working parameter changes from meeting the preset condition to not meeting the preset condition At this time, the rotating shaft structure is driven back to the initial position along the opposite direction that forms the pushing angle of the human power.

The gimbal according to the embodiment of the present invention includes at least one shaft structure and a processor, the processor is configured to: obtain a working parameter of the shaft structure, and when it is detected that the working parameter meets a preset condition for manually pushing the shaft structure , Determining a human pushing angle of the rotating shaft structure relative to the initial position according to a preset rotation speed, and when detecting that the working parameter changes from meeting the preset condition to not meeting the preset condition, the The manual pushing direction of the opposite direction drives the rotating shaft structure to return to the initial position.

A mobile platform according to an embodiment of the present invention includes a main body and the above-mentioned head, and the head is disposed on the main body.

A computer-readable storage medium according to an embodiment of the present invention stores a computer program thereon, and the computer program can be executed by a processor to complete the control method described above.

Embodiments of the present invention provide a control method for a PTZ, a PTZ, a mobile platform, and a computer-readable storage medium. In the control method of the gimbal, when the working parameters of the shaft structure meet the preset conditions, it is judged that the gimbal is pushed by human force. At this time, the manpower pushing angle of the shaft structure relative to the initial position can be determined according to the preset rotation speed, so that the When the working parameter changes from meeting the preset condition to not meeting the preset condition, that is, at the end of the manual pushing, the shaft structure is driven back to the initial position in the opposite direction that forms the manual pushing angle. It can be seen that, since manpower can push the shaft structure to rotate, it means that there is no mechanical limit in the process of manipulating the shaft structure. In the process of controlling the rotation of the shaft structure to the initial position, it can avoid hitting the mechanical limit of the gimbal. Bit.

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 embodiments 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, in which:

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

2 and 3 are schematic diagrams of a pan / tilt head according to some embodiments of the present invention;

4 to 13 are schematic flowcharts of a control method for a pan / tilt according to some embodiments of the present invention;

14 is a schematic diagram of a mobile platform according to some embodiments of the present invention;

FIG. 15 is a schematic diagram of a connection between a PTZ and a computer-readable storage medium according to some embodiments of the present invention.

Description of main component symbols:

Aircraft 1000, gimbal 100, pivot structure 10, pivot motor 12, yaw axis motor 122, roll axis motor 124, pitch axis motor 126, pivot frame 14, yaw axis frame 142, roll axis frame 144, pitch axis The frame 146, the processor 20, the photographing section 30, the display screen 40, the handheld section 50, the main body 200, and the computer-readable storage medium 400.

detailed description

Hereinafter, embodiments of the present invention will be described in detail. Examples of the embodiments are shown in the drawings, wherein the same or similar reference numerals represent 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 present invention, it should be understood that the terms “first” and “second” are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as “first” and “second” may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless specifically defined otherwise.

In the description of the present invention, it should be noted that the terms "installation", "connected", and "connected" should be understood in a broad sense unless otherwise specified and limited. For example, they may be fixed connections or removable. Connection, or integral connection; can be mechanical, electrical, or can communicate with each other; can be directly connected, or indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction of two elements relationship. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

The following disclosure provides many different implementations or examples for implementing different structures of the present invention. To simplify the disclosure 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. Furthermore, the present invention may repeat reference numerals and / or reference letters in different examples, and such repetition is for the purpose of simplicity and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides examples of various specific processes and materials, but those of ordinary skill in the art may be aware of the application of other processes and / or the use of other materials.

Please refer to FIG. 1 to FIG. 3. The control method according to the embodiment of the present invention can be applied to the pan / tilt head 100, and the pan / tilt head 100 includes at least one shaft structure 10. Control methods include:

012: Obtain the working parameters of the shaft structure 10.

016: when it is detected that the working parameters meet the preset conditions of the manual pushing shaft structure 10, determine the manual pushing angle of the rotating shaft structure 10 relative to the initial position according to the preset rotation speed; and

018: When it is detected that the working parameter changes from meeting the preset condition to not meeting the preset condition, the rotary shaft structure 10 is driven back to the initial position along the opposite direction that forms the pushing angle of the human force.

Please continue to refer to FIG. 2 and FIG. 3. The gimbal 100 according to the embodiment of the present invention includes at least one rotating shaft structure 10 and a processor 20. The processor 20 is configured to: obtain the working parameters of the rotating shaft structure 10, and detect that the working parameters are consistent with human power When the preset conditions of the shaft structure 10 are determined, the manual pushing angle of the shaft structure 10 relative to the initial position is determined according to the preset rotation speed, and when the working parameter is detected to change from meeting the preset conditions to not meeting the preset conditions, the The human pushes the opposite direction of the angle, and drives the rotating shaft structure 10 to return to the initial position.

That is to say, the control method according to the embodiment of the present invention can be implemented by the PTZ 100 according to the embodiment of the present invention, where step 012, step 016, and step 018 can be implemented by the processor 20.

It can be understood that the positions of the processors shown in FIG. 2 and FIG. 3 are only schematic descriptions and are not limited. After the description here, the definitions are not repeated later.

According to the control method of the pan / tilt head 100 and the pan / tilt head 100 according to the embodiment of the present invention, when the working parameters of the rotary shaft structure 10 meet the preset conditions, it is judged that the pan / tilt head 100 is pushed by human power. The manual pushing angle at the initial position, so that when the working parameters change from meeting the preset conditions to not meeting the preset conditions, that is, at the end of the manual pushing, the rotating shaft structure 10 is driven back to the initial position in the opposite direction of the manual pushing angle. . It can be seen that, since manpower can push the shaft structure to rotate, it means that there is no mechanical limit in the process of manipulating the shaft structure. In the process of controlling the rotation of the shaft structure to the initial position, if the gimbal 100 has a mechanical limit, It can avoid hitting the mechanical limit of the gimbal 100. At the same time, when returning to the initial position, the manual pushing angle needs to be offset, that is, the rotating shaft structure 10 needs to be driven in the opposite direction of the manual pushing angle, and the size of the rotating angle of the rotating shaft structure 10 needs to be the manual pushing angle to prevent The shaft structure 10 deviates from the initial position.

In one embodiment, the rotating shaft structure 10 is pushed from the H position (initial position) to the I position. Then, at the end of the manual pushing, the direction of the manual pushing angle is the direction from the H position to the I position. The original line returns from the I position to the H position.

In another embodiment, the rotating shaft structure 10 is pushed from the H position (initial position) to the I position, and then from the I position to the J position, and the J position is between the H position and the I position. The direction for forming the human pushing angle is the direction from the H position to the J position, and the rotating shaft structure 10 returns directly from the J position to the H position.

In addition, the pan / tilt head 100 can also realize 360-degree rotation without mechanical limit through a slip ring or the like. Correspondingly, after the pan / tilt head 100 is pushed by a human being, the control method according to the embodiment of the present invention can move in the opposite direction of the angle of the human push. The rotating shaft structure 10 is driven back to the initial position, that is, the head 100 can be returned to the initial position. That is, the embodiment of the present invention is also applicable to the PTZ 100 without mechanical limit.

It can be understood that, in the embodiment of the present invention, the human-powered rotating shaft structure 10 can be regarded as a human-powered moving head 100, and when the human-powered moving the head 100 is equivalent to pushing the rotating shaft structure 10 to rotate.

Please continue to refer to FIG. 2. In some embodiments, the PTZ 100 includes a handheld PTZ 100. The handheld pan / tilt head 100 further includes, for example, a photographing section 30, a display screen 40, and a handheld section 50. The handheld section 50 is used to support the photographing section 30, and the display screen 40 is disposed on the handheld section 50. The imaging section 30 can be used to capture an image. Since the handheld PTZ 100 is prone to be pushed by humans during use, the control method of the embodiment of the present invention can control the handheld PTZ 100 to return to the initial position after the handheld PTZ 100 is pushed by humans.

Please continue to refer to FIG. 3. In some embodiments, the at least one rotation shaft structure 10 includes a rotation shaft structure 10 corresponding to a yaw axis, a rotation shaft structure 10 corresponding to a roll axis, and a pitch axis corresponding to a pitch axis. At least one of the shaft structures 10. Each of the rotating shaft structures 10 may include a rotating shaft motor 12 and a rotating shaft frame 14. The rotating shaft structure 10 corresponding to the yaw axis may include a yaw shaft motor 122 and a yaw shaft frame 142. The rotating shaft structure 10 corresponding to a roll axis may include a roll shaft. The motor 124 and the roll axis frame 144. The rotation shaft structure 10 corresponding to the pitch axis may include a pitch axis motor 126 and a pitch axis frame 146. When there are a plurality of shaft structures 10, corresponding control of each shaft structure 10 may be performed according to the working parameters of each shaft structure 10.

In the embodiment of the present invention, the human pushing angle is a vector. One rotation direction of the rotation shaft structure 10 can be defined as a positive rotation direction and the other rotation direction is a reverse rotation direction. The direction corresponding to the human pushing angle can be rotated by the rotation shaft structure 10. The direction is OK. When there are a plurality of rotation shaft structures 10, each rotation shaft structure 10 includes a forward rotation direction and a reverse rotation direction.

In some embodiments, when the working parameters do not meet the preset conditions, that is, when the manual operation of the rotating shaft structure 10 does not occur, the rotating shaft structure 10 may be controlled to rotate or the rotating shaft structure 10 may be stopped according to user input.

In some embodiments, the control method according to the embodiment of the present invention may be executed at a preset period, for example, the preset period is 0.001 second. Of course, the preset period may also be 0.01 second, 0.005 second, 0.1 second, etc. It is set by user input, which is not specifically limited here.

Compared with controlling the rotation of the rotating shaft structure 10 by a remote control or other methods, the manual driving of the rotating shaft structure 10 generally has a large difference in the parameter values of the working parameters determined when the manual driving of the rotating shaft structure 10. Therefore, it can be judged whether the rotating shaft structure 10 is pushed by human power by judging whether the working parameters meet the preset conditions.

Referring to FIG. 4, in some embodiments, step 016 includes:

Step 0161: When the working parameter meets the preset condition and lasts for the first predetermined period of time, the manual pushing angle of the rotating shaft structure 10 relative to the initial position is determined according to the preset rotation speed.

Taking the handheld gimbal of FIG. 2 as an example, in some implementations, the processor 20 is configured to determine the relative position of the rotating shaft structure 10 relative to the initial position according to a preset rotation speed when the operating parameters meet a preset condition and last for a first predetermined duration. Human push angle.

That is, step 0161 may be implemented by the processor 20.

In some implementations, the parameter values of the operating parameters of the shaft structure 10 determined when a human touches the shaft structure 10 by mistake may generally have a large difference, but the duration of the human touch by mistake by the shaft structure 10 is generally short. In order to distinguish between the manual pushing shaft structure 10 and the manual touching shaft structure 10 by mistake, it can be determined whether the working parameter meets the preset condition for the first predetermined duration. When the working parameter meets the preset conditions and lasts for the first predetermined period of time, it can be considered that at this time, the rotating shaft structure 10 is manually pushed by the human. Therefore, the manual pushing angle of the rotating shaft structure 10 relative to the initial position can be determined according to the preset rotation speed. When the working parameter meets the preset conditions but does not last for the first predetermined duration, it may be considered that it is possible that a human may accidentally touch the shaft structure 10 at this time. Therefore, the shaft structure 10 may be controlled to rotate or stop according to a user input. The first predetermined duration may be stored in the PTZ 100 in advance or determined by a user input. In one embodiment, the first predetermined duration is 1 second, and the preset period is 0.001 second. In 1 second, if the determined working parameters for 1000 times meet the preset conditions, it is considered that the shaft structure 10 is pushed by human power. Once the determined working parameters do not meet the preset conditions, for example, if the 1000th time does not meet the preset conditions, it is considered that the shaft structure 10 is not manually pushed, and the next predetermined working time can be re-determined when the working parameters meet the preset conditions. That is, the timing will be restarted when the next working parameter meets the preset conditions.

Referring to FIG. 5, in some embodiments, determining the human-driven angle of the rotating shaft structure 10 relative to the initial position according to a preset rotation speed includes:

0162: Integrate the preset rotation speed to the desired attitude component of the shaft structure 10 as the real-time attitude component of the shaft structure 10 when the shaft structure 10 is pushed by a human force;

0163: Determine the manual pushing angle of the shaft structure 10 relative to the initial position according to the integration result. The desired posture component is updated according to the posture and the integration result when the rotating shaft structure 10 is located at the initial position.

Taking the handheld gimbal of FIG. 2 as an example, in some implementations, the processor 20 is configured to integrate a preset rotation speed to the desired attitude component of the shaft structure 10 as a real-time attitude of the shaft structure 10 when the shaft structure 10 is manually pushed by a human. The component and the human-driven angle of the rotating shaft structure 10 relative to the initial position are determined according to the integration result. The desired posture component is updated according to the posture and the integration result when the rotating shaft structure 10 is located at the initial position.

That is, steps 0162 and 0163 can be implemented by the processor 20.

Specifically, the desired attitude component of the rotation axis structure 10 may refer to a component corresponding to the rotation axis structure 10 in the desired attitude of the gimbal 100. For example, the gimbal 100 includes a rotation axis structure 10 corresponding to a yaw axis, and a rotation axis structure 10 corresponding to a roll axis. And the rotation axis structure 10 corresponding to the pitch axis, the desired attitude (yaw, roll, pitch) of the gimbal 100 is (A, B, C), then the expected attitude component of the rotation axis structure 10 corresponding to the yaw axis is A, corresponding to roll The expected attitude component of the shaft structure 10 of the shaft is B, and the expected attitude component of the shaft structure 10 corresponding to the pitch axis is C. The above explanation is also applicable to the real-time attitude component of the shaft structure 10. The real-time attitude component can be obtained through measurement by an inertial measurement unit (such as a gyroscope, an accelerometer) and the like provided on the gimbal 100. When the shaft structure 10 is pushed by a human, the preset rotation speed can be integrated. During the integration process, the desired posture component is gradually brought closer to the real-time posture component, and the preset posture is completed when the desired posture component is controlled to be converted into the real-time posture component. The integral of the rotation speed. At this time, the human pushing angle can be obtained according to the integral result. Among them, the preset rotation speed is the attitude conversion speed at which the desired attitude component is converted into the real-time attitude component. In practical applications, due to the human push the gimbal, the real-time attitude of the gimbal precedes the desired attitude, and the desired attitude component is controlled to be a real-time attitude. Component is a process of virtual control.

In addition, the control method according to the embodiment of the present invention is executed at a preset period. The desired attitude component can be updated according to the attitude and integration result when the shaft structure 10 is located at the initial position. When integrating the preset rotational speed for the first time, the desired attitude component is updated. It may be the attitude when the shaft structure 10 is located at the initial position, and in subsequent integration of the preset rotation speed, the expected posture component is determined according to the attitude and the human pushing angle when the shaft structure 10 is located at the initial position. Among them, the human push angle can be accumulated according to the integration result of each time. In this way, it is possible to accurately integrate the preset rotation speed to obtain an accurate human pushing angle.

Referring to FIG. 6, in some embodiments, step 018 includes:

Step 0181: When the working parameter changes from meeting the preset condition to not meeting the preset condition, and the working parameter does not meet the preset condition for a second predetermined period of time, the rotary shaft structure 10 is driven back in the opposite direction that forms the human pushing angle. initial position.

Taking the handheld gimbal of FIG. 2 as an example, in some implementations, the processor 20 is configured to continue to perform a second predetermined operation when the operating parameter changes from meeting the preset condition to not meeting the preset condition, and the operating parameter does not meet the preset condition. When the duration is long, the shaft structure 10 is driven back to the initial position along the opposite direction of the angle formed by the manual force.

That is, step 0181 may be implemented by the processor 20.

Specifically, in order to reduce or avoid the problem of erroneously judging that the manual driving is ended when the manual shaft driving structure 10 is pushed, the working parameter may be determined whether the working parameter does not meet the preset condition after the working parameter changes from meeting the preset condition to not meeting the preset condition. For a second predetermined duration, when the working parameters do not meet the preset conditions for a second predetermined duration, it can be considered that the human push has ended at this time, so the rotary shaft structure 10 can be driven back to the initial position in the opposite direction of the human push angle. ; When the working parameters do not meet the preset conditions but do not last for the second predetermined duration, it can be considered that the hand pushing has not ended at this time, so the working parameters can be re-compliant with the preset conditions, or the working parameters can be re-compliant with the preset conditions. For a first predetermined period of time, the manual pushing angle of the rotating shaft structure 10 relative to the initial position is continued to be determined according to the preset rotation speed. The second predetermined duration may be stored in the PTZ 100 in advance or determined by a user input, and the second predetermined duration is, for example, 1 second. In addition, the first predetermined duration and the second predetermined duration may be the same or different, which is not specifically limited herein.

Referring to FIG. 7, in some embodiments, the method further includes:

022: If the human-driven angle is greater than a preset value, determine that the direction forming the human-driven angle is the first direction;

024: If the human pushing angle is less than a preset value, determine that the direction forming the human pushing angle is the second direction.

Taking the handheld gimbal of FIG. 2 as an example, in some embodiments, the processor 20 is further configured to determine a direction for forming the human pushing angle as a first direction if the human pushing angle is greater than a preset value, and If it is smaller than the preset value, it is determined that the direction forming the human pushing angle is the second direction.

That is, steps 022 and 024 can be implemented by the processor 20.

Specifically, the preset value is, for example, 0. If the human pushing angle is greater than 0, the direction for forming the human pushing angle is determined to be the first direction, and the first direction may be the positive rotation direction of the rotating shaft structure 10, of course, it may also be the rotating shaft structure. Counter rotation direction of 10; if the human pushing angle is smaller than a preset value, the direction for forming the human pushing angle is determined to be the second direction, and the second direction may be the counter rotating direction of the shaft structure 10, of course, it may also be the Positive rotation direction, the first direction and the second direction are opposite directions. In this way, the direction of the manual pushing angle can be quickly determined.

In one embodiment, it is assumed that the rotating shaft structure 10 is pushed from the K position (initial position) to the L position, wherein the preset rotation speed is the first direction, such as the direction from the K position to the L position, which results in the formed human pushing angle. Also the first direction. In another embodiment, the rotating shaft structure 10 is pushed from the K position (initial position) to the N position, where the K position is between the L position and the N position, and the preset rotation speed is the second direction, such as the K position to N The direction of the position causes the formed human-driven angle to be the second direction.

In some embodiments, in order to precisely control the gimbal to rotate to the initial position, the preset rotation speed for integration is the preset Euler angular velocity of the shaft structure 10. In this way, the preset Euler angular velocity can be used to quickly and accurately integrate to obtain the human pushing angle, that is, to obtain the Euler angle deviation of the attitude of the gimbal 100 at the initial position from the real-time attitude.

Referring to FIG. 8, in some embodiments, the determination process of the preset Euler angular velocity includes:

026: According to the preset joint angular velocity, the translation relationship between the PTZ joint angle coordinate system and the PTZ body coordinate system, and the conversion relationship between the PTZ body coordinate system and the Euler coordinate system, the preset joint angular velocity is converted into a preset Set Euler angular velocity.

Taking the handheld gimbal of FIG. 2 as an example, in some implementations, the processor 20 is configured to use a preset joint angular velocity, a translation relationship between a gimbal joint angle coordinate system and a gimbal body coordinate system, and a gimbal body coordinate. The conversion relationship between the system and the Euler coordinate system converts the preset joint angular velocity to the preset Euler angular velocity.

That is, step 026 may be implemented by the processor 20.

Specifically, the angular velocity pre-stored in the gimbal 100 or input by the user is generally the joint angular velocity. In order to facilitate accurate control, the joint angular velocity may be converted into Euler angular velocity, and the Euler angular velocity is used to control the shaft structure 10. First, the preset joint angular velocity W _{j can be} converted to the angular velocity W _{b in the} PTZ body coordinate system according to the conversion relationship R _{j → b} between the gimbal joint angle coordinate system and the gimbal body coordinate system. W _b = R _{j → b} * W _j . Among them, R _{j → b} is a Jacobian matrix, R _{j → b} is determined by the configuration of the gimbal. The configuration of the gimbal is different, and R _{j → b} is different. For example, the head of the triaxial R _{j → b} may biaxial PTZ different R _{j → b.}

Please refer to FIG. 3 again. In this embodiment, a pan / tilt head 100 with three rotation axis structures 10 of ZXY is taken as an example. Among them, Z is a yaw axis, X is a roll axis, Y is a pitch axis, and a yaw frame 142, for example. Is the outer frame, the roll axis frame 144 is the middle frame, the pitch axis frame 146 is the inner frame, and the yaw axis motor 122 is used to drive the yaw axis frame 142 to rotate to drive the roll axis motor 124 and the roll axis frame 144, The pitch axis motor 126 and the pitch axis frame 146 and the load mounted on the gimbal 100 are rotated. The roll axis motor 124 is used to drive the roll axis frame 144 to rotate, so as to drive the pitch axis motor 126 and the pitch axis frame 146 and load rotation. The pitch axis motor 126 is used to drive the pitch axis frame 146 to rotate to drive the load to rotate. The rotation axis Voutz of the coordinate axis of the yaw axis joint angle is [0, 0, 1], the rotation axis Vmidx of the coordinate axis of the roll axis joint angle is [1, 0, 0], and the coordinate axis of the joint angle of the pitch axis The rotation axis Vinny is [0, 1, 0]. Among them, Vinny, Vmidx, and Voutz are the rotation axes of the coordinate axes of the pitch joint angle, the roll joint angle, and the yaw joint angle, respectively. Transform Voutz, Vmidx, Vinny to the PTZ body coordinate system:

V _{outz → b} = R _y ′ * R _x ′ * R _z ′ * V _outz

V _{midx → b} = R _y ′ * R _x ′ * V _midx

V _{inny → b} = R _y ′ * V _inny

Among them, Ry ', Rx', and Rz 'correspond to the transpose of Ry, Rx, and Rz, respectively. Ry, Rx, and Rz are the joint angle coordinate system around the Y axis (pitch axis), X axis (roll axis), and Z axis, respectively. (Yaw axis) rotation matrix to the reference coordinate system. For example, Ry, Rx, Rz can be as follows:

The reference coordinate system is a coordinate system with a joint angle of 0, and A is a conversion angle of the joint angle coordinate system to the reference coordinate system.

Among them, inn_joint_ang_rad is the joint angle of the inner frame, and mid_joint_ang_rad is the joint angle of the middle frame.

Then, according to the transformation relationship between the gimbal body coordinate system and Euler coordinate system

Convert W _b to preset Euler angular velocity

among them,

As follows:

Among them, inn_euler_ang_rad is the Euler angle of the inner frame, mid_euler_ang_rad is the Euler angle of the middle frame, and the Euler angle of the inner frame and the Euler angle of the middle frame are the expected Euler angles when the gimbal 100 is not updated.

In a specific implementation, according to the above conversion relationship, it is assumed that the joint angle of the middle frame is 40 degrees, the joint angle of the inner frame is 40 degrees, the Euler angle of the inner frame is 10, the Euler angle of the middle frame is 0, and the joint angular velocity is [0, 0,1], if the conversion between the above coordinate systems is not performed, the Euler angular velocity of the gimbal 100 defaults to the joint angular velocity [0,0,1]. After the conversion between the above coordinate systems, the Euler angular velocity of the gimbal 100 is [-0.3830, 0.6428, 0.6634], and the preset Euler angular velocity corresponding to the rotation axis structure of the yaw axis is 0.6634 instead of 1. It can be known that by transforming the preset joint angular velocity through the coordinate system of the gimbal body, a more accurate preset Euler angular velocity can be obtained, so that when using the obtained preset Euler angular velocity for integration, it can more accurately reflect the rotation axis The rotation path of the structure 10 is conducive to driving the PTZ 100 from the real-time posture at the end of the manual push to the initial position. At the same time, the obtained preset Euler angular velocity is used for integration, and the obtained manpower pushing angle is Euler angle, thereby avoiding the calculation of the joint angle deviation generated when the manpower pushes the gimbal 100, thereby avoiding the fact that one attitude corresponds to many When there are multiple joint angles and there are multiple solutions, a unique operation is needed to determine the unique solution.

It can be understood that when the preset joint angle is converted into the preset Euler angle, since the inner frame joint angle, the inner frame Euler angle, the middle frame joint angle, and the middle frame Euler angle are involved in the conversion process, the inner frame When the joint angle, inner frame Euler angle, middle frame joint angle, and middle frame Euler angle change, the preset Euler angle also changes accordingly. In this way, the preset Euler angle converted from the preset joint angle depends more on the attitude change of the gimbal, which can be updated and changed to achieve more accurate integration and attitude conversion control.

In the above example, the yaw axis frame 142 is an outer frame, the roll axis frame 144 is a middle frame, and the pitch axis frame 146 is an inner frame. It can be understood that, in other embodiments, the connection relationship of each frame may be other. This is not specifically limited.

In some embodiments, the shaft structure 10 includes a shaft motor 12, and the operating parameter includes a desired torque of the shaft motor 12. By judging whether the desired torque meets a preset condition, it can be accurately judged whether the rotating shaft structure 10 is pushed by human power.

Referring to FIG. 9, in some embodiments, the process of obtaining the desired torque includes:

028: Obtain a desired attitude component of the shaft structure 10 and a real-time attitude component of the shaft structure 10 when the shaft structure 10 is pushed by a human force; and

032: Determine the desired torque according to the desired attitude component and the real-time attitude component.

Taking the handheld gimbal of FIG. 2 as an example, in some implementations, the processor 20 is configured to obtain a desired attitude component of the shaft structure 10 and a real-time attitude component of the shaft structure 10 when the shaft structure 10 is pushed by a human force, and according to the desired attitude component. Determine the desired torque with the real-time attitude component.

That is, steps 028 and 032 can be implemented by the processor 20.

Specifically, the method of the foregoing embodiment may be adopted to obtain a desired pose component and a real-time pose component. Determining the desired torque according to the desired attitude component and the real-time attitude component can be understood as: determining the desired torque through the deviation of the desired attitude component and the real-time attitude component, and the deviation of the desired attitude component and the real-time attitude component is positively related to the expected torque. As such, the desired torque can be accurately determined based on the desired attitude component and the real-time attitude component.

The desired torque is the amount of torque that the corresponding shaft motor 12 needs to output when the shaft structure 10 moves from the real-time attitude component to the desired attitude component.

In some embodiments, the control method further includes: 014: Determine whether the working parameter of the shaft structure 10 meets a preset condition that the shaft structure 10 is pushed by a human force. When the operating parameters include the desired torque, please refer to FIG. 10, step 014 may specifically include:

0141: Determine whether the absolute value of the desired torque is greater than or equal to the preset torque;

0142: When the absolute value of the desired torque is greater than or equal to the preset torque, determine that the operating parameters meet the preset conditions; and

0143: When the absolute value of the desired torque is smaller than the preset torque, it is determined that the operating parameters do not meet the preset conditions.

Taking the handheld gimbal of FIG. 2 as an example, in some embodiments, the processor 20 is further configured to determine whether the absolute value of the desired torque is greater than or equal to the preset torque, and when the absolute value of the desired torque is greater than or equal to the preset torque To determine that the working parameters meet the preset conditions, and when the absolute value of the desired torque is less than the preset torque, determine that the working parameters do not meet the preset conditions.

That is, step 0141, step 0142, and step 0143 can be implemented by the processor 20.

Specifically, compared with controlling the rotation of the rotation shaft structure 10 by a human remote control and other methods by using a remote controller, the expected torque determined when the rotation shaft structure 10 is pushed by a human body is generally larger. Therefore, the preset torque can be set based on empirical values to compare the desired torque with the preset torque. Among them, in order to distinguish the direction in which the shaft structure 10 is manually pushed by humans, the expected torque is a vector and the preset torque is a scalar quantity. Therefore, whether or not the absolute value of the desired torque is greater than or equal to the preset torque can be used to determine whether the shaft is pushed by a human force. Structure 10. When the absolute value of the desired torque is greater than or equal to the preset torque, it is determined that the working parameter meets the preset conditions, that is, it is determined that the shaft structure 10 is manually pushed by the human; when the absolute value of the desired torque is less than the preset torque, the working parameter is determined not to meet the preset torque. The condition, that is, it is judged that the shaft structure 10 is not pushed by human power. In this way, it can be accurately judged whether the working parameters meet the preset conditions.

Please refer to FIG. 11 and FIG. 12. In some embodiments, step 0141 includes:

0144: when the direction in which the shaft structure 10 is pushed by human power is the third direction, determine whether the desired torque is greater than or equal to a preset torque; and / or

0145: When the direction in which the shaft structure 10 is pushed by a human force is the fourth direction, it is determined whether the desired torque is less than or equal to an opposite number of the preset torque.

Taking the handheld gimbal of FIG. 2 as an example, in some implementations, the processor 20 is configured to determine whether a desired torque is greater than or equal to a preset torque when the direction in which the shaft structure 10 is pushed by a human force is a third direction; and / or When the direction in which the rotating shaft structure 10 is pushed by human power is the fourth direction, it is determined whether the desired torque is less than or equal to an opposite number of the preset torque.

That is, steps 0144 and 0145 can be implemented by the processor 20.

Specifically, when the direction in which the shaft structure 10 is pushed by a human being is a third direction, the expected torque is greater than 0, so it can be determined whether the expected torque is greater than or equal to a preset torque; The torque is less than 0, so it can be determined whether the desired torque is less than or equal to the inverse of the preset torque. Wherein, the third direction may be the normal rotation direction of the rotation shaft structure 10 or the reverse rotation direction of the rotation shaft structure 10, and correspondingly, the fourth direction may be the reverse rotation direction of the rotation shaft structure 10 or the normal rotation direction of the rotation shaft structure 10, the third direction It is opposite to the fourth direction. In this way, it is possible to accurately determine whether the desired torque meets a preset condition according to the direction in which the rotating shaft structure 10 is pushed by human power.

It can be understood that, in actual applications, the comparison result of the desired torque and the preset torque may not be determined according to the direction in which the PTZ 100 is pushed by human power. For example, the direction of the manpower to push the gimbal is uncertain, but the expected torque is sequentially compared with the preset torque and the reverse of the preset torque, so that it can also be determined whether the desired torque is greater than the preset torque or the opposite of the preset torque. It can also be located between the preset torque and the opposite of the preset torque, and it can also detect whether there is any manpower pushing the gimbal.

In some embodiments, the operating parameters of the shaft structure 10 may also include a desired current of the shaft structure 10, and the desired current may be determined according to a desired attitude component and a real-time attitude component of the corresponding shaft structure 10. In one embodiment, the expected current and the preset current may be compared, where the desired current is a vector and the preset current is a scalar. When the desired current is greater than or equal to the preset current or the desired current is less than or equal to the inverse of the preset current It is judged that the shaft structure 10 is pushed by a human being, and when the expected current is larger than the preset current and smaller than the preset current, it is determined that the shaft structure is not pushed by a manpower.

In some embodiments, the desired torque is proportional to the desired current, M = Ca × I; where M is the desired torque, Ca is a constant, and I is the current. Among them, for a manner of judging whether the shaft structure 10 is manually pushed by a desired current, refer to a manner of judging whether the shaft structure 10 is manually pushed by a desired torque.

Referring to FIG. 13, in some embodiments, the method further includes:

034: Compare the expected attitude component with the real-time attitude component;

036: According to the comparison result, determine the direction in which the shaft structure 10 is pushed by human power.

Taking the handheld gimbal of FIG. 2 as an example, in some implementations, the processor 20 is further configured to compare a desired posture component with a real-time posture component, and determine a direction in which the human body pushes the shaft structure 10 according to the comparison result.

That is, steps 034 and 036 can be implemented by the processor 20.

Specifically, the deviation between the desired attitude component and the real-time attitude component can be calculated, such as the Euler angle difference. When the Euler angle difference is greater than zero, it indicates that the direction in which the rotary shaft structure 10 is pushed by human power is one of the directions, for example, the third direction. When the attitude difference is less than zero, it indicates that the direction in which the rotary shaft structure 10 is pushed by human power is another direction, for example, the fourth direction. In one embodiment, when the Euler angle corresponding to the desired attitude component is greater than the Euler angle corresponding to the real-time attitude component, the direction in which the shaft structure 10 is manually pushed by the human is, for example, a third direction; the Euler angle corresponding to the desired attitude component is less than the real-time When the Euler angle corresponding to the posture component, the direction in which the rotary shaft structure 10 is pushed by human power is, for example, the fourth direction. In this way, it is possible to quickly determine the direction in which the human-powered shaft structure 10 is pushed by the desired posture component and the real-time posture component.

It should be noted that the third direction of the embodiment of the present invention may be the first direction or the second direction. Correspondingly, the fourth direction of the embodiment of the present invention may be the second direction or the first direction. direction.

In some embodiments, the direction of the preset rotation speed is the same as the direction in which the shaft structure 10 is pushed by a human. In this way, the direction of the preset rotation speed is in accordance with the direction of the manual pushing shaft structure 10, that is, the direction of the preset rotation speed is accurate, so that the integration result of integrating the preset rotation speed and the human pushing angle obtained by accumulating the integration result are more accurate.

In some embodiments, when the shaft structure 10 is pushed by a human force, the torque value of the shaft motor 12 is generally greater than the torque value when the shaft structure 10 is controlled by a remote control. The preset torque in this embodiment is preset according to a temperature protection strategy of the motor, and the preset torque is a lower limit value for determining a torque value when a human is pushing the shaft structure 10. Specifically, different shaft motors 12 may have different temperature protection strategies, and a constant preset torque may be set according to different temperature protection strategies of the shaft motors 12. In this way, comparison and judgment of the desired torque and the preset torque can be facilitated.

In some embodiments, the preset torque is adjusted in real time according to the temperature protection strategy of the rotating shaft motor 12, that is, during the process of pushing the PTZ 100 manually, the preset torque is changed to meet different requirements. Specifically, the preset torque may be negatively related to the temperature of the shaft motor 12, that is, the higher the temperature of the shaft motor 12, the smaller the preset torque; the lower the temperature of the shaft motor 12, the larger the preset torque, and thus, the preset The acquisition of the torque is more accurate, so that the determination result of judging whether the human body pushes the rotating shaft structure 10 by the desired torque and the preset torque is more accurate.

The PTZ 100 of the embodiment of the present invention can be applied to a mobile platform, that is, the mobile platform can include the PTZ 100 of any one of the foregoing embodiments. In addition, the mobile platform may further include a main body, and the PTZ 100 is disposed on the main body. When the mobile platform is a handheld PTZ, the body of the mobile platform may be a handheld part of the handheld PTZ. Of course, the mobile platform may include, for example, a cart, an aircraft, a robot, and the like, and the gimbal 100 on the body may be equipped with an imaging device and / or a shooting device and / or other functional modules.

Please refer to FIG. 14. In the embodiment of the present invention, the mobile platform is an aircraft 1000. The aircraft 1000 includes a gimbal 100 and a main body 200. The main body 200 includes, for example, a center frame, an arm connected to the center frame, and the arm. Connected power unit, etc. It can be understood that the body of the mobile platform corresponds to the type of the mobile platform. For example, when the mobile platform is a cart, the body is a cart.

Referring to FIG. 15, a computer-readable storage medium 400 according to an embodiment of the present invention includes a computer program, and the computer program can be executed by the processor 20 to implement the control method of any one of the foregoing embodiments.

For example, in conjunction with FIG. 1 and FIG. 15, the computer program may be executed by the processor 20 to complete the control method described in the following steps:

012: Obtain the working parameters of the shaft structure 10.

016: determining the human-driven angle of the rotary shaft structure 10 relative to the initial position according to the preset rotation speed when detecting that the working parameters meet the preset conditions of the human-driven shaft structure 10; and

018: When detecting that the working parameter changes from meeting the preset conditions to not meeting the preset conditions, the rotary shaft structure 10 is driven back to the initial position along the opposite direction of the angle formed by the human push.

For another example, in conjunction with FIG. 4 and FIG. 15, the computer program can also be executed by the processor 20 to complete the control method described in the following steps:

In the description of this specification, the description with reference to the terms “one embodiment”, “some embodiments”, “exemplary embodiments”, “examples”, “specific examples”, or “some examples”, etc., means in combination with the Specific features, structures, materials, or characteristics described in the embodiments or examples are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same implementation or example. Moreover, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more implementations or examples.

Any process or method description in a flowchart or otherwise described herein can be understood as representing a module, fragment, or portion of code that includes one or more executable instructions for performing 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 the functions may be performed out of the order shown or discussed, including performing the 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 ordered list of executable instructions that may be considered to perform a logical function, may be embodied in any computer-readable medium, For use by, or in combination with, an instruction execution system, device, or device (such as a computer-based system, a system that includes a processor, or another system that can fetch and execute instructions from an instruction execution system, device, or device) 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 (electronic devices) 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 various parts of the present invention may be executed by hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods may be performed by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if executed by hardware, as in another embodiment, it may be executed by any one or a combination of the following techniques known in the art: a logic gate circuit having a logic function for performing a logic function on a data signal 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 performing all or part of the steps carried by the foregoing implementation method can be completed by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and the program is executing , Including one or a combination of the steps of the method embodiments.

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 can be executed in the form of hardware or software functional modules. When the integrated module is executed 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, substitution, and modification.

Claims

A control method for a pan / tilt head. The pan / tilt head includes at least one shaft structure. The control method includes:

Obtaining working parameters of the shaft structure;

When it is detected that the working parameter meets a preset condition for manually pushing the rotating shaft structure, determining a manual pushing angle of the rotating shaft structure relative to an initial position according to a preset rotation speed; and

When it is detected that the working parameter changes from meeting the preset condition to not meeting the preset condition, the rotating shaft structure is driven back to the initial position along an opposite direction that forms the human pushing angle.
The method according to claim 1, wherein determining the human-driven angle of the rotating shaft structure relative to an initial position according to a preset rotation speed comprises:

Integrating the preset rotational speed to a desired posture component of the shaft structure is a real-time posture component of the shaft structure when a human is pushing the shaft structure;

Determining the human pushing angle of the rotating shaft structure relative to the initial position according to the integration result;

Wherein, the desired posture component is updated according to the posture when the shaft structure is located at the initial position and the integration result.
The method according to claim 1, further comprising:

If the manual pushing angle is greater than a preset value, determining that a direction forming the manual pushing angle is a first direction;

If the manual pushing angle is smaller than a preset value, it is determined that a direction forming the manual pushing angle is a second direction.
The method according to claim 1, wherein the preset rotational speed is a preset Euler angular velocity of the shaft structure.
The method according to claim 4, wherein the process of determining the preset Euler angular velocity comprises:

Convert the preset joint angular velocity according to a preset joint angular velocity, a translation relationship between the gimbal joint angular coordinate system and a gimbal body coordinate system, and a conversion relation between the gimbal body coordinate system and an Euler coordinate system Is the preset Euler angular velocity.
The method according to claim 1, wherein when it is detected that the working parameter meets a preset condition for manually pushing the shaft structure, determining the relative position of the shaft structure relative to the initial position according to a preset rotation speed. Human-driven perspectives, including:

When it is detected that the working parameter meets a preset condition for manually pushing the rotating shaft structure for a first predetermined time period, the manual pushing angle of the rotating shaft structure relative to the initial position is determined according to the preset rotation speed .
The method according to claim 1, characterized in that, when it is detected that the working parameter changes from meeting the preset condition to not meeting the preset condition, the opposite direction along which the manpower pushing angle is formed is detected. Direction to drive the shaft structure back to the initial position, including:

When it is detected that the working parameter changes from meeting the preset condition to not meeting the preset condition, and the working parameter does not meet the preset condition for a second predetermined period of time, driving along the formation of the manpower The opposite direction of the angle drives the shaft structure back to the initial position.
The method according to any one of claims 1 to 7, wherein the shaft structure includes a shaft motor, and the operating parameter includes a desired torque of the shaft motor.
The method according to claim 8, wherein the obtaining process of the desired torque comprises:

Acquiring a desired attitude component of the shaft structure and a real-time attitude component of the shaft structure when a human is pushing the shaft structure; and

The desired torque is determined according to the desired attitude component and the real-time attitude component.
The method according to claim 8, further comprising:

Determining whether the absolute value of the desired torque is greater than or equal to a preset torque;

When the absolute value of the desired torque is greater than or equal to the preset torque, determining that the operating parameter meets the preset condition; and

When the absolute value of the desired torque is smaller than the preset torque, it is determined that the operating parameter does not meet the preset condition.
The method according to claim 10, wherein the determining whether the absolute value of the desired torque is greater than or equal to a preset torque comprises:

When the direction in which the shaft structure is pushed by human power is the third direction, determine whether the desired torque is greater than or equal to the preset torque; and / or

When the direction in which the shaft structure is pushed by human power is the fourth direction, it is determined whether the desired torque is less than or equal to an opposite number of the preset torque.
The method according to claim 11, further comprising:

Comparing the desired attitude component with the real-time attitude component;

According to the comparison result, a direction in which a human body pushes the shaft structure is determined.
The method according to claim 12, wherein a direction of the preset rotation speed is the same as a direction in which the manual force pushes the rotating shaft structure.
The method according to claim 10, wherein the preset torque is preset according to a temperature protection strategy of the shaft motor.
The method according to claim 14, wherein the preset torque is adjusted in real time according to a temperature protection strategy of the shaft motor.
The method according to claim 1, wherein at least one of the rotation shaft structures comprises at least one of a rotation shaft structure corresponding to a yaw axis, a rotation shaft structure corresponding to a roll axis, and a rotation shaft structure corresponding to a pitch axis.
A gimbal, characterized in that the gimbal includes at least one shaft structure and a processor, and the processor is used for:

Obtaining working parameters of the shaft structure;

When it is detected that the working parameter meets a preset condition for manually pushing the rotating shaft structure, determining a manual pushing angle of the rotating shaft structure relative to an initial position according to a preset rotation speed; and

When it is detected that the working parameter changes from meeting the preset condition to not meeting the preset condition, the rotating shaft structure is driven back to the initial position along an opposite direction that forms the human pushing angle.
The gimbal of claim 17, wherein the processor is configured to:

Integrating the preset rotational speed to a desired posture component of the shaft structure is a real-time posture component of the shaft structure when a human is pushing the shaft structure;

Determining the human pushing angle of the rotating shaft structure relative to the initial position according to the integration result;

Wherein, the desired posture component is updated according to the posture when the shaft structure is located at the initial position and the integration result.
The PTZ according to claim 17, wherein the processor is further configured to:

If the manual pushing angle is greater than a preset value, determining that a direction forming the manual pushing angle is a first direction;

If the manual pushing angle is smaller than a preset value, it is determined that a direction forming the manual pushing angle is a second direction.
The gimbal of claim 17, wherein the preset rotational speed is a preset Euler angular velocity of the shaft structure.
The gimbal of claim 20, wherein the processor is configured to:

Convert the preset joint angular velocity according to a preset joint angular velocity, a translation relationship between the gimbal joint angular coordinate system and a gimbal body coordinate system, and a conversion relation between the gimbal body coordinate system and an Euler coordinate system Is the preset Euler angular velocity.
The gimbal of claim 17, wherein the processor is configured to:

When it is detected that the working parameter meets a preset condition for manually pushing the rotating shaft structure for a first predetermined time period, the manual pushing angle of the rotating shaft structure relative to the initial position is determined according to the preset rotation speed .
The gimbal of claim 17, wherein the processor is configured to:

When it is detected that the working parameter changes from meeting the preset condition to not meeting the preset condition, and the working parameter does not meet the preset condition for a second predetermined period of time, driving along the formation of the manpower The opposite direction of the angle drives the shaft structure back to the initial position.
The gimbal according to any one of claims 17 to 23, wherein the shaft structure includes a shaft motor, and the operating parameter includes a desired torque of the shaft motor.
The gimbal of claim 24, wherein the processor is configured to:

Acquiring a desired attitude component of the shaft structure and a real-time attitude component of the shaft structure when a human is pushing the shaft structure; and

The desired torque is determined according to the desired attitude component and the real-time attitude component.
The PTZ according to claim 24, wherein the processor is further configured to:

Determining whether the absolute value of the desired torque is greater than or equal to a preset torque;

When the absolute value of the desired torque is greater than or equal to the preset torque, determining that the operating parameter meets the preset condition; and

When the absolute value of the desired torque is smaller than the preset torque, it is determined that the operating parameter does not meet the preset condition.
The gimbal according to claim 26, wherein the processor is configured to:

When the direction in which the shaft structure is pushed by human power is the third direction, determine whether the desired torque is greater than or equal to the preset torque; and / or

When the direction in which the shaft structure is pushed by human power is the fourth direction, it is determined whether the desired torque is less than or equal to an opposite number of the preset torque.
The gimbal of claim 27, wherein the processor is further configured to:

Comparing the desired attitude component with the real-time attitude component;

According to the comparison result, a direction in which a human body pushes the shaft structure is determined.
The gimbal of claim 28, wherein a direction of the preset rotation speed is the same as a direction in which the manual force pushes the rotation shaft structure.
The gimbal of claim 26, wherein the preset torque is preset according to a temperature protection strategy of the shaft motor.
The gimbal of claim 30, wherein the preset torque is adjusted in real time according to a temperature protection strategy of the shaft motor.
The gimbal according to claim 17, wherein at least one of the rotation shaft structures comprises at least one of a rotation shaft structure corresponding to a yaw axis, a rotation shaft structure corresponding to a roll axis, and a rotation shaft structure corresponding to a pitch axis.
A mobile platform, characterized in that the mobile platform comprises a main body and a pan / tilt head according to any one of claims 17 to 32, and the pan / tilt head is disposed on the main body.
A computer-readable storage medium having stored thereon a computer program, characterized in that the computer program is executable by a processor to complete the control method according to any one of claims 1 to 16.