WO2020181531A1

WO2020181531A1 - Gimbal center of gravity trim method, gimbal, and client

Info

Publication number: WO2020181531A1
Application number: PCT/CN2019/078008
Authority: WO
Inventors: 刘力源; 谢文麟; 刘帅
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-03-13
Filing date: 2019-03-13
Publication date: 2020-09-17
Also published as: CN111316029B; CN111316029A

Abstract

A gimbal (100) center of gravity trim method, a gimbal (100), and a client (200). The method comprises: when a first trigger signal for center of gravity trim is received, detecting whether a center of gravity position of a respective portion of the gimbal (100) deviates from a desired center of gravity position (S101); and if the center of gravity position deviates from the desired center of gravity position, outputting a prompt signal for indicating adjustment of the center of gravity position (S102).

Description

Method for balancing the center of gravity of gimbal, gimbal and client

Technical field

The invention relates to the field of pan-tilt, in particular to a method for balancing the center of gravity of the pan-tilt, the pan-tilt and a client.

Background technique

In related technologies, most pan-tilts only support loads with known types and ranges, such as cameras and mobile phones, and do not support users to install unknown custom load modules. With the development of pan-tilt technology, some pan-tilts have the function of supporting users to install some unknown custom load modules by themselves, such as educational robot pan-tilts. Many mounting holes are reserved on this type of pan-tilt to support users' freedom Mount a custom load module. The custom load modules that DIY users install on the educational robot's pan/tilt may be water bomb guns, navigation modules, camera modules, searchlights, microphones, or even decorations, which are highly uncertain. If the layout of the custom load module is unreasonable, the center of gravity of the gimbal may be unstable, causing the gimbal to generate additional output in order to resist the gravity moment, which affects the use of the gimbal.

Summary of the invention

The invention provides a method for balancing the center of gravity of a pan/tilt, a pan/tilt and a client.

Specifically, the present invention is implemented through the following technical solutions:

According to a first aspect of the present invention, there is provided a method for balancing the center of gravity of a pan/tilt, the pan/tilt is configured to rotate around a pitch axis and/or a roll axis, and the method includes:

When receiving the first trigger signal for center of gravity trimming, detect whether the position of the center of gravity of the corresponding part of the pan/tilt head deviates from the expected position of the center of gravity;

If the position of the center of gravity deviates from the position of the desired center of gravity, a prompt signal for instructing to adjust the position of the center of gravity is output.

According to a second aspect of the present invention, there is provided a pan/tilt, the pan/tilt is configured to rotate around a pitch axis and/or a roll axis, and the pan/tilt includes:

Pitch axis motor and/or roll axis motor; and

A controller, which is electrically connected to the pitch axis motor and/or the roll axis motor;

Wherein, the controller is used for:

According to a third aspect of the present invention, there is provided a method for balancing the center of gravity of a pan/tilt, the method comprising:

If the trim command is received, the first trigger signal for center of gravity trim is generated;

Sending the first trigger signal to the pan-tilt to trigger the pan-tilt to detect the position of the center of gravity;

Receiving a prompt signal returned by the pan/tilt head in response to the first trigger signal, where the prompt signal is used to instruct to adjust the center of gravity position of the pan/tilt head that deviates from the desired center of gravity position.

According to a fourth aspect of the present invention, a client is provided, and the client includes:

Storage device for storing program instructions; and

The controller calls the program instructions, and when the program instructions are executed, it is used to:

It can be seen from the technical solutions provided by the above embodiments of the present invention that after the user adds a custom load module to the pan/tilt, the pan/tilt can be triggered to perform center-of-gravity trim. When performing center-of-gravity trim, if the center of gravity of the corresponding part of the pan/tilt deviates from the desired center of gravity Position, the center of gravity adjustment plan is given to guide the user to adjust the custom load module mounted on the corresponding part, so that the pan/tilt does not need to generate additional output to resist the gravitational moment when the normal output is maintained in a balanced state. Reduce the power consumption of the gimbal and reduce the heat of the gimbal, which can protect the gimbal and greatly reduce the risk of scalding users. It can also ensure that the gimbal has enough output for stability and greatly avoid disturbance caused by output saturation. Suppress performance degradation; at the same time, it expands the user experience so that the custom load module can also be used normally on the PTZ.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present invention, the following will briefly introduce the accompanying drawings used in the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative labor.

FIG. 1 is a flow chart of the method for balancing the center of gravity of the gimbal in an embodiment of the present invention on the gimbal side;

2 is a flow chart of the method for balancing the center of gravity of the gimbal in a specific embodiment of the present invention on the gimbal side;

3 is a schematic diagram of coordinates for detecting whether the position of the center of gravity of the part that rotates around the pitch axis in the pan/tilt head in an embodiment of the present invention is offset from the expected position of the center of gravity in the front-to-rear direction;

4 is a schematic diagram of coordinates for detecting whether the position of the center of gravity of the part of the pan-tilt rotating around the roll axis in an embodiment of the present invention is offset from the expected position of the center of gravity in the left-right direction;

5 is a schematic diagram of coordinates for detecting whether the position of the center of gravity of the part of the pan/tilt that rotates around the pitch axis in an embodiment of the present invention is offset from the expected position of the center of gravity in the vertical direction;

6 is a schematic diagram of coordinates for detecting whether the position of the center of gravity of the part of the pan-tilt that rotates around the roll axis in an embodiment of the present invention is offset from the expected position of the center of gravity in the up and down direction;

FIG. 7 is a flow chart of the method for balancing the center of gravity of the gimbal on the gimbal side in another specific embodiment of the present invention;

Fig. 8 is a structural block diagram of a pan-tilt in an embodiment of the present invention;

9 is a flow chart of the method for balancing the center of gravity of the gimbal in an embodiment of the present invention on the gimbal side;

Fig. 10 is a structural block diagram of a client in an embodiment of the present invention.

detailed description

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

At present, the educational robot PTZ can support users to install some unknown custom load modules by themselves. Due to the high uncertainty of the custom load modules, if the layout of the custom load modules mounted on the PTZ is not reasonable enough, it will cause the cloud The center of gravity of the platform is unstable, so that the gimbal needs to generate extra output in order to resist the gravity moment, which affects the use of the gimbal.

Therefore, it is necessary to judge whether the layout of the custom load module is reasonable or not. For this, the present invention uses the user to trigger the pan/tilt to perform center-of-gravity trimming. After the center-of-gravity trim is performed, the pan/tilt can guide the user to the custom load modules mounted on the corresponding part. The load module is adjusted so that the gimbal does not need to generate additional output to resist the gravitational moment when the normal output of the gimbal is kept in balance, reducing the power consumption of the gimbal and reducing the heat of the gimbal, which can protect the gimbal and greatly It reduces the risk of scalding users, and can also ensure that the gimbal has enough output for stabilization, greatly avoiding the degradation of disturbance suppression performance caused by output saturation; at the same time, the user experience is expanded, so that custom load modules can also be used in the cloud Normal use on stage.

The pan/tilt head of the embodiment of the present invention is configured to rotate around a pitch axis and/or a roll axis. Optionally, the gimbal is a single-axis gimbal, and the gimbal is configured to rotate around a pitch axis or a roll axis. Optionally, the gimbal is a two-axis gimbal, the gimbal is configured to rotate around the pitch axis and roll axis, or the gimbal is configured to rotate around the pitch axis and yaw axis, or the gimbal is configured to roll around The axis and the yaw axis rotate. Optionally, the gimbal is a three-axis gimbal, and the gimbal is configured to rotate around the pitch axis, roll axis, and yaw axis. Of course, the pan/tilt can also be other multi-axis pan/tilt, which are not listed here.

In addition, the pan-tilt in the embodiment of the present invention may be a pan-tilt mounted on a mobile device, or a handheld pan-tilt. Among them, the mobile device can be a mobile car, an unmanned aerial vehicle, or other devices with mobile functions.

The method for balancing the center of gravity of the pan-tilt, the pan-tilt, and the client of the present invention will be described in detail below in conjunction with the accompanying drawings. In the case of no conflict, the following embodiments and features in the implementation can be combined with each other.

Example one

FIG. 1 is a flow chart of the method for balancing the center of gravity of the gimbal in an embodiment of the present invention on the gimbal side. It should be noted that the method for balancing the center of gravity of the pan/tilt in the first embodiment of the present invention is executed by the pan/tilt. As shown in FIG. 1, the method for balancing the center of gravity of the pan/tilt in the first embodiment of the present invention may include the following steps:

S101: Upon receiving the first trigger signal for center of gravity trimming, detect whether the position of the center of gravity of the corresponding part of the pan/tilt head deviates from the expected position of the center of gravity;

The first trigger signal is used to instruct the pan/tilt head to perform center-of-gravity trim. The pan/tilt in this embodiment will perform center-of-gravity trim after receiving the first trigger signal. Optionally, the first trigger signal is generated by the pan/tilt. For example, the pan/tilt may generate the first trigger signal by operating keys/buttons on the pan/tilt. Optionally, the first trigger signal is sent by an external device. The external device can be a remote control device or a control terminal that controls the pan/tilt. The control terminal can be a mobile terminal such as a mobile phone or a Pad, or other terminal devices. Of course, the user can also trigger the pan-tilt to perform center-of-gravity trimming in other ways, such as touch, gestures, and voice.

Take a three-axis gimbal with an inner frame, a middle frame and an outer frame as an example. Optionally, the inner frame is a frame that rotates around the pitch axis, the middle frame is a frame that rotates around the roll axis, and the outer frame is a frame around the yaw axis. Rotating frame. In an ideal state, the overall center of gravity of the gimbal (that is, the overall center of gravity composed of the outer frame, middle frame, inner frame and the load carried on the inner frame) is the position of the intersection of the pitch axis, roll axis and yaw axis. At this time, the pitch axis and roll axis hardly need to resist the gravitational moment, the output value of the pitch axis and the roll axis is extremely small, and the average value is close to zero, that is, the gimbal does not need to generate additional output to resist the gravitational moment. When the gimbal is actually used, when the distance between the center of gravity of the gimbal and the intersection point is small, the extra output generated by the gimbal to resist the gravitational moment is also small, and the extra output will not affect the normal use of the gimbal. The distance between the center of gravity of the gimbal and the intersection point can be set to be small enough to meet the normal use requirements of the gimbal. Therefore, the desired center of gravity position can be a certain distance from the intersection position.

For example, optionally, when the pan/tilt is configured to rotate around the pitch axis, the corresponding part includes a part of the pan/tilt that rotates around the pitch axis, and it is desirable that the distance between the center of gravity position and the pitch axis is not greater than the first preset distance. In this embodiment, the part of the gimbal that rotates around the pitch axis includes the inner frame and the load mounted on the inner frame. The distance between the desired center of gravity position and the pitch axis is the vertical distance from the desired center of gravity position to the pitch axis. A preset distance can be set as required, such as 0.5cm, so that the extra output generated by the pan/tilt is small.

Optionally, when the pan/tilt is configured to rotate around the roll axis, the corresponding part includes a part of the pan/tilt that rotates around the roll axis, and it is expected that the distance between the center of gravity position and the roll axis is not greater than the second preset distance. In this embodiment, the part of the pan/tilt that rotates around the roll axis includes the middle frame, the inner frame and the load carried on the inner frame. The distance between the desired center of gravity and the roll axis is the distance from the desired center of gravity to the roll axis. vertical distance. Among them, the second preset distance can be set as required, such as 0.5 cm, so that the extra output generated by the pan/tilt head is small.

S102: If the position of the center of gravity deviates from the expected position of the center of gravity, output a prompt signal for indicating adjustment of the position of the center of gravity.

In this embodiment, the position of the center of gravity deviates from the desired center of gravity position including one or more of the following situations: the position of the center of gravity is deviated from the desired center of gravity position in the front and rear direction, the position of the center of gravity is deviated from the desired center of gravity position in the left-right direction, and the center of gravity position is up and down. The direction is offset from the desired center of gravity position. Optionally, when the front of the pan/tilt faces the user, the side of the pan/tilt facing the user is the front, and the side facing away from the user is the rear; the side of the pan/tilt facing the left is the left, and the side of the pan/tilt facing the right is the right; The direction of gravity of the gimbal is downward, and the opposite direction of the direction of gravity of the gimbal is upward.

When the corresponding part is the part of the gimbal that rotates around the pitch axis, it can be detected whether the position of the center of gravity of the part of the gimbal that rotates around the pitch axis is offset from the expected center of gravity position in the front-to-back direction and/or up and down direction; when the corresponding part is in the gimbal When the part that rotates around the roll axis, it can be detected whether the position of the center of gravity of the part that rotates around the roll axis in the pan/tilt head is offset from the desired center of gravity position in the left-right direction and/or up-down direction.

This embodiment detects whether the center of gravity position of the corresponding part of the pan/tilt platform deviates from the desired center of gravity position according to the type of the pan/tilt platform and actual requirements. For example, in some of the embodiments, it is only detected whether the center of gravity position of the corresponding part of the pan/tilt head is offset from the desired center of gravity position in the up and down direction, such as detecting the part of the pan/tilt head that rotates around the pitch axis and/or the pan/tilt head rotates around the roll axis. Whether the position of the center of gravity of the part in the vertical direction is offset from the desired position of the center of gravity. In other embodiments, it is not only detected whether the center of gravity position of the corresponding part of the pan/tilt head is offset from the expected center of gravity position in the up and down direction, but also whether the center of gravity position of the corresponding part of the pan/tilt head is offset from the expected center of gravity position in the front-to-back direction and/ Or detect that the center of gravity of the corresponding part of the pan/tilt is deviated from the expected center of gravity in the left and right directions. For example, detect whether the center of gravity of the part that rotates around the pitch axis in the pan/tilt is deviated from the expected center of gravity in the vertical direction, and detect whether the center of gravity is deviated from the expected center of gravity. Whether the position of the center of gravity of the part rotated by the pitch axis deviates from the expected position of the center of gravity in the front and rear direction, and/or detects whether the position of the center of gravity of the part that rotates around the roll axis in the pan/tilt is deviated from the expected position of the center of gravity in the vertical direction, and detects Whether the position of the center of gravity of the part that rotates around the roll axis in the pan/tilt is deviated from the desired position of the center of gravity in the left-right direction.

The method of detecting whether the center of gravity position of the corresponding part of the pan/tilt head deviates from the desired center of gravity position can be selected according to needs, see Figure 2. In a specific implementation, the process of detecting whether the center of gravity position of the corresponding part of the pan/tilt head deviates from the desired center of gravity position may include the following step:

S201: Control the pan/tilt to rotate so that the corresponding part of the pan/tilt is at at least one preset position;

In this step, the preset position includes the target position and/or other positions. Wherein, the target position may be the position of the corresponding part when the center of gravity position of the historical record is at the desired center of gravity position, or the position of the pan/tilt when returning to the center (that is, the position of the corresponding portion when the pan/tilt is returning to the center).

The preset position may include one or more, for example, detecting whether the center of gravity position of the corresponding part of the pan/tilt head is offset from the expected center of gravity position in the front and rear direction and/or detecting whether the center of gravity position of the corresponding part of the pan/tilt head is in the left-right direction and the expected center of gravity When the position is offset, the preset position includes one. For example, when detecting whether the center of gravity position of the part that rotates around the pitch axis in the pan/tilt head is offset from the expected center of gravity position in the front and back direction, the preset position is the first preset position; when detecting whether the center of gravity position of the corresponding part of the pan/tilt head is on the left and right When the direction is offset from the desired center of gravity position, the preset position is the second preset position. Wherein, the first preset position and the second preset position may be the same position, for example, the first preset position and the second preset position are both target positions. Of course, the first preset position and the second preset position may also be different positions.

When detecting whether the center of gravity of the corresponding part of the pan/tilt is offset from the desired center of gravity in the vertical direction, the preset positions include 3, such as detecting whether the center of gravity of the part that rotates around the pitch axis in the pan/tilt is in the vertical direction and the desired center of gravity. When the position is offset, the preset position includes the third preset position, the fourth preset position and the target position; whether the center of gravity position of the part that rotates around the roll axis in the detection platform is offset from the expected center of gravity position in the up and down direction When the time, the preset position includes the fifth preset position, the sixth preset position and the target position.

S202: Detect whether the center of gravity position when the corresponding part is at the target position in at least one preset position deviates from the expected center of gravity position.

When the corresponding part is the part of the gimbal that rotates around the pitch axis, it can be detected whether the center of gravity position when the part of the gimbal that rotates around the pitch axis is at the target position in at least one preset position is deviated from the expected center of gravity position in the front-rear direction and /Or detecting whether the center of gravity position when the part of the pan/tilt rotating around the pitch axis is at the target position in at least one preset position is offset from the expected center of gravity position in the up and down direction.

When the corresponding part is the part of the pan/tilt that rotates around the roll axis, it can be detected whether the center of gravity position when the part of the pan/tilt that rotates around the roll axis is at the target position in at least one preset position is deviated from the desired center of gravity in the left-right direction. Move and/or detect whether the center of gravity position when the part of the pan/tilt rotating around the roll axis is at the target position in at least one preset position is offset from the expected center of gravity position in the up and down direction.

Taking the gimbal including the pitch axis motor and/or the roll axis motor as an example, S202 may include the following steps:

(1) Obtain the torque value output by the pitch axis motor and/or the roll axis motor when the corresponding part is in a specific position among at least one preset position;

Wherein, when detecting whether the center of gravity position when the part of the pan/tilt rotating around the pitch axis is at the target position in at least one preset position is offset from the expected center of gravity position in the front-to-rear direction, the specific position is the first preset position. In this step, it is necessary to obtain the first torque value output by the pitch axis motor when the part of the gimbal that rotates around the pitch axis is at the first preset position.

When detecting whether the center of gravity position when the part of the pan/tilt rotating around the roll axis is at the target position in at least one preset position, the specific position is the second preset position. In this step, it is necessary to obtain the second torque value output by the roll axis motor when the part of the pan/tilt that rotates around the roll axis is at the second preset position.

Whether the center of gravity position when the part of the pan/tilt rotating around the pitch axis is at the target position in at least one preset position is deviated from the expected center of gravity position in the up and down direction, the specific position includes the third preset position and the fourth preset position. This step needs to obtain the third torque value output by the pitch axis motor when the part of the gimbal that rotates around the pitch axis is at the third preset position, and the pitch axis motor when the part of the gimbal that rotates around the pitch axis is at the fourth preset position The output fourth torque value.

When detecting whether the center of gravity position when the part of the pan/tilt rotating around the roll axis is at the target position in at least one preset position is offset from the expected center of gravity position in the up and down direction, the specific position includes the fifth preset position and the sixth preset position. Preset location. This step needs to obtain the fifth torque value output by the roll axis motor when the part of the pan/tilt rotating around the roll axis is at the fifth preset position, and when the part of the pan/tilt rotating around the roll axis is at the sixth preset position, The sixth torque value output by the roll axis motor.

In some embodiments, after the corresponding part is in a specific position among the at least one preset position, before obtaining the torque value output by the pitch axis motor and/or the roll axis motor, the method further includes: determining the pitch axis motor and/or Or the torque value output by the roll axis motor converges to ensure the accuracy of the torque value obtained, thereby improving the accuracy of the center of gravity of the gimbal.

Different methods can be used to determine whether the torque value output by the pitch axis motor and/or roll axis motor converges. For example, as an implementation method, the process of determining the torque value output by the pitch axis motor and/or roll axis motor converges Including: determining the variance of multiple torque values output by the pitch axis motor and/or roll axis motor in a specific time period; and determining the convergence of the torque values output by the pitch axis motor and/or roll axis motor according to the variance. Specifically, when the variance is less than or equal to the preset variance threshold, it is determined that the torque values output by the pitch axis motor and/or roll axis motor converge; when the variance is greater than the preset variance threshold, the pitch axis motor and/or roll axis is determined The torque value output by the motor does not converge. Among them, the preset variance threshold can be set as required, such as 0.5, 0.6 or other values. As another implementation manner, the process of determining the convergence of the torque value output by the pitch axis motor and/or the roll axis motor includes: determining the pitch axis when the duration of the corresponding part at at least one preset position is greater than or equal to the preset duration The output torque value of the motor and/or roll axis motor converges. The duration of the corresponding part being at the at least one preset position is greater than or equal to the preset time length to ensure that the corresponding part is stably at the at least one preset position, thereby ensuring the accuracy of the torque value. Among them, the preset duration can be set as required, such as 5 seconds, 10 seconds or other durations.

In some embodiments, the torque value output by the pitch axis motor and/or the roll axis motor is: a value obtained after smooth filtering of multiple torque values output by the pitch axis motor and/or roll axis motor in a specific period of time, In order to eliminate the influence of noise on the torque value, ensure the accuracy of the torque value, thereby improving the accuracy of the center of gravity of the gimbal.

(2) According to the torque value, it is detected whether the position of the center of gravity when the corresponding part is at the target position in at least one preset position deviates from the expected position of the center of gravity.

If the position of the center of gravity of the corresponding part deviates from the expected position of the center of gravity, then the pitch axis and/or roll axis of the gimbal will output a continuous and constant torque value in order to resist the moment of gravity, so it can be based on the pitch axis and/or horizontal The torque value output by the roller is used to calculate the current trim situation of the gimbal.

In a specific embodiment for detecting whether the position of the center of gravity of the part that rotates around the pitch axis in the pan/tilt head is offset from the expected center of gravity position in the front-to-rear direction, the pan/tilt is configured to rotate around the pitch axis, and the pan/tilt in this embodiment includes a pitch axis motor . It should be noted that, in this embodiment, the corresponding part refers to the part of the pan/tilt that rotates around the pitch axis. The specific position is the first preset position, and the aforementioned torque value may include: the first torque value output by the pitch axis motor when the corresponding part is at the first preset position. According to the torque value, the process of detecting whether the center of gravity position when the corresponding part is at the target position in at least one preset position deviates from the expected center of gravity position includes: according to the first torque value, detecting whether the center of gravity position when the corresponding part is at the first preset position There is an offset from the desired center of gravity in the front and rear direction.

According to the first moment value, the implementation of detecting whether the center of gravity position of the corresponding part is at the first preset position is offset from the expected center of gravity position in the front-to-rear direction may include the following two implementations:

In the first implementation, referring to Fig. 3, when the corresponding part is in the first preset position (position 1 in Fig. 3), the pitch axis to the center of gravity position (that is, the part of the pan/tilt that rotates around the pitch axis is in the first preset position). The line direction and the horizontal direction of the distance along the line form the first included angle θ ₁ . In this implementation, according to the torque value, the process of detecting whether the center of gravity position when the corresponding part is at the target position in at least one preset position deviates from the expected center of gravity position may include: first determining the angle of the first included angle according to the first torque value Range and/or the cosine value of the first included angle; then according to the angle range of the first included angle and/or the cosine value of the first included angle, it is detected whether the position of the center of gravity when the corresponding part is at the first preset position is in the front and rear direction. It is expected that there is an offset in the position of the center of gravity.

In this implementation manner, when the angle range of the first included angle and/or the cosine value of the first included angle meets the first strategy, it is determined that the position of the center of gravity is offset from the expected position of the center of gravity in the front-to-rear direction. Among them, the first strategy can be set according to the use requirements of the pan/tilt. Optionally, when the cosine of the first included angle is positive, it is determined that the position of the center of gravity is forward relative to the desired center of gravity; when the cosine of the first included angle is When the value is negative, it is determined that the position of the center of gravity is behind the expected position of the center of gravity. Optionally, when the angle range of the first included angle is within the first preset angle range, it is determined that the position of the center of gravity is forward relative to the desired center of gravity position; when the angle range of the first included angle is within the second preset angle range , Make sure that the center of gravity is behind the desired center of gravity. It can be understood that the first strategy is not limited to the manners listed in the foregoing embodiment, and may be set in other manners.

Disassemble the three axes of the gimbal into three independent degrees of freedom, you can select the cross-section of the pitch axis (pitch) and the roll axis (roll) to evaluate the position of the center of gravity of the gimbal that rotates around the pitch axis. ,As shown in Figure 3. Among them, position 1 is the position of the center of gravity when the part of the gimbal that rotates around the pitch axis is at the first preset position, θ ₁ is the first angle formed between the line direction and the horizontal direction of the distance from the pitch axis to the center of gravity position, and T ₁ is When the corresponding part is in the first preset position, the first torque value output by the pitch axis motor, m is the mass of the corresponding part, g is the acceleration of gravity, d is the distance from the pitch axis to the center of gravity, set the direction of rotation of the gimbal to reverse The hour hand is positive. In order to facilitate intuitive understanding, in Figure 3, taking the desired center of gravity position as the origin, and the horizontal and vertical planes as references, the pan/tilt section is divided into four quadrant blocks.

Among them, the first torque value T ₁ and the first included angle θ ₁ satisfy the following formula (1):

T ₁ ＝mg·d·cosθ ₁ (1)

It can be seen from formula (1) that when cosθ ₁ > 0, the center of gravity of the part of the gimbal that rotates around the pitch axis is located in quadrant I or IV shown in Figure 3, and the center of gravity of the part of the gimbal that rotates around the pitch axis is relatively Deviate from the desired center of gravity; when cosθ ₁ <0, the center of gravity of the part of the gimbal that rotates around the pitch axis is located in Quadrant II or Quadrant III shown in Figure 3, and the center of gravity of the part of the gimbal that rotates around the pitch axis is relatively Behind the desired center of gravity.

When 0 degrees<θ ₁ <90 degrees or 270 degrees<θ ₁ <360 degrees, the center of gravity of the part of the gimbal that rotates around the pitch axis is located in quadrant I or quadrant IV shown in Figure 3, and the gimbal rotates around the pitch axis The position of the center of gravity of the part is forward relative to the expected center of gravity; when 90 degrees<θ ₁ <270 degrees, the center of gravity of the part of the gimbal that rotates around the pitch axis is located in quadrant II or quadrant III as shown in Figure 3. The position of the center of gravity of the part rotating around the pitch axis is offset from the desired position of the center of gravity.

In addition, when cos θ ₁ is 0 and/or θ ₁ =90 degrees or 270 degrees, it is determined that the center of gravity position does not deviate from the desired center of gravity position in the front-rear direction.

In the second implementation manner, when the absolute value of the first torque value T ₁ is greater than the first preset torque value, it is determined that the center of gravity position when the corresponding part is at the first preset position is offset from the expected center of gravity position in the front-to-rear direction . Optionally, when the first torque value T _{1 is} greater than the first preset torque value, it is determined that the position of the center of gravity is forward relative to the desired center of gravity position; when the first torque value T _{1 is} less than the opposite of the first preset torque value, Make sure that the center of gravity is behind the desired center of gravity. Among them, the first preset torque value can be set according to needs, for example, the first preset torque value can be 5N·m ² , when T ₁ >5N·m ² , it is determined that the center of gravity position is forward relative to the desired center of gravity position; When T ₁ <-5N·m ² , it is determined that the position of the center of gravity is behind the expected position of the center of gravity.

In addition, it can be understood that when the absolute value of the first torque value T ₁ is less than or equal to the first preset torque value, it is determined that the center of gravity position when the corresponding part is at the first preset position does not deviate from the expected center of gravity position in the front-rear direction. .

In a specific embodiment of detecting whether the center of gravity position of the part of the pan/tilt that rotates around the roll axis is offset from the desired center of gravity in the left and right direction, the pan/tilt is configured to rotate about the roll axis, and the pan/tilt in this embodiment includes a horizontal Roller motor. It should be noted that in this embodiment, the corresponding part refers to the part of the pan/tilt that rotates around the roll axis. Wherein, the specific position is the second preset position, and the aforementioned torque value includes: the second torque value output by the roll axis motor when the corresponding part is at the second preset position. In this implementation, according to the torque value, the process of detecting whether the center of gravity position when the corresponding part is at the target position in at least one preset position deviates from the expected center of gravity position may include: detecting that the corresponding part is at the second preset according to the second torque value Whether the position of the center of gravity is offset from the desired center of gravity in the left-right direction.

According to the second torque value, the implementation of detecting whether the center of gravity position of the corresponding part is at the second preset position is offset from the expected center of gravity position in the left-right direction may include the following two implementations:

In the first implementation, referring to Fig. 4, when the corresponding part is in the second preset position (position 2 in Fig. 4), the roll axis to the center of gravity position (that is, the part of the pan/tilt that rotates around the roll axis is in the second preset position). The distance along the line direction and the horizontal direction form a second included angle θ ₂ . In this implementation, according to the second torque value, the process of detecting whether the center of gravity position of the corresponding part is at the second preset position is offset from the expected center of gravity position in the left and right direction may include: first determining the second torque value according to the second torque value. The angle range of the included angle and/or the cosine value of the second included angle; then according to the angle range of the second included angle and/or the cosine value of the second included angle, it is detected whether the center of gravity position when the corresponding part is at the second preset position There is an offset from the desired center of gravity in the left and right direction.

In this implementation manner, when the angle range of the second included angle and/or the cosine value of the second included angle meets the second strategy, it is determined that the position of the center of gravity is deviated from the desired position of the center of gravity in the left-right direction. Among them, the second strategy can be set according to the use requirements of the pan/tilt. Optionally, when the cosine of the second included angle is positive, it is determined that the position of the center of gravity is to the right of the desired center of gravity; when the cosine of the second included angle is When the value is negative, it is determined that the position of the center of gravity is to the left relative to the expected position of the center of gravity. Optionally, when the angle range of the second included angle is within the third preset angle range, it is determined that the position of the center of gravity is off to the right with respect to the desired center of gravity position; when the angle range of the second included angle is within the fourth preset angle range , Make sure that the center of gravity is to the left relative to the desired center of gravity. It can be understood that the second strategy is not limited to the manners listed in the foregoing embodiment, and may be set in other manners.

Disassemble the three axes of the gimbal into three independent degrees of freedom, you can select the cross-section of the pitch axis (pitch) and the roll axis (roll) to evaluate the position of the center of gravity of the corresponding part of the balance, as shown in Figure 4 . Wherein, position 2 is the position of the center of gravity when the part of the pan/tilt that rotates around the roll axis is in the second preset position, θ ₂ is the second included angle formed by the line direction and the horizontal direction of the distance from the roll axis to the center of gravity, T ₂ is the second torque value output by the roll axis motor when the corresponding part is in the second preset position, m is the mass of the corresponding part, g is the acceleration of gravity, and d is the distance from the roll axis to the center of gravity. The direction of rotation is positive counterclockwise. In order to facilitate intuitive understanding, in Figure 4, taking the desired center of gravity position as the origin, and the horizontal and vertical planes as references, the pan/tilt section is divided into four quadrant blocks.

Among them, the second torque value T ₂ and the second included angle θ ₂ satisfy the following formula (2):

T ₂ ＝mg·d·cosθ ₂ (2)

It can be seen from formula (2) that when cosθ ₂ >0, the center of gravity of the part of the pan/tilt that rotates around the roll axis is located in quadrant I or IV shown in Figure 4, and the center of gravity of the part of the pan/tilt that rotates about the roll axis The position is to the right relative to the desired center of gravity; when cosθ ₂ <0, the center of gravity of the part of the gimbal that rotates around the roll axis is in quadrant II or III as shown in Figure 4, and the part of the gimbal that rotates around the roll axis The position of the center of gravity is to the left of the desired center of gravity.

When 0 degrees<θ ₂ <90 degrees or 270 degrees<θ ₂ <360 degrees, the center of gravity of the part of the gimbal that rotates around the roll axis is located in the quadrant I or IV shown in Figure 4, and the gimbal rolls around The position of the center of gravity of the part of the axis rotation is offset to the right of the desired position of the center of gravity; when 90 degrees<θ ₂ <270 degrees, the center of gravity of the part of the gimbal that rotates around the roll axis is located in quadrant II or quadrant III as shown in Figure 4 , The center of gravity of the part of the pan/tilt that rotates around the roll axis is leftward relative to the desired center of gravity.

In addition, when cosθ ₂ is 0 and/or θ ₂ =90 degrees or 270 degrees, it is determined that the center of gravity position does not deviate from the desired center of gravity position in the left-right direction.

In the second implementation manner, when the absolute value of the second torque value T ₂ is greater than the second preset torque value, it is determined that the center of gravity position when the corresponding part is at the second preset position is offset from the desired center of gravity position in the left-right direction . Optionally, when the second torque value is greater than the second preset torque value, it is determined that the center of gravity position is to the right relative to the desired center of gravity position; when the second torque value is less than the opposite of the second preset torque value, it is determined that the center of gravity position is relatively To the left of the desired center of gravity. Among them, the second preset torque value can be set according to needs. For example, the second preset torque value can be 3N·m ^2. When T ₁ >3N·m ² , it is determined that the center of gravity position is to the right relative to the desired center of gravity position; When T ₁ <-3N·m ² , it is determined that the center of gravity position is to the left relative to the desired center of gravity position.

In addition, it can be understood that when the absolute value of the second torque value T ₂ is less than or equal to the second preset torque value, it is determined that the center of gravity position when the corresponding part is at the second preset position does not deviate from the desired center of gravity position in the left-right direction. .

In a specific embodiment for detecting whether the center of gravity position of the part of the pan/tilt rotating around the pitch axis is offset from the desired center of gravity position in the up and down direction, the pan/tilt includes a pitch axis motor, and the corresponding part in this embodiment refers to the tilt axis in the pan/tilt. The rotating part. Wherein, the specific position includes the third preset position and the fourth preset position, the torque value includes: when the corresponding part is at the third preset position, the third torque value output by the pitch axis motor, and the corresponding part is at the fourth preset position When, the fourth torque value output by the pitch axis motor. In this embodiment, according to the torque value, the process of detecting whether the center of gravity position when the corresponding part is at the target position in at least one preset position deviates from the expected center of gravity position may include: detecting the corresponding part according to the third torque value and the fourth torque value Whether the center of gravity position at the target position in at least one preset position is offset from the desired center of gravity position in the up and down direction.

Wherein, the along-line direction of the distance from the pitch axis to the center of gravity position when the corresponding part is at the third preset position and the along-line direction of the distance from the pitch axis to the center of gravity position when the corresponding part is at the fourth preset position have a fixed size. Optionally, the along-line direction of the distance from the pitch axis to the center of gravity position when the corresponding part is at the third preset position, and the along-line direction of the distance from the pitch axis to the center of gravity position when the corresponding part is at the fourth preset position is greater than 0 degrees If it is less than 180 degrees, the included angle can be 20 degrees, 30 degrees, 40 degrees, or other angles greater than 0 degrees and less than 180 degrees.

In one embodiment, referring to FIG. 5, the distance along the line from the pitch axis to the center of gravity position when the corresponding part is at the third preset position (that is, the center of gravity position when the part of the gimbal that rotates around the pitch axis is at the third preset position) It forms a third angle θ ₃ along the line with the distance from the pitch axis to the center of gravity when the corresponding part is at the target position; when the corresponding part is at the fourth preset position, the pitch axis to the center of gravity position (that is, the part of the gimbal that rotates around the pitch axis is at The distance along the line direction of the center of gravity position at the fourth preset position and the distance along the line direction of the pitch axis to the center of gravity position when the corresponding part is at the target position form a third included angle forming a fourth included angle θ ₄ .

Optionally, the third included angle θ ₃ and the fourth included angle θ ₄ are equal in magnitude. In some examples, the third preset position is: when the corresponding part is at the target position, the position of the corresponding part after rotating the first preset angle in the first direction; the fourth preset position is: when the corresponding part is in the first In the case of three preset positions, the position of the corresponding part is rotated around the second direction twice the size of the first preset included angle. In other examples, the third preset position is: when the corresponding part is at the target position, the position of the corresponding part after rotating the first preset angle around the first direction; the fourth preset position is: when the corresponding part is at At the target position, the position of the corresponding part after rotating the first preset angle in the second direction. Among them, the first direction and the second direction are two opposite directions. When the first direction is counterclockwise, the second direction is clockwise; when the first direction is clockwise, the second direction is Counterclockwise. Specifically, in the embodiment shown in FIG. 5, the first direction is a counterclockwise direction, and the second direction is a clockwise direction. Further, the size of the first preset included angle can be set as required. The first preset included angle in this embodiment is greater than 0 degrees and less than 90 degrees. For example, the first preset included angle may be 10 degrees, 15 degrees, and 20 degrees. , 30 degrees or other angles greater than 0 degrees and less than 90 degrees.

In other embodiments, the line direction of the distance from the pitch axis to the center of gravity position when the corresponding part is in the third preset position may coincide with the line direction of the distance from the pitch axis to the center of gravity position when the corresponding part is at the target position, or the corresponding part is in the first position. The along-line direction of the distance from the pitch axis to the center of gravity position at the four preset positions may coincide with the along-line direction of the distance from the pitch axis to the center of gravity position when the corresponding part is at the target position.

In the following embodiments, the third angle θ ₃ and the fourth angle θ ₄ are equal (θ ₃ =θ ₄ =β ₁ ) as an example to illustrate how to detect the corresponding part according to the third torque value and the fourth torque value Whether the center of gravity position at the target position in at least one preset position is offset from the desired center of gravity position in the up and down direction.

According to the third torque value and the fourth torque value, detecting whether the center of gravity position of the corresponding part is at the target position in at least one preset position is offset from the expected center of gravity position in the up and down direction may include the following two implementations:

In the first implementation, referring to Figure 5, when the corresponding part is located at the target position, the distance from the pitch axis to the center of gravity position (that is, the center of gravity position when the corresponding part is at the target position) forms a fifth included angle with the horizontal direction. θ ₅ . In this implementation, according to the third torque value and the fourth torque value, the process of detecting whether the center of gravity position when the corresponding part is at the target position in at least one preset position is offset from the expected center of gravity position in the up and down direction may include: The third torque value and the fourth torque value determine the angle range of the fifth included angle and/or the sine value of the fifth included angle; according to the angle range of the fifth included angle and/or the sine value of the fifth included angle, detect the corresponding Whether the center of gravity position when part of the target position is in at least one preset position is offset from the expected center of gravity position in the up and down direction.

In this implementation manner, when the angle range of the fifth included angle and/or the sine value of the fifth included angle meets the third strategy, it is determined that the position of the center of gravity is offset from the desired center of gravity position in the up and down direction. Among them, the third strategy can be set according to the use requirements of the PTZ. Optionally, when the sine of the fifth included angle is positive, it is determined that the position of the center of gravity is higher than the expected position of the center of gravity; when the sine of the fifth included angle is When the value is negative, it is determined that the position of the center of gravity is lower than the expected position of the center of gravity. Optionally, when the angle range of the fifth included angle is within the fifth preset angle range, it is determined that the position of the center of gravity is higher than the expected position of the center of gravity; when the angle range of the fifth included angle is within the sixth preset angle range , Make sure that the center of gravity position is lower than the desired center of gravity position. It can be understood that the third strategy is not limited to the manners listed in the foregoing embodiment, and may be set in other manners.

Disassemble the three axes of the gimbal into three independent degrees of freedom, you can select the cross-section of the pitch axis (pitch) and the roll axis (roll) to evaluate the center of gravity position and trim status of the corresponding part, as shown in Figure 5. . Among them, position 3 is the center of gravity when the part of the gimbal that rotates around the pitch axis is at the third preset position, position 4 is the position of the center of gravity when the part of the gimbal that rotates around the pitch axis is at the fourth preset position, and θ ₃ is the corresponding The third angle formed by the distance along the line from the pitch axis to the center of gravity when the part is in the third preset position and the distance along the line from the pitch axis to the center of gravity when the corresponding part is at the target position, θ ₄ is the fourth The fourth angle formed by the distance along the line from the pitch axis to the center of gravity at the preset position and the distance from the pitch axis to the center of gravity when the corresponding part is at the target position. θ ₅ is the pitch axis when the corresponding part is at the target position. The fifth angle formed by the distance to the center of gravity (that is, the position of the center of gravity when the corresponding part is at the target position) and the horizontal direction. T ₃ is the third angle output by the pitch axis motor when the corresponding part is at the third preset position. Torque value, T ₄ is the fourth torque value output by the pitch axis motor when the corresponding part is in the fourth preset position, m is the mass of the corresponding part, g is the acceleration of gravity, d is the distance from the pitch axis to the center of gravity, set The direction of rotation of the gimbal is positive counterclockwise. In order to facilitate intuitive understanding, in Fig. 5, with the desired center of gravity position as the origin, and the horizontal and vertical planes as references, the pan/tilt section is divided into four quadrant blocks.

Among them, the third torque value T ₃ and the fifth angle θ ₅ and the fourth torque value T ₄ and the fifth angle θ ₅ satisfy the following formula (3):

Derived from formula (3):

T ₄ -T ₃ ＝2mg·d·sinβ ₁ ·sinθ ₅ (4)

Since T ₃ , T ₄ , m, g, d and β ₁ are all known, it can be known from formula (4) that when sinθ ₅ > 0, the center of gravity of the part of the gimbal that rotates around the pitch axis is located as shown in Figure 5 In the quadrant I or quadrant II, the center of gravity is determined to be higher than the desired center of gravity; when sinθ ₅ <0, the center of gravity of the part of the gimbal that rotates around the pitch axis is located in the quadrant III or quadrant IV shown in Figure 5. Make sure that the center of gravity is lower than the desired center of gravity.

When 0 degrees<θ ₅ <180 degrees, the center of gravity of the part of the gimbal that rotates around the pitch axis is located in quadrant I or quadrant II as shown in Figure 5. It is determined that the center of gravity position is higher than the expected center of gravity position; when 180 degrees< When θ ₅ <360 degrees, the center of gravity of the part of the gimbal that rotates around the pitch axis is located in quadrant III or quadrant IV shown in Figure 5, and the center of gravity is determined to be lower than the desired center of gravity.

In addition, when sin θ ₅ is 0 and/or θ ₅ =0 degrees, 180 degrees, it is determined that the center of gravity position does not deviate from the desired center of gravity position in the vertical direction.

In the second implementation manner, when the absolute value of the difference between the third torque value T ₃ and the fourth torque value T ₄ |T ₄ -T ₃ | is greater than the third preset torque value, it is determined that the center of gravity position is in the up and down direction There is an offset from the desired center of gravity. Optionally, when the difference between the third torque value and the fourth torque value is greater than the third preset torque value, it is determined that the center of gravity position is lower than the expected center of gravity position; when the difference between the third torque value and the fourth torque value When it is less than the inverse of the third preset torque value, it is determined that the position of the center of gravity is higher than the expected position of the center of gravity. Among them, the third preset torque value can be set according to needs, for example, the third preset torque value can be 8N·m ² , when T ₃ -T ₄ >8N·m ² , it is determined that the center of gravity position is deviated from the desired center of gravity position Down; When T ₃ -T ₄ <-8N·m ² , it is determined that the center of gravity position is higher than the expected center of gravity position.

In addition, it can be understood that when the absolute value of the difference between the third torque value T ₃ and the fourth torque value T ₄ |T ₄ -T ₃ | is less than or equal to the third preset torque value, it is determined that the center of gravity position of the corresponding part is There is no deviation between the up and down direction and the desired center of gravity.

In a specific embodiment for detecting whether the center of gravity position of the part that rotates around the roll axis in the pan/tilt head is offset from the desired center of gravity position in the up and down direction, the pan/tilt head includes a roll axis motor, and the corresponding part in this embodiment refers to The part where the roll axis turns. Among them, the specific position includes the fifth preset position and the sixth preset position, the torque value includes: when the corresponding part is at the fifth preset position, the fifth torque value output by the roll axis motor, and the corresponding part is at the sixth preset position Position, the sixth torque value output by the roll axis. In this embodiment, according to the torque value, the process of detecting whether the center of gravity position when the corresponding part is at the target position in at least one preset position deviates from the expected center of gravity position may include: detecting the corresponding part according to the fifth torque value and the sixth torque value Whether the center of gravity position at the target position in at least one preset position is offset from the desired center of gravity position in the up and down direction.

Wherein, when the corresponding part is at the fifth preset position, the distance along the line from the roll axis to the center of gravity position is fixed in size with the distance from the roll axis to the center of gravity position when the corresponding part is at the sixth preset position. Optionally, the along-line direction of the distance from the roll axis to the center of gravity position when the corresponding part is at the fifth preset position and the along-line direction of the distance from the roll axis to the center of gravity position when the corresponding part is at the sixth preset position is greater than 0 degrees and less than 180 degrees, the included angle can be 20 degrees, 30 degrees, 40 degrees, or other angles greater than 0 degrees and less than 180 degrees.

In one embodiment, referring to FIG. 6, when the corresponding part is at the fifth preset position, the distance from the roll axis to the center of gravity position (that is, the center of gravity position when the part of the pan/tilt that rotates around the roll axis is at the fifth preset position) When the corresponding part is at the target position, the distance along the line from the roll axis to the center of gravity forms a sixth included angle θ ₆ ; when the corresponding part is at the sixth preset position, the roll axis to the center of gravity position (ie The distance along the line direction of the distance of the part that the pitch axis rotates at the sixth preset position and the distance along the line from the roll axis to the center of gravity position when the corresponding part is at the target position forms a seventh included angle θ ₇ .

Optionally, the sixth included angle θ ₆ and the seventh included angle θ ₇ are equal in magnitude. In some examples, the fifth preset position is: when the corresponding part is at the target position, the position of the corresponding part after rotating the second preset angle around the third direction; the sixth preset position is: when the corresponding part is in the first When the preset position is five, the position of the corresponding part is rotated around the fourth direction by twice the second preset included angle. In other examples, the fifth preset position is: when the corresponding part is at the target position, the position of the corresponding part after rotating the second preset angle around the third direction; the sixth preset position is: when the corresponding part is at At the target position, the position of the corresponding part after rotating the second preset angle in the fourth direction. Among them, the third direction and the fourth direction are two opposite directions. When the third direction is counterclockwise, the fourth direction is clockwise; when the third direction is clockwise, the fourth direction is Counterclockwise. Specifically, in the embodiment shown in FIG. 6, the third direction is a counterclockwise direction, and the fourth direction is a clockwise direction. Further, the size of the second preset included angle can be set as required. The second preset included angle of this embodiment is greater than 0 degrees and less than 90 degrees. For example, the first preset included angle may be 10 degrees, 15 degrees, and 20 degrees. , 30 degrees or other angles greater than 0 degrees and less than 90 degrees.

In other embodiments, the along-line direction of the distance from the roll axis to the center of gravity position when the corresponding part is at the fifth preset position may coincide with the along-line direction of the distance from the roll axis to the center of gravity position when the corresponding part is at the target position, or the corresponding part The line direction of the distance from the roll axis to the center of gravity position at the sixth preset position may coincide with the line direction of the distance from the roll axis to the center of gravity position when the corresponding part is at the target position.

In the following embodiments, the sixth included angle θ ₆ and the seventh included angle θ ₇ are equal (θ ₆ ＝θ ₇ ＝β ₂ ) as an example to illustrate how to detect the corresponding part according to the fifth torque value and the sixth torque value Whether the center of gravity position at the target position in at least one preset position is offset from the desired center of gravity position in the up and down direction.

According to the fifth torque value and the sixth torque value, the implementation of detecting whether the center of gravity position of the corresponding part is at the target position in at least one preset position is offset from the expected center of gravity position in the vertical direction may include the following two implementation methods:

In the first implementation, referring to Figure 6, when the corresponding part is at the target position, the distance between the roll axis and the center of gravity position (that is, the center of gravity position when the corresponding part is at the target position) forms an eighth clamp along the line and the horizontal direction. Angle θ ₈ . In this implementation, according to the fifth torque value and the sixth torque value, the process of detecting whether the center of gravity position when the corresponding part is at the target position in at least one preset position is offset from the expected center of gravity position in the up and down direction may include: The fifth torque value and the sixth torque value determine the angle range of the eighth included angle and/or the sine value of the eighth included angle; detect the corresponding angle range and/or the sine value of the eighth included angle Whether the center of gravity position when part of the target position is in at least one preset position is offset from the expected center of gravity position in the front-to-back direction.

In this implementation, when the angle range of the eighth included angle and/or the sine value of the eighth included angle meets the fourth strategy, it is determined that the position of the center of gravity is offset from the desired center of gravity position in the up and down direction. Among them, the fourth strategy can be set according to the use requirements of the PTZ. Optionally, when the sine of the eighth included angle is positive, it is determined that the position of the center of gravity is higher than the expected position of the center of gravity; when the sine of the eighth included angle is When the value is negative, it is determined that the position of the center of gravity is lower than the expected position of the center of gravity. Optionally, when the angle range of the eighth included angle is within the seventh preset angle range, it is determined that the position of the center of gravity is offset relative to the desired center of gravity position; when the angle range of the eighth included angle is within the eighth preset angle range , Make sure that the center of gravity position is lower than the desired center of gravity position.

Disassemble the three axes of the gimbal into three independent degrees of freedom, you can select the cross section of the pitch axis (pitch) and the roll axis (roll) to evaluate the position of the center of gravity of the corresponding part, as shown in Figure 6. . Among them, position 5 is the center of gravity position when the part of the pan/tilt rotating around the roll axis is at the fifth preset position, position 6 is the position of the center of gravity when the part rotating around the roll axis of the gimbal is at the sixth preset position, θ ₆ It is the sixth included angle formed along the line of the distance from the roll axis to the center of gravity when the corresponding part is at the fifth preset position and the distance from the roll axis to the center of gravity when the corresponding part is at the target position. θ ₇ is the corresponding sixth predetermined cross-section when in the position to seventh roll to roll axis direction along an angle from the center of gravity of the respective portions formed when the target position in the direction of the line from the center of gravity position, θ ₈ is located in a respective portion when the target position, the position of the center of gravity to the roll axis (i.e., center of gravity position in a corresponding portion of the target position) and an eighth angle along the horizontal direction is formed from a, T ₅ in a fifth predetermined position corresponding moiety, The fifth torque value output by the roll axis motor, T ₆ is the sixth torque value output by the roll axis motor when the corresponding part is at the sixth preset position, m is the mass of the corresponding part, g is the acceleration due to gravity, and d is the horizontal For the distance from the roller to the center of gravity, set the direction of rotation of the gimbal to be positive counterclockwise. In order to facilitate intuitive understanding, in Fig. 6, the PTZ section is divided into four quadrant blocks with the desired center of gravity position as the origin and the horizontal and vertical planes as references.

Wherein, the fifth moment value T ₅ and the eighth included angle θ ₈ and the sixth moment value T ₆ and the eighth included angle θ ₈ satisfy the following formula (5):

Derived from formula (5):

T ₆ -T ₅ ＝2mg·d·sinβ ₂ ·sinθ ₈ (6)

Since T ₅ , T ₆ , m, g, d, and β ₂ are all known, it can be seen from formula (6) that when sinθ ₈ > 0, the center of gravity of the part of the pan/tilt that rotates around the roll axis is located in Figure 6 In the quadrant I or quadrant II shown, the center of gravity is determined to be higher than the expected center of gravity; when sinθ ₈ <0, the center of gravity of the part of the pan/tilt that rotates around the roll axis is located in the quadrant III or quadrant IV shown in Figure 6 , Confirm that the center of gravity position is lower than the desired center of gravity position.

When 0 degrees<θ ₈ <180 degrees, the center of gravity of the part of the gimbal that rotates around the roll axis is located in quadrant I or quadrant II as shown in Figure 6. It is determined that the center of gravity position is higher than the expected center of gravity position; when 180 degrees When <θ ₈ <360 degrees, the center of gravity of the part of the pan/tilt that rotates around the roll axis is located in quadrant III or quadrant IV shown in Figure 6, and the center of gravity is determined to be lower than the desired center of gravity.

In addition, when sin θ ₈ is 0 and/or θ ₈ =0 degrees, 180 degrees, it is determined that the center of gravity position does not deviate from the desired center of gravity position in the vertical direction.

In the second implementation manner, when the absolute value of the difference between the fifth torque value T ₅ and the sixth torque value T ₆ |T ₆ -T ₅ | is greater than the fourth preset torque value, it is determined that the center of gravity is in the up and down direction and It is expected that the position of the center of gravity is offset. Optionally, when the difference between the fifth torque value and the sixth torque value is greater than the fourth preset torque value, it is determined that the position of the center of gravity is lower than the expected position of the center of gravity; when the difference between the fifth torque value and the sixth torque value is When it is less than the negative number of the fourth preset torque value, it is determined that the position of the center of gravity is higher than the position of the desired center of gravity. Among them, the fourth preset torque value can be set according to needs. For example, the fourth preset torque value can be 6N·m ² , when T ₅ -T ₆ >6N·m ² , it is determined that the center of gravity position is deviated from the expected center of gravity position Down; When T ₅ -T ₆ <-6N·m ² , it is determined that the position of the center of gravity is higher than the expected position of the center of gravity.

In addition, it can be understood that when the absolute value of the difference between the fifth torque value T ₅ and the sixth torque value T ₆ |T ₆ -T ₅ | is less than or equal to the fourth preset torque value, it is determined that the center of gravity position of the corresponding part is There is no deviation between the up and down direction and the desired center of gravity.

Optionally, the prompt signal in S102 carries the offset information of the position of the center of gravity to guide the user to adjust the installation position of the load installed in the corresponding part. Wherein, the offset information may include: offset direction and/or offset amount. For example, the part of the pan/tilt that rotates around the roll axis reserves multiple mounting parts, such as mounting holes, for users to install custom loads. The plurality of mounting parts includes a plurality of first mounting parts arranged at intervals in the front-rear direction, and a plurality of second mounting parts arranged at intervals in the up-down direction. When the offset information in the prompt signal is used to indicate that the center of gravity of the part of the gimbal that rotates around the roll axis is forward, the user can install the load on the first installation part behind the current installation position of the load; when the prompt signal The offset information is used to indicate that when the center of gravity of the part of the gimbal that rotates around the roll axis is lower, the user can install the load on the second installation part above the current installation position of the load, and finally make the gimbal around the roll axis The position of the center of gravity of the rotated part coincides with the position of the desired center of gravity. Optionally, the interval between adjacent first mounting parts is such as 0.1cm, 0.2cm, 0.3cm, 0.4cm, 0.5cm, 0.6cm, 0.7cm, 0.8cm, 0.9cm or 1cm, and the distance between adjacent second mounting parts Intervals such as 0.1 cm, 0.2 cm, 0.3 cm, 0.4 cm, 0.5 cm, 0.6 cm, 0.7 cm, 0.8 cm, 0.9 cm or 1 cm. When the offset information in the prompt signal is used to indicate that the center of gravity of the part of the gimbal that rotates around the roll axis is forward, such as 0.1cm, the user can install the load on the first installation part behind the current installation position of the load Up; when the offset information in the prompt signal is used to indicate that the center of gravity of the part of the gimbal that rotates around the roll axis is lower than 0.2cm, the user can install the load on the second installation above the current installation position of the load Finally, the center of gravity of the part of the pan/tilt that rotates around the roll axis will coincide with the desired center of gravity.

In this embodiment, the pan-tilt may use different ways to output the prompt signal. For example, as a feasible implementation, a prompt signal for indicating adjustment of the center of gravity position is sent to the client, and the client can communicate with the pan-tilt. The client can be a mobile terminal such as a mobile phone, a Pad, or other terminal equipment.

As another feasible implementation manner, the pan-tilt includes a prompt module. In this implementation, the prompt module outputs a prompt signal for indicating adjustment of the center of gravity position. Among them, the prompt module can be a display screen, a voice module or others.

In this embodiment, before the gimbal balances the center of gravity, it needs to detect whether the load currently carried by the gimbal exceeds the upper limit of the load. If the load exceeds the upper limit, the center of gravity balance is not allowed to prevent the gimbal from being damaged by the excessive load. Specifically, if the first trigger signal is obtained by the pan/tilt after determining that the load currently carried by the pan/tilt is within the preset load range of the pan/tilt, the first trigger signal is considered to be a valid trigger signal; if the first trigger signal is If the pan/tilt is obtained when it is determined that the load size currently carried by the pan/tilt exceeds the preset load size range of the pan/tilt, the first trigger signal is considered to be an invalid trigger signal. In this embodiment, the pan/tilt will perform center of gravity trimming only after receiving a valid trigger signal.

Optionally, the gimbal includes a motor. For example, when the gimbal is a three-axis gimbal configured to rotate around the pitch axis, roll axis, and yaw axis, the motors correspondingly include: pitch axis motor, roll axis motor, and yaw axis. Pan axis motor; when the gimbal is configured as a two-axis gimbal that rotates around the pitch axis and roll axis, the corresponding motors include: pitch axis motor and roll axis motor; when the gimbal is configured to rotate around the pitch axis and yaw For a two-axis gimbal that rotates by axis, the corresponding motors include: pitch axis motor and yaw axis motor; when the gimbal is configured as a two-axis gimbal that rotates around the roll axis and yaw axis, the corresponding motors include: roll Axis motor and yaw axis motor; when the gimbal is configured as a single-axis gimbal that rotates around the pitch axis or roll axis, the corresponding motors include: pitch axis motor or roll axis motor; and so on. The motor of this embodiment is used to drive the pan/tilt to rotate. In other words, the corresponding motor of this embodiment is used to drive the corresponding part of the pan/tilt to rotate. For example, the motor corresponding to the inner frame is used to drive the inner frame and the load carried by the inner frame. Rotate. Among them, the load carried on the pan/tilt may include common load on the pan/tilt, such as an imaging device, or a custom load module installed by the user, or both of the above, which are not specifically limited here.

For loads with large moment of inertia (J) and fast motion requirements (large angular acceleration α), in order to ensure that the output torque of the gimbal motor can meet the large angular acceleration requirements as much as possible (the maximum output torque T _max = J*α _max , and T _max can be determined by the output capacity of the pan/tilt motor). Therefore, a reasonable load arrangement can reduce the moment of inertia of the motor as much as possible, so as to obtain the largest possible upper limit of angular acceleration α _max . Among them, J=J ₀ +m*d ² , d is the distance from the center of gravity of the load to the shaft of the motor, m is the load mass, and J ₀ is the moment of inertia of the motor when the center of gravity of the load is set on the shaft. Therefore, by setting the preset inertia threshold and comparing the rotational inertia of the gimbal motor with the preset inertia threshold, it can be determined that the load currently carried by the gimbal is within the preset load range of the gimbal.

In this embodiment, the process of determining that the load size currently carried by the pan/tilt is within the preset load size range of the pan/tilt may include:

(1) When receiving the second trigger signal for load evaluation, obtain the output torque of the motor of the gimbal and the angular acceleration of the motor;

In this step, the second trigger signal is used to instruct the pan/tilt to perform load evaluation. The pan/tilt in this embodiment performs load evaluation after receiving the second trigger signal. Optionally, the second trigger signal is generated by the pan-tilt. For example, the pan-tilt can generate the second trigger signal by operating keys/buttons on the pan-tilt. Optionally, the second trigger signal is sent by an external device. The external device may be a remote control device or a control terminal that controls the pan/tilt. The control terminal may be a mobile terminal such as a mobile phone or a Pad, or other terminal devices. Of course, the user can also trigger the pan-tilt to perform center-of-gravity trimming in other ways, such as touch, gestures, and voice.

The output torque of the gimbal motor and the angular acceleration of the motor can be detected by corresponding sensors, and can also be determined according to the input signal that controls the rotation of the motor. The method of determining the output torque of the gimbal motor and the angular acceleration of the motor is the prior art. More details.

In addition, in this step, for a three-axis gimbal that is configured to rotate around the pitch axis, roll axis, and yaw axis, the output torque of the pitch axis motor and/or roll axis motor and the pitch axis motor and/or Angular acceleration of the roll axis motor; for a two-axis gimbal configured to rotate around the pitch axis and roll axis, the output torque of the pitch axis motor and/or roll axis motor and the pitch axis motor and/or roll need to be obtained Angular acceleration of the axis motor; for a two-axis gimbal configured to rotate around the pitch axis and yaw axis, the output torque of the pitch axis motor and the angular acceleration of the pitch axis motor need to be obtained; For a two-axis gimbal that rotates on the pan axis, it needs to obtain the output torque of the roll axis motor and the angular acceleration of the roll axis motor; for a single-axis gimbal that is configured to rotate around the pitch axis or roll axis, it needs to obtain the pitch axis motor The output torque and the angular acceleration of the pitch axis motor, or the output torque of the roll axis motor and the angular acceleration of the roll axis motor.

Further, in this step, for a three-axis gimbal that is configured to rotate around the pitch axis, roll axis, and yaw axis, if the load is a user-defined load module installed by the user, only the user-defined load module can be acquired. The output torque and angular acceleration of the motor that the load module rotates. For example, when the pitch axis motor drives the inner frame of the gimbal to rotate, but the custom load module is installed on the middle frame of the gimbal driven by the roll axis motor, only the output torque and angular acceleration of the roll axis motor can be obtained.

(2) Determine the moment of inertia of the motor according to the output torque and angular acceleration;

This step is to determine the moment of inertia of the corresponding shaft motor according to the output torque of the corresponding shaft motor and the angular acceleration of the corresponding shaft motor. This step needs to determine the moment of inertia of the pitch axis motor and/or roll axis motor.

Among them, the calculation formula for the moment of inertia J of the motor can be as follows:

J=T/α (7)

In formula (7), T is the output torque of the motor, and α is the angular acceleration of the motor.

It can be understood that the formula for calculating the moment of inertia J of the motor is not limited to formula (7), and may also be a modification based on formula (7).

(3) When the moment of inertia is less than or equal to the preset inertia threshold, it is determined that the load currently carried by the pan/tilt is within the preset load range of the pan/tilt.

In this step, the moment of inertia being less than or equal to the preset inertia threshold includes: the moment of inertia of the pitch axis motor and/or the roll axis motor determined in step (2) is less than or equal to the corresponding preset inertia threshold. For example, in an embodiment, that the moment of inertia is less than or equal to the preset inertia threshold includes: the moment of inertia of the pitch axis motor is less than or equal to the first preset inertia threshold, and/or the moment of inertia of the roll axis motor is less than or equal to the second Preset inertia threshold. Wherein, the size of the first preset inertia threshold and the second preset inertia threshold may be equal or unequal, and the sizes of the first preset inertia threshold and the second preset inertia threshold may be set according to the specific structure.

In this step, the preset inertia threshold can be set according to the angular acceleration demand of the load.

The method for balancing the center of gravity of the gimbal in this embodiment may further include: when the moment of inertia is greater than the preset inertia threshold, it is determined that the load currently carried by the gimbal is too large, and the user needs to be prompted to reduce the load to protect the gimbal and prevent The gimbal is damaged.

Further, the method for balancing the center of gravity of the gimbal may further include: outputting an evaluation result for the second trigger signal. Among them, the evaluation results include: the current load of the pan/tilt is within the preset load range of the pan/tilt, or the load currently mounted on the pan/tilt is too large. When the evaluation result is that the current load of the gimbal is within the preset load range of the gimbal, remind the user that the gimbal can be triggered to perform center-of-gravity trim; when the evaluation result is that the current load of the gimbal is too large, remind the user Reduce the load to protect the gimbal.

The pan-tilt can use different methods to output the evaluation results. As an implementation method, the evaluation results are sent to the client. The client can be a mobile terminal such as a mobile phone or a Pad, or other terminal equipment. Optionally, the first trigger signal is sent after the client terminal receives an evaluation result indicating that the load size currently carried by the pan/tilt is within a preset load size range of the pan/tilt. In specific implementation, the user can operate the client after the client receives the evaluation result indicating that the load size currently carried by the pan/tilt is within the preset load size range of the pan/tilt, so that the client sends the first trigger signal to PTZ, to trigger the PTZ for center of gravity trimming.

Optionally, the first trigger signal is automatically generated after the pan/tilt detects that the current load of the pan/tilt is within the preset load range of the pan/tilt, or is output from the pan/tilt to indicate the current load of the pan/tilt. After the evaluation result that the load size of is within the preset load size range of the pan/tilt, the user operates the keys/buttons on the pan/tilt to generate the first trigger signal.

As another implementation manner, the PTZ includes a prompt module. In this implementation, the evaluation result is output through the prompt module. Among them, the prompt module can be a display screen, a voice module or others.

In addition, in some embodiments, after the pan/tilt performs S102, if it detects that the load carried by the pan/tilt has changed, the center of gravity of the pan/tilt will be adjusted again, that is, when the pan/tilt detects that the load carried by the pan/tilt generates When changing, re-check whether the center of gravity of the corresponding part of the PTZ deviates from the expected center of gravity. If the center of gravity of the gimbal is re-balanced to determine that the center of gravity position deviates from the desired center of gravity position, the prompt signal for indicating the adjustment of the center of gravity position will be output again; if the center of gravity of the gimbal is re-balanced to determine that the center of gravity position does not deviate from the desired center of gravity position, then output A display signal used to indicate the successful balance of the center of gravity of the gimbal.

Wherein, detecting a change in the load carried by the pan/tilt may include: detecting a change in the position and/or weight of the load carried by the pan/tilt on the pan/tilt.

The specific embodiment shown in Figure 7, this embodiment is suitable for a three-axis pan/tilt head (including pitch axis, roll axis and yaw axis) or a two-axis pan/tilt head without yaw axis (including pitch axis and roll axis) ), the embodiment shown in Figure 7 first performs the center of gravity balance on the pitch axis, and then performs the center of gravity balance on the roll axis. It can be understood that it can also be replaced by first performing the center of gravity balance on the roll axis, and then rebalance the pitch axis. The heart is balanced. The method for balancing the center of gravity of the pan/tilt in the embodiment shown in FIG. 7 may include the following steps:

(1) Trigger the PTZ to perform load evaluation;

In this step, the user can operate the buttons/buttons on the pan/tilt to make the pan/tilt generate a second trigger signal for instructing the pan/tilt to perform load evaluation, or, by operating the client, the user can cause the client to send instructions for the pan/tilt The second trigger signal for load evaluation is sent to the pan/tilt to trigger the pan/tilt to perform load evaluation.

(2) The load evaluation is passed, that is, the pan/tilt determines that the current load of the pan/tilt is within the preset load range of the pan/tilt;

(3) Trigger the gimbal to balance the center of gravity;

Among them, step (3) is executed after step (2). In this step, the user can operate the keys/buttons on the PTZ to make the PTZ generate the first trigger signal for instructing the PTZ to perform center-of-gravity trimming, or the user can operate the client terminal to cause the client to send instructions for the cloud The first trigger signal for center-of-gravity trimming is sent to the gimbal to trigger the gimbal to perform center-of-gravity trim, or when the gimbal determines that the load currently carried by the gimbal is within the preset load range The first trigger signal to instruct the pan/tilt to perform center of gravity trimming.

(4) Control the pan/tilt to rotate to the target position, that is, the first preset position in the above embodiment is the target position;

In this step, the target position is the position when the pan/tilt returns to the center.

(5) When the gimbal rotates to the target position, obtain the torque value T ₁ output by the pitch axis;

(6) Control the pitch axis to rotate counterclockwise by β, and the pitch axis to rotate to the third preset position;

In this step, the pitch axis rotates counterclockwise by β from the target position to reach the third preset position.

(7) When the pitch axis is at the third preset position, obtain the torque value T ₃ output by the pitch axis;

(8) Control the pitch axis to rotate clockwise by 2β, and the pitch axis to rotate to the fourth preset position;

In this step, the pitch axis rotates counterclockwise by β from the third preset position to reach the fourth preset position.

(9) When the pitch axis is at the fourth preset position, obtain the torque value T ₄ output by the pitch axis;

(10) Determine whether |T ₁ | is less than the first preset torque value a; if |T ₁ |<a, it is determined that the center of gravity of the part of the gimbal that rotates around the pitch axis does not deviate from the expected center of gravity in the front and rear directions ; If T ₁ >a, the center of gravity of the part of the gimbal that rotates around the pitch axis is determined to be forward relative to the expected center of gravity; if T ₁ <-a, the center of gravity of the part of the gimbal that rotates around the pitch axis is determined to be relative to the expected center of gravity Position behind

(11) Determine whether |T ₄ -T ₃ | is less than the third preset torque value b; if |T ₄ -T ₃ |<b, determine that the center of gravity position of the part of the gimbal that rotates around the pitch axis is in the up and down direction and the expected There is no offset in the center of gravity position; if T ₄ -T ₃ >b, the center of gravity of the part of the gimbal that rotates around the pitch axis is determined to be lower than the expected center of gravity; if T ₄ -T ₃ <-b, the center of the gimbal is determined The position of the center of gravity of the part rotating around the pitch axis is higher than the expected position of the center of gravity;

Among them, step (10) and step (11) can be executed sequentially or simultaneously. When step (10) and step (11) are executed successively, the pan-tilt may first perform step (10) and then step (11), or the pan-tilt may first perform step (11) and then step (10).

(12) The output is used to indicate the position of the center of gravity of the part that deviates from the desired center of gravity in the adjustment platform that rotates around the pitch axis to guide the user to adjust the installation position of the pitch axis load;

(13) Control the pan/tilt head to rotate to the target position, that is, the second preset position in the foregoing embodiment is the target position;

(14) When the pan/tilt rotates to the target position, obtain the torque value T ₂ output by the roll axis;

(15) Determine whether |T ₂ | is less than the second preset torque value c; if |T ₂ |<c, it is determined that the center of gravity of the part that rotates around the roll axis in the pan/tilt does not deviate from the desired center of gravity in the left-right direction If T ₂ >c, determine that the center of gravity of the part of the gimbal that rotates around the roll axis is to the right; if T ₂ <-c, determine the position of the center of gravity of the part of the gimbal that rotates around the axis of gravity Relative to the desired center of gravity position to the left.

Among them, the moment data during the trim of the pitch axis and the roll axis can be acquired in addition to the time sequence described above, but also other time sequences. For example, steps (13)-(14) can precede steps (4)-(9). ) Timing. At the same time, whether the position of the center of gravity of the corresponding part is offset from the expected position of the center of gravity in the up-and-down direction can be determined when the pitch axis is trimmed, or when the roll axis is trimmed, and there is no specific limitation here.

(16) The output is used to instruct the adjustment of the center of gravity of the part of the pan/tilt that deviates from the desired center of gravity to rotate around the roll axis to guide the user to adjust the installation position of the roll axis load.

Among them, step (12) and step (16) can be executed at the same time, or can be executed sequentially according to the corresponding detection results, which is not specifically limited here.

In the embodiment of the present invention, after the user adds a custom load module to the pan/tilt, the pan/tilt can be triggered to perform center-of-gravity trim. During center-of-gravity trim, if the center of gravity of the corresponding part of the pan/tilt deviates from the desired center of gravity, the center of gravity is given The adjustment plan is to guide the user to adjust the custom load module mounted in the corresponding part, so that the gimbal will not need to generate additional output to resist the gravity moment when the normal output of the gimbal is in a balanced state, reducing the power consumption of the gimbal, Reduce the gimbal heating, which can protect the gimbal and greatly reduce the risk of scalding users. It can also ensure that the gimbal has enough output for stabilization, greatly avoiding the degradation of disturbance suppression performance caused by output saturation; at the same time, The user experience is expanded, so that the custom load module can also be used normally on the PTZ.

Corresponding to the method for balancing the center of gravity of the gimbal in the first embodiment, the gimbal in the first embodiment of the present invention also provides a gimbal. Referring to FIG. 8, the gimbal 100 may include a pitch axis motor 110 and/or a roll axis motor 120 , And the first controller 130, wherein the first controller 130 is electrically connected to the pitch axis motor 110 and/or the roll axis motor 120. In the embodiment shown in FIG. 8, the pan/tilt head 100 includes a pitch axis motor 110 and a roll axis motor 120.

Specifically, the first controller 130 is configured to: upon receiving the first trigger signal for center of gravity trimming, detect whether the center of gravity position of the corresponding part of the pan/tilt head deviates from the expected center of gravity position; if the center of gravity position deviates from the expected center of gravity position, output Used to indicate the prompt signal to adjust the position of the center of gravity.

For the implementation process and working principle of the first controller 130, please refer to the description of the method for balancing the center of gravity of the pan/tilt head in the first embodiment, which will not be repeated here.

The first controller 130 in this embodiment may be a central processing unit (CPU). The first controller 130 may further include a hardware chip. The aforementioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof. The above-mentioned PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

In addition, the first controller 130 may include a pan/tilt controller and/or an independent controller provided on the pan/tilt, and may also include other controllers.

Example two

Fig. 9 is a flow chart of the method for balancing the center of gravity of the pan/tilt in an embodiment of the present invention on the client side. It should be noted that the execution subject of the method for balancing the center of gravity of the pan/tilt in the second embodiment of the present invention is a client, which can communicate with the pan/tilt, and the client may be a mobile terminal such as a mobile phone or a Pad, or other Terminal Equipment.

As shown in FIG. 9, the method for balancing the center of gravity of the gimbal in the second embodiment of the present invention may include the following steps:

S901: If a trim command is received, a first trigger signal for center of gravity trim is generated;

In this embodiment, the method for balancing the center of gravity of the pan/tilt head further includes: before receiving the trimming instruction, receiving the evaluation result sent by the pan/tilt head. Among them, the evaluation results include: the current load of the pan/tilt is within the preset load range of the pan/tilt, or the load currently mounted on the pan/tilt is too large.

Optionally, the trim command is an evaluation result sent by the pan/tilt to indicate that the load currently carried by the pan/tilt is within a preset load range of the pan/tilt.

Optionally, the trim command is generated by the user operating the client terminal. For example, the user operates a virtual key on the client terminal to generate a trim command, or the user operates a physical key/button on the client terminal to generate a trim command. Further optionally, the client terminal may determine whether to generate the first trigger signal according to the trim instruction according to the evaluation result. In this embodiment, after the client receives the evaluation result indicating that the load size currently carried by the pan/tilt is within the preset load size range of the pan/tilt, if it receives a trimming instruction, it generates a first trigger signal; the client receives After the evaluation result indicating that the load currently carried by the pan/tilt head is too large, if a trim command is received, the first trigger signal will not be generated.

In some embodiments, the method for balancing the center of gravity of the gimbal further includes: before receiving the evaluation result sent by the gimbal, if a load evaluation instruction is received, generating a second trigger signal for instructing the gimbal to perform load evaluation; Send the second trigger signal to the pan-tilt to trigger the pan-tilt to perform load evaluation. Through the client to trigger the PTZ to perform load evaluation, it is more flexible and meets the needs of users.

The load evaluation instruction is generated by the user operating the client. For example, the user operates a virtual key on the client to generate a trim instruction, or the user operates a physical key/button of the client to generate a load evaluation instruction.

S902: Send the first trigger signal to the pan-tilt to trigger the pan-tilt to detect the position of the center of gravity;

Among them, the method for detecting the position of the center of gravity of the pan/tilt may refer to the first embodiment, which will not be repeated here.

The PTZ is triggered by the client to detect the center of gravity position, which is more flexible and meets the needs of users.

S903: Receive a prompt signal returned by the pan/tilt head for the first trigger signal, where the prompt signal is used to instruct to adjust the center of gravity position of the pan/tilt head that deviates from the expected center of gravity position.

In this step, the prompt signal carries the offset information of the center of gravity position to guide the user to adjust the installation position of the load on the corresponding part. Wherein, the offset information includes: an offset direction and/or an offset amount. For details, please refer to the description of the corresponding part in the first embodiment.

In this embodiment, the client terminal outputs the prompt signal after receiving the prompt signal returned by the pan-tilt for the first trigger signal. The prompt signal can be output based on at least one of graphics, text, and voice. Of course, the client can also output the prompt signal in other ways.

Corresponding to the method for balancing the center of gravity of the pan-tilt in the second embodiment, the second embodiment of the present invention also provides a client. Referring to FIG. 10, the client 200 may include a storage device 210 and a second controller 220. The storage device 210 is used to store program instructions, and the second controller 220 calls the program instructions. When the program instructions are executed, the second controller 220 is used to execute the method for balancing the center of gravity of the pan/tilt head in the embodiment shown in 9.

Specifically, the second controller 220 is configured to: if a trim command is received, generate a first trigger signal for center of gravity trim; send the first trigger signal to the pan/tilt to trigger the pan/tilt to perform the center of gravity position The detection; receiving the prompt signal returned by the pan/tilt head for the first trigger signal, the prompt signal is used to instruct the adjustment of the center of gravity position of the pan/tilt deviating from the desired center of gravity position.

For the implementation process and working principle of the second controller 220, refer to the description of the method for balancing the center of gravity of the pan/tilt in the second embodiment above, which will not be repeated here.

The storage device 210 may include a volatile memory (volatile memory), such as random-access memory (RAM); the storage device 210 may also include a non-volatile memory (non-volatile memory), such as fast Flash memory (flash memory), hard disk drive (HDD) or solid-state drive (SSD); the storage device 210 may also include a combination of the foregoing types of memories.

The second controller 220 in this embodiment may be a central processing unit (CPU). The second controller 220 may further include a hardware chip. The aforementioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof. The above-mentioned PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof. In addition, an embodiment of the present invention also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by the controller, the method for balancing the center of gravity of the pan/tilt head described in the first embodiment or the second embodiment is implemented. step.

A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing relevant hardware through a computer program. The program can be stored in a computer readable storage medium. During execution, it may include the procedures of the above-mentioned method embodiments. Wherein, the storage medium may be a magnetic disk, an optical disc, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM), etc.

The above-disclosed are only some embodiments of the present invention, which of course cannot be used to limit the scope of rights of the present invention. Therefore, equivalent changes made according to the claims of the present invention still fall within the scope of the present invention.

Claims

A method for balancing the center of gravity of a gimbal, the gimbal is configured to rotate about a pitch axis and/or a roll axis, characterized in that the method includes:

When receiving the first trigger signal for center of gravity trimming, detect whether the position of the center of gravity of the corresponding part of the pan/tilt head deviates from the expected position of the center of gravity;

If the position of the center of gravity deviates from the position of the desired center of gravity, a prompt signal for instructing to adjust the position of the center of gravity is output.
The method according to claim 1, wherein when the pan/tilt is configured to rotate around the pitch axis, the corresponding part includes a part of the pan/tilt that rotates around the pitch axis, and the desired The distance between the position of the center of gravity and the pitch axis is not greater than a first preset distance.
The method according to claim 1, wherein when the pan/tilt is configured to rotate around the roll axis, the corresponding part includes a part of the pan/tilt that rotates around the roll axis, so The distance between the desired center of gravity position and the roll axis is not greater than a second preset distance.
The method according to claim 1, wherein the deviation of the position of the center of gravity from the position of the desired center of gravity includes one or more of the following situations:

The position of the center of gravity is deviated from the desired center of gravity in the front and rear direction, the position of the center of gravity is deviated from the desired center of gravity in the left and right direction, and the position of the center of gravity deviates from the desired center of gravity in the up and down direction .
The method according to claim 4, wherein the detecting whether the position of the center of gravity of the corresponding part of the PTZ deviates from the position of the expected center of gravity comprises:

Controlling the rotation of the pan/tilt so that the corresponding part of the pan/tilt is at at least one preset position;

It is detected whether the position of the center of gravity when the corresponding part is at the target position in at least one of the preset positions deviates from the expected position of the center of gravity.
The method according to claim 5, wherein the pan-tilt includes a pitch axis motor and/or a roll axis motor, and the detection of the corresponding part is at least one of the preset positions when the target position Whether the position of the center of gravity deviates from the expected position of the center of gravity, including:

Acquiring a torque value output by the pitch axis motor and/or the roll axis motor when the corresponding part is at a specific position among at least one of the preset positions;

According to the torque value, it is detected whether the position of the center of gravity when the corresponding part is at the target position in at least one of the preset positions deviates from the expected position of the center of gravity.
The method according to claim 6, wherein the pan/tilt is configured to rotate around the pitch axis, the pan/tilt includes the pitch axis motor, and the torque value includes: the corresponding part is in the second At a preset position, the first torque value output by the pitch axis motor;

The detecting, according to the torque value, whether the position of the center of gravity when the corresponding part is at the target position in at least one of the preset positions deviates from an expected position of the center of gravity includes:

According to the first moment value, it is detected whether the position of the center of gravity when the corresponding part is at the first preset position is offset from the expected position of the center of gravity in the front-to-rear direction.
7. The method according to claim 7, wherein when the corresponding part is at the first preset position, the distance along the line from the pitch axis to the center of gravity position forms a first angle with the horizontal direction;

The detecting, according to the first torque value, whether the position of the center of gravity when the corresponding part is at the first preset position is offset from the position of the desired center of gravity in the front-to-rear direction, includes:

Determine the angular range of the first included angle and/or the cosine value of the first included angle according to the first moment value;

According to the angle range of the first included angle and/or the cosine value of the first included angle, it is detected whether the position of the center of gravity when the corresponding part is at the first preset position is in the front-to-rear direction and the expected center of gravity position There is an offset.
The method according to claim 8, wherein the method further comprises:

When the angle range of the first included angle and/or the cosine value of the first included angle meets the first strategy, it is determined that the position of the center of gravity is offset from the position of the desired center of gravity in the front-to-rear direction.
The method according to claim 9, wherein when the angle range of the first included angle and/or the cosine value of the first included angle meets the first strategy, it is determined that the position of the center of gravity is in front and rear The direction is offset from the expected center of gravity position, including:

When the cosine value of the first included angle is a positive number, it is determined that the position of the center of gravity is forward relative to the position of the desired center of gravity;

When the cosine value of the first included angle is a negative number, it is determined that the position of the center of gravity is behind the position of the desired center of gravity.
The method according to claim 9, wherein when the angle range of the first included angle and/or the cosine value of the first included angle meets the first strategy, it is determined that the position of the center of gravity is in front and rear The direction is offset from the expected center of gravity position, including:

When the angle range of the first included angle is within a first preset angle range, determining that the position of the center of gravity is forward relative to the position of the desired center of gravity;

When the angle range of the first included angle is within the second preset angle range, it is determined that the position of the center of gravity is deviated from the position of the desired center of gravity.
The method according to claim 7, wherein the method further comprises:

When the absolute value of the first moment value is greater than the first preset moment value, it is determined that the center of gravity position when the corresponding part is at the first preset position is offset from the expected center of gravity position in the front-to-rear direction.
The method according to claim 12, wherein when the absolute value of the first torque value is greater than the first preset torque value, determining the center of gravity when the corresponding part is at the first preset position The position is offset from the expected center of gravity position in the front and rear direction, including:

When the first torque value is greater than the first preset torque value, determining that the center of gravity position is forward relative to the desired center of gravity position;

When the first torque value is less than the inverse of the first preset torque value, it is determined that the position of the center of gravity is behind the expected position of the center of gravity.
The method according to claim 6, wherein the pan/tilt is configured to rotate around the roll axis, the pan/tilt includes a roll axis motor, and the torque value includes: the corresponding part is in the second 2. At the preset position, the second torque value output by the roll axis motor;

The detecting, according to the torque value, whether the position of the center of gravity when the corresponding part is at the target position in at least one of the preset positions deviates from an expected position of the center of gravity includes:

According to the second torque value, it is detected whether the position of the center of gravity when the corresponding part is at the second preset position is deviated from the expected position of the center of gravity in the left-right direction.
The method according to claim 14, wherein when the corresponding part is at the second preset position, the distance between the roll axis and the center of gravity position forms a second included angle with the horizontal direction ；

The detecting, according to the second torque value, whether the position of the center of gravity when the corresponding part is at the second preset position is offset from the position of the desired center of gravity in the left-right direction, includes:

Determine the angular range of the second included angle and/or the cosine value of the second included angle according to the second torque value;

According to the angle range of the second included angle and/or the cosine value of the second included angle, it is detected whether the center of gravity position when the corresponding part is at the second preset position is in the left-right direction and the expected center of gravity position There is an offset.
The method according to claim 15, wherein the method further comprises:

When the angle range of the second included angle and/or the cosine value of the second included angle meets the second strategy, it is determined that the position of the center of gravity is deviated from the position of the desired center of gravity in the left-right direction.
The method according to claim 16, characterized in that, when the angle range of the second included angle and/or the cosine value of the second included angle meets a second strategy, it is determined that the position of the center of gravity is on the left and right. The direction is offset from the expected center of gravity position, including:

When the cosine value of the second included angle is a positive number, it is determined that the position of the center of gravity is to the right relative to the position of the desired center of gravity;

When the cosine value of the second included angle is a negative number, it is determined that the position of the center of gravity is deviated to the left relative to the position of the desired center of gravity.
The method according to claim 16, characterized in that, when the angle range of the second included angle and/or the cosine value of the second included angle meets a second strategy, it is determined that the position of the center of gravity is on the left and right. The direction is offset from the expected center of gravity position, including:

When the angle range of the second included angle is within a third preset angle range, determining that the center of gravity position is off to the right with respect to the expected center of gravity position;

When the angle range of the second included angle is within the fourth preset angle range, it is determined that the position of the center of gravity is deviated to the left relative to the position of the desired center of gravity.
The method of claim 14, wherein the method further comprises:

When the absolute value of the second torque value is greater than the second preset torque value, it is determined that the center of gravity position when the corresponding part is at the second preset position is offset from the expected center of gravity position in the left-right direction.
The method according to claim 19, wherein when the absolute value of the second torque value is greater than the second preset torque value, it is determined that the center of gravity position when the corresponding part is at the second preset position is at The deviation between the left and right directions and the expected center of gravity position includes:

When the second torque value is greater than the second preset torque value, determining that the center of gravity position is to the right relative to the expected center of gravity position;

When the second torque value is less than the inverse of the second preset torque value, it is determined that the position of the center of gravity is deviated from the position of the desired center of gravity.
The method according to claim 6, wherein the pan/tilt head includes a pitch axis motor, and the torque value includes: a third torque output by the pitch axis motor when the corresponding part is at a third preset position Value, and the fourth torque value output by the pitch axis motor when the corresponding part is at the fourth preset position;

The detecting, according to the torque value, whether the position of the center of gravity when the corresponding part is at the target position in at least one of the preset positions deviates from an expected position of the center of gravity includes:

According to the third torque value and the fourth torque value, it is detected whether the position of the center of gravity when the corresponding part is at the target position in at least one of the preset positions is offset from the desired center of gravity position in the up and down direction.
22. The method according to claim 21, wherein when the corresponding part is at the third preset position, the distance along the line from the pitch axis to the center of gravity position is the same as that of the corresponding part located in the first In the four preset positions, the included angle of the distance from the pitch axis to the center of gravity position along the line direction is fixed.
The method according to claim 22, wherein when the corresponding part is at the third preset position, the distance along the line from the pitch axis to the center of gravity position and the corresponding part at the target position When the distance from the pitch axis to the center of gravity position forms a third included angle;

The distance along the line of the distance from the pitch axis to the center of gravity position when the corresponding part is at the fourth preset position and the distance from the pitch axis to the center of gravity position when the corresponding part is at the target position A third included angle is formed along the line direction to form a fourth included angle.
The method according to claim 23, wherein the third included angle and the fourth included angle are equal in magnitude;

The third preset position is: when the corresponding part is at the target position, the position of the corresponding part after rotating the first preset angle around the first direction;

The fourth preset position is: when the corresponding part is at the third preset position, the position of the corresponding part after being rotated around the second direction by twice the first preset included angle;

Wherein, the first direction and the second direction are two opposite directions.
22. The method according to claim 23, wherein when the corresponding part is located at the target position, the distance along the line from the pitch axis to the center of gravity position forms a fifth included angle with the horizontal direction;

According to the third torque value and the fourth torque value, it is detected whether the center of gravity position when the corresponding part is at the target position in at least one of the preset positions is deviated from the desired center of gravity position in the up and down direction Move, including:

Determining the angle range of the fifth included angle and/or the sine value of the fifth included angle according to the third torque value and the fourth torque value;

According to the angle range of the fifth included angle and/or the sine value of the fifth included angle, it is detected whether the position of the center of gravity when the corresponding part is at the target position in at least one of the preset positions is in the up-down direction. The expected center of gravity position is offset.
The method of claim 25, wherein the method further comprises:

When the angle range of the fifth included angle and/or the sine value of the fifth included angle meets the third strategy, it is determined that the position of the center of gravity is deviated from the position of the desired center of gravity in the up and down direction.
The method according to claim 26, wherein when the range of the fifth included angle and/or the sine of the fifth included angle meets a third strategy, it is determined that the position of the center of gravity is in the up and down direction There are offsets, including:

When the sine value of the fifth included angle is positive, it is determined that the position of the center of gravity is higher than the position of the expected center of gravity;

When the sine value of the fifth included angle is negative, it is determined that the position of the center of gravity is lower than the position of the desired center of gravity.
The method according to claim 26, wherein when the range of the fifth included angle and/or the sine of the fifth included angle meets a third strategy, it is determined that the position of the center of gravity is in the up and down direction There are offsets, including:

When the angle range of the fifth included angle is within the fifth preset angle range, determining that the position of the center of gravity is higher than the position of the desired center of gravity;

When the angle range of the fifth included angle is within the sixth preset angle range, it is determined that the position of the center of gravity is lower than the position of the desired center of gravity.
The method of claim 21, wherein the method further comprises:

When the absolute value of the difference between the third torque value and the fourth torque value is greater than the third preset torque value, it is determined that the center of gravity position is offset from the expected center of gravity position in the up and down direction.
The method according to claim 29, wherein when the absolute value of the difference between the third torque value and the fourth torque value is greater than a third preset torque value, it is determined that the position of the center of gravity is in the up and down direction The deviation from the expected center of gravity position includes:

When the difference between the third torque value and the fourth torque value is greater than the third preset torque value, determining that the position of the center of gravity is lower than the position of the desired center of gravity;

When the difference between the third torque value and the fourth torque value is less than the inverse of the third preset torque value, it is determined that the position of the center of gravity is higher than the position of the desired center of gravity.
The method according to claim 6, wherein the pan/tilt includes a roll axis motor, and the torque value includes: when the corresponding part is at a fifth preset position, the first output of the roll axis motor is Five torque values, and the sixth torque value output by the roll axis when the corresponding part is at the sixth preset position,

The detecting, according to the torque value, whether the position of the center of gravity when the corresponding part is at the target position in at least one of the preset positions deviates from an expected position of the center of gravity includes:

According to the fifth torque value and the sixth torque value, it is detected whether the position of the center of gravity when the corresponding part is at the target position in at least one of the preset positions is offset from the desired center of gravity position in the up and down direction.
The method according to claim 31, wherein when the corresponding part is at the fifth preset position, the distance along the line from the roll axis to the center of gravity is located in the same direction as the corresponding part. At the sixth preset position, the included angle of the distance from the roll axis to the center of gravity position along the line is fixed.
The method according to claim 32, wherein when the corresponding part is at the fifth preset position, the distance along the line from the roll axis to the center of gravity position and the corresponding part are in the The distance along the line from the roll axis to the center of gravity position at the target position forms a sixth included angle;

When the corresponding part is at the sixth preset position, the distance along the line from the roll axis to the center of gravity position is the same as when the corresponding part is at the target position, the roll axis to the center of gravity position The distance along the line forms the seventh angle.
The method according to claim 33, wherein the sixth included angle and the seventh included angle are equal in magnitude;

The fifth preset position is: when the corresponding part is at the target position, the position of the corresponding part after rotating a second preset angle in a third direction;

The sixth preset position is: when the corresponding part is at the fifth preset position, the position of the corresponding part is rotated about a fourth direction by twice the second preset included angle;

Wherein, the third direction and the fourth direction are two opposite directions.
The method according to claim 33, wherein when the corresponding part is located at the target position, the distance between the roll axis and the center of gravity position forms an eighth included angle with the horizontal direction;

According to the fifth torque value and the sixth torque value, it is detected whether the center of gravity position when the corresponding part is at the target position in at least one of the preset positions is deviated from the desired center of gravity position in the up and down direction. Move, including:

Determining the angle range of the eighth included angle and/or the sine value of the eighth included angle according to the fifth torque value and the sixth torque value;

According to the angle range of the eighth included angle and/or the sine value of the eighth included angle, it is detected whether the position of the center of gravity when the corresponding part is at the target position in at least one of the preset positions is in front and back direction and The expected center of gravity position is offset.
The method of claim 35, wherein the method further comprises:

When the angle range of the eighth included angle and/or the sine value of the eighth included angle meets the fourth strategy, it is determined that the position of the center of gravity is deviated from the position of the desired center of gravity in the up and down direction.
The method according to claim 36, characterized in that, when the angle range of the eighth included angle and/or the sine of the eighth included angle meets the fourth strategy, it is determined that the position of the center of gravity is up and down. The direction is offset from the expected center of gravity position, including:

When the sine value of the eighth included angle is positive, determining that the position of the center of gravity is higher than the position of the desired center of gravity;

When the sine value of the eighth included angle is a negative number, it is determined that the position of the center of gravity is lower than the position of the desired center of gravity.
The method according to claim 36, characterized in that, when the angle range of the eighth included angle and/or the sine of the eighth included angle meets the fourth strategy, it is determined that the position of the center of gravity is up and down. The direction is offset from the expected center of gravity position, including:

When the angle range of the eighth included angle is within the seventh preset angle range, determining that the position of the center of gravity is higher than the position of the desired center of gravity;

When the angle range of the eighth included angle is within the eighth preset angle range, it is determined that the position of the center of gravity is lower than the position of the desired center of gravity.
The method of claim 31, wherein the method further comprises:

When the absolute value of the difference between the fifth torque value and the sixth torque value is greater than the fourth preset torque value, it is determined that the center of gravity is offset from the desired center of gravity position in the up and down direction.
The method according to claim 39, wherein when the absolute value of the difference between the fifth torque value and the sixth torque value is greater than a fourth preset torque value, it is determined that the position of the center of gravity is in the up and down direction. The deviation from the expected center of gravity position includes:

When the difference between the fifth torque value and the sixth torque value is greater than the fourth preset torque value, determining that the position of the center of gravity is lower than the position of the desired center of gravity;

When the difference between the fifth torque value and the sixth torque value is less than the negative number of the fourth preset torque value, it is determined that the position of the center of gravity is higher than the position of the desired center of gravity.
The method according to claim 6, characterized in that, after the corresponding part is at a specific position among at least one of the preset positions, obtaining the torque output by the pitch axis motor and/or the roll axis motor Before the value, the method also includes:

It is determined that the torque value output by the pitch axis motor and/or the roll axis motor converges.
The method according to claim 41, wherein the determining the convergence of the torque value output by the pitch axis motor and/or the roll axis motor comprises:

Determining the variance of the multiple torque values output by the pitch axis motor and/or the roll axis motor in a specific time period;

According to the variance, it is determined that the torque value output by the pitch axis motor and/or the roll axis motor converges.
The method according to claim 42, wherein the determining, based on the variance, that the torque value output by the pitch axis motor and/or the roll axis motor converges, comprises:

When the variance is less than or equal to a preset variance threshold, it is determined that the torque values output by the pitch axis motor and/or the roll axis motor converge.
The method according to claim 41, wherein the determining the convergence of the torque value output by the pitch axis motor and/or the roll axis motor comprises:

When the duration of the corresponding part at the at least one preset position is greater than or equal to the preset duration, it is determined that the torque value output by the pitch axis motor and/or the roll axis motor converges.
The method according to claim 6, wherein the torque value output by the pitch axis motor and/or the roll axis motor is: the pitch axis motor and/or the roll axis within a specific time period The multiple torque values output by the motor are obtained after smoothing and filtering.
The method according to claim 5, wherein the target position is: the position of the corresponding part when the position of the center of gravity of the historical record is at the position of the desired center of gravity, or the position of the pan/tilt head when returning to the center.
The method according to claim 1, characterized in that, before receiving the first trigger signal for center of gravity trimming, the method further comprises:

It is determined that the load currently carried by the pan/tilt is within a preset load range of the pan/tilt.
The method according to claim 47, wherein the determining that the load size currently carried by the pan/tilt head is within a preset load size range of the pan/tilt head comprises:

When receiving the second trigger signal for load evaluation, acquiring the output torque of the motor of the pan/tilt head and the angular acceleration of the motor, and the motor is used to drive the load to rotate;

Determine the moment of inertia of the motor according to the output torque and the angular acceleration;

When the moment of inertia is less than or equal to the preset inertia threshold, it is determined that the load currently carried by the pan/tilt is within the preset load range of the pan/tilt.
The method according to claim 48, wherein the method further comprises:

When the moment of inertia is greater than the preset inertia threshold, it is determined that the load currently carried by the pan/tilt head is too large.
The method according to claim 48 or 49, wherein the method further comprises:

Outputting an evaluation result for the second trigger signal;

Wherein, the evaluation result includes: the load currently carried by the pan/tilt is within a preset load range of the pan/tilt, or the load currently carried by the pan/tilt is too large.
The method of claim 50, wherein the outputting an evaluation result for the second trigger signal comprises:

Send the evaluation result to the client.
The method according to claim 51, wherein the first trigger signal is an evaluation received by the client to indicate that the load size currently carried by the pan/tilt is within a preset load size range of the pan/tilt. The result will be sent later.
The method of claim 50, wherein the PTZ includes a prompt module;

The outputting an evaluation result for the second trigger signal includes:

The evaluation result is output through the prompt module.
The method according to claim 1, wherein the outputting a prompt signal for instructing to adjust the position of the center of gravity comprises:

Send a prompt signal for instructing to adjust the position of the center of gravity to the client.
The method according to claim 1, wherein the pan-tilt includes a prompt module;

The output is used to indicate a prompt signal for adjusting the position of the center of gravity, including:

The prompt module outputs a prompt signal for instructing to adjust the position of the center of gravity.
The method according to claim 1, wherein the prompt signal carries offset information of the position of the center of gravity.
The method according to claim 56, wherein the offset information comprises: an offset direction and/or an offset amount.
The method according to claim 1, wherein after the output of a prompt signal for indicating adjustment of the position of the center of gravity if the position of the center of gravity deviates from the desired position of the center of gravity, the method further comprises:

If a change in the load carried by the pan/tilt head is detected, the center of gravity trim of the pan/tilt head is performed again.
The method according to claim 58, wherein the detecting a change in the load carried by the pan/tilt head comprises:

It is detected that the position and/or weight of the load carried by the pan/tilt head on the pan/tilt head changes.
A pan/tilt, the pan/tilt is configured to rotate around a pitch axis and/or a roll axis, characterized in that the pan/tilt includes:

Pitch axis motor and/or roll axis motor; and

A controller, which is electrically connected to the pitch axis motor and/or the roll axis motor;

Wherein, the controller is used for:

When receiving the first trigger signal for center of gravity trimming, detect whether the position of the center of gravity of the corresponding part of the pan/tilt head deviates from the expected position of the center of gravity;

If the position of the center of gravity deviates from the position of the desired center of gravity, a prompt signal for instructing to adjust the position of the center of gravity is output.
The pan/tilt head according to claim 60, wherein when the pan/tilt head is configured to rotate around the pitch axis, the corresponding part includes a part of the pan/tilt head that rotates around the pitch axis, and It is desirable that the distance between the position of the center of gravity and the pitch axis is not greater than the first preset distance.
The pan/tilt head according to claim 60, wherein when the pan/tilt head is configured to rotate around the roll axis, the corresponding part includes a part of the pan/tilt head that rotates around the roll axis, The distance between the desired center of gravity position and the roll axis is not greater than a second preset distance.
The pan/tilt head according to claim 60, wherein the deviation of the position of the center of gravity from the position of the desired center of gravity includes one or more of the following conditions:

The position of the center of gravity is deviated from the desired center of gravity in the front and rear direction, the position of the center of gravity is deviated from the desired center of gravity in the left and right direction, and the position of the center of gravity deviates from the desired center of gravity in the up and down direction .
The pan/tilt head according to claim 63, wherein when the controller detects whether the position of the center of gravity of the corresponding part of the pan/tilt head deviates from the expected position of the center of gravity, it is specifically configured to:

Controlling the rotation of the pan/tilt so that the corresponding part of the pan/tilt is at at least one preset position;

It is detected whether the position of the center of gravity when the corresponding part is at the target position in at least one of the preset positions deviates from the expected position of the center of gravity.
The pan/tilt head according to claim 64, wherein the pan/tilt head comprises a pitch axis motor and/or a roll axis motor, and the controller detects that the corresponding part is in at least one of the preset positions. When the position of the center of gravity at the target position deviates from the expected position of the center of gravity, it is specifically used for:

Acquiring a torque value output by the pitch axis motor and/or the roll axis motor when the corresponding part is at a specific position among at least one of the preset positions;

According to the torque value, it is detected whether the position of the center of gravity when the corresponding part is at the target position in at least one of the preset positions deviates from the expected position of the center of gravity.
The pan/tilt head of claim 65, wherein the pan/tilt head is configured to rotate around the pitch axis, the pan/tilt head includes the pitch axis motor, and the torque value includes: the corresponding part is At the first preset position, the first torque value output by the pitch axis motor;

When the controller detects whether the position of the center of gravity when the corresponding part is at the target position in at least one of the preset positions according to the torque value, it is specifically used to:

According to the first moment value, it is detected whether the position of the center of gravity when the corresponding part is at the first preset position is offset from the expected position of the center of gravity in the front-to-rear direction.
The pan/tilt head according to claim 66, wherein when the corresponding part is at the first preset position, the distance along the line from the pitch axis to the center of gravity position forms a first angle with the horizontal direction ；

When the controller detects whether the position of the center of gravity when the corresponding part is at the first preset position is offset from the position of the expected center of gravity in the front-to-rear direction according to the first torque value, the controller is specifically configured to:

Determine the angular range of the first included angle and/or the cosine value of the first included angle according to the first moment value;

According to the angle range of the first included angle and/or the cosine value of the first included angle, it is detected whether the position of the center of gravity when the corresponding part is at the first preset position is in the front-to-rear direction and the expected center of gravity position There is an offset.
The pan/tilt head according to claim 67, wherein the controller is further configured to:

When the angle range of the first included angle and/or the cosine value of the first included angle meets the first strategy, it is determined that the position of the center of gravity is offset from the position of the desired center of gravity in the front-to-rear direction.
The pan/tilt head according to claim 68, wherein the controller is specifically configured to:

When the cosine value of the first included angle is a positive number, it is determined that the position of the center of gravity is forward relative to the position of the desired center of gravity;

When the cosine value of the first included angle is a negative number, it is determined that the position of the center of gravity is behind the position of the desired center of gravity.
The pan/tilt head according to claim 68, wherein the controller is specifically configured to:

When the angle range of the first included angle is within a first preset angle range, determining that the position of the center of gravity is forward relative to the position of the desired center of gravity;

When the angle range of the first included angle is within the second preset angle range, it is determined that the position of the center of gravity is deviated from the position of the desired center of gravity.
The pan/tilt head according to claim 66, wherein the controller is further configured to:

When the absolute value of the first torque value is greater than the first preset torque value, it is determined that the center of gravity position when the corresponding part is at the first preset position is offset from the expected center of gravity position in the front-to-rear direction.
The pan/tilt head according to claim 71, wherein the controller is specifically configured to:

When the first torque value is greater than the first preset torque value, determining that the center of gravity position is forward relative to the desired center of gravity position;

When the first torque value is less than the inverse of the first preset torque value, it is determined that the position of the center of gravity is behind the expected position of the center of gravity.
The pan/tilt head of claim 65, wherein the pan/tilt head is configured to rotate around the roll axis, the pan/tilt head includes a roll axis motor, and the torque value includes: the corresponding part is At the second preset position, the second torque value output by the roll axis motor;

When the controller detects whether the position of the center of gravity when the corresponding part is at the target position in at least one of the preset positions according to the torque value, it is specifically used to:

According to the second torque value, it is detected whether the position of the center of gravity when the corresponding part is at the second preset position is deviated from the expected position of the center of gravity in the left-right direction.
The pan/tilt head according to claim 73, wherein when the corresponding part is in the second preset position, the distance between the roll axis and the center of gravity position forms a second clamp between the horizontal direction and the horizontal direction. angle;

When the controller detects whether the position of the center of gravity when the corresponding part is at the second preset position is offset from the position of the desired center of gravity in the left-right direction according to the second torque value, it is specifically used to:

Determine the angular range of the second included angle and/or the cosine value of the second included angle according to the second torque value;

According to the angle range of the second included angle and/or the cosine value of the second included angle, it is detected whether the center of gravity position when the corresponding part is at the second preset position is in the left-right direction and the expected center of gravity position There is an offset.
The pan-tilt according to claim 74, wherein the controller is further used for:

When the angle range of the second included angle and/or the cosine value of the second included angle meets the second strategy, it is determined that the position of the center of gravity is deviated from the position of the desired center of gravity in the left-right direction.
The pan/tilt head according to claim 75, wherein the controller is specifically configured to:

When the cosine value of the second included angle is a positive number, it is determined that the position of the center of gravity is to the right relative to the position of the desired center of gravity;

When the cosine value of the second included angle is a negative number, it is determined that the position of the center of gravity is deviated to the left relative to the position of the desired center of gravity.
The pan/tilt head according to claim 75, wherein the controller is specifically configured to:

When the angle range of the second included angle is within a third preset angle range, determining that the center of gravity position is off to the right with respect to the expected center of gravity position;

When the angle range of the second included angle is within the fourth preset angle range, it is determined that the position of the center of gravity is deviated to the left relative to the position of the desired center of gravity.
The pan/tilt head according to claim 73, wherein the controller is further configured to:

When the absolute value of the second torque value is greater than the second preset torque value, it is determined that the center of gravity position when the corresponding part is at the second preset position is offset from the expected center of gravity position in the left-right direction.
The pan/tilt head according to claim 78, wherein the controller is specifically configured to:

When the second torque value is greater than the second preset torque value, determining that the center of gravity position is to the right relative to the expected center of gravity position;

When the second torque value is less than the inverse of the second preset torque value, it is determined that the position of the center of gravity is deviated from the position of the desired center of gravity.
The pan/tilt head according to claim 65, wherein the pan/tilt head includes a pitch axis motor, and the torque value includes: when the corresponding part is at a third preset position, the third pitch axis motor output A torque value, and a fourth torque value output by the pitch axis motor when the corresponding part is at the fourth preset position;

When the controller detects whether the position of the center of gravity when the corresponding part is at the target position in at least one of the preset positions according to the torque value, it is specifically used to:

According to the third torque value and the fourth torque value, it is detected whether the position of the center of gravity when the corresponding part is at the target position in at least one of the preset positions is offset from the desired center of gravity position in the up and down direction.
The pan/tilt head according to claim 80, wherein when the corresponding part is in the third preset position, the distance along the line from the pitch axis to the center of gravity is located in the same direction as the corresponding part. In the fourth preset position, the included angle of the distance from the pitch axis to the center of gravity position along the line direction is fixed.
The pan/tilt head according to claim 81, wherein when the corresponding part is at the third preset position, the distance along the line from the pitch axis to the center of gravity position and the corresponding part are at the target The distance along the line from the pitch axis to the center of gravity position forms a third included angle;

The distance along the line of the distance from the pitch axis to the center of gravity position when the corresponding part is at the fourth preset position and the distance from the pitch axis to the center of gravity position when the corresponding part is at the target position A third included angle is formed along the line direction to form a fourth included angle.
The pan/tilt head according to claim 82, wherein the third included angle and the fourth included angle are equal in size;

The third preset position is: when the corresponding part is at the target position, the position of the corresponding part after rotating the first preset angle around the first direction;

The fourth preset position is: when the corresponding part is at the third preset position, the position of the corresponding part after being rotated around the second direction by twice the first preset included angle;

Wherein, the first direction and the second direction are two opposite directions.
The pan/tilt head according to claim 82, wherein when the corresponding part is located at the target position, the distance along the line from the pitch axis to the center of gravity position forms a fifth included angle with the horizontal direction;

According to the third torque value and the fourth torque value, the controller detects whether the center of gravity position when the corresponding part is at the target position in at least one of the preset positions is in the up-down direction and the expected center of gravity When the position is offset, it is specifically used for:

Determining the angle range of the fifth included angle and/or the sine value of the fifth included angle according to the third torque value and the fourth torque value;

According to the angle range of the fifth included angle and/or the sine value of the fifth included angle, it is detected whether the position of the center of gravity when the corresponding part is at the target position in at least one of the preset positions is in the up-down direction. The expected center of gravity position is offset.
The pan/tilt head according to claim 84, wherein the controller is further configured to:

When the angle range of the fifth included angle and/or the sine value of the fifth included angle meets the third strategy, it is determined that the position of the center of gravity is deviated from the position of the desired center of gravity in the up and down direction.
The pan/tilt head according to claim 85, wherein the controller is specifically configured to:

When the sine value of the fifth included angle is positive, it is determined that the position of the center of gravity is higher than the position of the expected center of gravity;

When the sine value of the fifth included angle is negative, it is determined that the position of the center of gravity is lower than the position of the desired center of gravity.
The pan/tilt head according to claim 85, wherein the controller is specifically configured to:

When the angle range of the fifth included angle is within the fifth preset angle range, determining that the position of the center of gravity is higher than the position of the desired center of gravity;

When the angle range of the fifth included angle is within the sixth preset angle range, it is determined that the position of the center of gravity is lower than the position of the desired center of gravity.
The pan/tilt head of claim 80, wherein the controller is further configured to:

When the absolute value of the difference between the third torque value and the fourth torque value is greater than the third preset torque value, it is determined that the center of gravity position is offset from the expected center of gravity position in the up and down direction.
The pan/tilt head according to claim 88, wherein the controller is specifically configured to:

When the difference between the third torque value and the fourth torque value is greater than the third preset torque value, determining that the position of the center of gravity is lower than the position of the desired center of gravity;

When the difference between the third torque value and the fourth torque value is less than the inverse of the third preset torque value, it is determined that the position of the center of gravity is higher than the position of the desired center of gravity.
The pan/tilt head according to claim 65, wherein the pan/tilt head includes a roll axis motor, and the torque value includes: when the corresponding part is at the fifth preset position, the output of the roll axis motor The fifth torque value, and the sixth torque value output by the roll shaft when the corresponding part is at the sixth preset position,

When the controller detects whether the position of the center of gravity when the corresponding part is at the target position in at least one of the preset positions according to the torque value, it is specifically used to:

According to the fifth moment value and the sixth moment value, it is detected whether the position of the center of gravity when the corresponding part is at the target position in at least one of the preset positions is offset from the desired center of gravity position in the up and down direction.
The pan/tilt head according to claim 90, wherein when the corresponding part is at the fifth preset position, the distance along the line from the roll axis to the center of gravity is located at the same position as the corresponding part. In the sixth preset position, the included angle of the distance from the roll axis to the center of gravity position along the line is fixed.
The pan/tilt head according to claim 91, wherein when the corresponding part is at the fifth preset position, the distance between the roll axis and the center of gravity is at the same position as the corresponding part. The distance along the line from the roll axis to the center of gravity position when the target position forms a sixth included angle;

When the corresponding part is at the sixth preset position, the distance along the line from the roll axis to the center of gravity position is the same as when the corresponding part is at the target position, the roll axis to the center of gravity position The distance along the line forms the seventh angle.
The pan/tilt head according to claim 92, wherein the sixth included angle and the seventh included angle are equal in magnitude;

The fifth preset position is: when the corresponding part is at the target position, the position of the corresponding part after rotating a second preset angle in a third direction;

The sixth preset position is: when the corresponding part is at the fifth preset position, the position of the corresponding part is rotated about a fourth direction by twice the second preset included angle;

Wherein, the third direction and the fourth direction are two opposite directions.
The pan/tilt head according to claim 92, wherein when the corresponding part is located at the target position, the distance along the line from the roll axis to the center of gravity position forms an eighth included angle with the horizontal direction;

According to the fifth torque value and the sixth torque value, the controller detects whether the position of the center of gravity when the corresponding part is at the target position in at least one of the preset positions is in the up-down direction and the expected center of gravity When the position is offset, it is specifically used for:

Determining the angle range of the eighth included angle and/or the sine value of the eighth included angle according to the fifth torque value and the sixth torque value;

According to the angle range of the eighth included angle and/or the sine value of the eighth included angle, it is detected whether the position of the center of gravity when the corresponding part is at the target position in at least one of the preset positions is in front and back direction and The expected center of gravity position is offset.
The pan/tilt head of claim 94, wherein the controller is further configured to:

When the angle range of the eighth included angle and/or the sine value of the eighth included angle meets the fourth strategy, it is determined that the position of the center of gravity is deviated from the position of the desired center of gravity in the up and down direction.
The pan/tilt head of claim 95, wherein the controller is specifically configured to:

When the sine value of the eighth included angle is positive, determining that the position of the center of gravity is higher than the position of the desired center of gravity;

When the sine value of the eighth included angle is a negative number, it is determined that the position of the center of gravity is lower than the position of the desired center of gravity.
The pan/tilt head of claim 95, wherein the controller is specifically configured to:

When the angle range of the eighth included angle is within the seventh preset angle range, determining that the position of the center of gravity is higher than the position of the desired center of gravity;

When the angle range of the eighth included angle is within the eighth preset angle range, it is determined that the position of the center of gravity is lower than the position of the desired center of gravity.
The pan/tilt head of claim 90, wherein the controller is further configured to:

When the absolute value of the difference between the fifth torque value and the sixth torque value is greater than the fourth preset torque value, it is determined that the center of gravity is offset from the desired center of gravity position in the up and down direction.
The pan/tilt head according to claim 98, wherein the controller is specifically configured to:

When the difference between the fifth torque value and the sixth torque value is greater than the fourth preset torque value, determining that the position of the center of gravity is lower than the position of the desired center of gravity;

When the difference between the fifth torque value and the sixth torque value is less than the negative number of the fourth preset torque value, it is determined that the position of the center of gravity is higher than the position of the desired center of gravity.
The pan/tilt head according to claim 65, wherein the controller acquires the pitch axis motor and/or the horizontal axis after the corresponding part is at a specific position among at least one of the preset positions. Before the torque value output by the roller motor, it is also used for:

It is determined that the torque value output by the pitch axis motor and/or the roll axis motor converges.
The pan/tilt head according to claim 100, wherein when determining that the torque value output by the pitch axis motor and/or the roll axis motor converges, the controller is specifically configured to:

Determining the variance of the multiple torque values output by the pitch axis motor and/or the roll axis motor in a specific time period;

According to the variance, it is determined that the torque value output by the pitch axis motor and/or the roll axis motor converges.
The pan/tilt head according to claim 101, wherein the controller is specifically configured to: when determining, according to the variance, that the torque values output by the pitch axis motor and/or the roll axis motor converge:

When the variance is less than or equal to a preset variance threshold, it is determined that the torque values output by the pitch axis motor and/or the roll axis motor converge.
The pan/tilt head according to claim 100, wherein when determining that the torque value output by the pitch axis motor and/or the roll axis motor converges, the controller is specifically configured to:

When the duration of the corresponding part at the at least one preset position is greater than or equal to the preset duration, it is determined that the torque value output by the pitch axis motor and/or the roll axis motor converges.
The pan/tilt head according to claim 65, wherein the torque value output by the pitch axis motor and/or the roll axis motor is: the pitch axis motor and/or the roll axis in a specific time period The multiple torque values output by the shaft motor are obtained after smoothing and filtering.
The pan/tilt head according to claim 64, wherein the target position is: the position of the corresponding part when the center of gravity position of the historical record is at the desired center of gravity position or the position of the pan/tilt head when returning to the center .
The pan/tilt head according to claim 60, wherein the controller is further used for: before receiving the first trigger signal for center of gravity trimming:

It is determined that the load currently carried by the pan/tilt is within a preset load range of the pan/tilt.
The pan/tilt head according to claim 106, wherein the controller is specifically configured to: when determining that the load currently carried by the pan/tilt head is within a preset load range of the pan/tilt head:

When receiving the second trigger signal for load evaluation, acquiring the output torque of the motor of the pan/tilt head and the angular acceleration of the motor, and the motor is used to drive the load to rotate;

Determine the moment of inertia of the motor according to the output torque and the angular acceleration;

When the moment of inertia is less than or equal to the preset inertia threshold, it is determined that the load currently carried by the pan/tilt is within the preset load range of the pan/tilt.
The pan/tilt head according to claim 107, wherein the controller is further configured to:

When the moment of inertia is greater than the preset inertia threshold, it is determined that the load currently carried by the pan/tilt head is too large.
The pan/tilt head according to claim 107 or 108, wherein the controller is further configured to:

Outputting an evaluation result for the second trigger signal;

Wherein, the evaluation result includes: the load currently carried by the pan/tilt is within a preset load range of the pan/tilt, or the load currently carried by the pan/tilt is too large.
The pan/tilt head according to claim 109, wherein when the controller outputs the evaluation result for the second trigger signal, it is specifically configured to:

Send the evaluation result to the client.
The pan/tilt head according to claim 110, wherein the first trigger signal is received by the client to indicate that the load size currently carried by the pan/tilt head is within a preset load size range of the pan/tilt head. Send after the evaluation result.
The pan/tilt according to claim 109, wherein the pan/tilt comprises a prompt module;

When the controller outputs the evaluation result for the second trigger signal, it is specifically configured to:

The evaluation result is output through the prompt module.
The pan/tilt head according to claim 60, wherein when the controller outputs a prompt signal for instructing to adjust the position of the center of gravity, it is specifically configured to:

Send a prompt signal for instructing to adjust the position of the center of gravity to the client.
The pan-tilt according to claim 60, wherein the pan-tilt comprises a prompt module;

When the controller outputs a prompt signal for indicating adjustment of the position of the center of gravity, it is specifically used to:

The prompt module outputs a prompt signal for instructing to adjust the position of the center of gravity.
The pan/tilt head according to claim 60, wherein the prompt signal carries offset information of the position of the center of gravity.
The pan/tilt head according to claim 115, wherein the offset information comprises: an offset direction and/or an offset amount.
The pan/tilt head according to claim 60, wherein after the controller outputs a prompt signal for instructing to adjust the position of the center of gravity when the position of the center of gravity deviates from the desired position of the center of gravity, it is further used for:

If a change in the load carried by the pan/tilt head is detected, the center of gravity trim of the pan/tilt head is performed again.
The pan/tilt head according to claim 117, wherein when the controller detects that the load carried by the pan/tilt head changes, it is specifically configured to:

It is detected that the position and/or weight of the load carried by the pan/tilt head on the pan/tilt head changes.
A method for balancing the center of gravity of a gimbal, characterized in that the method includes:

If the trim command is received, the first trigger signal for center of gravity trim is generated;

Sending the first trigger signal to the pan-tilt to trigger the pan-tilt to detect the position of the center of gravity;

Receiving a prompt signal returned by the pan/tilt head in response to the first trigger signal, where the prompt signal is used to instruct to adjust the center of gravity position of the pan/tilt head that deviates from the desired center of gravity position.
The method according to claim 119, wherein the prompt signal carries offset information of the position of the center of gravity.
The method according to claim 120, wherein the offset information comprises: an offset direction and/or an offset amount.
The method according to claim 119, wherein after the receiving the prompt signal returned by the pan-tilt for the first trigger signal, the method further comprises:

Output the prompt signal.
The method according to claim 122, wherein said outputting said prompt signal comprises:

The prompt signal is output based on at least one of graphics, text, and voice.
The method according to claim 119, characterized in that, before the receiving a trim instruction, the method further comprises:

Receiving the evaluation result sent by the PTZ;

Wherein, the evaluation result includes: the load currently carried by the pan/tilt is within a preset load range of the pan/tilt, or the load currently carried by the pan/tilt is too large.
The method according to claim 124, wherein before the receiving the evaluation result sent by the PTZ, the method further comprises:

If a load evaluation instruction is received, generating a second trigger signal for instructing the pan/tilt to perform load evaluation;

Send the second trigger signal to the pan/tilt to trigger the pan/tilt to perform load evaluation.
A client, characterized in that the client includes:

Storage device for storing program instructions; and

The controller calls the program instructions, and when the program instructions are executed, it is used to:

If the trim command is received, the first trigger signal for center of gravity trim is generated;

Sending the first trigger signal to the pan-tilt to trigger the pan-tilt to detect the position of the center of gravity;

Receiving a prompt signal returned by the pan/tilt head in response to the first trigger signal, where the prompt signal is used to instruct to adjust the center of gravity position of the pan/tilt head that deviates from the desired center of gravity position.
The client according to claim 126, wherein the prompt signal carries offset information of the position of the center of gravity.
The client according to claim 127, wherein the offset information comprises: an offset direction and/or an offset amount.
The client terminal according to claim 126, wherein the controller is further configured to: after receiving the prompt signal returned by the pan-tilt for the first trigger signal:

Output the prompt signal.
The client terminal according to claim 129, wherein the controller is specifically configured to:

The prompt signal is output based on at least one of graphics, text, and voice.
The client terminal according to claim 126, wherein the controller is further configured to:

Receiving the evaluation result sent by the PTZ;

Wherein, the evaluation result includes: the load currently carried by the pan/tilt is within a preset load range of the pan/tilt, or the load currently carried by the pan/tilt is too large.
The client according to claim 131, wherein before receiving the evaluation result sent by the pan-tilt, the controller is further configured to:

If a load evaluation instruction is received, generating a second trigger signal for instructing the pan/tilt to perform load evaluation;

Send the second trigger signal to the pan/tilt to trigger the pan/tilt to perform load evaluation.