WO2021016855A1

WO2021016855A1 - Handheld gimbal control method and device, handheld gimbal, and storage medium

Info

Publication number: WO2021016855A1
Application number: PCT/CN2019/098356
Authority: WO
Inventors: 王文杰; 卢国政; 谢文麟; 许文
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-07-30
Filing date: 2019-07-30
Publication date: 2021-02-04
Also published as: CN112119254A

Abstract

A handheld gimbal control method and device, a handheld gimbal, and a storage medium. The method comprises: obtaining a first torque outputted by a first electric motor (1) of a handheld gimbal, wherein the first electric motor (1) is connected to a photographing device fixing mechanism (7) of the handheld gimbal (S401); based at least in part on the number of times of the hopping of the first torque within a specified time range, determining whether the handheld gimbal is in an unloaded state (S402); and when the handheld gimbal is in the unloaded state, controlling the first electric motor (1) to stop rotating (S403). By means of this mode, the present invention can avoid the phenomenon of continuous jittering caused because the handheld gimbal is in the unloaded state, thereby improving the reliability of the handheld gimbal, prolonging the service life of the handheld gimbal, and improving user experience.

Description

Control method and equipment for handheld pan/tilt, handheld pan/tilt and storage medium

Technical field

This application relates to the field of control technology, and in particular to a control method and device of a handheld pan/tilt, a handheld pan/tilt, and a storage medium.

Background technique

At present, with the development of computer technology and the needs of users, the application of PTZ is more and more extensive, among which, it is widely used in the field of shooting. Taking the handheld PTZ as an example, the user can use the handheld PTZ and camera equipment to shoot in various forms and scenes. When the handheld gimbal is not equipped with camera equipment, if the handheld gimbal is turned on, the motor output will be abnormal, which will cause the handheld gimbal to shake continuously, affecting the reliability and service life of the handheld gimbal. Therefore, how to better improve the reliability of the handheld PTZ and extend the life of the handheld PTZ is of great significance.

Summary of the invention

The embodiments of the present invention provide a control method, equipment, hand-held pan-tilt and storage medium for a handheld pan-tilt, which can avoid the phenomenon of continuous shaking when the handheld pan-tilt is in an idling state, improve the reliability of the handheld pan-tilt, and extend The service life of the handheld PTZ is improved and the user experience is improved.

In the first aspect, an embodiment of the present invention provides a method for controlling a handheld PTZ, including:

Acquiring a first torque output by a first motor of the handheld pan/tilt, the first motor being connected to the fixing mechanism of the photographing device of the handheld pan/tilt;

Determine whether the handheld pan/tilt is in an idling state based at least in part on the number of times the first moment has jumped within a specified time range;

When the handheld pan/tilt is in an idling state, the first motor is controlled to stop rotating.

In the second aspect, an embodiment of the present invention provides a control device, including one or more processors, which work individually or together, and are used to perform the following operations:

In a third aspect, an embodiment of the present invention provides a handheld PTZ, including:

At least one motor;

Angle sensor;

The processor is used to perform the following steps:

In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium that stores a computer program that, when executed by a processor, implements the method described in the first aspect.

In the embodiment of the present invention, the control device obtains the first torque output by the first motor, and the first motor is connected to the camera fixing mechanism of the hand-held pan/tilt; at least partly based on the first torque in a specified time range Determine whether the handheld pan/tilt is in an idling state, and control the first motor to stop rotating when the handheld pan/tilt is in an idling state. Through this implementation manner, the phenomenon of continuous shaking when the handheld pan/tilt is in an idling state can be avoided, the reliability of the handheld pan/tilt is improved, the service life of the handheld pan/tilt is prolonged, and the user experience is improved.

Description of the drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the drawings needed in the embodiments. Obviously, the drawings in the following description are only some of the present invention. Embodiments, for those of ordinary skill in the art, without creative work, other drawings can be obtained from these drawings.

Figure 1 is a schematic diagram of a handheld pan/tilt provided by an embodiment of the present invention;

FIG. 2 is a schematic diagram of a handheld camera holding and shooting device provided by an embodiment of the present invention;

Figure 3 is a schematic diagram of the working principle of a handheld pan/tilt provided by an embodiment of the present invention;

4 is a schematic flowchart of a method for controlling a handheld PTZ according to an embodiment of the present invention;

5 is a schematic flowchart of another method for controlling a handheld PTZ according to an embodiment of the present invention;

6 is a schematic flowchart of another method for controlling a handheld PTZ according to an embodiment of the present invention;

FIG. 7 is a schematic flowchart of yet another method for controlling a handheld PTZ according to an embodiment of the present invention;

Fig. 8 is a schematic structural diagram of a control device provided by an embodiment of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly 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 of 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.

Hereinafter, some embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

The method for controlling the handheld PTZ provided in the embodiment of the present invention may be executed by a control system, wherein the control system includes a control device and a handheld PTZ. In some embodiments, the control device may be installed on a handheld pan/tilt; in some embodiments, the control device may be spatially independent of the handheld pan/tilt; in some embodiments, the control The device may be a component of a handheld PTZ, that is, the handheld PTZ includes a control device. In some embodiments, the handheld pan/tilt includes at least one motor, and the motor is used to make the handheld pan/tilt face in a certain direction. In some embodiments, the handheld pan/tilt may carry a camera. In other embodiments, the control method of the handheld PTZ can also be applied to other mobile devices.

Specifically, the hand-held pan/tilt may be introduced as an example in FIG. 1, which is a schematic diagram of a handheld pan/tilt provided by an embodiment of the present invention. As shown in Figure 1, the hand-held pan/tilt includes a first motor 1, a second motor 2, and a third motor 3. The first motor 1 is connected to the second motor 2 through a shaft arm 6, and the second motor 2 is connected to Connected with the third motor 3, the shaft arm 5 and the shaft arm 6 are in an oblique state, and the third motor 3 is connected with the handle 4. The handheld pan/tilt also includes a camera fixing mechanism 7 which is connected to the first motor 1 and can be used to clamp photographing equipment such as mobile phones and cameras. Among them, the first motor 1 can be used to control the roll (Roll) attitude of the camera, the second motor 2 can be used to control the pitch (Pitch) attitude of the camera, and the third motor 3 can be used to control the yaw (Yaw) of the camera. attitude.

In one embodiment, FIG. 1 merely provides a hand-held pan/tilt head. The three-axis connection mode of the embodiment of the present invention is not limited to the form of Roll-Pitch-Yaw, and other connection sequences may also be used. The rotating shafts of the three-axis motors in the embodiments of the present invention may also be perpendicular to each other in space; of course, the embodiments of the present invention are not limited to a three-axis handheld pan/tilt, and may also be a handheld pan/tilt containing other numbers of rotating shafts.

As shown in FIG. 1, the handheld PTZ has a camera fixing mechanism 7. The camera (not shown in FIG. 1) may be installed in the camera fixing mechanism 7. Specifically, as shown in Figure 2, Figure 2 is a schematic diagram of a handheld pan/tilt holding camera provided by an embodiment of the present invention. In some embodiments, the camera 8 is mounted on the camera fixing mechanism 7, and the camera is fixed. The mechanism 7 is connected to the first motor 1.

In the embodiment of the present invention, the camera fixing mechanism 7 is not necessary. When the handheld pan/tilt is used to carry external photographing devices such as mobile phones and cameras, it may include the camera fixing mechanism; when the handheld pan/tilt itself is integrated with the camera When the device is integrated with a camera, for example, it may not include the camera fixing mechanism.

The working principle of the handheld PTZ is shown in FIG. 3, which is a schematic diagram of the working principle of a handheld PTZ provided by an embodiment of the present invention. As shown in Figure 3, the current posture 34 of the handheld gimbal 32 equipped with the camera is acquired through the inertial measurement element 33, and the deviation between the current posture 34 and the target posture 35 is determined according to the current posture 34 and the target posture 35 of the handheld gimbal. The control system 31 controls the handheld pan/tilt 32 equipped with the camera to reduce the deviation, thereby improving the stability and reliability of the handheld pan/tilt 32 equipped with the camera. Wherein, the inertial measurement element 33 can be installed in the camera fixing mechanism 7 as shown in FIG. 1.

When the camera fixing mechanism 7 of the handheld gimbal is not equipped with a camera, that is, it is unloaded, it will cause the output of the first motor 1 to be abnormal and cause the handheld gimbal to keep shaking, that is, the first torque output by the first motor 1 repeatedly jumps. phenomenon. Therefore, the method for controlling the handheld pan/tilt head provided by the embodiment of the present invention can determine the first torque output by the first motor 1 and at least partly based on the number of jumps of the first torque within a specified time range. Whether the hand-held gimbal is in no-load state, stop the rotation of the first motor 1 when the hand-held gimbal is in the no-load state, so as to avoid the continuous shaking of the hand-held gimbal, improve the reliability of the hand-held gimbal, and extend the service life of the hand-held gimbal , Improve user experience.

Hereinafter, a method for controlling a handheld pan/tilt head provided by an embodiment of the present invention will be schematically described with reference to the accompanying drawings.

Please refer to FIG. 4 for details. FIG. 4 is a schematic flowchart of a method for controlling a handheld pan/tilt head according to an embodiment of the present invention. The method may be executed by a control device. The specific explanation of the control device is as described above. Specifically, the method of the embodiment of the present invention includes the following steps.

S401: Obtain a first torque output by a first motor of the handheld pan/tilt, where the first motor is connected to the camera fixing mechanism of the handheld pan/tilt.

In the embodiment of the present invention, the control device can obtain the first torque output by the first motor, which is connected to the camera fixing mechanism of the handheld pan/tilt; in some embodiments, in one embodiment, The first motor is used to control the roll posture of the photographing device.

For example, as shown in FIG. 1, the first motor 1 is connected to the camera fixing mechanism 7 of the handheld pan/tilt, and the control device can obtain the first torque output by the first motor 1.

By acquiring the first torque output by the first motor connected to the holding mechanism of the handheld camera, it is helpful to determine whether the handheld camera is in an idling state. If the handheld camera is in an idling state, the The first torque output by the first motor will show a jump phenomenon.

S402: Determine whether the handheld pan/tilt is in an idling state based at least in part on the number of jumps of the first torque within a specified time range.

In the embodiment of the present invention, the control device may determine whether the handheld pan/tilt is in an idling state based at least in part on the number of jumps of the first torque within a specified time range.

In an embodiment, when the number of jumps of the first torque within the specified time range is greater than the first preset jump number threshold, it can be determined that the handheld pan/tilt is in an idling state.

For example, assuming that the first preset threshold for the number of jumps is time _threshold , and the number of jumps of the first torque within a specified time range is counter _oscillate , the following formula (1) can be used to determine whether the handheld PTZ is at No-load state:

counter _oscillate >time _threshold (1)

In an embodiment, the number of times that the first torque jumps within a specified time range is the number of times the first torque meets a first preset jump condition within the specified time range. In some embodiments, the number of jumps of the first torque within a specified time range can be accumulated and recorded by a jump counter.

In one embodiment, the first preset jump condition includes that the first torque changes from a first positive torque threshold to a first negative torque threshold; or, the first torque changes from a first negative torque threshold. Is the first positive torque threshold.

For example, assuming that the first torque is torq, the first positive torque threshold is torq _threshold , and the first negative torque threshold is -torq _threshold , the first preset jump condition includes: the first torque torq changes from the first A positive torque threshold torq _threshold becomes a first negative torque threshold -torq _threshold ; or, the first torque torq changes from a first negative torque threshold -torq _threshold to a first positive torque threshold torq _threshold .

In one embodiment, the control device may obtain the number of times the first torque changes from the first positive torque threshold to the first negative torque threshold within the specified time range, and according to the first torque in the specified time The number of times from the first positive torque threshold to the first negative torque threshold within the time range determines the number of jumps of the first torque within the specified time range.

For example, when the control device acquires that the number of times the first torque has changed from the first positive torque threshold to the first negative torque threshold within the specified time range is 4 times, it can be determined that the first torque is within the specified time range The number of internal jumps is 4 times.

In an embodiment, the control device may acquire the number of times the first torque changes from the first negative torque threshold to the first positive torque threshold within the specified time range, and according to the first torque in the specified time The number of times from the first negative torque threshold to the first positive torque threshold within the time range determines the number of jumps of the first torque within a specified time range.

For example, when the control device acquires that the number of times that the first torque changes from the first negative torque threshold to the first positive torque threshold within the specified time range is 8 times, it can be determined that the first torque is within the specified time range The number of internal jumps is 8 times.

In an embodiment, the control device may obtain the number of times the first torque changes from a negative torque threshold to a positive torque threshold and the number of times the first torque changes from a positive torque threshold to a negative torque threshold within the specified time range, and based on the The number of times the first torque changes from a negative torque threshold to a positive torque threshold within the specified time range, and the number of times the first torque changes from a positive torque threshold to a negative torque threshold determine the number of jumps of the first torque within the specified time range .

For example, when the control device acquires that the number of times that the first torque changes from a negative torque threshold to a positive torque threshold within the specified time range is 8 times, and the number of times that the first torque changes from a positive torque threshold to a negative torque threshold is 8 times, then It can be determined that the number of jumps of the first torque within the specified time range is 16 times.

Please refer to FIG. 5, which is a schematic flowchart of another method for controlling a handheld pan/tilt head according to an embodiment of the present invention. As shown in Fig. 5, the method can be executed by a control device, wherein the specific explanation of the control device is as described above. Specifically, the control device may also obtain the rotational angular acceleration of the first motor (S501); determine the rotational inertia of the first motor according to the first moment and the rotational angular acceleration of the first motor ( S502); and based at least in part on the number of jumps of the first torque within a specified time range and the moment of inertia of the first motor, it is determined whether the handheld pan/tilt is in an idling state (S503).

Please refer to Figure 1 and Figure 2. When the handheld gimbal is equipped with a camera, the moment of inertia of the first motor 1 is larger; when the handheld gimbal is unloaded, that is, when no camera is installed, the moment of inertia of the first motor 1 is higher. Therefore, the accuracy of no-load detection of the handheld gimbal can be further improved by determining the moment of inertia of the first motor.

In some embodiments, the moment of inertia of the first motor is determined by dividing the first moment of the first motor by the rotational angular acceleration of the first motor. In some embodiments, the rotational angular acceleration of the first motor is obtained by the difference of the rotational angular velocity of the first motor.

In some embodiments, the rotation angular velocity of the first motor is determined according to the difference between the rotation angles of the first motor at two test time points. In some implementations, the two test time points may be two adjacent time points. In some embodiments, the rotation angle is obtained according to an angle sensor, and the angle sensor is connected to the camera fixing mechanism and the first motor.

For example, suppose that the rotation angle of the first motor at two test time points is the rotation angle angle _pre at the first test time point and the second test time adjacent to the first test time point before the first test time point. The rotation angle angle of the point can be calculated by the method of difference to obtain the rotation angular velocity velocity of the first motor as shown in the following formula (2):

velocity=angle-angle _pre (2)

In an embodiment, the control device may obtain the rotation angle at the first test time point through the angle sensor, and the second test time point adjacent to the first test time point before the first test time point And calculate the difference between the rotation angle at the first test time point and the rotation angle at the second test time point before the first test time point, and determine that the difference is that of the first motor Angular velocity of rotation.

For example, assuming that the first test time point is the first s, and the second test time point is the second s, if the control device obtains through the angle sensor that the rotation angle at the first s is 30 degrees, and the obtained at the second s If the rotation angle is 90 degrees, the difference between the rotation angle of 30 degrees in the first s and the rotation angle of 90 degrees obtained in the second s can be calculated as 60 degrees, so as to determine that the rotation angular velocity of the first motor is 60 degrees/sec.

It can be seen that obtaining the rotational angular velocity of the first motor helps determine the rotational angular acceleration of the first motor, so that the moment of inertia of the first motor is determined according to the first torque and the rotational angular acceleration of the first motor, In order to determine whether the handheld pan/tilt is in an idling state.

In some embodiments, when the number of jumps of the first torque within a specified time range is greater than a first preset threshold of the number of jumps; and the moment of inertia of the first motor is less than a preset value within the specified time range. When the number of times of the set threshold of moment of inertia is greater than the preset number of times, it is determined that the handheld pan/tilt is in an idling state.

S403: When the handheld PTZ is in an idling state. Control the first motor to stop rotating.

In one embodiment, when the handheld pan/tilt is in an idling state, the control device may control the first motor to stop rotating.

It should be noted that controlling the first motor to stop rotating can be understood as: controlling the motor to stop output; or controlling the output of the motor to gradually decrease until there is no output (for example, by adjusting the control parameters in the control system 31 shown in FIG. 3); Or control the motor output to be reduced to a certain range. Those skilled in the art can set the time and degree required for the motor to stop rotating according to the disclosure of the embodiments of the present invention, so as to reduce damage to the handheld pan/tilt and improve user experience.

In one embodiment, the handheld PTZ is electrically connected to the control terminal. When the handheld PTZ is in an idling state, the control device may send prompt information to the control terminal, and the prompt information includes the Information indicating that the handheld pan/tilt is in no-load state.

In some embodiments, the prompt information is used to prompt the user to turn off the first motor; in some embodiments, the prompt information is used to prompt the user to install the camera on the camera fixing mechanism of the handheld platform in.

It can be seen that, through this implementation manner, when the handheld pan/tilt is in an idling state, the user can be reminded to handle in time, so as to reduce damage to the handheld pan/tilt and improve user experience.

In the embodiment of the present invention, the control device obtains the first torque output by the first motor, and the first motor is connected to the camera fixing mechanism of the hand-held pan/tilt; at least partly based on the first torque in a specified time range Determine whether the handheld pan/tilt is in an idling state, and control the first motor to stop rotating when the handheld pan/tilt is in an idling state. Through this implementation manner, the phenomenon that the handheld pan/tilt is in an idling state and continues to jitter can be avoided, the reliability of the handheld pan/tilt is improved, the service life of the handheld pan/tilt is prolonged, and the user experience is improved.

Fig. 6 is a schematic flowchart of another method for controlling a handheld pan/tilt head according to an embodiment of the present invention. The method may be executed by a control device, wherein the specific explanation of the control device is as described above. Specifically, the method of the embodiment of the present invention includes the following steps.

S601: Obtain a second torque output by a second motor of the handheld pan/tilt, where the second motor is connected to the first motor through the first bracket.

In the embodiment of the present invention, the control device can obtain the second torque output by the second motor, and the second motor is connected to the first motor through the first bracket. In some embodiments, the first bracket includes the shaft arm 6 described in FIG. 1.

In an embodiment, the second motor is used to control the pitch attitude of the photographing device.

For example, as shown in FIG. 1, the second motor 2 is connected to the first motor 1 through the shaft arm 6, and the control device can obtain the second torque output by the second motor 2.

If the handheld gimbal is in no-load state, the second motor will also shake. Therefore, by obtaining the second torque output by the second motor connected to the first motor, it is helpful to more accurately determine whether the handheld gimbal is in the idling state. If the handheld gimbal is in the idling state, the The second torque output by the second motor will show a jump phenomenon.

S602: Determine whether the handheld pan/tilt is in an idling state based at least in part on the number of jumps of the first torque within a specified time range and the number of jumps of the second torque within a specified time range.

In the embodiment of the present invention, when the number of jumps of the first torque within a specified time range is greater than the first preset threshold of jumps; and the number of jumps of the second torque within the specified time range is greater than the first 2. When the threshold of the number of jumps is preset, it is determined that the handheld pan/tilt is in an idling state.

In some embodiments, the number of times the second torque jumps within a specified time range is the number of times the second torque meets a second preset jump condition within the specified time range. In some embodiments, the number of times that the second torque jumps within a specified time range can be accumulated and recorded by a jump counter.

In one embodiment, the second preset jump condition includes that the second torque changes from a second positive torque threshold to a second negative torque threshold; or, the second torque changes from a second negative torque threshold. Is the second positive torque threshold. In some embodiments, the second preset hopping condition is similar to the aforementioned first preset hopping condition, and will not be repeated here.

In one embodiment, the control device may acquire the number of times the second torque changes from the second positive torque threshold to the second negative torque threshold within the specified time range, and according to the second torque in the specified time The number of times from the second positive torque threshold to the second negative torque threshold within the time range determines the number of jumps of the second torque within the specified time range.

For example, when the control device acquires that the number of times that the second torque changes from the second positive torque threshold to the second negative torque threshold within the specified time range 2s is 3 times, it can be determined that the second torque is within the specified time The number of jumps within the range is 3 times.

In one embodiment, the control device may obtain the number of times the second torque changes from the second negative torque threshold to the second positive torque threshold within the specified time range, and according to the second torque in the specified time range. The number of times from the second negative torque threshold to the second positive torque threshold within the time range determines the number of jumps of the second torque within the specified time range.

For example, when the control device acquires that the number of times that the second torque has changed from the second negative torque threshold to the second positive torque threshold within the specified time range 2s is 4 times, it can be determined that the second torque is at the specified time The number of jumps within the range is 4 times.

In one embodiment, the control device may acquire the number of times the second torque changes from a negative torque threshold to a positive torque threshold and the number of times the second torque changes from a positive torque threshold to a negative torque threshold within the specified time range, and according to the The number of times the second torque changes from the negative torque threshold to the positive torque threshold within the specified time range, and the number of times the positive torque threshold changes to the negative torque threshold determine the number of jumps of the torque within the specified time range.

For example, when the control device acquires that the number of times that the second torque changes from a negative torque threshold to a positive torque threshold within the specified time range is 8 times, and the number of times that the second torque changes from a positive torque threshold to a negative torque threshold is 8 times, then It can be determined that the number of jumps of the second torque within the specified time range is 16 times.

S603: When the handheld pan/tilt is in an idling state, control the first motor to stop rotating.

Optionally, the control device may also control the second motor to stop rotating.

It should be noted that the above-mentioned controlling the first motor to stop rotating and controlling the second motor to stop rotating can be understood as: controlling the motor to stop output; or controlling the motor output to gradually decrease until there is no output (for example, by adjusting the control system shown in Figure 3 31); or control the motor output to be reduced to a certain range. Those skilled in the art can set the time and degree required for the motor to stop rotating according to the disclosure of the embodiments of the present invention, so as to reduce damage to the handheld pan/tilt and improve user experience.

In the embodiment of the present invention, the control device obtains the second torque output by the second motor, based at least in part on the number of jumps of the first torque within a specified time range and the occurrence of the second torque within the specified time range. The number of jumps determines whether the handheld gimbal is in an idling state, which can further improve the accuracy of the handheld gimbal no-load detection, thereby avoiding the handheld gimbal being in an idling state and causing continuous jitter, and improving the handheld gimbal’s performance Reliability extends the service life of the handheld PTZ and improves the user experience.

Fig. 7 is a schematic flow chart of another method for controlling a handheld pan/tilt head provided by an embodiment of the present invention. The method can be executed by a control device, wherein the specific explanation of the control device is as described above. Specifically, the method of the embodiment of the present invention includes the following steps.

S701: Obtain a third torque output by a third motor of the handheld pan/tilt, where the third motor is connected to the second motor through the second bracket.

In the embodiment of the present invention, the control device may obtain the third torque output by the third motor, and the third motor is connected to the second motor through the second bracket. In some embodiments, the second bracket is the shaft arm 5 described in FIG. 1.

In an embodiment, the third motor is used to control the yaw attitude of the camera.

For example, as shown in FIG. 1, the third motor 3 is connected to the second motor 2 through the shaft arm 5, and the control device can obtain the third torque output by the third motor 3.

If the handheld gimbal is in no-load state, the third motor will shake. Therefore, the third torque output by the third motor connected to the second motor can be obtained to help determine whether the handheld pan/tilt is in the idling state. If the handheld pan/tilt is in the idling state, the third motor outputs The third torque will show a jump phenomenon.

S702: Based at least in part on the number of jumps of the first torque within a specified time range, the number of jumps of the second torque within a specified time range, and the number of jumps of the third torque within a specified time range. Change the number of times to determine whether the handheld PTZ is in an idling state.

In the embodiment of the present invention, when the number of jumps of the first torque within a specified time range is greater than the first preset threshold of jumps; the number of jumps of the second torque within the specified time range is greater than that of the second A preset threshold for the number of jumps; and when the number of jumps of the third torque within a specified time range is greater than the third threshold for the number of jumps, it is determined that the handheld pan/tilt is in an idling state.

In an embodiment, the number of times that the third motor jumps within a specified time range is the number of times the third torque meets a third preset jump condition within the specified time range.

In an embodiment, the third preset jump condition includes that the third torque changes from a third positive torque threshold to a third negative torque threshold; or, the third torque changes from a third negative torque threshold. Is the third positive torque threshold.

In an embodiment, the control device may obtain the number of times the third torque changes from a third positive torque threshold to a third negative torque threshold within the specified time range, and according to the third torque when the specified The number of times from the third positive torque threshold to the third negative torque threshold within the time range determines the number of jumps of the third torque within the specified time range.

For example, when the control device acquires that the number of times the third torque has changed from the third positive torque threshold to the third negative torque threshold within the specified time range 2s is 2 times, it can be determined that the third torque is within the specified time The number of jumps within the range is 2 times.

In an embodiment, the control device may obtain the number of times the third torque changes from the third negative torque threshold to the third positive torque threshold within the specified time range, and according to the third torque in the specified time The number of times from the third negative torque threshold to the third positive torque threshold within the time range determines the number of jumps of the third torque within the specified time range.

For example, when the control device acquires that the number of times the third torque has changed from the third negative torque threshold to the third positive torque threshold within the specified time range is 2 times, it can be determined that the third torque is within the specified time range The number of internal jumps is 2 times.

In one embodiment, the control device may obtain the number of times the third torque changes from a negative torque threshold to a positive torque threshold and the number of times the third torque changes from a positive torque threshold to a negative torque threshold within the specified time range, and according to the The number of times the third torque changes from a negative torque threshold to a positive torque threshold within the specified time range, and the number of times the third torque changes from a positive torque threshold to a negative torque threshold determine the number of jumps of the third torque within the specified time range .

For example, when the control device acquires that the number of times the third torque changes from the negative torque threshold to the positive torque threshold within the specified time range is 8 times, and the number of times the third torque changes from the positive torque threshold to the negative torque threshold is 8 times, then It can be determined that the number of jumps of the third torque within the specified time range is 16 times.

S703: When the handheld pan/tilt is in an idling state, control the first motor to stop rotating.

Optionally, the control device may also control the second motor and the third motor to stop rotating.

It should be noted that the above-mentioned controlling the first motor to stop rotating and controlling the second motor and the third motor to stop rotating can be understood as: controlling the motor to stop output; or controlling the output of the motor to gradually decrease until there is no output (for example, by adjusting as shown in Figure 3 The control parameters in the control system 31 shown); or the control motor output is reduced to a certain range. Those skilled in the art can set the time and degree required for the motor to stop rotating according to the disclosure of the embodiments of the present invention, so as to reduce damage to the handheld pan/tilt and improve user experience.

In the embodiment of the present invention, the control device obtains the third torque output by the third motor, at least partly based on the number of jumps of the first torque within a specified time range, and the second torque occurs within the specified time range. The number of jumps and the number of jumps of the third moment within a specified time range determine whether the handheld gimbal is in an idling state, which can further improve the accuracy of the handheld gimbal's no-load detection, thereby avoiding handheld cloud The idling state of the platform leads to continuous jitter, which improves the reliability of the handheld gimbal, prolongs the service life of the handheld gimbal, and improves the user experience.

In an embodiment, the control device can also determine the hand-held device based on the torque of the first motor, the torque of the second motor, the number of times the torque of the third motor jumps within a specified time range, and the moment of inertia of the first motor. Whether the gimbal is suspended

In an embodiment, the control device may also determine whether the handheld pan/tilt is in a suspended state through other motion parameters of the motor, and the motion parameters may include the angular velocity and angular acceleration of the motor. For example, the control device may determine whether the handheld pan/tilt head is in an idling state based at least in part on the angular velocity or angular acceleration of the first motor. Specifically, the control device may determine whether the handheld pan/tilt head is in an idling state based at least in part on the number of jumps in the angular velocity or angular acceleration of the first motor within a specified time range.

Please refer to FIG. 8, which is a schematic structural diagram of a control device according to an embodiment of the present invention. Specifically, the control device includes: a memory 801 and a processor 802.

In an embodiment, the control device further includes a data interface 803, and the data interface 803 is used to transfer data information between the control device and other devices.

The memory 801 may include a volatile memory (volatile memory); the memory 801 may also include a non-volatile memory (non-volatile memory); the memory 801 may also include a combination of the foregoing types of memories. The processor 802 may be a central processing unit (CPU). The processor 802 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 foregoing PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.

The memory 801 is used to store programs, and the processor 802 can call the programs stored in the memory 801 to execute the following steps:

Determining whether the handheld pan/tilt is in an idling state based at least in part on the number of jumps of the first torque within a specified time range;

Further, the processor 802 is further configured to:

When the number of jumps of the first torque within a specified time range is greater than a first preset number of jumps threshold, it is determined that the handheld pan/tilt is in an idling state.

Further, the number of times that the first torque jumps within a specified time range is the number of times the first torque meets a first preset jump condition within the specified time range.

Further, the first preset jump condition includes:

The first torque changes from the first positive torque threshold to the first negative torque threshold; or,

The first torque changes from a first negative torque threshold to a first positive torque threshold.

Further, the processor 802 is further configured to:

Acquiring the rotational angular acceleration of the first motor;

Determine the moment of inertia of the first motor according to the first moment and the rotational angular acceleration of the first motor;

At least partly based on the number of jumps of the first torque within a specified time range and the moment of inertia of the first motor, it is determined whether the handheld pan/tilt head is in an idling state.

Further, the processor 802 is further configured to:

When the number of jumps of the first torque within the specified time range is greater than the first preset threshold of the number of jumps; and the moment of inertia of the first motor is less than the preset threshold of inertia within the specified time range When the number of times is greater than the preset number threshold, it is determined that the handheld PTZ is in an idling state.

Further, the processor 802 is further configured to:

Acquiring a second torque output by a second motor of the handheld pan/tilt, the second motor being connected to the first motor through a first bracket;

At least partly based on the number of jumps of the first torque within a specified time range and the number of jumps of the second torque within a specified time range, it is determined whether the handheld pan/tilt is in an idling state.

Further, the processor 802 is further configured to:

When the number of jumps of the first torque within the specified time range is greater than the first preset number of jumps threshold; and the number of jumps of the second torque within the specified time range is greater than the second preset number of jumps When the threshold is set, it is determined that the handheld pan/tilt is in an idling state.

Further, the number of times that the second torque jumps within a specified time range is the number of times the second torque meets a second preset jump condition within the specified time range.

Further, the second preset jump condition includes:

The second torque changes from a second positive torque threshold to a second negative torque threshold; or,

The second torque changes from a second negative torque threshold to a second positive torque threshold.

Further, the processor 802 is further configured to:

Obtaining a third torque output by a third motor of the handheld pan/tilt head, where the third motor is connected to the second motor through a second bracket;

Based at least in part on the number of jumps in the first torque within a specified time range, the number of jumps in the second torque within a specified time range, and the number of jumps in the third torque within a specified time range. Number of times to determine whether the handheld PTZ is in an idling state.

Further, the processor 802 is further configured to:

When the number of jumps of the first torque within a specified time range is greater than the first preset threshold of jumps; the number of jumps of the second torque within the specified time range is greater than the second preset threshold of jumps And when the number of jumps of the third torque within the specified time range is greater than the third preset jump number threshold, it is determined that the handheld pan/tilt is in an idling state.

Further, the number of times that the third motor jumps within a specified time range is the number of times the third torque meets a third preset jump condition within the specified time range.

Further, the third preset jump condition includes:

The third torque changes from a third positive torque threshold to a third negative torque threshold; or,

The third torque changes from a third negative torque threshold to a third positive torque threshold.

Further, the handheld PTZ is electrically connected with the control terminal, and the processor 802 is further configured to:

When the handheld pan/tilt is in an idling state, a prompt message is sent to the control terminal, and the prompt information includes information indicating that the handheld pan/tilt is in an idling state.

In the embodiment of the present invention, the control device obtains the first torque output by the first motor, and the first motor is connected to the camera fixing mechanism of the hand-held pan/tilt; at least partly based on the first torque in a specified time range Determine whether the handheld pan/tilt is in an idling state, and control the first motor to stop rotating when the handheld pan/tilt is in an idling state. Through this implementation manner, it is possible to avoid the phenomenon of continuous jitter caused by the handheld pan/tilt in an idling state, improve the reliability of the handheld pan/tilt, extend the service life of the handheld pan/tilt, and improve the user experience.

The embodiment of the present invention also provides a handheld pan/tilt. The handheld pan/tilt in the embodiment of the present invention may include: one or more processors and one or more angle sensors. The above-mentioned processor and angle sensor are connected through a bus. Among them, the processor is used to perform the following steps:

Determine whether the handheld pan/tilt is in an idling state at least partially based on the number of jumps of the first torque within a specified time range.

In the embodiment of the present invention, the control device obtains the first torque output by the first motor, and the first motor is connected to the camera fixing mechanism of the hand-held pan/tilt; at least partly based on the first torque in a specified time range Determine whether the handheld PTZ is in the no-load state, and control the first motor to stop rotating when the handheld PTZ is in the no-load state. Through this implementation manner, it is possible to avoid the phenomenon of continuous jitter caused by the handheld pan/tilt in an idling state, improve the reliability of the handheld pan/tilt, extend the service life of the handheld pan/tilt, and improve the user experience.

The embodiment of the present invention also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the implementation of the present invention corresponding to FIG. 4, FIG. 6 or FIG. 7 is realized. The method described in the example can also implement the device corresponding to the embodiment of the present invention described in FIG. 8, and will not be repeated here.

The computer-readable storage medium may be an internal storage unit of the device described in any of the foregoing embodiments, such as a hard disk or memory of the device. The computer-readable storage medium may also be an external storage device of the device, such as a plug-in hard disk equipped on the device, a Smart Media Card (SMC), or a Secure Digital (SD) card , Flash Card, etc. Further, the computer-readable storage medium may also include both an internal storage unit of the device and an external storage device. The computer-readable storage medium is used to store the computer program and other programs and data required by the terminal. The computer-readable storage medium can also be used to temporarily store data that has been output or will be output.

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 controlling a handheld pan/tilt head, which is characterized in that it comprises:

Acquiring a first torque output by a first motor of the handheld pan/tilt, the first motor being connected to the fixing mechanism of the photographing device of the handheld pan/tilt;

Determine whether the handheld pan/tilt is in an idling state based at least in part on the number of times the first moment has jumped within a specified time range;

When the handheld pan/tilt is in an idling state, the first motor is controlled to stop rotating.
The method according to claim 1, wherein the determining whether the hand-held pan/tilt head is in an idling state at least in part based on the number of times the first torque has jumped within a specified time range comprises:

When the number of jumps of the first torque within a specified time range is greater than a first preset number of jumps threshold, it is determined that the handheld pan/tilt is in an idling state.
The method of claim 2, wherein:

The number of jumps of the first torque within a specified time range is the number of times the first torque meets a first preset jump condition within the specified time range.
The method according to claim 3, wherein the first preset jump condition comprises:

The first torque changes from the first positive torque threshold to the first negative torque threshold; or,

The first torque changes from a first negative torque threshold to a first positive torque threshold.
The method of claim 1, wherein the method further comprises:

Acquiring the rotational angular acceleration of the first motor;

Determining the moment of inertia of the first motor according to the first moment and the rotational angular acceleration of the first motor;

The determining whether the handheld pan/tilt head is in an idling state at least in part based on the number of times the first torque has jumped within a specified time range includes:

At least partly based on the number of jumps of the first torque within a specified time range and the moment of inertia of the first motor, it is determined whether the handheld pan/tilt head is in an idling state.
The method according to claim 5, wherein the handheld pan/tilt head is determined at least partly based on the number of jumps of the first torque within a specified time range and the moment of inertia of the first motor Whether it is in no-load state, including:

When the number of jumps of the first torque within the specified time range is greater than the first preset threshold of the number of jumps; and the moment of inertia of the first motor is less than the preset threshold of inertia within the specified time range When the number of times is greater than the preset number threshold, it is determined that the handheld PTZ is in an idling state.
The method of claim 1, wherein the method further comprises:

Acquiring a second torque output by a second motor of the handheld pan/tilt, the second motor being connected to the first motor through a first bracket;

The determining whether the handheld pan/tilt head is in an idling state at least in part based on the number of times the first torque has jumped within a specified time range includes:

At least partly based on the number of jumps of the first torque within a specified time range and the number of jumps of the second torque within a specified time range, it is determined whether the handheld pan/tilt is in an idling state.
The method according to claim 7, wherein the first torque is at least partially based on the number of jumps within a specified time range of the first torque and the number of jumps that the second torque occurs within a specified time range. To determine whether the handheld PTZ is in an idling state, including:

When the number of jumps of the first torque within the specified time range is greater than the first preset number of jumps threshold; and the number of jumps of the second torque within the specified time range is greater than the second preset number of jumps When the threshold is set, it is determined that the handheld pan/tilt is in an idling state.
The method according to claim 8, wherein the number of times the second torque jumps within a specified time range is the number of times the second torque meets a second preset jump condition within the specified time range frequency.
The method according to claim 9, wherein the second preset jump condition comprises:

The second torque changes from a second positive torque threshold to a second negative torque threshold; or,

The second torque changes from a second negative torque threshold to a second positive torque threshold.
The method according to claim 7, wherein the method further comprises:

Obtaining a third torque output by a third motor of the handheld pan/tilt head, where the third motor is connected to the second motor through a second bracket;

The determining whether the handheld pan/tilt head is in an idling state at least in part based on the number of times the first torque has jumped within a specified time range includes:

Based at least in part on the number of jumps in the first torque within a specified time range, the number of jumps in the second torque within a specified time range, and the number of jumps in the third torque within a specified time range. Number of times to determine whether the handheld PTZ is in an idling state.
The method according to claim 11, wherein the number of jumps in the specified time range of the first torque is at least partially based on the number of jumps in the specified time range of the second torque And the number of times the third moment has jumped within a specified time range to determine whether the handheld pan/tilt is in an idling state includes:

When the number of jumps of the first torque within a specified time range is greater than the first preset threshold of jumps; the number of jumps of the second torque within the specified time range is greater than the second preset threshold of jumps And when the number of jumps of the third torque within the specified time range is greater than the third preset jump number threshold, it is determined that the handheld pan/tilt is in an idling state.
The method according to claim 12, wherein:

The number of times that the third motor jumps within a specified time range is the number of times the third torque meets a third preset jump condition within the specified time range.
The method according to claim 13, wherein the third preset jump condition comprises:

The third torque changes from a third positive torque threshold to a third negative torque threshold; or,

The third torque changes from a third negative torque threshold to a third positive torque threshold.
The method according to claim 1, wherein the handheld PTZ is electrically connected to a control terminal, and the method further comprises:

When the handheld pan/tilt is in an idling state, a prompt message is sent to the control terminal, and the prompt information includes information indicating that the handheld pan/tilt is in an idling state.
A control device, characterized in that it comprises one or more processors, working individually or together, for performing the following operations:

Acquiring a first torque output by a first motor of the handheld pan/tilt, the first motor being connected to the fixing mechanism of the photographing device of the handheld pan/tilt;

Determine whether the handheld pan/tilt is in an idling state based at least in part on the number of times the first moment has jumped within a specified time range;

When the handheld pan/tilt is in an idling state, the first motor is controlled to stop rotating.
The device according to claim 16, wherein the processor is further configured to:

When the number of jumps of the first torque within a specified time range is greater than a first preset number of jumps threshold, it is determined that the handheld pan/tilt is in an idling state.
The device according to claim 17, wherein the number of times the first torque jumps within a specified time range is the number of times the first torque meets a first preset jump condition within the specified time range frequency.
The device according to claim 18, wherein the first preset transition condition comprises:

The first torque changes from the first positive torque threshold to the first negative torque threshold; or,

The first torque changes from a first negative torque threshold to a first positive torque threshold.
The device according to claim 16, wherein the processor is further configured to:

Acquiring the rotational angular acceleration of the first motor;

Determine the moment of inertia of the first motor according to the first moment and the rotational angular acceleration of the first motor;

At least partly based on the number of jumps of the first torque within a specified time range and the moment of inertia of the first motor, it is determined whether the handheld pan/tilt head is in an idling state.
The device according to claim 20, wherein the processor is further configured to:

When the number of jumps of the first torque within the specified time range is greater than the first preset threshold of the number of jumps; and the moment of inertia of the first motor is less than the preset threshold of inertia within the specified time range When the number of times is greater than the preset number threshold, it is determined that the handheld PTZ is in an idling state.
The device according to claim 16, wherein the processor is further configured to:

Acquiring the second torque output by the second motor of the handheld pan/tilt, the second motor is connected to the first motor through the first bracket;

At least partly based on the number of jumps of the first torque within a specified time range and the number of jumps of the second torque within a specified time range, it is determined whether the handheld pan/tilt is in an idling state.
The device according to claim 22, wherein the processor is further configured to:

When the number of jumps of the first torque within the specified time range is greater than the first preset number of jumps threshold; and the number of jumps of the second torque within the specified time range is greater than the second preset number of jumps When the threshold is set, it is determined that the handheld pan/tilt is in an idling state.
The device according to claim 23, wherein the number of times that the second torque jumps within a specified time range is the number of times the second torque meets a second preset jump condition within the specified time range frequency.
The device according to claim 24, wherein the second preset transition condition comprises:

The second torque changes from a second positive torque threshold to a second negative torque threshold; or,

The second torque changes from a second negative torque threshold to a second positive torque threshold.
The device according to claim 22, wherein the processor is further configured to:

Obtaining a third torque output by a third motor of the handheld pan/tilt head, where the third motor is connected to the second motor through a second bracket;

Based at least in part on the number of jumps in the first torque within a specified time range, the number of jumps in the second torque within a specified time range, and the number of jumps in the third torque within a specified time range. Number of times to determine whether the handheld PTZ is in an idling state.
The device according to claim 26, wherein the processor is further configured to:

When the number of jumps of the first torque within a specified time range is greater than the first preset threshold of jumps; the number of jumps of the second torque within the specified time range is greater than the second preset threshold of jumps And when the number of jumps of the third torque within a specified time range is greater than the third preset jump number threshold, it is determined that the handheld pan/tilt is in an idling state.
The device according to claim 26, wherein:

The number of times that the third motor jumps within a specified time range is the number of times the third torque meets a third preset jump condition within the specified time range.
The device according to claim 28, wherein the third preset transition condition comprises:

The third torque changes from a third positive torque threshold to a third negative torque threshold; or,

The third torque changes from a third negative torque threshold to a third positive torque threshold.
The device according to claim 16, wherein the handheld PTZ is electrically connected to the control terminal, and the processor is further configured to:

When the handheld pan/tilt is in an idling state, a prompt message is sent to the control terminal, and the prompt information includes information indicating that the handheld pan/tilt is in an idling state.
A handheld pan/tilt, characterized in that it comprises:

At least one motor;

Angle sensor;

The processor is used to perform the following steps:

Acquiring a first torque output by a first motor of the handheld pan/tilt, the first motor being connected to the fixing mechanism of the photographing device of the handheld pan/tilt;

Determine whether the handheld pan/tilt is in an idling state based at least in part on the number of times the first moment has jumped within a specified time range;

When the handheld pan/tilt is in an idling state, the first motor is controlled to stop rotating.
The handheld pan/tilt head according to claim 31, wherein the processor is further configured to:

When the number of jumps of the first torque within a specified time range is greater than a first preset number of jumps threshold, it is determined that the handheld pan/tilt is in an idling state.
The handheld pan/tilt according to claim 32, wherein:

The number of jumps of the first torque within a specified time range is the number of times the first torque meets a first preset jump condition within the specified time range.
The handheld pan/tilt head according to claim 33, wherein the first preset jump condition comprises:

The first torque changes from the first positive torque threshold to the first negative torque threshold; or,

The first torque changes from a first negative torque threshold to a first positive torque threshold.
The handheld pan/tilt head according to claim 31, wherein the processor is further configured to:

Acquiring the rotational angular acceleration of the first motor;

Determining the moment of inertia of the first motor according to the first moment and the rotational angular acceleration of the first motor;

At least partly based on the number of jumps of the first torque within a specified time range and the moment of inertia of the first motor, it is determined whether the handheld pan/tilt head is in an idling state.
The handheld pan/tilt head according to claim 35, wherein the processor is further used for:

When the number of jumps of the first torque within the specified time range is greater than the first preset threshold of the number of jumps; and the moment of inertia of the first motor is less than the preset threshold of inertia within the specified time range When the number of times is greater than the preset number threshold, it is determined that the handheld PTZ is in an idling state.
The handheld pan/tilt head according to claim 31, wherein the processor is further configured to:

Acquiring the second torque output by the second motor of the handheld pan/tilt, the second motor is connected to the first motor through the first bracket;

At least partly based on the number of jumps of the first torque within a specified time range and the number of jumps of the second torque within a specified time range, it is determined whether the handheld pan/tilt is in an idling state.
The handheld PTZ according to claim 37, the processor is further configured to:

When the number of jumps of the first torque within the specified time range is greater than the first preset number of jumps threshold; and the number of jumps of the second torque within the specified time range is greater than the second preset number of jumps When the threshold is set, it is determined that the handheld pan/tilt is in an idling state.
The hand-held pan/tilt head according to claim 38, wherein the number of times that the second torque jumps within a specified time range is that the second torque meets a second preset jump within the specified time range The number of conditions.
The device according to claim 39, wherein the second preset transition condition comprises:

The second torque changes from a second positive torque threshold to a second negative torque threshold; or,

The second torque changes from a second negative torque threshold to a second positive torque threshold.
The handheld pan/tilt according to claim 37, wherein the processor is further configured to:

Obtaining a third torque output by a third motor of the handheld pan/tilt head, where the third motor is connected to the second motor through a second bracket;

Based at least in part on the number of jumps in the first torque within a specified time range, the number of jumps in the second torque within a specified time range, and the number of jumps in the third torque within a specified time range. Number of times to determine whether the handheld PTZ is in an idling state.
The device according to claim 41, wherein the processor is further configured to:

When the number of jumps of the first torque within a specified time range is greater than the first preset threshold of jumps; the number of jumps of the second torque within the specified time range is greater than the second preset threshold of jumps And when the number of jumps of the third torque within a specified time range is greater than the third preset jump number threshold, it is determined that the handheld pan/tilt is in an idling state.
The handheld pan/tilt according to claim 41, characterized in that:

The number of times that the third motor jumps within a specified time range is the number of times the third torque meets a third preset jump condition within the specified time range.
The handheld pan/tilt according to claim 43, wherein the third preset jump condition comprises:

The third torque changes from a third positive torque threshold to a third negative torque threshold; or,

The third torque changes from a third negative torque threshold to a third positive torque threshold.
The handheld pan/tilt according to claim 31, wherein the handheld pan/tilt is electrically connected to the control terminal, and the processor is further configured to:

When the handheld pan/tilt is in an idling state, a prompt message is sent to the control terminal, and the prompt information includes information indicating that the handheld pan/tilt is in an idling state.
A computer-readable storage medium storing a computer program, wherein the computer program is executed by a processor to implement the method according to any one of claims 1 to 15.