WO2021016886A1

WO2021016886A1 - Gimbal control method, gimbal, and computer-readable storage medium

Info

Publication number: WO2021016886A1
Application number: PCT/CN2019/098436
Authority: WO
Inventors: 王文杰; 谢文麟; 许文; 卢国政
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: CN112166395A

Abstract

Disclosed are a gimbal (400) control method, a gimbal (400), and a computer-readable storage medium. The method comprises: determining whether an electric motor (4011) of the gimbal (400) is in a stalling state (S101); and when the electric motor (4011) of the gimbal is in a stalling state, controlling the gimbal (400) to be in a dormant mode (S102), wherein the gimbal (400) comprises a rotating shaft mechanism (401), and the rotating shaft mechanism (401) comprises a rotating shaft (4012), and the electric motor that drives the rotating shaft (4012) to rotate. By means of the method, whether an electric motor is in a stalling state can be accurately determined.

Description

PTZ control method, PTZ and computer readable storage medium

Technical field

This application relates to the technical field of pan-tilt control, and in particular to a pan-tilt control method, pan-tilt and computer-readable storage medium.

Background technique

The hand-held gimbal drives the shaft through the motor to realize the posture adjustment of the hand-held gimbal. As the motor runs for a long time, the motor will heat up, which will easily cause the motor to be burned. At present, you can control the motor to sleep through the lever motor to prevent the motor from being burned. , Improve the service life of the motor. However, in practical applications, due to the movement of the human hand when the motor is pulled by the human hand, the handheld pan/tilt cannot accurately and timely detect the motor stall event, and thus cannot accurately and timely control the motor dormancy. Therefore, how to accurately and timely detect the motor stall event and control the motor dormancy in time is a problem to be solved urgently.

Summary of the invention

Based on this, the present application provides a pan-tilt control method, pan-tilt, and computer-readable storage medium, aiming to accurately and timely detect motor stall events and control motor sleep in time.

In the first aspect, this application provides a pan-tilt control method, including:

Determine whether the motor of the pan/tilt head is in a locked-rotor state;

When the motor of the pan/tilt is in a locked state, the pan/tilt is controlled to be in a sleep mode, wherein the pan/tilt includes a rotating shaft mechanism, the rotating shaft mechanism includes a rotating shaft and the motor that drives the rotating shaft to rotate.

In the second aspect, the present application also provides a pan/tilt, the pan/tilt includes a motor, a memory, and a processor; the memory is used to store a computer program;

The processor is configured to execute the computer program, and when executing the computer program, implement the following steps:

Determine whether the motor of the pan/tilt head is in a locked-rotor state;

In a third aspect, the present application also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the one or more processing The device implements the following steps:

Determine whether the motor of the pan/tilt head is in a locked-rotor state;

The embodiments of the application provide a pan/tilt control method, pan/tilt, and computer-readable storage medium. By detecting the stalled state of the motor of the pan/tilt, the cloud can be controlled in time when the motor is detected to be locked The machine sleeps so that the motor rests, which can prevent the motor from being burned and increase the service life of the motor.

It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the application.

Description of the drawings

In order to explain the technical solutions of the embodiments of the present application more clearly, the following will briefly introduce the drawings needed in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present application. Ordinary technicians can obtain other drawings based on these drawings without creative work.

FIG. 1 is a schematic flow chart of the steps of a method for controlling a PTZ according to an embodiment of the present application;

FIG. 2 is a schematic diagram of a relationship between output torque and time when the hand-board motor is used in an embodiment of the application;

FIG. 3 is a schematic diagram of the relationship between the temperature value of the motor and the time when the motor is used in the prototype of the embodiment of the application;

Fig. 4 is another schematic diagram of the relationship between output torque and time when the hand-board motor is used in the embodiment of the application

FIG. 5 is another schematic diagram of the relationship between the temperature value of the motor and the time when the motor is prototyped in an embodiment of the application;

6 is a schematic flowchart of a sub-step of the pan-tilt control method in FIG. 1;

FIG. 7 is a schematic flowchart of steps of a method for controlling a PTZ according to an embodiment of the present application;

FIG. 8 is a schematic flow chart of the steps of another pan/tilt control method provided by an embodiment of the present application;

FIG. 9 is a schematic flowchart of sub-steps of the pan-tilt control method in FIG. 8;

FIG. 10 is a schematic block diagram of the structure of a pan/tilt head provided by an embodiment of the present application.

Detailed ways

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

The flowchart shown in the drawings is merely an illustration, and does not necessarily include all contents and operations/steps, nor does it have to be executed in the described order. For example, some operations/steps can also be decomposed, combined or partially combined, so the actual execution order may be changed according to actual conditions.

Hereinafter, some embodiments of the present application 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 pan/tilt control method can be applied to pan/tilt, where the pan/tilt includes a handheld pan/tilt, etc., and the pan/tilt control method can control the pan/tilt to sleep when it is determined that the motor of the pan/tilt is locked.

Please refer to FIG. 1. FIG. 1 is a schematic flowchart of steps of a method for controlling a pan/tilt head according to an embodiment of the present application.

Specifically, as shown in FIG. 1, the pan/tilt control method includes step S101 to step S102.

S101. Determine whether the motor of the pan/tilt head is in a locked-rotor state.

Wherein, the pan-tilt includes at least one set of rotating shaft structure, and the rotating shaft mechanism includes a rotating shaft and a motor for driving the rotating shaft to rotate. The pan/tilt includes at least one motor. During the operation of the pan/tilt, it is judged whether the motor of the pan/tilt is in a locked-rotor state. It should be noted that at least one motor of the pan/tilt may be in a locked-rotor state at the same time, or may not be in a locked-rotor state at the same time.

In one embodiment, the current output torque of the motor of the pan/tilt head is obtained, and according to the current output torque of the motor of the pan/tilt head, it is determined whether the motor of the pan/tilt head is in a locked-rotor state. Among them, the current output torque of the motor is the output torque of the motor at the current moment.

Specifically, it is determined whether the current output torque of the motor of the gimbal is greater than the preset torque threshold. If the current output torque of the motor of the gimbal is greater than the preset torque threshold, it is determined that the motor of the gimbal is in a locked-rotor state. If the current output torque of the motor is less than or equal to the preset torque threshold, it is determined that the motor of the pan/tilt is in a normal state. It should be noted that the aforementioned torque threshold can be set based on actual conditions, which is not specifically limited in this application. By comparing the current output torque of the motor with the torque threshold, it is possible to quickly and accurately determine whether the motor is in a locked-rotor state, which is convenient for subsequent accurate and timely control of the motor dormancy.

Further, if the current output torque of the motor of the gimbal is greater than the preset torque threshold, record the duration of the current output torque of the motor of the gimbal greater than the preset torque threshold, and determine whether the duration is greater than the preset duration Threshold, if the duration is greater than the preset duration threshold, it is determined that the motor of the pan/tilt is locked. By comparing the duration of the current output torque greater than the preset torque threshold with the duration threshold, it is possible to further accurately determine whether the motor is in a locked-rotor state, and facilitate subsequent accurate and timely control of motor sleep.

Figure 2 is a schematic diagram of the relationship between output torque and time when the motor is handed in an embodiment of the application. As shown in Figure 2, when the motor is handed, the output torque of the motor is 1, and the output torque of the motor does not change with time. Therefore, the torque threshold and/or duration can be used to accurately determine whether the motor is in a locked-rotor state, which is convenient for subsequent accurate and timely control of the motor dormancy. Figure 3 is a schematic diagram of the relationship between the temperature value of the motor and the time when the motor is handed in the embodiment of the application. As shown in Figure 3, after the motor is pulled, when the output torque of the motor does not change with time, the temperature value of the motor and time The relationship is positively correlated, and the temperature value of the motor remains stable after a period of time.

Figure 4 is another schematic diagram of the relationship between the output torque and time when the hand-board motor in the embodiment of the application is shown. As shown in Figure 4, after the hand-board motor, when the hand-board motor, the output torque of the motor is in a fluctuating state, so based on the output torque detection There is a certain error when the motor is in a locked-rotor state. Figure 5 is another schematic diagram of the relationship between the temperature value of the motor and the time when the hand-board motor is used in the embodiment of the application. As shown in Figure 5, after the motor is pulled and the output torque of the motor is in a fluctuating state, the temperature value of the motor is Time becomes a positive correlation, and the temperature value of the motor remains stable after a period of time, and the temperature value of the motor does not fluctuate. In other words, after the motor is pulled, regardless of whether the output torque of the motor does not change with time or is in a fluctuating state, the temperature of the motor remains stable after a period of time. Therefore, to further accurately determine whether the motor is blocked In rotation state, the temperature value of the motor can be used to determine whether the motor is in a locked-rotor state.

In an embodiment, as shown in FIG. 6, step S101 includes sub-step S1011 and sub-step S1012.

S1011. Obtain current output torque, historical output torque and historical temperature value of the motor of the pan/tilt.

Among them, the current output torque of the motor is the output torque of the motor at the current moment, the historical output torque of the motor is the output torque of the motor at the previous moment, and the historical temperature of the motor is the temperature value of the motor at the previous moment. It should be noted that the interval time difference between the current time and the previous time can be set based on actual conditions, which is not specifically limited in this application.

In an embodiment, the pan/tilt device establishes a mathematical model between the output torque of the motor and the temperature value of the motor, wherein the input parameters of the mathematical model include the current output torque, historical output torque, and historical temperature value of the motor. The output result of the model is the current temperature value of the motor.

Among them, the process of establishing the mathematical model is as follows: the relationship expression between the output torque of the motor and the current is obtained through actual tests; based on the principle of electrothermal conversion, the relationship expression between the heat generation and the current of the motor can be obtained; the motor continues Saturated output, when the motor temperature reaches the steady state, according to the temperature model, the relationship expression between the output torque of the motor and the current, and the relationship expression between the calorific value and the current, the value of the output torque of the motor and the temperature of the motor can be obtained. Mathematical model of time.

Among them, the temperature model is

T is the temperature of the object, Q is the heating amount, τ _m is the time constant of the inertia link, K is the gain, and τ is the pure delay time. The relationship between the output torque of the motor and the current is expressed as u=IK_m, u is the output torque of the motor, K_m is the motor constant, and I is the current. The expression of the relationship between heat generation and current is Q=I ² R, and R is the resistance of the motor winding.

After the motor is pulled, the gimbal can estimate the current temperature value of the motor based on the mathematical model. Before estimating the current temperature value of the motor, obtain the current output torque, historical output torque and historical temperature value of the gimbal motor. Wherein, the pan/tilt is provided with a control key for the handle motor to detect the user's pulling operation of the control key, and when the user's pulling operation of the control key is detected, it is determined that the handle motor event occurs.

S1012. Determine whether the motor of the pan/tilt head is in a locked-rotor state according to the current output torque, historical output torque, and historical temperature value of the motor.

After obtaining the current output torque, historical output torque and historical temperature value of the motor of the gimbal, based on the current output torque, historical output torque and historical temperature value of the motor, determine whether the motor of the gimbal is in a locked-rotor state.

Specifically, according to the current output torque, historical output torque and historical temperature value of the motor, the current temperature value of the motor is determined, that is, the current output torque, historical output torque and historical temperature value of the motor are input to the mathematical model, and the current output torque of the motor Temperature value: According to the current temperature value of the motor, judge whether the motor of the gimbal is in a locked-rotor state.

In one embodiment, the pan/tilt head determines whether the current temperature value of the motor is greater than a preset temperature threshold; if the current temperature value of the motor is greater than the temperature threshold value, it is determined that the motor of the pan/tilt head is in a stalled state; if the current temperature value of the motor is less than If it is equal to the temperature threshold, it is determined that the motor of the gimbal is in a normal state. It should be noted that the above temperature threshold can be set based on actual conditions, which is not specifically limited in this application.

In one embodiment, if the current temperature value of the motor is greater than the temperature threshold, record the duration of the current temperature value of the motor greater than the temperature threshold; determine whether the duration reaches the preset time threshold; if the duration reaches the preset Time threshold, it is determined that the motor of the pan/tilt is locked. It should be noted that the above-mentioned time threshold can be set based on actual conditions, which is not specifically limited in this application. By comparing the duration of the current temperature value greater than the temperature threshold value with the time threshold value, it is possible to further accurately determine whether the motor is in a locked-rotor state, so as to facilitate subsequent accurate and timely control of motor sleep.

In an embodiment, the method for determining the current temperature value of the motor may be: the pan/tilt calculates the temperature gain value of the motor according to the current output torque and the historical output torque; calculates the sum of the temperature gain value and the preset first weight coefficient , And use the sum of the temperature gain value and the preset first weight coefficient as the first temperature value of the motor; calculate the sum of the historical temperature value and the preset second weight coefficient, and combine the historical temperature value with the preset Set the sum of the second weight coefficient as the second temperature value of the motor; calculate the difference between the first temperature value and the second temperature value, and use the difference between the first temperature value and the second temperature value as The current temperature value of the motor.

In one embodiment, the calculation method of the temperature gain value is specifically: calculating the sum of squares of the current output torque and the history output torque, and using the sum of the squares of the current output torque and the history output torque as the target output torque; calculating the target output torque and the preset Set the product of the temperature torque ratio, and use the product of the target output torque and the preset temperature torque ratio as the temperature gain of the motor.

It should be noted that the above-mentioned first weighting coefficient and second weighting coefficient are determined based on the time constant τ _{m of the} inertial link and the interval time difference t _s between the current time and the previous time, and the preset temperature torque ratio is based on the maximum temperature value T _max and the maximum output torque u _{max are} determined, and the maximum temperature value T _max and the time constant τ _{m of the} inertia link are obtained through experimental measurement. Optionally, the first weight coefficient is 1\(1+(τ _m \2t _s )), and the second weight coefficient is (1-(τ _m \2t _s ))\(1+(τ _m \2t _s ) ), the temperature torque ratio is T _max \(u _max ) ² , then the mathematical model between the output torque of the motor and the temperature value of the motor can optionally be expressed as:

T(k) is the current temperature value of the motor, u(k-1) is the historical output torque of the motor, u(k) is the current output torque of the motor, and T(k-1) is the historical temperature value of the motor.

S102: When the motor of the pan/tilt is in a stalled state, control the pan/tilt to be in a sleep mode.

When the motor of the gimbal is in a locked-rotor state, the gimbal is controlled to be in a sleep mode, so that the motor rests, which can prevent the motor from being burned and increase the service life of the motor.

The pan/tilt control method provided by the above embodiments detects the stalled state of the motor of the pan/tilt, and can control the dormancy of the pan/tilt when it is detected that the motor is in a stalled state, so that the motor rests, which can prevent the motor from being burnt and improve The service life of the motor.

Please refer to FIG. 7, which is a schematic flowchart of steps of another pan/tilt control method provided by an embodiment of the present application.

Specifically, as shown in FIG. 7, the pan-tilt control method includes steps S201 to S206.

S201. Obtain current output torque, historical output torque, and historical temperature value of the motor.

S202: Determine the current temperature value of the motor according to the current output torque, historical output torque, and historical temperature value of the motor.

Specifically, after obtaining the current output torque, historical output torque, and historical temperature value of the motor, the pan/tilt head calculates the temperature gain value of the motor according to the current output torque and historical output torque; calculates the temperature gain value and the preset first The sum of the weighting coefficients, and the sum of the temperature gain value and the preset first weighting coefficient as the first temperature value of the motor; the sum of the historical temperature value and the preset second weighting coefficient is calculated, and the historical The sum of the temperature value and the preset second weight coefficient is used as the second temperature value of the motor; the difference between the first temperature value and the second temperature value is calculated, and the difference between the first temperature value and the second temperature value is calculated The difference between is used as the current temperature of the motor.

S203: Obtain the measured temperature value of the motor sensed by the preset temperature sensor at the current moment.

The pan/tilt is also provided with a temperature sensor, which is used to sense the temperature value of the motor. When determining the current temperature value of the motor, the pan/tilt obtains the measured temperature value of the motor sensed by the preset temperature sensor at the current moment.

S204. Verify the current temperature value according to the measured temperature value.

Specifically, after obtaining the measured temperature value of the motor and the estimated current temperature value, the current temperature value of the motor can be verified according to the measured temperature value, that is, the difference between the measured temperature value and the current temperature value can be calculated, And determine whether the difference between the measured temperature value and the current temperature value is less than or equal to the preset threshold; if the difference between the measured temperature value and the current temperature value is less than or equal to the preset threshold, it is determined that the current temperature value passes the check ; If the difference between the measured temperature value and the current temperature value is greater than the preset threshold, it is determined that the current temperature value has not passed the verification. It should be noted that the foregoing preset threshold may be set based on actual conditions, which is not specifically limited in this application.

S205: When the current temperature value passes the verification, determine whether the motor of the pan/tilt head is in a locked-rotor state according to the current temperature value of the motor.

When the current temperature value passes the verification, it means that the estimated current temperature value is credible. For this, the gimbal can judge whether the motor of the gimbal is in a locked-rotor state based on the current temperature value of the motor, specifically: determine the current temperature of the motor Whether the value is greater than the preset temperature threshold; if the current temperature value of the motor is greater than the temperature threshold, it is determined that the motor of the gimbal is locked; if the current temperature value of the motor is less than or equal to the temperature threshold, it is determined that the motor of the gimbal is normal status. It should be noted that the above temperature threshold can be set based on actual conditions, which is not specifically limited in this application.

In one embodiment, when the current temperature value fails the verification, it means that the estimated current temperature value is not credible. For this, the gimbal can determine whether the motor of the gimbal is in a locked-rotor state based on the measured temperature value, specifically: Determine whether the measured temperature value of the motor is greater than the preset temperature threshold; if the measured temperature value of the motor is greater than the temperature threshold, the motor of the gimbal is determined to be locked; if the measured temperature value of the motor is less than or equal to the temperature threshold, the cloud is determined The motor of the station is in a normal state.

S206: When the motor of the pan/tilt is in a locked-rotor state, control the pan/tilt to be in a sleep mode.

The pan/tilt control method provided in the above embodiments can accurately estimate the current temperature of the motor through the current output torque, historical output torque, and historical temperature value of the motor, and compare the current temperature value based on the measured temperature value of the motor sensed by the temperature sensor. When the current temperature value passes the verification, it can accurately determine whether the motor is in a locked-rotor state based on the current temperature value, which can further accurately and timely control the pan/tilt to enter the dormant state and increase the service life of the motor.

Please refer to FIG. 8, which is a schematic flowchart of steps of yet another method for controlling a pan/tilt head according to an embodiment of the present application.

Specifically, as shown in FIG. 8, the pan-tilt control method includes steps S301 to S306.

S301: Obtain current output torque, historical output torque, and historical temperature value of the motor.

S302: Determine the current temperature value of the motor according to the current output torque, historical output torque, and historical temperature value of the motor.

S303. Obtain a measured temperature value of the motor sensed by a preset temperature sensor at the current moment.

S304. Verify the current temperature value according to the measured temperature value.

S305: When the current temperature value passes the verification, determine whether the motor of the pan/tilt head is in a locked-rotor state according to the measured temperature value and the current temperature value.

When the current temperature value passes the verification, it means that the estimated current temperature value is credible. In this regard, the pan/tilt can determine whether the motor of the pan/tilt is in a locked-rotor state based on the measured temperature value and the current temperature value.

In an embodiment, as shown in FIG. 9, step S305 includes sub-steps S3051 to S3052.

S3051. Perform fusion processing on the measured temperature value and the current temperature value to obtain a fusion temperature value of the motor.

Specifically, calculate the difference between the measured temperature value and the current temperature value; determine the first weighting coefficient of the measured temperature value and the second weighting coefficient of the current temperature value according to the difference between the measured temperature value and the current temperature value; Calculate the sum of the measured temperature value and the first weighting coefficient, and use the sum of the measured temperature value and the first weighting coefficient as the first weighted temperature value; calculate the sum of the current temperature value and the second weighting coefficient, and combine the current temperature value with the first weighting coefficient The sum of the two weighting coefficients is used as the second weighted temperature value; the sum of the first weighted temperature value and the second weighted temperature value is calculated, and the sum of the first weighted temperature value and the second weighted temperature value is used as the fusion temperature value of the motor.

In an embodiment, the method for determining the weighting coefficient is specifically: obtaining a mapping relationship table between the pre-stored difference value and the weighting coefficient; querying the mapping relationship table, and weighting the difference between the measured temperature value and the current temperature value. The coefficient is used as the first weighting coefficient of the measured temperature value; the second weighting coefficient of the current temperature value is determined according to the first weighting coefficient of the measured temperature value, where the sum of the first weighting coefficient and the second weighting coefficient is 1. It should be noted that the above-mentioned mapping relationship table between the pre-stored difference value and the weighting coefficient can be set based on actual conditions, which is not specifically limited in this application.

S3052, according to the fusion temperature value, determine whether the motor of the pan/tilt head is in a locked-rotor state.

Specifically, the gimbal determines whether the fusion temperature value of the motor is greater than the preset temperature threshold; if the fusion temperature value of the motor is greater than the temperature threshold, it is determined that the motor of the gimbal is in a locked-rotor state; if the fusion temperature value of the motor is less than or equal to the temperature Threshold, it is determined that the motor of the gimbal is in a normal state. It should be noted that the above temperature threshold can be set based on actual conditions, which is not specifically limited in this application.

In an embodiment, the method for determining whether a stall event occurs in the motor may also be: the pan/tilt head determines whether the measured temperature value and the current temperature value are greater than a preset temperature threshold; if the measured temperature value or the current temperature value is greater than the preset temperature Threshold, it is determined that the motor of the gimbal is in a locked-rotor state; if the measured temperature value and the current temperature value are less than or equal to the preset temperature threshold, it is determined that the motor of the gimbal is in a normal state.

S306: When the motor of the pan/tilt is in a locked-rotor state, control the pan/tilt to be in a sleep mode.

When the motor of the pan/tilt is in a locked-rotor state, control the pan/tilt to be in sleep mode so that the motor rests, which can prevent the motor from being burned and increase the service life of the motor.

The pan/tilt control method provided in the above embodiments can accurately estimate the current temperature of the motor through the current output torque, historical output torque, and historical temperature value of the motor, and compare the current temperature value based on the measured temperature value of the motor sensed by the temperature sensor. When the current temperature value passes the verification, based on the current temperature value and the measured temperature value, it can be further accurately determined whether the motor is in a locked-rotor state, which can further accurately and timely control the gimbal to enter the dormant state, and improve The service life of the motor.

Please refer to FIG. 10, which is a schematic block diagram of a pan/tilt head provided by an embodiment of the present application.

As shown in FIG. 10, the pan-tilt 400 includes a shaft mechanism 401, the shaft mechanism 401 includes a shaft 4012 and a motor 4011 that drives the shaft to rotate; and one or more processors 402, at least one of the processors 402 is used for To communicate with the motor 4011.

Specifically, the processor 402 may be a Micro-controller Unit (MCU), a Central Processing Unit (CPU), a Digital Signal Processor (Digital Signal Processor, DSP), or the like.

Wherein, the one or more processors work individually or together to implement the following steps:

Determine whether the motor of the pan/tilt head is in a locked-rotor state;

When the motor of the pan/tilt is in a locked state, the pan/tilt is controlled to be in a sleep mode.

Optionally, when the one or more processors determine whether the motor of the pan/tilt head is in a locked-rotor state according to the current output torque, historical output torque, and historical temperature value of the motor, it is used to achieve:

Determine the current temperature value of the motor according to the current output torque, historical output torque, and historical temperature value of the motor;

According to the current temperature value of the motor, it is determined whether the motor of the pan/tilt head is in a locked-rotor state.

Optionally, before the one or more processors implement the acquisition of the current output torque, historical output torque, and historical temperature value of the motor, they are used to achieve:

When establishing a prototype motor, the mathematical model between the output torque and the temperature value of the motor, wherein the input parameters of the mathematical model include the current output torque, historical output torque and historical temperature value of the motor, and the output result of the mathematical model is The current temperature value of the motor.

Optionally, when the one or more processors determine the current temperature value of the motor according to the current output torque, historical output torque, and historical temperature value of the motor, it is used to achieve:

The current output torque, historical output torque and historical temperature value of the motor are input to the mathematical model, and the current temperature value of the motor is obtained by outputting.

Optionally, when the one or more processors determine the current temperature value of the motor according to the current output torque, historical output torque, and historical temperature value of the motor, it is used to implement:

Calculating the temperature gain value of the motor according to the current output torque and the historical output torque;

Calculating the sum of the temperature gain value and the preset first weighting coefficient, and using the sum of the temperature gain value and the preset first weighting coefficient as the first temperature value of the motor;

Calculating the sum of the historical temperature value and a preset second weighting coefficient, and using the sum of the historical temperature value and the preset second weighting coefficient as the second temperature value of the motor;

The difference between the first temperature value and the second temperature value is calculated, and the difference between the first temperature value and the second temperature value is used as the current temperature value of the motor.

Optionally, when the one or more processors calculate the temperature gain value of the motor according to the current output torque and the historical output torque, it is used to achieve:

Calculating the sum of squares of the current output torque and the historical output torque, and using the sum of squares of the current output torque and the historical output torque as a target output torque;

The product of the target output torque and the preset temperature torque ratio is calculated, and the product of the target output torque and the preset temperature torque ratio is used as the temperature gain value of the motor.

Optionally, when the one or more processors determine whether the motor of the pan/tilt head is in a locked-rotor state according to the current temperature value of the motor, it is used to implement:

Determining whether the current temperature value of the motor is greater than a preset temperature threshold;

If the current temperature value of the motor is greater than the temperature threshold, determining that the motor of the pan/tilt head is in a locked-rotor state;

If the current temperature value of the motor is less than or equal to the temperature threshold, it is determined that the motor of the pan/tilt head is in a normal state.

Optionally, the one or more processors implement that if the current temperature value of the motor is greater than the temperature threshold, when it is determined that the motor of the pan/tilt head is in a locked-rotor state, it is used to implement:

If the current temperature value of the motor is greater than the temperature threshold, record the duration of the current temperature value of the motor greater than the temperature threshold;

Determine whether the duration reaches a preset time threshold;

If the duration reaches the preset time threshold, it is determined that the motor of the pan/tilt is in a locked-rotor state.

Optionally, before the one or more processors determine whether the motor of the pan/tilt head is in a locked-rotor state according to the current temperature value of the motor, it is also used to achieve:

Acquiring the measured temperature value of the motor sensed by the preset temperature sensor at the current moment;

Verifying the current temperature value according to the measured temperature value;

When the current temperature value passes the verification, it is determined whether the motor of the pan/tilt head is in a locked-rotor state according to the current temperature value of the motor.

Optionally, when the one or more processors implement the verification of the current temperature value according to the measured temperature value, it is used to implement:

Calculating the difference between the measured temperature value and the current temperature value, and determining whether the difference between the measured temperature value and the current temperature value is less than or equal to a preset threshold;

If the difference between the measured temperature value and the current temperature value is less than or equal to a preset threshold value, determining that the current temperature value passes the verification;

If the difference between the measured temperature value and the current temperature value is greater than a preset threshold value, it is determined that the current temperature value fails the verification.

Optionally, the one or more processors are further used to implement after verifying the current temperature value according to the measured temperature value:

When the current temperature value fails the verification, it is determined whether the motor of the pan/tilt head is in a locked-rotor state according to the measured temperature value.

When the current temperature value passes the verification, it is determined whether the motor of the pan/tilt head is in a locked-rotor state according to the measured temperature value and the current temperature value.

Optionally, when the one or more processors determine whether the motor of the pan/tilt head is in a locked-rotor state according to the measured temperature value and the current temperature value, it is used to implement:

Performing fusion processing on the measured temperature value and the current temperature value to obtain the fusion temperature value of the motor;

According to the fusion temperature value, it is determined whether the motor of the pan/tilt head is in a locked-rotor state.

Optionally, when the one or more processors implement fusion processing on the measured temperature value and the current temperature value to obtain the fusion temperature value of the motor, it is used to implement:

Calculating the difference between the measured temperature value and the current temperature value;

Determine the first weighting coefficient of the measured temperature value and the second weighting coefficient of the current temperature value according to the difference between the measured temperature value and the current temperature value;

Calculating the sum of the measured temperature value and the first weighting coefficient, and using the sum of the measured temperature value and the first weighting coefficient as the first weighted temperature value;

Calculating the sum of the current temperature value and the second weighting coefficient, and using the sum of the current temperature value and the second weighting coefficient as the second weighting temperature value;

Calculate the sum of the first weighted temperature value and the second weighted temperature value, and use the sum of the first weighted temperature value and the second weighted temperature value as the fusion temperature value of the motor.

Optionally, the one or more processors can determine the first weighting coefficient of the measured temperature value and the first weighting coefficient of the current temperature value according to the difference between the measured temperature value and the current temperature value. When two weighting factors are used, it is used to achieve:

Obtain the mapping relationship table between the pre-stored difference and the weighting coefficient;

Query the mapping relationship table, and use the weighting coefficient corresponding to the difference between the measured temperature value and the current temperature value as the first weighting coefficient of the measured temperature value;

According to the first weighting coefficient of the measured temperature value, the second weighting coefficient of the current temperature value is determined, wherein the sum of the first weighting coefficient and the second weighting coefficient is 1.

Determining whether the measured temperature value and the current temperature value are greater than a preset temperature threshold;

If the measured temperature value or the current temperature value is greater than a preset temperature threshold, determining that the motor of the pan/tilt head is in a locked-rotor state;

If both the measured temperature value and the current temperature value are less than or equal to a preset temperature threshold, it is determined that the motor of the pan/tilt head is in a normal state.

Optionally, when the one or more processors realize whether the motor of the pan/tilt head is in a locked-rotor state, it is used to realize:

Acquiring the current output torque of the motor of the pan/tilt head, where the current output torque is the output torque of the motor at the current moment;

According to the current output torque of the motor of the pan/tilt, it is determined whether the motor of the pan/tilt is in a locked-rotor state.

Optionally, when the one or more processors determine whether the motor of the pan/tilt head is in a locked-rotor state according to the current output torque of the motor of the pan/tilt head, it is used to achieve:

Judging whether the current output torque of the motor of the pan/tilt head is greater than a preset torque threshold;

If the current output torque of the motor of the pan/tilt is greater than the preset torque threshold, it is determined that the motor of the pan/tilt is in a locked-rotor state;

If the current output torque of the motor of the pan/tilt head is less than or equal to the preset torque threshold, it is determined that the motor of the pan/tilt head is in a normal state.

Optionally, the one or more processors realize that if the current output torque of the motor of the pan/tilt head is greater than a preset torque threshold, when it is determined that the motor of the pan/tilt head is in a locked-rotor state, it is used to implement:

If the current output torque of the motor of the pan/tilt head is greater than the preset torque threshold, record the duration of the current output torque of the motor of the pan/tilt head greater than the preset torque threshold;

Determine whether the duration is greater than a preset duration threshold;

If the duration is greater than the preset duration threshold, it is determined that the motor of the pan/tilt is in a locked-rotor state.

It should be noted that those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working process of the above-described pan-tilt can refer to the corresponding process in the aforementioned pan-tilt control method embodiment. Repeat it again.

The embodiments of the present application also provide a computer-readable storage medium, the computer-readable storage medium stores a computer program, the computer program includes program instructions, and the processor executes the program instructions to implement the foregoing implementation The steps of the PTZ control method provided in the example.

The computer-readable storage medium may be the internal storage unit of the pan/tilt head described in any of the foregoing embodiments, such as the hard disk or memory of the pan/tilt head. The computer-readable storage medium may also be an external storage device of the pan/tilt, such as a plug-in hard disk equipped on the pan/tilt, a smart memory card (Smart Media Card, SMC), or a Secure Digital (SD). ) Card, Flash Card, etc.

It should be understood that the terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in the specification of this application and the appended claims, unless the context clearly indicates other circumstances, the singular forms "a", "an" and "the" are intended to include plural forms.

It should also be understood that the term "and/or" used in the specification and appended claims of this application refers to any combination of one or more of the items listed in the associated and all possible combinations, and includes these combinations.

The above are only specific implementations of this application, but the protection scope of this application is not limited to this. Anyone familiar with the technical field can easily think of various equivalents within the technical scope disclosed in this application. Modifications or replacements, these modifications or replacements shall be covered within the protection scope of this application. Therefore, the protection scope of this application shall be subject to the protection scope of the claims.

Claims

A method for controlling a pan-tilt, characterized in that it comprises:

Determine whether the motor of the pan/tilt head is in a locked-rotor state;

When the motor of the pan/tilt is in a locked state, the pan/tilt is controlled to be in a sleep mode, wherein the pan/tilt includes a rotating shaft mechanism, the rotating shaft mechanism includes a rotating shaft and the motor that drives the rotating shaft to rotate.
The pan-tilt control method according to claim 1, wherein the determining whether the motor of the pan-tilt is in a locked-rotor state comprises:

Obtain the current output torque, historical output torque, and historical temperature values of the motor of the pan/tilt head, where the current output torque is the output torque of the motor at the current moment, and the historical output torque is the motor's output torque at the previous moment. Output torque, the historical temperature value is the temperature value of the motor at the previous moment;

According to the current output torque, historical output torque and historical temperature value of the motor, it is determined whether the motor of the pan/tilt head is in a locked-rotor state.
The pan/tilt control method according to claim 2, wherein the determining whether the motor of the pan/tilt is in a locked-rotor state according to the current output torque, historical output torque and historical temperature value of the motor comprises:

Determine the current temperature value of the motor according to the current output torque, historical output torque, and historical temperature value of the motor;

According to the current temperature value of the motor, it is determined whether the motor of the pan/tilt head is in a locked-rotor state.
The pan/tilt control method according to claim 3, characterized in that before acquiring the current output torque, historical output torque and historical temperature value of the motor of the pan/tilt, it further comprises:

When establishing a prototype motor, the mathematical model between the output torque and the temperature value of the motor, wherein the input parameters of the mathematical model include the current output torque, historical output torque and historical temperature value of the motor, and the output result of the mathematical model is The current temperature value of the motor.
The pan/tilt control method according to claim 4, wherein the determining the current temperature value of the motor according to the current output torque, historical output torque and historical temperature value of the motor comprises:

The current output torque, historical output torque and historical temperature value of the motor are input to the mathematical model, and the current temperature value of the motor is obtained by outputting.
The pan-tilt control method according to claim 3, wherein the determining the current temperature value of the motor according to the current output torque, historical output torque and historical temperature value of the motor comprises:

Calculating the temperature gain value of the motor according to the current output torque and the historical output torque;

Calculating the sum of the temperature gain value and the preset first weighting coefficient, and using the sum of the temperature gain value and the preset first weighting coefficient as the first temperature value of the motor;

Calculating the sum of the historical temperature value and a preset second weighting coefficient, and using the sum of the historical temperature value and the preset second weighting coefficient as the second temperature value of the motor;

The difference between the first temperature value and the second temperature value is calculated, and the difference between the first temperature value and the second temperature value is used as the current temperature value of the motor.
The pan/tilt control method according to claim 6, wherein the calculating the temperature gain value of the motor according to the current output torque and the historical output torque comprises:

Calculating the sum of squares of the current output torque and the historical output torque, and using the sum of squares of the current output torque and the historical output torque as a target output torque;

The product of the target output torque and the preset temperature torque ratio is calculated, and the product of the target output torque and the preset temperature torque ratio is used as the temperature gain value of the motor.
7. The pan/tilt control method according to any one of claims 2-7, wherein the judging whether the motor of the pan/tilt is in a locked-rotor state according to the current temperature value of the motor comprises:

Determining whether the current temperature value of the motor is greater than a preset temperature threshold;

If the current temperature value of the motor is greater than the temperature threshold, determining that the motor of the pan/tilt head is in a locked-rotor state;

If the current temperature value of the motor is less than or equal to the temperature threshold, it is determined that the motor of the pan/tilt head is in a normal state.
The pan/tilt control method according to claim 8, characterized in that, if the current temperature value of the motor is greater than the temperature threshold, determining that the motor of the pan/tilt is in a locked-rotor state comprises:

If the current temperature value of the motor is greater than the temperature threshold, record the duration of the current temperature value of the motor greater than the temperature threshold;

Determine whether the duration reaches a preset time threshold;

If the duration reaches the preset time threshold, it is determined that the motor of the pan/tilt is in a locked-rotor state.
7. The pan/tilt control method according to any one of claims 3-7, characterized in that, before judging whether the motor of the pan/tilt is in a locked-rotor state according to the current temperature value of the motor, the method further comprises:

Acquiring the measured temperature value of the motor sensed by the preset temperature sensor at the current moment;

Verifying the current temperature value according to the measured temperature value;

When the current temperature value passes the verification, it is determined whether the motor of the pan/tilt head is in a locked-rotor state according to the current temperature value of the motor.
The pan/tilt control method according to claim 10, wherein the verifying the current temperature value according to the measured temperature value comprises:

Calculating the difference between the measured temperature value and the current temperature value, and determining whether the difference between the measured temperature value and the current temperature value is less than or equal to a preset threshold;

If the difference between the measured temperature value and the current temperature value is less than or equal to a preset threshold value, determining that the current temperature value passes the verification;

If the difference between the measured temperature value and the current temperature value is greater than a preset threshold value, it is determined that the current temperature value fails the verification.
The pan-tilt control method according to claim 10, wherein after the current temperature value is verified according to the measured temperature value, the method further comprises:

When the current temperature value fails the verification, it is determined whether the motor of the pan/tilt head is in a locked-rotor state according to the measured temperature value.
The pan-tilt control method according to claim 10, wherein after the current temperature value is verified according to the measured temperature value, the method further comprises:

When the current temperature value passes the verification, it is determined whether the motor of the pan/tilt head is in a locked-rotor state according to the measured temperature value and the current temperature value.
The pan/tilt control method according to claim 13, wherein the judging whether the motor of the pan/tilt is in a locked-rotor state according to the measured temperature value and the current temperature value comprises:

Performing fusion processing on the measured temperature value and the current temperature value to obtain the fusion temperature value of the motor;

According to the fusion temperature value, it is determined whether the motor of the pan/tilt head is in a locked-rotor state.
The pan/tilt control method according to claim 14, wherein said performing fusion processing on said measured temperature value and said current temperature value to obtain the fusion temperature value of said motor comprises:

Calculating the difference between the measured temperature value and the current temperature value;

Determine the first weighting coefficient of the measured temperature value and the second weighting coefficient of the current temperature value according to the difference between the measured temperature value and the current temperature value;

Calculating the sum of the measured temperature value and the first weighting coefficient, and using the sum of the measured temperature value and the first weighting coefficient as the first weighted temperature value;

Calculating the sum of the current temperature value and the second weighting coefficient, and using the sum of the current temperature value and the second weighting coefficient as the second weighting temperature value;

Calculate the sum of the first weighted temperature value and the second weighted temperature value, and use the sum of the first weighted temperature value and the second weighted temperature value as the fusion temperature value of the motor.
The pan/tilt control method according to claim 15, wherein the first weighting coefficient of the measured temperature value and the first weighting coefficient of the measured temperature value and the current temperature value are determined according to the difference between the measured temperature value and the current temperature value. The second weighting factor of the current temperature value, including:

Obtain the mapping relationship table between the pre-stored difference and the weighting coefficient;

Query the mapping relationship table, and use the weighting coefficient corresponding to the difference between the measured temperature value and the current temperature value as the first weighting coefficient of the measured temperature value;

According to the first weighting coefficient of the measured temperature value, the second weighting coefficient of the current temperature value is determined, wherein the sum of the first weighting coefficient and the second weighting coefficient is 1.
The pan/tilt control method according to claim 13, wherein the judging whether the motor of the pan/tilt is in a locked-rotor state according to the measured temperature value and the current temperature value comprises:

Determining whether the measured temperature value and the current temperature value are greater than a preset temperature threshold;

If the measured temperature value or the current temperature value is greater than a preset temperature threshold, determining that the motor of the pan/tilt head is in a locked-rotor state;

If both the measured temperature value and the current temperature value are less than or equal to a preset temperature threshold, it is determined that the motor of the pan/tilt head is in a normal state.
The pan-tilt control method according to claim 1, wherein the determining whether the motor of the pan-tilt is in a locked-rotor state comprises:

Acquiring the current output torque of the motor of the pan/tilt head, where the current output torque is the output torque of the motor at the current moment;

According to the current output torque of the motor of the pan/tilt, it is determined whether the motor of the pan/tilt is in a locked-rotor state.
The pan-tilt control method according to claim 18, wherein the determining whether the motor of the pan-tilt is in a locked-rotor state according to the current output torque of the motor of the pan-tilt comprises:

Judging whether the current output torque of the motor of the pan/tilt head is greater than a preset torque threshold;

If the current output torque of the motor of the pan/tilt is greater than the preset torque threshold, it is determined that the motor of the pan/tilt is in a locked-rotor state;

If the current output torque of the motor of the pan/tilt head is less than or equal to the preset torque threshold, it is determined that the motor of the pan/tilt head is in a normal state.
The pan/tilt control method according to claim 19, wherein if the current output torque of the motor of the pan/tilt is greater than a preset torque threshold, determining that the motor of the pan/tilt is in a locked-rotor state includes :

If the current output torque of the motor of the pan/tilt head is greater than the preset torque threshold, record the duration of the current output torque of the motor of the pan/tilt head greater than the preset torque threshold;

Determine whether the duration is greater than a preset duration threshold;

If the duration is greater than the preset duration threshold, it is determined that the motor of the pan/tilt is in a locked-rotor state.
A pan/tilt head, characterized in that the pan/tilt head includes a rotating shaft mechanism, the rotating shaft mechanism includes a rotating shaft and a motor driving the rotating shaft to rotate; and one or more processors, at least one of which is used to communicate with the Motor communication connection; wherein, the one or more processors work individually or together to implement the following steps:

Determine whether the motor of the pan/tilt head is in a locked-rotor state;

When the motor of the pan/tilt is in a locked state, the pan/tilt is controlled to be in a sleep mode.
The pan/tilt head according to claim 21, characterized in that, when the one or more processors are used to determine whether the motor of the pan/tilt head is in a stalled state, it is used to implement:

Obtain the current output torque, historical output torque, and historical temperature values of the motor, where the current output torque is the output torque of the motor at the current moment, and the historical output torque is the output torque of the motor at the previous moment, The historical temperature value is the temperature value of the motor at the previous moment;

According to the current output torque, historical output torque and historical temperature value of the motor, it is determined whether the motor of the pan/tilt head is in a locked-rotor state.
The pan/tilt head according to claim 22, wherein the one or more processors are implemented to determine whether the motor of the pan/tilt head is blocked according to the current output torque, historical output torque and historical temperature value of the motor. When changing state, it is used to achieve:

Determine the current temperature value of the motor according to the current output torque, historical output torque, and historical temperature value of the motor;

According to the current temperature value of the motor, it is determined whether the motor of the pan/tilt head is in a locked-rotor state.
The pan/tilt head according to claim 23, characterized in that, before the one or more processors implement the acquisition of the current output torque, historical output torque and historical temperature value of the motor, they are used to achieve:

When establishing a prototype motor, the mathematical model between the output torque and the temperature value of the motor, wherein the input parameters of the mathematical model include the current output torque, historical output torque and historical temperature value of the motor, and the output result of the mathematical model is The current temperature value of the motor.
The pan/tilt head according to claim 24, wherein the one or more processors realize that when the current temperature value of the motor is determined according to the current output torque, historical output torque, and historical temperature value of the motor, Used to achieve:

The current output torque, historical output torque and historical temperature value of the motor are input to the mathematical model, and the current temperature value of the motor is obtained by outputting.
The pan/tilt head according to claim 23, wherein the one or more processors realize that when the current temperature value of the motor is determined according to the current output torque, historical output torque and historical temperature value of the motor, Used to achieve:

Calculating the temperature gain value of the motor according to the current output torque and the historical output torque;

Calculating the sum of the temperature gain value and the preset first weighting coefficient, and using the sum of the temperature gain value and the preset first weighting coefficient as the first temperature value of the motor;

Calculating the sum of the historical temperature value and a preset second weighting coefficient, and using the sum of the historical temperature value and the preset second weighting coefficient as the second temperature value of the motor;

The difference between the first temperature value and the second temperature value is calculated, and the difference between the first temperature value and the second temperature value is used as the current temperature value of the motor.
The pan/tilt head according to claim 26, wherein when the one or more processors calculate the temperature gain value of the motor according to the current output torque and the historical output torque, it is used to achieve:

Calculating the sum of squares of the current output torque and the historical output torque, and using the sum of squares of the current output torque and the historical output torque as a target output torque;

The product of the target output torque and the preset temperature torque ratio is calculated, and the product of the target output torque and the preset temperature torque ratio is used as the temperature gain value of the motor.
The pan/tilt head according to any one of claims 22-27, wherein the one or more processors are implemented to determine whether the motor of the pan/tilt head is in a locked state according to the current temperature value of the motor When used to achieve:

Determining whether the current temperature value of the motor is greater than a preset temperature threshold;

If the current temperature value of the motor is greater than the temperature threshold, determining that the motor of the pan/tilt head is in a locked-rotor state;

If the current temperature value of the motor is less than or equal to the temperature threshold, it is determined that the motor of the pan/tilt head is in a normal state.
The pan/tilt head according to claim 28, wherein the one or more processors realize that if the current temperature value of the motor is greater than the temperature threshold, it is determined that when the motor of the pan/tilt head is in a locked state To achieve:

If the current temperature value of the motor is greater than the temperature threshold, record the duration of the current temperature value of the motor greater than the temperature threshold;

Determine whether the duration reaches a preset time threshold;

If the duration reaches the preset time threshold, it is determined that the motor of the pan/tilt is in a locked-rotor state.
The pan/tilt head according to any one of claims 23-27, wherein the one or more processors are implemented to determine whether the motor of the pan/tilt head is in a locked-rotor state according to the current temperature value of the motor Before, it was also used to achieve:

Acquiring the measured temperature value of the motor sensed by the preset temperature sensor at the current moment;

Verifying the current temperature value according to the measured temperature value;

When the current temperature value passes the verification, it is determined whether the motor of the pan/tilt head is in a locked-rotor state according to the current temperature value of the motor.
The pan/tilt head according to claim 30, wherein when the one or more processors implement the verification of the current temperature value according to the measured temperature value, it is used to implement:

Calculating the difference between the measured temperature value and the current temperature value, and determining whether the difference between the measured temperature value and the current temperature value is less than or equal to a preset threshold;

If the difference between the measured temperature value and the current temperature value is less than or equal to a preset threshold value, determining that the current temperature value passes the verification;

If the difference between the measured temperature value and the current temperature value is greater than a preset threshold value, it is determined that the current temperature value fails the verification.
The pan/tilt head according to claim 30, wherein the one or more processors are further configured to implement after verifying the current temperature value according to the measured temperature value:

When the current temperature value fails the verification, it is determined whether the motor of the pan/tilt head is in a locked-rotor state according to the measured temperature value.
The pan/tilt head according to claim 30, wherein the one or more processors are further configured to implement after verifying the current temperature value according to the measured temperature value:

When the current temperature value passes the verification, it is determined whether the motor of the pan/tilt head is in a locked-rotor state according to the measured temperature value and the current temperature value.
33. The pan/tilt head according to claim 33, wherein the one or more processors determine whether the motor of the pan/tilt head is in a locked-rotor state according to the measured temperature value and the current temperature value. Used to achieve:

Performing fusion processing on the measured temperature value and the current temperature value to obtain the fusion temperature value of the motor;

According to the fusion temperature value, it is determined whether the motor of the pan/tilt head is in a locked-rotor state.
The pan/tilt head according to claim 34, wherein the one or more processors implement fusion processing on the measured temperature value and the current temperature value to obtain the fusion temperature value of the motor, using To achieve:

Calculating the difference between the measured temperature value and the current temperature value;

Determine the first weighting coefficient of the measured temperature value and the second weighting coefficient of the current temperature value according to the difference between the measured temperature value and the current temperature value;

Calculating the sum of the measured temperature value and the first weighting coefficient, and using the sum of the measured temperature value and the first weighting coefficient as the first weighted temperature value;

Calculating the sum of the current temperature value and the second weighting coefficient, and using the sum of the current temperature value and the second weighting coefficient as the second weighting temperature value;

Calculate the sum of the first weighted temperature value and the second weighted temperature value, and use the sum of the first weighted temperature value and the second weighted temperature value as the fusion temperature value of the motor.
The pan/tilt head according to claim 35, wherein the one or more processors are configured to determine the first value of the measured temperature value according to the difference between the measured temperature value and the current temperature value. The weighting coefficient and the second weighting coefficient of the current temperature value are used to realize:

Obtain the mapping relationship table between the pre-stored difference and the weighting coefficient;

Query the mapping relationship table, and use the weighting coefficient corresponding to the difference between the measured temperature value and the current temperature value as the first weighting coefficient of the measured temperature value;

According to the first weighting coefficient of the measured temperature value, the second weighting coefficient of the current temperature value is determined, wherein the sum of the first weighting coefficient and the second weighting coefficient is 1.
33. The pan/tilt head according to claim 33, wherein the one or more processors determine whether the motor of the pan/tilt head is in a locked-rotor state according to the measured temperature value and the current temperature value. Used to achieve:

Determining whether the measured temperature value and the current temperature value are greater than a preset temperature threshold;

If the measured temperature value or the current temperature value is greater than a preset temperature threshold, determining that the motor of the pan/tilt head is in a locked-rotor state;

If both the measured temperature value and the current temperature value are less than or equal to a preset temperature threshold, it is determined that the motor of the pan/tilt head is in a normal state.
The pan/tilt head according to claim 21, characterized in that, when the one or more processors realize whether the motor of the pan/tilt head is in a locked-rotor state, it is used to realize:

Acquiring the current output torque of the motor of the pan/tilt head, where the current output torque is the output torque of the motor at the current moment;

According to the current output torque of the motor of the pan/tilt, it is determined whether the motor of the pan/tilt is in a locked-rotor state.
The pan/tilt head according to claim 38, wherein the one or more processors are used to determine whether the motor of the pan/tilt head is in a stalled state according to the current output torque of the motor of the pan/tilt head. To achieve:

Judging whether the current output torque of the motor of the pan/tilt head is greater than a preset torque threshold;

If the current output torque of the motor of the pan/tilt is greater than the preset torque threshold, it is determined that the motor of the pan/tilt is in a locked-rotor state;

If the current output torque of the motor of the pan/tilt head is less than or equal to the preset torque threshold, it is determined that the motor of the pan/tilt head is in a normal state.
The pan/tilt head according to claim 39, wherein the one or more processors realize that if the current output torque of the motor of the pan/tilt head is greater than a preset torque threshold, determine that the motor of the pan/tilt head is in When the rotor is locked, it is used to achieve:

If the current output torque of the motor of the pan/tilt head is greater than the preset torque threshold, record the duration of the current output torque of the motor of the pan/tilt head greater than the preset torque threshold;

Determine whether the duration is greater than a preset duration threshold;

If the duration is greater than the preset duration threshold, it is determined that the motor of the pan/tilt is in a locked-rotor state.
A computer-readable storage medium, characterized in that, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor realizes as described in any one of claims 1-20. The described PTZ control method.